From a87f059b7acdc9f00b2102249a647a51f8389de4 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 14 Apr 2008 12:00:59 +0200 Subject: * digital/io/src * asserv - improve the API of the arm functions to ease usage ; - add a new function to put the arm to the position to close the input hole. * get sample FSM - keep only the needed and real events ; - correctly names the states ; - improve the function to select where to put the samples ; * general - add headers for some standard configuration defines. * trap - add another entry to the enum to know its length. --- digital/io/src/giboulee.h | 50 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 digital/io/src/giboulee.h (limited to 'digital/io/src/giboulee.h') diff --git a/digital/io/src/giboulee.h b/digital/io/src/giboulee.h new file mode 100644 index 00000000..167addaa --- /dev/null +++ b/digital/io/src/giboulee.h @@ -0,0 +1,50 @@ +#ifndef giboulee_h +#define giboulee_h +// giboulee.h +// io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ +// +// Copyright (C) 2008 Dufour Jérémy +// +// Robot APB Team/Efrei 2004. +// Web: http://assos.efrei.fr/robot/ +// Email: robot AT efrei DOT fr +// +// This program is free software; you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation; either version 2 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +// +// }}} + +/** + * @file Some defines for the bot itself. + * In this header file, you can find some configuration value for the length + * of a step when the bot is moving for example. + */ + +/** + * The speed of the arm. + * It is expressed in number of steps by asserv board cycle (4.44ms). + */ +#define BOT_ARM_SPEED 3 + +/** + * The number of step of a whole rotation. + */ +#define BOT_ARM_STEP_ROUND 5000 + +/** + * Number of step to make a third of a round. + */ +#define BOT_ARM_THIRD_ROUND BOT_ARM_STEP_ROUND / 3 + +#endif // giboulee_h -- cgit v1.2.3