Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Config/Config.h@0:a6a169de725f, 2013-05-27 (annotated)

Committer:
shimniok
Date:
Mon May 27 13:26:03 2013 +0000
Revision:
0:a6a169de725f
Child:
1:cb84b477886c
Working version with priorities set and update time display

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #ifndef __CONFIG_H
shimniok 0:a6a169de725f 2 #define __CONFIG_H
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 #include "GeoPosition.h"
shimniok 0:a6a169de725f 5 #include "CartPosition.h"
shimniok 0:a6a169de725f 6
shimniok 0:a6a169de725f 7 /** Text-based configuration; reads config file and stores in fields
shimniok 0:a6a169de725f 8 */
shimniok 0:a6a169de725f 9 class Config {
shimniok 0:a6a169de725f 10 public:
shimniok 0:a6a169de725f 11 Config();
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13 bool load();
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 float interceptDist; // used for course correction steering calculation
shimniok 0:a6a169de725f 16 float waypointDist; // distance threshold to waypoint
shimniok 0:a6a169de725f 17 float brakeDist; // braking distance
shimniok 0:a6a169de725f 18 float declination;
shimniok 0:a6a169de725f 19 float compassGain; // probably don't need this anymore
shimniok 0:a6a169de725f 20 float yawGain; // probably don't need this anymore
shimniok 0:a6a169de725f 21 GeoPosition wpt[10]; // Waypoints, lat/lon coords
shimniok 0:a6a169de725f 22 CartPosition cwpt[10]; // Waypoints, cartesian coords
shimniok 0:a6a169de725f 23 unsigned int wptCount; // number of active waypoints
shimniok 0:a6a169de725f 24 int escMin; // minimum ESC value; brake
shimniok 0:a6a169de725f 25 int escZero; // zero throttle
shimniok 0:a6a169de725f 26 int escMax; // max throttle
shimniok 0:a6a169de725f 27 float topSpeed; // top speed to achieve on the straights
shimniok 0:a6a169de725f 28 float turnSpeed; // speed for turns
shimniok 0:a6a169de725f 29 float startSpeed; // speed for start
shimniok 0:a6a169de725f 30 float minRadius; // minimum turning radius (calculated)
shimniok 0:a6a169de725f 31 float speedKp; // Speed PID proportional gain
shimniok 0:a6a169de725f 32 float speedKi; // Speed PID integral gain
shimniok 0:a6a169de725f 33 float speedKd; // Speed PID derivative gain
shimniok 0:a6a169de725f 34 float steerZero; // zero steering aka center point
shimniok 0:a6a169de725f 35 float steerGain; // gain factor for steering algorithm
shimniok 0:a6a169de725f 36 float steerGainAngle; // angle below which steering gain takes effect
shimniok 0:a6a169de725f 37 float cteKi; // cross track error integral gain
shimniok 0:a6a169de725f 38 bool usePP; // use pure pursuit algorithm?
shimniok 0:a6a169de725f 39 float curbThreshold; // distance at which curb avoid takes place
shimniok 0:a6a169de725f 40 float curbGain; // gain of curb avoid steering
shimniok 0:a6a169de725f 41 // acceleration profile?
shimniok 0:a6a169de725f 42 // braking profile?
shimniok 0:a6a169de725f 43 float gyroBias; // this needs to be 3d
shimniok 0:a6a169de725f 44 // float gyroScale[3];
shimniok 0:a6a169de725f 45 float magOffset[3];
shimniok 0:a6a169de725f 46 float magScale[3];
shimniok 0:a6a169de725f 47 // float accelOffset[3];
shimniok 0:a6a169de725f 48 // float accelScale[3];
shimniok 0:a6a169de725f 49 int gpsType;
shimniok 0:a6a169de725f 50 int gpsBaud;
shimniok 0:a6a169de725f 51
shimniok 0:a6a169de725f 52 };
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 #endif