Diff: robot.h

Revision:

4:0eeea5f05e28

Parent:

3:3e3314102e56

--- a/robot.h	Sun Oct 12 23:27:33 2014 +0000
+++ b/robot.h	Tue Oct 14 17:54:20 2014 +0000
@@ -6,6 +6,8 @@
 #include "HC05.h"
 #include "MPU6050.h"
 #include "I2Cdev.h"
+
+#include "motors.h"
 //#include "MPU6050.h"
 //#include "HC05.h"
 //#include "ACS712.h"
@@ -55,7 +57,8 @@
 //Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards)
 #define MOTOR_R_DIRECTION   1
 #define MOTOR_L_DIRECTION   1
-
+#define L_MOTOR_SCALE               1
+#define R_MOTOR_SCALE               1
 #define MOTOR_INTERVAL 20     //defines the interval (in milliseconds) between when motor can be set
 //NOTE: Can't make this less than 20ms, because that is the PWM frequency
 
@@ -79,7 +82,7 @@
 #define ulB PTC0
 
 
-
+extern Motors motors;
 extern   HC05 bt;  //bluetooth connection
 //extern   Serial bt;
 //extern  QEI wheel;
@@ -142,7 +145,7 @@
     void Led_off();
     void initRobot();
     extern double pl_buzzer();
-    extern void pl_buzzer(void const *args);
+    extern void pl_buzzer(int freq, int f_time);
     extern void Imu_yaw(void const *args);
     extern void encoder_thread(void const *args);
     extern int freq; 
@@ -155,6 +158,10 @@
     extern int16_t gx, gy, gz;
     extern int heading;
     extern int software_interuupt;
+    extern int Encoder_x;
+    extern int Encoder_y;
+    extern char Selected_robot;
+    extern bool bt_connected;
     //Wireless connections
 
 #endif
\ No newline at end of file