Code for our FYDP -only one IMU works right now -RTOS is working
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keybindings.h
00001 /** This file contains the keybindings/commands for the python interface 00002 **/ 00003 00004 #ifndef KEYBINDINGS_H 00005 #define KEYBINDINGS_H 00006 00007 #define CONNECTION '?' //leave this as question mark. Returns confirmation of connection when sent 00008 #define END_CONNECTION '$' //end connection 00009 00010 //sensors 00011 #define ALL_SENSOR 'A' //returns all sensor data: 00012 #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] 00013 #define IMU_YAW 'Y' //returns only the YAW 00014 #define IMU_CALIBRATE 'U' //calibrates IMU 00015 #define OPT_CALIBRATE 'u' //calibrate optical flow 00016 00017 #define IR_READ 'I' //returns the IR sensor data in the form 000.000,000.000... [cm] for the 5 IR sensors 00018 #define IR_1 'L' //left IR 00019 #define IR_2 'C' //right IR 00020 #define IR_3 'R' //centre IR 00021 #define IR_4 'r' //rear right IR 00022 #define IR_5 'l' //rear left IR 00023 00024 #define CURRENT_SENSE 'c' //returns current [mA] 00025 #define OPT_READ 'O' //returns the velocity of each optical flow sensor X1,Y1,x2,y2 [pixels per second] 00026 #define LOCATION 'q' //returns the current (x,y) location of robot [cm] (needs to be implemented) 00027 00028 //commands 00029 //#define IMU_CTRL 'q' //Toggle the IMU to keep the robot driving straight 00030 #define MOTOR_R 'd' //Command to run right motor 00031 #define MOTOR_L 'a' //Command to run left motor 00032 #define MOTOR 'w' //Command to run both motors - specify both speeds 00033 00034 //#define MOTOR_FWD 'W' //Command to run both motors straight forward 00035 //#define ROTATE 'A' //Command to rotate by specified rotation [degrees] 00036 00037 #define MOTOR_STOP 's' //Command to stop both motors 00038 #define GO_TO 'G' //Command robot to go to specified coordinate 00039 00040 #endif
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