Mark Vandermeulen / FYDP_Final2

This is for our FYDP project. 2 MPU6050s are used

Dependencies:   Servo mbed

reckon/reckon.h@4:05484073a641, 2015-03-22 (annotated)

Committer:
majik
Date:
Sun Mar 22 06:34:30 2015 +0000
Revision:
4:05484073a641
Parent:
0:21019d94ad33 
BOTH IMUs WORK NOW. Put them in separate threads. Servo is included.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 #ifndef RECKON_H
majik 0:21019d94ad33 2 #define RECKON_H
majik 0:21019d94ad33 3
majik 0:21019d94ad33 4 #include "mbed.h"
majik 0:21019d94ad33 5 #include "ADNS5090.h"
majik 0:21019d94ad33 6
majik 0:21019d94ad33 7 //TODO: include a function to swap motors if they are connected wrong.
majik 0:21019d94ad33 8
majik 0:21019d94ad33 9 #define DEGREES(radians)((radians)*180/M_PI)
majik 0:21019d94ad33 10
majik 0:21019d94ad33 11 class Reckon
majik 0:21019d94ad33 12 {
majik 0:21019d94ad33 13 public:
majik 0:21019d94ad33 14
majik 0:21019d94ad33 15 ADNS5090& optical_flow_L;
majik 0:21019d94ad33 16 ADNS5090& optical_flow_R;
majik 0:21019d94ad33 17 float r;
majik 0:21019d94ad33 18
majik 0:21019d94ad33 19 float x;
majik 0:21019d94ad33 20 float y;
majik 0:21019d94ad33 21 float accX;
majik 0:21019d94ad33 22 float accY;
majik 0:21019d94ad33 23 float accZ;
majik 0:21019d94ad33 24
majik 0:21019d94ad33 25 float flowX;
majik 0:21019d94ad33 26 float flowY;
majik 0:21019d94ad33 27 float flowYaw;
majik 0:21019d94ad33 28 float flow_dx_L;
majik 0:21019d94ad33 29 float flow_dx_R;
majik 0:21019d94ad33 30 float flow_dy_L;
majik 0:21019d94ad33 31 float flow_dy_R;
majik 0:21019d94ad33 32 float gyroYaw;
majik 0:21019d94ad33 33
majik 0:21019d94ad33 34 Reckon(ADNS5090& L,ADNS5090& R, float radius);
majik 0:21019d94ad33 35
majik 0:21019d94ad33 36 static float reduce_angle( float &);
majik 0:21019d94ad33 37
majik 0:21019d94ad33 38 float dest_angle(float x_dest, float y_dest);
majik 0:21019d94ad33 39 float dest_distance(float x_dest, float y_dest);
majik 0:21019d94ad33 40
majik 0:21019d94ad33 41 bool updateOpticalFlow(); //new
majik 0:21019d94ad33 42 void reset();
majik 0:21019d94ad33 43
majik 0:21019d94ad33 44 private:
majik 0:21019d94ad33 45 Timer frametime;
majik 0:21019d94ad33 46 };
majik 0:21019d94ad33 47
majik 0:21019d94ad33 48 #endif