Diff: main.cpp

Revision:

0:3a767f41cf04

Child:

1:1ac7d472cfa2

diff -r 000000000000 -r 3a767f41cf04 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jan 31 05:24:12 2018 +0000
@@ -0,0 +1,69 @@
+/*
+ * Code for the Module Microcontroller as part of the 
+ * Autonomous Camera Kart project.
+ * Controls the Gimbal motors, raise and lower mechanism,
+ * IMU sensor input, communication with the NUC onboard computer.
+ *
+ */
+
+// Library Includes
+#include <stdint.h>
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <BNO055.h>
+#include <initializations.h>
+#include <definitions.h>
+#include <prototypes.h>
+#include <Mx28.h>
+
+
+
+
+// Micro Module Declarations
+DigitalOut          LED(PA_5);
+PwmOut              liftSpeed(D10); // Normally D10
+DigitalOut          liftDirection(D11);
+DigitalIn           hallSensor1(D9);
+DigitalIn           hallSensor2(D12);
+DigitalIn           button(USER_BUTTON);
+Ticker              hallInt;
+Ticker              dynaInt;
+Ticker              imuInt;
+Ticker              rosInt;
+BNO055              IMU(D14, D15);
+DynamixelClass      gimbal(57600, D7, D8, D2);
+
+ros::NodeHandle     nh;
+ros::Subscriber<std_msgs::Float32MultiArray> sub("module_command", &module_commandCB);
+
+// Global Variable
+// Variables
+struct          fields control;
+struct          fields rosInput;
+bool            liftFlag = 0;
+bool            motorFlag = 0;
+bool            homeFlag = 0;
+bool            imuFlag = 0;
+bool            rosFlag = 0;
+int             currentPosition = LIFTHEIGHTMIN;
+bool            stall = FALSE;
+
+// Main Program
+int main() {
+    // Initializations
+    setupGimbal();
+    setupLift();                                // Lift
+    setupROSNode(nh, sub);                      // ROS Node Handle
+    // Main Loop
+    while (1) {     
+        // Lift Operation
+        runLift(); 
+        //Run Gimbal 
+        runGimbal();
+        //ROS Functions 
+        nh.spinOnce();  
+        rosCheck();              
+    }
+}