Revision 14:1dd83e626153, committed 2018-12-12

Comitter:

shimniok

Date:

Wed Dec 12 18:21:57 2018 +0000

Parent:

13:5566df1250f1

Child:

15:35c40765f7c3

Commit message:

Added encoder read to Updater, added documentation, added shell cmd to read encoder

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IncrementalEncoder.lib	Wed Dec 12 18:21:57 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/shimniok/code/IncrementalEncoder/#dea4a931b267

--- a/SimpleShell.lib	Wed Dec 12 17:38:02 2018 +0000
+++ b/SimpleShell.lib	Wed Dec 12 18:21:57 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/shimniok/code/SimpleShell/#8f486f4d29d3
+https://os.mbed.com/users/shimniok/code/SimpleShell/#b58450c94d32

--- a/Updater.cpp	Wed Dec 12 17:38:02 2018 +0000
+++ b/Updater.cpp	Wed Dec 12 18:21:57 2018 +0000
@@ -1,17 +1,24 @@
 #include "Updater.h"
-
+#include "pinouts.h"
+#include "IncrementalEncoder.h"
 
 void Updater::gyro(int g[3], float& dt) 
 {
     for (int i=0; i < 3; i++) {
         g[i] = _gyro[i];
     }
-    
     dt = _dt;
     
     return;
 }
 
+int Updater::encoder()
+{
+    int result=_ecount;
+    _ecount = 0;
+    
+    return result;    
+}
 
 Updater *Updater::instance() 
 {
@@ -41,7 +48,8 @@
 void Updater::update()
 {
     static DigitalOut led2(LED2);
-    static L3G4200D gyro(p9, p10); // TODO parameterize
+    static L3G4200D gyro(I2CSDA, I2CSCL); // TODO parameterize
+    static IncrementalEncoder enc(ALEFT);
 
     // Compute dt
     thisTime = t->read_us();
@@ -49,6 +57,8 @@
     lastTime = thisTime;
 
     // Read encoders
+    _ecount += enc.read();
+    
     // Read gyro
     gyro.read(_gyro);
     

--- a/Updater.h	Wed Dec 12 17:38:02 2018 +0000
+++ b/Updater.h	Wed Dec 12 18:21:57 2018 +0000
@@ -6,15 +6,36 @@
 
 class Updater: private mbed::NonCopyable<Updater> {
 public:
+    /** Start the updater running - cannot be exited!
+     * @param interval_ms is the interval in ms between calls to update()
+     * @note Makes use of RTOS EventQueue and Event.
+     */
     void start(int interval_ms);
+
+    /// Return singleton instance
     static Updater *instance();
+    
+    /** Get gyro values
+     * @return g array of x, y, and z gyro values
+     * @return dt time since data last updated
+     */
     void gyro(int g[3], float& dt);
-      
+    
+    /** Get encoder count
+     * @return encoder count since last call
+     */
+    int encoder();
+
 private:
-    Updater() {} // parameterize
-    Timer *t;
-    void update();
-    int _gyro[3];
+    /// Basic constructor (singleton)
+    Updater() {}
+    
+    /// Update all sensors
+    void update(); 
+    
+    Timer *t; // timer used to measure dt
+    int _gyro[3]; // gyro raw
+    int _ecount; // encoder count
     float _dt;
     int thisTime;
     int lastTime;

--- a/main.cpp	Wed Dec 12 17:38:02 2018 +0000
+++ b/main.cpp	Wed Dec 12 18:21:57 2018 +0000
@@ -41,6 +41,13 @@
     printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
 }
 
+void read_enc()
+{
+    Updater *u = Updater::instance();
+    
+    printf("Encoder: %d\n", u->encoder());
+}
+
 void reset()
 {
     NVIC_SystemReset();
@@ -84,6 +91,7 @@
     printf("Starting shell...\n");
     sh.attach(test, "test");
     sh.attach(read_gyro, "gyro");
+    sh.attach(read_enc, "enc");
     sh.attach(reset, "reset");
     thread.start(callback(&sh, &SimpleShell::run));
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pinouts.h	Wed Dec 12 18:21:57 2018 +0000
@@ -0,0 +1,52 @@
+/// Contains the pinouts for various devices
+
+#ifndef BOARDS_H_
+#define BOARDS_H_
+
+#include "mbed.h"
+
+/** RoverBaseboard R0.5 */
+#define I2CSDA      p9
+#define I2CSCL      p10
+#define UART0TX     USBTX /** mbed */
+#define UART0RX     USBRX /** mbed */
+#define UART1TX     p13
+#define UART1RX     p14
+#define UART2TX     p28
+#define UART2RX     p27
+#define UART3TX     p17
+#define UART3RX     p18
+#define THROTTLE    p22
+#define STEERING    p21
+#define ENCALEFT    p30
+#define ALEFT       ENCALEFT
+#define ENCARIGHT   p29
+#define ARIGHT      ENCARIGHT
+#define ENCBLEFT    /** unavailable for mbed */
+#define BLEFT       ENCBLEFT
+#define ENCBRIGHT   /** unavailable for mbed */
+#define BRIGHT      ENCBRIGHT
+// REV 0.5
+#define _D0         p11
+#define _D1         p12
+#define _D2         /** unavailable for mbed */
+#define _D7         /** unavailable for mbed */
+#define _D8         /** unavailable for mbed */
+#define _D9         /** unavailable for mbed */
+#define _P1         p26
+#define _P2         p25
+#define _A0         p15
+#define _A1         p16
+#define _A2         p19
+#define _A3         p20
+// REV 0.6
+#define IO0         p11
+#define IO1         p12
+#define PW0         p25
+#define PW1         p26
+#define AN0         p15
+#define AN1         p16
+#define AN2         p19
+#define AN3         p20
+
+#endif /* BOARDS_H_ */
\ No newline at end of file