The subsystem design/basis for the final project
Dependencies: mbed-rtos mbed-src pixylib
global.h
- Committer:
- balsamfir
- Date:
- 2016-03-26
- Revision:
- 14:2d609d465f00
- Parent:
- 7:5ef312aa2678
- Child:
- 15:caa5a93a31d7
File content as of revision 14:2d609d465f00:
#include "mbed.h" #include "rtos.h" #include "Pixy.h" #include "PeriodicPI.h" // ---------------------------------------------------------------- // Contains common defintions share between modes // ---------------------------------------------------------------- // Preprocessor Definitions // ---------------------------------------------------------------- #define SPEED_MAX 40 // rads/s #define MAX_BLOCKS 1 #define TARGET_DECIMAL 10 #define PWM_PERIOD 0.001 #define MOTOR_PERIOD 0.001 #define NAVIGATION_PERIOD 0.0167 // 60 times/sec #define MOTOR_KP 0.000120 #define MOTOR_KI 0.0000001 #define STEERING_KP 0.06 #define STEERING_KI 0 #define SPEED_KP 0.4 #define SPEED_KI 0 // Global variables // ---------------------------------------------------------------- // IO Port extern DigitalOut led1; extern DigitalOut led2; extern DigitalOut led3; extern DigitalOut led4; extern DigitalOut leftDir; extern DigitalOut rightDir; extern DigitalOut spiReset; extern DigitalOut ioReset; // Comunication extern SPI deSpi; extern Pixy pixy; extern Serial pc; // PC serial channel extern Serial bt; // Bluetooth serial channel // Control extern PeriodicPI leftMotorPI; extern PeriodicPI rightMotorPI; extern PeriodicPI heightPI; extern PeriodicPI xPI; // Other extern PwmOut leftPwm; extern PwmOut rightPwm; extern InterruptIn bumper; // External interrupt pin declared as Bumper // Method prototypes void PI(float error, float *output, float *integral, float kP, float kI, float bound); float QE2RadsPerSec(short counts, short time);