UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

main.cpp@10:836e701d00a6, 2018-04-26 (annotated)

Committer:
MikeGray92
Date:
Thu Apr 26 18:33:11 2018 +0000
Revision:
10:836e701d00a6
Parent:
8:478f75c6109c
Child:
14:97804177806d
Speed and Position controlled lift and gimbal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MikeGray92 4:89ebfa37663b 1 /*
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 * Code for the Module Microcontroller as part of the
group-UVic-Assistive-Technolog 0:3a767f41cf04 3 * Autonomous Camera Kart project.
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 * Controls the Gimbal motors, raise and lower mechanism,
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 * IMU sensor input, communication with the NUC onboard computer.
group-UVic-Assistive-Technolog 0:3a767f41cf04 6 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 7
group-UVic-Assistive-Technolog 0:3a767f41cf04 8 // Library Includes
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 #include <stdint.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 11 #include <ros.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 12 #include <std_msgs/Empty.h>
MikeGray92 7:950b3c3b5a2b 13 #include <std_msgs/Int32MultiArray.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 14 #include <BNO055.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 #include <initializations.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 16 #include <definitions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 17 #include <prototypes.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 18 #include <Mx28.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 19
group-UVic-Assistive-Technolog 0:3a767f41cf04 20 // Micro Module Declarations
group-UVic-Assistive-Technolog 0:3a767f41cf04 21 PwmOut liftSpeed(D10); // Normally D10
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 DigitalOut liftDirection(D11);
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 DigitalIn button(USER_BUTTON);
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 Ticker hallInt;
MikeGray92 1:1ac7d472cfa2 25 Timer filter_hall1;
MikeGray92 4:89ebfa37663b 26 Timer rosMode_Delay;
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 DynamixelClass gimbal(57600, D7, D8, D2);
MikeGray92 10:836e701d00a6 28 InterruptIn eStop(D5);
MikeGray92 10:836e701d00a6 29 DigitalOut value0(D3);
MikeGray92 10:836e701d00a6 30 DigitalOut value1(D4);
group-UVic-Assistive-Technolog 0:3a767f41cf04 31
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 ros::NodeHandle nh;
MikeGray92 7:950b3c3b5a2b 33 ros::Subscriber<std_msgs::Int32MultiArray> sub("module_command", &module_commandCB);
group-UVic-Assistive-Technolog 0:3a767f41cf04 34
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 // Global Variable
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 struct fields rosInput;
MikeGray92 10:836e701d00a6 38 float liftDutyCycle = 0;
MikeGray92 1:1ac7d472cfa2 39 volatile int currentPosition = 0;
MikeGray92 1:1ac7d472cfa2 40 int prevPosition = 0;
MikeGray92 4:89ebfa37663b 41 int stallcount = 0;
MikeGray92 4:89ebfa37663b 42 bool rosFlag = 1;
MikeGray92 10:836e701d00a6 43 bool eStopFlag = 0;
MikeGray92 2:0537a8007a39 44
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 // Main Program
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 int main() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 // Initializations
MikeGray92 10:836e701d00a6 48 value0.write(1);
MikeGray92 10:836e701d00a6 49 value1.write(1);
MikeGray92 10:836e701d00a6 50 filter_hall1.start(); //Start Filtering Timer
MikeGray92 10:836e701d00a6 51 eStop.fall(&eStopOn);
MikeGray92 10:836e701d00a6 52 eStop.rise(&eStopOff);
MikeGray92 2:0537a8007a39 53 setupGimbal(); // Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 54 setupLift(); // Lift
MikeGray92 4:89ebfa37663b 55 setupROSNode(nh, sub); // ROS Node Handle
MikeGray92 7:950b3c3b5a2b 56 rosInput.mode = 0;
MikeGray92 4:89ebfa37663b 57
group-UVic-Assistive-Technolog 0:3a767f41cf04 58 // Main Loop
MikeGray92 10:836e701d00a6 59 while (1) {
MikeGray92 10:836e701d00a6 60 //LED Inputs
MikeGray92 10:836e701d00a6 61 value0.write(0);
MikeGray92 10:836e701d00a6 62 value1.write(0);
MikeGray92 10:836e701d00a6 63 //ROS Functions
MikeGray92 10:836e701d00a6 64 nh.spinOnce();
MikeGray92 10:836e701d00a6 65 rosCheck();
MikeGray92 4:89ebfa37663b 66 // Lift Operation
MikeGray92 10:836e701d00a6 67 runLift();
MikeGray92 4:89ebfa37663b 68 //Run Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 69 runGimbal();
MikeGray92 10:836e701d00a6 70 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 71 }