DCAITI Robot Hardware
1.0
|
#include <Arduino.h>
#include "communication/UARTCom.hpp"
#include "communication/UValue.hpp"
#include <PinChangeInt.h>
#include <PinChangeIntConfig.h>
#include <PID_Beta6.h>
#include <MotorWheel.h>
Macros | |
#define | MICROS_PER_SEC 1000000 |
Functions | |
irqISR (irq1, isr1) | |
irqISR (irq2, isr2) | |
MotorWheel | wheelLeft (9, 8, 4, 5, &irq1, REDUCTION_RATIO, 300) |
MotorWheel | wheelRight (10, 11, 6, 7, &irq2, REDUCTION_RATIO, 300) |
void | setup (void) |
void | loop (void) |
Variables | |
long | controlTimer = 0 |
long | uartTransmitTimer = 0 |
int | speed = 0 |
#define MICROS_PER_SEC 1000000 |
irqISR | ( | irq1 | , |
isr1 | |||
) |
irqISR | ( | irq2 | , |
isr2 | |||
) |
void loop | ( | void | ) |
void setup | ( | void | ) |
MotorWheel wheelLeft | ( | 9 | , |
8 | , | ||
4 | , | ||
5 | , | ||
& | irq1, | ||
REDUCTION_RATIO | , | ||
300 | |||
) |
MotorWheel wheelRight | ( | 10 | , |
11 | , | ||
6 | , | ||
7 | , | ||
& | irq2, | ||
REDUCTION_RATIO | , | ||
300 | |||
) |
long controlTimer = 0 |
int speed = 0 |
long uartTransmitTimer = 0 |