Commit 2632351b authored by twpryor's avatar twpryor
Browse files

UPDATE

parent 4c77ac72
// HARDWARE: Arduino MEGA 2560
#include "Arduino.h"
#include "megaBoardDefine.h"
#include <Adafruit_GPA.h> // include this file in the Arduino libraries folder
#include <Servo.h>
#include <SPI.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <Servo.h>
#include <Wire.h>
#include <Adafruit_GPS.h>
#include <SoftwareSerial.h>
void setup()
{
Serial.println("STARTING");
attachDriveMotors();
attachArmMotors();
attachHandMotors();
......
// Apr 11, 2015. Husky Robotics, made by Electrical Team
// May 22, 2015. Husky Robotics, made by Electrical Team
#include "Arduino.h"
#include <Adafruit_GPA.h> // include this file in the Arduino libraries folder
#include <Servo.h>
#include <SPI.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <Wire.h>
// WIRELESS COMMUNICATION
// Port to listen for UDP connections on
const int UDP_PORT = 8888;
......@@ -21,15 +23,13 @@ int rightPower = 128;
int arm[3] = {1, 1, 1};
int hand[4] = {1, 1, 1, 1};
int misc[4] = {1, 1, 1, 1};
// Need Analog input with male pin
#define BAUD_RATE 9600
int potValue;
int sendValue;
// MOTOR CONSTANTS
// MOTOR CCONTROL
// Need PWM input with male pin for motor controller
// connect to RS232
Servo leftMotor;
......@@ -47,17 +47,21 @@ const int TALON_ARM[3] = {6, 7, 8}; // pins for motor control
#define SPEEDUP_FREQUENCY 1750 // For arm
#define SPEEDDOWN_FREWQUENCY 1250 // For arm
// SENSOR PINS
#define CURRENT_SENSOR_PIN A1 // connected to analog 1 for monitoring current on the big ass battery
#define COMPRESSOR_PIN A0 // connected to analog 0 for reading pressure
#define COMPRESSOR_CONTROL 23 // connected to digital 23 for increasing pressure on pneumatic suspension
// CONTROL AND LOGIC CONSTANTS
#define TIMEOUT 1000 // in milliseconds. This is to test to see if there is still wireless connection
#define MIN_FREQUENCY 1250
#define MAX_FREQUENCY 1750
// MIN AND MAX HAND SERVO VALUES
#define MIN_HAND 50
#define MAX_HAND 104
// GPS CONSTANTS AND VARIABLES
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