Diff: robot.h

Revision:

0:603c28b75dc1

diff -r 000000000000 -r 603c28b75dc1 robot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h	Tue May 20 07:42:25 2014 +0000
@@ -0,0 +1,177 @@
+#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
\ No newline at end of file