James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

global.h@15:caa5a93a31d7, 2016-03-26 (annotated)

Committer:
balsamfir
Date:
Sat Mar 26 19:24:02 2016 +0000
Revision:
15:caa5a93a31d7
Parent:
14:2d609d465f00
Child:
16:73db7ef2deb6
Added manual control;

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 14:2d609d465f00 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 14:2d609d465f00 26 #define STEERING_KP 0.06
balsamfir 14:2d609d465f00 27 #define STEERING_KI 0
balsamfir 5:f655435d0782 28
balsamfir 14:2d609d465f00 29 #define SPEED_KP 0.4
balsamfir 14:2d609d465f00 30 #define SPEED_KI 0
balsamfir 6:52686c25e4af 31
balsamfir 5:f655435d0782 32
balsamfir 5:f655435d0782 33 // Global variables
balsamfir 5:f655435d0782 34 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 35 // IO Port
balsamfir 2:2bc519e14bae 36 extern DigitalOut led1;
balsamfir 2:2bc519e14bae 37 extern DigitalOut led2;
balsamfir 2:2bc519e14bae 38 extern DigitalOut led3;
balsamfir 2:2bc519e14bae 39 extern DigitalOut led4;
balsamfir 2:2bc519e14bae 40 extern DigitalOut leftDir;
balsamfir 2:2bc519e14bae 41 extern DigitalOut rightDir;
balsamfir 2:2bc519e14bae 42 extern DigitalOut spiReset;
balsamfir 2:2bc519e14bae 43 extern DigitalOut ioReset;
balsamfir 2:2bc519e14bae 44
balsamfir 2:2bc519e14bae 45 // Comunication
balsamfir 2:2bc519e14bae 46 extern SPI deSpi;
balsamfir 3:dfb6733ae397 47 extern Pixy pixy;
balsamfir 2:2bc519e14bae 48 extern Serial pc; // PC serial channel
balsamfir 2:2bc519e14bae 49 extern Serial bt; // Bluetooth serial channel
balsamfir 2:2bc519e14bae 50
balsamfir 5:f655435d0782 51 // Control
balsamfir 6:52686c25e4af 52 extern PeriodicPI leftMotorPI;
balsamfir 6:52686c25e4af 53 extern PeriodicPI rightMotorPI;
balsamfir 6:52686c25e4af 54 extern PeriodicPI heightPI;
balsamfir 6:52686c25e4af 55 extern PeriodicPI xPI;
balsamfir 5:f655435d0782 56
balsamfir 3:dfb6733ae397 57 // Other
balsamfir 3:dfb6733ae397 58 extern PwmOut leftPwm;
balsamfir 3:dfb6733ae397 59 extern PwmOut rightPwm;
balsamfir 3:dfb6733ae397 60 extern InterruptIn bumper; // External interrupt pin declared as Bumper
balsamfir 3:dfb6733ae397 61
balsamfir 2:2bc519e14bae 62 // Method prototypes
balsamfir 15:caa5a93a31d7 63 char flushBuffer(void);
balsamfir 3:dfb6733ae397 64 float QE2RadsPerSec(short counts, short time);