Merge pull request #5 from MissouriMRDT/2022_Rev1

2022 Competition Powerboard Code

powerboardcode/powerboard/powerboard.h

@@ -1,62 +1,107 @@
-
-#include "Energia.h"
+#ifndef POWERBOARD_H
+#define POWERBOARD_H
 #include "RoveComm.h"
+
+// Numbers of Toggleable Ports
+#define NUM_12V_PORTS           8   // Everything except Aux cuz Manifest
+#define NUM_MOTORS              7       
+
+IntervalTimer Telemetry;
+
 //12V Current Sensing
-#define AUX_MOUNT_SENSE     PK_3
-#define MULTIMEDIA_SENSE    PK_2
-#define LOW_CURRENT_SENSE   PK_1
-#define GIMBAL_SENSE        PK_0
+
+#define MULTIMEDIA_SENSE        A11
+#define NAV_SENSE               A12
+#define GIMBAL_ACT_SENSE        A10
+#define DRIVE_SENSE             A0
+#define CAM1_SENSE              A2
+#define CAM2_SENSE              A1
+#define BBB_SENSE               A3
+#define AUX_SENSE               A4
+#define SPARE_12V_SENSE         A13
+
+#define OVERCURRENT_PACK        19500 //mA
+#define OVERCURRENT_12V         4800 //mA
+#define CURRENT_ADC_MIN         0
+#define CURRENT_ADC_MAX         4096
+#define CURRENT_mA_MIN          0
+#define CURRENT_mA_MAX          20000
 
 //12V CTL
-#define MULTIMEDIA_LOG_CTL  PK_5
-#define MULTIMEDIA_ACT_CTL  PM_0
-#define AUX_LOG_CTL         PM_1
-#define AUX_ACT_CTL         PM_2
-#define GIMBAL_LOG_CTL      PH_0
-#define GIMBAL_ACT_CTL      PH_1
-#define NAV_BOARD_CTL       PK_7
-#define CAM_CTL             PP_3
-#define EXTRA_CTL           PQ_1
-#define DRIVE_CTL           PM_6
+#define SPARE_CTL               0
+#define NAV_CTL                 1
+#define MULTIMEDIA_CTL          2
+#define GIMBAL_CTL              3
+#define DRIVE_CTL               4
+#define CAM2_CTL                5
+#define CAM1_CTL                6
+#define BBB_CTL                 7
+#define AUX_CTL                 8
+
 
 //PACK CURRENT
-#define P_MOTOR1_SENSE       PD_5
-#define P_MOTOR2_SENSE       PD_4
-#define P_MOTOR3_SENSE       PD_2
-#define P_MOTOR4_SENSE       PD_3
-#define P_SPARE_SENSE        PE_4
-#define P_ROCKET_SENSE       PD_0
-#define P_TWELVE_SENSE       PD_1
-#define P_VACUUM_SENSE       PE_1
-#define P_DRIVE_SENSE        PE_5
-#define P_AUX_SENSE          PE_3
+#define P_MOTOR1_SENSE          A14
+#define P_MOTOR2_SENSE          A15
+#define P_MOTOR3_SENSE          A16  
+#define P_MOTOR4_SENSE          A17
+#define P_MOTOR5_SENSE          A5
+#define P_MOTOR6_SENSE          A6
+#define P_MOTOR7_SENSE          A7
+#define P_POE_SENSE             A8
+
+// Current sensing variables
+
+float MOTORBUSSENSEPINS[NUM_MOTORS] = {P_MOTOR1_SENSE, P_MOTOR2_SENSE, P_MOTOR3_SENSE, P_MOTOR4_SENSE, P_MOTOR5_SENSE, P_MOTOR6_SENSE, P_MOTOR7_SENSE};
+float TWELVELOGICBUSPINS[NUM_12V_PORTS] = {GIMBAL_ACT_SENSE, DRIVE_SENSE, MULTIMEDIA_SENSE, NAV_SENSE, CAM1_SENSE, CAM2_SENSE, BBB_SENSE, SPARE_12V_SENSE};
+
+float P_MOTOR1_CURRENT = 0;
+float P_MOTOR2_CURRENT = 0;
+float P_MOTOR3_CURRENT = 0;
+float P_MOTOR4_CURRENT = 0;
+float P_MOTOR5_CURRENT = 0;
+float P_MOTOR6_CURRENT = 0;
+float P_MOTOR7_CURRENT = 0;
+
+float AUX_CURRENT = 0;
+
+float GIMBAL_ACT_CURRENT = 0;
+float DRIVE_CURRENT = 0;
+float MULTIMEDIA_CURRENT = 0;
+float NAV_CURRENT = 0;
+float CAM1_CURRENT = 0;
+float CAM2_CURRENT = 0;
+float BBB_CURRENT = 0;
+float SPARE_12V_CURRENT = 0;
+
+float MOTORBUSCURRENTS[NUM_MOTORS] = {P_MOTOR1_CURRENT, P_MOTOR2_CURRENT, P_MOTOR3_CURRENT, P_MOTOR4_CURRENT, P_MOTOR5_CURRENT, P_MOTOR6_CURRENT, P_MOTOR7_CURRENT};
+float TWELVELOGICBUSCURRENTS[NUM_12V_PORTS] = {GIMBAL_ACT_CURRENT, DRIVE_CURRENT, MULTIMEDIA_CURRENT, NAV_CURRENT, CAM1_CURRENT, CAM2_CURRENT, BBB_CURRENT, SPARE_12V_CURRENT};
+
+uint8_t motorOverCurrent = 0;
+uint8_t twelveActOverCurrent = 0;
+uint8_t twelveLogicOverCurrent = 0;
 
 //PACK BUSSES
-#define P_MOTOR1_CTL         PQ_0
-#define P_MOTOR2_CTL         PP_1
-#define P_MOTOR3_CTL         PP_0
-#define P_MOTOR4_CTL         PC_7
-#define P_SPARE_CTL          PC_4
-#define P_ROCKET_CTL         PN_2
-#define P_TWELVE_CTL         PH_3
-#define P_VACUUM_CTL         PE_0
-#define P_DRIVE_CTL          PC_6
-#define P_AUX_CTL            PE_2
-
-#define MOTOR_DELAY          5000
-#define DRIVE_DELAY          5000
-
-uint8_t currentSense12V[4] = { AUX_MOUNT_SENSE, MULTIMEDIA_SENSE, GIMBAL_SENSE, LOW_CURRENT_SENSE};
-uint8_t actuation12V[3] = { GIMBAL_ACT_CTL, MULTIMEDIA_ACT_CTL, AUX_ACT_CTL};
-uint8_t logic12V[7] = {GIMBAL_LOG_CTL, MULTIMEDIA_LOG_CTL, AUX_LOG_CTL, DRIVE_CTL, NAV_BOARD_CTL, CAM_CTL, EXTRA_CTL};
-uint8_t drivePack = P_DRIVE_CTL;
-uint8_t currentSensePack[10] = { P_MOTOR1_SENSE, P_MOTOR2_SENSE, P_MOTOR3_SENSE, P_MOTOR4_SENSE, P_SPARE_SENSE, P_ROCKET_SENSE, P_TWELVE_SENSE, P_VACUUM_SENSE, P_DRIVE_SENSE, P_AUX_SENSE};
-uint8_t bussesPackStart[3] = { P_ROCKET_CTL, P_TWELVE_CTL, P_AUX_CTL};
-uint8_t bussesPack[4] = { P_TWELVE_CTL, P_ROCKET_CTL, P_AUX_CTL, P_DRIVE_CTL};
-uint8_t vacuumCtrl[1] = {P_VACUUM_CTL};
-uint8_t bussesMotor[5] = {P_MOTOR1_CTL, P_MOTOR2_CTL, P_MOTOR3_CTL, P_MOTOR4_CTL, P_SPARE_CTL};
+#define POE_CTL                 29
+#define PACK_SPARE_CTL          37
+
+#define MOTOR1_CTL              33       
+#define MOTOR2_CTL              32
+#define MOTOR3_CTL              34
+#define MOTOR4_CTL              31
+#define MOTOR5_CTL              35
+#define MOTOR6_CTL              30
+#define MOTORS_CTL              36
+
+#define MOTOR_DELAY             500
+
+//uint8_t currentSense12V[] = {MULTIMEDIA_SENSE, NAV_SENSE, GIMBAL_ACT_SENSE, DRIVE_SENSE, SCISENSOR_ACT_SENSE, NETSWITCH_SENSE, CAM1_SENSE, CAM2_SENSE, BBB_SENSE, AUX_LOG_SENSE};
+uint8_t twelveVoltBusses[NUM_12V_PORTS] = {GIMBAL_CTL, DRIVE_CTL, MULTIMEDIA_CTL, NAV_CTL, CAM1_CTL, CAM2_CTL, BBB_CTL, SPARE_CTL};
+//uint8_t currentSensePack[9] = {P_MOTOR1_SENSE, P_MOTOR2_SENSE, P_MOTOR3_SENSE, P_MOTOR4_SENSE, P_MOTOR5_SENSE, P_MOTOR6_SENSE, P_MOTOR7_SENSE, P_POE_SENSE, P_AUX_SENSE};
+uint8_t motorBusses[NUM_MOTORS] = {MOTOR1_CTL, MOTOR2_CTL, MOTOR3_CTL, MOTOR4_CTL, MOTOR5_CTL, MOTOR6_CTL, MOTORS_CTL};
 
 RoveCommEthernet RoveComm;
 rovecomm_packet packet; 
+uint8_t* data;
 EthernetServer TCPServer(RC_ROVECOMM_POWERBOARD_PORT);
 
+#endif