UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

main.cpp@0:3a767f41cf04, 2018-01-31 (annotated)

Committer:
group-UVic-Assistive-Technolog
Date:
Wed Jan 31 05:24:12 2018 +0000
Revision:
0:3a767f41cf04
Child:
1:1ac7d472cfa2
Initial commit

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 hallSensor1(D9);
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 DigitalIn hallSensor2(D12);
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 DigitalIn button(USER_BUTTON);
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 Ticker hallInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 Ticker dynaInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 Ticker imuInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 Ticker rosInt;
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 BNO055 IMU(D14, D15);
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 DynamixelClass gimbal(57600, D7, D8, D2);
group-UVic-Assistive-Technolog 0:3a767f41cf04 37
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 ros::NodeHandle nh;
group-UVic-Assistive-Technolog 0:3a767f41cf04 39 ros::Subscriber<std_msgs::Float32MultiArray> sub("module_command", &module_commandCB);
group-UVic-Assistive-Technolog 0:3a767f41cf04 40
group-UVic-Assistive-Technolog 0:3a767f41cf04 41 // Global Variable
group-UVic-Assistive-Technolog 0:3a767f41cf04 42 // Variables
group-UVic-Assistive-Technolog 0:3a767f41cf04 43 struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 struct fields rosInput;
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 bool liftFlag = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 bool motorFlag = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 bool homeFlag = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 bool imuFlag = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 49 bool rosFlag = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 50 int currentPosition = LIFTHEIGHTMIN;
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 bool stall = FALSE;
group-UVic-Assistive-Technolog 0:3a767f41cf04 52
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 // Main Program
group-UVic-Assistive-Technolog 0:3a767f41cf04 54 int main() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 // Initializations
group-UVic-Assistive-Technolog 0:3a767f41cf04 56 setupGimbal();
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 setupLift(); // Lift
group-UVic-Assistive-Technolog 0:3a767f41cf04 58 setupROSNode(nh, sub); // ROS Node Handle
group-UVic-Assistive-Technolog 0:3a767f41cf04 59 // Main Loop
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 while (1) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 61 // Lift Operation
group-UVic-Assistive-Technolog 0:3a767f41cf04 62 runLift();
group-UVic-Assistive-Technolog 0:3a767f41cf04 63 //Run Gimbal
group-UVic-Assistive-Technolog 0:3a767f41cf04 64 runGimbal();
group-UVic-Assistive-Technolog 0:3a767f41cf04 65 //ROS Functions
group-UVic-Assistive-Technolog 0:3a767f41cf04 66 nh.spinOnce();
group-UVic-Assistive-Technolog 0:3a767f41cf04 67 rosCheck();
group-UVic-Assistive-Technolog 0:3a767f41cf04 68 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 69 }