RSLK_Pins.h

Go to the documentation of this file.

 
#ifndef RSLKPins_h
#define RSLKPins_h
 
#if defined(USING_RSLK_CLASSIC)
/* QTR-8RC Reflectance Sensor Array Pins (https://www.pololu.com/product/961)
 * Below shows how the line sensor pins are mapped to the MSP-EXP432P401R */
 
#define TOTAL_LINE_SENSORS 8
#define QTR_EMITTER_PIN 61 // <- Energia Pin #   Launchpad Pin -> P5.3
#define QTR_0 65           // <- Energia Pin #   Launchpad Pin -> P7.0
#define QTR_1 48           // <- Energia Pin #   Launchpad Pin -> P7.1
#define QTR_2 64           // <- Energia Pin #   Launchpad Pin -> P7.2
#define QTR_3 47           // <- Energia Pin #   Launchpad Pin -> P7.3
#define QTR_4 52           // <- Energia Pin #   Launchpad Pin -> P7.4
#define QTR_5 68           // <- Energia Pin #   Launchpad Pin -> P7.5
#define QTR_6 53           // <- Energia Pin #   Launchpad Pin -> P7.6
#define QTR_7 69           // <- Energia Pin #   Launchpad Pin -> P7.7
 
/* Pololu Snap-Action Switches (https://www.pololu.com/product/1404)
 * Robot utilizes 6 of these switches.
 * Switches' common pin is connected to ground.
 * NO (normally open) is connected to Launchpad
 */
#define TOTAL_BP_SWITCHES 6
#define BP_SW_PIN_0 51 // <- Energia Pin #   Launchpad Pin -> P8.0
#define BP_SW_PIN_1 60 // <- Energia Pin #   Launchpad Pin -> P8.3
#define BP_SW_PIN_2 43 // <- Energia Pin #   Launchpad Pin -> P8.4
#define BP_SW_PIN_3 41 // <- Energia Pin #   Launchpad Pin -> P8.5
#define BP_SW_PIN_4 57 // <- Energia Pin #   Launchpad Pin -> P8.6
#define BP_SW_PIN_5 58 // <- Energia Pin #   Launchpad Pin -> P8.7
 
/* Motor Driver and Power Distribution Board (https://www.pololu.com/product/3543)
 * Pin configuration for the left and right motor's sleep, direction and pwm pin
 */
#define MOTOR_L_SLP_PIN 24 // <- Energia Pin #   Launchpad Pin -> P4.0
#define MOTOR_L_DIR_PIN 25 // <- Energia Pin #   Launchpad Pin -> P4.2
#define MOTOR_L_PWM_PIN 11 // <- Energia Pin #   Launchpad Pin -> P3.6
#define MOTOR_R_SLP_PIN 26 // <- Energia Pin #   Launchpad Pin -> P4.4
#define MOTOR_R_DIR_PIN 27 // <- Energia Pin #   Launchpad Pin -> P4.5
#define MOTOR_R_PWM_PIN 35 // <- Energia Pin #   Launchpad Pin -> P6.4
 
/* Sharp GP2Y0A21YK0F Analog Distance Sensor (https://www.pololu.com/product/136)
 * Robot utilizes three of these sensors
 */
#define SHRP_DIST_L_PIN 59 // <- Energia Pin #   Launchpad Pin -> P9.1
#define SHRP_DIST_C_PIN 23 // <- Energia Pin #   Launchpad Pin -> P6.1
#define SHRP_DIST_R_PIN 42 // <- Energia Pin #   Launchpad Pin -> P9.0
 
/* Romi Encoder Pair Kit, 12 CPR, 3.5-18V (https://www.pololu.com/product/3542)
 * Robot utilizes two encoders. One for the left wheel and one for the right wheel
 */
#define ENCODER_ERA_PIN 10 // <- Energia Pin #   Launchpad Pin -> P6.4
#define ENCODER_ERB_PIN 30 // <- Energia Pin #   Launchpad Pin -> P5.5
#define ENCODER_ELA_PIN 17 // <- Energia Pin #   Launchpad Pin -> P5.7
#define ENCODER_ELB_PIN 38 // <- Energia Pin #   Launchpad Pin -> P2.4
 
#else
/* QTR-8RC Reflectance Sensor Array Pins (https://www.pololu.com/product/961)
 * Below shows how the line sensor pins are mapped to the MSP-EXP432P401R
 */
#define QTR_0 65                // <- Energia Pin #   Launchpad Pin -> P7.0
#define QTR_1 48                // <- Energia Pin #   Launchpad Pin -> P7.1
#define QTR_2 64                // <- Energia Pin #   Launchpad Pin -> P7.2
#define QTR_3 47                // <- Energia Pin #   Launchpad Pin -> P7.3
#define QTR_4 52                // <- Energia Pin #   Launchpad Pin -> P7.4
#define QTR_5 68                // <- Energia Pin #   Launchpad Pin -> P7.5
#define QTR_6 53                // <- Energia Pin #   Launchpad Pin -> P7.6
#define QTR_7 69                // <- Energia Pin #   Launchpad Pin -> P7.7
#define QTR_EMITTER_PIN_EVEN 61 // <- Energia Pin #   Launchpad Pin -> P5.3
#define QTR_EMITTER_PIN_ODD 45  // <- Energia Pin #   Launchpad Pin -> P9.2
 
/* Pololu Snap-Action Switches (https://www.pololu.com/product/1404)
 * Robot utilizes 6 of these switches.
 * Switches' common pin is connected to ground.
 * NO (normally open) is connected to Launchpad
 */
#define BP_SW_PIN_5 24          //    <- Energia Pin #   Launchpad Pin -> P4.0
#define BP_SW_PIN_4 25          //    <- Energia Pin #   Launchpad Pin -> P4.2
#define BP_SW_PIN_3 6           //    <- Energia Pin #   Launchpad Pin -> P4.3
#define BP_SW_PIN_2 27          //    <- Energia Pin #   Launchpad Pin -> P4.5
#define BP_SW_PIN_1 8           //    <- Energia Pin #   Launchpad Pin -> P4.6
#define BP_SW_PIN_0 28          //    <- Energia Pin #   Launchpad Pin -> P4.7
 
/* Motor Driver and Power Distribution Board (https://www.pololu.com/product/3543)
 * Pin configuration for the left and right motor's sleep, direction and pwm pin
 */
 
#define MOTOR_L_SLP_PIN 31      //  <- Energia Pin #   Launchpad Pin -> P3.7
 
#define MOTOR_L_DIR_PIN 29      //  <- Energia Pin #   Launchpad Pin -> P5.4
 
#define MOTOR_L_PWM_PIN 40      //  <- Energia Pin #   Launchpad Pin -> P2.7
 
#define MOTOR_R_SLP_PIN 11      //  <- Energia Pin #   Launchpad Pin -> P3.6
#define MOTOR_R_DIR_PIN 30      //  <- Energia Pin #   Launchpad Pin -> P5.5
 
#define MOTOR_R_PWM_PIN 39      //  <- Energia Pin #   Launchpad Pin -> P.2.6
 
/* Sharp GP2Y0A21YK0F Analog Distance Sensor (https://www.pololu.com/product/136)
 * Robot utilizes three of these sensors
 */
 
#define SHRP_DIST_L_PIN 59      //  <- Energia Pin #   Launchpad Pin -> P9.1
#define SHRP_DIST_C_PIN 23      //  <- Energia Pin #   Launchpad Pin -> P6.1
#define SHRP_DIST_R_PIN 42      //  <- Energia Pin #   Launchpad Pin -> P9.0
 
/* Romi Encoder Pair Kit, 12 CPR, 3.5-18V (https://www.pololu.com/product/3542)
 * Robot utilizes two encoders. One for the left wheel and one for the right wheel
 */
#define ENCODER_ELB_PIN 12      // <- Energia Pin #   Launchpad Pin -> P5.2
#define ENCODER_ERB_PIN 13      // <- Energia Pin #   Launchpad Pin -> P5.0
#define ENCODER_ELA_PIN 72      // <- Energia Pin #   Launchpad Pin -> P10.5
#define ENCODER_ERA_PIN 56      // <- Energia Pin #   Launchpad Pin -> P10.4
 
#define SRV_0 38                // <- Energia Pin #   Launchpad Pin -> P2.4
 
#define SRV_1 32                // <- Energia Pin #   Launchpad Pin -> P3.5
 
#define SRV_2 17                // <- Energia Pin #   Launchpad Pin -> P5.7
 
#define SRV_FB0 43              // <- Energia Pin #   Launchpad Pin -> P8.4
 
#define SRV_FB1 60              // <- Energia Pin #   Launchpad Pin -> P8.3
#define SRV_FB2 44              // <- Energia Pin #   Launchpad Pin -> P8.2
 
#define LCD_SCLK 66             // <- Energia Pin #   Launchpad Pin -> P9.5
#define LCD_MOSI 67             // <- Energia Pin #   Launchpad Pin -> P9.7
#define LCD_RST 62              // <- Energia Pin #   Launchpad Pin -> P9.3
#define LCD_CS 49               // <- Energia Pin #   Launchpad Pin -> P9.4
#define LCD_DC 50               // <- Energia Pin #   Launchpad Pin -> P9.6
 
/* Blinker LEDs on Chassis Board (https://www.pololu.com/product/3671)
 */
 
#define LED_BL_PIN  57          // <- Energia Pin #   Launchpad Pin -> P8.6
#define LED_BR_PIN  58          // <- Energia Pin #   Launchpad Pin -> P8.7
#define LED_FL_PIN  51          // <- Energia Pin #   Launchpad Pin -> P8.0
#define LED_FR_PIN  41          // <- Energia Pin #   Launchpad Pin -> P8.5
 
#endif  // USING_RSLK_CLASSIC
 
#endif  // RSLKPins_h