UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

definitions.h@3:527f0b949839, 2018-02-08 (annotated)

Committer:
MikeGray92
Date:
Thu Feb 08 22:55:15 2018 +0000
Revision:
3:527f0b949839
Parent:
2:0537a8007a39
Child:
4:89ebfa37663b
Just addd/removed comments. See last commit notes for changes

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 YAWID 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 #define PITCHID 2
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 #define ROLLID 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 #define YAWZERO 2015
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 #define PITCHZERO 2350
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 #define ROLLZERO 2302
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 #define YAWMIN 0 // -177 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 #define YAWMAX 4063 // +177 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 #define PITCHMIN 1326 // -90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 #define PITCHMAX 3374 // +90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 #define ROLLMIN 1278 // -90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 #define ROLLMAX 3326 // +90 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 34
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 // Lift definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 #define LIFTUP 0
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 #define LIFTDOWN 1
MikeGray92 3:527f0b949839 38 #define LIFTHEIGHTMAX 3000 // 119.6 cm
MikeGray92 3:527f0b949839 39 #define LIFTHEIGHTMIN 5 //51.6 cm
MikeGray92 3:527f0b949839 40 // Delta Height for Lift is 68cm
group-UVic-Assistive-Technolog 0:3a767f41cf04 41
group-UVic-Assistive-Technolog 0:3a767f41cf04 42 // Classes
group-UVic-Assistive-Technolog 0:3a767f41cf04 43 struct fields{
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 int yaw;
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 int yawSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 int pitch;
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 int pitchSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 int roll;
group-UVic-Assistive-Technolog 0:3a767f41cf04 49 int rollSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 50 int height;
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 bool stabilize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 52 bool masterOn;
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 bool liftRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 54 bool gimbalRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 bool shutdown;
group-UVic-Assistive-Technolog 0:3a767f41cf04 56 bool initialize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 bool mode;
group-UVic-Assistive-Technolog 0:3a767f41cf04 58 };
group-UVic-Assistive-Technolog 0:3a767f41cf04 59 struct fields_float{
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 float yaw;
group-UVic-Assistive-Technolog 0:3a767f41cf04 61 float yawSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 62 float pitch;
group-UVic-Assistive-Technolog 0:3a767f41cf04 63 float pitchSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 64 float roll;
group-UVic-Assistive-Technolog 0:3a767f41cf04 65 float rollSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 66 float height;
group-UVic-Assistive-Technolog 0:3a767f41cf04 67 bool stabilize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 68 bool masterOn;
group-UVic-Assistive-Technolog 0:3a767f41cf04 69 bool liftRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 70 bool gimbalRun;
group-UVic-Assistive-Technolog 0:3a767f41cf04 71 bool shutdown;
group-UVic-Assistive-Technolog 0:3a767f41cf04 72 bool initialize;
group-UVic-Assistive-Technolog 0:3a767f41cf04 73 bool mode;
group-UVic-Assistive-Technolog 0:3a767f41cf04 74 };
group-UVic-Assistive-Technolog 0:3a767f41cf04 75
group-UVic-Assistive-Technolog 0:3a767f41cf04 76 extern struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 77 extern struct fields rosInput;
MikeGray92 1:1ac7d472cfa2 78 extern volatile int currentPosition;
MikeGray92 1:1ac7d472cfa2 79 extern int prevPosition;
group-UVic-Assistive-Technolog 0:3a767f41cf04 80 extern bool stall;
group-UVic-Assistive-Technolog 0:3a767f41cf04 81 extern Ticker hallInt;
MikeGray92 1:1ac7d472cfa2 82 extern Timer filter_hall1;
group-UVic-Assistive-Technolog 0:3a767f41cf04 83 extern PwmOut liftSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 84 extern DigitalOut liftDirection;
group-UVic-Assistive-Technolog 0:3a767f41cf04 85 extern DigitalOut LED;
group-UVic-Assistive-Technolog 0:3a767f41cf04 86 extern DynamixelClass gimbal;
group-UVic-Assistive-Technolog 0:3a767f41cf04 87
group-UVic-Assistive-Technolog 0:3a767f41cf04 88 #endif