The subsystem design/basis for the final project
Dependencies: mbed-rtos mbed-src pixylib
global.cpp
- Committer:
- balsamfir
- Date:
- 2016-03-25
- Revision:
- 6:52686c25e4af
- Parent:
- 5:f655435d0782
- Child:
- 7:5ef312aa2678
File content as of revision 6:52686c25e4af:
#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 bt(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) { int cnt32; if (counts & 0x00008000) { cnt32 = counts | 0xFFFF0000; } else { cnt32 = counts; } return (cnt32*122.62)/time; }