UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

Diff: definitions.h

Revision:
2:0537a8007a39
Parent:
1:1ac7d472cfa2
Child:
3:527f0b949839
--- a/definitions.h	Tue Feb 06 20:50:55 2018 +0000
+++ b/definitions.h	Thu Feb 08 22:23:40 2018 +0000
@@ -19,12 +19,6 @@
 #define     ROSMODE         5
 
 // Gimbal definitions
-#define     DYNASCALE       11.377777777777
-#define     DYNASCALE2      13
-#define     DYNASCALE3      17
-#define     DYNAPROPCONST   0.1
-#define     DYNASTEPSIZE    3
-#define     IMUBUFFER       10
 #define     YAWID           1
 #define     PITCHID         2
 #define     ROLLID          3
@@ -33,8 +27,6 @@
 #define     ROLLZERO        2302
 #define     YAWMIN          0       // -177 degrees.
 #define     YAWMAX          4063    // +177 degrees.
-#define     CW              1
-#define     CCW             0
 #define     PITCHMIN        1326    // -90 degrees.
 #define     PITCHMAX        3374    // +90 degrees.
 #define     ROLLMIN         1278    // -90 degrees.
@@ -43,14 +35,8 @@
 // Lift definitions
 #define     LIFTUP          0
 #define     LIFTDOWN        1
-#define     ROSCHECKTIME    0.01
-#define     HALLCHECKTIME   100
-#define     STALLTIME       200 //Was 250
-#define     LIFTSCALE       4400
-#define     LIFTPROPCONST   0.01
-#define     LIFTRAMPCONST   0.002f
-#define     LIFTHEIGHTMAX   2640    // 2640/4400 = 0.6m was 2640
-#define     LIFTHEIGHTMIN   132     // 132/4400 = 0.05m
+#define     LIFTHEIGHTMAX   3000 
+#define     LIFTHEIGHTMIN   5
 
 
 // Classes
@@ -92,26 +78,11 @@
 extern volatile int     currentPosition;
 extern int              prevPosition;
 extern bool             stall; 
-extern bool             liftFlag;
-extern bool             motorFlag;
-extern bool             imuFlag;
-extern bool             rosFlag;
-extern float            tempyaw;
-extern float            temppitch;
-extern float            temproll;
-extern float            tempheight;
 extern Ticker           hallInt;
-extern Ticker           dynaInt;
-extern Ticker           imuInt;
-extern Ticker           rosInt;
-extern Ticker           liftInt;
 extern Timer            filter_hall1;
 extern PwmOut           liftSpeed;
 extern DigitalOut       liftDirection;
-//extern DigitalIn        hallSensor1;
-//extern DigitalIn        hallSensor2;
 extern DigitalOut       LED;
-extern BNO055           IMU;
 extern DynamixelClass   gimbal;
 
 #endif
\ No newline at end of file