main.cpp

00001 #include "mbed.h"
00002 
00003 #include "pid.h"
00004 #include "sensors.h"
00005 #include "mouse.h"
00006 
00007 Ticker Systicker;
00008 Mouse m;
00009 
00010 void systick()
00011 {
00012     m.scan(); // get the IR values.
00013             // these values are useful regardless of what mouse_state we are in.
00014     switch (m.mouse_state)
00015     {
00016         case STOPPED: 
00017             m.offsetCalc();
00018             m.pid_reset();
00019             m.sensor_reset();
00020             break;
00021         case FORWARD:
00022             if ( m.forward_wall_detected() )
00023             {
00024                 m.mouse_state = STOPPED;
00025                 m.turn_direction = LEFT;
00026                 return;
00027             }
00028             m.run_pid();
00029             // TODO we need to start saving walls and stuff.
00030             break;
00031         default: 
00032             // don't do anything. 
00033             break;
00034     }
00035 }
00036    
00037 void setup()
00038 {    
00039     Mouse m;
00040 
00041     Systicker.attach_us(&systick, 1000);
00042     wait(2);
00043 }
00044 
00045 int main() {
00046     setup();
00047     while(1) {
00048         switch (m.mouse_state)
00049         {
00050         case STOPPED:
00051             m.stop();
00052             wait(1);
00053             if ( m.turn_direction == INVALID )
00054             {
00055                 m.mouse_state = FORWARD;
00056             }
00057             else
00058             {
00059                 m.mouse_state = TURNING;
00060             }
00061             break;
00062         case FORWARD:
00063 //            left_forward = left_speed / left_max_speed;
00064 //            left_reverse = 0;
00065 //            right_forward = right_speed / right_max_speed;
00066 //            right_reverse = 0;
00067             break;
00068         case TURNING:
00069             m.turn();
00070             m.mouse_state = STOPPED;
00071             m.turn_direction = INVALID;
00072             break;
00073         case MOVECELL:
00074             m.move_cell();
00075             m.mouse_state = STOPPED;
00076             break;
00077         default: 
00078             // idk lmao. show some error message?
00079             break;
00080         }
00081     }
00082 }