SLRC-2019 / Mbed 2 deprecated speed_robot

code for the speed robot

Dependencies:   MPU6050-DMP mbed PololuQTRSensors vl53l0x

_var.h@1:b188e27eb7da, 2019-09-30 (annotated)

Committer:
deepanaishtaweera174
Date:
Mon Sep 30 08:43:34 2019 +0000
Revision:
1:b188e27eb7da
Parent:
0:c3a27228c31b
Child:
3:9b2f15b0d47b
added tof code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
deepanaishtaweera174 0:c3a27228c31b 1 I2C i2c(PB_9,PB_8);
deepanaishtaweera174 1:b188e27eb7da 2 Timer t;
deepanaishtaweera174 1:b188e27eb7da 3 VL53L0X sensorFront(&i2c,&t);
deepanaishtaweera174 1:b188e27eb7da 4 float frontDistance;
deepanaishtaweera174 0:c3a27228c31b 5
deepanaishtaweera174 0:c3a27228c31b 6 // Gyro Variables
deepanaishtaweera174 0:c3a27228c31b 7 MPU6050 mpu;
deepanaishtaweera174 0:c3a27228c31b 8 volatile bool mpuInterrupt = false;
deepanaishtaweera174 0:c3a27228c31b 9 unsigned long savedMillis;
deepanaishtaweera174 0:c3a27228c31b 10 bool gyroTurnMode = false;
deepanaishtaweera174 0:c3a27228c31b 11 float zAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 12 float xAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 13 float preZAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 14 float preXAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 15 float startAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 16 unsigned long preGyroMillis = 0;
deepanaishtaweera174 0:c3a27228c31b 17
deepanaishtaweera174 0:c3a27228c31b 18 // MPU control/status vars
deepanaishtaweera174 0:c3a27228c31b 19 bool dmpReady = false; // set true if DMP init was successful
deepanaishtaweera174 0:c3a27228c31b 20 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
deepanaishtaweera174 0:c3a27228c31b 21 uint8_t devStatus;
deepanaishtaweera174 0:c3a27228c31b 22 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
deepanaishtaweera174 0:c3a27228c31b 23 uint16_t fifoCount;
deepanaishtaweera174 0:c3a27228c31b 24 uint8_t fifoBuffer[64];
deepanaishtaweera174 0:c3a27228c31b 25
deepanaishtaweera174 0:c3a27228c31b 26 // orientation/motion vars
deepanaishtaweera174 0:c3a27228c31b 27 Quaternion q; // [w, x, y, z] quaternion container
deepanaishtaweera174 0:c3a27228c31b 28 VectorInt16 aa; // [x, y, z] accel sensor measurements
deepanaishtaweera174 0:c3a27228c31b 29 VectorInt16 aaReal; // [x, y, z]
deepanaishtaweera174 0:c3a27228c31b 30 VectorInt16 aaWorld; // [x, y, z]
deepanaishtaweera174 0:c3a27228c31b 31 VectorFloat gravity; // [x, y, z] gravity vector
deepanaishtaweera174 0:c3a27228c31b 32 float euler[3]; // [psi, theta, phi] Euler angle container
deepanaishtaweera174 0:c3a27228c31b 33 float ypr[3]; // [yaw, pitch, roll]