#include "mbed.h"
#include "../util/peripherals/imu/BNO055.h"
#include <motor/DJIMotor.h>
#include <communications/CANHandler.h>
#include <peripherals/oled/SSD1308.h>
#include <algorithms/Pose2D.h>
#include <algorithms/PID.h>
#include "algorithms/eigen-3.4.0/Eigen/QR"

Classes
struct	OmniKinematics

class	WheelSpeeds

class	ChassisSpeeds

struct	OmniKinematicsLimits

class	ChassisSubsystem

Macros
#define	CAN_BUS_TYPE CANHandler::CANBUS_1

#define	MOTOR_TYPE M3508

#define	M3508_POST_MAX_RPM 469

#define	INPUT_THRESHOLD 0.01

#define	I2C_SDA PB_7

#define	I2C_SCL PB_8

#define	IMU_RESET PA_8

#define	PI 3.14159265

#define	SECONDS_PER_MINUTE 60

#define	TICKS_PER_ROTATION 8192.0

#define	WHEEL_DIAMETER_METERS 0.146

#define	MAX_BEYBLADE_SPEED 1800

#define	BEYBLADE_ACCELERATION 0.05

#define	MAX_VEL 2.92

Macro Definition Documentation

◆ BEYBLADE_ACCELERATION

#define BEYBLADE_ACCELERATION 0.05

◆ CAN_BUS_TYPE

#define CAN_BUS_TYPE CANHandler::CANBUS_1

◆ I2C_SCL

#define I2C_SCL PB_8

◆ I2C_SDA

#define I2C_SDA PB_7

◆ IMU_RESET

#define IMU_RESET PA_8

◆ INPUT_THRESHOLD

#define INPUT_THRESHOLD 0.01

◆ M3508_POST_MAX_RPM

#define M3508_POST_MAX_RPM 469

◆ MAX_BEYBLADE_SPEED

#define MAX_BEYBLADE_SPEED 1800

◆ MAX_VEL

#define MAX_VEL 2.92

◆ MOTOR_TYPE

#define MOTOR_TYPE M3508

◆ PI

#define PI 3.14159265

◆ SECONDS_PER_MINUTE

#define SECONDS_PER_MINUTE 60

◆ TICKS_PER_ROTATION

#define TICKS_PER_ROTATION 8192.0

◆ WHEEL_DIAMETER_METERS

#define WHEEL_DIAMETER_METERS 0.146

Classes

Macros