File content as of revision 6:66889ef7193a:

#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_UPDATE_PERIOD_US  1000
#define PID_SETPOINT          0.0f
#define PID_KP                0.6f
// #define PID_KP                0.25f
#define PID_KI                0.0f
#define PID_KD                0.0f
#define NO_LINE_SPEED_MOTOR_A 0.0f
#define NO_LINE_SPEED_MOTOR_B 1.0f

// web interface parameters
#define WEB_ESP_BAUD            115200
#define WEB_RECEIVE_BUFFER_SIZE 2048
#define WEB_SEND_BUFFER_SIZE    2048
#define WEB_RECEIVE_TIMEOUT     10000
#define WEB_ESP_INIT_ATTEMPTS   10
#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     "1"
#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();

    // writes raw sensor values to buffer via the pointer argument
    void readSensorsAsAnalog(uint32_t *buffer);

    // 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;
};

class TimerWrapper
{
  public:
    TimerWrapper(Timer &_timer);
    int32_t read_ms();
    int32_t read_us();
    void reset();

  private:
    Timer &timer;
    int32_t lastReset;
};