platform_controller.c File Reference

#include "coridium.h"
#include "cor_hwlib.h"
#include "cor_wrflash.h"
#include "string.h"
#include "printf.h"
#include <math.h>
#include "battery_voltage.h"
#include "bumper_switch.h"
#include "infrared_rangefinder.h"
#include "led_and_switch.h"
#include "navigation_communication.h"
#include "sonar_rangefinder.h"

Go to the source code of this file.

Functions
void	selfTest ()
void	initializePins ()
void	systemControllerCom ()
void	sendPlatformData (int *var_array[])
void	formatSend (char header, int data)
void	computeDeltas (int left_s, int cent_s, int right_s, int left_i, int right_i)
int	calculateSteering ()
int	calculateThrottle ()
int	getAutoAvoiding ()
void	sendToNavController ()
int	main (void)
void	systemControllerCom (int auto_avoid)
Variables
const int	SYSTEM_BATTERY_PIN = 0
const int	MICRO_BATTERY_PIN = 1
const int	INFRARED_LEFT_PIN = 2
const int	INFRARED_RIGHT_PIN = 3
const int	REGULATOR_OUTPUT_PIN = 4
const int	SONAR_LEFT_PIN = 0
const int	SONAR_CENTER_PIN = 1
const int	SONAR_RIGHT_PIN = 2
const int	BUMPER_LEFT_PIN = 4
const int	BUMPER_RIGHT_PIN = 5
const int	RED_LED_PIN = 6
const int	GRN_LED_PIN = 7
const int	RESET_PIN = 8
const int	MODE_PIN = 9
const int	SEROUT_PIN = 10
const int	RTS_PIN = 11
const int	CTS_PIN = 12
const unsigned int	COMPASS_PWM_PIN = 13
const unsigned int	COMPASS_CALIBRATE_PIN = 3
const char	COLON = ':'
const char	SEMICOLON = ';'
const int	REGULATED_LIMIT = 15000
const int	PROGRAM_LOOP_PERIOD = 47619
const unsigned int	NUM_VARS = 17
const float	K_SON = 0.02
const float	K_INF = 8.0
const float	SONAR_NOM = 317.275
const float	INFRARED_L_NOM = 50.0
const float	INFRARED_R_NOM = 50.0
int	run_mode = 1
float	sonar_left_delta = 0
float	sonar_center_delta = 0
float	sonar_right_delta = 0
float	infrared_left_delta = 0
float	infrared_right_delta = 0
const float	FULL_THROTTLE = 270.0
const float	FULL_FORWARD = 80.0
const float	FULL_REVERSE = -50.0
const float	LOW_SPEED = 25.0
const float	AUTO_AVOID_SONAR_LIMIT = 200.0
const float	AUTO_AVOID_INFRARED_LIMIT = 16.0
const int	AUTO_AVOID_PERIOD = 4000000
int	auto_avoid_timer = 0

---

Function Documentation

int calculateSteering

(

)

Definition at line 353 of file platform_controller.c.

int calculateThrottle

(

)

Definition at line 379 of file platform_controller.c.

void computeDeltas	(	int	left_s,
		int	cent_s,
		int	right_s,
		int	left_i,
		int	right_i
	)

Definition at line 343 of file platform_controller.c.

void formatSend	(	char	header,
		int	data
	)

Definition at line 336 of file platform_controller.c.

int getAutoAvoiding

(

)

Definition at line 412 of file platform_controller.c.

void initializePins

(

)

int main

(

void

)

Definition at line 73 of file platform_controller.c.

void selfTest

(

)

Definition at line 189 of file platform_controller.c.

void sendPlatformData

(

int *

var_array[]

)

Definition at line 328 of file platform_controller.c.

void sendToNavController

(

)

void systemControllerCom

(

int

auto_avoid

)

Definition at line 199 of file platform_controller.c.

void systemControllerCom

(

)

---

Variable Documentation

const float AUTO_AVOID_INFRARED_LIMIT = 16.0

Definition at line 407 of file platform_controller.c.

const int AUTO_AVOID_PERIOD = 4000000

Definition at line 408 of file platform_controller.c.

const float AUTO_AVOID_SONAR_LIMIT = 200.0

Definition at line 406 of file platform_controller.c.

int auto_avoid_timer = 0

Definition at line 410 of file platform_controller.c.

const int BUMPER_LEFT_PIN = 4

Definition at line 32 of file platform_controller.c.

const int BUMPER_RIGHT_PIN = 5

Definition at line 32 of file platform_controller.c.

const char COLON = ':'

Definition at line 45 of file platform_controller.c.

const unsigned int COMPASS_CALIBRATE_PIN = 3

Definition at line 40 of file platform_controller.c.

const unsigned int COMPASS_PWM_PIN = 13

Definition at line 40 of file platform_controller.c.

const int CTS_PIN = 12

Definition at line 38 of file platform_controller.c.

const float FULL_FORWARD = 80.0

Definition at line 375 of file platform_controller.c.

const float FULL_REVERSE = -50.0

Definition at line 376 of file platform_controller.c.

const float FULL_THROTTLE = 270.0

Definition at line 374 of file platform_controller.c.

const int GRN_LED_PIN = 7

Definition at line 34 of file platform_controller.c.

const float INFRARED_L_NOM = 50.0

Definition at line 54 of file platform_controller.c.

float infrared_left_delta = 0

Definition at line 341 of file platform_controller.c.

const int INFRARED_LEFT_PIN = 2

Definition at line 24 of file platform_controller.c.

const float INFRARED_R_NOM = 50.0

Definition at line 54 of file platform_controller.c.

float infrared_right_delta = 0

Definition at line 341 of file platform_controller.c.

const int INFRARED_RIGHT_PIN = 3

Definition at line 24 of file platform_controller.c.

const float K_INF = 8.0

Definition at line 52 of file platform_controller.c.

const float K_SON = 0.02

Definition at line 52 of file platform_controller.c.

const float LOW_SPEED = 25.0

Definition at line 377 of file platform_controller.c.

const int MICRO_BATTERY_PIN = 1

Definition at line 22 of file platform_controller.c.

const int MODE_PIN = 9

Definition at line 36 of file platform_controller.c.

const unsigned int NUM_VARS = 17

Definition at line 48 of file platform_controller.c.

const int PROGRAM_LOOP_PERIOD = 47619

Definition at line 47 of file platform_controller.c.

const int RED_LED_PIN = 6

Definition at line 34 of file platform_controller.c.

const int REGULATED_LIMIT = 15000

Definition at line 46 of file platform_controller.c.

const int REGULATOR_OUTPUT_PIN = 4

Definition at line 25 of file platform_controller.c.

const int RESET_PIN = 8

Definition at line 36 of file platform_controller.c.

const int RTS_PIN = 11

Definition at line 38 of file platform_controller.c.

int run_mode = 1

Definition at line 56 of file platform_controller.c.

const char SEMICOLON = ';'

Definition at line 45 of file platform_controller.c.

const int SEROUT_PIN = 10

Definition at line 38 of file platform_controller.c.

float sonar_center_delta = 0

Definition at line 340 of file platform_controller.c.

const int SONAR_CENTER_PIN = 1

Definition at line 30 of file platform_controller.c.

float sonar_left_delta = 0

Definition at line 340 of file platform_controller.c.

const int SONAR_LEFT_PIN = 0

Definition at line 30 of file platform_controller.c.

const float SONAR_NOM = 317.275

Definition at line 53 of file platform_controller.c.

float sonar_right_delta = 0

Definition at line 340 of file platform_controller.c.

const int SONAR_RIGHT_PIN = 2

Definition at line 30 of file platform_controller.c.

const int SYSTEM_BATTERY_PIN = 0

Definition at line 22 of file platform_controller.c.