globals.h

00001 
00002 #ifndef GLOBALS_H
00003 #define GLOBALS_H
00004 
00005 #include "mbed.h"
00006 
00007 const float KALMAN_PREDICT_PERIOD = 0.05; //seconds
00008 
00009 #define ENABLE_GLOBAL_ENCODERS
00010 
00011 const float ENCODER_M_PER_TICK = 0.00084;
00012 const float ENCODER_WHEELBASE = 0.068;
00013 const float TURRET_FWD_PLACEMENT = -0.042;
00014 
00015 //Robot movement constants
00016 const float fwdvarperunit = 0.01; //1 std dev = 7% //TODO: measrue this!!
00017 const float varperang = 0.0002; //around 1 degree stddev per 180 turn //TODO: measrue this!!
00018 const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
00019 const float angvarpertime = 0;//0.001;
00020 
00021 const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
00022 const float MOTOR_MAX_POWER = 0.5f;
00023 
00024 /*
00025 PINOUT Sensors
00026 5:  RF:SDI
00027 6 SDO
00028 7 SCK
00029 8 NCS
00030 9 NIRQ
00031 10-15 6 echo pins
00032 16 trig
00033 17 IRin
00034 18-20 unused
00035 21 stepper step
00036 22-27 unused
00037 28 Serial TX
00038 29-30 unused
00039 
00040 
00041 PINOUT Main
00042 5: Lower arm servo
00043 6: Upper arm servo
00044 
00045 14: Serial RX
00046 15: Cake distance sensor
00047 16: Fwd distance sensor
00048 
00049 20: color sensor in
00050 21-24: Motors PWM IN 1-4
00051 25-26: Encoders 
00052 27-28: Encoders 
00053 29: Color sensor RED LED
00054 30: Color sensor BLUE LED
00055 
00056 */
00057 
00058 const PinName P_SERVO_LOWER_ARM = p5;
00059 const PinName P_SERVO_UPPER_ARM = p6;
00060 
00061 const PinName P_SERIAL_RX       = p14;
00062 const PinName P_DISTANCE_SENSOR = p15;
00063 const PinName P_FWD_DISTANCE_SENSOR = p16;
00064 
00065 const PinName P_COLOR_SENSOR_IN_UPPER = p20;
00066 const PinName P_COLOR_SENSOR_IN_LOWER = p19;
00067 
00068 const PinName P_MOT_LEFT_A     = p21;
00069 const PinName P_MOT_LEFT_B     = p22;
00070 const PinName P_MOT_RIGHT_A      = p23;
00071 const PinName P_MOT_RIGHT_B      = p24;
00072 
00073 const PinName P_ENC_RIGHT_A     = p26;
00074 const PinName P_ENC_RIGHT_B     = p25;
00075 const PinName P_ENC_LEFT_A      = p27;
00076 const PinName P_ENC_LEFT_B      = p28;
00077 
00078 const PinName P_COLOR_SENSOR_RED_UPPER = p29;
00079 const PinName P_COLOR_SENSOR_BLUE_UPPER = p30;
00080 const PinName P_COLOR_SENSOR_RED_LOWER = p11;
00081 const PinName P_COLOR_SENSOR_BLUE_LOWER = p10;
00082 
00083 
00084 
00085 //a type which is a pointer to a rtos thread function
00086 typedef void (*tfuncptr_t)(void const *argument);
00087 
00088 //Solving for sonar bias is done by entering the following into wolfram alpha
00089 //(a-f)^2 = x^2 + y^2; (b-f)^2 = (x-3)^2 + y^2; (c-f)^2 = (x-1.5)^2+(y-2)^2: solve for x,y,f
00090 //where a, b, c are the measured distances, and f is the bias
00091 
00092 //const float sonartimebias = 0; // TODO: measure and stick in the coprocessor code
00093 
00094 struct pos {
00095     float x;
00096     float y;
00097 };
00098 
00099 extern pos beaconpos[3];
00100 
00101 const float PI = 3.14159265359;
00102 
00103 typedef struct Waypoint
00104 {
00105     float x;
00106     float y;
00107     float theta;
00108     float pos_threshold;
00109     float angle_threshold;
00110 } Waypoint;
00111 
00112 typedef struct State 
00113 {
00114     float x;
00115     float y;
00116     float theta;
00117 } State;
00118 
00119 #endif //GLOBALS_H