DCAITI Robot Hardware  1.0
Macros | Functions | Variables
main.cpp File Reference
#include <Arduino.h>
#include "communication/UARTCom.hpp"
#include "communication/UValue.hpp"
#include <PinChangeInt.h>
#include <PinChangeIntConfig.h>
#include <PID_Beta6.h>
#include <MotorWheel.h>
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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
 

Macro Definition Documentation

◆ MICROS_PER_SEC

#define MICROS_PER_SEC   1000000

Function Documentation

◆ irqISR() [1/2]

irqISR ( irq1  ,
isr1   
)

◆ irqISR() [2/2]

irqISR ( irq2  ,
isr2   
)

◆ loop()

void loop ( void  )
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◆ setup()

void setup ( void  )
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◆ wheelLeft()

MotorWheel wheelLeft ( ,
,
,
,
irq1,
REDUCTION_RATIO  ,
300   
)
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◆ wheelRight()

MotorWheel wheelRight ( 10  ,
11  ,
,
,
irq2,
REDUCTION_RATIO  ,
300   
)
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Variable Documentation

◆ controlTimer

long controlTimer = 0

◆ speed

int speed = 0

◆ uartTransmitTimer

long uartTransmitTimer = 0