Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

globals.h@90:e4164bb8c60e, 2013-04-17 (annotated)

Committer:
madcowswe
Date:
Wed Apr 17 23:16:25 2013 +0000
Revision:
90:e4164bb8c60e
Parent:
89:dfe8c2ec5b88 
final state at end of competition. Includes avoid wooden team hack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 16:52250d8d8fce 1
madcowswe 20:70d651156779 2 #ifndef GLOBALS_H
madcowswe 20:70d651156779 3 #define GLOBALS_H
madcowswe 20:70d651156779 4
madcowswe 89:dfe8c2ec5b88 5 //#define TEAM_RED
madcowswe 89:dfe8c2ec5b88 6 #define TEAM_BLUE
madcowswe 72:7996aa8286ae 7
madcowswe 20:70d651156779 8 #include "mbed.h"
madcowswe 20:70d651156779 9
madcowswe 20:70d651156779 10 const float KALMAN_PREDICT_PERIOD = 0.05; //seconds
madcowswe 20:70d651156779 11
madcowswe 20:70d651156779 12 #define ENABLE_GLOBAL_ENCODERS
madcowswe 20:70d651156779 13
madcowswe 62:78d99b781f02 14 const float ENCODER_M_PER_TICK = 1.0f/1198.0f;
madcowswe 26:7cb3a21d9a2e 15 const float ENCODER_WHEELBASE = 0.068;
madcowswe 31:ada943ecaceb 16 const float TURRET_FWD_PLACEMENT = -0.042;
madcowswe 20:70d651156779 17
madcowswe 20:70d651156779 18 //Robot movement constants
madcowswe 79:0d3140048526 19 const float fwdvarperunit = 0.0001; //1 std dev = 7% //TODO: measrue this!!
madcowswe 79:0d3140048526 20 const float varperang = 0.0003; //around 3 degree stddev per 180 turn //TODO: measrue this!!
madcowswe 79:0d3140048526 21 const float xyvarpertime = 0.000025; //(very poorly) accounts for hitting things
madcowswe 79:0d3140048526 22 const float angvarpertime = 0.0001;
madcowswe 22:6e3218cf75f8 23
madcowswe 25:b16f1045108f 24 const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
madcowswe 33:a49197572737 25 const float MOTOR_MAX_POWER = 0.5f;
madcowswe 20:70d651156779 26
madcowswe 20:70d651156779 27 /*
madcowswe 20:70d651156779 28 PINOUT Sensors
madcowswe 20:70d651156779 29 5: RF:SDI
madcowswe 20:70d651156779 30 6 SDO
madcowswe 20:70d651156779 31 7 SCK
madcowswe 20:70d651156779 32 8 NCS
madcowswe 20:70d651156779 33 9 NIRQ
madcowswe 20:70d651156779 34 10-15 6 echo pins
madcowswe 20:70d651156779 35 16 trig
madcowswe 20:70d651156779 36 17 IRin
madcowswe 20:70d651156779 37 18-20 unused
madcowswe 20:70d651156779 38 21 stepper step
madcowswe 20:70d651156779 39 22-27 unused
madcowswe 20:70d651156779 40 28 Serial TX
madcowswe 20:70d651156779 41 29-30 unused
madcowswe 20:70d651156779 42
madcowswe 20:70d651156779 43
madcowswe 20:70d651156779 44 PINOUT Main
madcowswe 20:70d651156779 45 5: Lower arm servo
madcowswe 20:70d651156779 46 6: Upper arm servo
madcowswe 20:70d651156779 47
madcowswe 20:70d651156779 48 14: Serial RX
madcowswe 20:70d651156779 49 15: Cake distance sensor
madcowswe 20:70d651156779 50 16: Fwd distance sensor
madcowswe 20:70d651156779 51
madcowswe 20:70d651156779 52 20: color sensor in
madcowswe 20:70d651156779 53 21-24: Motors PWM IN 1-4
madcowswe 20:70d651156779 54 25-26: Encoders
madcowswe 20:70d651156779 55 27-28: Encoders
madcowswe 20:70d651156779 56 29: Color sensor RED LED
madcowswe 20:70d651156779 57 30: Color sensor BLUE LED
madcowswe 20:70d651156779 58
madcowswe 20:70d651156779 59 */
madcowswe 20:70d651156779 60
rsavitski 58:ff2121f34e3b 61 const PinName P_SERVO_LOWER_ARM = p25;
rsavitski 58:ff2121f34e3b 62 const PinName P_SERVO_UPPER_ARM = p26;
madcowswe 20:70d651156779 63
madcowswe 20:70d651156779 64 const PinName P_SERIAL_RX = p14;
madcowswe 20:70d651156779 65 const PinName P_DISTANCE_SENSOR = p15;
madcowswe 31:ada943ecaceb 66 const PinName P_FWD_DISTANCE_SENSOR = p16;
madcowswe 20:70d651156779 67
xiaxia686 43:c592bf6a6a2d 68 const PinName P_COLOR_SENSOR_IN_UPPER = p20;
xiaxia686 43:c592bf6a6a2d 69 const PinName P_COLOR_SENSOR_IN_LOWER = p19;
madcowswe 20:70d651156779 70
madcowswe 60:5058465904e0 71 const PinName P_MOT_LEFT_A = p22;
madcowswe 60:5058465904e0 72 const PinName P_MOT_LEFT_B = p21;
madcowswe 60:5058465904e0 73 const PinName P_MOT_RIGHT_A = p24;
madcowswe 60:5058465904e0 74 const PinName P_MOT_RIGHT_B = p23;
madcowswe 20:70d651156779 75
rsavitski 58:ff2121f34e3b 76 const PinName P_ENC_RIGHT_A = p28;//p26;
rsavitski 58:ff2121f34e3b 77 const PinName P_ENC_RIGHT_B = p27;//p25;
rsavitski 58:ff2121f34e3b 78 const PinName P_ENC_LEFT_A = p29;//p27;
rsavitski 58:ff2121f34e3b 79 const PinName P_ENC_LEFT_B = p30;//p28;
madcowswe 20:70d651156779 80
rsavitski 58:ff2121f34e3b 81 const PinName P_COLOR_SENSOR_RED_UPPER = p13;//p29;
rsavitski 58:ff2121f34e3b 82 const PinName P_COLOR_SENSOR_BLUE_UPPER = p12;//p30;
xiaxia686 43:c592bf6a6a2d 83 const PinName P_COLOR_SENSOR_RED_LOWER = p11;
xiaxia686 43:c592bf6a6a2d 84 const PinName P_COLOR_SENSOR_BLUE_LOWER = p10;
madcowswe 20:70d651156779 85
rsavitski 77:8d83a0c00e66 86 const PinName P_START_CORD = p17;
madcowswe 71:eb1956c2d316 87
madcowswe 84:00c799fd10a7 88 const PinName P_BALLOON = p8;
madcowswe 84:00c799fd10a7 89
madcowswe 20:70d651156779 90
madcowswe 20:70d651156779 91
madcowswe 20:70d651156779 92 //a type which is a pointer to a rtos thread function
madcowswe 20:70d651156779 93 typedef void (*tfuncptr_t)(void const *argument);
madcowswe 16:52250d8d8fce 94
madcowswe 16:52250d8d8fce 95 //Solving for sonar bias is done by entering the following into wolfram alpha
madcowswe 16:52250d8d8fce 96 //(a-f)^2 = x^2 + y^2; (b-f)^2 = (x-3)^2 + y^2; (c-f)^2 = (x-1.5)^2+(y-2)^2: solve for x,y,f
madcowswe 16:52250d8d8fce 97 //where a, b, c are the measured distances, and f is the bias
madcowswe 16:52250d8d8fce 98
madcowswe 19:4b993a9a156e 99 //const float sonartimebias = 0; // TODO: measure and stick in the coprocessor code
madcowswe 17:6263e90bf3ba 100
madcowswe 17:6263e90bf3ba 101 struct pos {
madcowswe 17:6263e90bf3ba 102 float x;
madcowswe 17:6263e90bf3ba 103 float y;
madcowswe 17:6263e90bf3ba 104 };
madcowswe 17:6263e90bf3ba 105
madcowswe 19:4b993a9a156e 106 extern pos beaconpos[3];
madcowswe 19:4b993a9a156e 107
madcowswe 20:70d651156779 108 const float PI = 3.14159265359;
madcowswe 20:70d651156779 109
rsavitski 24:50805ef8c499 110 typedef struct Waypoint
rsavitski 24:50805ef8c499 111 {
rsavitski 24:50805ef8c499 112 float x;
rsavitski 24:50805ef8c499 113 float y;
rsavitski 24:50805ef8c499 114 float theta;
rsavitski 24:50805ef8c499 115 float pos_threshold;
rsavitski 24:50805ef8c499 116 float angle_threshold;
rsavitski 77:8d83a0c00e66 117 float angle_exponent; //temp hack
rsavitski 24:50805ef8c499 118 } Waypoint;
rsavitski 24:50805ef8c499 119
madcowswe 33:a49197572737 120 typedef struct State
madcowswe 33:a49197572737 121 {
madcowswe 33:a49197572737 122 float x;
madcowswe 33:a49197572737 123 float y;
madcowswe 33:a49197572737 124 float theta;
madcowswe 33:a49197572737 125 } State;
madcowswe 33:a49197572737 126
madcowswe 20:70d651156779 127 #endif //GLOBALS_H