Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/psiswarm.h@27:7eb032772bc2, 2016-01-31 (annotated)

Committer:
alanmillard
Date:
Sun Jan 31 15:14:54 2016 +0000
Revision:
27:7eb032772bc2
Parent:
10:1b09d4bb847b 
Flocking seems to work better now, however the robot controller sometimes "crashes" (unsure why).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Header File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: psiswarm.h
jah128 0:8a5497a2e366 4 *
jah128 6:ff3c66f7372b 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 6:ff3c66f7372b 6 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 0:8a5497a2e366 7 *
jah128 6:ff3c66f7372b 8 * PsiSwarm Library Version: 0.3
jah128 0:8a5497a2e366 9 *
jah128 6:ff3c66f7372b 10 * October 2015
jah128 0:8a5497a2e366 11 *
jah128 0:8a5497a2e366 12 */
jah128 0:8a5497a2e366 13
jah128 0:8a5497a2e366 14 #ifndef PSISWARM_H
jah128 0:8a5497a2e366 15 #define PSISWARM_H
jah128 0:8a5497a2e366 16
jah128 0:8a5497a2e366 17 #define SOFTWARE_VERSION_CODE 0.20
jah128 0:8a5497a2e366 18
jah128 4:25039ea5eb09 19 #define PIC_ADDRESS 0x30
jah128 0:8a5497a2e366 20 #define LCD_ADDRESS 0x7C
jah128 0:8a5497a2e366 21 #define LED_IC_ADDRESS 0x42
jah128 0:8a5497a2e366 22 #define GPIO_IC_ADDRESS 0x40
jah128 0:8a5497a2e366 23 #define AUX_IC_ADDRESS 0x4E
jah128 0:8a5497a2e366 24 #define ADC1_ADDRESS 0x46
jah128 0:8a5497a2e366 25 #define ADC2_ADDRESS 0x48
jah128 0:8a5497a2e366 26 #define EEPROM_ADDRESS 0XA0
jah128 0:8a5497a2e366 27 #define TEMPERATURE_ADDRESS 0X30
jah128 0:8a5497a2e366 28 #define BASE_COLOUR_ADDRESS 0X52
jah128 0:8a5497a2e366 29 #define TOP_COLOUR_ADDRESS 0X72
jah128 0:8a5497a2e366 30 #define ULTRASONIC_ADDRESS 0XE0
jah128 0:8a5497a2e366 31 #define COMMAND_MESSAGE_BYTE 0X1D
jah128 0:8a5497a2e366 32 #define ACKNOWLEDGE_MESSAGE_BYTE 0X1E
jah128 0:8a5497a2e366 33 #define RESPONSE_MESSAGE_BYTE 0X1F
jah128 0:8a5497a2e366 34 #define PSI_BYTE 0X1D
jah128 0:8a5497a2e366 35
jah128 0:8a5497a2e366 36 //Set temperature sensor warnings: 60C critical, 50C high, 0C low
jah128 0:8a5497a2e366 37 #define TEMPERATURE_CRITICAL_HI 0X03
jah128 0:8a5497a2e366 38 #define TEMPEARTURE_CRITICAL_LO 0XC0
jah128 0:8a5497a2e366 39 #define TEMPERATURE_HIGH_HI 0X03
jah128 0:8a5497a2e366 40 #define TEMPEARTURE_HIGH_LO 0X20
jah128 0:8a5497a2e366 41 #define TEMPERATURE_LOW_HI 0X00
jah128 0:8a5497a2e366 42 #define TEMPEARTURE_LOW_LO 0X00
jah128 0:8a5497a2e366 43
jah128 0:8a5497a2e366 44 #define DEFAULT_IR_PULSE_DELAY 400
jah128 0:8a5497a2e366 45 #define DEFAULT_BASE_IR_PULSE_DELAY 50
jah128 0:8a5497a2e366 46
jah128 0:8a5497a2e366 47 #include <stdio.h>
jah128 0:8a5497a2e366 48 #include <stdarg.h>
jah128 0:8a5497a2e366 49
jah128 0:8a5497a2e366 50 #include "settings.h"
jah128 0:8a5497a2e366 51 #include "serial.h"
jah128 0:8a5497a2e366 52 #include "mbed.h"
jah128 0:8a5497a2e366 53 #include "display.h"
jah128 0:8a5497a2e366 54 #include "led.h"
jah128 0:8a5497a2e366 55 #include "i2c.h"
jah128 0:8a5497a2e366 56 #include "motors.h"
jah128 0:8a5497a2e366 57 #include "sensors.h"
jah128 0:8a5497a2e366 58 #include "eprom.h"
jah128 0:8a5497a2e366 59 #include "colour.h"
jah128 4:25039ea5eb09 60 #include "pic.h"
jah128 0:8a5497a2e366 61 #include "demo.h"
jah128 10:1b09d4bb847b 62 #include "dances.h"
jah128 0:8a5497a2e366 63
jah128 0:8a5497a2e366 64 //NB The user needs to have a main.cpp with a main() function and a handle_switch_event(char) function
jah128 0:8a5497a2e366 65 #include "main.h"
jah128 0:8a5497a2e366 66
jah128 0:8a5497a2e366 67
jah128 0:8a5497a2e366 68 void init(void);
jah128 0:8a5497a2e366 69 float get_uptime(void);
jah128 0:8a5497a2e366 70 void pause_user_code(float period);
jah128 0:8a5497a2e366 71 void reset_encoders(void);
jah128 0:8a5497a2e366 72 void debug(const char* format, ...) ;
jah128 0:8a5497a2e366 73
jah128 0:8a5497a2e366 74 void IF_end_pause_user_code(void);
jah128 0:8a5497a2e366 75 void IF_handle_events(void);
jah128 0:8a5497a2e366 76 void IF_update_encoders(void);
jah128 0:8a5497a2e366 77 void IF_update_user_id(void);
jah128 0:8a5497a2e366 78 void IF_update_switch(void);
jah128 0:8a5497a2e366 79 void IF_update_minutes(void);
jah128 0:8a5497a2e366 80
jah128 0:8a5497a2e366 81 extern char * program_name;
jah128 0:8a5497a2e366 82 extern char * author_name;
jah128 1:f6356cf1cefc 83 extern char * version_name;
jah128 0:8a5497a2e366 84
jah128 0:8a5497a2e366 85 extern Serial pc;
jah128 0:8a5497a2e366 86 extern Serial bt;
jah128 0:8a5497a2e366 87 extern Display display;
jah128 0:8a5497a2e366 88 extern I2C primary_i2c;
jah128 0:8a5497a2e366 89 extern InterruptIn gpio_interrupt;
jah128 0:8a5497a2e366 90
jah128 0:8a5497a2e366 91 extern AnalogIn vin_current;
jah128 0:8a5497a2e366 92 extern AnalogIn vin_battery;
jah128 0:8a5497a2e366 93 extern AnalogIn vin_dc;
jah128 0:8a5497a2e366 94
jah128 0:8a5497a2e366 95 extern DigitalOut mbed_led1;
jah128 0:8a5497a2e366 96 extern DigitalOut mbed_led2;
jah128 0:8a5497a2e366 97 extern DigitalOut mbed_led3;
jah128 0:8a5497a2e366 98 extern DigitalOut mbed_led4;
jah128 0:8a5497a2e366 99 extern PwmOut center_led_red;
jah128 0:8a5497a2e366 100 extern PwmOut center_led_green;
jah128 0:8a5497a2e366 101 extern PwmOut motor_left_f;
jah128 0:8a5497a2e366 102 extern PwmOut motor_left_r;
jah128 0:8a5497a2e366 103 extern PwmOut motor_right_f;
jah128 0:8a5497a2e366 104 extern PwmOut motor_right_r;
jah128 0:8a5497a2e366 105
jah128 8:00558287a4ef 106 extern char time_based_motor_action;
jah128 8:00558287a4ef 107
jah128 0:8a5497a2e366 108 extern int base_colour_sensor_raw_values [];
jah128 0:8a5497a2e366 109 extern int top_colour_sensor_raw_values [];
jah128 0:8a5497a2e366 110
jah128 0:8a5497a2e366 111 extern char waiting_for_ultrasonic;
jah128 0:8a5497a2e366 112 extern int ultrasonic_distance;
jah128 0:8a5497a2e366 113 extern char ultrasonic_distance_updated;
jah128 0:8a5497a2e366 114 extern Timeout ultrasonic_timeout;
jah128 0:8a5497a2e366 115 extern Ticker ultrasonic_ticker;
jah128 0:8a5497a2e366 116
jah128 0:8a5497a2e366 117 extern unsigned short background_ir_values [];
jah128 0:8a5497a2e366 118 extern unsigned short illuminated_ir_values [];
jah128 0:8a5497a2e366 119 extern float reflected_ir_distances [];
jah128 0:8a5497a2e366 120 extern char ir_values_stored;
jah128 0:8a5497a2e366 121
jah128 0:8a5497a2e366 122 extern char firmware_bytes[];
jah128 0:8a5497a2e366 123
jah128 5:598298aa4900 124 extern char testing_voltage_regulators_flag;
jah128 5:598298aa4900 125 extern char power_good_motor_left;
jah128 5:598298aa4900 126 extern char power_good_motor_right;
jah128 5:598298aa4900 127 extern char power_good_infrared;
jah128 5:598298aa4900 128 extern char status_dc_in;
jah128 5:598298aa4900 129 extern char status_charging;
jah128 5:598298aa4900 130
jah128 0:8a5497a2e366 131 extern unsigned short background_base_ir_values [];
jah128 0:8a5497a2e366 132 extern unsigned short illuminated_base_ir_values [];
jah128 0:8a5497a2e366 133 extern char base_ir_values_stored;
jah128 3:cd048f6e544e 134 extern float line_position;
jah128 3:cd048f6e544e 135 extern char line_found;
jah128 0:8a5497a2e366 136
jah128 0:8a5497a2e366 137 extern float motor_left_speed;
jah128 0:8a5497a2e366 138 extern float motor_right_speed;
jah128 0:8a5497a2e366 139 extern char motor_left_brake;
jah128 0:8a5497a2e366 140 extern char motor_right_brake;
jah128 0:8a5497a2e366 141
jah128 0:8a5497a2e366 142 extern float center_led_brightness;
jah128 0:8a5497a2e366 143 extern float backlight_brightness;
jah128 0:8a5497a2e366 144
jah128 0:8a5497a2e366 145 extern float firmware_version;
jah128 0:8a5497a2e366 146
jah128 0:8a5497a2e366 147 extern int ir_pulse_delay;
jah128 0:8a5497a2e366 148 extern int base_ir_pulse_delay;
jah128 0:8a5497a2e366 149
jah128 0:8a5497a2e366 150 extern char robot_id;
jah128 0:8a5497a2e366 151 extern char previous_robot_id;
jah128 0:8a5497a2e366 152
jah128 0:8a5497a2e366 153 extern char wheel_encoder_byte;
jah128 0:8a5497a2e366 154 extern char previous_wheel_encoder_byte;
jah128 0:8a5497a2e366 155 extern signed int left_encoder;
jah128 0:8a5497a2e366 156 extern signed int right_encoder;
jah128 0:8a5497a2e366 157
jah128 0:8a5497a2e366 158 extern char switch_byte;
jah128 0:8a5497a2e366 159 extern char previous_switch_byte;
jah128 0:8a5497a2e366 160
jah128 0:8a5497a2e366 161 extern char user_code_running;
jah128 0:8a5497a2e366 162 extern char user_code_restore_mode;
jah128 0:8a5497a2e366 163 extern char demo_on;
jah128 0:8a5497a2e366 164 extern char event;
jah128 0:8a5497a2e366 165 extern char change_id_event;
jah128 0:8a5497a2e366 166 extern char encoder_event;
jah128 0:8a5497a2e366 167 extern char switch_event;
jah128 0:8a5497a2e366 168 extern char system_warnings;
jah128 0:8a5497a2e366 169
jah128 0:8a5497a2e366 170 extern char debug_mode;
jah128 0:8a5497a2e366 171 extern char debug_output;
jah128 0:8a5497a2e366 172 #endif