UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

definitions.h@0:3a767f41cf04, 2018-01-31 (annotated)

Committer:
group-UVic-Assistive-Technolog
Date:
Wed Jan 31 05:24:12 2018 +0000
Revision:
0:3a767f41cf04
Child:
1:1ac7d472cfa2
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 1 #ifndef __DEFINITIONS_H__
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 #define __DEFINITIONS_H__
group-UVic-Assistive-Technolog 0:3a767f41cf04 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 #include <BNO055.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 6 #include <Mx28.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 7
group-UVic-Assistive-Technolog 0:3a767f41cf04 8 // Generic definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 #define TRUE 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 #define FALSE 0
group-UVic-Assistive-Technolog 0:3a767f41cf04 11
group-UVic-Assistive-Technolog 0:3a767f41cf04 12 // ROS definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 13 #define ROSDATALENGTH 5
group-UVic-Assistive-Technolog 0:3a767f41cf04 14 #define ROSCONTROL 0
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 #define ROSYAW 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 16 #define ROSPITCH 2
group-UVic-Assistive-Technolog 0:3a767f41cf04 17 #define ROSROLL 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 18 #define ROSHEIGHT 4
group-UVic-Assistive-Technolog 0:3a767f41cf04 19 #define ROSMODE 5
group-UVic-Assistive-Technolog 0:3a767f41cf04 20
group-UVic-Assistive-Technolog 0:3a767f41cf04 21 // Gimbal definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 #define DYNASCALE 11.377777777777
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 #define DYNASCALE2 13
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 #define DYNASCALE3 17
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 #define DYNAPROPCONST 0.1
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 #define DYNASTEPSIZE 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 #define IMUBUFFER 10
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 #define YAWID 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 #define PITCHID 2
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 #define ROLLID 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 #define YAWZERO 2015
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 #define PITCHZERO 2350
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 #define ROLLZERO 2302
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 #define YAWMIN 0 // -177 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 #define YAWMAX 4063 // +177 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 #define CW 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 #define CCW 0
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 #define PITCHMIN 1326 // -90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 39 #define PITCHMAX 3374 // +90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 40 #define ROLLMIN 1278 // -90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 41 #define ROLLMAX 3326 // +90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 42
group-UVic-Assistive-Technolog 0:3a767f41cf04 43 // Lift definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 #define LIFTUP 0
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 #define LIFTDOWN 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 #define ROSCHECKTIME 0.01
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 #define HALLCHECKTIME 100
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 #define STALLTIME 200 //Was 250
group-UVic-Assistive-Technolog 0:3a767f41cf04 49 #define LIFTSCALE 4400
group-UVic-Assistive-Technolog 0:3a767f41cf04 50 #define LIFTPROPCONST 0.01
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 #define LIFTRAMPCONST 0.002f
group-UVic-Assistive-Technolog 0:3a767f41cf04 52 #define LIFTHEIGHTMAX 2640 // 2640/4400 = 0.6m was 2640
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 #define LIFTHEIGHTMIN 132 // 132/4400 = 0.05m
group-UVic-Assistive-Technolog 0:3a767f41cf04 54
group-UVic-Assistive-Technolog 0:3a767f41cf04 55
group-UVic-Assistive-Technolog 0:3a767f41cf04 56 // Classes
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 struct fields{
group-UVic-Assistive-Technolog 0:3a767f41cf04 58 int yaw;
group-UVic-Assistive-Technolog 0:3a767f41cf04 59 int yawSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 int pitch;
group-UVic-Assistive-Technolog 0:3a767f41cf04 61 int pitchSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 62 int roll;
group-UVic-Assistive-Technolog 0:3a767f41cf04 63 int rollSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 64 int height;
group-UVic-Assistive-Technolog 0:3a767f41cf04 65 bool stabilize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 66 bool masterOn;
group-UVic-Assistive-Technolog 0:3a767f41cf04 67 bool liftRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 68 bool gimbalRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 69 bool shutdown;
group-UVic-Assistive-Technolog 0:3a767f41cf04 70 bool initialize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 71 bool mode;
group-UVic-Assistive-Technolog 0:3a767f41cf04 72 };
group-UVic-Assistive-Technolog 0:3a767f41cf04 73 struct fields_float{
group-UVic-Assistive-Technolog 0:3a767f41cf04 74 float yaw;
group-UVic-Assistive-Technolog 0:3a767f41cf04 75 float yawSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 76 float pitch;
group-UVic-Assistive-Technolog 0:3a767f41cf04 77 float pitchSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 78 float roll;
group-UVic-Assistive-Technolog 0:3a767f41cf04 79 float rollSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 80 float height;
group-UVic-Assistive-Technolog 0:3a767f41cf04 81 bool stabilize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 82 bool masterOn;
group-UVic-Assistive-Technolog 0:3a767f41cf04 83 bool liftRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 84 bool gimbalRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 85 bool shutdown;
group-UVic-Assistive-Technolog 0:3a767f41cf04 86 bool initialize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 87 bool mode;
group-UVic-Assistive-Technolog 0:3a767f41cf04 88 };
group-UVic-Assistive-Technolog 0:3a767f41cf04 89
group-UVic-Assistive-Technolog 0:3a767f41cf04 90 extern struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 91 extern struct fields rosInput;
group-UVic-Assistive-Technolog 0:3a767f41cf04 92 extern int currentPosition;
group-UVic-Assistive-Technolog 0:3a767f41cf04 93 extern bool stall;
group-UVic-Assistive-Technolog 0:3a767f41cf04 94 extern bool liftFlag;
group-UVic-Assistive-Technolog 0:3a767f41cf04 95 extern bool motorFlag;
group-UVic-Assistive-Technolog 0:3a767f41cf04 96 extern bool imuFlag;
group-UVic-Assistive-Technolog 0:3a767f41cf04 97 extern bool rosFlag;
group-UVic-Assistive-Technolog 0:3a767f41cf04 98 extern float tempyaw;
group-UVic-Assistive-Technolog 0:3a767f41cf04 99 extern float temppitch;
group-UVic-Assistive-Technolog 0:3a767f41cf04 100 extern float temproll;
group-UVic-Assistive-Technolog 0:3a767f41cf04 101 extern float tempheight;
group-UVic-Assistive-Technolog 0:3a767f41cf04 102 extern Ticker hallInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 103 extern Ticker dynaInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 104 extern Ticker imuInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 105 extern Ticker rosInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 106 extern PwmOut liftSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 107 extern DigitalOut liftDirection;
group-UVic-Assistive-Technolog 0:3a767f41cf04 108 extern DigitalIn hallSensor1;
group-UVic-Assistive-Technolog 0:3a767f41cf04 109 extern DigitalIn hallSensor2;
group-UVic-Assistive-Technolog 0:3a767f41cf04 110 extern DigitalOut LED;
group-UVic-Assistive-Technolog 0:3a767f41cf04 111 extern BNO055 IMU;
group-UVic-Assistive-Technolog 0:3a767f41cf04 112 extern DynamixelClass gimbal;
group-UVic-Assistive-Technolog 0:3a767f41cf04 113
group-UVic-Assistive-Technolog 0:3a767f41cf04 114 #endif