Revision b4885314 devices/DiWheelDrive/global.hpp

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devices/DiWheelDrive/global.hpp
55 55 
    /* command             */ VCNL4020::ALS_EN | VCNL4020::PROX_EN | VCNL4020::SELFTIMED_EN,
56 56 
    /* ambient parameter   */ VCNL4020::AMBIENT_RATE_2 | VCNL4020::AMBIENT_AUTO_OFFSET | VCNL4020::AMBIENT_AVG_32,
57 57 
    /* IR LED current [mA] */ 200u,
58 
    /* proximity rate      */ VCNL4020::PROX_RATE_7_8125
58 
    /* proximity rate      */ VCNL4020::PROX_RATE_125
59 59 
  };
60 60 

  		




  61
  61
  
    
  /**


  		




  ......




  190
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    increments(&QEID3, &QEID4),


  		




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    motorcontrol(&PWMD2, &increments, GPIOB, GPIOB_POWER_EN, &memory),


  		




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    distcontrol(&motorcontrol, &increments),


  		




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    odometry(&increments),


  		




  
  193
  
    
    odometry(&increments, &l3g4200d),


  		




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    sercanmux1(&SD1, &CAND1, CAN::DI_WHEEL_DRIVE_ID),


  		




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    robot(&CAND1),


  		




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    userThread()


  		












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