Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

globals.h@10:2bd9f4e02b74, 2013-04-07 (annotated)

Committer:
xiaxia686
Date:
Sun Apr 07 16:30:49 2013 +0000
Revision:
10:2bd9f4e02b74
Parent:
7:88753d0ad4ca
Child:
11:5ba926692210
Working version with no serial communication to the main board. The IR sensors uses mode for identification;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sv 1:6799c07fe510 1 #ifndef GLOBALS_H
sv 1:6799c07fe510 2 #define GLOBALS_H
sv 1:6799c07fe510 3
xiaxia686 10:2bd9f4e02b74 4 #include "mbed.h"
xiaxia686 10:2bd9f4e02b74 5 #define PI 3.14159265
madcowswe 7:88753d0ad4ca 6
madcowswe 7:88753d0ad4ca 7 #define ROBOT_PRIMARY
madcowswe 7:88753d0ad4ca 8
xiaxia686 10:2bd9f4e02b74 9 // Stepper motor defines go here, p30 is reserved for the hardware counter
xiaxia686 10:2bd9f4e02b74 10 #define STEPPER_PIN p21 //p21 pwmout
xiaxia686 10:2bd9f4e02b74 11 #define STEPPER_PERIOD 0.0001 //Stepper motor period in seconds, 50% duty cycle
xiaxia686 10:2bd9f4e02b74 12 #define STEPPER_DIV 3200 // number of steps per cycle = default * microstep
xiaxia686 10:2bd9f4e02b74 13 #define STEP_ANGLE ((float)(2*PI) / STEPPER_DIV) // step angle of stepper
xiaxia686 10:2bd9f4e02b74 14 #define IR_TIMEOUT_STEP 90 //about 10 degrees
xiaxia686 10:2bd9f4e02b74 15 #define IR_TIMEOUT (STEPPER_PERIOD*IR_TIMEOUT_STEP)
madcowswe 7:88753d0ad4ca 16
xiaxia686 10:2bd9f4e02b74 17 // IR Sensor defines go here
xiaxia686 10:2bd9f4e02b74 18 #define PWM_INVERT // inverts the PWM for the IR sensor pwm input
xiaxia686 10:2bd9f4e02b74 19 #define IR_SENSOR_PIN p17
xiaxia686 10:2bd9f4e02b74 20 #define IR0_PULSEWIDTH 1000
xiaxia686 10:2bd9f4e02b74 21 #define IR1_PULSEWIDTH 750
xiaxia686 10:2bd9f4e02b74 22 #define IR2_PULSEWIDTH 500
xiaxia686 10:2bd9f4e02b74 23 #define PULSEWIDTH_TOLERANCE 125
xiaxia686 10:2bd9f4e02b74 24
xiaxia686 10:2bd9f4e02b74 25
xiaxia686 10:2bd9f4e02b74 26
xiaxia686 10:2bd9f4e02b74 27
sv 1:6799c07fe510 28
sv 1:6799c07fe510 29 //enables ui
sv 1:6799c07fe510 30 //#define UION
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32
sv 1:6799c07fe510 33
madcowswe 7:88753d0ad4ca 34 #ifdef ROBOT_PRIMARY
madcowswe 7:88753d0ad4ca 35 // Primary defs go here
madcowswe 7:88753d0ad4ca 36 //Robot hardware parameters
madcowswe 7:88753d0ad4ca 37 const int robotCircumference = 816; //mm (DUMMY!)
sv 1:6799c07fe510 38
sv 1:6799c07fe510 39 //Robot movement constants
sv 1:6799c07fe510 40 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
sv 1:6799c07fe510 41 const float varperang = 0.01; //around 1 degree stddev per 180 turn
sv 1:6799c07fe510 42 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
sv 1:6799c07fe510 43 const float angvarpertime = 0.001;
xiaxia686 10:2bd9f4e02b74 44 #else
xiaxia686 10:2bd9f4e02b74 45 // Secondary defs go here
xiaxia686 10:2bd9f4e02b74 46 //Robot hardware parameters
xiaxia686 10:2bd9f4e02b74 47 const int robotCircumference = 816; //mm (DUMMY!)
xiaxia686 10:2bd9f4e02b74 48
xiaxia686 10:2bd9f4e02b74 49 //Robot movement constants
xiaxia686 10:2bd9f4e02b74 50 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
xiaxia686 10:2bd9f4e02b74 51 const float varperang = 0.01; //around 1 degree stddev per 180 turn
xiaxia686 10:2bd9f4e02b74 52 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
xiaxia686 10:2bd9f4e02b74 53 const float angvarpertime = 0.001;
xiaxia686 10:2bd9f4e02b74 54 #endif
xiaxia686 10:2bd9f4e02b74 55
xiaxia686 10:2bd9f4e02b74 56
sv 1:6799c07fe510 57
sv 1:6799c07fe510 58 //sonar constants
sv 1:6799c07fe510 59 static const float sonarvariance = 0.005;
sv 1:6799c07fe510 60
sv 1:6799c07fe510 61 //IR constants
sv 1:6799c07fe510 62 static const float IRvariance = 0.001;
sv 1:6799c07fe510 63
sv 1:6799c07fe510 64 //Arena constants
sv 1:6799c07fe510 65 struct pos {
sv 1:6799c07fe510 66 int x;
sv 1:6799c07fe510 67 int y;
sv 1:6799c07fe510 68 };
sv 1:6799c07fe510 69
sv 1:6799c07fe510 70 //beacon positions
sv 1:6799c07fe510 71 extern pos beaconpos[];
sv 1:6799c07fe510 72
sv 1:6799c07fe510 73 //Colour
sv 1:6799c07fe510 74 extern bool Colour; // 1 for red, 0 for blue
sv 1:6799c07fe510 75
sv 1:6799c07fe510 76 //System constants
sv 1:6799c07fe510 77 const int PREDICTPERIOD = 20; //ms
sv 1:6799c07fe510 78
sv 1:6799c07fe510 79 //High speed serial port
sv 1:6799c07fe510 80 extern Serial pc;
sv 1:6799c07fe510 81
sv 1:6799c07fe510 82
sv 1:6799c07fe510 83 #endif