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@16:6530f62dd28b, 2017-04-25 (annotated)

Committer:
simplyellow
Date:
Tue Apr 25 21:00:53 2017 +0000
Revision:
16:6530f62dd28b
Parent:
15:a4bbdde8ed69 
cleaned for doxygen

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 "Motor.h"
simplyellow 16:6530f62dd28b 16 #include "nRF24L01P.h"
simplyellow 10:cf77da9be0b8 17 #include "SRF05.h"
simplyellow 14:fd6090cddc2e 18 #include "commands.h"
simplyellow 13:112b6543909a 19
simplyellow 12:502cf4fc6d98 20 #define TRANSFER_SIZE 8
simplyellow 12:502cf4fc6d98 21
pvela 7:dd3a7dcc5c84 22 /**
pvela 7:dd3a7dcc5c84 23 * @class DumpTruck
pvela 7:dd3a7dcc5c84 24 *
simplyellow 10:cf77da9be0b8 25 * @brief Interface for controlling a Dump truck.
pvela 7:dd3a7dcc5c84 26 */
simplyellow 10:cf77da9be0b8 27
Josahty 0:6942f0e2198c 28 class DumpTruck {
Josahty 0:6942f0e2198c 29 public:
pvela 6:5cc6a9b6f60e 30 /**
simplyellow 10:cf77da9be0b8 31 * Constructor for the Tracker object.
pvela 6:5cc6a9b6f60e 32 *
simplyellow 10:cf77da9be0b8 33 * @param[in] truckId The dump truck's identifier
pvela 6:5cc6a9b6f60e 34 */
Josahty 0:6942f0e2198c 35 DumpTruck(int truckId);
pvela 6:5cc6a9b6f60e 36
simplyellow 16:6530f62dd28b 37 /**
simplyellow 15:a4bbdde8ed69 38 * Process command, parsing it and calling the associated function.
simplyellow 13:112b6543909a 39 */
simplyellow 13:112b6543909a 40 void processCommand();
simplyellow 13:112b6543909a 41
simplyellow 16:6530f62dd28b 42 /**
simplyellow 15:a4bbdde8ed69 43 * Send not acknowledge to base station.
simplyellow 13:112b6543909a 44 */
simplyellow 13:112b6543909a 45
simplyellow 13:112b6543909a 46 void sendNack();
simplyellow 13:112b6543909a 47
simplyellow 16:6530f62dd28b 48 /**
simplyellow 15:a4bbdde8ed69 49 * Send acknowledge to base station.
simplyellow 13:112b6543909a 50 */
simplyellow 13:112b6543909a 51
simplyellow 13:112b6543909a 52 void sendAck();
simplyellow 13:112b6543909a 53
simplyellow 16:6530f62dd28b 54 /**
simplyellow 15:a4bbdde8ed69 55 * Initialize transceiver and other miscellaneous devices.
simplyellow 12:502cf4fc6d98 56 */
simplyellow 12:502cf4fc6d98 57 void startComms();
simplyellow 12:502cf4fc6d98 58
simplyellow 16:6530f62dd28b 59 /**
simplyellow 12:502cf4fc6d98 60 * Receive a command from base station.
simplyellow 12:502cf4fc6d98 61 */
simplyellow 12:502cf4fc6d98 62 void getCommand();
simplyellow 12:502cf4fc6d98 63
simplyellow 16:6530f62dd28b 64 /**
simplyellow 12:502cf4fc6d98 65 * Send important data back to the base station.
simplyellow 12:502cf4fc6d98 66 */
simplyellow 12:502cf4fc6d98 67 void reportData();
simplyellow 12:502cf4fc6d98 68
simplyellow 16:6530f62dd28b 69 /**
simplyellow 10:cf77da9be0b8 70 * Drive a certain distance at a desired speed.
simplyellow 10:cf77da9be0b8 71 */
simplyellow 14:fd6090cddc2e 72 void driveDistance();// frontMotor
simplyellow 16:6530f62dd28b 73
simplyellow 16:6530f62dd28b 74 /**
simplyellow 10:cf77da9be0b8 75 * Drive at a desired speed.
pvela 6:5cc6a9b6f60e 76 */
simplyellow 14:fd6090cddc2e 77 void drive();
simplyellow 16:6530f62dd28b 78
simplyellow 16:6530f62dd28b 79 /**
simplyellow 10:cf77da9be0b8 80 * Turn the rear wheels a certain angle.
pvela 6:5cc6a9b6f60e 81 */
simplyellow 14:fd6090cddc2e 82 void turn(); // turnMotor
simplyellow 16:6530f62dd28b 83
simplyellow 16:6530f62dd28b 84 /**
simplyellow 10:cf77da9be0b8 85 * Move the dump truck's bed up/down a certain angle.
pvela 6:5cc6a9b6f60e 86 */
simplyellow 14:fd6090cddc2e 87 void moveBed(); // bedMotor
simplyellow 16:6530f62dd28b 88
simplyellow 16:6530f62dd28b 89 /**
simplyellow 10:cf77da9be0b8 90 * Stop driving.
simplyellow 10:cf77da9be0b8 91 */
simplyellow 14:fd6090cddc2e 92 void stopDrive(); // all Motors
simplyellow 13:112b6543909a 93
simplyellow 16:6530f62dd28b 94 /**
simplyellow 13:112b6543909a 95 * Stop turning.
simplyellow 13:112b6543909a 96 */
simplyellow 14:fd6090cddc2e 97 void stopTurn(); // all Motors
simplyellow 15:a4bbdde8ed69 98
simplyellow 16:6530f62dd28b 99 /**
simplyellow 15:a4bbdde8ed69 100 * Stop all motors if an object comes within range of the
simplyellow 15:a4bbdde8ed69 101 * ultrasonic sensor
simplyellow 15:a4bbdde8ed69 102 */
simplyellow 15:a4bbdde8ed69 103 void detectStop();
simplyellow 13:112b6543909a 104
simplyellow 16:6530f62dd28b 105 /**
simplyellow 13:112b6543909a 106 * Stop bed.
simplyellow 13:112b6543909a 107 */
simplyellow 14:fd6090cddc2e 108 void stopBed(); // all Motors
pvela 6:5cc6a9b6f60e 109
simplyellow 16:6530f62dd28b 110 /**
simplyellow 10:cf77da9be0b8 111 * Read from the ultrasonic sensor and determine the dump truck's
simplyellow 10:cf77da9be0b8 112 * proximity from objects.
pvela 6:5cc6a9b6f60e 113 */
simplyellow 10:cf77da9be0b8 114 bool detect(); // returns bool for object too close
simplyellow 13:112b6543909a 115
simplyellow 13:112b6543909a 116 int txDataCnt;
simplyellow 13:112b6543909a 117 int rxDataCnt;
simplyellow 13:112b6543909a 118 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
simplyellow 13:112b6543909a 119 char acked[TRANSFER_SIZE];
simplyellow 13:112b6543909a 120 char nacked[TRANSFER_SIZE];
simplyellow 13:112b6543909a 121 bool received;
simplyellow 14:fd6090cddc2e 122 int numCommands;
simplyellow 14:fd6090cddc2e 123 int commandValue;
simplyellow 14:fd6090cddc2e 124 typedef void (DumpTruck::*funcArray)(void);
simplyellow 14:fd6090cddc2e 125 funcArray commArr[sizeof(commands)/sizeof(*commands)];
simplyellow 15:a4bbdde8ed69 126 float zeroAngle;
simplyellow 15:a4bbdde8ed69 127 bool interrupted;
simplyellow 14:fd6090cddc2e 128
simplyellow 14:fd6090cddc2e 129 protected:
simplyellow 10:cf77da9be0b8 130 Tracker *track;
simplyellow 10:cf77da9be0b8 131 //IMU *bed;
simplyellow 10:cf77da9be0b8 132 Motor *frontMotor;
simplyellow 10:cf77da9be0b8 133 Motor *turnMotor;
simplyellow 10:cf77da9be0b8 134 Motor *bedMotor;
simplyellow 12:502cf4fc6d98 135 nRF24L01P *nrf; //Transceiver *nrf;
simplyellow 10:cf77da9be0b8 136 SRF05 *srf;
simplyellow 15:a4bbdde8ed69 137 AnalogIn *pot;
simplyellow 10:cf77da9be0b8 138
simplyellow 10:cf77da9be0b8 139 // add direct control for motor, switch, and ultrasonic sensor.
simplyellow 10:cf77da9be0b8 140
Josahty 0:6942f0e2198c 141 int truckNumber;
simplyellow 10:cf77da9be0b8 142
simplyellow 10:cf77da9be0b8 143 // motor variables
simplyellow 10:cf77da9be0b8 144 float speed; // drive
simplyellow 10:cf77da9be0b8 145 float distance; // drive
simplyellow 10:cf77da9be0b8 146 float potAngle; // turn
simplyellow 10:cf77da9be0b8 147 float bedAngle; // bed
simplyellow 10:cf77da9be0b8 148
simplyellow 10:cf77da9be0b8 149 // bed-specific variables
simplyellow 10:cf77da9be0b8 150 bool switchState; // BusIn the two limit switches
simplyellow 10:cf77da9be0b8 151
simplyellow 10:cf77da9be0b8 152 // ultrasonic-specific variables
simplyellow 10:cf77da9be0b8 153 bool tooClose;
simplyellow 10:cf77da9be0b8 154 float proximity;
Josahty 0:6942f0e2198c 155 };
simplyellow 5:dc4cf6cc24b3 156 #endif