James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

global.h@18:501f1007a572, 2016-04-07 (annotated)

Committer:
balsamfir
Date:
Thu Apr 07 13:19:29 2016 +0000
Revision:
18:501f1007a572
Parent:
17:47e107f9587b
Child:
19:05b8123905fb
Added compatibility with new PS3 control app

Who changed what in which revision?

UserRevisionLine numberNew contents of line
balsamfir 2:2bc519e14bae 1 #include "mbed.h"
balsamfir 2:2bc519e14bae 2 #include "rtos.h"
balsamfir 3:dfb6733ae397 3 #include "Pixy.h"
balsamfir 6:52686c25e4af 4 #include "PeriodicPI.h"
balsamfir 2:2bc519e14bae 5
balsamfir 2:2bc519e14bae 6 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 7 // Contains common defintions share between modes
balsamfir 2:2bc519e14bae 8 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 9
balsamfir 15:caa5a93a31d7 10
balsamfir 5:f655435d0782 11 // Preprocessor Definitions
balsamfir 5:f655435d0782 12 // ----------------------------------------------------------------
balsamfir 18:501f1007a572 13 #define SPEED_MAX 40 // rads/s
balsamfir 5:f655435d0782 14 #define MAX_BLOCKS 1
balsamfir 15:caa5a93a31d7 15 #define X_SETPOINT 160
balsamfir 15:caa5a93a31d7 16 #define HEIGHT_SETPOINT 90
balsamfir 15:caa5a93a31d7 17 #define TARGET_DECIMAL 10
balsamfir 6:52686c25e4af 18
balsamfir 5:f655435d0782 19 #define PWM_PERIOD 0.001
balsamfir 5:f655435d0782 20 #define MOTOR_PERIOD 0.001
balsamfir 5:f655435d0782 21 #define NAVIGATION_PERIOD 0.0167 // 60 times/sec
balsamfir 5:f655435d0782 22
balsamfir 5:f655435d0782 23 #define MOTOR_KP 0.000120
balsamfir 6:52686c25e4af 24 #define MOTOR_KI 0.0000001
balsamfir 5:f655435d0782 25
balsamfir 18:501f1007a572 26 #define STEERING_KP 0.10
balsamfir 14:2d609d465f00 27 #define STEERING_KI 0
balsamfir 5:f655435d0782 28
balsamfir 18:501f1007a572 29 #define SPEED_KP 0.6
balsamfir 14:2d609d465f00 30 #define SPEED_KI 0
balsamfir 6:52686c25e4af 31
balsamfir 17:47e107f9587b 32 #define MOTOR_SAMPLES 300
balsamfir 17:47e107f9587b 33 #define NAVIGATION_SAMPLES 240
balsamfir 17:47e107f9587b 34
balsamfir 5:f655435d0782 35
balsamfir 5:f655435d0782 36 // Global variables
balsamfir 5:f655435d0782 37 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 38 // IO Port
balsamfir 2:2bc519e14bae 39 extern DigitalOut led1;
balsamfir 2:2bc519e14bae 40 extern DigitalOut led2;
balsamfir 2:2bc519e14bae 41 extern DigitalOut led3;
balsamfir 2:2bc519e14bae 42 extern DigitalOut led4;
balsamfir 2:2bc519e14bae 43 extern DigitalOut leftDir;
balsamfir 2:2bc519e14bae 44 extern DigitalOut rightDir;
balsamfir 2:2bc519e14bae 45 extern DigitalOut spiReset;
balsamfir 2:2bc519e14bae 46 extern DigitalOut ioReset;
balsamfir 2:2bc519e14bae 47
balsamfir 2:2bc519e14bae 48 // Comunication
balsamfir 2:2bc519e14bae 49 extern SPI deSpi;
balsamfir 3:dfb6733ae397 50 extern Pixy pixy;
balsamfir 2:2bc519e14bae 51 extern Serial pc; // PC serial channel
balsamfir 2:2bc519e14bae 52
balsamfir 5:f655435d0782 53 // Control
balsamfir 6:52686c25e4af 54 extern PeriodicPI leftMotorPI;
balsamfir 6:52686c25e4af 55 extern PeriodicPI rightMotorPI;
balsamfir 6:52686c25e4af 56 extern PeriodicPI heightPI;
balsamfir 6:52686c25e4af 57 extern PeriodicPI xPI;
balsamfir 5:f655435d0782 58
balsamfir 3:dfb6733ae397 59 // Other
balsamfir 3:dfb6733ae397 60 extern PwmOut leftPwm;
balsamfir 3:dfb6733ae397 61 extern PwmOut rightPwm;
balsamfir 3:dfb6733ae397 62 extern InterruptIn bumper; // External interrupt pin declared as Bumper
balsamfir 3:dfb6733ae397 63
balsamfir 2:2bc519e14bae 64 // Method prototypes
balsamfir 15:caa5a93a31d7 65 char flushBuffer(void);
balsamfir 3:dfb6733ae397 66 float QE2RadsPerSec(short counts, short time);