most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
System/StaticDefs.cpp@11:3b241ecb75ed, 2017-10-27 (annotated)
- Committer:
- danstrider
- Date:
- Fri Oct 27 00:37:32 2017 +0000
- Revision:
- 11:3b241ecb75ed
- Parent:
- 10:085ab7328054
- Child:
- 13:84fcbe1dcd62
This version has been in the pool, working with all the hardware. Had occasional string pot problems and got stuck in RISE, letting the battery stall out against the endcap.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mkelly10 | 9:d5fcdcb3c89d | 1 | #include "StaticDefs.hpp" |
mkelly10 | 9:d5fcdcb3c89d | 2 | |
danstrider | 10:085ab7328054 | 3 | //Declare static global variables using 'construct on use' idiom to ensure they |
danstrider | 10:085ab7328054 | 4 | // are always constructed correctly and avoid "static initialization order fiasco". |
mkelly10 | 9:d5fcdcb3c89d | 5 | |
danstrider | 10:085ab7328054 | 6 | Timer & systemTime() { |
mkelly10 | 9:d5fcdcb3c89d | 7 | static Timer s; |
mkelly10 | 9:d5fcdcb3c89d | 8 | return s; |
mkelly10 | 9:d5fcdcb3c89d | 9 | } |
mkelly10 | 9:d5fcdcb3c89d | 10 | |
danstrider | 10:085ab7328054 | 11 | Ticker & pulse() { |
danstrider | 10:085ab7328054 | 12 | static Ticker pulse; |
danstrider | 10:085ab7328054 | 13 | return pulse; |
danstrider | 10:085ab7328054 | 14 | } |
danstrider | 10:085ab7328054 | 15 | |
danstrider | 11:3b241ecb75ed | 16 | MODSERIAL & pc() { |
danstrider | 11:3b241ecb75ed | 17 | // static MODSERIAL pc(USBTX, USBRX); //PC USB tx, rx pin |
danstrider | 11:3b241ecb75ed | 18 | static MODSERIAL pc(p9, p10); //XBee tx, rx pins |
danstrider | 11:3b241ecb75ed | 19 | return pc; |
mkelly10 | 9:d5fcdcb3c89d | 20 | } |
mkelly10 | 9:d5fcdcb3c89d | 21 | |
danstrider | 11:3b241ecb75ed | 22 | //MODSERIAL & xb() { |
danstrider | 11:3b241ecb75ed | 23 | // static MODSERIAL xb(p9, p10); //XBee tx, rx pins |
danstrider | 11:3b241ecb75ed | 24 | // return xb; |
danstrider | 11:3b241ecb75ed | 25 | //} |
danstrider | 11:3b241ecb75ed | 26 | |
danstrider | 10:085ab7328054 | 27 | LocalFileSystem & local() { |
danstrider | 10:085ab7328054 | 28 | static LocalFileSystem local("local"); |
danstrider | 10:085ab7328054 | 29 | return local; |
danstrider | 10:085ab7328054 | 30 | } |
danstrider | 10:085ab7328054 | 31 | |
danstrider | 10:085ab7328054 | 32 | SpiADC & adc() { |
danstrider | 10:085ab7328054 | 33 | static SpiADC adc(p5,p6,p7,p8,LED2); |
mkelly10 | 9:d5fcdcb3c89d | 34 | return adc; |
mkelly10 | 9:d5fcdcb3c89d | 35 | } |
mkelly10 | 9:d5fcdcb3c89d | 36 | |
danstrider | 10:085ab7328054 | 37 | LinearActuator & bce() { |
mkelly10 | 9:d5fcdcb3c89d | 38 | static LinearActuator bce(0.01, p25, p29, p30, p18, 0); //interval , pwm, dir, reset, limit switch, adc channel |
mkelly10 | 9:d5fcdcb3c89d | 39 | return bce; |
mkelly10 | 9:d5fcdcb3c89d | 40 | } |
mkelly10 | 9:d5fcdcb3c89d | 41 | |
danstrider | 10:085ab7328054 | 42 | LinearActuator & batt() { |
mkelly10 | 9:d5fcdcb3c89d | 43 | static LinearActuator batt(0.01, p23, p21, p22, p17, 1); //interval , pwm, dir, reset, limit switchm, adc channel |
mkelly10 | 9:d5fcdcb3c89d | 44 | return batt; |
mkelly10 | 9:d5fcdcb3c89d | 45 | } |
mkelly10 | 9:d5fcdcb3c89d | 46 | |
danstrider | 10:085ab7328054 | 47 | omegaPX209 & depth() { |
danstrider | 10:085ab7328054 | 48 | static omegaPX209 depth(p19); // pin |
danstrider | 10:085ab7328054 | 49 | return depth; |
danstrider | 10:085ab7328054 | 50 | } |
mkelly10 | 9:d5fcdcb3c89d | 51 | |
danstrider | 10:085ab7328054 | 52 | IMU & imu() { |
danstrider | 10:085ab7328054 | 53 | static IMU imu(p13,p14); // tx, rx pin |
danstrider | 10:085ab7328054 | 54 | return imu; |
danstrider | 10:085ab7328054 | 55 | } |
danstrider | 10:085ab7328054 | 56 | |
danstrider | 10:085ab7328054 | 57 | OuterLoop & depthLoop() { |
danstrider | 10:085ab7328054 | 58 | static OuterLoop depthLoop(0.1, 0); // interval, sensor type |
danstrider | 10:085ab7328054 | 59 | return depthLoop; |
danstrider | 10:085ab7328054 | 60 | } |
danstrider | 10:085ab7328054 | 61 | |
danstrider | 10:085ab7328054 | 62 | OuterLoop & pitchLoop() { |
danstrider | 10:085ab7328054 | 63 | static OuterLoop pitchLoop(0.1, 1); // interval, sensor type |
danstrider | 10:085ab7328054 | 64 | return pitchLoop; |
mkelly10 | 9:d5fcdcb3c89d | 65 | } |
mkelly10 | 9:d5fcdcb3c89d | 66 | |
danstrider | 10:085ab7328054 | 67 | DigitalOut & led1() { |
danstrider | 10:085ab7328054 | 68 | static DigitalOut led1(LED1); |
danstrider | 10:085ab7328054 | 69 | return led1; |
danstrider | 10:085ab7328054 | 70 | } |
danstrider | 10:085ab7328054 | 71 | |
danstrider | 10:085ab7328054 | 72 | DigitalOut & led2() { |
danstrider | 10:085ab7328054 | 73 | static DigitalOut led2(LED2); |
danstrider | 10:085ab7328054 | 74 | return led2; |
danstrider | 10:085ab7328054 | 75 | } |
danstrider | 10:085ab7328054 | 76 | |
danstrider | 10:085ab7328054 | 77 | DigitalOut & led3() { |
danstrider | 10:085ab7328054 | 78 | static DigitalOut led3(LED3); |
danstrider | 10:085ab7328054 | 79 | return led3; |
danstrider | 10:085ab7328054 | 80 | } |
danstrider | 10:085ab7328054 | 81 | |
danstrider | 10:085ab7328054 | 82 | DigitalOut & led4() { |
danstrider | 10:085ab7328054 | 83 | static DigitalOut led4(LED4); |
danstrider | 10:085ab7328054 | 84 | return led4; |
mkelly10 | 9:d5fcdcb3c89d | 85 | } |