Diff: robot/robot.cpp

Revision:

0:964eb6a2ef00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot/robot.cpp	Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,73 @@
+#include "robot.h"
+#include "bot08_cal.h"
+
+/**Note: Initialize ALL UNUSED ANALOG IN pins as digital out to reduce noise on analog reads*//////
+
+DigitalOut      led(LED_PIN);
+
+HC05            bt(TX_BT,RX_BT,EN_BT);
+
+AnalogIn irL(IR_L);
+AnalogIn irC(IR_C);
+AnalogIn irR(IR_R);
+DigitalOut irBack(IR_B);
+AnalogIn voltage_sensor(VOLTAGESENSOR_PIN);
+
+ACS712          current_sensor;
+ADNS5090        opt_flow_L(MOSI_MOUSE,MISO_MOUSE,SCLK_MOUSE,NCS_MOUSE_L,L_MOUSE_PX_PER_MM);
+ADNS5090        opt_flow_R(MOSI_MOUSE,MISO_MOUSE,SCLK_MOUSE,NCS_MOUSE_R,R_MOUSE_PX_PER_MM);
+Reckon          reckon(opt_flow_L, opt_flow_R, MOUSE_DISTANCE);
+
+MPU6050 mpu;
+MPU6051 mpu2;
+DigitalOut imuSwitch(IMU_POWER_PIN);
+DigitalOut imu2Switch(IMU2_POWER_PIN);
+IMU_DATA imu_data;
+IMU_DATA imu2_data;
+
+TB6612 MotorA(MOT_PWMA_PIN, MOT_AIN1_PIN, MOT_AIN2_PIN);
+TB6612 MotorB(MOT_PWMB_PIN, MOT_BIN1_PIN, MOT_BIN2_PIN);
+Motors motors( &MotorA, &MotorB, MOT_STBY_PIN);
+
+nRF24L01P rf(PTD2, PTD3, PTD1, PTD0, PTC17, PTD4);    // mosi, miso, sck, csn, ce, irq //CSN has been changed from PTD5 to PTC17
+
+
+bool send_flag; //indicates when robot should send all data
+bool obstacle_flag; //indicates an obstacle - robot should stop
+bool fwd_flag;
+bool calibrate_flag;
+bool calibrate_optFlow_flag;
+
+unsigned long long long_time = 0;
+Timer t;
+
+float getTime()
+{   return (float)(long_time + t.read_us())/1000000 ;   }
+
+void initRobot()
+{   
+    LED_OFF
+    
+    MotorA.scale = R_MOTOR_SCALE;
+    MotorB.scale = L_MOTOR_SCALE;    
+    
+    current_sensor.calibrate();
+    
+    LED_ON
+    
+    bt.start(); //this turns on the bluetooth switch
+    rf.powerUp();   //turn on RF comm
+    send_flag = 0;
+    obstacle_flag = 0;
+    
+    wait_ms(60);
+    opt_flow_L.setDPI();
+    opt_flow_R.setDPI();
+    bt.baud(BT_BAUD_RATE);
+    motors.flip();
+    
+    
+    LED_OFF //good to go
+    t.start();      //start timer
+}
+