Raj Patel / Mbed 2 deprecated RoboticMappingControl

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Dependencies:   mbed mbed-rtos Motor LSM9DS1_Library_cal X_NUCLEO_53L0A1

RobotController.h@14:0e6b26c1a7c5, 2019-04-25 (annotated)

Committer:
rpatelpj
Date:
Thu Apr 25 03:21:17 2019 +0000
Revision:
14:0e6b26c1a7c5
Parent:
11:531208aca075
Child:
17:e1a5d25218de
Added rotation error correction and lidar functionality to RobotController

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rpatelpj 3:1dce1ba5b8bd 1 #ifndef ROBOT_CONTROLLER_H
rpatelpj 3:1dce1ba5b8bd 2 #define ROBOT_CONTROLLER_H
rpatelpj 3:1dce1ba5b8bd 3
rpatelpj 8:bfa4bf23522c 4 #include "globals.h"
rpatelpj 3:1dce1ba5b8bd 5 #include "Motor.h"
rpatelpj 11:531208aca075 6 #include "Encoder.h"
rpatelpj 11:531208aca075 7 #include "LSM9DS1.h"
rpatelpj 8:bfa4bf23522c 8 #include "XNucleo53L0A1.h"
rpatelpj 8:bfa4bf23522c 9
rpatelpj 8:bfa4bf23522c 10 #define COUNTPERIN 75.029 ///< Encoder counts 192 every 65 mm of wheel rotation
rpatelpj 8:bfa4bf23522c 11 #define COUNTPERDEG 1.21 ///< Encoder counts 2.42 every 1 deg of body rotation
rpatelpj 14:0e6b26c1a7c5 12 #define ROTERRI 0.730 ///< 90 commanded rotation overshoot compensation
rpatelpj 14:0e6b26c1a7c5 13 #define ROTERRII 0.770 ///< 180 commanded rotation overshoot compensation
rpatelpj 14:0e6b26c1a7c5 14 #define ROTERRIII 0.810 ///< 270, 360 commanded rotation overshoot compensation
rpatelpj 14:0e6b26c1a7c5 15 #define MMTOIN 0.0393701 ///< Metric to emperical length conversion
rpatelpj 3:1dce1ba5b8bd 16
rpatelpj 3:1dce1ba5b8bd 17 /**
rpatelpj 5:77c6821ae418 18 * Robot Controller class.
rpatelpj 3:1dce1ba5b8bd 19 */
rpatelpj 3:1dce1ba5b8bd 20 class RobotController {
rpatelpj 3:1dce1ba5b8bd 21 public:
rpatelpj 3:1dce1ba5b8bd 22 /**
rpatelpj 11:531208aca075 23 * Robot Controller constructor.
rpatelpj 5:77c6821ae418 24 * @param leftWheelPwm mbed pin transmitting speed to left motor driver
rpatelpj 5:77c6821ae418 25 * @param leftWheelFwd mbed pin transmitting forward direction to left motor driver
rpatelpj 5:77c6821ae418 26 * @param leftWheelRev mbed pin transmitting reverse direction to left motor driver
rpatelpj 5:77c6821ae418 27 * @param rightWheelPwm mbed pin transmitting speed to right motor driver
rpatelpj 5:77c6821ae418 28 * @param rightWheelFwd mbed pin transmitting forward direction to right motor driver
rpatelpj 5:77c6821ae418 29 * @param rightWheelRev mbed pin transmitting reverse direction to right motor driver
rpatelpj 8:bfa4bf23522c 30 * @param leftEncoder mbed pin receiving rotation count from left encoder
rpatelpj 8:bfa4bf23522c 31 * @param rightEncoder mbed pin receiving rotation count from right encoder
rpatelpj 14:0e6b26c1a7c5 32 * @param lidarShdn mbed pin commanding lidar reset
rpatelpj 14:0e6b26c1a7c5 33 * @param sda mbed pin for I2C data line
rpatelpj 14:0e6b26c1a7c5 34 * @param scl mbed pin for I2C clock line
rpatelpj 5:77c6821ae418 35 */
rpatelpj 5:77c6821ae418 36 RobotController(PinName leftWheelPwm, PinName leftWheelFwd,
rpatelpj 5:77c6821ae418 37 PinName leftWheelRev, PinName rightWheelPwm, PinName rightWheelFwd,
rpatelpj 11:531208aca075 38 PinName rightWheelRev, PinName leftEncoder, PinName rightEncoder,
rpatelpj 14:0e6b26c1a7c5 39 PinName lidarShdn, PinName sda, PinName scl);
rpatelpj 11:531208aca075 40
rpatelpj 11:531208aca075 41 /**
rpatelpj 11:531208aca075 42 * Robot Controller destructor.
rpatelpj 11:531208aca075 43 */
rpatelpj 11:531208aca075 44 ~RobotController();
rpatelpj 11:531208aca075 45
rpatelpj 5:77c6821ae418 46 /**
rpatelpj 3:1dce1ba5b8bd 47 * Detect obstacles in 360-degree field of view around the robot.
rpatelpj 3:1dce1ba5b8bd 48 */
rpatelpj 8:bfa4bf23522c 49 void detectObstacles();
rpatelpj 3:1dce1ba5b8bd 50
rpatelpj 3:1dce1ba5b8bd 51 /**
rpatelpj 3:1dce1ba5b8bd 52 * Follow trajectory set by user in C# GUI.
rpatelpj 3:1dce1ba5b8bd 53 */
rpatelpj 8:bfa4bf23522c 54 void followTrajectory();
rpatelpj 5:77c6821ae418 55
rpatelpj 5:77c6821ae418 56 private:
rpatelpj 5:77c6821ae418 57 Motor leftWheel;
rpatelpj 5:77c6821ae418 58 Motor rightWheel;
rpatelpj 14:0e6b26c1a7c5 59 Encoder _leftEncoder;
rpatelpj 14:0e6b26c1a7c5 60 Encoder _rightEncoder;
rpatelpj 14:0e6b26c1a7c5 61 DevI2C* lidarDevice;
rpatelpj 14:0e6b26c1a7c5 62 XNucleo53L0A1* lidarBoard;
rpatelpj 14:0e6b26c1a7c5 63 DigitalOut _lidarShdn;
rpatelpj 14:0e6b26c1a7c5 64 uint32_t lidarDistance;
rpatelpj 11:531208aca075 65 LSM9DS1 imu;
rpatelpj 11:531208aca075 66 Timer t;
rpatelpj 14:0e6b26c1a7c5 67 float yaw;
rpatelpj 11:531208aca075 68 float w1;
rpatelpj 11:531208aca075 69 float w2;
rpatelpj 11:531208aca075 70 float t1;
rpatelpj 11:531208aca075 71 float t2;
rpatelpj 3:1dce1ba5b8bd 72 };
rpatelpj 3:1dce1ba5b8bd 73
rpatelpj 3:1dce1ba5b8bd 74 #endif /* ROBOT_CONTROLLER_H */