CommandConst.h

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/***************************************************************

 Mini Grand Challenge 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License

 This source file is developed and maintained by:
 + Anthony Jones adj140@psu.edu
 + Jeremy Bridon jbridon@psu.edu

 File: CommandConst.h
 Desc: A list of common command definitions and for
 hardware pins, timing constants, etc.

***************************************************************/

// Arduino instructions (CMD_NONE is an invalid instruction)
#define CMD_INIT                0       
#define CMD_UNIT                1       
#define CMD_SETSPEED    2       
#define CMD_SETTURN             3       
#define CMD_GETRANGE    4       
#define CMD_GETBEARING  5       
#define CMD_GETSPEED    6       
#define CMD_NONE                7       

// Arduino return states
#define RET_OK                  0       
#define RET_ERROR               1       
#define RET_VAL                 2       

// Pins for RC mode
#define RC_PIN         13       
#define SPEED_RC       12       
#define STEER_RC       11       

// Inclusion guard
#ifndef __COMMANDCONST_H_
#define __COMMANDCONST_H_

// String formation of the recieved messages
static const char ArduinoInstrStr[7][4] =
{
        "!IN", // CMD_INIT
        "!UN", // CMD_UNIT
        "!SS", // CMD_SETSPEED
        "!ST", // CMD_SETTURN
        "!GR", // CMD_GETRANGE
        "!GB", // CMD_GETBEARING
        "!GS", // CMD_GETSPEED
};

// Values shared between Loop and Hardware
double TargetSpeed;                     
double TargetSteer;                     

double velocity;                        
double servovelocity;           
double wheelangle;                      
double servowheelangle;         

// End of inclusion guard
#endif

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