Interface Library for Madpulse RC Car
Dependents: Madpulse_Speed_Control_temp Madpulse_Speed_Control_Students
madpulse.h@1:6bba42f337e6, 2017-11-15 (annotated)
- Committer:
- jdawkins
- Date:
- Wed Nov 15 18:36:09 2017 +0000
- Revision:
- 1:6bba42f337e6
- Parent:
- 0:5e55308aa7a6
Commit for class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jdawkins | 0:5e55308aa7a6 | 1 | #ifndef MADPULSE_H |
jdawkins | 0:5e55308aa7a6 | 2 | #define MADPULSE_H |
jdawkins | 0:5e55308aa7a6 | 3 | #include "utilityFunctions.h" |
jdawkins | 0:5e55308aa7a6 | 4 | #include "mbed.h" |
jdawkins | 0:5e55308aa7a6 | 5 | #include "ServoIn.h" |
jdawkins | 0:5e55308aa7a6 | 6 | #include "ServoOut.h" |
jdawkins | 0:5e55308aa7a6 | 7 | #include "BNO055.h" |
jdawkins | 0:5e55308aa7a6 | 8 | #include "mavlink.h" |
jdawkins | 0:5e55308aa7a6 | 9 | |
jdawkins | 0:5e55308aa7a6 | 10 | static DigitalOut imu_LED(LED1); |
jdawkins | 0:5e55308aa7a6 | 11 | static DigitalOut wheel_LED(LED2); |
jdawkins | 0:5e55308aa7a6 | 12 | static DigitalOut dwm_LED(LED3); |
jdawkins | 0:5e55308aa7a6 | 13 | static DigitalOut auto_LED(LED4); |
jdawkins | 0:5e55308aa7a6 | 14 | static DigitalOut auto_mode(p26); |
jdawkins | 0:5e55308aa7a6 | 15 | |
jdawkins | 0:5e55308aa7a6 | 16 | |
jdawkins | 0:5e55308aa7a6 | 17 | typedef struct vector3{ |
jdawkins | 0:5e55308aa7a6 | 18 | float x,y,z; |
jdawkins | 0:5e55308aa7a6 | 19 | }vector3; |
jdawkins | 0:5e55308aa7a6 | 20 | |
jdawkins | 0:5e55308aa7a6 | 21 | |
jdawkins | 0:5e55308aa7a6 | 22 | class MadPulse { |
jdawkins | 0:5e55308aa7a6 | 23 | |
jdawkins | 0:5e55308aa7a6 | 24 | public: |
jdawkins | 0:5e55308aa7a6 | 25 | MadPulse(uint8_t id,Serial *port, BNO055 *imu, ServoIn *CH1,ServoIn *CH2, InterruptIn *irq, ServoOut *Steer, ServoOut *Throttle); |
jdawkins | 0:5e55308aa7a6 | 26 | |
jdawkins | 0:5e55308aa7a6 | 27 | uint8_t id; |
jdawkins | 0:5e55308aa7a6 | 28 | vector3 pos; |
jdawkins | 0:5e55308aa7a6 | 29 | vector3 vel; |
jdawkins | 0:5e55308aa7a6 | 30 | vector3 accel; |
jdawkins | 0:5e55308aa7a6 | 31 | vector3 gyro; |
jdawkins | 0:5e55308aa7a6 | 32 | vector3 mag; |
jdawkins | 0:5e55308aa7a6 | 33 | angles euler; |
jdawkins | 0:5e55308aa7a6 | 34 | int counts; |
jdawkins | 0:5e55308aa7a6 | 35 | bool auto_flag; |
jdawkins | 0:5e55308aa7a6 | 36 | |
jdawkins | 0:5e55308aa7a6 | 37 | void getRCIn(); |
jdawkins | 0:5e55308aa7a6 | 38 | void getAccel(); |
jdawkins | 0:5e55308aa7a6 | 39 | void getGyro(); |
jdawkins | 0:5e55308aa7a6 | 40 | void getMag(); |
jdawkins | 0:5e55308aa7a6 | 41 | void getEuler(); |
jdawkins | 0:5e55308aa7a6 | 42 | void getSpeed(); |
jdawkins | 0:5e55308aa7a6 | 43 | void getPos(); |
jdawkins | 0:5e55308aa7a6 | 44 | int getCounts(){return counts;} |
jdawkins | 0:5e55308aa7a6 | 45 | float getFreq(){return wheel_freq;} |
jdawkins | 0:5e55308aa7a6 | 46 | void resetEnc(); |
jdawkins | 0:5e55308aa7a6 | 47 | uint8_t sendMessage(Serial *obj,char* msg,uint8_t len); |
jdawkins | 0:5e55308aa7a6 | 48 | |
jdawkins | 0:5e55308aa7a6 | 49 | void setSteer(float ang); |
jdawkins | 0:5e55308aa7a6 | 50 | void setThrottle(float thr); |
jdawkins | 0:5e55308aa7a6 | 51 | float wheel_freq,wheel_freq_old; |
jdawkins | 0:5e55308aa7a6 | 52 | ServoIn *_CH1; |
jdawkins | 0:5e55308aa7a6 | 53 | ServoIn *_CH2; |
jdawkins | 0:5e55308aa7a6 | 54 | |
jdawkins | 0:5e55308aa7a6 | 55 | private: |
jdawkins | 0:5e55308aa7a6 | 56 | PinName _sdaPin, _sclPin, _ch1Pin, _ch2Pin,_encPin, _strPin, _thrPin; |
jdawkins | 0:5e55308aa7a6 | 57 | BNO055 *_imu; |
jdawkins | 0:5e55308aa7a6 | 58 | Serial *_port; |
jdawkins | 0:5e55308aa7a6 | 59 | |
jdawkins | 0:5e55308aa7a6 | 60 | InterruptIn *_wheel_irq; |
jdawkins | 0:5e55308aa7a6 | 61 | ServoOut *_Steer; |
jdawkins | 0:5e55308aa7a6 | 62 | ServoOut *_Throttle; |
jdawkins | 0:5e55308aa7a6 | 63 | Ticker *_ticker; //pointer to ticker object |
jdawkins | 0:5e55308aa7a6 | 64 | char buf[64]; |
jdawkins | 0:5e55308aa7a6 | 65 | |
jdawkins | 0:5e55308aa7a6 | 66 | mavlink_local_position_ned_t pose; |
jdawkins | 0:5e55308aa7a6 | 67 | |
jdawkins | 0:5e55308aa7a6 | 68 | void sampleData(); |
jdawkins | 0:5e55308aa7a6 | 69 | void wheelCallback(); |
jdawkins | 0:5e55308aa7a6 | 70 | void rxCallback(); |
jdawkins | 0:5e55308aa7a6 | 71 | int parseMessage(char * msg); |
jdawkins | 0:5e55308aa7a6 | 72 | void sendDWMessage(uint8_t* msg,uint16_t len); |
jdawkins | 0:5e55308aa7a6 | 73 | bool rc_conn; |
jdawkins | 0:5e55308aa7a6 | 74 | float t_ws,dt_ws,dt,dt_old; |
jdawkins | 0:5e55308aa7a6 | 75 | float wheel_spd; |
jdawkins | 0:5e55308aa7a6 | 76 | Timer ti; |
jdawkins | 0:5e55308aa7a6 | 77 | }; |
jdawkins | 0:5e55308aa7a6 | 78 | |
jdawkins | 0:5e55308aa7a6 | 79 | #endif |