Diff: RWR_Utils.hxx

Revision:

1:755da47160cb

Parent:

0:3960679bf525

Child:

2:821ffc555d49

--- a/RWR_Utils.hxx	Sun Jun 27 12:20:30 2021 +0000
+++ b/RWR_Utils.hxx	Wed Jul 14 08:49:04 2021 +0300
@@ -1,75 +1,99 @@
-#pragma once
-
-#include "mbed.h"
-
-// pin assignment
-#define ESP_RX      PA_9
-#define ESP_TX      PA_10
-#define ESP_RESET   PA_12
-#define QTR_13      PB_0
-#define ESP_CHPD    PB_7
-#define DRV_BENBL   PB_6
-#define QTR_11      PB_1
-#define DRV_BPHASE  PF_0
-#define QTR_CTL     PF_1
-#define ESP_GPIO0   PA_8
-#define DRV_APHASE  PA_11
-#define QTR_9       PA_7
-#define DRV_AENBL   PA_4
-#define QTR_7       PA_3
-#define QTR_5       PA_1
-#define QTR_3       PA_0
-
-// motor driver PWM frequency
-#define PWM_FREQUENCY   32.0e3f
-#define PWM_PERIOD      1.0f / PWM_FREQUENCY
-
-// number of sensors on QTR module
-#define SENSORS_BAR_SIZE 6
-
-// hysteresis thresholds for analog sensors
-#define QTR_THRESHOLD_HIGH  (uint32_t) 5000U
-#define QTR_THRESHOLD_LOW   (uint32_t) 20000U
-
-// PID parameters
-#define PID_SETPOINT 0.0f
-#define PID_KP 0.3f
-#define PID_KD 0.0f
-#define PID_KI 0.0001f
-
-class Motor
-{
-  public:
-    Motor(const PinName &_in1Pin, const PinName &_in2Pin, const bool _brake = false);
-    void setSpeed(const float speed);
-    void setBrake(const bool _brake);
-
-  private:
-    PwmOut in1PWM;
-    PwmOut in2PWM;
-    bool brake;
-};
-
-class QTR
-{
-  public:
-    // QTR CTL pin, array of analog inputs connected to sensor bar, number of pulses applied to CTL pin
-    QTR(DigitalOut &_ctl, AnalogIn (&_sensors)[SENSORS_BAR_SIZE], const uint32_t dimPulses = 0);
-
-    // dim sensors by applying pulses on CTL pin
-    void dim(const uint32_t pulses);
-
-    // returns digitized sensor values as bits of an uint32_t
-    // a bit of 0 means that the corresponding sensor detects a reflective surface
-    // index 0 in sensors array corresponds to LSB in returned value
-    // uses hysteresis to reduce noise
-    uint32_t readSensorsAsDigital();
-
-    // return line position as a float between -1.0 (left) and 1.0 (right)
-    float readSensorsAsFloat();
-
-  private:
-    DigitalOut &ctl;
-    AnalogIn (&sensors)[SENSORS_BAR_SIZE];
-    uint32_t lastSensorState;
-};
+#pragma once
+
+#include "mbed.h"
+
+// pin assignment
+#define ESP_RX      PA_9
+#define ESP_TX      PA_10
+#define ESP_RESET   PA_12
+#define QTR_13      PB_0
+#define ESP_CHPD    PB_7
+#define DRV_BENBL   PB_6
+#define QTR_11      PB_1
+#define DRV_BPHASE  PF_0
+#define QTR_CTL     PF_1
+#define ESP_GPIO0   PA_8
+#define DRV_APHASE  PA_11
+#define QTR_9       PA_7
+#define DRV_AENBL   PA_4
+#define QTR_7       PA_3
+#define QTR_5       PA_1
+#define QTR_3       PA_0
+
+// motor driver PWM frequency
+#define PWM_FREQUENCY   32.0e3f
+#define PWM_PERIOD      1.0f / PWM_FREQUENCY
+
+// number of sensors on QTR module
+#define SENSORS_BAR_SIZE 6
+// sensors reading when no line is detected
+#define SENSORS_ALL_ONES  ((1 << SENSORS_BAR_SIZE) - 1U)
+
+// hysteresis thresholds for analog sensors
+#define QTR_THRESHOLD_HIGH  (uint32_t) 5000U
+#define QTR_THRESHOLD_LOW   (uint32_t) 20000U
+
+// PID parameters
+#define PID_SETPOINT 0.0f
+#define PID_KP 0.6f
+// #define PID_KP 0.25f
+#define PID_KD 0.0f
+#define PID_KI 0.0f
+#define NO_LINE_SPEED_MOTOR_A 0.0f
+#define NO_LINE_SPEED_MOTOR_B 1.0f
+
+// web interface parameters
+#define WEB_RECEIVE_BUFFER_SIZE 2048
+#define WEB_SEND_BUFFER_SIZE    2048
+#define WEB_RECEIVE_TIMEOUT     10000
+#define WEB_IPD_HEADER_MIN_SIZE 9
+#define WEB_SSID                "RWR_1"
+#define WEB_PASSWORD            "RWRWRWRW"
+#define WEB_CHANNEL             "1"
+#define WEB_ECN                 "3"
+#define WEB_MAX_CONNECTIONS     "2"
+#define WEB_HIDDEN              "0"
+#define WEB_AP_IP               "192.168.0.1"
+#define WEB_AP_GATEWAY          "192.168.0.1"
+#define WEB_AP_NETMASK          "255.255.255.0"
+#define WEB_AP_PORT             "80"
+
+class Motor
+{
+  public:
+    Motor(const PinName &_in1Pin, const PinName &_in2Pin, const bool _brake = false);
+    void setSpeed(const float speed);
+    void setBrake(const bool _brake);
+
+  private:
+    PwmOut in1PWM;
+    PwmOut in2PWM;
+    bool brake;
+};
+
+class QTR
+{
+  public:
+    // QTR CTL pin, array of analog inputs connected to sensor bar, number of pulses applied to CTL pin
+    QTR(DigitalOut &_ctl, AnalogIn (&_sensors)[SENSORS_BAR_SIZE], const uint32_t dimPulses = 0);
+
+    // dim sensors by applying pulses on CTL pin
+    void dim(const uint32_t pulses);
+
+    // returns digitized sensor values as bits of an uint32_t
+    // a bit of 0 means that the corresponding sensor detects a reflective surface
+    // index 0 in sensors array corresponds to LSB in returned value
+    // uses hysteresis to reduce noise
+    uint32_t readSensorsAsDigital();
+
+    // return line position as a float between -1.0 (left) and 1.0 (right)
+    float readSensorsAsFloat();
+
+    // convert digitized sensor values to float
+    float digitizedSensorsToFloat(uint32_t digitizedSensors);
+
+  private:
+    DigitalOut &ctl;
+    AnalogIn (&sensors)[SENSORS_BAR_SIZE];
+    uint32_t lastSensorState;
+};