robot.h

00001 #ifndef ROBOT_H
00002 #define ROBOT_H
00003 
00004 #include "mbed.h"
00005 #include "rtos.h"
00006 #include "stdint.h"
00007 
00008 #include "HC05.h"
00009 #include "nRF24L01P.h "
00010 
00011 #include "MPU6050_6Axis_MotionApps20.h"
00012 #include "MPU6051_6Axis_MotionApps20.h"
00013 #include "DMP.h"
00014 #include "IMUDATA.h"
00015 #include "ADNS5090.h"
00016 #include "ACS712.h"
00017 #include "Servo.h"
00018 
00019 #include "reckon.h"
00020 #include "motors.h"
00021 
00022 #define write_rate      100      //Maximum write rate (ms) of the motor
00023 
00024 #define BT_BAUD_RATE        115200        //Baud rate of 9600
00025 #define TX_BT               PTA2        //Bluetooth connection pins
00026 #define RX_BT               PTA1        //Bluetooth connection pins
00027 #define EN_BT               PTE30        //Bluetooth connection pins
00028 
00029 #define MOSI_MOUSE          PTB16        //Bluetooth connection pins
00030 #define MISO_MOUSE          PTB17        //Bluetooth connection pins
00031 #define SCLK_MOUSE          PTB11        //Bluetooth connection pins
00032 #define NCS_MOUSE_L         PTB9        //Bluetooth connection pins
00033 #define NCS_MOUSE_R         PTB8        //Bluetooth connection pins
00034 
00035 //#define IMU_SDA_PIN         PTE0
00036 //#define IMU_SCL_PIN         PTE1
00037 #define IMU_POWER_PIN       PTD6
00038 #define IMU2_POWER_PIN      PTD4 //PTD4
00039 //#define IMU_NOTUSED_PIN     PTE23
00040 
00041 #define LED_PIN     PTE3        //status LED pin
00042 #define LED_OFF  led = 1;        //status LED pin
00043 #define LED_ON   led = 0;        //status LED pin
00044 
00045 //#define CURRENTSENSOR_PIN PTC2
00046 #define VOLTAGESENSOR_PIN PTB0
00047 //#define HIGH_CURRENT_SWITCH PTB18   //turn this to high to get high current flow
00048 
00049 
00050 //#define CURRENT_R1 180 //160.0     //values of the current sensor opamp resistors
00051 //#define CURRENT_R2 10
00052 //#define CURRENT_R3 80
00053 //#define CURRENT_R4 84.7
00054 //#define VREF3_3 3.3        //digital logic voltage
00055 //#define VREF5 5.0       //5v voltage        //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts
00056 
00057 #define IR_L PTB1
00058 #define IR_C PTB2
00059 #define IR_R PTB3
00060 #define IR_B PTC6     //turn GPIO to high to multiplex L,C,R ADC to rear sensors
00061 
00062 
00063 #define MOT_AIN1_PIN   PTA14
00064 #define MOT_AIN2_PIN   PTA13
00065 #define MOT_PWMA_PIN   PTA4    //Motor control pins  
00066 
00067 #define MOT_BIN1_PIN   PTA16
00068 #define MOT_BIN2_PIN   PTA17
00069 #define MOT_PWMB_PIN   PTA5
00070 
00071 #define MOT_STBY_PIN   PTA15
00072 
00073 //used for RF device
00074 #define TRANSFER_SIZE   4
00075 #define ROBOT1_ADDRESS      ((unsigned long long) 0x17E7E7E7E7 )
00076 #define ROBOT2_ADDRESS      ((unsigned long long) 0xC2C2C2C2C2 )
00077 #define ROBOT3_ADDRESS      ((unsigned long long) 0x37E7E7E7E7 )
00078 #define ALLROBOT_ADDRESS    ((unsigned long long) 0xE7E7E7E7E7 )
00079 #define ADDRESS_WIDTH       5
00080 const float M_PI = 3.14159265;
00081 
00082 extern DigitalOut led;
00083 extern Servo myservo;
00084 
00085 extern HC05 bt;
00086 
00087 extern bool send_flag;
00088 extern bool obstacle_flag;   //this alerts the robot if there is an obstacle somewhere. 
00089 extern bool fwd_flag;   //indicates that the robot is trying to move forward
00090 extern bool calibrate_flag;
00091 extern bool calibrate_optFlow_flag;
00092 
00093 extern AnalogIn irL;
00094 extern AnalogIn irC;
00095 extern AnalogIn irR;
00096 extern DigitalOut irBack;
00097 extern AnalogIn voltage_sensor;
00098 
00099 extern ACS712 current_sensor;
00100 extern ADNS5090 opt_flow_L;
00101 extern ADNS5090 opt_flow_R;
00102 
00103 extern MPU6050 mpu;
00104 extern MPU6051 mpu2;
00105 
00106 extern DigitalOut imuSwitch;
00107 extern DigitalOut imu2Switch;
00108 extern IMU_DATA imu_data;
00109 extern IMU_DATA imu2_data;
00110 
00111 extern Reckon  reckon;
00112 
00113 extern Motors motors;
00114 extern RtosTimer *MotorStopTimer;
00115 
00116 extern nRF24L01P rf;    // RF communication device
00117 
00118 extern unsigned long long long_time;
00119 extern Timer t;
00120 //extern Timer t_m; //Timer used for the motor thread
00121 extern time_t prev; //previous time for motor
00122 float getTime();
00123 
00124 void initRobot();
00125 
00126 #endif