team-mixtape-OSV

The codebase for ENES100 Team MIXTAPE's 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()