globals.h

00001 
00002 #ifndef GLOBALS_H
00003 #define GLOBALS_H
00004 
00005 //#define TEAM_RED
00006 #define TEAM_BLUE
00007 
00008 #include "mbed.h"
00009 
00010 const float KALMAN_PREDICT_PERIOD = 0.05; //seconds
00011 
00012 #define ENABLE_GLOBAL_ENCODERS
00013 
00014 const float ENCODER_M_PER_TICK = 1.0f/1198.0f;
00015 const float ENCODER_WHEELBASE = 0.068;
00016 const float TURRET_FWD_PLACEMENT = -0.042;
00017 
00018 //Robot movement constants
00019 const float fwdvarperunit = 0.0001; //1 std dev = 7% //TODO: measrue this!!
00020 const float varperang = 0.0003; //around 3 degree stddev per 180 turn //TODO: measrue this!!
00021 const float xyvarpertime = 0.000025; //(very poorly) accounts for hitting things
00022 const float angvarpertime = 0.0001;  
00023 
00024 const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
00025 const float MOTOR_MAX_POWER = 0.5f;
00026 
00027 /*
00028 PINOUT Sensors
00029 5:  RF:SDI
00030 6 SDO
00031 7 SCK
00032 8 NCS
00033 9 NIRQ
00034 10-15 6 echo pins
00035 16 trig
00036 17 IRin
00037 18-20 unused
00038 21 stepper step
00039 22-27 unused
00040 28 Serial TX
00041 29-30 unused
00042 
00043 
00044 PINOUT Main
00045 5: Lower arm servo
00046 6: Upper arm servo
00047 
00048 14: Serial RX
00049 15: Cake distance sensor
00050 16: Fwd distance sensor
00051 
00052 20: color sensor in
00053 21-24: Motors PWM IN 1-4
00054 25-26: Encoders 
00055 27-28: Encoders 
00056 29: Color sensor RED LED
00057 30: Color sensor BLUE LED
00058 
00059 */
00060 
00061 const PinName P_SERVO_LOWER_ARM = p25;
00062 const PinName P_SERVO_UPPER_ARM = p26;
00063 
00064 const PinName P_SERIAL_RX       = p14;
00065 const PinName P_DISTANCE_SENSOR = p15;
00066 const PinName P_FWD_DISTANCE_SENSOR = p16;
00067 
00068 const PinName P_COLOR_SENSOR_IN_UPPER = p20;
00069 const PinName P_COLOR_SENSOR_IN_LOWER = p19;
00070 
00071 const PinName P_MOT_LEFT_A     = p22;
00072 const PinName P_MOT_LEFT_B     = p21;
00073 const PinName P_MOT_RIGHT_A      = p24;
00074 const PinName P_MOT_RIGHT_B      = p23;
00075 
00076 const PinName P_ENC_RIGHT_A     = p28;//p26;
00077 const PinName P_ENC_RIGHT_B     = p27;//p25;
00078 const PinName P_ENC_LEFT_A      = p29;//p27;
00079 const PinName P_ENC_LEFT_B      = p30;//p28;
00080 
00081 const PinName P_COLOR_SENSOR_RED_UPPER = p13;//p29;
00082 const PinName P_COLOR_SENSOR_BLUE_UPPER = p12;//p30;
00083 const PinName P_COLOR_SENSOR_RED_LOWER = p11;
00084 const PinName P_COLOR_SENSOR_BLUE_LOWER = p10;
00085 
00086 const PinName P_START_CORD = p17;
00087 
00088 const PinName P_BALLOON = p8;
00089 
00090 
00091 
00092 //a type which is a pointer to a rtos thread function
00093 typedef void (*tfuncptr_t)(void const *argument);
00094 
00095 //Solving for sonar bias is done by entering the following into wolfram alpha
00096 //(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
00097 //where a, b, c are the measured distances, and f is the bias
00098 
00099 //const float sonartimebias = 0; // TODO: measure and stick in the coprocessor code
00100 
00101 struct pos {
00102     float x;
00103     float y;
00104 };
00105 
00106 extern pos beaconpos[3];
00107 
00108 const float PI = 3.14159265359;
00109 
00110 typedef struct Waypoint
00111 {
00112     float x;
00113     float y;
00114     float theta;
00115     float pos_threshold;
00116     float angle_threshold;
00117     float angle_exponent; //temp hack
00118 } Waypoint;
00119 
00120 typedef struct State 
00121 {
00122     float x;
00123     float y;
00124     float theta;
00125 } State;
00126 
00127 #endif //GLOBALS_H