UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

definitions.h@10:836e701d00a6, 2018-04-26 (annotated)

Committer:
MikeGray92
Date:
Thu Apr 26 18:33:11 2018 +0000
Revision:
10:836e701d00a6
Parent:
7:950b3c3b5a2b 
Speed and Position controlled lift and gimbal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 1 #ifndef __DEFINITIONS_H__
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 #define __DEFINITIONS_H__
group-UVic-Assistive-Technolog 0:3a767f41cf04 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 #include <BNO055.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 6 #include <Mx28.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 7
group-UVic-Assistive-Technolog 0:3a767f41cf04 8 // Generic definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 #define TRUE 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 #define FALSE 0
group-UVic-Assistive-Technolog 0:3a767f41cf04 11
group-UVic-Assistive-Technolog 0:3a767f41cf04 12 // ROS definitions
MikeGray92 10:836e701d00a6 13 #define ROSROLL 0
MikeGray92 10:836e701d00a6 14 #define ROSPITCH 1
MikeGray92 7:950b3c3b5a2b 15 #define ROSYAW 2
MikeGray92 7:950b3c3b5a2b 16 #define ROSHEIGHT 3
MikeGray92 7:950b3c3b5a2b 17 #define ROSMODE 4
MikeGray92 10:836e701d00a6 18 #define ROSYAWSP 5
MikeGray92 10:836e701d00a6 19 #define ROSROLLSP 6
MikeGray92 10:836e701d00a6 20 #define ROSPITCHSP 7
MikeGray92 10:836e701d00a6 21 #define ROSHEIGHTSP 8
MikeGray92 10:836e701d00a6 22 #define ROSDATALENGTH 9
group-UVic-Assistive-Technolog 0:3a767f41cf04 23
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 // Gimbal definitions
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 #define YAWID 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 #define PITCHID 2
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 #define ROLLID 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 #define YAWZERO 2015
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 #define PITCHZERO 2350
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 #define ROLLZERO 2302
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 #define YAWMIN 0 // -177 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 #define YAWMAX 4063 // +177 degrees.
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 #define PITCHMIN 1326 // -90 degrees.
MikeGray92 7:950b3c3b5a2b 34 #define PITCHMAX 3000 // +90 degrees is at 3374
MikeGray92 7:950b3c3b5a2b 35 #define ROLLMIN 2100 // -90 degrees is at 1278
MikeGray92 7:950b3c3b5a2b 36 #define ROLLMAX 2500 // +90 degrees is at 3374
MikeGray92 10:836e701d00a6 37 #define SERVOSPEEDMIN 1 // Min speed for gimbal servos
MikeGray92 10:836e701d00a6 38 #define SERVOSPEEDMAX 200 // Max speed for gimbal servos
MikeGray92 10:836e701d00a6 39 #define DYNASCALE 11 // Should be 11.4, but int is currently being used
group-UVic-Assistive-Technolog 0:3a767f41cf04 40
group-UVic-Assistive-Technolog 0:3a767f41cf04 41 // Lift definitions
MikeGray92 10:836e701d00a6 42 #define LIFTUP 1
MikeGray92 10:836e701d00a6 43 #define LIFTDOWN 0
MikeGray92 4:89ebfa37663b 44 #define LIFTHEIGHTMAX 3000 // 119.6 cm should be 3000
MikeGray92 3:527f0b949839 45 #define LIFTHEIGHTMIN 5 //51.6 cm
MikeGray92 3:527f0b949839 46 // Delta Height for Lift is 68cm
group-UVic-Assistive-Technolog 0:3a767f41cf04 47
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 // Classes
MikeGray92 7:950b3c3b5a2b 49 struct fields{
MikeGray92 7:950b3c3b5a2b 50 volatile int yaw;
MikeGray92 7:950b3c3b5a2b 51 int yawSpeed;
MikeGray92 7:950b3c3b5a2b 52 volatile int pitch;
MikeGray92 7:950b3c3b5a2b 53 int pitchSpeed;
MikeGray92 7:950b3c3b5a2b 54 volatile int roll;
MikeGray92 7:950b3c3b5a2b 55 int rollSpeed;
MikeGray92 7:950b3c3b5a2b 56 volatile int height;
MikeGray92 10:836e701d00a6 57 volatile int heightSpeed;
MikeGray92 7:950b3c3b5a2b 58 bool stabilize;
MikeGray92 7:950b3c3b5a2b 59 bool masterOn;
MikeGray92 7:950b3c3b5a2b 60 bool liftRun;
MikeGray92 7:950b3c3b5a2b 61 bool gimbalRun;
MikeGray92 7:950b3c3b5a2b 62 bool shutdown;
MikeGray92 7:950b3c3b5a2b 63 bool initialize;
MikeGray92 7:950b3c3b5a2b 64 volatile int mode;
group-UVic-Assistive-Technolog 0:3a767f41cf04 65 };
group-UVic-Assistive-Technolog 0:3a767f41cf04 66
group-UVic-Assistive-Technolog 0:3a767f41cf04 67 extern struct fields control;
group-UVic-Assistive-Technolog 0:3a767f41cf04 68 extern struct fields rosInput;
MikeGray92 1:1ac7d472cfa2 69 extern volatile int currentPosition;
MikeGray92 10:836e701d00a6 70 extern float liftDutyCycle;
MikeGray92 1:1ac7d472cfa2 71 extern int prevPosition;
MikeGray92 4:89ebfa37663b 72 extern bool stall;
MikeGray92 4:89ebfa37663b 73 extern bool rosFlag;
MikeGray92 10:836e701d00a6 74 extern bool eStopFlag;
MikeGray92 4:89ebfa37663b 75 extern int stallcount;
MikeGray92 10:836e701d00a6 76 extern const int addr;
group-UVic-Assistive-Technolog 0:3a767f41cf04 77 extern Ticker hallInt;
MikeGray92 1:1ac7d472cfa2 78 extern Timer filter_hall1;
MikeGray92 4:89ebfa37663b 79 extern Timer rosMode_Delay;
group-UVic-Assistive-Technolog 0:3a767f41cf04 80 extern PwmOut liftSpeed;
group-UVic-Assistive-Technolog 0:3a767f41cf04 81 extern DigitalOut liftDirection;
group-UVic-Assistive-Technolog 0:3a767f41cf04 82 extern DynamixelClass gimbal;
MikeGray92 10:836e701d00a6 83 extern DigitalOut value0;
MikeGray92 10:836e701d00a6 84 extern DigitalOut value1;
MikeGray92 10:836e701d00a6 85 extern InterruptIn eStop;
group-UVic-Assistive-Technolog 0:3a767f41cf04 86
group-UVic-Assistive-Technolog 0:3a767f41cf04 87 #endif