The subsystem design/basis for the final project
Dependencies: mbed-rtos mbed-src pixylib
global.cpp
- Committer:
- balsamfir
- Date:
- 2016-04-03
- Revision:
- 17:47e107f9587b
- Parent:
- 16:73db7ef2deb6
- Child:
- 19:05b8123905fb
File content as of revision 17:47e107f9587b:
#include "global.h" // IO Port DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); DigitalOut leftDir(p24); // DigitalOut rightDir(p22); // DigitalOut spiReset(p8); //changed DigitalOut ioReset(p14); // // Comunication SPI deSpi(p5, p6, p7); Pixy pixy(Pixy::SPI, p11, p12, p13); //Serial pc(USBTX, USBRX); // PC serial channel Serial pc(p28, p27); // Bluetooth serial channel // Control PeriodicPI leftMotorPI(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI); PeriodicPI rightMotorPI(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI); PeriodicPI heightPI(NAVIGATION_PERIOD, SPEED_KP, SPEED_KI); PeriodicPI xPI(NAVIGATION_PERIOD, STEERING_KP, STEERING_KI); // Other PwmOut leftPwm(p23); // PwmOut rightPwm(p21); // InterruptIn bumper(p25); // Converts measurements from the QE2 to rads/sec float QE2RadsPerSec(short counts, short time) { return ((float)counts*122.62)/time; } // Returns the last character char flushBuffer(void) { char ch; while (pc.readable()) pc.putc(pc.getc()); return ch; }