SLRC-2019 / Mbed 2 deprecated speed_robot

code for the speed robot

Dependencies:   MPU6050-DMP mbed PololuQTRSensors vl53l0x

_var.h@8:d7941bcd9981, 2019-10-01 (annotated)

Committer:
deepanaishtaweera174
Date:
Tue Oct 01 12:33:33 2019 +0000
Revision:
8:d7941bcd9981
Parent:
7:fd80a0d11658 
hey

Who changed what in which revision?

UserRevisionLine numberNew contents of line
deepanaishtaweera174 0:c3a27228c31b 1 I2C i2c(PB_9,PB_8);
deepanaishtaweera174 1:b188e27eb7da 2 Timer t;
deepanaishtaweera174 3:9b2f15b0d47b 3
deepanaishtaweera174 3:9b2f15b0d47b 4 VL53L0X Sensor3(&i2c,&t); //Right Sensor
deepanaishtaweera174 3:9b2f15b0d47b 5 VL53L0X Sensor2(&i2c,&t); //Left Sensor
deepanaishtaweera174 3:9b2f15b0d47b 6 VL53L0X Sensor1(&i2c,&t); //Front Sensor
deepanaishtaweera174 3:9b2f15b0d47b 7 int right_Distance;
deepanaishtaweera174 3:9b2f15b0d47b 8 int left_Distance;
deepanaishtaweera174 3:9b2f15b0d47b 9 int front_Distance;
deepanaishtaweera174 0:c3a27228c31b 10
deepanaishtaweera174 0:c3a27228c31b 11 // Gyro Variables
deepanaishtaweera174 0:c3a27228c31b 12 MPU6050 mpu;
deepanaishtaweera174 0:c3a27228c31b 13 volatile bool mpuInterrupt = false;
deepanaishtaweera174 0:c3a27228c31b 14 unsigned long savedMillis;
deepanaishtaweera174 0:c3a27228c31b 15 bool gyroTurnMode = false;
deepanaishtaweera174 7:fd80a0d11658 16 int zAngle = 0;
deepanaishtaweera174 7:fd80a0d11658 17 int xAngle = 0;
deepanaishtaweera174 7:fd80a0d11658 18 int preZAngle = 0;
deepanaishtaweera174 7:fd80a0d11658 19 int preXAngle = 0;
deepanaishtaweera174 7:fd80a0d11658 20 int startAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 21 unsigned long preGyroMillis = 0;
deepanaishtaweera174 0:c3a27228c31b 22
deepanaishtaweera174 0:c3a27228c31b 23 // MPU control/status vars
deepanaishtaweera174 0:c3a27228c31b 24 bool dmpReady = false; // set true if DMP init was successful
deepanaishtaweera174 0:c3a27228c31b 25 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
deepanaishtaweera174 0:c3a27228c31b 26 uint8_t devStatus;
deepanaishtaweera174 0:c3a27228c31b 27 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
deepanaishtaweera174 0:c3a27228c31b 28 uint16_t fifoCount;
deepanaishtaweera174 0:c3a27228c31b 29 uint8_t fifoBuffer[64];
deepanaishtaweera174 0:c3a27228c31b 30
deepanaishtaweera174 0:c3a27228c31b 31 // orientation/motion vars
deepanaishtaweera174 0:c3a27228c31b 32 Quaternion q; // [w, x, y, z] quaternion container
deepanaishtaweera174 0:c3a27228c31b 33 VectorInt16 aa; // [x, y, z] accel sensor measurements
deepanaishtaweera174 0:c3a27228c31b 34 VectorInt16 aaReal; // [x, y, z]
deepanaishtaweera174 0:c3a27228c31b 35 VectorInt16 aaWorld; // [x, y, z]
deepanaishtaweera174 0:c3a27228c31b 36 VectorFloat gravity; // [x, y, z] gravity vector
deepanaishtaweera174 0:c3a27228c31b 37 float euler[3]; // [psi, theta, phi] Euler angle container
deepanaishtaweera174 0:c3a27228c31b 38 float ypr[3]; // [yaw, pitch, roll]