Luka Danilovic / Mbed OS PROJ515_USS_GPS

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Dependencies:   SRF05 ros_lib_kinetic TinyGPSPlus

Files at this revision

API Documentation at this revision

Revision 11:955c2ed70de2, committed 2019-05-08

Comitter:
Luka_Danilovic
Date:
Wed May 08 14:50:32 2019 +0000
Parent:
10:7d954fba5e7a
Child:
12:1a3272d67500
Commit message:
BOARD CHANGE!; ROS - Working; USS - Working; GPS - Working; LED - Not Working

Changed in this revision

PROJ515.cpp Show annotated file Show diff for this revision Revisions of this file
PROJ515.hpp Show annotated file Show diff for this revision Revisions of this file
PixelArray.lib Show diff for this revision Revisions of this file
mbed-os.lib Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- a/PROJ515.cpp	Wed May 08 13:55:17 2019 +0000
+++ b/PROJ515.cpp	Wed May 08 14:50:32 2019 +0000
@@ -15,6 +15,19 @@
 char gps_c = 0;                                    // GPS serial character
 int  sats_n = 0;                                    // GPS Satelite count
 
+void AudioStatusCB(const std_msgs::String &status) {
+    audio_state = status.data;
+}
+
+void VelocityCB(const nav_msgs::Odometry &odom) {
+    vel = odom.twist.twist.linear.x;
+    ang = odom.twist.twist.angular.z;
+}
+
+// Instance for ROS subscribers
+ros::Subscriber<std_msgs::String> AudioStatus("audio_status", &AudioStatusCB);
+ros::Subscriber<nav_msgs::Odometry> Velocity("wheel_odom/exact_odom", &VelocityCB);
+
 int main()
 {
     nh.getHardware()->setBaud(ROS_Baud);    // Set Baud Rate for ROS Serial
@@ -300,14 +313,7 @@
     wait_ms(wPeriod);
 }
 
-void AudioStatusCB(const std_msgs::String &status) {
-    audio_state = status.data;
-}
 
-oid VelocityCB(const nav_msgs::Odometry &odom) {
-    vel = odom.twist.twist.linear.x;
-    ang = odom.twist.twist.angular.z;
-}
 
 float Map(float x, float in_min, float in_max, float out_min, float out_max){
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;

--- a/PROJ515.hpp	Wed May 08 13:55:17 2019 +0000
+++ b/PROJ515.hpp	Wed May 08 14:50:32 2019 +0000
@@ -15,31 +15,33 @@
 #include "nav_msgs/Odometry.h"      // ROS Odom   Messages component
 #include "geometry_msgs/Twist.h"    // ROS Twist  Messages component
 
-
 /* Definitions */
 #define LEDS_OFF 0x00               // LED bus all off
 #define LEDS_ON  0x07               // LED bus all on
 
-#define USP_CF1T  PG_1              // Cliff ultrasound 1 Trigger
-#define USP_CF1E  PB_11             // Cliff ultrasound 1 Echo
-#define USP_CF2T  PF_9              // Cliff ultrasound 2 Trigger
-#define USP_CF2E  PB_10             // Cliff ultrasound 2 Echo
-#define USP_CF3T  PF_7              // Cliff ultrasound 3 Trigger
-#define USP_CF3E  PE_15             // Cliff ultrasound 3 Echo
-#define USP_CF4T  PF_8              // Cliff ultrasound 4 Trigger
-#define USP_CF4E  PE_12             // Cliff ultrasound 4 Echo
+#define USP_CF1T  PA_4              // Cliff ultrasound 1 Trigger
+#define USP_CF1E  PA_3              // Cliff ultrasound 1 Echo
+#define USP_CF2T  PB_0              // Cliff ultrasound 2 Trigger
+#define USP_CF2E  PA_10             // Cliff ultrasound 2 Echo
+#define USP_CF3T  PC_1              // Cliff ultrasound 3 Trigger
+#define USP_CF3E  PB_3              // Cliff ultrasound 3 Echo
+#define USP_CF4T  PC_0              // Cliff ultrasound 4 Trigger
+#define USP_CF4E  PB_5              // Cliff ultrasound 4 Echo
 
-#define USP_CB1T  PE_6              // Curb  ultrasound 1 Trigger
-#define USP_CB1E  PE_7              // Curb  ultrasound 1 Echo
-#define USP_CB2T  PE_5              // Curb  ultrasound 2 Trigger
-#define USP_CB2E  PE_8              // Curb  ultrasound 2 Echo
-#define USP_CB3T  PE_4              // Curb  ultrasound 3 Trigger
-#define USP_CB3E  PG_9              // Curb  ultrasound 3 Echo
-#define USP_CB4T  PE_2              // Curb  ultrasound 4 Trigger
-#define USP_CB4E  PG_14             // Curb  ultrasound 4 Echo
+#define USP_CB1T  PC_15              // Curb  ultrasound 1 Trigger
+#define USP_CB1E  PB_4               // Curb  ultrasound 1 Echo
+#define USP_CB2T  PC_14              // Curb  ultrasound 2 Trigger
+#define USP_CB2E  PB_10              // Curb  ultrasound 2 Echo
+#define USP_CB3T  PC_13              // Curb  ultrasound 3 Trigger
+#define USP_CB3E  PA_8               // Curb  ultrasound 3 Echo
+#define USP_CB4T  PB_7               // Curb  ultrasound 4 Trigger
+#define USP_CB4E  PA_9               // Curb  ultrasound 4 Echo
 
-#define GPS_TX    PD_5              // GPS Transmit Pin
-#define GPS_RX    PD_6              // GPS Recieve  Pin
+#define GPS_TX    PC_10             // GPS Transmit Pin
+#define GPS_RX    PC_11             // GPS Recieve  Pin
+
+#define LED_F     PB_6              // LED Strip Front Data
+#define LED_B     PC_7              // LED Strip Back  Data
 
 #define FOV       1.396             // Ultrasound sensor field of view
 #define MIN_RANGE 0.2               // Ultrasound sensor min range
@@ -62,7 +64,6 @@
 
 #define ROS_Baud  460800            // ROS Baud Rate
 #define GPS_Baud  9600              // GPS Baud Rate
-//#define frameID_u "ultrasound_range"// ROS frame ID
 #define frameID_g "gps_odom"        // ROS frame ID
 
 //#define PRINT_DATA 0x01             // Thread communication event to print data 
@@ -72,6 +73,7 @@
 using namespace ros;                // Make all ros symbols visible
 using namespace sensor_msgs;        // Make all sensor_msgs symbols visible
 using namespace std_msgs;           // Make all std_msgs symbols visible
+using namespace nav_msgs;
 using namespace Pololu;
 
 /* Declarations */
@@ -115,8 +117,8 @@
 Serial gpsSer(GPS_TX, GPS_RX);      // Instance of Serial class to gps
 
 // Instance for LED Strip
-PololuLedStrip ledStripFront();   // LED Strip Front
-PololuLedStrip ledStripBack();    // LED Strip Back
+PololuLedStrip ledStripFront(LED_F);// LED Strip Front
+PololuLedStrip ledStripBack(LED_B); // LED Strip Back
 rgb_color colors[LED_COUNT];        // RGB Colour Array
 
 // Instance for ROS node and messages
@@ -145,10 +147,6 @@
 
 Publisher gps_odom_pub("gps_odom", &gps_odom_msg);
 
-// Instance for ROS subscribers
-ros::Subscriber<std_msgs::String> AudioStatus("audio_status", &AudioStatusCB);
-ros::Subscriber<nav_msgs::Odometry> Velocity("wheel_odom/exact_odom", &VelocityCB);
-
 /* Threads and Signals */
 //Thread myThread (osPriorityNormal);
 //EventFlags myEventFlag;
@@ -162,6 +160,9 @@
 void setRosDist();                  // Put distance in ROS messages
 void setRosStamp();                 // Put time into ROS messages
 void publishRosMsg();               // Publish ROS messages
+//void AudioStatusCB(const std_msgs::String &status);
+//void VelocityCB(const nav_msgs::Odometry &odom);
+float Map(float x, float in_min, float in_max, float out_min, float out_max);
 
 /*============================================================================*/
 #endif // End of inclusion
\ No newline at end of file

--- a/PixelArray.lib	Wed May 08 13:55:17 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/JacobBramley/code/PixelArray/#47802e75974e

--- a/mbed-os.lib	Wed May 08 13:55:17 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://github.com/ARMmbed/mbed-os/#2fd0c5cfbd83fce62da6308f9d64c0ab64e1f0d6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed May 08 14:50:32 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file