main.cpp File Reference

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

Classes
struct	SetValues

Macros
#define	PI   3.14159265
#define	TIME   15
#define	RADIUS   0.2286
#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	calculateDeltaYaw (int ref_yaw, int beforeBeybladeYaw)
float	calculateDistance (float posx, float posy, float final_x, float final_y)
SetValues	calculate_chassis_speeds (float posx, float posy, float angle, float final_x, float final_y, float vX, float vY)
int	main ()

Variables
constexpr float	GEAR_RATIO = 2.0
constexpr float	LOWERBOUND = 35.0
constexpr float	UPPERBOUND = -15.0
constexpr float	BEYBLADE_OMEGA = 4.0
constexpr float	JOYSTICK_SENSITIVITY_YAW_DPS = 180.0
constexpr float	JOYSTICK_SENSITIVITY_PITCH_DPS = 180.0
constexpr float	MOUSE_SENSITIVITY_YAW_DPS = 1.0
constexpr float	MOUSE_SENSITIVITY_PITCH_DPS = 1.0
constexpr int	OUTER_LOOP_DT_MS = 15
constexpr int	PRINT_FREQUENCY = 20
constexpr float	CHASSIS_FF_KICK = 0.065
constexpr int	FLYWHEEL_SPEED = 6000
constexpr float	BUFFER_ANGLE = PI / 16
constexpr float	ROT_INIT = 1
constexpr float	ACCEL_INIT = 0.2
constexpr float	VEL_INIT = 0.5
constexpr float	DECEL_DIST = 2 * VEL_INIT * VEL_INIT / (2 * ACCEL_INIT* TIME)
constexpr float	BUFFER = 0.1
float	rotation = 0
float	xRotated
float	yRotated
char	yaw_angle_char [4]
char	yaw_velocity_char [4]
char	pitch_angle_char [4]
char	pitch_velocity_char [4]
float	CV_pitch_angle_radians = 0.0
float	CV_yaw_angle_radians = 0.0
char	CV_shoot = 0
BNO055	imu (i2c, IMU_RESET, MODE_IMU)
ChassisSubsystem	Chassis (1, 2, 3, 4, imu, 0.2286)
DJIMotor	yaw (7, CANHandler::CANBUS_1, GIMBLY,"Yeah")
DJIMotor	pitch (5, CANHandler::CANBUS_2, GIMBLY,"Peach")
DJIMotor	yaw2 (6, CANHandler::CANBUS_1, GIMBLY,"Ye2")
DJIMotor	indexerL (5, CANHandler::CANBUS_2, C610,"IndexerL")
DJIMotor	indexerR (6, CANHandler::CANBUS_2, C610,"IndexerR")
DJIMotor	RFLYWHEEL_U (1, CANHandler::CANBUS_2, M3508,"RightFlyU")
DJIMotor	LFLYWHEEL_U (2, CANHandler::CANBUS_2, M3508,"LeftFlyU")
DJIMotor	RFLYWHEEL_D (3, CANHandler::CANBUS_2, M3508,"RightFlyD")
DJIMotor	LFLYWHEEL_D (4, CANHandler::CANBUS_2, M3508,"LeftFlyD")
BNO055_ANGULAR_POSITION_typedef	imuAngles

Macro Definition Documentation

MAGICBYTE

#define MAGICBYTE   0xEE

PI

#define PI   3.14159265

RADIUS

#define RADIUS   0.2286

READ_DEBUG

#define READ_DEBUG   0

TIME

#define TIME   15

USE_IMU

#define USE_IMU

Function Documentation

calculate_chassis_speeds()

SetValues calculate_chassis_speeds	(	float	posx,
		float	posy,
		float	angle,
		float	final_x,
		float	final_y,
		float	vX,
		float	vY
	)

calculateDeltaYaw()

int calculateDeltaYaw	(	int	ref_yaw,
		int	beforeBeybladeYaw
	)

calculateDistance()

float calculateDistance	(	float	posx,
		float	posy,
		float	final_x,
		float	final_y
	)

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

ACCEL_INIT

constexpr float ACCEL_INIT = 0.2

constexpr

BEYBLADE_OMEGA

constexpr float BEYBLADE_OMEGA = 4.0

constexpr

BUFFER

constexpr float BUFFER = 0.1

constexpr

BUFFER_ANGLE

constexpr float BUFFER_ANGLE = PI / 16

constexpr

Chassis

ChassisSubsystem Chassis(1, 2, 3, 4, imu, 0.2286)	(	1	,
		2	,
		3	,
		4	,
		imu	,
		0.	2286
	)

CHASSIS_FF_KICK

constexpr float CHASSIS_FF_KICK = 0.065

constexpr

CV_pitch_angle_radians

float CV_pitch_angle_radians = 0.0

CV_shoot

char CV_shoot = 0

CV_yaw_angle_radians

float CV_yaw_angle_radians = 0.0

DECEL_DIST

constexpr float DECEL_DIST = 2 * VEL_INIT * VEL_INIT / (2 * ACCEL_INIT* TIME)

constexpr

FLYWHEEL_SPEED

constexpr int FLYWHEEL_SPEED = 6000

constexpr

GEAR_RATIO

constexpr float GEAR_RATIO = 2.0

constexpr

imu

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

imuAngles

BNO055_ANGULAR_POSITION_typedef imuAngles

indexerL

DJIMotor indexerL(5, CANHandler::CANBUS_2, C610,"IndexerL")	(	5	,
		CANHandler::CANBUS_2	,
		C610	,
		"IndexerL"
	)

indexerR

DJIMotor indexerR(6, CANHandler::CANBUS_2, C610,"IndexerR")	(	6	,
		CANHandler::CANBUS_2	,
		C610	,
		"IndexerR"
	)

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_D

DJIMotor LFLYWHEEL_D(4, CANHandler::CANBUS_2, M3508,"LeftFlyD")	(	4	,
		CANHandler::CANBUS_2	,
		M3508	,
		"LeftFlyD"
	)

LFLYWHEEL_U

DJIMotor LFLYWHEEL_U(2, CANHandler::CANBUS_2, M3508,"LeftFlyU")	(	2	,
		CANHandler::CANBUS_2	,
		M3508	,
		"LeftFlyU"
	)

LOWERBOUND

constexpr float LOWERBOUND = 35.0

constexpr

MOUSE_SENSITIVITY_PITCH_DPS

constexpr float MOUSE_SENSITIVITY_PITCH_DPS = 1.0

constexpr

MOUSE_SENSITIVITY_YAW_DPS

constexpr float MOUSE_SENSITIVITY_YAW_DPS = 1.0

constexpr

OUTER_LOOP_DT_MS

constexpr int OUTER_LOOP_DT_MS = 15

constexpr

pitch

DJIMotor pitch(5, CANHandler::CANBUS_2, GIMBLY,"Peach")	(	5	,
		CANHandler::CANBUS_2	,
		GIMBLY	,
		"Peach"
	)

pitch_angle_char

char pitch_angle_char[4]

pitch_velocity_char

char pitch_velocity_char[4]

PRINT_FREQUENCY

constexpr int PRINT_FREQUENCY = 20

constexpr

RFLYWHEEL_D

DJIMotor RFLYWHEEL_D(3, CANHandler::CANBUS_2, M3508,"RightFlyD")	(	3	,
		CANHandler::CANBUS_2	,
		M3508	,
		"RightFlyD"
	)

RFLYWHEEL_U

DJIMotor RFLYWHEEL_U(1, CANHandler::CANBUS_2, M3508,"RightFlyU")	(	1	,
		CANHandler::CANBUS_2	,
		M3508	,
		"RightFlyU"
	)

ROT_INIT

constexpr float ROT_INIT = 1

constexpr

rotation

float rotation = 0

UPPERBOUND

constexpr float UPPERBOUND = -15.0

constexpr

VEL_INIT

constexpr float VEL_INIT = 0.5

constexpr

xRotated

float xRotated

yaw

DJIMotor yaw(7, CANHandler::CANBUS_1, GIMBLY,"Yeah")	(	7	,
		CANHandler::CANBUS_1	,
		GIMBLY	,
		"Yeah"
	)

yaw2

DJIMotor yaw2(6, CANHandler::CANBUS_1, GIMBLY,"Ye2")	(	6	,
		CANHandler::CANBUS_1	,
		GIMBLY	,
		"Ye2"
	)

yaw_angle_char

char yaw_angle_char[4]

yaw_velocity_char

char yaw_velocity_char[4]

yRotated

float yRotated