Diff: definitions.h

Revision:

0:3a767f41cf04

Child:

1:1ac7d472cfa2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/definitions.h	Wed Jan 31 05:24:12 2018 +0000
@@ -0,0 +1,114 @@
+#ifndef __DEFINITIONS_H__
+#define __DEFINITIONS_H__
+
+#include "mbed.h"
+#include <BNO055.h>
+#include <Mx28.h>
+
+// Generic definitions
+#define     TRUE            1
+#define     FALSE           0
+
+// ROS definitions
+#define     ROSDATALENGTH   5
+#define     ROSCONTROL      0
+#define     ROSYAW          1
+#define     ROSPITCH        2
+#define     ROSROLL         3
+#define     ROSHEIGHT       4
+#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
+#define     YAWZERO         2015
+#define     PITCHZERO       2350
+#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.
+#define     ROLLMAX         3326    // +90 degrees.
+
+// 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
+
+
+// Classes
+struct  fields{
+int     yaw;
+int     yawSpeed;
+int     pitch;
+int     pitchSpeed;
+int     roll;
+int     rollSpeed;
+int     height;
+bool    stabilize;
+bool    masterOn;
+bool    liftRun;
+bool    gimbalRun;
+bool    shutdown;
+bool    initialize;
+bool    mode;
+};
+struct  fields_float{
+float   yaw;
+float   yawSpeed;
+float   pitch;
+float   pitchSpeed;
+float   roll;
+float   rollSpeed;
+float   height;
+bool    stabilize;
+bool    masterOn;
+bool    liftRun;
+bool    gimbalRun;
+bool    shutdown;
+bool    initialize;
+bool    mode;
+};
+
+extern struct           fields          control;
+extern struct           fields          rosInput;
+extern int              currentPosition;
+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 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