Antoine Laurens / Mbed 2 deprecated DEMO2

uhbduhbv

Dependencies:   BNO055_fusion mbed

Fork of DEMO3 by Edwin Cho

LOCOMOTION.h@19:5832e34b7533, 2016-03-29 (annotated)

Committer:
alaurens
Date:
Tue Mar 29 21:58:26 2016 +0000
Revision:
19:5832e34b7533
Parent:
18:f9012e93edb8 
everything is beautiful

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 6:0602a9e8118b 1 #ifndef LOCOMOTION_H
12104404 6:0602a9e8118b 2 #define LOCOMOTION_H
12104404 6:0602a9e8118b 3
12104404 6:0602a9e8118b 4 #include "mbed.h"
12104404 17:2f89826b5679 5 #include "LOCALIZE.h"
12104404 6:0602a9e8118b 6
12104404 16:d6f15a13c3aa 7 #define SPEED_TURN_MIN 0.20
12104404 16:d6f15a13c3aa 8 #define SPEED_TURN_MAX 0.65
alaurens 19:5832e34b7533 9 #define x_increase 1
alaurens 19:5832e34b7533 10 #define x_decrease 2
alaurens 19:5832e34b7533 11 #define x_backwards 3
alaurens 19:5832e34b7533 12 #define backoff 20
alaurens 19:5832e34b7533 13 #define xNearGoal 20
alaurens 19:5832e34b7533 14 #define xFarGoal 80
alaurens 19:5832e34b7533 15 #define yIncrement 20
alaurens 19:5832e34b7533 16
12104404 15:7729da55873a 17
12104404 15:7729da55873a 18 enum {
12104404 15:7729da55873a 19 ANGLE_TURN = 0,
12104404 15:7729da55873a 20 ANGLE_BIAS = 1,
12104404 15:7729da55873a 21 };
12104404 6:0602a9e8118b 22
12104404 6:0602a9e8118b 23 class LOCOMOTION
12104404 6:0602a9e8118b 24 {
12104404 6:0602a9e8118b 25 public:
12104404 15:7729da55873a 26 LOCOMOTION(PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2);
12104404 15:7729da55873a 27 PwmOut _m1f;
12104404 15:7729da55873a 28 PwmOut _m1b;
12104404 15:7729da55873a 29 PwmOut _m2f;
12104404 15:7729da55873a 30 PwmOut _m2b;
12104404 15:7729da55873a 31 DigitalOut _m1dir;
12104404 15:7729da55873a 32 DigitalOut _m2dir;
alaurens 19:5832e34b7533 33 void setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal);
alaurens 19:5832e34b7533 34 void setAngleTol(int *angleTol,bool yGood, bool xGood);
alaurens 19:5832e34b7533 35 void setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget);
alaurens 19:5832e34b7533 36 void adjustY(int XcurrState,int Ytarget);
12104404 18:f9012e93edb8 37 bool setXPos(int target, int current, int error, int angle);
12104404 18:f9012e93edb8 38 bool setYPos(int target, int current, int error, int angle);
12104404 15:7729da55873a 39 bool setAngle(int target, int current, int error, int mode);
alaurens 19:5832e34b7533 40 void check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr);
12104404 15:7729da55873a 41 int wrap(int num);
12104404 15:7729da55873a 42
12104404 15:7729da55873a 43 protected:
12104404 17:2f89826b5679 44 float s;
12104404 6:0602a9e8118b 45 };
12104404 6:0602a9e8118b 46 #endif