EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

main.h@37:1d51cf101b03, 2014-12-12 (annotated)

Committer:
alecguertin
Date:
Fri Dec 12 20:53:45 2014 +0000
Revision:
37:1d51cf101b03
Parent:
35:a1c14c6d9282
Child:
39:cc8691700d2a
working!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lsaristo 8:12d780f7443e 1 /**
lsaristo 10:94b068b2ce1d 2 * @file main.h
lsaristo 35:a1c14c6d9282 3 * @brief Main header file for includes and defs
lsaristo 8:12d780f7443e 4 * @author John Wilkey
lsaristo 29:459ff10d2a07 5 * @author Alec Guertin
lsaristo 29:459ff10d2a07 6 * @author Chester Chu
lsaristo 8:12d780f7443e 7 */
lsaristo 8:12d780f7443e 8
lsaristo 10:94b068b2ce1d 9 #ifndef _MAIN_H
lsaristo 10:94b068b2ce1d 10 #define _MAIN_H
lsaristo 8:12d780f7443e 11
lsaristo 8:12d780f7443e 12 #include "mbed.h"
lsaristo 8:12d780f7443e 13 #include "m3pi.h"
lsaristo 9:3a0433c391cb 14 #include <string.h>
lsaristo 9:3a0433c391cb 15 #include <stdarg.h>
lsaristo 9:3a0433c391cb 16 #include <stdio.h>
lsaristo 21:0c80a5d89ea3 17 #include <math.h>
lsaristo 35:a1c14c6d9282 18
lsaristo 35:a1c14c6d9282 19 // Constants used in main.c
lsaristo 35:a1c14c6d9282 20 #define TURN_SPEED 0.15 /**< Motor power for turning */
lsaristo 35:a1c14c6d9282 21 #define DRIVE_SPEED 0.25 /**< Motor power for drawing/moving */
lsaristo 35:a1c14c6d9282 22 #define TIME_FACT 1780 /**< Multiplier for forward() and backward() */
lsaristo 35:a1c14c6d9282 23 #define CAL_SPEED .25 /**< Drive speed during calibration */
lsaristo 35:a1c14c6d9282 24 #define CLOSE_ENOUGH .0008 /**< Threshold for calibration line centering */
alecguertin 37:1d51cf101b03 25 #define WIGGLE_MAX 30 /**< Max 'wiggles' during calibration */
lsaristo 8:12d780f7443e 26
lsaristo 29:459ff10d2a07 27 /** @brief Move the robot from its current position to (x,y) */
alecguertin 18:eab7b0e89398 28 void move(int x, int y, int draw);
alecguertin 18:eab7b0e89398 29
lsaristo 8:12d780f7443e 30 /**
alecguertin 17:c72c092fcdf7 31 * @brief get values of next PostScript instruction.
alecguertin 17:c72c092fcdf7 32 *
alecguertin 17:c72c092fcdf7 33 * @param buf Buffer with PS instructions.
alecguertin 17:c72c092fcdf7 34 * @param x Pointer to storage for x coordinate.
alecguertin 17:c72c092fcdf7 35 * @param y Pointer to storage for y coordinate.
alecguertin 17:c72c092fcdf7 36 * @param draw Pointer to storage for draw/move boolean.
alecguertin 17:c72c092fcdf7 37 *
alecguertin 17:c72c092fcdf7 38 * @return Success or failure code.
alecguertin 17:c72c092fcdf7 39 */
alecguertin 17:c72c092fcdf7 40 int retrieve_inst(char *buf, int *x, int *y, int *draw);
alecguertin 17:c72c092fcdf7 41
alecguertin 17:c72c092fcdf7 42 /**
lsaristo 29:459ff10d2a07 43 * @brief Driver forward for a time.
lsaristo 8:12d780f7443e 44 *
lsaristo 29:459ff10d2a07 45 * @param[in] amt Amount to drive forward. In milliseconds.
lsaristo 8:12d780f7443e 46 */
lsaristo 29:459ff10d2a07 47 void forward(int amt);
lsaristo 8:12d780f7443e 48
lsaristo 8:12d780f7443e 49 /**
lsaristo 29:459ff10d2a07 50 * @brief Drive backward for a time.
lsaristo 8:12d780f7443e 51 *
lsaristo 29:459ff10d2a07 52 * @param[in] amt Amount to drive backward. In milliseconds.
lsaristo 8:12d780f7443e 53 */
lsaristo 29:459ff10d2a07 54 void backward(int amt);
lsaristo 8:12d780f7443e 55
lsaristo 8:12d780f7443e 56 /**
lsaristo 29:459ff10d2a07 57 * @brief Turn right by some angle.
lsaristo 8:12d780f7443e 58 *
lsaristo 29:459ff10d2a07 59 * @param[in] deg Desired final turn angle in degrees from start.
lsaristo 29:459ff10d2a07 60 * Note that a negative angle will turn in the opposite
lsaristo 29:459ff10d2a07 61 * direction.
lsaristo 8:12d780f7443e 62 */
lsaristo 29:459ff10d2a07 63 void right(float deg);
lsaristo 8:12d780f7443e 64
lsaristo 8:12d780f7443e 65 /**
lsaristo 29:459ff10d2a07 66 * @brief Turn left by some angle.
lsaristo 8:12d780f7443e 67 *
lsaristo 29:459ff10d2a07 68 * @param[in] deg Desired final turn angle in degrees from start.
lsaristo 29:459ff10d2a07 69 * Note that a negative angle will turn in the opposite
lsaristo 29:459ff10d2a07 70 * direction.
lsaristo 8:12d780f7443e 71 */
lsaristo 29:459ff10d2a07 72 void left (float deg);
lsaristo 8:12d780f7443e 73
lsaristo 21:0c80a5d89ea3 74 /**
lsaristo 29:459ff10d2a07 75 * @brief Wait for a number of seconds, possibly fractional.
lsaristo 29:459ff10d2a07 76 *
lsaristo 29:459ff10d2a07 77 * Timer resolution is on the order of microseconds. A negative wait
lsaristo 29:459ff10d2a07 78 * time does nothing.
lsaristo 21:0c80a5d89ea3 79 *
lsaristo 29:459ff10d2a07 80 * @param[in] amt Time to wait, in seconds.
lsaristo 21:0c80a5d89ea3 81 */
lsaristo 29:459ff10d2a07 82 void timerWait(float amt);
lsaristo 29:459ff10d2a07 83 #endif