Terrabots / Mbed 2 deprecated DUMP_TRUCK_SPR2017

Main repository for dump truck API development in Spring 2017

Dependencies:   Tracker mbed MotorV2 SRF05 nRF24L01P

Fork of DUMP_TRUCK_TEST_V1 by Terrabots

Activities

This Week

If needed, please contact Milo Pan at mpan9@gatech.edu for rights and access to this repository.

DumpTruck.h@12:502cf4fc6d98, 2017-03-30 (annotated)

Committer:
simplyellow
Date:
Thu Mar 30 17:27:21 2017 +0000
Revision:
12:502cf4fc6d98
Parent:
10:cf77da9be0b8
Child:
13:112b6543909a
began work on transceiver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvela 6:5cc6a9b6f60e 1 /**
pvela 6:5cc6a9b6f60e 2 * @file DumpTruck.h
pvela 6:5cc6a9b6f60e 3 *
simplyellow 10:cf77da9be0b8 4 * @brief DumpTruck class integrates multiple sensors into one API.
pvela 6:5cc6a9b6f60e 5 *
pvela 6:5cc6a9b6f60e 6 * @author Terrabots Team
pvela 6:5cc6a9b6f60e 7 *
pvela 6:5cc6a9b6f60e 8 */
pvela 6:5cc6a9b6f60e 9
Josahty 0:6942f0e2198c 10 #ifndef MBED_DUMP_TRUCK_H
Josahty 0:6942f0e2198c 11 #define MBED_DUMP_TRUCK_H
simplyellow 10:cf77da9be0b8 12
Josahty 0:6942f0e2198c 13 #include "mbed.h"
simplyellow 10:cf77da9be0b8 14 #include "Tracker.h"
simplyellow 10:cf77da9be0b8 15 //#include "IMU.h"
simplyellow 10:cf77da9be0b8 16 #include "Motor.h"
simplyellow 12:502cf4fc6d98 17 #include "nRF24L01P.h" //Transceiver library
simplyellow 10:cf77da9be0b8 18 #include "SRF05.h"
simplyellow 10:cf77da9be0b8 19
simplyellow 12:502cf4fc6d98 20 #define TRANSFER_SIZE 8
simplyellow 12:502cf4fc6d98 21
simplyellow 10:cf77da9be0b8 22 // ADD SWITCHES & ULTRASONIC SENSOR implementation
Josahty 0:6942f0e2198c 23
pvela 7:dd3a7dcc5c84 24 /**
pvela 7:dd3a7dcc5c84 25 * @class DumpTruck
pvela 7:dd3a7dcc5c84 26 *
simplyellow 10:cf77da9be0b8 27 * @brief Interface for controlling a Dump truck.
pvela 7:dd3a7dcc5c84 28 */
simplyellow 10:cf77da9be0b8 29
Josahty 0:6942f0e2198c 30 class DumpTruck {
Josahty 0:6942f0e2198c 31 public:
pvela 6:5cc6a9b6f60e 32 /**
simplyellow 10:cf77da9be0b8 33 * Constructor for the Tracker object.
pvela 6:5cc6a9b6f60e 34 *
simplyellow 10:cf77da9be0b8 35 * @param[in] truckId The dump truck's identifier
pvela 6:5cc6a9b6f60e 36 */
Josahty 0:6942f0e2198c 37 DumpTruck(int truckId);
pvela 6:5cc6a9b6f60e 38
simplyellow 12:502cf4fc6d98 39 /*
simplyellow 12:502cf4fc6d98 40 * Initialize transceiver.
simplyellow 12:502cf4fc6d98 41 */
simplyellow 12:502cf4fc6d98 42 void startComms();
simplyellow 12:502cf4fc6d98 43
simplyellow 12:502cf4fc6d98 44 /*
simplyellow 12:502cf4fc6d98 45 * Receive a command from base station.
simplyellow 12:502cf4fc6d98 46 */
simplyellow 12:502cf4fc6d98 47 void getCommand();
simplyellow 12:502cf4fc6d98 48
simplyellow 12:502cf4fc6d98 49 /*
simplyellow 12:502cf4fc6d98 50 * Send important data back to the base station.
simplyellow 12:502cf4fc6d98 51 */
simplyellow 12:502cf4fc6d98 52 void reportData();
simplyellow 12:502cf4fc6d98 53
simplyellow 10:cf77da9be0b8 54 // motor functions
simplyellow 10:cf77da9be0b8 55 /*
simplyellow 10:cf77da9be0b8 56 * Drive a certain distance at a desired speed.
simplyellow 10:cf77da9be0b8 57 */
simplyellow 10:cf77da9be0b8 58 void driveDistance(float speed, float distance);// frontMotor
simplyellow 10:cf77da9be0b8 59 /*
simplyellow 10:cf77da9be0b8 60 * Drive at a desired speed.
pvela 6:5cc6a9b6f60e 61 */
simplyellow 10:cf77da9be0b8 62 void drive(float speed);
simplyellow 10:cf77da9be0b8 63 /*
simplyellow 10:cf77da9be0b8 64 * Turn the rear wheels a certain angle.
pvela 6:5cc6a9b6f60e 65 */
simplyellow 10:cf77da9be0b8 66 void turn(float angle); // turnMotor
simplyellow 10:cf77da9be0b8 67 /*
simplyellow 10:cf77da9be0b8 68 * Move the dump truck's bed up/down a certain angle.
pvela 6:5cc6a9b6f60e 69 */
simplyellow 10:cf77da9be0b8 70 void moveBed(bool raise, float angle); // bedMotor
simplyellow 10:cf77da9be0b8 71 /*
simplyellow 10:cf77da9be0b8 72 * Stop driving.
simplyellow 10:cf77da9be0b8 73 */
simplyellow 10:cf77da9be0b8 74 void stop(); // all Motors
pvela 6:5cc6a9b6f60e 75
simplyellow 10:cf77da9be0b8 76 // ultrasonic functions
simplyellow 10:cf77da9be0b8 77 /*
simplyellow 10:cf77da9be0b8 78 * Read from the ultrasonic sensor and determine the dump truck's
simplyellow 10:cf77da9be0b8 79 * proximity from objects.
pvela 6:5cc6a9b6f60e 80 */
simplyellow 10:cf77da9be0b8 81 bool detect(); // returns bool for object too close
pvela 6:5cc6a9b6f60e 82
pvela 6:5cc6a9b6f60e 83
Josahty 0:6942f0e2198c 84 protected:
simplyellow 10:cf77da9be0b8 85 Tracker *track;
simplyellow 10:cf77da9be0b8 86 //IMU *bed;
simplyellow 10:cf77da9be0b8 87 Motor *frontMotor;
simplyellow 10:cf77da9be0b8 88 Motor *turnMotor;
simplyellow 10:cf77da9be0b8 89 Motor *bedMotor;
simplyellow 12:502cf4fc6d98 90 nRF24L01P *nrf; //Transceiver *nrf;
simplyellow 10:cf77da9be0b8 91 SRF05 *srf;
simplyellow 10:cf77da9be0b8 92
simplyellow 10:cf77da9be0b8 93 // add direct control for motor, switch, and ultrasonic sensor.
simplyellow 10:cf77da9be0b8 94
Josahty 0:6942f0e2198c 95 int truckNumber;
simplyellow 10:cf77da9be0b8 96
simplyellow 10:cf77da9be0b8 97 // motor variables
simplyellow 10:cf77da9be0b8 98 float speed; // drive
simplyellow 10:cf77da9be0b8 99 float distance; // drive
simplyellow 10:cf77da9be0b8 100 float potAngle; // turn
simplyellow 10:cf77da9be0b8 101 float bedAngle; // bed
simplyellow 10:cf77da9be0b8 102
simplyellow 10:cf77da9be0b8 103 // bed-specific variables
simplyellow 10:cf77da9be0b8 104 bool switchState; // BusIn the two limit switches
simplyellow 10:cf77da9be0b8 105
simplyellow 10:cf77da9be0b8 106 // ultrasonic-specific variables
simplyellow 10:cf77da9be0b8 107 bool tooClose;
simplyellow 10:cf77da9be0b8 108 float proximity;
simplyellow 12:502cf4fc6d98 109
simplyellow 12:502cf4fc6d98 110 int txDataCnt;
simplyellow 12:502cf4fc6d98 111 int rxDataCnt;
simplyellow 12:502cf4fc6d98 112 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
simplyellow 12:502cf4fc6d98 113 bool received;
Josahty 0:6942f0e2198c 114 };
simplyellow 5:dc4cf6cc24b3 115 #endif