W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Headers\PoundDefines.

h
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/****************************************************************************
Header File
PoundDefines.h
Author
Anne Alter

Date
2/14/16
****************************************************************************/

#ifndef PoundDefines_H
#define PoundDefines_H

//FRAMWORK INCLUDES
#include "ES_Types.h"
#include "ES_Configure.h"

//INITIALIZE SERVICE
#define ALL_BITS (0xff <<2)
//PWM CONSTANTS
#define BitsPerNibble 4
#define PWMTicksPerMS 1250
#define TicksPerMS 40000
#define PeriodInMS 5
#define ServoPeriodInMs 20
//MOTOR
#define
#define
#define
#define
//MOTOR
#define
#define
#define
#define

SELECTION
LEFT_MOTOR 1
RIGHT_MOTOR 2
LEFT_WHEEL 1
RIGHT_WHEEL 2

DIRECTION
FORWARD true
BACKWARD false
LEFT_MOTOR_DIRECTION GPIO_PIN_0
RIGHT_MOTOR_DIRECTION GPIO_PIN_1

//DUTY CYCLES
#define OFF_DUTY 1
#define FORWARD_OFF 1
#define BACKWARD_OFF 99
#define HALF 50
#define FORWARD_FULLDUTY 40
#define FORWARD_HALFDUTY 20
#define BACKWARD_FULLDUTY 60
#define BACKWARD_HALFDUTY 80
#define MOTOR_ONE_BEACON 45
#define MOTOR_TWO_BEACON 55
#define ROTATION_TIME_180 1250
#define REVERSE_TIME 800
//BUMPERS
#define FRONT_BUMPER BIT6HI
#define LEFT_BUMPER BIT5HI
#define RIGHT_BUMPER BIT7HI
#define DEBOUNCE_TIME 50
//ANALOG
#define HOW_MANY 2
#define PE0 0
#define PE1 1
#define AD_TIMER_LENGTH 2

//PID control
#define pGain .032 //was 0.025
#define iGain 0.070 //was 0.1
#define dGain 0
#define DEFAULT_DUTY_CYCLE 36 //was 35
#define DEFAULT_DUTY_CYCLE_LEFT 35

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Headers\PoundDefines.h
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#define DEFAULT_DUTY_CYCLE_RIGHT 37
#define WIRE_SENSE_INTERRUPT 2
//PAC Defines
#define STATUS_BYTE 0xC0
#define QUERY_BYTE 0x70
#define OUR_VOTE_RED 0x80
#define OUR_VOTE_BLUE 0xB0
#define ACK BIT0HI
#define DETECT_TIME 10
#define GAME_STATUS 200

//SSI (from the TIVA's perspective)

#define SDI BIT5HI
#define SDO BIT4HI
#define SCK BIT2HI
#define SS BIT3HI
#define CPSDVSR 0x40
#define SCR 0x20 << 8

//HALL EFFECT
#define HALL_EFFECT GPIO_PIN_4
#define HALL_EFFECT_DEBOUNCE_TIME 50
#define HALL_EFFECT_DELAY_TIME 1500
//ORIENT TO TRAIL
#define ORIENT_TIME 1000
#define CITY_TIME 3000

//ATTACK
#define LOCATION_BIT 0x0F
#define BILLINGS 0x03
#define MIAMI 0x07
#define DALLAS 0x05
#define RED_ATTACK_BUCKET 690
#define BLUE_ATTACK_BUCKET 800
#define ATTACK_ERROR 40
#define COLOR GPIO_PIN_4 //RED = HI, BLUE = LOW; PORT E, PIN 4
#define FORWARD_TIME 1400
#define WAITING_BETWEEN_SHOTS 3000
#define ATTACK_TIMEOUT 20000
#define ATTACK_REVERSE_TIME 500
#define ATTACK_ROTATION_TIME 1000
//BEACON
#define BEACON_TIME 1
#define BEACON_SMOOTHING_SAMPLES 10
#define RED_BEACON_SAMPLES 12
#define BLUE_BEACON_SAMPLES 15

//FLYWHEEL
#define SMOOTHING_SAMPLES 5
#define LAUNCH_TIME 2
#define MAX_FLYWHEEL_DUTY 50
#define RED_DUTY_CYCLE 57 //14; we are blue; shooting from billings
#define BLUE_DUTY_CYCLE 47 //14; we are red; shooting from miami
#define DISPENSE_ANGLE 92
#define RESET_ANGLE 122
#define DELAY_TIME 1000
#define TICKS_PER_REV 8
//GAME STATUS
#define GAME_ON GPIO_PIN_2
#define RED GPIO_PIN_3
#define BLUE GPIO_PIN_4
#define GAME_TIME 46500

#endif /* PoundDefines_H */