James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

robot.h@5:f655435d0782, 2016-03-25 (annotated)

Committer:
balsamfir
Date:
Fri Mar 25 13:36:14 2016 +0000
Revision:
5:f655435d0782
Parent:
3:dfb6733ae397
Child:
6:52686c25e4af
Backup before revert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
balsamfir 2:2bc519e14bae 1 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 2 // Used to control the robot system
balsamfir 2:2bc519e14bae 3 // ----------------------------------------------------------------
balsamfir 3:dfb6733ae397 4
balsamfir 5:f655435d0782 5 #define X_SETPOINT 160
balsamfir 5:f655435d0782 6 #define HEIGHT_SETPOINT 100
balsamfir 5:f655435d0782 7
balsamfir 5:f655435d0782 8 // Global Variables
balsamfir 5:f655435d0782 9 // ----------------------------------------------------------------
balsamfir 5:f655435d0782 10 extern static float leftMotor, rightMotor;
balsamfir 5:f655435d0782 11 extern int xTracked, heightTracked;
balsamfir 5:f655435d0782 12 extern float speed, steering;
balsamfir 5:f655435d0782 13
balsamfir 5:f655435d0782 14 // PI internal variables (TODO: move to object)
balsamfir 5:f655435d0782 15 float steeringIntegral, speedIntegral;
balsamfir 5:f655435d0782 16 float leftMotorIntegral, rightMotorIntegral;
balsamfir 5:f655435d0782 17
balsamfir 5:f655435d0782 18 // Function Prototypes
balsamfir 5:f655435d0782 19 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 20 void AutoTrack(void);
balsamfir 2:2bc519e14bae 21 void ManualControl(void);
balsamfir 5:f655435d0782 22 void RunMotor(void);
balsamfir 5:f655435d0782 23 void RunNavigation(void);