Fabian van Hummel / Mbed 2 deprecated Robot_control_v3

biorobotics group 19 , 2 november

Dependencies:   HIDScope MODSERIAL PID QEI SigInterpreternovember2 biquadFilter mbed

Fork of Robot_controlv2 by Fabian van Hummel

Controller.h@0:d935ea6f5c25, 2016-10-21 (annotated)

Committer:
fabian101
Date:
Fri Oct 21 09:13:53 2016 +0000
Revision:
0:d935ea6f5c25
Child:
1:b9005f2aabf5
robot control 21-10 11:13;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabian101 0:d935ea6f5c25 1 InterruptIn calibrateButton(D2);
fabian101 0:d935ea6f5c25 2 int x = 0; // pulses
fabian101 0:d935ea6f5c25 3 int x_max; // ???physically measure
fabian101 0:d935ea6f5c25 4 int y = 0;
fabian101 0:d935ea6f5c25 5 int y_max; // ???
fabian101 0:d935ea6f5c25 6 double rMax; // calibrate maxpower..
fabian101 0:d935ea6f5c25 7 double lMax;
fabian101 0:d935ea6f5c25 8 double uMax;
fabian101 0:d935ea6f5c25 9 double dMax;
fabian101 0:d935ea6f5c25 10 float RATE; // ???
fabian101 0:d935ea6f5c25 11 float motorValueHor = 0;
fabian101 0:d935ea6f5c25 12 float motorValueVer = 0;
fabian101 0:d935ea6f5c25 13
fabian101 0:d935ea6f5c25 14 float maxHorVel = 1.0f; // 1 cm/sec
fabian101 0:d935ea6f5c25 15 float maxVerVel = 1.0f; // 1cm/sec
fabian101 0:d935ea6f5c25 16
fabian101 0:d935ea6f5c25 17
fabian101 0:d935ea6f5c25 18 int prevX = 0;
fabian101 0:d935ea6f5c25 19 int prevY = 0;
fabian101 0:d935ea6f5c25 20
fabian101 0:d935ea6f5c25 21 void calibrate();
fabian101 0:d935ea6f5c25 22 void run();
fabian101 0:d935ea6f5c25 23 double toMotorValue(double,double);
fabian101 0:d935ea6f5c25 24 void emergencyExit();
fabian101 0:d935ea6f5c25 25 void motorOutput(double, bool);
fabian101 0:d935ea6f5c25 26
fabian101 0:d935ea6f5c25 27 SigInterpreter signal = SigInterpreter();
fabian101 0:d935ea6f5c25 28 MyMotor motor = MyMotor();
fabian101 0:d935ea6f5c25 29 PulseChecker pulses = PulseChecker();
fabian101 0:d935ea6f5c25 30
fabian101 0:d935ea6f5c25 31 Ticker motorControl;
fabian101 0:d935ea6f5c25 32 void setFlag();
fabian101 0:d935ea6f5c25 33 bool flag = true;