Diff: IR_Turret/IR_Turret.h

Revision:

11:5ba926692210

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IR_Turret/IR_Turret.h	Tue Apr 09 15:32:47 2013 +0000
@@ -0,0 +1,81 @@
+#ifndef MBED_IR_TURRET_H
+#define MBED_IR_TURRET_H
+
+
+
+#include "mbed.h"
+#include "PwmIn.h"
+#include "globals.h"
+#include "geometryfuncs.h"
+
+// Stepper motor defines go here, p30 is reserved for the hardware counter
+#define STEPPER_PERIOD 0.0001   //Stepper motor period in seconds, 50% duty cycle
+#define STEPPER_DIV   3200    // number of steps per cycle = default * microstep
+#define STEP_ANGLE   ((float)(2*PI) / STEPPER_DIV)    // step angle of stepper
+#define IR_TIMEOUT_STEP 45 //about 5 degrees
+#define IR_TIMEOUT (STEPPER_PERIOD*IR_TIMEOUT_STEP)
+
+
+// IR Sensor defines go here
+#define PWM_INVERT // inverts the PWM for the IR sensor pwm input
+#define PULSEPERIOD_US 1500
+#define PULSEPERIOD ((float)1500/1000000)
+#define IR0_PULSEWIDTH 1000
+#define IR1_PULSEWIDTH 750
+#define IR2_PULSEWIDTH 500
+#define PULSEWIDTH_TOLERANCE 125
+#define STEPS_PER_PULSEPERIOD (PULSEPERIOD/STEPPER_PERIOD)
+
+/* SAMPLE IMPLEMENTATION!
+IR_TURRET my_ir_turret(stepper_pin,ir_pin);
+
+
+void callbinmain(int num, float dist) {
+    //Here is where you deal with your brand new reading ;D
+}
+
+int main() {
+    pc.printf("Hello World of RobotSonar!\r\n");
+    my_srf.callbackfunc = callbinmain;
+    
+    while (1);
+}
+
+ */
+ 
+class DummyCT;
+ 
+class IR_TURRET {
+public:
+
+    IR_TURRET(
+    PinName step_pin, 
+    PinName ir_pin);
+
+    
+    /** A assigns a callback function when a new reading is available **/
+    void (*callbackfunc)(int beaconnum, float angle, float variance);
+    DummyCT* callbackobj;
+    void (DummyCT::*mcallbackfunc)(int beaconnum, float angle, float variance);
+    
+    
+    
+private :
+    PwmOut _step;
+    PwmIn _ir;
+    Timeout _ir_timeout;
+    void _ir_timeout_isr (void);
+    void _ir_isr (float pulsewidth);
+    
+    int step_count_old;
+    int IR_counter;
+    int IR_step_counter;
+    float pulsewidth_max;
+    float _angle[3];
+    float _variance[3];
+    
+    
+    
+};
+
+#endif