Michael Shimniok
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
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Data Structures
Here are the data structures with brief descriptions:
| Beep | Generates a tone with a buzzer, based on a PwmOut The class use a timeout to switch off the sound - it is not blocking while making noise |
| CartPosition | Geographical position and calculation based on cartesian coordinates |
| Config | Text-based configuration; reads config file and stores in fields |
| DebounceIn | DebounceIn adds mechanical switch debouncing to DigitialIn |
| GeoPosition | Geographical position and calculation |
| GPS | GPS "interface" class |
| HMC5843 | Interface library for the Honeywell HMC5843 digital compass |
| IncrementalEncoder | An interface for a simple, 1-track, incremental encoder |
| L3G4200D | Interface library for the ST L3G4200D 3-axis gyro |
| LSM303DLM | Tilt-compensated compass interface Library for the STMicro LSM303DLm 3-axis magnetometer, 3-axis acceleromter |
| Mapping | Maps GeoPosition latitude/longitude to CartPosition cartesian x,y |
| Menu | Simple menu interface model |
| PinDetect | PinDetect adds mechanical switch debouncing to DigitialIn and interrupt callbacks |
| Schedule | Simple library for scheduling events by polling time, that is, avoiding interrupts |
| SerialGraphicLCD | Interface to the Sparkfun Serial Graphic LCD, LCD-09351; and Graphic LCD Serial Backpack, LCD-09352 |
| Servo | Servo control class, based on a PwmOut |
| SimpleFilter | SimpleFilter implements a simple low pass integer "leaky integrator" described here: |
| Steering | A class for managing steering angle calculations based on current and desired heading and specified intercept distance along the new path |
| SystemState | System State is the main mechanism for communicating current realtime system state to the rest of the system for logging, data display, etc |
| TinyGPS | TinyGPS - a small GPS library for Arduino providing basic NMEA parsing Copyright (C) 2008-9 Mikal Hart All rights reserved |
| Updater | Updater is the main real time sensor update, estimation, and control routine that is called at 100Hz by a timer interrupt |
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