Texas State IEEE / scanner

3/26/16 12:25 am JJ

Dependents:   steppertest R5 2016 Robotics Team 1

Fork of scanner by David Vasquez

scanner.h@12:514544a4014f, 2016-03-26 (annotated)

Committer:
j_j205
Date:
Sat Mar 26 23:21:13 2016 +0000
Revision:
12:514544a4014f
Parent:
9:bae63bc84829
Child:
14:d327852dafd1
updated jj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 0:999bb8fcd0b2 1 #ifndef SCANNER_H
j_j205 0:999bb8fcd0b2 2 #define SCANNER_H
j_j205 0:999bb8fcd0b2 3 #include "mbed.h"
j_j205 4:6a8d80954323 4 #include "LongRangeSensor.h"
j_j205 8:32a445ae1d72 5 #include "ShortRangeSensor.h"
Hellkite85 7:52c4be3bfc1b 6 #include "StepperDrive.h"
Hellkite85 9:bae63bc84829 7 #include "Gripper.h"
Hellkite85 9:bae63bc84829 8 #include <stack>
j_j205 0:999bb8fcd0b2 9
j_j205 0:999bb8fcd0b2 10 class Scanner
j_j205 0:999bb8fcd0b2 11 {
j_j205 2:b281034eda86 12 public:
Hellkite85 7:52c4be3bfc1b 13 Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
j_j205 8:32a445ae1d72 14 ShortRangeSensor &_shortRangeL, ShortRangeSensor &_shortRangeR,
j_j205 4:6a8d80954323 15 LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR,
Hellkite85 9:bae63bc84829 16 Gripper &_robotGrip, float _period = 0.2);
j_j205 3:992558a021d7 17 void huntMode();
Hellkite85 7:52c4be3bfc1b 18 void hunt();
j_j205 3:992558a021d7 19 void avoidMode();
j_j205 3:992558a021d7 20 void localize();
j_j205 6:5e24ff86b743 21 void localizeRight();
j_j205 6:5e24ff86b743 22 void localizeLeft();
j_j205 3:992558a021d7 23 float getDistLeft() {return distLeft;}
j_j205 3:992558a021d7 24 float getDistRight() {return distRight;}
j_j205 6:5e24ff86b743 25 float getDistForwardL() {return distForwardL;}
j_j205 6:5e24ff86b743 26 float getDistForwardR() {return distForwardR;}
j_j205 12:514544a4014f 27 void setLocalizeRightFlag(bool value) {localizeRightFlag = value;}
j_j205 12:514544a4014f 28 void setLocalizeLeftFlag(bool value) {localizeLeftFlag = value;}
j_j205 12:514544a4014f 29 bool getYellowFlag() {return yellowFlag;}
j_j205 12:514544a4014f 30 bool getObjectFound() {return objectFound;}
j_j205 2:b281034eda86 31
j_j205 0:999bb8fcd0b2 32 private:
j_j205 12:514544a4014f 33 static const int YELLOW = 1;
j_j205 12:514544a4014f 34 static const int RED = 0;
j_j205 2:b281034eda86 35 static const int MIN_DUTY = 0;
j_j205 6:5e24ff86b743 36 static const int MAX_DUTY = 6;
j_j205 6:5e24ff86b743 37 static const int HALF_DUTY = 3;
j_j205 2:b281034eda86 38 static const float DELTA_DUTY = 4.2e-3;
j_j205 2:b281034eda86 39 float DUTY[13]; // {0.0500, 0.0542, 0.0583, 0.0625, 0.0667, 0.0708,
j_j205 2:b281034eda86 40 // 0.0750, 0.0792, 0.0833, 0.0875, 0.0917, 0.0958,
j_j205 2:b281034eda86 41 // 0.1000};
j_j205 2:b281034eda86 42 bool pitEnable;
j_j205 2:b281034eda86 43 int invertL;
j_j205 2:b281034eda86 44 int invertR;
j_j205 2:b281034eda86 45 int dutyL;
j_j205 2:b281034eda86 46 int dutyR;
j_j205 3:992558a021d7 47 float distLeft;
j_j205 3:992558a021d7 48 float distRight;
j_j205 6:5e24ff86b743 49 float distForwardL;
j_j205 6:5e24ff86b743 50 float distForwardR;
j_j205 0:999bb8fcd0b2 51 Serial &pc;
Hellkite85 7:52c4be3bfc1b 52 StepperDrive &drive;
j_j205 0:999bb8fcd0b2 53 PwmOut servoL;
j_j205 0:999bb8fcd0b2 54 PwmOut servoR;
j_j205 8:32a445ae1d72 55 ShortRangeSensor &shortRangeL;
j_j205 8:32a445ae1d72 56 ShortRangeSensor &shortRangeR;
j_j205 4:6a8d80954323 57 LongRangeSensor &longRangeL;
j_j205 4:6a8d80954323 58 LongRangeSensor &longRangeR;
j_j205 12:514544a4014f 59 Gripper &robotGrip;
j_j205 0:999bb8fcd0b2 60 float period;
j_j205 3:992558a021d7 61 bool obstacle;
j_j205 3:992558a021d7 62 bool huntFlag;
j_j205 6:5e24ff86b743 63 bool avoidFlag;
j_j205 6:5e24ff86b743 64 bool objectFound;
j_j205 12:514544a4014f 65 bool localizeRightFlag;
j_j205 12:514544a4014f 66 bool localizeLeftFlag;
j_j205 12:514544a4014f 67 bool yellowFlag;
Hellkite85 9:bae63bc84829 68
Hellkite85 9:bae63bc84829 69 struct huntMove
Hellkite85 9:bae63bc84829 70 {
Hellkite85 9:bae63bc84829 71 float distance;
Hellkite85 9:bae63bc84829 72 float angle;
Hellkite85 9:bae63bc84829 73 };
j_j205 2:b281034eda86 74
j_j205 3:992558a021d7 75 Ticker scanPit; // periodic interrupt timer
j_j205 2:b281034eda86 76
j_j205 2:b281034eda86 77 void scan();
j_j205 2:b281034eda86 78
Hellkite85 9:bae63bc84829 79 std::stack<huntMove> myStack;
j_j205 0:999bb8fcd0b2 80 };
j_j205 0:999bb8fcd0b2 81
j_j205 3:992558a021d7 82 #endif // SCANNER_H