Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

LOCOMOTION.h@37:e8a6ea255c09, 2016-04-26 (annotated)

Committer:
12104404
Date:
Tue Apr 26 20:09:25 2016 +0000
Revision:
37:e8a6ea255c09
Parent:
36:dc69442c4c47 
WORKING REALLY WORKING

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 6:0602a9e8118b 1 #ifndef LOCOMOTION_H
12104404 6:0602a9e8118b 2 #define LOCOMOTION_H
12104404 26:0ea6a550a99d 3
12104404 6:0602a9e8118b 4 #include "mbed.h"
12104404 17:2f89826b5679 5 #include "LOCALIZE.h"
12104404 27:fb1298d35bd1 6 #include "math.h"
12104404 26:0ea6a550a99d 7
12104404 35:68917796c30a 8 #define SPEED_TURN_MIN 0.20//0.15
12104404 35:68917796c30a 9 #define SPEED_TURN_MAX 0.35//0.45
12104404 35:68917796c30a 10 #define Y_BIAS_MIN 0.95
12104404 25:f3bf8351bbd4 11 #define Y_BIAS_MAX 1.00
12104404 36:dc69442c4c47 12 #define SPEED_X_MIN 0.70//0.15
12104404 36:dc69442c4c47 13 #define SPEED_X_MAX 0.90//0.25
alaurens 34:083073e54dbd 14 #define GAIN_GRAVITY 0.5
12104404 27:fb1298d35bd1 15 #define M_PI 3.1415926535897932384
12104404 37:e8a6ea255c09 16 #define BIAS_SPEED 0.75
12104404 26:0ea6a550a99d 17
alaurens 31:69caabc10879 18 #define X_STOP 0
12104404 25:f3bf8351bbd4 19 #define X_INCREASE 1
12104404 25:f3bf8351bbd4 20 #define X_DECREASE 2
12104404 25:f3bf8351bbd4 21 #define X_BACKWARDS 3
12104404 26:0ea6a550a99d 22 #define ROTATE_1 4
12104404 26:0ea6a550a99d 23 #define ROTATE_2 5
alaurens 31:69caabc10879 24 #define X_BEGINING 6
alaurens 31:69caabc10879 25 #define BARRIER_CROSS 7
12104404 26:0ea6a550a99d 26 #define BACKOFF 10
alaurens 33:baf24c59affc 27 #define X_NEAR_GOAL 30
alaurens 33:baf24c59affc 28 #define X_FAR_GOAL 120
12104404 26:0ea6a550a99d 29 #define Y_INCREMENT 7
alaurens 31:69caabc10879 30 #define FRAME_HE 180
alaurens 31:69caabc10879 31 #define ROB_SIZE 34
alaurens 34:083073e54dbd 32 #define TILTZZ -5
12104404 26:0ea6a550a99d 33
12104404 15:7729da55873a 34 enum {
12104404 15:7729da55873a 35 ANGLE_TURN = 0,
12104404 15:7729da55873a 36 ANGLE_BIAS = 1,
12104404 15:7729da55873a 37 };
12104404 26:0ea6a550a99d 38
12104404 6:0602a9e8118b 39 class LOCOMOTION
12104404 6:0602a9e8118b 40 {
12104404 6:0602a9e8118b 41 public:
12104404 24:fb1f083ebd62 42 LOCOMOTION(PinName en, PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4);
12104404 23:455f7da3dd7a 43 DigitalOut _en;
12104404 15:7729da55873a 44 PwmOut _m1f;
12104404 15:7729da55873a 45 PwmOut _m1b;
12104404 15:7729da55873a 46 PwmOut _m2f;
12104404 15:7729da55873a 47 PwmOut _m2b;
12104404 15:7729da55873a 48 DigitalOut _m1dir;
12104404 15:7729da55873a 49 DigitalOut _m2dir;
12104404 24:fb1f083ebd62 50 DigitalOut _led1;
12104404 24:fb1f083ebd62 51 DigitalOut _led2;
12104404 24:fb1f083ebd62 52 DigitalOut _led3;
12104404 24:fb1f083ebd62 53 DigitalOut _led4;
12104404 23:455f7da3dd7a 54 void eStop(void);
12104404 26:0ea6a550a99d 55 void mStop(void);
12104404 36:dc69442c4c47 56 bool setXPos(int target, int current, int error, int angle);
12104404 25:f3bf8351bbd4 57 bool setYBias(int target, int current, int error, int angle);
12104404 15:7729da55873a 58 bool setAngle(int target, int current, int error, int mode);
12104404 25:f3bf8351bbd4 59
alaurens 31:69caabc10879 60 void setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal,int *angleTol,int yTarget );
12104404 25:f3bf8351bbd4 61 void setAngleTol(int *angleTol,bool yGood, bool xGood);
12104404 25:f3bf8351bbd4 62 void setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget);
12104404 25:f3bf8351bbd4 63 void check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr);
12104404 27:fb1298d35bd1 64 void moveF(int angle);
12104404 27:fb1298d35bd1 65 void moveB(void);
12104404 27:fb1298d35bd1 66
12104404 15:7729da55873a 67 protected:
12104404 17:2f89826b5679 68 float s;
12104404 25:f3bf8351bbd4 69 void setMotors(float x);
12104404 27:fb1298d35bd1 70 void setMotors12(float x, float y);
12104404 23:455f7da3dd7a 71 int wrap(int num);
12104404 27:fb1298d35bd1 72 inline float compG(float speed, bool dir, int angle);
12104404 19:2dd81b864e14 73
12104404 6:0602a9e8118b 74 };
12104404 6:0602a9e8118b 75 #endif