Zachary Sunberg / Mbed 2 deprecated SAILORSbot

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Dependencies:   mbed

robot.h

Committer:
zsunberg
Date:
2015-06-25
Revision:
0:9f058fe8cab5
Child:
20:f0ca65974329

File content as of revision 0:9f058fe8cab5:

#include <stdio.h>
#include <stdlib.h>
#include "mbed.h"
#include "m3pi.h"

#define BUF_SIZE 128
#define ERROR   1
#define OK      0

//PID gains
#define P_TERM 1.5
#define I_TERM 0.01
#define D_TERM 20

//max/min speed
#define MAX 0.25
#define MIN 0.1

DigitalOut xbeeReset(p26);    //reset on Xbee

Serial pc(USBTX, USBRX); // tx, rx, interface with PC
Serial xbee(p28, p27);  //tx, rx, interface with xbee

DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

m3pi pi;