TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

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Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Protocol/protocol.h@19:c709c5a9fb08, 2016-05-15 (annotated)

Committer:
drelliak
Date:
Sun May 15 19:14:06 2016 +0000
Revision:
19:c709c5a9fb08
Updated protocol;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drelliak 19:c709c5a9fb08 1 /**
drelliak 19:c709c5a9fb08 2 @file protocol.h
drelliak 19:c709c5a9fb08 3 @brief Protocol definitions.
drelliak 19:c709c5a9fb08 4 */
drelliak 19:c709c5a9fb08 5
drelliak 19:c709c5a9fb08 6 /*
drelliak 19:c709c5a9fb08 7 Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
drelliak 19:c709c5a9fb08 8
drelliak 19:c709c5a9fb08 9 This file is part of piranha-ptc.
drelliak 19:c709c5a9fb08 10
drelliak 19:c709c5a9fb08 11 This is free software: you can redistribute it and/or modify
drelliak 19:c709c5a9fb08 12 it under the terms of the GNU General Public License as published by
drelliak 19:c709c5a9fb08 13 the Free Software Foundation, either version 3 of the License, or
drelliak 19:c709c5a9fb08 14 (at your option) any later version.
drelliak 19:c709c5a9fb08 15
drelliak 19:c709c5a9fb08 16 This is distributed in the hope that it will be useful,
drelliak 19:c709c5a9fb08 17 but WITHOUT ANY WARRANTY; without even the implied warranty of
drelliak 19:c709c5a9fb08 18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
drelliak 19:c709c5a9fb08 19 See the GNU General Public License for more details.
drelliak 19:c709c5a9fb08 20
drelliak 19:c709c5a9fb08 21 You should have received a copy of the GNU General Public License
drelliak 19:c709c5a9fb08 22 along with this. If not, see <http://www.gnu.org/licenses/>.
drelliak 19:c709c5a9fb08 23 */
drelliak 19:c709c5a9fb08 24
drelliak 19:c709c5a9fb08 25
drelliak 19:c709c5a9fb08 26 #ifndef __PIRANHA_PROTOCOL_H__
drelliak 19:c709c5a9fb08 27 #define __PIRANHA_PROTOCOL_H__
drelliak 19:c709c5a9fb08 28
drelliak 19:c709c5a9fb08 29 //@{
drelliak 19:c709c5a9fb08 30 ///PID parameters range.
drelliak 19:c709c5a9fb08 31 #define PID_PARAMS_MIN -100.0
drelliak 19:c709c5a9fb08 32 #define PID_PARAMS_MAX 100.0
drelliak 19:c709c5a9fb08 33 //@}
drelliak 19:c709c5a9fb08 34
drelliak 19:c709c5a9fb08 35 //@{
drelliak 19:c709c5a9fb08 36 ///Ground velocity range.
drelliak 19:c709c5a9fb08 37 #define GND_VEL_MIN -100.0
drelliak 19:c709c5a9fb08 38 #define GND_VEL_MAX 100.0
drelliak 19:c709c5a9fb08 39 //@}
drelliak 19:c709c5a9fb08 40
drelliak 19:c709c5a9fb08 41 //@{
drelliak 19:c709c5a9fb08 42 ///Angle reference range (in radians).
drelliak 19:c709c5a9fb08 43 #define PI 3.141593
drelliak 19:c709c5a9fb08 44 #define ANG_REF_MIN -PI
drelliak 19:c709c5a9fb08 45 #define ANG_REF_MAX PI
drelliak 19:c709c5a9fb08 46 //@}
drelliak 19:c709c5a9fb08 47
drelliak 19:c709c5a9fb08 48 //@{
drelliak 19:c709c5a9fb08 49 ///Angle reference from camera range (in radians).
drelliak 19:c709c5a9fb08 50 #define CAM_ANG_REF_MIN -PI
drelliak 19:c709c5a9fb08 51 #define CAM_ANG_REF_MAX PI
drelliak 19:c709c5a9fb08 52 //@}
drelliak 19:c709c5a9fb08 53
drelliak 19:c709c5a9fb08 54 //@{
drelliak 19:c709c5a9fb08 55 ///Jogging speed period (in seconds).
drelliak 19:c709c5a9fb08 56 #define JOG_VEL_PERIOD_MIN 0.0
drelliak 19:c709c5a9fb08 57 #define JOG_VEL_PERIOD_MAX 300.0
drelliak 19:c709c5a9fb08 58 //@}
drelliak 19:c709c5a9fb08 59
drelliak 19:c709c5a9fb08 60 //@{
drelliak 19:c709c5a9fb08 61 ///Jogging speed ratio.
drelliak 19:c709c5a9fb08 62 #define JOG_VEL_RATIO_MIN 0.0
drelliak 19:c709c5a9fb08 63 #define JOG_VEL_RATIO_MAX 1.0
drelliak 19:c709c5a9fb08 64 //@}
drelliak 19:c709c5a9fb08 65
drelliak 19:c709c5a9fb08 66 //@{
drelliak 19:c709c5a9fb08 67 ///Jogging speed period (in seconds).
drelliak 19:c709c5a9fb08 68 #define MAG_CALIB_MIN -1000.0
drelliak 19:c709c5a9fb08 69 #define MAG_CALIB_MAX 1000.0
drelliak 19:c709c5a9fb08 70 //@}
drelliak 19:c709c5a9fb08 71
drelliak 19:c709c5a9fb08 72 ///Messages to send via protocol.
drelliak 19:c709c5a9fb08 73 enum
drelliak 19:c709c5a9fb08 74 {
drelliak 19:c709c5a9fb08 75 ///Do nothing.
drelliak 19:c709c5a9fb08 76 NONE,
drelliak 19:c709c5a9fb08 77
drelliak 19:c709c5a9fb08 78 ///Brake the robot.
drelliak 19:c709c5a9fb08 79 BRAKE,
drelliak 19:c709c5a9fb08 80
drelliak 19:c709c5a9fb08 81 ///Reset angle measurement.
drelliak 19:c709c5a9fb08 82 ANG_RST,
drelliak 19:c709c5a9fb08 83
drelliak 19:c709c5a9fb08 84 ///Set new angle reference.
drelliak 19:c709c5a9fb08 85 ANG_REF,
drelliak 19:c709c5a9fb08 86
drelliak 19:c709c5a9fb08 87 ///Set new angle reference from camera.
drelliak 19:c709c5a9fb08 88 CAM_ANG_REF,
drelliak 19:c709c5a9fb08 89
drelliak 19:c709c5a9fb08 90 ///Set new ground velocity for robot.
drelliak 19:c709c5a9fb08 91 GND_VEL,
drelliak 19:c709c5a9fb08 92
drelliak 19:c709c5a9fb08 93 ///Set new jogging speed for robot.
drelliak 19:c709c5a9fb08 94 JOG_VEL,
drelliak 19:c709c5a9fb08 95
drelliak 19:c709c5a9fb08 96 ///Magnetometer calibration (min_x, max_x, min_y, max_y).
drelliak 19:c709c5a9fb08 97 MAG_CALIB,
drelliak 19:c709c5a9fb08 98
drelliak 19:c709c5a9fb08 99 ///Send PID control parameters (P, I, D, N).
drelliak 19:c709c5a9fb08 100 PID_PARAMS
drelliak 19:c709c5a9fb08 101 };
drelliak 19:c709c5a9fb08 102
drelliak 19:c709c5a9fb08 103 #define MSG_HEADER_SIZE 1
drelliak 19:c709c5a9fb08 104 #define MSG_VAL_SIZE 2
drelliak 19:c709c5a9fb08 105 #define MSG_MAX_NUM_VALS 4
drelliak 19:c709c5a9fb08 106 #define MSG_BUF_LEN (MSG_HEADER_SIZE + MSG_VAL_SIZE*MSG_MAX_NUM_VALS)
drelliak 19:c709c5a9fb08 107 #define MSG_HEADER_IDX 0
drelliak 19:c709c5a9fb08 108 #define MSG_VALS_START_IDX (MSG_HEADER_IDX + 1)
drelliak 19:c709c5a9fb08 109
drelliak 19:c709c5a9fb08 110 #define SENDER_PORT 7532
drelliak 19:c709c5a9fb08 111 #define SENDER_IFACE_ADDR "192.168.7.2"
drelliak 19:c709c5a9fb08 112 #define SENDER_NETMASK_ADDR "255.255.255.0"
drelliak 19:c709c5a9fb08 113 #define SENDER_GATEWAY_ADDR "0.0.0.0"
drelliak 19:c709c5a9fb08 114
drelliak 19:c709c5a9fb08 115 #define RECEIVER_PORT 7533
drelliak 19:c709c5a9fb08 116 #define RECEIVER_IFACE_ADDR "192.168.7.3"
drelliak 19:c709c5a9fb08 117 #define RECEIVER_NETMASK_ADDR "255.255.255.0"
drelliak 19:c709c5a9fb08 118 #define RECEIVER_GATEWAY_ADDR "0.0.0.0"
drelliak 19:c709c5a9fb08 119
drelliak 19:c709c5a9fb08 120 #endif
drelliak 19:c709c5a9fb08 121