defines.ic

/** 
 * @file   defines.ic
 * @brief  All of the #define's used anywhere
 * @author Andrew Krieger and Joel Friedly
 * @date   6/2/2011
 *
 */


/// Left motor port
#define MOTOR_LEFT  1

/// Right motor port
#define MOTOR_RIGHT 3

/// Standard power to run the motors at.  Ended up using hard-coded numbers most places.
#define MOT_PWR 100

/// Front left optosensor port
#define OPTO_FRONT_LEFT  20

/// Front right optosensor port
#define OPTO_FRONT_RIGHT 22

/// Back left optosensor port
#define OPTO_BACK_LEFT   3

/// Back right optosensor port
#define OPTO_BACK_RIGHT  2


/// Left shaft encoder port
#define SHAFT_LEFT 7

/// Right shaft encoder port
#define SHAFT_RIGHT 12



/// Port for the side-mounted CdS cell
#define CDS_SIDE 16

/// Port for the front-mounted CdS cell
#define CDS_FRONT 18



/// Right bump switch port
#define SWITCH_WALL_RIGHT 15

/// Left bump switch port
#define SWITCH_WALL_LEFT  10

/// Back right switch port.  This switch was not in the final design.
#define SWITCH_BACK_RIGHT 27




/// Corn arm servo port
#define SERVO_CORN 0

/// Hay arm servo port
#define SERVO_HAY 3



/// Empirically determined optosensor threshold.  Values <100 were considered on a strip and values >100 were considered off.
#define OPTO_THRESHOLD 100

/// Empirically determined CdS cell threshold.  Values <20 were considered red and values >20 were considered blue.
#define CDS_THRESHOLD 20




/// Wait for this many loops to confirm we're over something shiny (ie, aluminum strips)
#define SHINY_TIME 1




/// Returned by @ref press_button if the start button is pressed
#define BUTTON_START 0

/// Returned by @ref press_button if the stop button is pressed
#define BUTTON_STOP 1




/// Number of times to attempt to hit the RED BUTTOM
#define RED_BUTTON_TRIES 4




/// Servo angle to have with the corn arm rotated down
#define CORN_DOWN 160

/// Servo angle to have with the corn arm rotated up
#define CORN_UP 60

#use "encoders.ic"