EdgeBotix / Robot

Initial Commit

robot.h@0:b74b6d70347d, 2014-10-05 (annotated)

Committer:
Throwbot
Date:
Sun Oct 05 12:21:03 2014 +0000
Revision:
0:b74b6d70347d
Child:
1:282467cbebb3
Ebot Robot Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Throwbot 0:b74b6d70347d 1 #ifndef ROBOT_H
Throwbot 0:b74b6d70347d 2 #define ROBOT_H
Throwbot 0:b74b6d70347d 3 #include "QEI.h"
Throwbot 0:b74b6d70347d 4 #include "mbed.h"
Throwbot 0:b74b6d70347d 5 #include "rtos.h"
Throwbot 0:b74b6d70347d 6 #include "HC05.h"
Throwbot 0:b74b6d70347d 7 //#include "MPU6050.h"
Throwbot 0:b74b6d70347d 8 //#include "HC05.h"
Throwbot 0:b74b6d70347d 9 //#include "ACS712.h"
Throwbot 0:b74b6d70347d 10 //#include "MPU6050_6Axis_MotionApps20.h"
Throwbot 0:b74b6d70347d 11 //#include "DMP.h"
Throwbot 0:b74b6d70347d 12 //#include "IMUDATA.h"
Throwbot 0:b74b6d70347d 13 //#include "ADNS5090.h"
Throwbot 0:b74b6d70347d 14 #define BaudRate_bt 115200 //Baud rate of 9600
Throwbot 0:b74b6d70347d 15 #define tx_bt PTA2 //Bluetooth connection pins
Throwbot 0:b74b6d70347d 16 #define rx_bt PTA1 //Bluetooth connection pins
Throwbot 0:b74b6d70347d 17 #define EN_BT PTA4 //Bluetooth connection pins
Throwbot 0:b74b6d70347d 18 //#define tx_mpu PTE0 //MPU connection pins
Throwbot 0:b74b6d70347d 19 //#define rx_mpu PTE1 //MPU connection pins
Throwbot 0:b74b6d70347d 20 //#define mpu_bandwidth MPU6050_BW_20 //set the MPU low pass filter bandwidth to 20hz
Throwbot 0:b74b6d70347d 21
Throwbot 0:b74b6d70347d 22 #define myledd PTB8 //status LED pin
Throwbot 0:b74b6d70347d 23 #define CURRENTSENSOR_PIN PTB3
Throwbot 0:b74b6d70347d 24 #define VOLTAGESENSOR_PIN PTB0
Throwbot 0:b74b6d70347d 25
Throwbot 0:b74b6d70347d 26 #define CURRENT_R1 180 //160.0 //values of the current sensor opamp resistors
Throwbot 0:b74b6d70347d 27 #define CURRENT_R2 10
Throwbot 0:b74b6d70347d 28 #define CURRENT_R3 80
Throwbot 0:b74b6d70347d 29 #define CURRENT_R4 84.7
Throwbot 0:b74b6d70347d 30 #define VREF3_3 3.3 //digital logic voltage
Throwbot 0:b74b6d70347d 31 #define VREF5 5.0 //5v voltage //NOTE: 5v voltage is consistent when using new batts, but not using old blue batts
Throwbot 0:b74b6d70347d 32
Throwbot 0:b74b6d70347d 33
Throwbot 0:b74b6d70347d 34 //#define irL PTB1
Throwbot 0:b74b6d70347d 35 //#define irC PTB3
Throwbot 0:b74b6d70347d 36 //#define irR PTB2
Throwbot 0:b74b6d70347d 37
Throwbot 0:b74b6d70347d 38 #define LDR1 PTB1
Throwbot 0:b74b6d70347d 39 #define LDR2 PTB2
Throwbot 0:b74b6d70347d 40 #define buzz PTC8
Throwbot 0:b74b6d70347d 41
Throwbot 0:b74b6d70347d 42 #define MOT_PWMA_PIN PTA5 //Motor control pins
Throwbot 0:b74b6d70347d 43 #define MOT_PWMB_PIN PTA12
Throwbot 0:b74b6d70347d 44 #define MOT_STBY_PIN PTE31
Throwbot 0:b74b6d70347d 45 #define MOT_AIN1_PIN PTE30
Throwbot 0:b74b6d70347d 46 #define MOT_AIN2_PIN PTE29
Throwbot 0:b74b6d70347d 47 #define MOT_BIN1_PIN PTE24
Throwbot 0:b74b6d70347d 48 #define MOT_BIN2_PIN PTE25
Throwbot 0:b74b6d70347d 49
Throwbot 0:b74b6d70347d 50 #define M_PI 3.14159265359 //PI
Throwbot 0:b74b6d70347d 51 #define gyroCorrect 3720 //divide raw gyro data by this to get result in RAD/SECOND (if gyroRange is 500 rad/s)
Throwbot 0:b74b6d70347d 52
Throwbot 0:b74b6d70347d 53 //Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards)
Throwbot 0:b74b6d70347d 54 #define MOTOR_R_DIRECTION 1
Throwbot 0:b74b6d70347d 55 #define MOTOR_L_DIRECTION 1
Throwbot 0:b74b6d70347d 56
Throwbot 0:b74b6d70347d 57 #define MOTOR_INTERVAL 20 //defines the interval (in milliseconds) between when motor can be set
Throwbot 0:b74b6d70347d 58 //NOTE: Can't make this less than 20ms, because that is the PWM frequency
Throwbot 0:b74b6d70347d 59
Throwbot 0:b74b6d70347d 60 //Key bindings for remote control robot - for the future try to use arrow keys instead of 'asdw'
Throwbot 0:b74b6d70347d 61 #define ctrl_forward 'i' //forward
Throwbot 0:b74b6d70347d 62 #define ctrl_backward 'k' //back
Throwbot 0:b74b6d70347d 63 #define ctrl_left 'j' //turn left
Throwbot 0:b74b6d70347d 64 #define ctrl_right 'l' //turn right
Throwbot 0:b74b6d70347d 65 #define ctrl_calibrate 'c' //re-calibrate the accelerometer and gyro
Throwbot 0:b74b6d70347d 66 #define ctrl_turn_angle_cw 'o' // turn angle
Throwbot 0:b74b6d70347d 67 #define ctrl_turn_angle_ccw 'p'
Throwbot 0:b74b6d70347d 68 // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
Throwbot 0:b74b6d70347d 69 // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
Throwbot 0:b74b6d70347d 70 // only handles 4 byte transfers in the ATMega code.
Throwbot 0:b74b6d70347d 71 #define TRANSFER_SIZE 4
Throwbot 0:b74b6d70347d 72
Throwbot 0:b74b6d70347d 73 extern HC05 bt; //bluetooth connection
Throwbot 0:b74b6d70347d 74 //extern Serial bt;
Throwbot 0:b74b6d70347d 75 //extern QEI wheel;
Throwbot 0:b74b6d70347d 76 extern QEI left;
Throwbot 0:b74b6d70347d 77 extern QEI right;
Throwbot 0:b74b6d70347d 78 //extern MPU6050 mpu; //MPU connection
Throwbot 0:b74b6d70347d 79 extern DigitalOut myled; //(PTE3) Processor LED (1 = off, 0 = on)
Throwbot 0:b74b6d70347d 80 //extern DigitalOut btSwitch;
Throwbot 0:b74b6d70347d 81 //extern AnalogIn currentSensor;
Throwbot 0:b74b6d70347d 82 extern DigitalOut buzzer;
Throwbot 0:b74b6d70347d 83 extern DigitalOut key;
Throwbot 0:b74b6d70347d 84 //extern PwmOut buzzer;
Throwbot 0:b74b6d70347d 85 extern AnalogIn LDRsensor1;
Throwbot 0:b74b6d70347d 86 extern AnalogIn LDRsensor2;
Throwbot 0:b74b6d70347d 87 //extern AnalogIn voltageSensor;
Throwbot 0:b74b6d70347d 88 /////////// Motor control variables ///////////
Throwbot 0:b74b6d70347d 89 extern PwmOut PWMA;//(MOT_PWMA_PIN);
Throwbot 0:b74b6d70347d 90 extern PwmOut PWMB;//(MOT_PWMB_PIN);
Throwbot 0:b74b6d70347d 91 extern DigitalOut AIN1;//(MOT_AIN1_PIN);
Throwbot 0:b74b6d70347d 92 extern DigitalOut AIN2;//(MOT_AIN2_PIN);
Throwbot 0:b74b6d70347d 93 extern DigitalOut BIN1;//(MOT_BIN1_PIN);
Throwbot 0:b74b6d70347d 94 extern DigitalOut BIN2;//(MOT_BIN2_PIN);
Throwbot 0:b74b6d70347d 95 extern DigitalOut STBY;//(MOT_STBY_PIN);
Throwbot 0:b74b6d70347d 96 void motor_control(int Lspeed, int Rspeed); //Input speed for motors. Integer between 0 and 100
Throwbot 0:b74b6d70347d 97 void stop(); //stop motors
Throwbot 0:b74b6d70347d 98 void set_direction(double angle); //set angle for the robot to face (from origin)
Throwbot 0:b74b6d70347d 99 void set_direction_deg(double angle);
Throwbot 0:b74b6d70347d 100 void set_speed(int Speed ); //set speed for robot to travel at
Throwbot 0:b74b6d70347d 101 void auto_enable(bool x);
Throwbot 0:b74b6d70347d 102 /**
Throwbot 0:b74b6d70347d 103 * MPU CONTROLS
Throwbot 0:b74b6d70347d 104 */
Throwbot 0:b74b6d70347d 105 // calibrate the gyro and accelerometer //
Throwbot 0:b74b6d70347d 106 void calibrate();
Throwbot 0:b74b6d70347d 107 /**
Throwbot 0:b74b6d70347d 108 * Status: find the distance, orientation, battery values, etc of the robot
Throwbot 0:b74b6d70347d 109 */
Throwbot 0:b74b6d70347d 110 //void distanceTravelled(double x[3])
Throwbot 0:b74b6d70347d 111 //void orientation(something quaternion? on xy plane?)
Throwbot 0:b74b6d70347d 112 double getCurrent(); //Get the current drawn by the robot
Throwbot 0:b74b6d70347d 113 double getCurrent(int n); //get the current, averaged over n samples
Throwbot 0:b74b6d70347d 114 double getVoltage(); //get the battery voltage (ask connor for completed function)
Throwbot 0:b74b6d70347d 115 void getIMU(float *adata, float *gdata);
Throwbot 0:b74b6d70347d 116 double ldrread1();
Throwbot 0:b74b6d70347d 117 double ldrread2();
Throwbot 0:b74b6d70347d 118 //void pl_buzzer1();
Throwbot 0:b74b6d70347d 119 void Led_on();
Throwbot 0:b74b6d70347d 120 void Led_off();
Throwbot 0:b74b6d70347d 121 double return_rotation();
Throwbot 0:b74b6d70347d 122 int isMPU();
Throwbot 0:b74b6d70347d 123 void initRobot();
Throwbot 0:b74b6d70347d 124 extern double pl_buzzer();
Throwbot 0:b74b6d70347d 125 extern void pl_buzzer(void const *args);
Throwbot 0:b74b6d70347d 126 extern int freq;
Throwbot 0:b74b6d70347d 127 extern int rMotor;
Throwbot 0:b74b6d70347d 128 extern int lMotor ;
Throwbot 0:b74b6d70347d 129 extern int m_speed;
Throwbot 0:b74b6d70347d 130 extern Mutex stdio_mutex;
Throwbot 0:b74b6d70347d 131
Throwbot 0:b74b6d70347d 132
Throwbot 0:b74b6d70347d 133 //Wireless connections
Throwbot 0:b74b6d70347d 134
Throwbot 0:b74b6d70347d 135 #endif