robot.h

00001 #ifndef ROBOT_H
00002 #define ROBOT_H
00003 
00004 #include "mbed.h"
00005 #include "MPU6050.h"
00006 #include "nRF24L01P.h"
00007 
00008 #define BaudRate_bt    9600        //Baud rate of 9600
00009 #define tx_bt       PTA2        //Bluetooth connection pins
00010 #define rx_bt       PTA1        //Bluetooth connection pins
00011 #define tx_mpu      PTE0    //MPU connection pins
00012 #define rx_mpu      PTE1    //MPU connection pins
00013 #define mpu_bandwidth MPU6050_BW_20 //set the MPU low pass filter bandwidth to 20hz
00014 
00015 #define LED PTE3        //status LED pin
00016 #define CURRENTSENSOR_PIN PTC2
00017 #define VOLTAGESENSOR_PIN PTB0
00018 
00019 #define CURRENT_R1 180 //160.0     //values of the current sensor opamp resistors
00020 #define CURRENT_R2 10
00021 #define CURRENT_R3 80
00022 #define CURRENT_R4 84.7
00023 #define VREF3_3 3.3        //digital logic voltage
00024 #define VREF5 5.0       //5v voltage        //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts
00025 
00026 #define irL PTB1
00027 #define irC PTB3
00028 #define irR PTB2
00029 
00030 #define MOT_PWMA_PIN   PTA4    //Motor control pins    
00031 #define MOT_PWMB_PIN   PTA5
00032 #define MOT_STBY_PIN   PTA15
00033 #define MOT_AIN1_PIN   PTA14
00034 #define MOT_AIN2_PIN   PTA13
00035 #define MOT_BIN1_PIN    PTA16
00036 #define MOT_BIN2_PIN   PTA17
00037 
00038 #define M_PI 3.14159265359  //PI
00039 #define gyroCorrect 3720    //divide raw gyro data by this to get result in RAD/SECOND (if gyroRange is 500 rad/s)
00040 
00041 //Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards)
00042 #define MOTOR_R_DIRECTION   1
00043 #define MOTOR_L_DIRECTION   1
00044 
00045 #define MOTOR_INTERVAL 20     //defines the interval (in milliseconds) between when motor can be set
00046 //NOTE: Can't make this less than 20ms, because that is the PWM frequency
00047 
00048 //Key bindings for remote control robot - for the future try to use arrow keys instead of 'asdw'
00049 #define ctrl_forward    'i'         //forward
00050 #define ctrl_backward   'k'         //back
00051 #define ctrl_left       'j'         //turn left
00052 #define ctrl_right      'l'         //turn right
00053 #define ctrl_calibrate  'c'         //re-calibrate the accelerometer and gyro
00054 #define ctrl_turn_angle_cw    'o'         // turn angle
00055 #define ctrl_turn_angle_ccw    'p'
00056 // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
00057 //  "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
00058 //  only handles 4 byte transfers in the ATMega code.
00059 #define TRANSFER_SIZE   4
00060 
00061 class Robot
00062 {
00063 public:
00064     /**
00065     *   Constructor - does nothing atm
00066     */
00067     Robot();
00068 
00069     /**
00070     *   MOTOR CONTROLS
00071     */
00072     void motor_control(int Lspeed, int Rspeed);  //Input speed for motors. Integer between 0 and 100
00073     void stop();                           //stop motors
00074     void set_direction(double angle);            //set angle for the robot to face (from origin)
00075     void set_direction_deg(double angle);
00076     void set_speed(int Speed );      //set speed for robot to travel at
00077     void auto_enable(bool x);
00078     /**
00079     *   MPU CONTROLS
00080     */
00081 
00082     /**
00083     *   UPDATE (this must be called repeatedly so the robot will sample accelerometer to find position)
00084     */
00085     void update(); //print variable decides which values to print
00086     void remote_ctrl(char c,int desired_speed, int desired_angle); 
00087     //print = 0: nothing
00088     //print = 1: Accelerometer and gyro
00089     //print = 2: Current and voltage
00090 
00091     //  calibrate the gyro and accelerometer  //
00092     void calibrate();
00093 
00094     /**
00095     *   Status: find the distance, orientation, battery values, etc of the robot
00096     */
00097     //void distanceTravelled(double x[3])
00098     //void orientation(something quaternion? on xy plane?)
00099     double getCurrent();   //Get the current drawn by the robot
00100     double getCurrent(int n); //get the current, averaged over n samples
00101     double getVoltage();    //get the battery voltage (ask connor for completed function)
00102     void getIMU(float *adata, float *gdata);
00103     double irReadL();
00104     double irReadC();
00105     double irReadR();
00106     double return_rotation();
00107     int isMPU();
00108     
00109 
00110     //Wireless connections
00111     Serial bt;  //bluetooth connection
00112     nRF24L01P rf24;  //RF network connection
00113 
00114     //RF24 network functions//
00115     void rf24_power(int status);   //power on or off the RF network
00116     char rf24_read();
00117     int rf24_write(char letter);   //write a letter to RF
00118     int rf24_write(char* buffer, int length);   //write
00119     int acc[3];
00120     int gyr[3];
00121 
00122     
00123       
00124     //-------------------PRIVATE VARIABLES AND FUNCTIONS-----------------------------------------------//
00125 private:
00126 
00127         //commands for remote control robot
00128 
00129     MPU6050 mpu;   //MPU connection
00130     DigitalOut myled;   //(PTE3) Processor LED (1 = off, 0 = on)
00131     DigitalOut btSwitch;
00132     AnalogIn currentSensor;
00133     AnalogIn irSensorL;
00134     AnalogIn irSensorC;
00135     AnalogIn irSensorR;
00136     AnalogIn voltageSensor;
00137 
00138     double dx;  //distance travelled in x direction
00139     double dy;  //distance travelled in y direction
00140     double dz;  //distance travelled in z direction (zero?)
00141     double origin;    //location of robot origin (or can be set if robot starting location is known.
00142             double target_angle;    //direction that we want the robot to face (radians)
00143 
00144     int accdata[3];     //data from accelerometer (raw)
00145     int gyrodata[3];    //data from gyro (raw)
00146     //double gyroCorrect; //= 3720;  //divide by this to get gyro data in RAD/SECOND. This is above as a #DEFINE
00147     int gyroOffset[3];  //Correction value for each gyroscope to zero the values.
00148     int accOffset[3];  //correction value for each accelerometer
00149 int speed;  //set the speed of robot
00150     /**Angle is always measured in clockwise direction, looking down from the top**/
00151     /*Angle is measured in RADIANS*/
00152     double rz;          //Direction robot is facing
00153     double Irz;         //integral of the rotation offset from target. (Optionally) Used for PID control of direction
00154     double angle_origin;      //Angle of origin (can be changed later, or set if robot starts at known angle)
00155     bool AUTO_ORIENT; //if this flag is 1, the robot automatically orients itself to selected direction
00156     bool REMOTE_CONTROL;    //if this flag is 1, the robot will be controlled over bluetooth
00157 
00158     ///////////   Motor control variables   ///////////
00159     PwmOut PWMA;//(MOT_PWMA_PIN);
00160     PwmOut PWMB;//(MOT_PWMB_PIN);
00161     DigitalOut AIN1;//(MOT_AIN1_PIN);
00162     DigitalOut AIN2;//(MOT_AIN2_PIN);
00163     DigitalOut BIN1;//(MOT_BIN1_PIN);
00164     DigitalOut BIN2;//(MOT_BIN2_PIN);
00165     DigitalOut STBY;//(MOT_STBY_PIN);
00166     double timeNext;    //next time that the motor is allowed to be updated
00167 
00168     bool MPU_OK;
00169 
00170     Timer tt;    //timer
00171     
00172     double time;    //time of current iteration
00173     double timePrev;    //time of previous iteration
00174     
00175     
00176 };
00177 #endif