jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

MainController.h@25:4f2f441eceec, 2014-07-11 (annotated)

Committer:
sandwich
Date:
Fri Jul 11 14:30:36 2014 +0000
Revision:
25:4f2f441eceec
Parent:
24:9d75ed1462d6 
latest revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkk 11:8ec915eb70f6 1 #ifndef MBED_MAINCONTROLLER_H
rkk 11:8ec915eb70f6 2 #define MBED_MAINCONTROLLER_H
sandwich 25:4f2f441eceec 3
rkk 11:8ec915eb70f6 4 #include "mbed.h"
sandwich 22:807d5467fbf6 5 #include "rtos.h"
rkk 11:8ec915eb70f6 6 #include "PwmIn.h"
rkk 11:8ec915eb70f6 7 #include "motor_controller.h"
rkk 20:6ae16da1492a 8 //#include "guardian.h"
rkk 12:7eeb29892625 9 //#include "IMU.h"
rkk 17:6970aef8154b 10 #include "Servo.h"
sandwich 22:807d5467fbf6 11 #include "pixy.h"
sandwich 25:4f2f441eceec 12 #include "servoloop.h"
rkk 17:6970aef8154b 13
rkk 12:7eeb29892625 14
rkk 11:8ec915eb70f6 15
rkk 11:8ec915eb70f6 16 #define MATH_PI 3.14159265359
sandwich 22:807d5467fbf6 17 #define START_THREAD 1
sandwich 25:4f2f441eceec 18
rkk 11:8ec915eb70f6 19 /** MainController class to get control inputs and place them onto the system
sandwich 25:4f2f441eceec 20 *
sandwich 25:4f2f441eceec 21 *
rkk 11:8ec915eb70f6 22 */
sandwich 25:4f2f441eceec 23 class MainController
sandwich 25:4f2f441eceec 24 {
rkk 11:8ec915eb70f6 25 public:
rkk 11:8ec915eb70f6 26 /** Create a MainController
rkk 11:8ec915eb70f6 27 *
sandwich 25:4f2f441eceec 28 * @param
sandwich 25:4f2f441eceec 29 */
rkk 11:8ec915eb70f6 30 MainController() ;
sandwich 22:807d5467fbf6 31 ~MainController();
sandwich 25:4f2f441eceec 32
rkk 11:8ec915eb70f6 33 /** Start the main controller
rkk 11:8ec915eb70f6 34 *
sandwich 25:4f2f441eceec 35 * @returns
rkk 11:8ec915eb70f6 36 */
rkk 11:8ec915eb70f6 37 void start();
sandwich 25:4f2f441eceec 38
rkk 11:8ec915eb70f6 39 float getDutyCycle();
rkk 11:8ec915eb70f6 40 float getFrequency();
rkk 11:8ec915eb70f6 41 float getVolume();
rkk 11:8ec915eb70f6 42 float getAmplitude();
rkk 19:655db88b045c 43 float getYaw();
rkk 17:6970aef8154b 44 float getPitch();
rkk 20:6ae16da1492a 45 float getAdj();
sandwich 22:807d5467fbf6 46 bool getOpMode(); //returns true when in autonomous mode
rkk 20:6ae16da1492a 47
rkk 11:8ec915eb70f6 48 /** Stop the main controller
rkk 11:8ec915eb70f6 49 *
sandwich 25:4f2f441eceec 50 * @returns
rkk 11:8ec915eb70f6 51 */
rkk 11:8ec915eb70f6 52 void stop();
sandwich 25:4f2f441eceec 53
sandwich 25:4f2f441eceec 54
sandwich 25:4f2f441eceec 55 protected:
rkk 11:8ec915eb70f6 56 void control();
sandwich 22:807d5467fbf6 57 void trackTarget();
rkk 11:8ec915eb70f6 58 float calculateFrequency();
rkk 19:655db88b045c 59 float calculateAmplitude();
rkk 19:655db88b045c 60 float calculateYaw();
rkk 17:6970aef8154b 61 float calculatePitch();
rkk 20:6ae16da1492a 62 float calculateAdj();
rkk 13:5ed8fd870723 63 float signum(float input);
rkk 15:dc5753a5b83e 64 float saturate(float input);
sandwich 25:4f2f441eceec 65
rkk 11:8ec915eb70f6 66 private:
rkk 17:6970aef8154b 67 PwmIn ch1;
rkk 17:6970aef8154b 68 PwmIn ch2;
rkk 11:8ec915eb70f6 69 PwmIn ch3;
rkk 12:7eeb29892625 70 PwmIn ch4;
rkk 11:8ec915eb70f6 71 PwmIn ch6;
sandwich 22:807d5467fbf6 72 PwmIn ch5;
sandwich 22:807d5467fbf6 73 Serial syren; //syren replaced the pololu controller
rkk 20:6ae16da1492a 74 //Guardian ap;
rkk 20:6ae16da1492a 75 Servo leftservo;
rkk 20:6ae16da1492a 76 Servo rightservo;
sandwich 25:4f2f441eceec 77 ServoLoop panLoop;
sandwich 25:4f2f441eceec 78 ServoLoop tiltLoop;
sandwich 25:4f2f441eceec 79
sandwich 22:807d5467fbf6 80 pixySPI pcam;
sandwich 25:4f2f441eceec 81
rkk 11:8ec915eb70f6 82 Timer timer1;
sandwich 24:9d75ed1462d6 83 Ticker ticker1;
sandwich 24:9d75ed1462d6 84 //RtosTimer controlTimer;
sandwich 24:9d75ed1462d6 85 Ticker tracker;
sandwich 25:4f2f441eceec 86 Mutex trackMutex;
sandwich 25:4f2f441eceec 87 //Thread dutyThread;
sandwich 25:4f2f441eceec 88 //static void dutyThreadStarter(void const* p);
sandwich 25:4f2f441eceec 89 Thread controlThread;
sandwich 25:4f2f441eceec 90 static void controlThreadStarter(void const* p);
sandwich 24:9d75ed1462d6 91 void updateDutyCycle();
sandwich 25:4f2f441eceec 92 Thread trackerThread;
sandwich 25:4f2f441eceec 93 static void trackerThreadStarter(void const *p);
rkk 19:655db88b045c 94 float amp;
sandwich 23:ef1be367726e 95 float ampCmd;
rkk 11:8ec915eb70f6 96 float frq;
rkk 11:8ec915eb70f6 97 float dutyCycle;
rkk 11:8ec915eb70f6 98 float curTime;
rkk 11:8ec915eb70f6 99 float frqMin;
rkk 11:8ec915eb70f6 100 float frqMax;
rkk 19:655db88b045c 101 float yaw;
rkk 17:6970aef8154b 102 float pitch;
rkk 20:6ae16da1492a 103 float adj;
sandwich 23:ef1be367726e 104 float yawAdjVal;
rkk 19:655db88b045c 105 bool fullCycle;
rkk 19:655db88b045c 106 float volume;
rkk 19:655db88b045c 107 float volMax;
rkk 19:655db88b045c 108 float frqCmd;
rkk 20:6ae16da1492a 109 float raiser;
rkk 20:6ae16da1492a 110 float pitAvg;
rkk 20:6ae16da1492a 111 float alPi;
rkk 11:8ec915eb70f6 112 };
sandwich 25:4f2f441eceec 113
sandwich 25:4f2f441eceec 114
rkk 11:8ec915eb70f6 115 #endif
rkk 11:8ec915eb70f6 116
rkk 11:8ec915eb70f6 117