PsiSwarm Library  0.8
settings.h
Go to the documentation of this file.
1 /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Settings File
2  *
3  * Copyright 2016 University of York
4  *
5  * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
7  * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
8  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
9  * See the License for the specific language governing permissions and limitations under the License.
10  *
11  * File: settings.h
12  *
13  * (C) Dept. Electronics & Computer Science, University of York
14  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
15  *
16  * PsiSwarm Library Version: 0.8
17  *
18  * October 2016
19  *
20  *
21  */
22 
32 #ifndef SETTINGS_H
33 #define SETTINGS_H
34 
35 /* USE_MOTOR_CALIBRATION [1=on, recommended 0=off]
36  * If enabled, the actual motor speeds will be adjusted from the requested values using the motor calibration values stored in
37  * firmware (and set using the motor calibration code in the demo mode)
38  */
39 #define USE_MOTOR_CALIBRATION 1
40 
41 /* OFFSET_MOTORS [1=on, recommended 0=off]
42  * The motors typically stall when the PWM output is below around 0.2
43  * Enabling the offset shifts the actual PWM range so that the motor speed 0.0 -> 1.0 actually sets a PWM output of 0.2 -> 1.0
44  */
45 #define OFFSET_MOTORS 1
46 
47 /* ENABLE_DEMO [1=on, 0=off]
48  * If enabled the demo mode will be launched when the center button is held as the MBED is switched on or reset
49  */
50 #define ENABLE_DEMO 1
51 
52 
53 /* ENABLE_BASIC [1=on, 0=off]: Enable if the Psi-BASIC Interpretter is being used */
54 #define ENABLE_BASIC 1
55 
56 /* SERIAL INTERFACES SETTINGS
57  * __________________________
58  *
59  * The Psi-Swarm can communicate using both the USB PC-Serial interface or via Bluetooth using a BlueSMIRF module
60  *
61  *
62  */
63 
64 /* ENABLE_BLUETOOTH [1=on, 0=off]: Enable if the BlueSmirf module is being used */
66 #define ENABLE_BLUETOOTH 1
67 
68 /* ENABLE_PC_SERIAL [1=on, 0=off]: Enable if the PC USB serial module is being used */
69 #define ENABLE_PC_SERIAL 1
70 
71 /* BLUETOOTH_BAUD [recommended=115200]: Baud rate for the BlueSMIRF module */
72 #define BLUETOOTH_BAUD 115200
73 
74 /* PC_BAUD [recommended=460800 for optimal performance, 115200 for compatability]: Baud rate for the PC USB serial module */
75 //#define PC_BAUD 460800
76 #define PC_BAUD 115200
77 
78 /* DEBUG_MODE [1=on, 0=off]: Enable to allow debug messages to be sent of one of the serial interfaces */
79 #define DEBUG_MODE 1
80 
81 /* SHOW_VR_WARNINGS [1=on, 0=off]: Show voltage-regulator debug message warnings after initial boot-up */
82 #define SHOW_VR_WARNINGS 0
83 
84 /* USE_LED3_FOR_INTERRUPTS [1=on, 0=off]: Switch interrupts will appear as the lighting of LED3 on MBED */
85 #define USE_LED3_FOR_INTERRUPTS 1
86 
87 /* USE_LED4_FOR_VR_WARNINGS [1=on, 0=off]: Voltage-regulator warnings will appear as the lighting of LED4 on MBED */
88 #define USE_LED4_FOR_VR_WARNINGS 1
89 
90 /* HALT_ON_GPIO_ERROR [1=on, 0=off]: Halts system if no GPIO response received during init() - typically this happens when MBED is powered but robot is switched off */
91 #define HALT_ON_GPIO_ERROR 1
92 
93 /* HALT_ON_ALL_VREGS_LOW [1=on, 0=off]: Halts system when all 3.3V voltage regulators are low on boot-up - typically this happens when MBED is powered but robot is switched off */
94 #define HALT_ON_ALL_VREGS_LOW 0
95 
96 /* DEBUG_OUTPUT_STREAM [1=PC\USB 2=BlueSmirf 4=Display]: Specify which output stream(s) should be used by default for debug messages, if enabled*/
97 #define DEBUG_OUTPUT_STREAM 1
98 
99 #endif
100