Code for our FYDP -only one IMU works right now -RTOS is working
Diff: bt_shell/machine_interface/keybindings.h
- Revision:
- 0:964eb6a2ef00
diff -r 000000000000 -r 964eb6a2ef00 bt_shell/machine_interface/keybindings.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/bt_shell/machine_interface/keybindings.h Wed Mar 18 22:23:48 2015 +0000 @@ -0,0 +1,40 @@ +/** This file contains the keybindings/commands for the python interface +**/ + +#ifndef KEYBINDINGS_H +#define KEYBINDINGS_H + +#define CONNECTION '?' //leave this as question mark. Returns confirmation of connection when sent +#define END_CONNECTION '$' //end connection + +//sensors +#define ALL_SENSOR 'A' //returns all sensor data: +#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] +#define IMU_YAW 'Y' //returns only the YAW +#define IMU_CALIBRATE 'U' //calibrates IMU +#define OPT_CALIBRATE 'u' //calibrate optical flow + +#define IR_READ 'I' //returns the IR sensor data in the form 000.000,000.000... [cm] for the 5 IR sensors +#define IR_1 'L' //left IR +#define IR_2 'C' //right IR +#define IR_3 'R' //centre IR +#define IR_4 'r' //rear right IR +#define IR_5 'l' //rear left IR + +#define CURRENT_SENSE 'c' //returns current [mA] +#define OPT_READ 'O' //returns the velocity of each optical flow sensor X1,Y1,x2,y2 [pixels per second] +#define LOCATION 'q' //returns the current (x,y) location of robot [cm] (needs to be implemented) + +//commands +//#define IMU_CTRL 'q' //Toggle the IMU to keep the robot driving straight +#define MOTOR_R 'd' //Command to run right motor +#define MOTOR_L 'a' //Command to run left motor +#define MOTOR 'w' //Command to run both motors - specify both speeds + +//#define MOTOR_FWD 'W' //Command to run both motors straight forward +//#define ROTATE 'A' //Command to rotate by specified rotation [degrees] + +#define MOTOR_STOP 's' //Command to stop both motors +#define GO_TO 'G' //Command robot to go to specified coordinate + +#endif \ No newline at end of file