Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

LOCALIZE.h@40:9a97c4403c0a, 2016-05-03 (annotated)

Committer:
12104404
Date:
Tue May 03 19:17:04 2016 +0000
Revision:
40:9a97c4403c0a
Parent:
32:37dc4d5bac98 
WORKING;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 0:96d6eb224379 1 #ifndef LOCALIZE_H
12104404 0:96d6eb224379 2 #define LOCALIZE_H
12104404 0:96d6eb224379 3
12104404 0:96d6eb224379 4 #include "mbed.h"
12104404 0:96d6eb224379 5 #include "BNO055.h"
12104404 0:96d6eb224379 6
12104404 22:a68c32db9f9d 7 //Comment if not testing on ground
12104404 27:fb1298d35bd1 8 //#define IMU_GROUND 1
12104404 22:a68c32db9f9d 9
12104404 19:2dd81b864e14 10 #define R_P_ADDR 0x04 //0x0B^0x0F=0x04
12104404 2:634c1adf89b2 11 #define R_N_ADDR 0x0B
12104404 1:8966a48ce8d5 12
12104404 10:cf44f4387bc7 13 #define FRAME_OFF 0
12104404 29:e8ef4a2e628d 14 #define FRAME_H 180
12104404 29:e8ef4a2e628d 15 #define FRAME_W 150
12104404 6:0602a9e8118b 16 #define R_WAIT 0.025
12104404 1:8966a48ce8d5 17 #define R_ERROR 14
12104404 29:e8ef4a2e628d 18 #define RX_OFF 15
12104404 29:e8ef4a2e628d 19 #define RY_OFF 13
12104404 25:f3bf8351bbd4 20 #define UR_JUMP 25
12104404 25:f3bf8351bbd4 21 #define UR_JUMPS 7
12104404 19:2dd81b864e14 22 #define UR_DEADZONE 3
12104404 1:8966a48ce8d5 23
12104404 1:8966a48ce8d5 24 #define ERROR_IMU -1
12104404 1:8966a48ce8d5 25 #define ERROR_RX_P -2
12104404 1:8966a48ce8d5 26 #define ERROR_RX_N -3
12104404 1:8966a48ce8d5 27 #define ERROR_RY_P -4
12104404 1:8966a48ce8d5 28 #define ERROR_RY_N -5
12104404 0:96d6eb224379 29
12104404 0:96d6eb224379 30 typedef struct {
12104404 0:96d6eb224379 31 int x;
12104404 0:96d6eb224379 32 int y;
12104404 0:96d6eb224379 33 int a;
12104404 0:96d6eb224379 34 }LOCALIZE_xya;
12104404 0:96d6eb224379 35
12104404 0:96d6eb224379 36 class LOCALIZE
12104404 0:96d6eb224379 37 {
12104404 0:96d6eb224379 38 public:
12104404 23:455f7da3dd7a 39 LOCALIZE(I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset, PinName sw1, PinName sw2, PinName sw3, PinName sw4, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4);
12104404 0:96d6eb224379 40 int init(void);
12104404 3:c58eb4be51de 41 void get_raw_xy(void);
12104404 0:96d6eb224379 42 void get_angle(LOCALIZE_xya *xya);
12104404 1:8966a48ce8d5 43 void get_xy(LOCALIZE_xya *xya);
12104404 6:0602a9e8118b 44 int _angle, _rx_p, _rx_n, _ry_p, _ry_n;//
12104404 6:0602a9e8118b 45 BNO055_EULER_TypeDef _euler;
12104404 20:10a305298e27 46 inline void ledSw(void);
12104404 6:0602a9e8118b 47
12104404 0:96d6eb224379 48 protected:
12104404 0:96d6eb224379 49 I2C _y_i2c;
12104404 0:96d6eb224379 50 I2C _x_imu_i2c;
12104404 0:96d6eb224379 51 BNO055 _imu;
12104404 15:7729da55873a 52 DigitalIn _sw1;
12104404 15:7729da55873a 53 DigitalIn _sw2;
12104404 15:7729da55873a 54 DigitalIn _sw3;
12104404 15:7729da55873a 55 DigitalIn _sw4;
12104404 23:455f7da3dd7a 56 DigitalOut _led1;
12104404 23:455f7da3dd7a 57 DigitalOut _led2;
12104404 23:455f7da3dd7a 58 DigitalOut _led3;
12104404 23:455f7da3dd7a 59 DigitalOut _led4;
12104404 25:f3bf8351bbd4 60 uint8_t jumpsX;
12104404 25:f3bf8351bbd4 61 uint8_t jumpsY;
12104404 6:0602a9e8118b 62
12104404 1:8966a48ce8d5 63 BNO055_GRAVITY_TypeDef _gravity;
12104404 1:8966a48ce8d5 64 BNO055_LIN_ACC_TypeDef _accel;
12104404 1:8966a48ce8d5 65 LOCALIZE_xya _xya;
12104404 13:c62f975dfcfe 66
12104404 0:96d6eb224379 67 };
12104404 0:96d6eb224379 68
12104404 0:96d6eb224379 69 #endif //LOCALIZE_H