Raj Patel / Mbed 2 deprecated RoboticMappingControl

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Dependencies:   mbed mbed-rtos Motor LSM9DS1_Library_cal X_NUCLEO_53L0A1

RobotController.h@20:d9a373fecd42, 2019-04-25 (annotated)

Committer:
rpatelpj
Date:
Thu Apr 25 22:13:21 2019 +0000
Revision:
20:d9a373fecd42
Parent:
18:7ed985584ec7 
Added shortest rotation and conversion constants 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
rpatelpj 20:d9a373fecd42 9 #define COUNTTOMM 9.846 ///< Encoder count to distance conversion
rpatelpj 14:0e6b26c1a7c5 10 #define ROTERRI 0.730 ///< 90 commanded rotation overshoot compensation
rpatelpj 14:0e6b26c1a7c5 11 #define ROTERRII 0.770 ///< 180 commanded rotation overshoot compensation
rpatelpj 14:0e6b26c1a7c5 12 #define ROTERRIII 0.810 ///< 270, 360 commanded rotation overshoot compensation
rpatelpj 20:d9a373fecd42 13 #define MMTOCM 0.10 ///< Metric to emperical length conversion
rpatelpj 3:1dce1ba5b8bd 14
rpatelpj 3:1dce1ba5b8bd 15 /**
rpatelpj 5:77c6821ae418 16 * Robot Controller class.
rpatelpj 3:1dce1ba5b8bd 17 */
rpatelpj 3:1dce1ba5b8bd 18 class RobotController {
rpatelpj 3:1dce1ba5b8bd 19 public:
rpatelpj 3:1dce1ba5b8bd 20 /**
rpatelpj 11:531208aca075 21 * Robot Controller constructor.
rpatelpj 5:77c6821ae418 22 * @param leftWheelPwm mbed pin transmitting speed to left motor driver
rpatelpj 5:77c6821ae418 23 * @param leftWheelFwd mbed pin transmitting forward direction to left motor driver
rpatelpj 5:77c6821ae418 24 * @param leftWheelRev mbed pin transmitting reverse direction to left motor driver
rpatelpj 5:77c6821ae418 25 * @param rightWheelPwm mbed pin transmitting speed to right motor driver
rpatelpj 5:77c6821ae418 26 * @param rightWheelFwd mbed pin transmitting forward direction to right motor driver
rpatelpj 5:77c6821ae418 27 * @param rightWheelRev mbed pin transmitting reverse direction to right motor driver
rpatelpj 8:bfa4bf23522c 28 * @param leftEncoder mbed pin receiving rotation count from left encoder
rpatelpj 8:bfa4bf23522c 29 * @param rightEncoder mbed pin receiving rotation count from right encoder
rpatelpj 17:e1a5d25218de 30 * @param imuSda mbed pin for imu I2C data line
rpatelpj 17:e1a5d25218de 31 * @param imuScl mbed pin for imu I2C clock line
rpatelpj 5:77c6821ae418 32 */
rpatelpj 5:77c6821ae418 33 RobotController(PinName leftWheelPwm, PinName leftWheelFwd,
rpatelpj 5:77c6821ae418 34 PinName leftWheelRev, PinName rightWheelPwm, PinName rightWheelFwd,
rpatelpj 11:531208aca075 35 PinName rightWheelRev, PinName leftEncoder, PinName rightEncoder,
rpatelpj 17:e1a5d25218de 36 PinName imuSda, PinName imuScl);
rpatelpj 11:531208aca075 37
rpatelpj 11:531208aca075 38 /**
rpatelpj 11:531208aca075 39 * Robot Controller destructor.
rpatelpj 11:531208aca075 40 */
rpatelpj 11:531208aca075 41 ~RobotController();
rpatelpj 11:531208aca075 42
rpatelpj 5:77c6821ae418 43 /**
rpatelpj 3:1dce1ba5b8bd 44 * Detect obstacles in 360-degree field of view around the robot.
rpatelpj 3:1dce1ba5b8bd 45 */
rpatelpj 8:bfa4bf23522c 46 void detectObstacles();
rpatelpj 3:1dce1ba5b8bd 47
rpatelpj 3:1dce1ba5b8bd 48 /**
rpatelpj 3:1dce1ba5b8bd 49 * Follow trajectory set by user in C# GUI.
rpatelpj 3:1dce1ba5b8bd 50 */
rpatelpj 8:bfa4bf23522c 51 void followTrajectory();
rpatelpj 5:77c6821ae418 52
rpatelpj 5:77c6821ae418 53 private:
rpatelpj 5:77c6821ae418 54 Motor leftWheel;
rpatelpj 5:77c6821ae418 55 Motor rightWheel;
rpatelpj 14:0e6b26c1a7c5 56 Encoder _leftEncoder;
rpatelpj 14:0e6b26c1a7c5 57 Encoder _rightEncoder;
rpatelpj 11:531208aca075 58 LSM9DS1 imu;
rpatelpj 11:531208aca075 59 Timer t;
rpatelpj 14:0e6b26c1a7c5 60 float yaw;
rpatelpj 11:531208aca075 61 float w1;
rpatelpj 11:531208aca075 62 float w2;
rpatelpj 11:531208aca075 63 float t1;
rpatelpj 11:531208aca075 64 float t2;
rpatelpj 3:1dce1ba5b8bd 65 };
rpatelpj 3:1dce1ba5b8bd 66
rpatelpj 3:1dce1ba5b8bd 67 #endif /* ROBOT_CONTROLLER_H */