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_0           24  //    <- Energia Pin #   Launchpad Pin -> P4.0
 
  #define BP_SW_PIN_1           25  //    <- Energia Pin #   Launchpad Pin -> P4.2
 
  #define BP_SW_PIN_2           6   //    <- Energia Pin #   Launchpad Pin -> P4.3
 
  #define BP_SW_PIN_3           27  //    <- Energia Pin #   Launchpad Pin -> P4.5
 
  #define BP_SW_PIN_4           8   //    <- Energia Pin #   Launchpad Pin -> P4.6
 
  #define BP_SW_PIN_5           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
 
#endif
 
#endif