Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

steering_header.h@24:7bf492bf50f4, 2021-11-04 (annotated)

Committer:
aalawfi
Date:
Thu Nov 04 17:21:18 2021 +0000
Revision:
24:7bf492bf50f4
Parent:
23:4c743746533c
Child:
25:8bd029d58251
- Most recent 11/4/2021. Changed gains values for calmer steering

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aalawfi 2:c857935f928e 1 /*
aalawfi 2:c857935f928e 2 Include libraries, IO pins
aalawfi 2:c857935f928e 3 */
aalawfi 2:c857935f928e 4 #include "cmath"
aalawfi 2:c857935f928e 5 #include <algorithm> // std::min, std::max
aalawfi 2:c857935f928e 6 #define M_PI 3.14159265359f
aalawfi 2:c857935f928e 7 #define MAX_TURN_ANGLE M_PI/4
aalawfi 2:c857935f928e 8 #define MIN_TURN_ANGLE -M_PI/4
aalawfi 2:c857935f928e 9 #define SERVO_MOTOR_FREQ 50.0f
aalawfi 2:c857935f928e 10 #define CENTER_DUTY_CYCLE 0.075f
aalawfi 23:4c743746533c 11 #define REF 0.02 //in meters
aalawfi 24:7bf492bf50f4 12 #define KP 1.803 // 1.803
aalawfi 23:4c743746533c 13
aalawfi 23:4c743746533c 14 #define KD 0.5003
aalawfi 24:7bf492bf50f4 15 #define TIME_DERIVATIVE 0.1 // was 0.08
aalawfi 23:4c743746533c 16
aalawfi 24:7bf492bf50f4 17 #define KI_STEERING 8.397
aalawfi 24:7bf492bf50f4 18 #define TIME_INTEGRAL 0.5 // 0.4
aalawfi 23:4c743746533c 19
aalawfi 22:08d30ea47111 20 #define TI_STEERING 0.02 // in seconds
aalawfi 2:c857935f928e 21 #define SEN_DIFF_TO_DIST 0.97 //in [V/m]
aalawfi 2:c857935f928e 22 #define BITS 4
aalawfi 2:c857935f928e 23 //Construct the Ticker to call the steering control system at a set rate
aalawfi 2:c857935f928e 24 // INPUT PINS
aalawfi 2:c857935f928e 25 AnalogIn left_distance_sensor(PTB1);
aalawfi 2:c857935f928e 26 AnalogIn right_distance_sensor(PTB0);
aalawfi 2:c857935f928e 27
aalawfi 2:c857935f928e 28 // PWM out
aalawfi 2:c857935f928e 29 PwmOut servo_motor_pwm(PTD4);
aalawfi 2:c857935f928e 30
aalawfi 2:c857935f928e 31 // Digital outs
aalawfi 4:8b1d52dab862 32 DigitalOut seg1[BITS]={PTC17, PTA16,PTA17,PTE31}; // insert pin numbers
aalawfi 2:c857935f928e 33
aalawfi 2:c857935f928e 34
aalawfi 2:c857935f928e 35 //Interrupt In
aalawfi 4:8b1d52dab862 36 InterruptIn left_landmark_sensor(PTD6);
aalawfi 4:8b1d52dab862 37 InterruptIn right_landmark_sensor(PTD7);
aalawfi 2:c857935f928e 38
aalawfi 2:c857935f928e 39 // Tickers
aalawfi 5:636c3fe18aa8 40 volatile bool steering_enabled = true;
aalawfi 2:c857935f928e 41 Ticker steering_control_ticker;
aalawfi 2:c857935f928e 42
aalawfi 2:c857935f928e 43