Diff: PROJ515.hpp

Revision:

14:b972d0d0f63d

Parent:

13:78b9acd2e873

--- a/PROJ515.hpp	Sat May 11 17:52:33 2019 +0000
+++ b/PROJ515.hpp	Tue May 14 15:34:59 2019 +0000
@@ -24,24 +24,28 @@
 #define USP_CF4T  PG_1              // Cliff ultrasound 4 Trigger
 #define USP_CF4E  PB_11             // Cliff ultrasound 4 Echo
 
-#define USP_CB1T  PE_4              // Curb  ultrasound 1 Trigger
-#define USP_CB1E  PG_9              // Curb  ultrasound 1 Echo
-#define USP_CB2T  PE_2              // Curb  ultrasound 2 Trigger
-#define USP_CB2E  PG_14             // Curb  ultrasound 2 Echo
+#define USP_CB1T  PE_2              // Curb  ultrasound 1 Trigger
+#define USP_CB1E  PG_14             // Curb  ultrasound 1 Echo
+#define USP_CB2T  PE_4              // Curb  ultrasound 2 Trigger
+#define USP_CB2E  PG_9              // Curb  ultrasound 2 Echo
 #define USP_CB3T  PE_6              // Curb  ultrasound 3 Trigger
 #define USP_CB3E  PE_7              // Curb  ultrasound 3 Echo
 #define USP_CB4T  PE_5              // Curb  ultrasound 4 Trigger
 #define USP_CB4E  PE_8              // Curb  ultrasound 4 Echo
+#define USP_CB5T  PF_14             // Curb  ultrasound 5 Trigger
+#define USP_CB5E  PE_11             // Curb  ultrasound 5 Echo
+#define USP_CB6T  PE_9              // Curb  ultrasound 6 Trigger
+#define USP_CB6E  PF_13             // Curb  ultrasound 6 Echo
 
 #define GPS_TX    PD_5              // GPS Transmit Pin
 #define GPS_RX    PD_6              // GPS Recieve  Pin
 
 #define FOV       1.396             // Ultrasound sensor field of view
 #define MIN_RANGE 0.025             // Ultrasound sensor min range
-#define MAX_RANGE 2.2               // Ultrasound sensor max range
-#define CLIFF_TRH 0.12              // Robot cliff treshold
-#define CLIFF_ZRO 0                 // Cliff not existent
-#define EXCL_ZONE 0.15              // Robot footprint exclusion zone
+#define MAX_RANGE 0.400             // Ultrasound sensor max range
+#define CLIFF_TRH 0.120             // Robot cliff treshold
+#define CLIFF_ZRO 0.000             // Cliff not existent
+#define EXCL_ZONE 0.150             // Robot footprint exclusion zone
 #define ULTRASOUND 0x00             // Ultrasound
 
 #define UNAGUMENTED  0x00           // Unagumented 
@@ -75,6 +79,8 @@
 extern float cbDist2;               // Distance returned by curb  u_sensor2 (m)
 extern float cbDist3;               // Distance returned by curb  u_sensor3 (m)
 extern float cbDist4;               // Distance returned by curb  u_sensor4 (m)
+extern float cbDist5;               // Distance returned by curb  u_sensor5 (m)
+extern float cbDist6;               // Distance returned by curb  u_sensor6 (m)
 
 extern float wPeriod;               // Wait period(ms) for ROS publisher
 
@@ -96,6 +102,8 @@
 SRF05 USS_CB2(USP_CB2T, USP_CB2E);  // Ultrasound sensor cliff 2
 SRF05 USS_CB3(USP_CB3T, USP_CB3E);  // Ultrasound sensor cliff 3
 SRF05 USS_CB4(USP_CB4T, USP_CB4E);  // Ultrasound sensor cliff 4
+SRF05 USS_CB5(USP_CB5T, USP_CB5E);  // Ultrasound sensor cliff 5
+SRF05 USS_CB6(USP_CB6T, USP_CB6E);  // Ultrasound sensor cliff 6
 
 // Instance for GPS
 TinyGPSPlus gpsModule;                             // Instance of GPS class
@@ -112,6 +120,8 @@
 Range ultrasound_msg_cb2;           // Instance for ROS Range message 6
 Range ultrasound_msg_cb3;           // Instance for ROS Range message 7
 Range ultrasound_msg_cb4;           // Instance for ROS Range message 8
+Range ultrasound_msg_cb5;           // Instance for ROS Range message 9
+Range ultrasound_msg_cb6;           // Instance for ROS Range message 10
 
 NavSatFix gps_odom_msg;             // Instance for ROS NavSatFix message
 
@@ -124,6 +134,8 @@
 Publisher ultrasound_pub_cb2("ultrasound/cb2", &ultrasound_msg_cb2); 
 Publisher ultrasound_pub_cb3("ultrasound/cb3", &ultrasound_msg_cb3); 
 Publisher ultrasound_pub_cb4("ultrasound/cb4", &ultrasound_msg_cb4); 
+Publisher ultrasound_pub_cb5("ultrasound/cb5", &ultrasound_msg_cb5); 
+Publisher ultrasound_pub_cb6("ultrasound/cb6", &ultrasound_msg_cb6); 
 
 Publisher gps_odom_pub("gps_odom", &gps_odom_msg);