Diff: main.cpp

Revision:

0:e79700919e2e

Child:

1:f4e3365155e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 16 12:39:12 2015 +0000
@@ -0,0 +1,213 @@
+#include "mbed.h"
+
+#define wheelc 0.1759292
+#define pi 3.141592654
+#define degreel 0.021988888
+//Status LED
+DigitalOut led(LED1);
+
+//Motor PWM (speed)
+PwmOut PWMA(PA_8);
+PwmOut PWMB(PB_4);
+
+//Motor Direction
+DigitalOut DIRA(PA_9);
+DigitalOut DIRB(PB_10);
+
+//Hall-Effect Sensor Inputs
+InterruptIn HEA1(PB_2);
+DigitalIn HEA2(PB_1);
+InterruptIn HEB1(PB_15);
+DigitalIn HEB2(PB_14);
+
+//On board switch
+DigitalIn SW1(USER_BUTTON);
+
+//Use the serial object so we can use higher speeds
+Serial terminal(USBTX, USBRX);
+
+//Timer used for measuring speeds
+Timer timer;
+
+//Enumerated types
+enum DIRECTION   {FORWARD=0, REVERSE};
+enum PULSE           {NOPULSE=0, PULSE};
+enum SWITCHSTATE {PRESSED=0, RELEASED};
+
+//Debug GPIO
+DigitalOut probe(D10);
+
+//Duty cycles
+float dutyA = 1.000f; //100%
+float dutyB = 1.000f; //100%
+
+//distance measurement
+float distanceA ;
+float distanceB ;
+float speedA ;
+float speedB ;
+float pretimerA;
+float afttimerA;
+float pretimerB;
+float afttimerB;
+float wheel_spacing = 0.128;
+
+//Completed Loop
+int loop=0;
+
+int turn();
+void ResetDistanceTimeSpeed()
+{
+    distanceA=0;
+    distanceB=0;
+    speedA=0;
+    speedB=0;
+    pretimerA=0;
+    pretimerB=0;
+    afttimerA=0;
+    afttimerB=0;
+    timer.reset();
+    timer.start();
+}
+
+void stopmotors()
+{
+    PWMA.write(0.0f);       //0% duty cycle
+    PWMB.write(0.0f);       //0% duty cycle
+}
+
+int forward(float distance, float speed)
+{
+    //add forward to input with switch for scalability
+    // Set motor direction forward
+    DIRA = FORWARD;
+    DIRB = FORWARD;
+
+        //reset distance
+    ResetDistanceTimeSpeed();
+    
+    // Set motor speed to input speed
+    PWMA.write(0.1);          //Set duty cycle (%)
+    PWMB.write(0.1);          //Set duty cycle (%)
+
+
+    //wait for run to complete
+    while (((distanceA+distanceB)/2) < distance) {
+        
+            if (speedA<speed){
+                                   
+                    dutyA += (float)0.0051;
+          PWMA.write(dutyA);
+            }
+            if( speedA>speed){
+                dutyA -= (float)0.0051;
+        PWMA.write(dutyA);
+            }
+            
+            if (speedB<speed){
+                                   
+                    dutyB += (float)0.0051;
+          PWMB.write(dutyB);
+            }
+            if( speedB>speed){
+                dutyB -= (float)0.0051;
+        PWMB.write(dutyB);
+            }
+            
+    }
+        return 1;
+    }
+
+int turn(float degrees, float duty, int direction) // (Degrees of Turn, Speed, (Anti/Clock)wise)
+ 
+{
+    // Calculate Turn Distance
+    float distance=0;
+    distance=((float)degreel*degrees);
+    //Set Initial Motor Direction
+    DIRA = FORWARD;
+    DIRB = FORWARD;
+ 
+    // Test for Loop Completion to Enter Victory Spin
+    if(direction==REVERSE) {
+        DIRA = REVERSE;
+        DIRB = REVERSE;
+    }
+ 
+    // Set Motor Speed for Outside Wheel
+    PWMA.write(duty);          //Set duty cycle (%)
+    PWMB.write(0.0f);          //Set duty cycle (%)
+ 
+    // Reset Distance Travelled
+        ResetDistanceTimeSpeed();
+    // Wait for Turn to Complete
+    while (distanceA < distance) {
+    }
+    return 1;
+}
+
+    void set_distanceA() {
+        float time = 0;
+
+        afttimerA = timer.read();                      //set latest timer to equal timer
+        distanceA += (wheelc/6);                //set distance travelled for this instruction i.e forward/turn etc
+        time = afttimerA - pretimerA;             //work out time taken for last 6th of a rotation
+        speedA = (time)/6;              //distance/time = average speed for last 6th rotation
+        pretimerA = afttimerA;                  //update pretimer for next calculation of time
+                terminal.printf("speedA %f\n\r", speedA);
+    }
+
+    void set_distanceB() {
+        float time = 0;
+
+        afttimerB = timer.read();
+        distanceB += (wheelc/6);
+        time = afttimerB - pretimerB;
+        speedB = time/6;
+        pretimerB = afttimerB;
+            terminal.printf("speedB %f\n\r", speedB);
+    }
+
+
+    int main() {
+        //Configure the terminal to high speed
+        terminal.baud(115200);
+
+        HEA1.rise(set_distanceA);
+        HEB1.rise(set_distanceB);
+        //Set initial motor speed to stop
+        stopmotors();
+        PWMA.period_ms(10);
+        PWMB.period_ms(10);
+        while(1) {
+            //wait for switch press
+            while (SW1 == PRESSED) {
+                wait(0.01);
+                while(SW1 == RELEASED) {
+
+                    //navigate course
+                    for (int i = 0; i<2; i++) {
+                        forward(12,0.01);
+                        //terminal.printf("turn\n\r");
+                        turn(100,1,0);
+                        //terminal.printf("forward\n\r");
+                        forward(7,0.01);
+                        //terminal.printf("turn\n\r");
+                        turn(100,1,0);
+                    }
+
+                    stopmotors();
+
+                    wait(0.5);
+
+                    //victory spin
+                    turn(365,1,1);
+
+                    stopmotors();
+                                        break;
+                }
+            }
+        }
+                
+    }
+