First import from throwbot
Diff: robot.h
- Revision:
- 0:b74b6d70347d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/robot.h Sun Oct 05 12:21:03 2014 +0000 @@ -0,0 +1,135 @@ +#ifndef ROBOT_H +#define ROBOT_H +#include "QEI.h" +#include "mbed.h" +#include "rtos.h" +#include "HC05.h" +//#include "MPU6050.h" +//#include "HC05.h" +//#include "ACS712.h" +//#include "MPU6050_6Axis_MotionApps20.h" +//#include "DMP.h" +//#include "IMUDATA.h" +//#include "ADNS5090.h" +#define BaudRate_bt 115200 //Baud rate of 9600 +#define tx_bt PTA2 //Bluetooth connection pins +#define rx_bt PTA1 //Bluetooth connection pins +#define EN_BT PTA4 //Bluetooth connection pins +//#define tx_mpu PTE0 //MPU connection pins +//#define rx_mpu PTE1 //MPU connection pins +//#define mpu_bandwidth MPU6050_BW_20 //set the MPU low pass filter bandwidth to 20hz + +#define myledd PTB8 //status LED pin +#define CURRENTSENSOR_PIN PTB3 +#define VOLTAGESENSOR_PIN PTB0 + +#define CURRENT_R1 180 //160.0 //values of the current sensor opamp resistors +#define CURRENT_R2 10 +#define CURRENT_R3 80 +#define CURRENT_R4 84.7 +#define VREF3_3 3.3 //digital logic voltage +#define VREF5 5.0 //5v voltage //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts + + +//#define irL PTB1 +//#define irC PTB3 +//#define irR PTB2 + +#define LDR1 PTB1 +#define LDR2 PTB2 +#define buzz PTC8 + +#define MOT_PWMA_PIN PTA5 //Motor control pins +#define MOT_PWMB_PIN PTA12 +#define MOT_STBY_PIN PTE31 +#define MOT_AIN1_PIN PTE30 +#define MOT_AIN2_PIN PTE29 +#define MOT_BIN1_PIN PTE24 +#define MOT_BIN2_PIN PTE25 + +#define M_PI 3.14159265359 //PI +#define gyroCorrect 3720 //divide raw gyro data by this to get result in RAD/SECOND (if gyroRange is 500 rad/s) + +//Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards) +#define MOTOR_R_DIRECTION 1 +#define MOTOR_L_DIRECTION 1 + +#define MOTOR_INTERVAL 20 //defines the interval (in milliseconds) between when motor can be set +//NOTE: Can't make this less than 20ms, because that is the PWM frequency + +//Key bindings for remote control robot - for the future try to use arrow keys instead of 'asdw' +#define ctrl_forward 'i' //forward +#define ctrl_backward 'k' //back +#define ctrl_left 'j' //turn left +#define ctrl_right 'l' //turn right +#define ctrl_calibrate 'c' //re-calibrate the accelerometer and gyro +#define ctrl_turn_angle_cw 'o' // turn angle +#define ctrl_turn_angle_ccw 'p' +// The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's +// "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019) +// only handles 4 byte transfers in the ATMega code. +#define TRANSFER_SIZE 4 + +extern HC05 bt; //bluetooth connection +//extern Serial bt; +//extern QEI wheel; +extern QEI left; +extern QEI right; +//extern MPU6050 mpu; //MPU connection +extern DigitalOut myled; //(PTE3) Processor LED (1 = off, 0 = on) +//extern DigitalOut btSwitch; +//extern AnalogIn currentSensor; +extern DigitalOut buzzer; +extern DigitalOut key; +//extern PwmOut buzzer; +extern AnalogIn LDRsensor1; +extern AnalogIn LDRsensor2; +//extern AnalogIn voltageSensor; + /////////// Motor control variables /////////// +extern PwmOut PWMA;//(MOT_PWMA_PIN); +extern PwmOut PWMB;//(MOT_PWMB_PIN); +extern DigitalOut AIN1;//(MOT_AIN1_PIN); +extern DigitalOut AIN2;//(MOT_AIN2_PIN); +extern DigitalOut BIN1;//(MOT_BIN1_PIN); +extern DigitalOut BIN2;//(MOT_BIN2_PIN); +extern DigitalOut STBY;//(MOT_STBY_PIN); + void motor_control(int Lspeed, int Rspeed); //Input speed for motors. Integer between 0 and 100 + void stop(); //stop motors + void set_direction(double angle); //set angle for the robot to face (from origin) + void set_direction_deg(double angle); + void set_speed(int Speed ); //set speed for robot to travel at + void auto_enable(bool x); + /** + * MPU CONTROLS + */ + // calibrate the gyro and accelerometer // + void calibrate(); + /** + * Status: find the distance, orientation, battery values, etc of the robot + */ + //void distanceTravelled(double x[3]) + //void orientation(something quaternion? on xy plane?) + double getCurrent(); //Get the current drawn by the robot + double getCurrent(int n); //get the current, averaged over n samples + double getVoltage(); //get the battery voltage (ask connor for completed function) + void getIMU(float *adata, float *gdata); + double ldrread1(); + double ldrread2(); + //void pl_buzzer1(); + void Led_on(); + void Led_off(); + double return_rotation(); + int isMPU(); + void initRobot(); + extern double pl_buzzer(); + extern void pl_buzzer(void const *args); + extern int freq; + extern int rMotor; + extern int lMotor ; + extern int m_speed; + extern Mutex stdio_mutex; + + + //Wireless connections + +#endif \ No newline at end of file