Teensy

motorControlV3

class motorControlV3::Motor

Motor class, handles all of our motor controls. Accessed by the bottom file.

void motorControlV3::Motor::initMotors(void): Initializes the pins. Pins are hard-locked to 3, 1, 5, 37 for the direction pins and 2, 0, 4, 36 for the pwm pins for the Pololu G2 24v21 Motor Drivers.

void motorControlV3::Motor::setMotor(int motor, int dir, int pwm)

Sets one motor direction and speed.

int motor: Motor number that should have its speed and direction set. Not needed when calling :cpp:class:motorControlV3::Motor::moveRobot.

int dir: direction value (0 or 1)

int pwm: pwm value to send to power motors at a certain speed (0-255)

int motorControlV3::Motor::movementSineFunction(int motor, float ballAngleDegrees, boolean isCounter, int amplitude)

Uses a sine function associated with each motor assembly to move in a direction from the according point in the sine wave given the ball direction.

Returns an integer value for the pwm motor value for the motor given in the parameters.

int motor: Motor number that we are calculating the appropriate value for.

float ballAngleDegrees: Degrees of ball angle given in the IR code as a floating point number.

boolean isCounter: True if motor is backwards, else false.

int amplitude: Amplitude of the sine wave, also the distance to the ball that we want to stay away when navigating to the perpendicular.

void motorControlV3::Motor::moveRobot(int speed1, int speed2, int speed3, int speed4)

Move robot with the speeds given for motors 1-4.

int speed1: Speed of motor 1. (Can be -255 to 255)

int speed2: Speed of motor 2. (Can be -255 to 255)

int speed3: Speed of motor 3. (Can be -255 to 255)

int speed4: Speed of motor 4. (Can be -255 to 255)

colorSensorV2

class colorSensorV2::ColorSensor

ColorSensor class, handles all the input from our color sensors. There are 16 color sensors: 16 LEDs and 16 940nm photodiodes. All photodiodes output an analog value which is read by the ADC of our bottom Teensy.

int colorSensorV2::ColorSensor::readSensor(int sensor)

Read the sensor specified and returns an arbitrary int value for the detected amount of red light that is used in comparisons with other values.

int sensor: Takes the sensor pin number. Refer to schematics for sensor numbers.

void colorSensorV2::ColorSensor::colourSensorInit(void): Initializes color sensors. Takes no parameters.

Compass

class Compass::Compass

Compass class, uses Adafruit.h as a dependency for access to the BNO085 compass output.

void Compass::Compass::init(void): Initialize the compass by beginning Serial connection to the BNO085.

Does not print anything and just opens the connection.

void Compass::Compass::initPrint(void): Initialize the compass by beginning Serial connection to the BNO085.

Prints a confirmation message and opens the connection.

void Compass::Compass::resetCheck(void): Checks if BNO085 has been reset. Sets the desired output again.

Does not print a confirmation message and just performs the check and set.

void Compass::Compass::resetCheckPrint(void): Checks if BNO085 has been reset. Sets the desired output again.

Prints a confirmation message and performs the check and set.

float Compass::Compass::getBotAngle(void): Gets the current bot angle based off the BNO085

Returns a floating point value of the angle scale value from -1.00 to 1.00 where 0 is the direction it initializes in.