main.cpp File Reference

#include "main.h"
#include "subsystems/ChassisSubsystem.h"

Macros
#define	READ_DEBUG   0
#define	MAGICBYTE   0xEE
#define	USE_IMU

Functions
DigitalOut	led (L25)
DigitalOut	led2 (L26)
DigitalOut	led3 (L27)
DigitalOut	ledbuiltin (LED1)
I2C	i2c (I2C_SDA, I2C_SCL)
int	main ()

Variables
constexpr float	LOWERBOUND = -35.0
constexpr float	UPPERBOUND = 40.0
constexpr float	JOYSTICK_SENSITIVITY_YAW_DPS = 180.0
constexpr float	JOYSTICK_SENSITIVITY_PITCH_DPS = 180.0
constexpr float	MOUSE_SENSITIVITY_YAW_DPS = 10.0
constexpr float	MOUSE_SENSITIVITY_PITCH_DPS = 10.0
constexpr int	OUTER_LOOP_DT_MS = 15
constexpr int	PRINT_FREQUENCY = 8
constexpr float	CHASSIS_FF_KICK = 0.065
constexpr float	pitch_zero_offset_ticks = 1500
constexpr int	NUM_BALLS_SHOT = 3
constexpr int	FLYWHEEL_VELO = 5500
BNO055	imu (i2c, IMU_RESET, MODE_IMU)
ChassisSubsystem	Chassis (1, 2, 3, 4, imu, 0.22617)
DJIMotor	yaw (4, CANHandler::CANBUS_1, GIMBLY,"Yeah")
DJIMotor	pitch (7, CANHandler::CANBUS_2, GIMBLY,"Peach")
DJIMotor	indexer (7, CANHandler::CANBUS_2, C610,"Indexer")
DJIMotor	RFLYWHEEL (1, CANHandler::CANBUS_2, M3508,"RightFly")
DJIMotor	LFLYWHEEL (2, CANHandler::CANBUS_2, M3508,"LeftFly")
Jetson_read_data	jetson_received_data
Jetson_read_odom	jetson_received_odom
Jetson_send_ref	jetson_send_ref
Jetson_send_data	jetson_send_data
BNO055_ANGULAR_POSITION_typedef	imuAngles

Macro Definition Documentation

MAGICBYTE

#define MAGICBYTE   0xEE

READ_DEBUG

#define READ_DEBUG   0

USE_IMU

#define USE_IMU

Function Documentation

i2c()

I2C i2c	(	I2C_SDA	,
		I2C_SCL
	)

led()

DigitalOut led

(

L25

)

led2()

DigitalOut led2

(

L26

)

led3()

DigitalOut led3

(

L27

)

ledbuiltin()

DigitalOut ledbuiltin

(

LED1

)

main()

int main

(

void

)

Variable Documentation

Chassis

ChassisSubsystem Chassis(1, 2, 3, 4, imu, 0.22617)	(	1	,
		2	,
		3	,
		4	,
		imu	,
		0.	22617
	)

CHASSIS_FF_KICK

constexpr float CHASSIS_FF_KICK = 0.065

constexpr

FLYWHEEL_VELO

constexpr int FLYWHEEL_VELO = 5500

constexpr

imu

BNO055 imu(i2c, IMU_RESET, MODE_IMU)	(	i2c	,
		IMU_RESET	,
		MODE_IMU
	)

imuAngles

BNO055_ANGULAR_POSITION_typedef imuAngles

indexer

DJIMotor indexer(7, CANHandler::CANBUS_2, C610,"Indexer")	(	7	,
		CANHandler::CANBUS_2	,
		C610	,
		"Indexer"
	)

jetson_received_data

Jetson_read_data jetson_received_data

jetson_received_odom

Jetson_read_odom jetson_received_odom

jetson_send_data

Jetson_send_data jetson_send_data

jetson_send_ref

Jetson_send_ref jetson_send_ref

JOYSTICK_SENSITIVITY_PITCH_DPS

constexpr float JOYSTICK_SENSITIVITY_PITCH_DPS = 180.0

constexpr

JOYSTICK_SENSITIVITY_YAW_DPS

constexpr float JOYSTICK_SENSITIVITY_YAW_DPS = 180.0

constexpr

LFLYWHEEL

DJIMotor LFLYWHEEL(2, CANHandler::CANBUS_2, M3508,"LeftFly")	(	2	,
		CANHandler::CANBUS_2	,
		M3508	,
		"LeftFly"
	)

LOWERBOUND

constexpr float LOWERBOUND = -35.0

constexpr

MOUSE_SENSITIVITY_PITCH_DPS

constexpr float MOUSE_SENSITIVITY_PITCH_DPS = 10.0

constexpr

MOUSE_SENSITIVITY_YAW_DPS

constexpr float MOUSE_SENSITIVITY_YAW_DPS = 10.0

constexpr

NUM_BALLS_SHOT

constexpr int NUM_BALLS_SHOT = 3

constexpr

OUTER_LOOP_DT_MS

constexpr int OUTER_LOOP_DT_MS = 15

constexpr

pitch

DJIMotor pitch(7, CANHandler::CANBUS_2, GIMBLY,"Peach")	(	7	,
		CANHandler::CANBUS_2	,
		GIMBLY	,
		"Peach"
	)

pitch_zero_offset_ticks

constexpr float pitch_zero_offset_ticks = 1500

constexpr

PRINT_FREQUENCY

constexpr int PRINT_FREQUENCY = 8

constexpr

RFLYWHEEL

DJIMotor RFLYWHEEL(1, CANHandler::CANBUS_2, M3508,"RightFly")	(	1	,
		CANHandler::CANBUS_2	,
		M3508	,
		"RightFly"
	)

UPPERBOUND

constexpr float UPPERBOUND = 40.0

constexpr

yaw

DJIMotor yaw(4, CANHandler::CANBUS_1, GIMBLY,"Yeah")	(	4	,
		CANHandler::CANBUS_1	,
		GIMBLY	,
		"Yeah"
	)