https://github.com/zbreit/team-mixtape-osv

The codebase for ENES100 Team MIXTAPE's OverSand Vehicle
https://github.com/zbreit/team-mixtape-osv

Last synced: about 1 year ago
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The codebase for ENES100 Team MIXTAPE's OverSand Vehicle

• Host: GitHub
• URL: https://github.com/zbreit/team-mixtape-osv
• Owner: zbreit
• License: mit
• Created: 2019-03-18T17:01:49.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2019-05-15T14:03:43.000Z (about 7 years ago)
• Last Synced: 2025-02-15T13:25:31.796Z (over 1 year ago)
• Language: C++
• Homepage:
• Size: 8.91 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# 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](https://github.com/zbreit/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](https://diygeeks.org/shop/breakout-modules/lm298-motor-driver-breakout/). 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()`