Diff: robot.h

Revision:

0:b74b6d70347d

Child:

1:282467cbebb3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h	Sun Oct 05 12:21:03 2014 +0000
@@ -0,0 +1,135 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+#include "QEI.h"
+#include "mbed.h"
+#include "rtos.h"
+#include "HC05.h"
+//#include "MPU6050.h"
+//#include "HC05.h"
+//#include "ACS712.h"
+//#include "MPU6050_6Axis_MotionApps20.h"
+//#include "DMP.h"
+//#include "IMUDATA.h"
+//#include "ADNS5090.h"
+#define BaudRate_bt 115200      //Baud rate of 9600
+#define tx_bt       PTA2        //Bluetooth connection pins
+#define rx_bt       PTA1        //Bluetooth connection pins
+#define EN_BT       PTA4        //Bluetooth connection pins
+//#define tx_mpu      PTE0    //MPU connection pins
+//#define rx_mpu      PTE1    //MPU connection pins
+//#define mpu_bandwidth MPU6050_BW_20 //set the MPU low pass filter bandwidth to 20hz
+
+#define myledd PTB8        //status LED pin
+#define CURRENTSENSOR_PIN PTB3
+#define VOLTAGESENSOR_PIN PTB0
+
+#define CURRENT_R1 180 //160.0     //values of the current sensor opamp resistors
+#define CURRENT_R2 10
+#define CURRENT_R3 80
+#define CURRENT_R4 84.7
+#define VREF3_3 3.3        //digital logic voltage
+#define VREF5 5.0       //5v voltage        //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts
+
+
+//#define irL PTB1
+//#define irC PTB3
+//#define irR PTB2
+
+#define LDR1 PTB1
+#define LDR2 PTB2
+#define buzz PTC8
+
+#define MOT_PWMA_PIN   PTA5    //Motor control pins    
+#define MOT_PWMB_PIN   PTA12
+#define MOT_STBY_PIN   PTE31
+#define MOT_AIN1_PIN   PTE30
+#define MOT_AIN2_PIN   PTE29
+#define MOT_BIN1_PIN   PTE24
+#define MOT_BIN2_PIN   PTE25
+
+#define M_PI 3.14159265359  //PI
+#define gyroCorrect 3720    //divide raw gyro data by this to get result in RAD/SECOND (if gyroRange is 500 rad/s)
+
+//Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards)
+#define MOTOR_R_DIRECTION   1
+#define MOTOR_L_DIRECTION   1
+
+#define MOTOR_INTERVAL 20     //defines the interval (in milliseconds) between when motor can be set
+//NOTE: Can't make this less than 20ms, because that is the PWM frequency
+
+//Key bindings for remote control robot - for the future try to use arrow keys instead of 'asdw'
+#define ctrl_forward    'i'         //forward
+#define ctrl_backward   'k'         //back
+#define ctrl_left       'j'         //turn left
+#define ctrl_right      'l'         //turn right
+#define ctrl_calibrate  'c'         //re-calibrate the accelerometer and gyro
+#define ctrl_turn_angle_cw    'o'         // turn angle
+#define ctrl_turn_angle_ccw    'p'
+// The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
+//  "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
+//  only handles 4 byte transfers in the ATMega code.
+#define TRANSFER_SIZE   4
+
+extern   HC05 bt;  //bluetooth connection
+//extern   Serial bt;
+//extern  QEI wheel;
+extern QEI left;
+extern QEI right;
+//extern    MPU6050 mpu;   //MPU connection
+extern    DigitalOut myled;   //(PTE3) Processor LED (1 = off, 0 = on)
+//extern    DigitalOut btSwitch;
+//extern    AnalogIn currentSensor;
+extern    DigitalOut buzzer;
+extern    DigitalOut key;
+//extern    PwmOut buzzer;
+extern    AnalogIn LDRsensor1;
+extern    AnalogIn LDRsensor2;
+//extern    AnalogIn voltageSensor;
+    ///////////   Motor control variables   ///////////
+extern    PwmOut PWMA;//(MOT_PWMA_PIN);
+extern    PwmOut PWMB;//(MOT_PWMB_PIN);
+extern    DigitalOut AIN1;//(MOT_AIN1_PIN);
+extern    DigitalOut AIN2;//(MOT_AIN2_PIN);
+extern    DigitalOut BIN1;//(MOT_BIN1_PIN);
+extern    DigitalOut BIN2;//(MOT_BIN2_PIN);
+extern    DigitalOut STBY;//(MOT_STBY_PIN);
+    void motor_control(int Lspeed, int Rspeed);  //Input speed for motors. Integer between 0 and 100
+    void stop();                           //stop motors
+    void set_direction(double angle);            //set angle for the robot to face (from origin)
+    void set_direction_deg(double angle);
+    void set_speed(int Speed );      //set speed for robot to travel at
+    void auto_enable(bool x);
+    /**
+    *   MPU CONTROLS
+    */
+    //  calibrate the gyro and accelerometer  //
+   void calibrate();
+    /**
+    *   Status: find the distance, orientation, battery values, etc of the robot
+    */
+    //void distanceTravelled(double x[3])
+    //void orientation(something quaternion? on xy plane?)
+    double getCurrent();   //Get the current drawn by the robot
+    double getCurrent(int n); //get the current, averaged over n samples
+    double getVoltage();    //get the battery voltage (ask connor for completed function)
+    void getIMU(float *adata, float *gdata);
+    double ldrread1();
+    double ldrread2();
+    //void pl_buzzer1();
+    void Led_on();
+    void Led_off();
+    double return_rotation();
+    int isMPU();
+    void initRobot();
+    extern double pl_buzzer();
+    extern void pl_buzzer(void const *args);
+    extern int freq; 
+    extern int rMotor;
+    extern int lMotor ;
+    extern int m_speed;
+    extern Mutex stdio_mutex; 
+    
+
+    //Wireless connections
+
+#endif
\ No newline at end of file