Revision 3a3d08d9
| devices/DiWheelDrive/global.hpp | ||
|---|---|---|
| 179 | 179 |
// Thresh FL: 5241, FR: 25528 |
| 180 | 180 |
int threshProxyL = 5241; |
| 181 | 181 |
int threshProxyR = 25528; |
| 182 |
int threshWhite = 51056;
|
|
| 182 |
int threshWhite = 40000;
|
|
| 183 | 183 |
|
| 184 | 184 |
// PID for line following: |
| 185 | 185 |
float K_p = 0.0f; |
| ... | ... | |
| 209 | 209 |
// CAN communication line: |
| 210 | 210 |
// Will be set to true when message was received |
| 211 | 211 |
bool msgReceived = false; |
| 212 |
|
|
| 213 |
// bool chargingRequest = false; |
|
| 214 |
// uint8_t charge = 0; |
|
| 215 |
// uint8_t actualCharge = 0; |
|
| 216 |
|
|
| 212 | 217 |
// Debugging stuff -------------- |
| 213 |
int forwardSpeed = 10;
|
|
| 218 |
int forwardSpeed = 5;
|
|
| 214 | 219 |
int enableRecord = 0; |
| 215 | 220 |
|
| 216 | 221 |
bool triggerCan = false; |
| 217 | 222 |
uint8_t strategyTest = 0; |
| 218 |
|
|
| 223 |
// CANTxFrame powerFrame; |
|
| 224 |
|
|
| 219 | 225 |
|
| 220 | 226 |
|
| 221 | 227 |
// Buffer for sensor values |
| ... | ... | |
| 228 | 234 |
}; |
| 229 | 235 |
|
| 230 | 236 |
int sensSamples = 0; |
| 231 |
sensorRecord senseRec[1000]; |
|
| 232 |
sensorRecord maxDist; |
|
| 233 |
|
|
| 237 |
sensorRecord senseRec[1]; |
|
| 238 |
sensorRecord maxDist; |
|
| 234 | 239 |
// ----------------------------- |
| 240 |
|
|
| 235 | 241 |
public: |
| 236 | 242 |
Global() : |
| 237 | 243 |
HW_I2C1(&I2CD1), HW_I2C2(&I2CD2), |
Also available in: Unified diff