UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

main.cpp@6:2ffa254e8f6e, 2018-03-06 (annotated)

Committer:
MikeGray92
Date:
Tue Mar 06 21:44:07 2018 +0000
Revision:
6:2ffa254e8f6e
Parent:
5:7e59733b02b2
Child:
7:950b3c3b5a2b
Added Comments; Changed the order of rosInput values (0 - neg, 1 -nothing, 2 - pos); Changed Roll limits

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>
group-UVic-Assistive-Technolog 0:3a767f41cf04 13 #include <std_msgs/Float32MultiArray.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
group-UVic-Assistive-Technolog 0:3a767f41cf04 21 // Micro Module Declarations
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 PwmOut liftSpeed(D10); // Normally D10
group-UVic-Assistive-Technolog 0:3a767f41cf04 23 DigitalOut liftDirection(D11);
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 DigitalIn button(USER_BUTTON);
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 Ticker hallInt;
MikeGray92 1:1ac7d472cfa2 26 Timer filter_hall1;
MikeGray92 4:89ebfa37663b 27 Timer rosMode_Delay;
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 DynamixelClass gimbal(57600, D7, D8, D2);
group-UVic-Assistive-Technolog 0:3a767f41cf04 29
MikeGray92 2:0537a8007a39 30
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 ros::NodeHandle nh;
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 ros::Subscriber<std_msgs::Float32MultiArray> sub("module_command", &module_commandCB);
group-UVic-Assistive-Technolog 0:3a767f41cf04 33
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 // Global Variable
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 struct fields rosInput;
MikeGray92 1:1ac7d472cfa2 37 volatile int currentPosition = 0;
MikeGray92 1:1ac7d472cfa2 38 int prevPosition = 0;
MikeGray92 4:89ebfa37663b 39 int stallcount = 0;
MikeGray92 4:89ebfa37663b 40 bool rosFlag = 1;
MikeGray92 2:0537a8007a39 41
group-UVic-Assistive-Technolog 0:3a767f41cf04 42 // Main Program
group-UVic-Assistive-Technolog 0:3a767f41cf04 43 int main() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 // Initializations
MikeGray92 4:89ebfa37663b 45 filter_hall1.start(); //Start Filtering Timer
MikeGray92 2:0537a8007a39 46 setupGimbal(); // Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 setupLift(); // Lift
MikeGray92 4:89ebfa37663b 48 setupROSNode(nh, sub); // ROS Node Handle
MikeGray92 4:89ebfa37663b 49
group-UVic-Assistive-Technolog 0:3a767f41cf04 50 // Main Loop
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 while (1) {
MikeGray92 4:89ebfa37663b 52 // Lift Operation
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 runLift();
MikeGray92 4:89ebfa37663b 54 //Run Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 runGimbal();
MikeGray92 4:89ebfa37663b 56 //ROS Functions
MikeGray92 4:89ebfa37663b 57 nh.spinOnce();
MikeGray92 4:89ebfa37663b 58 rosCheck();
MikeGray92 4:89ebfa37663b 59 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 }