Diff: robot/robot.h

Revision:

0:21019d94ad33

Child:

3:47461d37adfb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot/robot.h	Sat Mar 21 21:31:29 2015 +0000
@@ -0,0 +1,121 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include "mbed.h"
+#include "rtos.h"
+#include "stdint.h"
+
+#include "HC05.h"
+#include "nRF24L01P.h"
+
+#include "MPU6050_6Axis_MotionApps20.h"
+#include "MPU6051_6Axis_MotionApps20.h"
+#include "DMP.h"
+#include "IMUDATA.h"
+#include "ADNS5090.h"
+#include "ACS712.h"
+
+#include "reckon.h"
+#include "motors.h"
+
+#define BT_BAUD_RATE        115200        //Baud rate of 9600
+#define TX_BT               PTA2        //Bluetooth connection pins
+#define RX_BT               PTA1        //Bluetooth connection pins
+#define EN_BT               PTE30        //Bluetooth connection pins
+
+#define MOSI_MOUSE          PTB16        //Bluetooth connection pins
+#define MISO_MOUSE          PTB17        //Bluetooth connection pins
+#define SCLK_MOUSE          PTB11        //Bluetooth connection pins
+#define NCS_MOUSE_L         PTB9        //Bluetooth connection pins
+#define NCS_MOUSE_R         PTB8        //Bluetooth connection pins
+
+//#define IMU_SDA_PIN         PTE0
+//#define IMU_SCL_PIN         PTE1
+#define IMU_POWER_PIN       PTD6
+#define IMU2_POWER_PIN      PTD4 //PTD4
+//#define IMU_NOTUSED_PIN     PTE23
+
+#define LED_PIN     PTE3        //status LED pin
+#define LED_OFF  led = 1;        //status LED pin
+#define LED_ON   led = 0;        //status LED pin
+
+//#define CURRENTSENSOR_PIN PTC2
+#define VOLTAGESENSOR_PIN PTB0
+//#define HIGH_CURRENT_SWITCH PTB18   //turn this to high to get high current flow
+
+
+//#define CURRENT_R1 180 //160.0     //values of the current sensor opamp resistors
+//#define CURRENT_R2 10
+//#define CURRENT_R3 80
+//#define CURRENT_R4 84.7
+//#define VREF3_3 3.3        //digital logic voltage
+//#define VREF5 5.0       //5v voltage        //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts
+
+#define IR_L PTB1
+#define IR_C PTB2
+#define IR_R PTB3
+#define IR_B PTC6     //turn GPIO to high to multiplex L,C,R ADC to rear sensors
+
+
+#define MOT_AIN1_PIN   PTA14
+#define MOT_AIN2_PIN   PTA13
+#define MOT_PWMA_PIN   PTA4    //Motor control pins  
+
+#define MOT_BIN1_PIN   PTA16
+#define MOT_BIN2_PIN   PTA17
+#define MOT_PWMB_PIN   PTA5
+
+#define MOT_STBY_PIN   PTA15
+
+//used for RF device
+#define TRANSFER_SIZE   4
+#define ROBOT1_ADDRESS      ((unsigned long long) 0x17E7E7E7E7 )
+#define ROBOT2_ADDRESS      ((unsigned long long) 0xC2C2C2C2C2 )
+#define ROBOT3_ADDRESS      ((unsigned long long) 0x37E7E7E7E7 )
+#define ALLROBOT_ADDRESS    ((unsigned long long) 0xE7E7E7E7E7 )
+#define ADDRESS_WIDTH       5
+const float M_PI = 3.14159265;
+
+extern DigitalOut led;
+
+extern HC05 bt;
+
+extern bool send_flag;
+extern bool obstacle_flag;   //this alerts the robot if there is an obstacle somewhere. 
+extern bool fwd_flag;   //indicates that the robot is trying to move forward
+extern bool calibrate_flag;
+extern bool calibrate_optFlow_flag;
+
+extern AnalogIn irL;
+extern AnalogIn irC;
+extern AnalogIn irR;
+extern DigitalOut irBack;
+extern AnalogIn voltage_sensor;
+
+extern ACS712 current_sensor;
+extern ADNS5090 opt_flow_L;
+extern ADNS5090 opt_flow_R;
+
+extern MPU6050 mpu;
+extern MPU6051 mpu2;
+
+extern DigitalOut imuSwitch;
+extern DigitalOut imu2Switch;
+extern IMU_DATA imu_data;
+extern IMU_DATA imu2_data;
+
+extern Reckon  reckon;
+
+extern Motors motors;
+extern RtosTimer *MotorStopTimer;
+
+extern nRF24L01P rf;    // RF communication device
+
+extern unsigned long long long_time;
+extern Timer t;
+float getTime();
+
+void initRobot();
+void moveMotors(int Lspeed, int Rspeed, int ms);
+
+#endif
\ No newline at end of file