Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

steering_header.h@4:8b1d52dab862, 2021-10-25 (annotated)

Committer:
aalawfi
Date:
Mon Oct 25 01:53:10 2021 +0000
Revision:
4:8b1d52dab862
Parent:
2:c857935f928e
Child:
5:636c3fe18aa8
- Updated steering pins

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 2:c857935f928e 11 #define REF 0.0f //in meters
aalawfi 2:c857935f928e 12 #define KP 16.45 // 16.65 optimal
aalawfi 2:c857935f928e 13 #define KD 0.98 // 0.88 optimal
aalawfi 2:c857935f928e 14 #define TIME_DERIVATIVE 0.9 // good 0.8
aalawfi 2:c857935f928e 15 //#define TI 0.02 // in seconds
aalawfi 2:c857935f928e 16 #define SEN_DIFF_TO_DIST 0.97 //in [V/m]
aalawfi 2:c857935f928e 17 #define BITS 4
aalawfi 2:c857935f928e 18 //Construct the Ticker to call the steering control system at a set rate
aalawfi 2:c857935f928e 19 // INPUT PINS
aalawfi 2:c857935f928e 20 AnalogIn left_distance_sensor(PTB1);
aalawfi 2:c857935f928e 21 AnalogIn right_distance_sensor(PTB0);
aalawfi 2:c857935f928e 22
aalawfi 2:c857935f928e 23 // PWM out
aalawfi 2:c857935f928e 24 PwmOut servo_motor_pwm(PTD4);
aalawfi 2:c857935f928e 25
aalawfi 2:c857935f928e 26 // Digital outs
aalawfi 4:8b1d52dab862 27 DigitalOut seg1[BITS]={PTC17, PTA16,PTA17,PTE31}; // insert pin numbers
aalawfi 2:c857935f928e 28
aalawfi 2:c857935f928e 29
aalawfi 2:c857935f928e 30 //Interrupt In
aalawfi 4:8b1d52dab862 31 InterruptIn left_landmark_sensor(PTD6);
aalawfi 4:8b1d52dab862 32 InterruptIn right_landmark_sensor(PTD7);
aalawfi 2:c857935f928e 33
aalawfi 2:c857935f928e 34 // Tickers
aalawfi 2:c857935f928e 35 bool steering_enabled = true;
aalawfi 2:c857935f928e 36 Ticker steering_control_ticker;
aalawfi 2:c857935f928e 37
aalawfi 2:c857935f928e 38