Chris LU / Mbed 2 deprecated Nucleo_ZTC_20160607_oldest

code of robot bike

Dependencies:   SDFileSystem mbed

Fork of Robot_Bicycle by Chris LU

RobotServo.h@13:51ef67cd4fd6, 2017-05-17 (annotated)

Committer:
cpul5338
Date:
Wed May 17 15:22:29 2017 +0000
Revision:
13:51ef67cd4fd6
Parent:
9:159bad8bae03 
template

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YCTung 0:830ddddc129f 1 #include "mbed.h"
YCTung 0:830ddddc129f 2
YCTung 0:830ddddc129f 3 #define PWM_PERIOD 1.0f/244.0f
YCTung 0:830ddddc129f 4 #define POWER_REDU_PW 0.0001f
YCTung 0:830ddddc129f 5
YCTung 3:197b748a397a 6 #define PWR_REDU_PW 0.0001f //100us ~ 200us
YCTung 0:830ddddc129f 7 #define PWR_REDU_DUTY_1024 PWR_REDU_PW*244*1024
YCTung 0:830ddddc129f 8 #define PWR_REDU_DUTY_256 PWR_REDU_PW*244*256
YCTung 3:197b748a397a 9 #define MIN_SERVO_PW 0.0007f //pulse width in second
YCTung 3:197b748a397a 10 #define MAX_SERVO_PW 0.0023f //pulse width in second
YCTung 0:830ddddc129f 11 #define MIN_SERVO_DUTY_1024 MIN_SERVO_PW*244*1024
YCTung 0:830ddddc129f 12 #define MAX_SERVO_DUTY_1024 MAX_SERVO_PW*244*1024
YCTung 0:830ddddc129f 13 #define MIN_SERVO_DUTY_256 MIN_SERVO_PW*244*256
YCTung 0:830ddddc129f 14 #define MAX_SERVO_DUTY_256 MAX_SERVO_PW*244*256
YCTung 0:830ddddc129f 15
YCTung 3:197b748a397a 16 #define Ts 0.004098f
YCTung 3:197b748a397a 17 #define pi 3.14159f
YCTung 0:830ddddc129f 18
YCTung 0:830ddddc129f 19 #define H_PEDAL_DIVIDER 2
YCTung 0:830ddddc129f 20 #define M_PEDAL_DIVIDER 3
YCTung 0:830ddddc129f 21 #define L_PEDAL_DIVIDER 5
YCTung 0:830ddddc129f 22 #define Z_PEDAL_DIVIDER 5
YCTung 0:830ddddc129f 23
YCTung 0:830ddddc129f 24 #define TOT_ARM_POS 41
YCTung 0:830ddddc129f 25 #define TOT_FOOT_POS 55 //48 + TOT_STOP_POS
YCTung 0:830ddddc129f 26 #define TOT_STOP_POS 7
YCTung 0:830ddddc129f 27 #define FIRST_POS 7
YCTung 0:830ddddc129f 28
YCTung 4:b0967990e390 29 #define HANDLE_STOP 10
YCTung 4:b0967990e390 30 #define HANDLE_STRAIGHT 0 - 2
YCTung 4:b0967990e390 31 #define HANDLE_START 5 //16 - 6
YCTung 9:159bad8bae03 32 #define HANDLE_START_BAL 0//20
YCTung 0:830ddddc129f 33
YCTung 0:830ddddc129f 34 #define COUN2_LOW_V TOT_STOP_POS
YCTung 0:830ddddc129f 35 #define COUN2_MID_V 19
YCTung 0:830ddddc129f 36 #define COUN2_HIGH_V 38
YCTung 0:830ddddc129f 37
YCTung 0:830ddddc129f 38 #define COUN2_HANDLE_CNTRL 19
YCTung 0:830ddddc129f 39 #define COUN2_HANDLE_START 10
YCTung 0:830ddddc129f 40
YCTung 1:709be64ca63c 41 extern PwmOut pwm_lw;
YCTung 1:709be64ca63c 42 extern PwmOut pwm_le;
YCTung 1:709be64ca63c 43 extern PwmOut pwm_ls;
YCTung 1:709be64ca63c 44 extern PwmOut pwm_la;
YCTung 1:709be64ca63c 45 extern PwmOut pwm_lk;
YCTung 1:709be64ca63c 46 extern PwmOut pwm_ll;
YCTung 1:709be64ca63c 47 extern PwmOut pwm_lb;
YCTung 1:709be64ca63c 48 extern PwmOut pwm_rb;
YCTung 1:709be64ca63c 49 extern PwmOut pwm_rl;
YCTung 1:709be64ca63c 50 extern PwmOut pwm_rk;
YCTung 1:709be64ca63c 51 extern PwmOut pwm_ra;
YCTung 1:709be64ca63c 52 extern PwmOut pwm_rs;
YCTung 1:709be64ca63c 53 extern PwmOut pwm_re;
YCTung 1:709be64ca63c 54 extern PwmOut pwm_rw;
YCTung 1:709be64ca63c 55
YCTung 0:830ddddc129f 56 extern const int servoangle_left[TOT_ARM_POS][3];
YCTung 0:830ddddc129f 57 extern const int servoangle_right[TOT_ARM_POS][3];
YCTung 0:830ddddc129f 58
YCTung 0:830ddddc129f 59 extern const float footangle_left[TOT_FOOT_POS][4];
YCTung 0:830ddddc129f 60 extern const float footangle_right[TOT_FOOT_POS][4];
YCTung 0:830ddddc129f 61
YCTung 0:830ddddc129f 62 extern void setupServo(void);
YCTung 0:830ddddc129f 63
YCTung 0:830ddddc129f 64 extern void pwm_left(float angle_up, float angle_mid, float angle_down); //Left arm
YCTung 0:830ddddc129f 65 extern void pwm_right(float angle_up, float angle_mid, float angle_down); //Left arm
YCTung 0:830ddddc129f 66 extern void lookuptable_steering(int8_t sensor_output);
YCTung 0:830ddddc129f 67
YCTung 0:830ddddc129f 68 extern void pwm_left_foot(float angle_1, float angle_2, float angle_3, float angle_4);
YCTung 0:830ddddc129f 69 extern void pwm_right_foot(float angle_1, float angle_2, float angle_3, float angle_4);
YCTung 0:830ddddc129f 70 extern void lookuptable_pedaling(int index);
YCTung 0:830ddddc129f 71
YCTung 0:830ddddc129f 72 extern void reset_left_butt(void);
YCTung 0:830ddddc129f 73 extern void reset_pos(void);
YCTung 0:830ddddc129f 74 extern void stop_pos(void);
YCTung 0:830ddddc129f 75
YCTung 0:830ddddc129f 76 extern int angle_to_duty(int resolution, float degree);