UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

Dependencies:   mbed ros_lib_kinetic

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definitions.h

00001 #ifndef __DEFINITIONS_H__
00002 #define __DEFINITIONS_H__
00003 
00004 #include "mbed.h"
00005 #include <BNO055.h>
00006 #include <Mx28.h>
00007 
00008 // Generic definitions
00009 #define     TRUE            1
00010 #define     FALSE           0
00011 
00012 // ROS definitions
00013 #define     ROSROLL         0  
00014 #define     ROSPITCH        1
00015 #define     ROSYAW          2
00016 #define     ROSHEIGHT       3
00017 #define     ROSMODE         4
00018 #define     ROSYAWSP        5  
00019 #define     ROSROLLSP       6 
00020 #define     ROSPITCHSP      7 
00021 #define     ROSHEIGHTSP     8 
00022 #define     ROSDATALENGTH   9
00023 
00024 // Gimbal definitions
00025 #define     YAWID           1
00026 #define     PITCHID         2
00027 #define     ROLLID          3
00028 #define     YAWZERO         2015
00029 #define     PITCHZERO       2350
00030 #define     ROLLZERO        2302
00031 #define     YAWMIN          0       // -177 degrees.
00032 #define     YAWMAX          4063    // +177 degrees.
00033 #define     PITCHMIN        1326    // -90 degrees.
00034 #define     PITCHMAX        3000    // +90 degrees is at 3374
00035 #define     ROLLMIN         2100    // -90 degrees is at 1278
00036 #define     ROLLMAX         2500   // +90 degrees is at 3374 
00037 #define     SERVOSPEEDMIN   1      // Min speed for gimbal servos
00038 #define     SERVOSPEEDMAX   200    // Max speed for gimbal servos
00039 #define     DYNASCALE       11     // Should be 11.4, but int is currently being used
00040 
00041 // Lift definitions
00042 #define     LIFTUP          1
00043 #define     LIFTDOWN        0
00044 #define     LIFTHEIGHTMAX   3000 // 119.6 cm should be 3000
00045 #define     LIFTHEIGHTMIN   5 //51.6 cm
00046 // Delta Height for Lift is 68cm
00047 
00048 // Classes
00049 struct fields{
00050 volatile int        yaw;
00051 int                 yawSpeed;
00052 volatile int        pitch;
00053 int                 pitchSpeed;
00054 volatile int        roll;
00055 int                 rollSpeed;
00056 volatile  int       height;
00057 volatile  int       heightSpeed;
00058 bool                stabilize;
00059 bool                masterOn;
00060 bool                liftRun;
00061 bool                gimbalRun;
00062 bool                shutdown;
00063 bool                initialize;
00064 volatile int        mode;
00065 };
00066 
00067 extern struct           fields          control;
00068 extern struct           fields          rosInput;
00069 extern volatile int     currentPosition;
00070 extern float            liftDutyCycle; 
00071 extern int              prevPosition;
00072 extern bool             stall;
00073 extern bool             rosFlag;
00074 extern bool             eStopFlag;
00075 extern int              stallcount;
00076 extern const int        addr;
00077 extern Ticker           hallInt;
00078 extern Timer            filter_hall1;
00079 extern Timer            rosMode_Delay;
00080 extern PwmOut           liftSpeed;
00081 extern DigitalOut       liftDirection;
00082 extern DynamixelClass   gimbal;
00083 extern DigitalOut       value0;
00084 extern DigitalOut       value1;
00085 extern InterruptIn      eStop;
00086 
00087 #endif