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

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

DumpTruck.h@15:a4bbdde8ed69, 2017-04-25 (annotated)

Committer:
simplyellow
Date:
Tue Apr 25 20:54:15 2017 +0000
Revision:
15:a4bbdde8ed69
Parent:
14:fd6090cddc2e
Child:
16:6530f62dd28b
added more comments

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 14:fd6090cddc2e 19 #include "commands.h"
simplyellow 13:112b6543909a 20
simplyellow 12:502cf4fc6d98 21 #define TRANSFER_SIZE 8
simplyellow 12:502cf4fc6d98 22
simplyellow 14:fd6090cddc2e 23
simplyellow 10:cf77da9be0b8 24 // ADD SWITCHES & ULTRASONIC SENSOR implementation
Josahty 0:6942f0e2198c 25
pvela 7:dd3a7dcc5c84 26 /**
pvela 7:dd3a7dcc5c84 27 * @class DumpTruck
pvela 7:dd3a7dcc5c84 28 *
simplyellow 10:cf77da9be0b8 29 * @brief Interface for controlling a Dump truck.
pvela 7:dd3a7dcc5c84 30 */
simplyellow 10:cf77da9be0b8 31
Josahty 0:6942f0e2198c 32 class DumpTruck {
Josahty 0:6942f0e2198c 33 public:
pvela 6:5cc6a9b6f60e 34 /**
simplyellow 10:cf77da9be0b8 35 * Constructor for the Tracker object.
pvela 6:5cc6a9b6f60e 36 *
simplyellow 10:cf77da9be0b8 37 * @param[in] truckId The dump truck's identifier
pvela 6:5cc6a9b6f60e 38 */
Josahty 0:6942f0e2198c 39 DumpTruck(int truckId);
pvela 6:5cc6a9b6f60e 40
simplyellow 12:502cf4fc6d98 41 /*
simplyellow 15:a4bbdde8ed69 42 * Process command, parsing it and calling the associated function.
simplyellow 13:112b6543909a 43 */
simplyellow 13:112b6543909a 44 void processCommand();
simplyellow 13:112b6543909a 45
simplyellow 13:112b6543909a 46 /*
simplyellow 15:a4bbdde8ed69 47 * Send not acknowledge to base station.
simplyellow 13:112b6543909a 48 */
simplyellow 13:112b6543909a 49
simplyellow 13:112b6543909a 50 void sendNack();
simplyellow 13:112b6543909a 51
simplyellow 13:112b6543909a 52 /*
simplyellow 15:a4bbdde8ed69 53 * Send acknowledge to base station.
simplyellow 13:112b6543909a 54 */
simplyellow 13:112b6543909a 55
simplyellow 13:112b6543909a 56 void sendAck();
simplyellow 13:112b6543909a 57
simplyellow 13:112b6543909a 58 /*
simplyellow 15:a4bbdde8ed69 59 * Initialize transceiver and other miscellaneous devices.
simplyellow 12:502cf4fc6d98 60 */
simplyellow 12:502cf4fc6d98 61 void startComms();
simplyellow 12:502cf4fc6d98 62
simplyellow 12:502cf4fc6d98 63 /*
simplyellow 12:502cf4fc6d98 64 * Receive a command from base station.
simplyellow 12:502cf4fc6d98 65 */
simplyellow 12:502cf4fc6d98 66 void getCommand();
simplyellow 12:502cf4fc6d98 67
simplyellow 12:502cf4fc6d98 68 /*
simplyellow 12:502cf4fc6d98 69 * Send important data back to the base station.
simplyellow 12:502cf4fc6d98 70 */
simplyellow 12:502cf4fc6d98 71 void reportData();
simplyellow 12:502cf4fc6d98 72
simplyellow 10:cf77da9be0b8 73 // motor functions
simplyellow 10:cf77da9be0b8 74 /*
simplyellow 10:cf77da9be0b8 75 * Drive a certain distance at a desired speed.
simplyellow 10:cf77da9be0b8 76 */
simplyellow 14:fd6090cddc2e 77 void driveDistance();// frontMotor
simplyellow 10:cf77da9be0b8 78 /*
simplyellow 10:cf77da9be0b8 79 * Drive at a desired speed.
pvela 6:5cc6a9b6f60e 80 */
simplyellow 14:fd6090cddc2e 81 void drive();
simplyellow 10:cf77da9be0b8 82 /*
simplyellow 10:cf77da9be0b8 83 * Turn the rear wheels a certain angle.
pvela 6:5cc6a9b6f60e 84 */
simplyellow 14:fd6090cddc2e 85 void turn(); // turnMotor
simplyellow 10:cf77da9be0b8 86 /*
simplyellow 10:cf77da9be0b8 87 * Move the dump truck's bed up/down a certain angle.
pvela 6:5cc6a9b6f60e 88 */
simplyellow 14:fd6090cddc2e 89 void moveBed(); // bedMotor
simplyellow 10:cf77da9be0b8 90 /*
simplyellow 10:cf77da9be0b8 91 * Stop driving.
simplyellow 10:cf77da9be0b8 92 */
simplyellow 14:fd6090cddc2e 93 void stopDrive(); // all Motors
simplyellow 13:112b6543909a 94
simplyellow 13:112b6543909a 95 /*
simplyellow 13:112b6543909a 96 * Stop turning.
simplyellow 13:112b6543909a 97 */
simplyellow 14:fd6090cddc2e 98 void stopTurn(); // all Motors
simplyellow 15:a4bbdde8ed69 99
simplyellow 15:a4bbdde8ed69 100 /*
simplyellow 15:a4bbdde8ed69 101 * Stop all motors if an object comes within range of the
simplyellow 15:a4bbdde8ed69 102 * ultrasonic sensor
simplyellow 15:a4bbdde8ed69 103 */
simplyellow 15:a4bbdde8ed69 104 void detectStop();
simplyellow 13:112b6543909a 105
simplyellow 13:112b6543909a 106 /*
simplyellow 13:112b6543909a 107 * Stop bed.
simplyellow 13:112b6543909a 108 */
simplyellow 14:fd6090cddc2e 109 void stopBed(); // all Motors
pvela 6:5cc6a9b6f60e 110
simplyellow 10:cf77da9be0b8 111 // ultrasonic functions
simplyellow 10:cf77da9be0b8 112 /*
simplyellow 10:cf77da9be0b8 113 * Read from the ultrasonic sensor and determine the dump truck's
simplyellow 10:cf77da9be0b8 114 * proximity from objects.
pvela 6:5cc6a9b6f60e 115 */
simplyellow 10:cf77da9be0b8 116 bool detect(); // returns bool for object too close
simplyellow 13:112b6543909a 117
simplyellow 13:112b6543909a 118 int txDataCnt;
simplyellow 13:112b6543909a 119 int rxDataCnt;
simplyellow 13:112b6543909a 120 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
simplyellow 13:112b6543909a 121 char acked[TRANSFER_SIZE];
simplyellow 13:112b6543909a 122 char nacked[TRANSFER_SIZE];
simplyellow 13:112b6543909a 123 bool received;
simplyellow 14:fd6090cddc2e 124 int numCommands;
simplyellow 14:fd6090cddc2e 125 int commandValue;
simplyellow 14:fd6090cddc2e 126 typedef void (DumpTruck::*funcArray)(void);
simplyellow 14:fd6090cddc2e 127 funcArray commArr[sizeof(commands)/sizeof(*commands)];
simplyellow 15:a4bbdde8ed69 128 float zeroAngle;
simplyellow 15:a4bbdde8ed69 129 bool interrupted;
simplyellow 14:fd6090cddc2e 130
simplyellow 14:fd6090cddc2e 131 protected:
simplyellow 10:cf77da9be0b8 132 Tracker *track;
simplyellow 10:cf77da9be0b8 133 //IMU *bed;
simplyellow 10:cf77da9be0b8 134 Motor *frontMotor;
simplyellow 10:cf77da9be0b8 135 Motor *turnMotor;
simplyellow 10:cf77da9be0b8 136 Motor *bedMotor;
simplyellow 12:502cf4fc6d98 137 nRF24L01P *nrf; //Transceiver *nrf;
simplyellow 10:cf77da9be0b8 138 SRF05 *srf;
simplyellow 15:a4bbdde8ed69 139 AnalogIn *pot;
simplyellow 10:cf77da9be0b8 140
simplyellow 10:cf77da9be0b8 141 // add direct control for motor, switch, and ultrasonic sensor.
simplyellow 10:cf77da9be0b8 142
Josahty 0:6942f0e2198c 143 int truckNumber;
simplyellow 10:cf77da9be0b8 144
simplyellow 10:cf77da9be0b8 145 // motor variables
simplyellow 10:cf77da9be0b8 146 float speed; // drive
simplyellow 10:cf77da9be0b8 147 float distance; // drive
simplyellow 10:cf77da9be0b8 148 float potAngle; // turn
simplyellow 10:cf77da9be0b8 149 float bedAngle; // bed
simplyellow 10:cf77da9be0b8 150
simplyellow 10:cf77da9be0b8 151 // bed-specific variables
simplyellow 10:cf77da9be0b8 152 bool switchState; // BusIn the two limit switches
simplyellow 10:cf77da9be0b8 153
simplyellow 10:cf77da9be0b8 154 // ultrasonic-specific variables
simplyellow 10:cf77da9be0b8 155 bool tooClose;
simplyellow 10:cf77da9be0b8 156 float proximity;
simplyellow 12:502cf4fc6d98 157
simplyellow 13:112b6543909a 158 /*int txDataCnt;
simplyellow 12:502cf4fc6d98 159 int rxDataCnt;
simplyellow 12:502cf4fc6d98 160 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
simplyellow 13:112b6543909a 161 bool received;*/
Josahty 0:6942f0e2198c 162 };
simplyellow 5:dc4cf6cc24b3 163 #endif