Tufts Hybrid Racing Sensor Node
SensorNode.h@0:1f9ada316815, 2012-01-12 (annotated)
- Committer:
- wsalis01
- Date:
- Thu Jan 12 20:44:36 2012 +0000
- Revision:
- 0:1f9ada316815
- Child:
- 1:fbb17be9a65d
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
wsalis01 | 0:1f9ada316815 | 1 | /* |
wsalis01 | 0:1f9ada316815 | 2 | * File: SensorNode/SensorNode.h |
wsalis01 | 0:1f9ada316815 | 3 | * Author: William Jessup Salisbury |
wsalis01 | 0:1f9ada316815 | 4 | * Company: Tufts Hybrid Racing Team |
wsalis01 | 0:1f9ada316815 | 5 | * Copyright: CC BY-NC-SA 3.0 |
wsalis01 | 0:1f9ada316815 | 6 | * Date: 1/12/2012 |
wsalis01 | 0:1f9ada316815 | 7 | */ |
wsalis01 | 0:1f9ada316815 | 8 | |
wsalis01 | 0:1f9ada316815 | 9 | #ifndef SENSOR_NODE_H |
wsalis01 | 0:1f9ada316815 | 10 | #define SENSOR_NODE_H |
wsalis01 | 0:1f9ada316815 | 11 | |
wsalis01 | 0:1f9ada316815 | 12 | #include "mbed.h" |
wsalis01 | 0:1f9ada316815 | 13 | |
wsalis01 | 0:1f9ada316815 | 14 | const PinName CAN_RX = p9; |
wsalis01 | 0:1f9ada316815 | 15 | const PinName CAN_TX = p10; |
wsalis01 | 0:1f9ada316815 | 16 | const PinName LW_PIN = p11; |
wsalis01 | 0:1f9ada316815 | 17 | const PinName RW_PIN = p12; |
wsalis01 | 0:1f9ada316815 | 18 | |
wsalis01 | 0:1f9ada316815 | 19 | const int ticksPerRevolution = 32; |
wsalis01 | 0:1f9ada316815 | 20 | const int tickerTimeout = 1; |
wsalis01 | 0:1f9ada316815 | 21 | |
wsalis01 | 0:1f9ada316815 | 22 | class SensorNode { |
wsalis01 | 0:1f9ada316815 | 23 | public: |
wsalis01 | 0:1f9ada316815 | 24 | SensorNode(); |
wsalis01 | 0:1f9ada316815 | 25 | ~SensorNode(); |
wsalis01 | 0:1f9ada316815 | 26 | private: |
wsalis01 | 0:1f9ada316815 | 27 | inline void Reset(); |
wsalis01 | 0:1f9ada316815 | 28 | void leftTick(); |
wsalis01 | 0:1f9ada316815 | 29 | void rightTick(); |
wsalis01 | 0:1f9ada316815 | 30 | void canSend(); |
wsalis01 | 0:1f9ada316815 | 31 | void canReceive(); |
wsalis01 | 0:1f9ada316815 | 32 | |
wsalis01 | 0:1f9ada316815 | 33 | InterruptIn _leftWheel, _rightWheel; |
wsalis01 | 0:1f9ada316815 | 34 | CAN _can; |
wsalis01 | 0:1f9ada316815 | 35 | Serial _console; |
wsalis01 | 0:1f9ada316815 | 36 | Ticker _statusTicker; |
wsalis01 | 0:1f9ada316815 | 37 | volatile int _leftTicks, _rightTicks; |
wsalis01 | 0:1f9ada316815 | 38 | volatile int _leftRevolutions, _rightRevolutions; |
wsalis01 | 0:1f9ada316815 | 39 | volatile char _syncID; |
wsalis01 | 0:1f9ada316815 | 40 | }; |
wsalis01 | 0:1f9ada316815 | 41 | |
wsalis01 | 0:1f9ada316815 | 42 | #endif |