MainController.h

00001 #ifndef MBED_MAINCONTROLLER_H
00002 #define MBED_MAINCONTROLLER_H
00003 
00004 #include "mbed.h"
00005 #include "rtos.h"
00006 #include "PwmIn.h"
00007 #include "motor_controller.h"
00008 //#include "guardian.h"
00009 //#include "IMU.h"
00010 #include "Servo.h"
00011 #include "pixy.h"
00012 #include "servoloop.h"
00013 
00014 
00015 
00016 #define MATH_PI 3.14159265359
00017 #define START_THREAD 1
00018 
00019 /** MainController class to get control inputs and place them onto the system
00020  *
00021  *
00022  */
00023 class MainController
00024 {
00025 public:
00026     /** Create a MainController
00027      *
00028      * @param
00029      */
00030     MainController() ;
00031     ~MainController();
00032 
00033     /** Start the main controller
00034      *
00035      * @returns
00036      */
00037     void start();
00038 
00039     float getDutyCycle();
00040     float getFrequency();
00041     float getVolume();
00042     float getAmplitude();
00043     float getYaw();
00044     float getPitch();
00045     float getAdj();
00046     bool getOpMode(); //returns true when in autonomous mode
00047 
00048     /** Stop the main controller
00049      *
00050      * @returns
00051      */
00052     void stop();
00053 
00054 
00055 protected:
00056     void control();
00057     void trackTarget();
00058     float calculateFrequency();
00059     float calculateAmplitude();
00060     float calculateYaw();
00061     float calculatePitch();
00062     float calculateAdj();
00063     float signum(float input);
00064     float saturate(float input);
00065 
00066 private:
00067     PwmIn ch1;
00068     PwmIn ch2;
00069     PwmIn ch3;
00070     PwmIn ch4;
00071     PwmIn ch6;
00072     PwmIn ch5;
00073     Serial syren; //syren replaced the pololu controller
00074     //Guardian ap;
00075     Servo leftservo;
00076     Servo rightservo;
00077     ServoLoop panLoop;
00078     ServoLoop tiltLoop;
00079 
00080     pixySPI pcam;
00081 
00082     Timer timer1;
00083     Ticker ticker1;
00084     //RtosTimer controlTimer;
00085     Ticker tracker;
00086     Mutex trackMutex;
00087     //Thread dutyThread;
00088     //static void dutyThreadStarter(void const* p);
00089     Thread controlThread;
00090     static void controlThreadStarter(void const* p);
00091     void updateDutyCycle();
00092     Thread trackerThread;
00093     static void trackerThreadStarter(void const *p);
00094     float amp;
00095     float ampCmd;
00096     float frq;
00097     float dutyCycle;
00098     float curTime;
00099     float frqMin;
00100     float frqMax;
00101     float yaw;
00102     float pitch;
00103     float adj;
00104     float yawAdjVal;
00105     bool fullCycle;
00106     float volume;
00107     float volMax;
00108     float frqCmd;
00109     float raiser;
00110     float pitAvg;
00111     float alPi;
00112 };
00113 
00114 
00115 #endif
00116 
00117