USNA ES456 Autonomous Vehicles / Mbed 2 deprecated MadPulse_Controller_ros

Madpulse ROS Code

Dependencies:   mbed ServoOut BNO055_fusion ros_lib_kinetic MadPulseIMU ServoIn

RC/RC_Channel.h@8:c07db2a00c8e, 2019-10-10 (annotated)

Committer:
jdawkins
Date:
Thu Oct 10 13:51:05 2019 +0000
Revision:
8:c07db2a00c8e
Parent:
5:c24490c61022 
Changed the Messages Sent.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 5:c24490c61022 1 #ifndef RC_CHANNEL_H
jdawkins 5:c24490c61022 2 #define RC_CHANNEL_H
jdawkins 5:c24490c61022 3
jdawkins 5:c24490c61022 4 #include "mbed.h"
jdawkins 5:c24490c61022 5
jdawkins 5:c24490c61022 6 class RC_Channel
jdawkins 5:c24490c61022 7 {
jdawkins 5:c24490c61022 8 public:
jdawkins 5:c24490c61022 9 RC_Channel(PinName mypin, int index); // NO p19/p20!!!!, they don't support InterruptIn
jdawkins 5:c24490c61022 10 int read(); // read the last measured data
jdawkins 5:c24490c61022 11
jdawkins 5:c24490c61022 12 private:
jdawkins 5:c24490c61022 13 int index; // to know which channel of the RC an instance has (only for calibrations savings)
jdawkins 5:c24490c61022 14 int time; // last measurement data
jdawkins 5:c24490c61022 15 float scale; // calibration values
jdawkins 5:c24490c61022 16 float offset;
jdawkins 5:c24490c61022 17
jdawkins 5:c24490c61022 18 InterruptIn myinterrupt; // interrupt on the pin to react when signal falls or rises
jdawkins 5:c24490c61022 19 void rise(); // start the time measurement when signal rises
jdawkins 5:c24490c61022 20 void fall(); // stop the time mesurement and save the value when signal falls
jdawkins 5:c24490c61022 21 Timer timer; // timer to measure the up time of the signal and if the signal timed out
jdawkins 5:c24490c61022 22
jdawkins 5:c24490c61022 23 Ticker timeoutchecker; // Ticker to see if signal broke down
jdawkins 5:c24490c61022 24 void timeoutcheck(); // to check for timeout, checked every second
jdawkins 5:c24490c61022 25
jdawkins 5:c24490c61022 26 // Calibration value saving
jdawkins 5:c24490c61022 27 void saveCalibrationValue(float * value, char * fileextension);
jdawkins 5:c24490c61022 28 void loadCalibrationValue(float * value, char * fileextension);
jdawkins 5:c24490c61022 29 };
jdawkins 5:c24490c61022 30
jdawkins 5:c24490c61022 31 #endif