Diff: cube.h

Revision:

23:abe76b7c377a

Child:

24:c7b3bac429c5

diff -r 9f3022fe9084 -r abe76b7c377a cube.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cube.h	Wed Apr 12 00:29:45 2017 +0000
@@ -0,0 +1,66 @@
+/*
+ * cube.h
+ * April 11, 2017
+ * 
+ * Control software for balancing cube senior design project
+ *
+ * Will Church
+ * Tom Rasmussen
+ */
+ 
+#ifndef CUBE_H
+#define CUBE_H
+
+/* -- INCLUDES -- */
+#include "mbed.h"
+#include "BNO055.h"
+
+/* -- STRUCT -- */
+struct config {
+    double      Kbt;        // Body angle gain
+    double      Kbv;        // Body velocity gain
+    double      Kwv;        // Wheel velocity gain
+    double      eqAngle;    // Equilibrium angle
+    double      *angle;     // Points to angle in IMU Euler_angle struct
+    double      *vel;       // Points to vel in IMU VEL struct
+    PwmOut      *pwm;        // PWM out for motor control
+    AnalogIn    *hall;       // Analog in for wheel velocity
+};
+
+/* -- CONSTANTS -- */
+// 1D gains, other wheels detached
+/*const double Kbt = -89.9276;
+const double Kbv = -14.9398;
+const double Kwv =  -0.001; //-0.0909;
+
+1d gains, others wheels attached
+const double Kbt_x = 0;
+const double Kbv_x = 0;
+const double Kwv_x = 0;
+
+const double Kbt_y = 0;
+const double Kbv_y = 0;
+const double Kwv_y = 0;
+
+const double Kbt_z = 0;
+const double Kbv_z = 0;
+const double Kwv_z = 0;*/
+
+// Other constants
+const double pi = 3.14159265;
+
+/* -- NOTES -- */
+//------------------------------------
+// Hyperterminal configuration
+// 9600 bauds, 8-bit data, no parity
+//------------------------------------
+
+/* -- PROTOTYPES -- */
+
+/*
+ * TODO: Documentation here
+ * Note: should this function be inline?
+ */
+double calcPWM(config *c);
+void updatePWM(config *c);
+#endif
\ No newline at end of file