Diff: Sensors/Sensors.h

Revision:

0:a6a169de725f

Child:

2:fbc6e3cf3ed8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Sensors.h	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,136 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+#ifndef __SENSORS_H
+#define __SENSORS_H
+
+/** Sensor interface library abstracts sensor drivers, next step to a pluggable architecture */
+
+#include "Ublox6.h"
+#include "Venus638flpx.h"
+#include "L3G4200D.h"
+#include "LSM303DLM.h"
+//#include "HMC5843.h"
+#include "IncrementalEncoder.h"
+#include "Matrix.h"
+
+// Sensor axes
+#define _x_ 0
+#define _y_ 1
+#define _z_ 2
+
+// Magnetometer calibration constants
+//#define M_OFFSET_X -20.4416 // calibrated 02/13/2012 mes
+//#define M_OFFSET_Y -67.2318
+//#define M_OFFSET_Z 6.0950
+//#define M_OFFSET_X 12.8922 // calibrated 12/31/2012 mes
+//#define M_OFFSET_Y -7.3453
+//#define M_OFFSET_Z -147.8652
+//#define M_SCALE_X 570.06
+//#define M_SCALE_Y 532.83
+//#define M_SCALE_Z 480.95
+
+//#define M_X_MIN -654 // calibrated 12/8/2011 mes
+//#define M_X_MAX 457
+//#define M_Y_MIN -744 
+//#define M_Y_MAX 369
+//#define M_Z_MIN -573
+//#define M_Z_MAX 464
+
+// Chassis specific parameters
+#define WHEEL_STRIPES 32
+#define WHEEL_CIRC    0.321537 // m; calibrated with 4 12.236m runs. Wheel circumference measured 13.125" or 0.333375m
+#define WHEELBASE     0.290
+#define TRACK         0.280
+
+class Sensors {
+public:
+    Sensors(void);
+    void Compass_Calibrate(float offset[3], float scale[3]);
+    void Read_Encoders(void);
+    void Read_Gyro(void);
+    void Read_Accel(void);
+    void Read_Compass(void);
+    void Calculate_Offsets(void);
+    void Compass_Heading(void);
+    void getRawMag(int mag[3]);
+    float getVoltage(void);
+    float getCurrent(void);
+    void Read_Power(void);
+    void Read_Rangers();
+    void Read_Camera();
+    int g[3];                               // raw gyro value
+    int gTemp;                              // raw gyro temperature
+    int a[3];                               // raw accelerometer value
+    int m[3];                               // raw magnetometer value
+    int g_offset[3];                        // raw gyro offset
+    int a_offset[3];                        // raw accel offset
+    float m_offset[3];                      // magnetometer offset
+    float g_scale[3];                       // gyro scaling factor
+    float m_scale[3];                       // magnetometer scale
+    int g_sign[3];                          // correct sensor signs
+    int a_sign[3];
+    int m_sign[3]; 
+    float gyro[3];                          // corrected gyro value
+    float accel[3];                         // corrected accelerometer value
+    float mag[3];                           // corrected magnetometer value
+    int ranger[3];                          // ranger values
+    float leftRanger;
+    float rightRanger;
+    float centerRanger;
+    float voltage;                          // battery voltage in volts
+    float current;                          // system current draw in amps
+    unsigned int leftTotal;                 // total number of ticks
+    unsigned int rightTotal;                // total number of ticks
+    unsigned int leftCount;                 // left rear encoder count
+    unsigned int rightCount;                // right rear encoder count
+    float lrEncDistance;                    // left rear encoder distance
+    float rrEncDistance;                    // right rear encoder distance
+    float lrEncSpeed;                       // left rear encoder speed
+    float rrEncSpeed;                       // right rear encoder speed
+    float encDistance;                      // encoder distance since last check
+    float encSpeed;                         // encoder calculated speed
+
+    Venus638flpx gps;                       // Venus GPS
+    //Ublox6 gps;                             // Ublox6 GPS
+    AnalogIn _voltage;                      // Voltage from sensor board
+    AnalogIn _current;                      // Current from sensor board
+    IncrementalEncoder _left;               // Left wheel encoder
+    IncrementalEncoder _right;              // Right wheel encoder
+    L3G4200D _gyro;                         // MinIMU-9 gyro
+    LSM303DLM _compass;                     // MinIMU-9 compass/accelerometer
+    I2C _rangers;                           // Arduino ranger board
+    I2C _cam;                               // Propeller camer aboard
+    //HMC5843 compass;
+
+private:
+    void BubbleSort(float *num, int numLength);
+};
+
+#endif
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