Diff: Main.cpp

Revision:

0:d698f15ceaf1

Child:

1:9c5af431a1f1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp	Mon Mar 12 08:07:29 2018 +0000
@@ -0,0 +1,125 @@
+/*
+ * Main.cpp
+ * Copyright (c) 2017, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 06.10.2017
+ *      Author: Marcel Honegger
+ */
+
+#include <cstdlib>
+#include <mbed.h>
+#include "IRSensor.h"
+#include "Controller.h"
+#include "StateMachine.h"
+#include "SerialServer.h"
+
+using namespace std;
+
+class Main {
+    
+    public:
+        
+                    Main();
+        virtual     ~Main();
+        
+    private:
+        
+        static const uint32_t   STACK_SIZE = 8192;  // stack size of thread, given in [bytes]
+        
+        Thread      thread;
+        void        run();
+};
+
+Main::Main() : thread(osPriorityNormal, STACK_SIZE) {
+    
+    thread.start(callback(this, &Main::run));
+}
+
+Main::~Main() {}
+
+void Main::run() {
+    
+    // create miscellaneous periphery objects
+    
+    DigitalOut led(LED1);
+    DigitalIn button(USER_BUTTON);
+    
+    DigitalOut led0(PB_1);
+    DigitalOut led1(PC_3);
+    DigitalOut led2(PD_2);
+    
+    // create motor control objects
+    
+    DigitalOut enableMotorDriver0(PB_5);
+    DigitalIn motor0Error(PA_13);
+    PwmOut pwm0(PB_8);
+    AnalogIn motor0Current(PA_0);
+    
+    DigitalOut enableMotorDriver1(PB_4);
+    DigitalIn motor1Error(PA_14);
+    PwmOut pwm1(PB_9);
+    AnalogIn motor1Current(PA_1);
+    
+    DigitalOut enableMotorDriver2(PB_3);
+    DigitalIn motor2Error(PA_15);
+    PwmOut pwm2(PB_6);
+    AnalogIn motor2Current(PA_4);
+    
+    // create distance sensor objects
+    
+    AnalogIn distance0(PC_0);
+    AnalogIn distance1(PC_1);
+    AnalogIn distance2(PC_2);
+    
+    IRSensor irSensor0(distance0);
+    IRSensor irSensor1(distance1);
+    IRSensor irSensor2(distance2);
+    
+    // create robot controller objects
+    
+    Controller controller(pwm0, pwm1, pwm2);
+    StateMachine stateMachine(controller, enableMotorDriver0, enableMotorDriver1, enableMotorDriver2, led0, led1, led2, button, irSensor0, irSensor1, irSensor2);
+    
+    // create serial server object
+    
+    RawSerial serial(PA_11, PA_12);
+    serial.baud(38400);
+    serial.format(8, SerialBase::None, 1);
+    
+    DigitalOut reset(PB_12);
+    DigitalOut modes1(PB_0);
+    
+    modes1 = 0;
+    
+    reset = 1; Thread::wait(100);
+    reset = 0; Thread::wait(100);
+    reset = 1; Thread::wait(100);
+    
+    SerialServer serialServer(serial, stateMachine);
+    
+    // enter main loop
+    
+    while (true) {
+        
+        led = !led;
+        
+        if (stateMachine.getState() == StateMachine::STATE_MANUAL) {
+            Thread::wait(100);
+        } else if (stateMachine.getState() == StateMachine::STATE_AUTOMATIC) {
+            Thread::wait(200);
+        } else {
+            Thread::wait(500);
+        }
+    }
+}
+
+/**
+ * This is the main program of the ROME2RevG firmware.
+ */
+int32_t main() {
+    
+    Main main;
+    
+    Thread::wait(osWaitForever);
+}