Zachary Sunberg / Mbed 2 deprecated SAILORSbot

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Dependencies:   mbed

robot.h

Committer:
zsunberg
Date:
2015-07-27
Revision:
20:f0ca65974329
Parent:
0:9f058fe8cab5
Child:
21:18b585a44155

File content as of revision 20:f0ca65974329:

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

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

//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;

int mode;
#define MANUAL_MODE 0
#define LINE_FOLLOW_MODE 1

volatile double leftspeed;
volatile double rightspeed;

char received[80];
int r_index;
int sensors[5];

// GAINS
//////////////////////////////
float k_p = 1.5;
float k_i = 0.0;
float k_d = 0.0;
//////////////////////////////

Ticker communication;
Ticker controls;