Zachary Sunberg / Mbed 2 deprecated SAILORSbot

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Dependencies:   mbed

robot.h@0:9f058fe8cab5, 2015-06-25 (annotated)

Committer:
zsunberg
Date:
Thu Jun 25 00:10:50 2015 +0000
Revision:
0:9f058fe8cab5
Child:
20:f0ca65974329
before erasing old led stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zsunberg 0:9f058fe8cab5 1 #include <stdio.h>
zsunberg 0:9f058fe8cab5 2 #include <stdlib.h>
zsunberg 0:9f058fe8cab5 3 #include "mbed.h"
zsunberg 0:9f058fe8cab5 4 #include "m3pi.h"
zsunberg 0:9f058fe8cab5 5
zsunberg 0:9f058fe8cab5 6 #define BUF_SIZE 128
zsunberg 0:9f058fe8cab5 7 #define ERROR 1
zsunberg 0:9f058fe8cab5 8 #define OK 0
zsunberg 0:9f058fe8cab5 9
zsunberg 0:9f058fe8cab5 10 //PID gains
zsunberg 0:9f058fe8cab5 11 #define P_TERM 1.5
zsunberg 0:9f058fe8cab5 12 #define I_TERM 0.01
zsunberg 0:9f058fe8cab5 13 #define D_TERM 20
zsunberg 0:9f058fe8cab5 14
zsunberg 0:9f058fe8cab5 15 //max/min speed
zsunberg 0:9f058fe8cab5 16 #define MAX 0.25
zsunberg 0:9f058fe8cab5 17 #define MIN 0.1
zsunberg 0:9f058fe8cab5 18
zsunberg 0:9f058fe8cab5 19 DigitalOut xbeeReset(p26); //reset on Xbee
zsunberg 0:9f058fe8cab5 20
zsunberg 0:9f058fe8cab5 21 Serial pc(USBTX, USBRX); // tx, rx, interface with PC
zsunberg 0:9f058fe8cab5 22 Serial xbee(p28, p27); //tx, rx, interface with xbee
zsunberg 0:9f058fe8cab5 23
zsunberg 0:9f058fe8cab5 24 DigitalOut led1(LED1);
zsunberg 0:9f058fe8cab5 25 DigitalOut led2(LED2);
zsunberg 0:9f058fe8cab5 26 DigitalOut led3(LED3);
zsunberg 0:9f058fe8cab5 27 DigitalOut led4(LED4);
zsunberg 0:9f058fe8cab5 28
zsunberg 0:9f058fe8cab5 29 m3pi pi;