global.h

#ifndef GLOBAL_H
#define GLOBAL_H

// #define DEBUG

//-----------------------------------------------------------------------------
// Background task and routines to use color sensor as flashing light
//-----------------------------------------------------------------------------

#define S_CLR IN_3

#define CLR_R 0
#define CLR_B 1
#define CLR_O 2
#define CLR_G 3
#define CLR_W 4
#define CLR_Y 5

#define L_DEL 1000

#define T_90 180
#define T_CUT 10
#define T_OVR 57

// tcs34725 two 
#define T_SCNT -675
#define T_SEDG -575
#define T_SCNR -545

#define T_TILT 140
#define T_TAWY 20
#define T_TREL 62
#define T_THLD 200
#define T_ADJ 3

#define M_TURN 0
#define M_TILT 1
#define M_SCAN 2
#define MAX_M_POWER 255

#define P_LOW 160
#define P_HIGH 180

#define M_WAIT_MUL 4

#define NFACE 6 // number of faces in cube
#define POS(FF, OO) (((FF)*8) + (OO))

#define makeLong(hi, low) (((long)hi) << 16 | (low))
#define highWord(w) ((w) >> 16)
#define lowWord(w) ((w)&0xFFFF)

const int EEPROM_ID_ADDR = 0;
const int EEPROM_DATA_ADDR = 1;
const uint8_t EEPROM_ID = 0x99;

uint8_t white_rgb[3] = {255, 255, 255};

// 齿轮比
const int ratio[] = {3, 1, 3};

// 电机位置
int32_t positions[] = {0, 0, 0};

int32_t c = 24;

bool scanOK = true;

unsigned long start = 0;

#endif