Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

bt_shell/machine_interface/keybindings.h@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 /** This file contains the keybindings/commands for the python interface
majik 0:964eb6a2ef00 2 **/
majik 0:964eb6a2ef00 3
majik 0:964eb6a2ef00 4 #ifndef KEYBINDINGS_H
majik 0:964eb6a2ef00 5 #define KEYBINDINGS_H
majik 0:964eb6a2ef00 6
majik 0:964eb6a2ef00 7 #define CONNECTION '?' //leave this as question mark. Returns confirmation of connection when sent
majik 0:964eb6a2ef00 8 #define END_CONNECTION '$' //end connection
majik 0:964eb6a2ef00 9
majik 0:964eb6a2ef00 10 //sensors
majik 0:964eb6a2ef00 11 #define ALL_SENSOR 'A' //returns all sensor data:
majik 0:964eb6a2ef00 12 #define IMU_READ 'i' //returns the IMU data in the form XXX.XXX,YYY.YYY,ZZZ.ZZZ,xxx.xxx,yyy.yyy.zzz.zzz [m/s2],[rad/s]
majik 0:964eb6a2ef00 13 #define IMU_YAW 'Y' //returns only the YAW
majik 0:964eb6a2ef00 14 #define IMU_CALIBRATE 'U' //calibrates IMU
majik 0:964eb6a2ef00 15 #define OPT_CALIBRATE 'u' //calibrate optical flow
majik 0:964eb6a2ef00 16
majik 0:964eb6a2ef00 17 #define IR_READ 'I' //returns the IR sensor data in the form 000.000,000.000... [cm] for the 5 IR sensors
majik 0:964eb6a2ef00 18 #define IR_1 'L' //left IR
majik 0:964eb6a2ef00 19 #define IR_2 'C' //right IR
majik 0:964eb6a2ef00 20 #define IR_3 'R' //centre IR
majik 0:964eb6a2ef00 21 #define IR_4 'r' //rear right IR
majik 0:964eb6a2ef00 22 #define IR_5 'l' //rear left IR
majik 0:964eb6a2ef00 23
majik 0:964eb6a2ef00 24 #define CURRENT_SENSE 'c' //returns current [mA]
majik 0:964eb6a2ef00 25 #define OPT_READ 'O' //returns the velocity of each optical flow sensor X1,Y1,x2,y2 [pixels per second]
majik 0:964eb6a2ef00 26 #define LOCATION 'q' //returns the current (x,y) location of robot [cm] (needs to be implemented)
majik 0:964eb6a2ef00 27
majik 0:964eb6a2ef00 28 //commands
majik 0:964eb6a2ef00 29 //#define IMU_CTRL 'q' //Toggle the IMU to keep the robot driving straight
majik 0:964eb6a2ef00 30 #define MOTOR_R 'd' //Command to run right motor
majik 0:964eb6a2ef00 31 #define MOTOR_L 'a' //Command to run left motor
majik 0:964eb6a2ef00 32 #define MOTOR 'w' //Command to run both motors - specify both speeds
majik 0:964eb6a2ef00 33
majik 0:964eb6a2ef00 34 //#define MOTOR_FWD 'W' //Command to run both motors straight forward
majik 0:964eb6a2ef00 35 //#define ROTATE 'A' //Command to rotate by specified rotation [degrees]
majik 0:964eb6a2ef00 36
majik 0:964eb6a2ef00 37 #define MOTOR_STOP 's' //Command to stop both motors
majik 0:964eb6a2ef00 38 #define GO_TO 'G' //Command robot to go to specified coordinate
majik 0:964eb6a2ef00 39
majik 0:964eb6a2ef00 40 #endif