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Dependencies:   mbed

robot.h@20:f0ca65974329, 2015-07-27 (annotated)

Committer:
zsunberg
Date:
Mon Jul 27 21:57:37 2015 +0000
Revision:
20:f0ca65974329
Parent:
0:9f058fe8cab5
Child:
21:18b585a44155
changed to using tickers instead of main loop waits

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zsunberg 0:9f058fe8cab5 1 #include <stdio.h>
zsunberg 0:9f058fe8cab5 2 #include <stdlib.h>
zsunberg 0:9f058fe8cab5 3 #include "mbed.h"
zsunberg 0:9f058fe8cab5 4 #include "m3pi.h"
zsunberg 0:9f058fe8cab5 5
zsunberg 0:9f058fe8cab5 6 #define BUF_SIZE 128
zsunberg 0:9f058fe8cab5 7 #define ERROR 1
zsunberg 0:9f058fe8cab5 8 #define OK 0
zsunberg 0:9f058fe8cab5 9
zsunberg 0:9f058fe8cab5 10 //max/min speed
zsunberg 0:9f058fe8cab5 11 #define MAX 0.25
zsunberg 0:9f058fe8cab5 12 #define MIN 0.1
zsunberg 0:9f058fe8cab5 13
zsunberg 0:9f058fe8cab5 14 DigitalOut xbeeReset(p26); //reset on Xbee
zsunberg 0:9f058fe8cab5 15
zsunberg 0:9f058fe8cab5 16 Serial pc(USBTX, USBRX); // tx, rx, interface with PC
zsunberg 0:9f058fe8cab5 17 Serial xbee(p28, p27); //tx, rx, interface with xbee
zsunberg 0:9f058fe8cab5 18
zsunberg 0:9f058fe8cab5 19 DigitalOut led1(LED1);
zsunberg 0:9f058fe8cab5 20 DigitalOut led2(LED2);
zsunberg 0:9f058fe8cab5 21 DigitalOut led3(LED3);
zsunberg 0:9f058fe8cab5 22 DigitalOut led4(LED4);
zsunberg 0:9f058fe8cab5 23
zsunberg 20:f0ca65974329 24 m3pi pi;
zsunberg 20:f0ca65974329 25
zsunberg 20:f0ca65974329 26 int mode;
zsunberg 20:f0ca65974329 27 #define MANUAL_MODE 0
zsunberg 20:f0ca65974329 28 #define LINE_FOLLOW_MODE 1
zsunberg 20:f0ca65974329 29
zsunberg 20:f0ca65974329 30 volatile double leftspeed;
zsunberg 20:f0ca65974329 31 volatile double rightspeed;
zsunberg 20:f0ca65974329 32
zsunberg 20:f0ca65974329 33 char received[80];
zsunberg 20:f0ca65974329 34 int r_index;
zsunberg 20:f0ca65974329 35 int sensors[5];
zsunberg 20:f0ca65974329 36
zsunberg 20:f0ca65974329 37 // GAINS
zsunberg 20:f0ca65974329 38 //////////////////////////////
zsunberg 20:f0ca65974329 39 float k_p = 1.5;
zsunberg 20:f0ca65974329 40 float k_i = 0.0;
zsunberg 20:f0ca65974329 41 float k_d = 0.0;
zsunberg 20:f0ca65974329 42 //////////////////////////////
zsunberg 20:f0ca65974329 43
zsunberg 20:f0ca65974329 44 Ticker communication;
zsunberg 20:f0ca65974329 45 Ticker controls;