Revision 13:5f08195456a4, committed 2015-12-15

Comitter:

jimmery

Date:

Tue Dec 15 08:56:36 2015 +0000

Parent:

12:0849b16c2672

Commit message:

HUGE RESTRUCTURING OF THE CODE.

Changed in this revision

diff -r 0849b16c2672 -r 5f08195456a4 main.cpp
--- a/main.cpp	Sat Dec 05 00:26:26 2015 +0000
+++ b/main.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -1,455 +1,82 @@
 #include "mbed.h"
-#include "AVEncoder.h"
-
-// set things
-Serial pc(SERIAL_TX, SERIAL_RX);
-Ticker Systicker;
-
-PwmOut right_forward(PB_10);
-PwmOut right_reverse(PA_6);
-PwmOut left_forward(PA_7);
-PwmOut left_reverse(PB_6);
-
-// TODO: change our encoder pins from AnalogIn into:
-// otherwise, we can also use the AVEncoder thing as well.  
-AVEncoder l_enco(PA_15, PB_3);
-AVEncoder r_enco(PA_1, PA_10);
-
-// gyro
-AnalogIn _gyro(PA_0);
-// AnalogIn gyro_cal(PC_1) ?? currently this isn't connected. 
-
-//Left Front IR
-DigitalOut eLF(PC_3);
-AnalogIn rLF(PC_0);
-                                                    //PC_4 is an ADC
-//Left Side IR
-DigitalOut eLS(PC_2);
-AnalogIn rLS(PC_1);
-
-//Right Side IR
-DigitalOut eRS(PC_12);
-AnalogIn rRS(PA_4);
-
-//Right Front IR
-DigitalOut eRF(PC_15);
-AnalogIn rRF(PB_0);
-
-DigitalOut myled(LED1);
-
-volatile float gyro_offset = 0;
-
-volatile float line_prevError = 0;
-volatile float enco_prevError = 0;
-volatile float gyro_prevError = 0;
-
-volatile float line_accumulator = 0;
-volatile float line_decayFactor = 1;
-volatile float enco_accumulator = 0;
-volatile float enco_decayFactor = 1;
-volatile float gyro_accumulator = 0;
-volatile float gyro_decayFactor = 1.1;
-
-volatile float set_speed = .75;
-volatile float left_speed = .75;
-volatile float right_speed = .75;
-
-const float left_max_speed = 5; // max speed is 6 encoder pulses per ms.
-const float right_max_speed = 5; 
-
-const float gyro_propo = 6.5;
-const float gyro_integ = 0;
-const float gyro_deriv = 10;
-
-const float enco_propo = 6;
-const float enco_integ = 0;//1;
-const float enco_deriv = 1000;//.0002;
-
-const float spin_enco_weight = 1;
-const float spin_gyro_weight = 1 - spin_enco_weight;
-
-const float base_RS = 0.2;
-const float base_LS = 0.1;
-const float base_RF = 0.002;
-const float base_LF = 0.15;
-
-const float thresh_LF = 0.3;
-const float thresh_RF = 0.0045; // TODO: CAUTION USING THIS ALONE. 
-
-const float open_left = 0.22;     //calibrate these two
-const float open_right = 0.18;
-const float wall_left = 0;
-const float wall_right = 0;
-
-volatile float lf_val;
-volatile float rf_val;
-volatile float ls_val;
-volatile float rs_val;
-
-volatile float enco_error;
-volatile float enco_pid;
-volatile float gyro_error;
-volatile float gyro_pid;
-volatile float w_error;
 
-typedef enum 
-{
-    LEFT, 
-    RIGHT, 
-    INVALID
-} TURN_DIRECTION;
-volatile TURN_DIRECTION turn_direction;
-
-//volatile int turn_counter;
-volatile int right_turn_count;
-volatile int examined_left;
-volatile int examined_right;
-
-//time to make a 90 degree turn and move forward one cell length, repectively
-//should be replaced with encoder counts
-const int lmax_turn_count = 620; //I think we need different constants for left/right
-const int rmax_turn_count = 0;
-const int cell_length_count = 875;
-const float gyro_90 = 0.595;
-    
-volatile int forward_counter = 0;
-
-// this is just so that we can maintain what state our mouse is in. 
-// currently this has no real use, but it may in the future. 
-// or we could just remove this entirely. 
-typedef enum 
-{
-    STOPPED, 
-    FORWARD, 
-    TURNING,
-    MOVECELL,
-    FINISHED, 
-    UNKNOWN
-} STATE;
-volatile STATE mouse_state;
-
-volatile int wall_in_front = 0;
-volatile int opening_left_ahead = 0;
-volatile int opening_right_ahead = 0;
-volatile int opening_left = 0;
-volatile int opening_right = 0;
-
-void Scan();
-void offsetCalc();
-void stop();
+#include "pid.h"
+#include "sensors.h"
+#include "mouse.h"
 
-void encoder_reset()
-{
-    l_enco.reset();
-    r_enco.reset();
-    
-    enco_accumulator = 0;
-    gyro_accumulator = 0;
-}
-
-//combining detect opening and watch out
-bool forward_wall_detected()
-{
-    return lf_val > thresh_LF;
-}
-
-bool side_wall_detected()
-{
-    if (rs_val < open_right) 
-    {
-        mouse_state = MOVECELL;
-        turn_direction = RIGHT;
-        return true;
-    } 
-    else if (ls_val < open_left) 
-    {
-        mouse_state = MOVECELL;
-        turn_direction = LEFT;
-        return true;
-    }
-        
-    return false;
-}
-
-// updates PID values.
-void scan()
-{
-    eRS = 1;
-    wait_us(50);
-    rs_val = rRS.read();
-    eRS = 0;
-    
-    eLS  = 1;
-    wait_us(50);
-    ls_val = rLS.read();
-    eLS = 0;
-    
-    eLF = 1;
-    wait_us(50);
-    lf_val = rLF.read();
-}
-
+Ticker Systicker;
+Mouse m;
 
 void systick()
 {
-    scan(); // get the IR values.
+    m.scan(); // get the IR values.
             // these values are useful regardless of what mouse_state we are in.
-    switch (mouse_state)
+    switch (m.mouse_state)
     {
         case STOPPED: 
-            offsetCalc();
-            encoder_reset();
+            m.offsetCalc();
+            m.pid_reset();
+            m.sensor_reset();
             break;
         case FORWARD:
-            if ( forward_wall_detected() )
+            if ( m.forward_wall_detected() )
             {
-                mouse_state = STOPPED;
-                turn_direction = LEFT;
+                m.mouse_state = STOPPED;
+                m.turn_direction = LEFT;
                 return;
             }
-            
-//            if ( side_wall_detected() )
-//            {
-//                return;
-//            }
-            
-            enco_error = l_enco.getPulses() - r_enco.getPulses();
-            gyro_error = _gyro.read() - gyro_offset;
-            
-            enco_accumulator += enco_error;
-            gyro_accumulator += gyro_error;
-  
-            enco_pid = 0;
-            enco_pid += enco_propo * enco_error;
-            enco_pid += enco_integ * enco_accumulator;
-            enco_pid += enco_deriv * (enco_error - enco_prevError);
-        
-            gyro_pid = 0;
-            gyro_pid += gyro_propo * gyro_error;
-            gyro_pid += gyro_integ * gyro_accumulator;
-            gyro_pid += gyro_deriv * (gyro_error - gyro_prevError);
-        
-            w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid;
-            left_speed = set_speed + w_error;
-            right_speed = set_speed - w_error;
-        
-            enco_prevError = enco_error;
-            gyro_prevError = gyro_error;
-        
-            enco_accumulator += enco_error;
-            gyro_accumulator += gyro_error;
-        
-            enco_accumulator /= enco_decayFactor;
-            gyro_accumulator /= gyro_decayFactor;
+            m.run_pid();
+            // TODO we need to start saving walls and stuff.
             break;
         default: 
             // don't do anything. 
             break;
     }
 }
-
-// computes gyro_offset
-// uses a "weighted" average. 
-// idea is that the current gyro offset is weighted more than previous ones. 
-    // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n). 
-    // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.)
-    // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight.
-// currently this is only in the setup function. we can run this when the mouse is running in a line
-// when we figure out good line running pid.
-void offsetCalc()
-{
-    gyro_offset = gyro_offset / 2 + _gyro.read() / 2;
-}
-
-
-void stop()
-{
-    left_forward = 0;
-    left_reverse = 0;
-    right_forward = 0;
-    right_reverse = 0;
-}
+   
+void setup()
+{    
+    Mouse m;
 
-void turn() {
-    // reopen for business. 
-    
-    float angle_change = 0;
-    
-    switch(turn_direction)
-    {
-    case LEFT:
-        while (angle_change < gyro_90)
-        {
-            left_forward = 0;
-            right_forward = set_speed / right_max_speed;
-            left_reverse = set_speed / left_max_speed;
-            right_reverse = 0;
-            
-            pc.printf("gyro read: %f\r\n", _gyro.read());
-            angle_change += _gyro.read() - gyro_offset;
-        }
-        break;
-    case RIGHT:
-        while (angle_change < gyro_90)
-        {
-            left_forward = set_speed / left_max_speed;
-            right_forward = 0;
-            left_reverse = 0;
-            right_forward = set_speed / right_max_speed;
-            
-            pc.printf("gyro read: %f\r\n", _gyro.read());
-            angle_change += gyro_offset - _gyro.read();
-        }
-        break;
-    default:
-        // error state.
-        break;
-    }
-    
-//    while ( turn_counter < lmax_turn_count )
-//    {
-//        left_pulses = l_enco.getPulses();
-//        right_pulses = r_enco.getPulses();
-//        
-//        turn_counter = ((left_pulses - base_left_pulses) + (right_pulses - base_right_pulses)) / 2;
-//        
-//        switch(turn_direction)
-//        {
-//            case LEFT: 
-//                left_forward = 0;
-//                right_forward = set_speed / right_max_speed;
-//                left_reverse = set_speed / left_max_speed;
-//                right_reverse = 0;
-//                break;
-//            case RIGHT:
-//                left_forward = set_speed / left_max_speed;
-//                right_forward = 0;
-//                left_reverse = 0;
-//                right_reverse = set_speed / right_max_speed;
-//                break;
-//            default: 
-//                // invalid state. did not set a turn direction.
-//                mouse_state = STOPPED;
-//                break;
-//        }
-//        
-//    }
-}
-
-// TODO move_cell is not complete. this is copied code from systick.
-void move_cell() {
-    //bacl in business boys.
-    if (mouse_state == MOVECELL) 
-    {
-        forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses());
-        if (forward_counter > 2000) 
-        {
-            forward_counter = 0;
-            mouse_state = TURNING;
-                    if (opening_left_ahead) 
-                    { 
-                    opening_left_ahead = 0;
-                    turn_direction = LEFT;
-                    } 
-                    else if (opening_right_ahead) 
-                    {
-                    opening_right_ahead = 0;
-                    } 
-            encoder_reset();   //right? prepare for turn
-        }
-    }
-}
-    
-void setup()
-{
-    eRS = 0;
-    eRF = 0;
-    eLS = 0;
-    eLF = 0;
-    
-    mouse_state = FORWARD;
-    turn_direction = INVALID;
-    myled = 1;
-    for ( int i = 0; i < 1000; i++ )
-    {
-        offsetCalc();
-    }
+    Systicker.attach_us(&systick, 1000);
     wait(2);
-    
-    Systicker.attach_us(&systick, 1000);
 }
 
 int main() {
     setup();
     while(1) {
-        switch (mouse_state)
+        switch (m.mouse_state)
         {
         case STOPPED:
-            stop();
+            m.stop();
             wait(1);
-            if ( turn_direction == INVALID )
+            if ( m.turn_direction == INVALID )
             {
-                mouse_state = FORWARD;
+                m.mouse_state = FORWARD;
             }
             else
             {
-                mouse_state = TURNING;
+                m.mouse_state = TURNING;
             }
             break;
         case FORWARD:
-            left_forward = left_speed / left_max_speed;
-            left_reverse = 0;
-            right_forward = right_speed / right_max_speed;
-            right_reverse = 0;
+//            left_forward = left_speed / left_max_speed;
+//            left_reverse = 0;
+//            right_forward = right_speed / right_max_speed;
+//            right_reverse = 0;
             break;
         case TURNING:
-            turn();
-            mouse_state = STOPPED;
-            turn_direction = INVALID;
+            m.turn();
+            m.mouse_state = STOPPED;
+            m.turn_direction = INVALID;
             break;
         case MOVECELL:
-            move_cell();
-            mouse_state = STOPPED;
+            m.move_cell();
+            m.mouse_state = STOPPED;
             break;
         default: 
             // idk lmao. show some error message?
             break;
         }
     }
-}
-
-
-void test_IR_sensors()
-{
-    eRS = 1;
-    wait_us(50);
-    float right_side = rRS.read();
-    eRS = 0;
-    eLS = 1;
-    wait_us(50);
-    float left_side = rLS.read();
-    eLS = 0;
-    eRF = 1;
-    wait_us(50);
-    float right_front = rRF.read();
-    eRF = 0;
-    eLF = 1;
-    wait_us(50);
-    float left_front = rLF.read();
-    eLF = 0;
-    pc.printf("right side: %f, left side: %f right_front: %f, left_front: %f \r\n", right_side, left_side, right_front, left_front);
-    wait(1);
-}
-
-void test_motors()
-{
-    encoder_reset();
-    
-    right_forward = 1;
-    left_forward = 1;
-    right_reverse = 0;
-    left_reverse = 0;
-    
-    wait(10);
-    pc.printf("left pulses: %d, right pulses: %d", l_enco.getPulses(), r_enco.getPulses());
 }
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 maze.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/maze.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,1 @@
+#include "maze.h"
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 maze.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/maze.h	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,9 @@
+// IDEA IS TO HAVE THE ALGORITHM DONE IN HERE.
+#ifndef MAZE_H
+#define MAZE_H
+
+// MAZE DIMENSIONS. 
+const int MAX_ROW = 16;
+const int MAX_COL = MAX_ROW;
+
+#endif
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 mouse.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mouse.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,88 @@
+// CONTAINS ALL MOUSE MOTOR MOVEMENTS. AND LOGIC RELATING TO MOVEMENT.
+
+#include "mouse.h"
+#include "pinouts.h"
+#include "sensors.h"
+
+Mouse::Mouse()
+{
+    sensor_init();
+    pid_reset();
+    
+    mouse_state = STOPPED;
+    turn_direction = INVALID;
+    // TODO complete.
+}
+
+void Mouse::stop()
+{
+    left_forward = 0;
+    left_reverse = 0;
+    right_forward = 0;
+    right_reverse = 0;
+}
+
+// TODO: consider a logic change. whether it's curve turns or whatever. 
+// or just a change from x_speed to w_speed or something. but we should maybe try to
+// separate the x_speed from the w_speed. 
+
+// TODO: consider having separate conditions for turning around as well. added in TURN_DIRECTION.
+void Mouse::turn(TURN_DIRECTION dir, int n_times) 
+{
+    float angle_change = 0;
+    
+    switch(dir)
+    {
+    case LEFT:
+        while (angle_change < gyro_90)
+        {
+            left_forward = 0;
+            right_forward = set_x_speed / right_max_speed;
+            left_reverse = set_x_speed / left_max_speed;
+            right_reverse = 0;
+            
+            pc.printf("gyro read: %f\r\n", _gyro.read());
+            angle_change += _gyro.read() - gyro_offset;
+        }
+        break;
+    case RIGHT:
+        while (angle_change < gyro_90)
+        {
+            left_forward = set_x_speed / left_max_speed;
+            right_forward = 0;
+            left_reverse = 0;
+            right_forward = set_x_speed / right_max_speed;
+            
+            pc.printf("gyro read: %f\r\n", _gyro.read());
+            angle_change += gyro_offset - _gyro.read();
+        }
+        break;
+    default:
+        // error state.
+        break;
+    }
+}
+
+// TODO move_cell is not complete. this is copied code from systick.
+void Mouse::move_cell() {
+    //bacl in business boys.
+//    if (mouse_state == MOVECELL) 
+//    {
+//        forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses());
+//        if (forward_counter > 2000) 
+//        {
+//            forward_counter = 0;
+//            mouse_state = TURNING;
+//                    if (opening_left_ahead) 
+//                    { 
+//                    opening_left_ahead = 0;
+//                    turn_direction = LEFT;
+//                    } 
+//                    else if (opening_right_ahead) 
+//                    {
+//                    opening_right_ahead = 0;
+//                    } 
+//            sensor_reset();   //right? prepare for turn
+//        }
+//    }
+}
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 mouse.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mouse.h	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,105 @@
+// HAS EVERYTHING RELATED TO THE MOUSE.
+// includes implementations from: 
+// mouse.cpp, which includes all motor related actions. 
+// sensors.cpp, which includes all sensor information. 
+// pid.cpp, which includes the pid constants/algorithm. 
+// maze.cpp? when that gets implemented in the future. 
+
+#ifndef MOUSE_H
+#define MOUSE_H
+
+#include "AVEncoder.h"
+
+typedef enum 
+{
+    LEFT, 
+    RIGHT,
+    AROUND, 
+    INVALID
+} TURN_DIRECTION;
+
+// this is just so that we can maintain what state our mouse is in. 
+// currently this has no real use, but it may in the future. 
+// or we could just remove this entirely. 
+typedef enum 
+{
+    STOPPED, 
+    FORWARD, 
+    TURNING,
+    MOVECELL,
+    FINISHED, 
+    UNKNOWN
+} STATE;
+
+class Mouse
+{
+public:
+    Mouse();
+    void stop();
+    void setForward( float left_speed, float right_speed );
+    void turn( TURN_DIRECTION dir = LEFT, int n_times = 1 );
+    void move_cell();
+    
+    void scan();
+    void sensor_reset();
+    void offsetCalc();
+    bool forward_wall_detected();
+    bool side_opening_detected();
+    
+    void run_pid();
+    void pid_reset();
+    
+    // TODO move into private eventually.
+    volatile TURN_DIRECTION turn_direction;
+    volatile STATE mouse_state;
+private:
+    // essential mouse information. 
+    volatile int row;
+    volatile int col;
+    
+    volatile float left_speed;
+    volatile float right_speed;
+    
+    // [-----------------------------------SENSOR INFORMATION-----------------------------------]
+    // [-------------------------------IMPLEMENTED IN SENSORS.CPP-------------------------------] 
+    void sensor_init();
+    
+    volatile float gyro_offset;
+
+    volatile float lf_val;
+    volatile float rf_val;
+    volatile float ls_val;
+    volatile float rs_val;
+    
+    volatile int wall_in_front;
+    volatile int opening_left_ahead;
+    volatile int opening_right_ahead;
+    volatile int opening_left;
+    volatile int opening_right;
+    
+    // [------------------------------------PID INFORMATION.------------------------------------]
+    // [---------------------------------IMPLEMENTED IN PID.CPP---------------------------------] 
+    // helper functions
+    float rotational_pid();
+    float translational_pid();
+    //void pid_reset();
+    
+    // helper data members. (not really needed to be shown - for implementation purposes)
+    volatile float line_prevError;
+    volatile float enco_prevError;
+    volatile float gyro_prevError;
+    
+    volatile float set_w;
+    volatile float set_x;
+    
+    volatile float spin_enco_weight;
+    volatile float spin_gyro_weight;
+    
+    // [-------------------------------------TEST FUNCTIONS-------------------------------------]
+    // [--------------------------------IMPLEMENTED IN TEST.CPP.--------------------------------] 
+    
+    void test_IR_sensors();
+    void test_motors();
+};
+
+#endif
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 pid.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,71 @@
+#include "pid.h"
+#include "mouse.h"
+#include "pinouts.h"
+
+void Mouse::run_pid()
+{
+    float w_error = rotational_pid();
+    float x_error = translational_pid(); 
+    
+    left_speed = set_x_speed + w_error + x_error;
+    right_speed = set_x_speed - w_error + x_error;
+}
+
+float Mouse::rotational_pid()
+{
+    // this may come into play when we start learning curve turns.
+    //set_w += set_w_speed;
+    
+    float enco_error = l_enco.getPulses() - r_enco.getPulses();
+    float gyro_error = _gyro.read() - gyro_offset;
+  
+    float enco_pid = 0;
+    enco_pid += enco_propo * enco_error;
+    enco_pid += enco_deriv * (enco_error - enco_prevError);
+        
+    float gyro_pid = 0;
+    gyro_pid += gyro_propo * gyro_error;
+    gyro_pid += gyro_deriv * (gyro_error - gyro_prevError);
+    
+    float w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid;
+    
+    // set previous error. 
+    enco_prevError = enco_error;
+    gyro_prevError = gyro_error;
+    
+    // as time goes on, the gyro becomes less and less weighted. 
+    spin_gyro_weight /= gyro_falloff;
+    spin_enco_weight = 1 - spin_gyro_weight;
+    
+    return w_error;
+}
+
+float Mouse::translational_pid()
+{
+    set_x += 2 * set_x_speed;
+    
+    float line_error = l_enco.getPulses() + r_enco.getPulses() - set_x;
+    
+    float line_pid = 0;
+    line_pid += line_propo * line_error;
+    line_pid += line_deriv * (line_error - line_prevError);
+    
+    line_prevError = line_error;
+    
+    return line_error;
+}
+
+void Mouse::pid_reset()
+{
+    spin_enco_weight = 0.5;
+    spin_gyro_weight = 1 - spin_enco_weight;
+    
+    line_prevError = 0;
+    enco_prevError = 0;
+    gyro_prevError = 0;
+    
+    set_w = 0;
+    set_x = 0;
+    
+    // accumulator reset here? if we use integral. 
+}
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 pid.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.h	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,21 @@
+#ifndef PID_H
+#define PID_H
+
+const float set_x_speed = .75;
+const float set_w_speed = 0;
+
+const float left_max_speed = 5; // max speed is 6 encoder pulses per ms.
+const float right_max_speed = 5; 
+
+const float line_propo = 0;
+const float line_deriv = 0;
+
+const float gyro_propo = 6.5;
+const float gyro_deriv = 10;
+
+const float enco_propo = 6;
+const float enco_deriv = 1000;//.0002;
+
+const float gyro_falloff = 1.0005;
+
+#endif
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 pinouts.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pinouts.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,39 @@
+#include "mouse.h"
+#include "pinouts.h"
+
+#include "AVEncoder.h"
+#include "mbed.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+PwmOut right_forward(PB_10);
+PwmOut right_reverse(PA_6);
+PwmOut left_forward(PA_7);
+PwmOut left_reverse(PB_6);
+
+// TODO: change our encoder pins from AnalogIn into:
+// otherwise, we can also use the AVEncoder thing as well.  
+AVEncoder l_enco(PA_15, PB_3);
+AVEncoder r_enco(PA_1, PA_10);
+
+// gyro
+AnalogIn _gyro(PA_0);
+// AnalogIn gyro_cal(PC_1) ?? currently this isn't connected. 
+
+//Left Front IR
+DigitalOut eLF(PC_3);
+AnalogIn rLF(PC_0);
+                                                    //PC_4 is an ADC
+//Left Side IR
+DigitalOut eLS(PC_2);
+AnalogIn rLS(PC_1);
+
+//Right Side IR
+DigitalOut eRS(PC_12);
+AnalogIn rRS(PA_4);
+
+//Right Front IR
+DigitalOut eRF(PC_15);
+AnalogIn rRF(PB_0);
+
+DigitalOut myled(LED1);

diff -r 0849b16c2672 -r 5f08195456a4 pinouts.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pinouts.h	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef PINOUTS_H
+#define PINOUTS_H
+
+extern Serial pc;
+
+extern PwmOut right_forward;
+extern PwmOut right_reverse;
+extern PwmOut left_forward;
+extern PwmOut left_reverse;
+
+extern AVEncoder l_enco;
+extern AVEncoder r_enco;
+
+extern AnalogIn _gyro;
+
+extern DigitalOut eLF;
+extern AnalogIn rLF;
+
+extern DigitalOut eLS;
+extern AnalogIn rLS;
+
+extern DigitalOut eRS;
+extern AnalogIn rRS;
+
+extern DigitalOut eRF;
+extern AnalogIn rRF;
+
+extern DigitalOut myled;
+
+#endif
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 sensors.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensors.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,85 @@
+#include "sensors.h"
+#include "mbed.h"
+#include "mouse.h"
+#include "pinouts.h"
+
+// updates PID values.
+void Mouse::scan()
+{
+    eRS = 1;
+    wait_us(50);
+    rs_val = rRS.read();
+    eRS = 0;
+    
+    eRF = 1;
+    wait_us(50);
+    rf_val = rRF.read();
+    
+    eLS  = 1;
+    wait_us(50);
+    ls_val = rLS.read();
+    eLS = 0;
+    
+    eLF = 1;
+    wait_us(50);
+    lf_val = rLF.read();
+}
+
+bool Mouse::forward_wall_detected()
+{
+    return lf_val > thresh_LF;
+}
+
+bool Mouse::side_opening_detected()
+{
+    if (rs_val < open_right) 
+    {
+        mouse_state = MOVECELL;
+        turn_direction = RIGHT;
+        return true;
+    } 
+    else if (ls_val < open_left) 
+    {
+        mouse_state = MOVECELL;
+        turn_direction = LEFT;
+        return true;
+    }
+        
+    return false;
+}
+
+// computes gyro_offset
+// uses a "weighted" average. 
+// idea is that the current gyro offset is weighted more than previous ones. 
+    // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n). 
+    // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.)
+    // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight.
+// currently this is only in the setup function. we can run this when the mouse is running in a line
+// when we figure out good line running pid.
+void Mouse::offsetCalc()
+{
+    gyro_offset = gyro_offset / 2 + _gyro.read() / 2;
+}
+
+void Mouse::sensor_reset()
+{
+    l_enco.reset();
+    r_enco.reset();
+}
+
+void Mouse::sensor_init()
+{
+    gyro_offset = 0;
+    
+    lf_val = 0;
+    rf_val = 0;
+    ls_val = 0;
+    rs_val = 0;
+    
+    eLF = 0;
+    eRF = 0;
+    eLS = 0;
+    eRS = 0;
+    
+    sensor_reset();
+}
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 sensors.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensors.h	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,24 @@
+#ifndef SENSORS_H
+#define SENSORS_H
+
+const float base_RS = 0.2;
+const float base_LS = 0.1;
+const float base_RF = 0.002;
+const float base_LF = 0.15;
+
+const float thresh_LF = 0.3;
+const float thresh_RF = 0.0045; // TODO: CAUTION USING THIS ALONE. 
+
+const float open_left = 0.22;     //calibrate these two
+const float open_right = 0.18;
+const float wall_left = 0;
+const float wall_right = 0;
+
+// MAZE/MOUSE CONSTANTS.
+const int cell_length_count = 2000;
+
+//time to make a 90 degree turn and move forward one cell length, repectively
+//should be replaced with encoder counts
+const float gyro_90 = 0.595;
+
+#endif
\ No newline at end of file

diff -r 0849b16c2672 -r 5f08195456a4 test.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,23 @@
+#include "mouse.h"
+#include "pinouts.h"
+
+void Mouse::test_IR_sensors()
+{
+    scan();
+    
+    pc.printf("right side: %f, left side: %f right_front: %f, left_front: %f \r\n", rs_val, ls_val, rf_val, lf_val);
+    wait(1);
+}
+
+void Mouse::test_motors()
+{
+    sensor_reset();
+    
+    right_forward = 1;
+    left_forward = 1;
+    right_reverse = 0;
+    left_reverse = 0;
+    
+    wait(10);
+    pc.printf("left pulses: %d, right pulses: %d", l_enco.getPulses(), r_enco.getPulses());
+}
\ No newline at end of file