UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

main.cpp@4:89ebfa37663b, 2018-03-05 (annotated)

Committer:
MikeGray92
Date:
Mon Mar 05 23:08:34 2018 +0000
Revision:
4:89ebfa37663b
Parent:
2:0537a8007a39
Child:
5:7e59733b02b2
Added chat modes; Defined new limits for 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
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 // Library Includes
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 #include <stdint.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 11 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 12 #include <ros.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 13 #include <std_msgs/Empty.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 14 #include <std_msgs/Float32MultiArray.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 #include <BNO055.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 16 #include <initializations.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 17 #include <definitions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 18 #include <prototypes.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 19 #include <Mx28.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 20
group-UVic-Assistive-Technolog 0:3a767f41cf04 21
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 // Micro Module Declarations
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 PwmOut liftSpeed(D10); // Normally D10
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 DigitalOut liftDirection(D11);
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 DigitalIn button(USER_BUTTON);
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 Ticker hallInt;
MikeGray92 1:1ac7d472cfa2 27 Timer filter_hall1;
MikeGray92 4:89ebfa37663b 28 Timer rosMode_Delay;
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 DynamixelClass gimbal(57600, D7, D8, D2);
group-UVic-Assistive-Technolog 0:3a767f41cf04 30
MikeGray92 2:0537a8007a39 31
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 ros::NodeHandle nh;
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 ros::Subscriber<std_msgs::Float32MultiArray> 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 // Variables
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 struct fields rosInput;
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 2:0537a8007a39 43
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 // Main Program
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 int main() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 // Initializations
MikeGray92 4:89ebfa37663b 47 filter_hall1.start(); //Start Filtering Timer
MikeGray92 2:0537a8007a39 48 setupGimbal(); // Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 49 setupLift(); // Lift
MikeGray92 4:89ebfa37663b 50 setupROSNode(nh, sub); // ROS Node Handle
MikeGray92 4:89ebfa37663b 51
group-UVic-Assistive-Technolog 0:3a767f41cf04 52 // Main Loop
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 while (1) {
MikeGray92 4:89ebfa37663b 54 // Lift Operation
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 runLift();
MikeGray92 4:89ebfa37663b 56 //Run Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 runGimbal();
MikeGray92 4:89ebfa37663b 58 //ROS Functions
MikeGray92 4:89ebfa37663b 59 nh.spinOnce();
MikeGray92 4:89ebfa37663b 60 rosCheck();
MikeGray92 4:89ebfa37663b 61 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 62 }