update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
System/StaticDefs.cpp@13:84fcbe1dcd62, 2017-10-30 (annotated)
- Committer:
- tnhnrl
- Date:
- Mon Oct 30 21:09:19 2017 +0000
- Revision:
- 13:84fcbe1dcd62
- Parent:
- 11:3b241ecb75ed
- Child:
- 14:85b64a4d08e8
Tested hardware for bce and made several pause fixes. Homing works. Added offset to pitch and depth.txt files, and the control loop works. PID gain for depth had to be negative. Next is to replace the motor and test pitch loop.
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() { |
tnhnrl | 13:84fcbe1dcd62 | 17 | static MODSERIAL pc(USBTX, USBRX); //PC USB tx, rx pin |
tnhnrl | 13:84fcbe1dcd62 | 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 | } |