Diff: define.h

Revision:

0:15e49f97cb3d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/define.h	Fri Oct 12 17:49:16 2012 +0000
@@ -0,0 +1,71 @@
+#include "globlvar.h"
+
+//Put all variables that must be accessible to all functions here.
+
+#ifndef DEFINE_H
+#define DEFINE_H
+
+#define PRINT(message)  pc.printf( (message) );
+
+#define PRINTLN(message)    pc.printf( (message) );\
+                            pc.printf("\n\r");
+                            
+#define LED(i)  leds[i]
+
+#define LED_0 1
+#define LED_1 2
+#define LED_2 4
+#define LED_3 8
+
+#define CODE_ON 
+#define FORWARD 1
+#define BACKWARD -1
+
+
+//OPTIONS
+
+//Which side of the arm is the door
+#define DIRECTION BACKWARD
+//Minimum force to start pushing
+#define FORCE_MIN .05
+//Default value of the force threshold
+#define DEFAULT_FORCE .4
+//Default value for the speed
+#define DEFAULT_SPEED 1
+//Speed of the arm when not in contact with door
+#define COAST_SPEED .3
+//Speed of the arm when returning to wall
+#define REVERSE_SPEED -0.4
+//Force threshold for contact with wall
+#define WALL_THRESH .05
+//How long to push after contacting door
+#define PUSH_TIME .5
+//How much the speed changes with each button press
+#define SPEED_INC 0.05f
+//How much the force changes with each button press
+#define FORCE_INC 0.1f
+
+
+
+#define SPEED_MIN COAST_SPEED
+
+//BUTTON DEFINITIONS
+#define NONE -1
+#define SPD_DN 2
+#define SPD_UP 3
+#define FRC_UP 0
+#define FRC_DN 1
+#define RUN 14
+#define RST 69
+
+
+
+#define SET_LEDS(mask, state)   LED(0) = ((mask)&1!=0); \
+                                LED(1) = ((mask)&2!=0); \
+                                LED(2) = ((mask)&4!=0); \
+                                LED(0) = ((mask)&8!=0); 
+#define ON  1
+#define OFF 0
+
+
+#endif
\ No newline at end of file