enph253-prototype-alpha

README last update: June 30th (2019)

ENPH 253: Code for Prototype Alpha

Feel free to modify our SW approach/this README as need be.

Structure

An OOP infrastructure is used to create the HW sensors + actuators in SW.

Concrete components are derived from abstract base classes, depending on their properties.

Class List

Concrete

Sensors:

• QrdSensor: QRD Sensor
• TapeSensor: the main QRD sensor system to follow tape

Actuators:

• DriveMotor: the driving motors
• DriveSystem: the driving system, composed of 2 DriveMotors

Abstract

Sensors:

• BaseSensor
• AnalogSesnor

Actuators:

• BaseActuator
• PolarityActuator
• PwmActuator

Program Flow

setup(): SW + HW initialization of actuators, SW initialization of sensors

loop():

• read sensors
• perform SW calculations + update actuators in SW (maybe split this into 2?)
• execute actuators in HW

Conventions

Feel free to add/change any conventions you wish.

• Use many single-line comments instead of a multi-line comment. This allows for multi-line commenting out a chunk of code.
• lower_underscore_names for fields, variables, and parameters. lower_underscore for non-constructor methods. UpperCamelCase for classes.
• End files with a newline/blank line.