James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

global.h@3:dfb6733ae397, 2016-03-14 (annotated)

Committer:
balsamfir
Date:
Mon Mar 14 00:40:28 2016 +0000
Revision:
3:dfb6733ae397
Parent:
2:2bc519e14bae
Child:
5:f655435d0782
Ported robot controls to new framework and got everything working and tested

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 2:2bc519e14bae 4
balsamfir 2:2bc519e14bae 5 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 6 // Contains common defintions share between modes
balsamfir 2:2bc519e14bae 7 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 8
balsamfir 2:2bc519e14bae 9 // IO Port
balsamfir 2:2bc519e14bae 10 extern DigitalOut led1;
balsamfir 2:2bc519e14bae 11 extern DigitalOut led2;
balsamfir 2:2bc519e14bae 12 extern DigitalOut led3;
balsamfir 2:2bc519e14bae 13 extern DigitalOut led4;
balsamfir 2:2bc519e14bae 14 extern DigitalOut leftDir;
balsamfir 2:2bc519e14bae 15 extern DigitalOut rightDir;
balsamfir 2:2bc519e14bae 16 extern DigitalOut spiReset;
balsamfir 2:2bc519e14bae 17 extern DigitalOut ioReset;
balsamfir 2:2bc519e14bae 18
balsamfir 2:2bc519e14bae 19 // Comunication
balsamfir 2:2bc519e14bae 20 extern SPI deSpi;
balsamfir 3:dfb6733ae397 21 extern Pixy pixy;
balsamfir 2:2bc519e14bae 22 extern Serial pc; // PC serial channel
balsamfir 2:2bc519e14bae 23 extern Serial bt; // Bluetooth serial channel
balsamfir 2:2bc519e14bae 24
balsamfir 3:dfb6733ae397 25 // Other
balsamfir 3:dfb6733ae397 26 extern PwmOut leftPwm;
balsamfir 3:dfb6733ae397 27 extern PwmOut rightPwm;
balsamfir 3:dfb6733ae397 28 extern InterruptIn bumper; // External interrupt pin declared as Bumper
balsamfir 3:dfb6733ae397 29
balsamfir 2:2bc519e14bae 30 // Method prototypes
balsamfir 3:dfb6733ae397 31 void PI(float error, float *output, float *integral, float kP, float kI, float bound);
balsamfir 3:dfb6733ae397 32 float QE2RadsPerSec(short counts, short time);