File content as of revision 0:603c28b75dc1:

#ifndef ROBOT_H
#define ROBOT_H

#include "mbed.h"
#include "MPU6050.h"
#include "nRF24L01P.h"

#define BaudRate_bt    9600        //Baud rate of 9600
#define tx_bt       PTA2        //Bluetooth connection pins
#define rx_bt       PTA1        //Bluetooth connection pins
#define tx_mpu      PTE0    //MPU connection pins
#define rx_mpu      PTE1    //MPU connection pins
#define mpu_bandwidth MPU6050_BW_20 //set the MPU low pass filter bandwidth to 20hz

#define LED PTE3        //status LED pin
#define CURRENTSENSOR_PIN PTC2
#define VOLTAGESENSOR_PIN PTB0

#define CURRENT_R1 180 //160.0     //values of the current sensor opamp resistors
#define CURRENT_R2 10
#define CURRENT_R3 80
#define CURRENT_R4 84.7
#define VREF3_3 3.3        //digital logic voltage
#define VREF5 5.0       //5v voltage        //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts

#define irL PTB1
#define irC PTB3
#define irR PTB2

#define MOT_PWMA_PIN   PTA4    //Motor control pins    
#define MOT_PWMB_PIN   PTA5
#define MOT_STBY_PIN   PTA15
#define MOT_AIN1_PIN   PTA14
#define MOT_AIN2_PIN   PTA13
#define MOT_BIN1_PIN    PTA16
#define MOT_BIN2_PIN   PTA17

#define M_PI 3.14159265359  //PI
#define gyroCorrect 3720    //divide raw gyro data by this to get result in RAD/SECOND (if gyroRange is 500 rad/s)

//Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards)
#define MOTOR_R_DIRECTION   1
#define MOTOR_L_DIRECTION   1

#define MOTOR_INTERVAL 20     //defines the interval (in milliseconds) between when motor can be set
//NOTE: Can't make this less than 20ms, because that is the PWM frequency

//Key bindings for remote control robot - for the future try to use arrow keys instead of 'asdw'
#define ctrl_forward    'i'         //forward
#define ctrl_backward   'k'         //back
#define ctrl_left       'j'         //turn left
#define ctrl_right      'l'         //turn right
#define ctrl_calibrate  'c'         //re-calibrate the accelerometer and gyro
#define ctrl_turn_angle_cw    'o'         // turn angle
#define ctrl_turn_angle_ccw    'p'
// The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
//  "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
//  only handles 4 byte transfers in the ATMega code.
#define TRANSFER_SIZE   4

class Robot
{
public:
    /**
    *   Constructor - does nothing atm
    */
    Robot();

    /**
    *   MOTOR CONTROLS
    */
    void motor_control(int Lspeed, int Rspeed);  //Input speed for motors. Integer between 0 and 100
    void stop();                           //stop motors
    void set_direction(double angle);            //set angle for the robot to face (from origin)
    void set_direction_deg(double angle);
    void set_speed(int Speed );      //set speed for robot to travel at
    void auto_enable(bool x);
    /**
    *   MPU CONTROLS
    */

    /**
    *   UPDATE (this must be called repeatedly so the robot will sample accelerometer to find position)
    */
    void update(); //print variable decides which values to print
    void remote_ctrl(char c,int desired_speed, int desired_angle); 
    //print = 0: nothing
    //print = 1: Accelerometer and gyro
    //print = 2: Current and voltage

    //  calibrate the gyro and accelerometer  //
    void calibrate();

    /**
    *   Status: find the distance, orientation, battery values, etc of the robot
    */
    //void distanceTravelled(double x[3])
    //void orientation(something quaternion? on xy plane?)
    double getCurrent();   //Get the current drawn by the robot
    double getCurrent(int n); //get the current, averaged over n samples
    double getVoltage();    //get the battery voltage (ask connor for completed function)
    void getIMU(float *adata, float *gdata);
    double irReadL();
    double irReadC();
    double irReadR();
    double return_rotation();
    int isMPU();
    

    //Wireless connections
    Serial bt;  //bluetooth connection
    nRF24L01P rf24;  //RF network connection

    //RF24 network functions//
    void rf24_power(int status);   //power on or off the RF network
    char rf24_read();
    int rf24_write(char letter);   //write a letter to RF
    int rf24_write(char* buffer, int length);   //write
    int acc[3];
    int gyr[3];

    
      
    //-------------------PRIVATE VARIABLES AND FUNCTIONS-----------------------------------------------//
private:

        //commands for remote control robot

    MPU6050 mpu;   //MPU connection
    DigitalOut myled;   //(PTE3) Processor LED (1 = off, 0 = on)
    DigitalOut btSwitch;
    AnalogIn currentSensor;
    AnalogIn irSensorL;
    AnalogIn irSensorC;
    AnalogIn irSensorR;
    AnalogIn voltageSensor;

    double dx;  //distance travelled in x direction
    double dy;  //distance travelled in y direction
    double dz;  //distance travelled in z direction (zero?)
    double origin;    //location of robot origin (or can be set if robot starting location is known.
            double target_angle;    //direction that we want the robot to face (radians)

    int accdata[3];     //data from accelerometer (raw)
    int gyrodata[3];    //data from gyro (raw)
    //double gyroCorrect; //= 3720;  //divide by this to get gyro data in RAD/SECOND. This is above as a #DEFINE
    int gyroOffset[3];  //Correction value for each gyroscope to zero the values.
    int accOffset[3];  //correction value for each accelerometer
int speed;  //set the speed of robot
    /**Angle is always measured in clockwise direction, looking down from the top**/
    /*Angle is measured in RADIANS*/
    double rz;          //Direction robot is facing
    double Irz;         //integral of the rotation offset from target. (Optionally) Used for PID control of direction
    double angle_origin;      //Angle of origin (can be changed later, or set if robot starts at known angle)
    bool AUTO_ORIENT; //if this flag is 1, the robot automatically orients itself to selected direction
    bool REMOTE_CONTROL;    //if this flag is 1, the robot will be controlled over bluetooth

    ///////////   Motor control variables   ///////////
    PwmOut PWMA;//(MOT_PWMA_PIN);
    PwmOut PWMB;//(MOT_PWMB_PIN);
    DigitalOut AIN1;//(MOT_AIN1_PIN);
    DigitalOut AIN2;//(MOT_AIN2_PIN);
    DigitalOut BIN1;//(MOT_BIN1_PIN);
    DigitalOut BIN2;//(MOT_BIN2_PIN);
    DigitalOut STBY;//(MOT_STBY_PIN);
    double timeNext;    //next time that the motor is allowed to be updated

    bool MPU_OK;

    Timer tt;    //timer
    
    double time;    //time of current iteration
    double timePrev;    //time of previous iteration
    
    
};
#endif