UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

main.cpp@2:0537a8007a39, 2018-02-08 (annotated)

Committer:
MikeGray92
Date:
Thu Feb 08 22:23:40 2018 +0000
Revision:
2:0537a8007a39
Parent:
1:1ac7d472cfa2
Child:
4:89ebfa37663b
Code ready to be tested with ROS. ; -Tested external interrupt positioning for the lift; -remove unnecessary flags and functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 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
group-UVic-Assistive-Technolog 0:3a767f41cf04 23
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 // Micro Module Declarations
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 DigitalOut LED(PA_5);
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 PwmOut liftSpeed(D10); // Normally D10
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 DigitalOut liftDirection(D11);
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 DigitalIn button(USER_BUTTON);
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 Ticker hallInt;
MikeGray92 1:1ac7d472cfa2 30 Timer filter_hall1;
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 DynamixelClass gimbal(57600, D7, D8, D2);
group-UVic-Assistive-Technolog 0:3a767f41cf04 32
MikeGray92 2:0537a8007a39 33
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 ros::NodeHandle nh;
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 ros::Subscriber<std_msgs::Float32MultiArray> sub("module_command", &module_commandCB);
group-UVic-Assistive-Technolog 0:3a767f41cf04 36
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 // Global Variable
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 // Variables
group-UVic-Assistive-Technolog 0:3a767f41cf04 39 struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 40 struct fields rosInput;
MikeGray92 1:1ac7d472cfa2 41 volatile int currentPosition = 0;
MikeGray92 1:1ac7d472cfa2 42 int prevPosition = 0;
MikeGray92 1:1ac7d472cfa2 43 bool stall = false;
group-UVic-Assistive-Technolog 0:3a767f41cf04 44
MikeGray92 2:0537a8007a39 45
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 // Main Program
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 int main() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 // Initializations
MikeGray92 2:0537a8007a39 49 filter_hall1.start(); //Start Filtering Timer
MikeGray92 2:0537a8007a39 50 setupGimbal(); // Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 setupLift(); // Lift
group-UVic-Assistive-Technolog 0:3a767f41cf04 52 setupROSNode(nh, sub); // ROS Node Handle
MikeGray92 2:0537a8007a39 53
group-UVic-Assistive-Technolog 0:3a767f41cf04 54 // Main Loop
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 while (1) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 56 // Lift Operation
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 runLift();
group-UVic-Assistive-Technolog 0:3a767f41cf04 58 //Run Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 59 runGimbal();
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 //ROS Functions
group-UVic-Assistive-Technolog 0:3a767f41cf04 61 nh.spinOnce();
MikeGray92 2:0537a8007a39 62 rosCheck();
group-UVic-Assistive-Technolog 0:3a767f41cf04 63 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 64 }