Initial Commit
Diff: robot.h
- Revision:
- 1:282467cbebb3
- Parent:
- 0:b74b6d70347d
- Child:
- 2:37a19a9e5f2c
diff -r b74b6d70347d -r 282467cbebb3 robot.h --- a/robot.h Sun Oct 05 12:21:03 2014 +0000 +++ b/robot.h Sat Oct 11 03:53:04 2014 +0000 @@ -4,6 +4,8 @@ #include "mbed.h" #include "rtos.h" #include "HC05.h" +#include "MPU6050.h" +#include "I2Cdev.h" //#include "MPU6050.h" //#include "HC05.h" //#include "ACS712.h" @@ -69,6 +71,14 @@ // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019) // only handles 4 byte transfers in the ATMega code. #define TRANSFER_SIZE 4 +#define ulrL PTD6 +#define ulL PTD5 +#define ulF PTD1 +#define ulR PTC2 +#define ulrR PTC1 +#define ulB PTC0 + + extern HC05 bt; //bluetooth connection //extern Serial bt; @@ -80,7 +90,7 @@ //extern DigitalOut btSwitch; //extern AnalogIn currentSensor; extern DigitalOut buzzer; -extern DigitalOut key; +extern DigitalOut key;\ //extern PwmOut buzzer; extern AnalogIn LDRsensor1; extern AnalogIn LDRsensor2; @@ -93,6 +103,18 @@ extern DigitalOut BIN1;//(MOT_BIN1_PIN); extern DigitalOut BIN2;//(MOT_BIN2_PIN); extern DigitalOut STBY;//(MOT_STBY_PIN); + +extern DigitalOut SRX; + +extern AnalogIn uL; +extern AnalogIn uF; +extern AnalogIn uR; +extern AnalogIn urR; +extern AnalogIn urL; +extern AnalogIn uB; +extern int dy; +extern int dx; + int r_time (); 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) @@ -112,23 +134,25 @@ 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 void Imu_yaw(void const *args); + extern void encoder_thread(void const *args); extern int freq; extern int rMotor; extern int lMotor ; extern int m_speed; extern Mutex stdio_mutex; - + extern MPU6050 accelgyro; + extern int16_t ax, ay, az; + extern int16_t gx, gy, gz; + extern int heading; //Wireless connections