Diff: BalancingRobot.h

Revision:

3:c3963f37d597

Parent:

2:caec5534774d

Child:

4:0b4c320bc948

--- a/BalancingRobot.h	Thu Feb 16 20:25:52 2012 +0000
+++ b/BalancingRobot.h	Sun Feb 26 13:11:10 2012 +0000
@@ -1,14 +1,9 @@
 #ifndef _balancingrobot_h_
 #define _balancingrobot_h_
 
-#include "mbed.h"
-
 #define RAD_TO_DEG 57.295779513082320876798154814105 // 180/pi
 
-DigitalOut onboardLED1(LED1);
-DigitalOut onboardLED2(LED2);
-DigitalOut onboardLED3(LED3);
-DigitalOut onboardLED4(LED4);
+BusOut LEDs(LED1, LED2, LED3, LED4);
 
 /* Left motor */
 DigitalOut leftA(p21);
@@ -77,6 +72,7 @@
 
 bool steerForward;
 bool steerBackward;
+bool steerStop = true; // Stop by default
 bool steerLeft;
 bool steerRotateLeft;
 bool steerRight;
@@ -84,6 +80,14 @@
 
 double targetOffset = 0;
 
+uint8_t loopCounter = 0; // Used for wheel velocity
+long wheelPosition;
+long lastWheelPosition;
+long targetPosition;
+long wheelVelocity;
+double positionScale = 1000; // one resolution is 464 pulses
+double velocityScale = 40;
+
 void calibrateSensors();
 void PID(double restAngle, double offset);
 double kalman(double newAngle, double newRate, double looptime);