JeVoisRobotCar2.C File Reference

#include <PID_v1.h>
#include <Servo.h>

Include dependency graph for JeVoisRobotCar2.C:

Go to the source code of this file.

Classes
class	ServoPD

Macros
#define	LPWMPIN   3
#define	LIN1PIN   2
#define	LIN2PIN   21
#define	RPWMPIN   5
#define	RIN1PIN   20
#define	RIN2PIN   4
#define	LEDPIN   17
#define	PANPIN   9
#define	TILTPIN   10
#define	SERIAL   Serial1
#define	DBGSERIAL   Serial
#define	INLEN   128
#define	PANZERO   90
#define	PANRANGE   60
#define	TILTZERO   70
#define	TILTRANGE   40
#define	HANDOFFW   ((TARGW * 5) / 10)

Functions
void	setup ()
void	loop ()
void	motor (long left, long right)

Variables
char	instr [INLEN+1]
long	leftgain = 655
long	rightgain = 655
int	TARGW = 300
double	wset
double	win
double	wout
double	aset
double	ain
double	aout
double	speed = 0
double	steer = 0
int	steerdelay = 0
int	currid = -1
int	currw = 0
int	currt = 0
int	nextid = -1
int	nextw = 0
int	nextt = 0
int	doneid = -1
int	t = 0
ServoPD	panservo (100, 50, PANZERO, PANRANGE)
ServoPD	tiltservo (300, 100, TILTZERO, TILTRANGE)

Macro Definition Documentation

DBGSERIAL

#define DBGSERIAL   Serial

Definition at line 37 of file JeVoisRobotCar2.C.

HANDOFFW

#define HANDOFFW   ((TARGW * 5) / 10)

Definition at line 70 of file JeVoisRobotCar2.C.

INLEN

#define INLEN   128

Definition at line 40 of file JeVoisRobotCar2.C.

LEDPIN

#define LEDPIN   17

Definition at line 28 of file JeVoisRobotCar2.C.

LIN1PIN

#define LIN1PIN   2

Definition at line 23 of file JeVoisRobotCar2.C.

LIN2PIN

#define LIN2PIN   21

Definition at line 24 of file JeVoisRobotCar2.C.

LPWMPIN

#define LPWMPIN   3

Definition at line 22 of file JeVoisRobotCar2.C.

PANPIN

#define PANPIN   9

Definition at line 29 of file JeVoisRobotCar2.C.

PANRANGE

#define PANRANGE   60

Definition at line 64 of file JeVoisRobotCar2.C.

PANZERO

#define PANZERO   90

Definition at line 63 of file JeVoisRobotCar2.C.

RIN1PIN

#define RIN1PIN   20

Definition at line 26 of file JeVoisRobotCar2.C.

RIN2PIN

#define RIN2PIN   4

Definition at line 27 of file JeVoisRobotCar2.C.

RPWMPIN

#define RPWMPIN   5

Definition at line 25 of file JeVoisRobotCar2.C.

SERIAL

#define SERIAL   Serial1

Definition at line 34 of file JeVoisRobotCar2.C.

TILTPIN

#define TILTPIN   10

Definition at line 30 of file JeVoisRobotCar2.C.

TILTRANGE

#define TILTRANGE   40

Definition at line 66 of file JeVoisRobotCar2.C.

TILTZERO

#define TILTZERO   70

Definition at line 65 of file JeVoisRobotCar2.C.

Function Documentation

loop()

void loop

(

)

Definition at line 166 of file JeVoisRobotCar2.C.

References ain, aout, currid, currt, currw, doneid, ServoPD::get(), HANDOFFW, INLEN, instr, LEDPIN, motor(), nextid, nextt, nextw, panservo, PANZERO, SERIAL, speed, steer, steerdelay, t, tiltservo, ServoPD::update(), win, and wout.

motor()

void motor	(	long	left,
		long	right
	)

Definition at line 258 of file JeVoisRobotCar2.C.

References leftgain, LIN1PIN, LIN2PIN, LPWMPIN, rightgain, RIN1PIN, RIN2PIN, and RPWMPIN.

Referenced by loop(), and setup().

setup()

void setup

(

)

Definition at line 135 of file JeVoisRobotCar2.C.

References ain, aout, aset, ServoPD::attach(), LEDPIN, LIN1PIN, LIN2PIN, LPWMPIN, motor(), PANPIN, panservo, PANZERO, RIN1PIN, RIN2PIN, RPWMPIN, SERIAL, TARGW, TILTPIN, tiltservo, TILTZERO, win, wout, and wset.

Variable Documentation

ain

PID apid& ain

Definition at line 53 of file JeVoisRobotCar2.C.

Referenced by loop(), and setup().

aout

double aout

Definition at line 53 of file JeVoisRobotCar2.C.

Referenced by loop(), and setup().

aset

double aset

Definition at line 53 of file JeVoisRobotCar2.C.

Referenced by setup().

currid

int currid = -1

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

currt

int currt = 0

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

currw

int currw = 0

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

doneid

int doneid = -1

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

instr

char instr[INLEN+1]

Definition at line 41 of file JeVoisRobotCar2.C.

Referenced by loop().

leftgain

long leftgain = 655

Definition at line 46 of file JeVoisRobotCar2.C.

Referenced by motor().

nextid

int nextid = -1

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

nextt

int nextt = 0

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

nextw

int nextw = 0

Definition at line 69 of file JeVoisRobotCar2.C.

Referenced by loop().

panservo

ServoPD panservo(100, 50, PANZERO, PANRANGE)	(	100	,
		50	,
		PANZERO	,
		PANRANGE
	)

Referenced by loop(), and setup().

rightgain

long rightgain = 655

Definition at line 47 of file JeVoisRobotCar2.C.

Referenced by motor().

speed

double speed = 0

Definition at line 58 of file JeVoisRobotCar2.C.

Referenced by loop().

steer

double steer = 0

Definition at line 59 of file JeVoisRobotCar2.C.

Referenced by loop().

steerdelay

int steerdelay = 0

Definition at line 60 of file JeVoisRobotCar2.C.

Referenced by loop().

t

int t = 0

Definition at line 71 of file JeVoisRobotCar2.C.

Referenced by loop().

TARGW

int TARGW = 300

Definition at line 50 of file JeVoisRobotCar2.C.

Referenced by setup().

tiltservo

ServoPD tiltservo(300, 100, TILTZERO, TILTRANGE)	(	300	,
		100	,
		TILTZERO	,
		TILTRANGE
	)

Referenced by loop(), and setup().

win

PID wpid& win

Definition at line 53 of file JeVoisRobotCar2.C.

Referenced by loop(), and setup().

wout

double wout

Definition at line 53 of file JeVoisRobotCar2.C.

Referenced by loop(), and setup().

wset

double wset

Definition at line 53 of file JeVoisRobotCar2.C.

Referenced by setup().