IR_Turret.h

00001 #ifndef MBED_IR_TURRET_H
00002 #define MBED_IR_TURRET_H
00003 
00004 
00005 
00006 #include "mbed.h"
00007 #include "PwmIn.h"
00008 #include "globals.h"
00009 #include "geometryfuncs.h"
00010 
00011 // Stepper motor defines go here, p30 is reserved for the hardware counter
00012 #define STEPPER_PERIOD 0.0001   //Stepper motor period in seconds, 50% duty cycle
00013 #define STEPPER_DIV   3200    // number of steps per cycle = default * microstep
00014 #define STEP_ANGLE   ((float)(2*PI) / STEPPER_DIV)    // step angle of stepper
00015 #define IR_TIMEOUT_STEP 45 //about 5 degrees
00016 #define IR_TIMEOUT (STEPPER_PERIOD*IR_TIMEOUT_STEP)
00017 
00018 
00019 // IR Sensor defines go here
00020 #define PWM_INVERT // inverts the PWM for the IR sensor pwm input
00021 #define PULSEPERIOD_US 1500
00022 #define PULSEPERIOD ((float)1500/1000000)
00023 #define IR0_PULSEWIDTH 1000
00024 #define IR1_PULSEWIDTH 750
00025 #define IR2_PULSEWIDTH 500
00026 #define PULSEWIDTH_TOLERANCE 125
00027 #define STEPS_PER_PULSEPERIOD (PULSEPERIOD/STEPPER_PERIOD)
00028 
00029 /* SAMPLE IMPLEMENTATION!
00030 IR_TURRET my_ir_turret(stepper_pin,ir_pin);
00031 
00032 
00033 void callbinmain(int num, float dist) {
00034     //Here is where you deal with your brand new reading ;D
00035 }
00036 
00037 int main() {
00038     pc.printf("Hello World of RobotSonar!\r\n");
00039     my_srf.callbackfunc = callbinmain;
00040     
00041     while (1);
00042 }
00043 
00044  */
00045  
00046 class DummyCT;
00047  
00048 class IR_TURRET {
00049 public:
00050 
00051     IR_TURRET(
00052     PinName step_pin, 
00053     PinName ir_pin);
00054 
00055     
00056     /** A assigns a callback function when a new reading is available **/
00057     void (*callbackfunc)(int beaconnum, float angle, float variance);
00058     DummyCT* callbackobj;
00059     void (DummyCT::*mcallbackfunc)(int beaconnum, float angle, float variance);
00060     
00061     
00062     
00063 private :
00064     PwmOut _step;
00065     PwmIn _ir;
00066     Timeout _ir_timeout;
00067     void _ir_timeout_isr (void);
00068     void _ir_isr (float pulsewidth);
00069     
00070     int step_count_old;
00071     int IR_counter;
00072     int IR_step_counter;
00073     float pulsewidth_max;
00074     float _angle[3];
00075     float _variance[3];
00076     
00077     
00078     
00079 };
00080 
00081 #endif