Skip to content

Latest commit

 

History

History
21 lines (19 loc) · 1.56 KB

README.md

File metadata and controls

21 lines (19 loc) · 1.56 KB

team-mixtape-OSV

The codebase for ENES100 Team MIXTAPE's OSV

Our OSV

How to Navigate the Codebase

All of the OSV logic is stored in the OSV/ directory. The OSVSimulation/ directory stores a version of the code that is compatible with the ENES100Simulator. The code was converted using the ENES100SimulationTranslator. The code is structured as follows:

  • All *.h files provide forward declarations for functions and classes
  • Convenience Classes
    • Constants: Stores all configuration info (e.g., pin mappings, PID constants, OSV dimensions)
    • LocationManager: Has static methods to determine the location of the OSV in relation to the field and the obstacles
    • utils: Has convenience methods for various math and angle calculations
  • Components
    • FlameSensor: Wrapper class for the IR flame sensor. Uses median filtering of the results
    • DCMotor: Wrapper class to control motors on the LM298N. Provides configurations to reverse a motor's polarity and to set min and max output.
  • Subsystems
    • DriveTrain: Provides high-level control for the OSV's locomotion
    • ExtinguishingArm: Provides high-level control of the OSV extinguisher
    • Navigator: Contains all obstacle and mission navigation functionality
  • The Important File
    • OSV.ino: The main code file. Contains void setup() and void loop()