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Bots /The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 8
Chapter 8 Taking Control of the BrainStem Robot 221
#define mSRV1FOR 0
#define mSRV1REV 1
#define mSRV2FOR 2
#define mSRV2REV 3
#define mTIM1 4
#define mTIM2 5
/************* COMMANDS *************/
/* servo 1 forward */
message[mSRV1FOR] {
MODULE, cmdSRV_REL, 1, 127, 1
}
/* servo 1 reverse */
message[mSRV1REV] {
MODULE, cmdSRV_REL, 1, 127, 0
}
/* servo 2 forward */
message[mSRV2FOR] {
MODULE, cmdSRV_REL, 2, 127, 1
}
/* servo 2 reverse */
message[mSRV2REV] {
MODULE, cmdSRV_REL, 2, 127, 0
}
/* set timer 1 for 2 seconds */
message[mTIM1] {
MODULE, cmdTMR_SET, 1, 20000
}
/* set timer 2 for 3 seconds */
message[mTIM2] {
MODULE, cmdTMR_SET, 2, 20000
}
/************* REFLEX VECTORS *************/
P:\010Comp\Bots\880-6\ch08.vp
Monday, May 12, 2003 1:16:47 PM
