Revision 6ad5c364
| devices/DiWheelDrive/global.hpp | ||
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int rpmHardLeft[2] = {5,20};
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int rpmSoftRight[2] = {rpmSoftLeft[1],rpmSoftLeft[0]};
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int rpmHardRight[2] = {rpmHardLeft[1],rpmHardLeft[0]};
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uint32_t stateTracker[23] = { 0 };
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// uint32_t stateTracker[24] = { 0 };
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// Line Following thresholds set due to calibration |
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// MaxDelta: 18676, FL: 4289, FR: 22965 |
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line_pid linePID; |
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int threshWhite = 40000; |
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// PID for line following: |
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// Integral part |
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int accumHist = 0; |
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int lfStrategy = 3; |
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// CAN communication line: |
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// Will be set to true when message was received
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bool msgReceived = false;
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// Will be set to true when message was received |
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bool msgReceived = false; |
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// bool chargingRequest = false; |
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// uint8_t charge = 0; |
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bool triggerCan = false; |
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uint8_t strategyTest = 0; |
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// CANTxFrame powerFrame; |
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// Buffer for sensor values |
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struct sensorRecord |
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{
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int delta = 0; |
| 239 | 239 |
int error = 0; |
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}; |
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int sensSamples = 0; |
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sensorRecord senseRec[1]; |
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sensorRecord maxDist; |
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// ----------------------------- |
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sensorRecord maxDist; |
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// TODO: Move defines to a more suiting place |
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// Test cases |
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#define TEST_CASES 10 |
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/* Test Results */ |
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bool testres[TEST_CASES]; |
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// Max amount of nodes in a map |
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#define MAX_NODES 10 |
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// Amount of attributes that can be passed to each node |
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#define NODE_ATTRIBUTES 3 |
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/* TODO gloal test map could be also used for later map implementation */ |
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/* AmiroMap already knows about the global object such that the map does not need */ |
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/* to be passed explicitly */ |
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// Global test map |
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uint8_t testmap[MAX_NODES][NODE_ATTRIBUTES]; |
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uint8_t tcase = 0; |
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// ----------------------------- |
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public: |
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Global() : |
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