First release
Dependencies: CreaBotLib LED_WS2812 MotorLib X_NUCLEO_6180XA1 mbed
main.cpp@0:1f59690eebe2, 2018-09-19 (annotated)
- Committer:
- alcocerg
- Date:
- Wed Sep 19 14:20:26 2018 +0000
- Revision:
- 0:1f59690eebe2
- Child:
- 1:3589e8f6e99c
First release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alcocerg | 0:1f59690eebe2 | 1 | /* |
alcocerg | 0:1f59690eebe2 | 2 | * OvniBot |
alcocerg | 0:1f59690eebe2 | 3 | * |
alcocerg | 0:1f59690eebe2 | 4 | */ |
alcocerg | 0:1f59690eebe2 | 5 | |
alcocerg | 0:1f59690eebe2 | 6 | #include "XNucleo6180XA1.h" |
alcocerg | 0:1f59690eebe2 | 7 | #undef printf |
alcocerg | 0:1f59690eebe2 | 8 | #include "Crealab.h" |
alcocerg | 0:1f59690eebe2 | 9 | |
alcocerg | 0:1f59690eebe2 | 10 | Serial bt_uart(PA_9, PA_10); // PA9 = Tx, PA10 = Rx |
alcocerg | 0:1f59690eebe2 | 11 | Serial pc_uart(USBTX, USBRX); // USBTX = PA2, USBRX = PA3 |
alcocerg | 0:1f59690eebe2 | 12 | |
alcocerg | 0:1f59690eebe2 | 13 | // ---------------- PIN DEFINITIONS --------------------- |
alcocerg | 0:1f59690eebe2 | 14 | InterruptIn buttonBox(PC_13); |
alcocerg | 0:1f59690eebe2 | 15 | Motor motorRG(PB_13, PB_14, PB_15, PB_1); |
alcocerg | 0:1f59690eebe2 | 16 | Motor motorRD(PA_0, PA_1, PA_4, PB_0); |
alcocerg | 0:1f59690eebe2 | 17 | |
alcocerg | 0:1f59690eebe2 | 18 | // insert the motors and indicate wheel diameter and distance between wheels |
alcocerg | 0:1f59690eebe2 | 19 | Creabot mybot(&motorRG, &motorRD, 9.0f,13.2f); // proto CréaLab |
alcocerg | 0:1f59690eebe2 | 20 | |
alcocerg | 0:1f59690eebe2 | 21 | // PIN & number of LEDS. Available color ==> BLUE, ORANGE, RED, GREEN, BLACK, WHITE, PURPLE, PINK, YELLOW |
alcocerg | 0:1f59690eebe2 | 22 | LED_WS2812 ledBand(PB_3,4); |
alcocerg | 0:1f59690eebe2 | 23 | |
alcocerg | 0:1f59690eebe2 | 24 | bool receivedCOMMAND; |
alcocerg | 0:1f59690eebe2 | 25 | char commandRECEIVED; |
alcocerg | 0:1f59690eebe2 | 26 | int parameterRECEIVED; |
alcocerg | 0:1f59690eebe2 | 27 | int state; |
alcocerg | 0:1f59690eebe2 | 28 | char commandLine[256]; |
alcocerg | 0:1f59690eebe2 | 29 | int commandPosition; |
alcocerg | 0:1f59690eebe2 | 30 | uint32_t dist; |
alcocerg | 0:1f59690eebe2 | 31 | |
alcocerg | 0:1f59690eebe2 | 32 | // ----------- PIN Definitions 6180 ------------- |
alcocerg | 0:1f59690eebe2 | 33 | #define VL6180X_I2C_SDA D14 |
alcocerg | 0:1f59690eebe2 | 34 | #define VL6180X_I2C_SCL D15 |
alcocerg | 0:1f59690eebe2 | 35 | static XNucleo6180XA1 *board = NULL; |
alcocerg | 0:1f59690eebe2 | 36 | // penser à modifier dans vl6180x_platform.h -> commenter la ligne // #define MY_LOG 1 |
alcocerg | 0:1f59690eebe2 | 37 | |
alcocerg | 0:1f59690eebe2 | 38 | void help() // Display list of Commands |
alcocerg | 0:1f59690eebe2 | 39 | { |
alcocerg | 0:1f59690eebe2 | 40 | DEBUG("List of commands:\n\r"); |
alcocerg | 0:1f59690eebe2 | 41 | DEBUG(" h --> Help, display list of commands\n\r"); |
alcocerg | 0:1f59690eebe2 | 42 | } |
alcocerg | 0:1f59690eebe2 | 43 | |
alcocerg | 0:1f59690eebe2 | 44 | void callback() { |
alcocerg | 0:1f59690eebe2 | 45 | switch(state){ |
alcocerg | 0:1f59690eebe2 | 46 | case 0: |
alcocerg | 0:1f59690eebe2 | 47 | break; |
alcocerg | 0:1f59690eebe2 | 48 | case 1: |
alcocerg | 0:1f59690eebe2 | 49 | break; |
alcocerg | 0:1f59690eebe2 | 50 | case 2: |
alcocerg | 0:1f59690eebe2 | 51 | break; |
alcocerg | 0:1f59690eebe2 | 52 | case 3: |
alcocerg | 0:1f59690eebe2 | 53 | break; |
alcocerg | 0:1f59690eebe2 | 54 | default: |
alcocerg | 0:1f59690eebe2 | 55 | } |
alcocerg | 0:1f59690eebe2 | 56 | state=state+1; |
alcocerg | 0:1f59690eebe2 | 57 | } |
alcocerg | 0:1f59690eebe2 | 58 | |
alcocerg | 0:1f59690eebe2 | 59 | void detect(int parameter) |
alcocerg | 0:1f59690eebe2 | 60 | { |
alcocerg | 0:1f59690eebe2 | 61 | mybot.move(FORWARD,300); |
alcocerg | 0:1f59690eebe2 | 62 | dist=250; |
alcocerg | 0:1f59690eebe2 | 63 | while (dist>parameter) |
alcocerg | 0:1f59690eebe2 | 64 | {wait (0.2); |
alcocerg | 0:1f59690eebe2 | 65 | board->sensor_bottom->get_distance(&dist) ; } |
alcocerg | 0:1f59690eebe2 | 66 | // DEBUG ("Distance: %d \n\r", dist); |
alcocerg | 0:1f59690eebe2 | 67 | mybot.stopMove(); |
alcocerg | 0:1f59690eebe2 | 68 | } |
alcocerg | 0:1f59690eebe2 | 69 | |
alcocerg | 0:1f59690eebe2 | 70 | void routine1() |
alcocerg | 0:1f59690eebe2 | 71 | { |
alcocerg | 0:1f59690eebe2 | 72 | DEBUG("routine1\n\r"); |
alcocerg | 0:1f59690eebe2 | 73 | wait(1); |
alcocerg | 0:1f59690eebe2 | 74 | ledBand.SetColor(WHITE,0) ; |
alcocerg | 0:1f59690eebe2 | 75 | ledBand.SetColor(RED,1) ; |
alcocerg | 0:1f59690eebe2 | 76 | ledBand.SetColor(BLUE,2) ; |
alcocerg | 0:1f59690eebe2 | 77 | ledBand.SetColor(GREEN,3) ; |
alcocerg | 0:1f59690eebe2 | 78 | ledBand.StartRotation(1.0) ; |
alcocerg | 0:1f59690eebe2 | 79 | mybot.move(FORWARD,200); |
alcocerg | 0:1f59690eebe2 | 80 | state=0; |
alcocerg | 0:1f59690eebe2 | 81 | /* mybot.move(FORWARD,9); |
alcocerg | 0:1f59690eebe2 | 82 | dist=200; |
alcocerg | 0:1f59690eebe2 | 83 | while (dist>120) |
alcocerg | 0:1f59690eebe2 | 84 | {wait (0.3); |
alcocerg | 0:1f59690eebe2 | 85 | board->sensor_bottom->get_distance(&dist) ; } |
alcocerg | 0:1f59690eebe2 | 86 | DEBUG ("Distance: %d \n\r", dist); |
alcocerg | 0:1f59690eebe2 | 87 | mybot.stopMove(); */ |
alcocerg | 0:1f59690eebe2 | 88 | } |
alcocerg | 0:1f59690eebe2 | 89 | |
alcocerg | 0:1f59690eebe2 | 90 | void routine2() |
alcocerg | 0:1f59690eebe2 | 91 | { |
alcocerg | 0:1f59690eebe2 | 92 | DEBUG("routine2\n\r"); |
alcocerg | 0:1f59690eebe2 | 93 | wait(1); |
alcocerg | 0:1f59690eebe2 | 94 | ledBand.SetColor(WHITE,0) ; |
alcocerg | 0:1f59690eebe2 | 95 | ledBand.SetColor(RED,1) ; |
alcocerg | 0:1f59690eebe2 | 96 | ledBand.SetColor(BLUE,2) ; |
alcocerg | 0:1f59690eebe2 | 97 | ledBand.SetColor(GREEN,3) ; |
alcocerg | 0:1f59690eebe2 | 98 | ledBand.StartRotation(0.6) ; |
alcocerg | 0:1f59690eebe2 | 99 | mybot.move(BACKWARD,200); |
alcocerg | 0:1f59690eebe2 | 100 | state=0; |
alcocerg | 0:1f59690eebe2 | 101 | /* mybot.move(FORWARD,9); |
alcocerg | 0:1f59690eebe2 | 102 | dist=200; |
alcocerg | 0:1f59690eebe2 | 103 | while (dist>120) |
alcocerg | 0:1f59690eebe2 | 104 | {wait (0.3); |
alcocerg | 0:1f59690eebe2 | 105 | board->sensor_bottom->get_distance(&dist) ; } |
alcocerg | 0:1f59690eebe2 | 106 | DEBUG ("Distance: %d \n\r", dist); |
alcocerg | 0:1f59690eebe2 | 107 | mybot.stopMove(); */ |
alcocerg | 0:1f59690eebe2 | 108 | } |
alcocerg | 0:1f59690eebe2 | 109 | |
alcocerg | 0:1f59690eebe2 | 110 | void routines() |
alcocerg | 0:1f59690eebe2 | 111 | { |
alcocerg | 0:1f59690eebe2 | 112 | DEBUG("routines\n\r"); |
alcocerg | 0:1f59690eebe2 | 113 | wait(1); |
alcocerg | 0:1f59690eebe2 | 114 | ledBand.StopRotation(); |
alcocerg | 0:1f59690eebe2 | 115 | ledBand.StopBlink() ; |
alcocerg | 0:1f59690eebe2 | 116 | ledBand.SetColor(BLACK,0) ; |
alcocerg | 0:1f59690eebe2 | 117 | ledBand.SetColor(BLACK,1) ; |
alcocerg | 0:1f59690eebe2 | 118 | ledBand.SetColor(BLACK,2) ; |
alcocerg | 0:1f59690eebe2 | 119 | ledBand.SetColor(BLACK,3) ; |
alcocerg | 0:1f59690eebe2 | 120 | mybot.stopMove(); |
alcocerg | 0:1f59690eebe2 | 121 | state=0; |
alcocerg | 0:1f59690eebe2 | 122 | } |
alcocerg | 0:1f59690eebe2 | 123 | |
alcocerg | 0:1f59690eebe2 | 124 | |
alcocerg | 0:1f59690eebe2 | 125 | void executeCommand(char c) { |
alcocerg | 0:1f59690eebe2 | 126 | bool flaghelp = false; |
alcocerg | 0:1f59690eebe2 | 127 | switch (c) { |
alcocerg | 0:1f59690eebe2 | 128 | case 'h': |
alcocerg | 0:1f59690eebe2 | 129 | help(); |
alcocerg | 0:1f59690eebe2 | 130 | state=0; |
alcocerg | 0:1f59690eebe2 | 131 | flaghelp=true; |
alcocerg | 0:1f59690eebe2 | 132 | CASE('l', "lance la routine 1", routine1(); ) |
alcocerg | 0:1f59690eebe2 | 133 | CASE('m', "lance la routine 2", routine2(); ) |
alcocerg | 0:1f59690eebe2 | 134 | CASE('s', "stoppe les routines", routines(); ) |
alcocerg | 0:1f59690eebe2 | 135 | |
alcocerg | 0:1f59690eebe2 | 136 | default : |
alcocerg | 0:1f59690eebe2 | 137 | DEBUG("invalid command; use: 'h' for help()\n\r"); |
alcocerg | 0:1f59690eebe2 | 138 | state=0; |
alcocerg | 0:1f59690eebe2 | 139 | }} |
alcocerg | 0:1f59690eebe2 | 140 | |
alcocerg | 0:1f59690eebe2 | 141 | void analyseCommand(char *command) { |
alcocerg | 0:1f59690eebe2 | 142 | switch(command[0]) { |
alcocerg | 0:1f59690eebe2 | 143 | case 'l': |
alcocerg | 0:1f59690eebe2 | 144 | commandRECEIVED = 'l'; |
alcocerg | 0:1f59690eebe2 | 145 | break; |
alcocerg | 0:1f59690eebe2 | 146 | case 's': |
alcocerg | 0:1f59690eebe2 | 147 | commandRECEIVED = 's'; |
alcocerg | 0:1f59690eebe2 | 148 | break; |
alcocerg | 0:1f59690eebe2 | 149 | case 'm': |
alcocerg | 0:1f59690eebe2 | 150 | commandRECEIVED = 'm'; |
alcocerg | 0:1f59690eebe2 | 151 | break; |
alcocerg | 0:1f59690eebe2 | 152 | |
alcocerg | 0:1f59690eebe2 | 153 | default: |
alcocerg | 0:1f59690eebe2 | 154 | commandRECEIVED = 'h'; |
alcocerg | 0:1f59690eebe2 | 155 | } } |
alcocerg | 0:1f59690eebe2 | 156 | |
alcocerg | 0:1f59690eebe2 | 157 | void checkCommand(int result, char *command) { |
alcocerg | 0:1f59690eebe2 | 158 | if(result==1) { |
alcocerg | 0:1f59690eebe2 | 159 | analyseCommand(command); |
alcocerg | 0:1f59690eebe2 | 160 | // DEBUG("ANALYZED COMMAND %c %d state=%d\n\r",commandRECEIVED,state); |
alcocerg | 0:1f59690eebe2 | 161 | receivedCOMMAND = true; |
alcocerg | 0:1f59690eebe2 | 162 | } } |
alcocerg | 0:1f59690eebe2 | 163 | |
alcocerg | 0:1f59690eebe2 | 164 | void split(char *line, int length) { |
alcocerg | 0:1f59690eebe2 | 165 | char command[256]; |
alcocerg | 0:1f59690eebe2 | 166 | int parameter=0; |
alcocerg | 0:1f59690eebe2 | 167 | int result = 1; |
alcocerg | 0:1f59690eebe2 | 168 | int i=0; |
alcocerg | 0:1f59690eebe2 | 169 | int j=0; |
alcocerg | 0:1f59690eebe2 | 170 | while(i<length && line[i]==' ') { |
alcocerg | 0:1f59690eebe2 | 171 | i++;} |
alcocerg | 0:1f59690eebe2 | 172 | while(i<length && line[i]!=' ') { |
alcocerg | 0:1f59690eebe2 | 173 | command[j]=line[i]; |
alcocerg | 0:1f59690eebe2 | 174 | i++; |
alcocerg | 0:1f59690eebe2 | 175 | j++;} |
alcocerg | 0:1f59690eebe2 | 176 | command[j]=0; |
alcocerg | 0:1f59690eebe2 | 177 | i++; |
alcocerg | 0:1f59690eebe2 | 178 | j=0; |
alcocerg | 0:1f59690eebe2 | 179 | while(i<length && line[i]!=' ' && line[i]>='0' && line[i]<='9') { |
alcocerg | 0:1f59690eebe2 | 180 | i++; |
alcocerg | 0:1f59690eebe2 | 181 | j++;} |
alcocerg | 0:1f59690eebe2 | 182 | if(j>0) { |
alcocerg | 0:1f59690eebe2 | 183 | result++; |
alcocerg | 0:1f59690eebe2 | 184 | i--; |
alcocerg | 0:1f59690eebe2 | 185 | int k=1; |
alcocerg | 0:1f59690eebe2 | 186 | while(j>0) { |
alcocerg | 0:1f59690eebe2 | 187 | parameter += (line[i]-'0')*k; |
alcocerg | 0:1f59690eebe2 | 188 | j--; |
alcocerg | 0:1f59690eebe2 | 189 | i--; |
alcocerg | 0:1f59690eebe2 | 190 | k=k*10;} |
alcocerg | 0:1f59690eebe2 | 191 | } |
alcocerg | 0:1f59690eebe2 | 192 | checkCommand(result, command); |
alcocerg | 0:1f59690eebe2 | 193 | } |
alcocerg | 0:1f59690eebe2 | 194 | |
alcocerg | 0:1f59690eebe2 | 195 | void storeC(char c) { |
alcocerg | 0:1f59690eebe2 | 196 | if(c==10 || c==13|| commandPosition >= 255) { |
alcocerg | 0:1f59690eebe2 | 197 | split(commandLine, commandPosition); |
alcocerg | 0:1f59690eebe2 | 198 | commandPosition=0;} |
alcocerg | 0:1f59690eebe2 | 199 | else { |
alcocerg | 0:1f59690eebe2 | 200 | commandLine[commandPosition++]=c; |
alcocerg | 0:1f59690eebe2 | 201 | commandLine[commandPosition]=0;} |
alcocerg | 0:1f59690eebe2 | 202 | } |
alcocerg | 0:1f59690eebe2 | 203 | |
alcocerg | 0:1f59690eebe2 | 204 | /*void getBT() { |
alcocerg | 0:1f59690eebe2 | 205 | char c = bt_uart.getc(); |
alcocerg | 0:1f59690eebe2 | 206 | storeC(c); |
alcocerg | 0:1f59690eebe2 | 207 | }*/ |
alcocerg | 0:1f59690eebe2 | 208 | |
alcocerg | 0:1f59690eebe2 | 209 | void getPC() { |
alcocerg | 0:1f59690eebe2 | 210 | char c = pc_uart.getc(); |
alcocerg | 0:1f59690eebe2 | 211 | storeC(c); |
alcocerg | 0:1f59690eebe2 | 212 | } |
alcocerg | 0:1f59690eebe2 | 213 | |
alcocerg | 0:1f59690eebe2 | 214 | /* Stop all processes */ |
alcocerg | 0:1f59690eebe2 | 215 | void stop_all() |
alcocerg | 0:1f59690eebe2 | 216 | { |
alcocerg | 0:1f59690eebe2 | 217 | mybot.stopMove(); |
alcocerg | 0:1f59690eebe2 | 218 | } |
alcocerg | 0:1f59690eebe2 | 219 | |
alcocerg | 0:1f59690eebe2 | 220 | /* Interrupt routine, switch of end of course */ |
alcocerg | 0:1f59690eebe2 | 221 | void clicked() |
alcocerg | 0:1f59690eebe2 | 222 | { |
alcocerg | 0:1f59690eebe2 | 223 | // DEBUG("Labyrinthe\n\r"); |
alcocerg | 0:1f59690eebe2 | 224 | commandRECEIVED = 'l'; |
alcocerg | 0:1f59690eebe2 | 225 | receivedCOMMAND = true; |
alcocerg | 0:1f59690eebe2 | 226 | } |
alcocerg | 0:1f59690eebe2 | 227 | |
alcocerg | 0:1f59690eebe2 | 228 | void endOfMove(int status) { |
alcocerg | 0:1f59690eebe2 | 229 | DEBUG("ENDOFMOVE\n\r"); |
alcocerg | 0:1f59690eebe2 | 230 | state=0; |
alcocerg | 0:1f59690eebe2 | 231 | } |
alcocerg | 0:1f59690eebe2 | 232 | |
alcocerg | 0:1f59690eebe2 | 233 | /* Main Routine */ |
alcocerg | 0:1f59690eebe2 | 234 | int main() |
alcocerg | 0:1f59690eebe2 | 235 | { |
alcocerg | 0:1f59690eebe2 | 236 | wait(1); |
alcocerg | 0:1f59690eebe2 | 237 | |
alcocerg | 0:1f59690eebe2 | 238 | /* Connect EoC button */ |
alcocerg | 0:1f59690eebe2 | 239 | CATCH_BUTTON(buttonBox,clicked); |
alcocerg | 0:1f59690eebe2 | 240 | |
alcocerg | 0:1f59690eebe2 | 241 | /* Init 6180 X-Nucleo */ |
alcocerg | 0:1f59690eebe2 | 242 | int status; |
alcocerg | 0:1f59690eebe2 | 243 | DevI2C *device_i2c = new DevI2C(VL6180X_I2C_SDA, VL6180X_I2C_SCL); |
alcocerg | 0:1f59690eebe2 | 244 | board = XNucleo6180XA1::instance(device_i2c, A5, A4, D13, D4); |
alcocerg | 0:1f59690eebe2 | 245 | status = board->init_board(); |
alcocerg | 0:1f59690eebe2 | 246 | if (status) {DEBUG("Failed to init board!\n\r"); } |
alcocerg | 0:1f59690eebe2 | 247 | |
alcocerg | 0:1f59690eebe2 | 248 | commandPosition=0; |
alcocerg | 0:1f59690eebe2 | 249 | // bt_uart.attach(getBT); |
alcocerg | 0:1f59690eebe2 | 250 | pc_uart.attach(getPC); |
alcocerg | 0:1f59690eebe2 | 251 | mybot.setCallBack(endOfMove); |
alcocerg | 0:1f59690eebe2 | 252 | mybot.setSpeed(5); // max 8 cm.s, average 5 cm.s |
alcocerg | 0:1f59690eebe2 | 253 | ledBand.SetColor(BLACK); |
alcocerg | 0:1f59690eebe2 | 254 | state=0; |
alcocerg | 0:1f59690eebe2 | 255 | receivedCOMMAND = false; |
alcocerg | 0:1f59690eebe2 | 256 | DEBUG("OvniBot\n\r"); |
alcocerg | 0:1f59690eebe2 | 257 | while(1) { |
alcocerg | 0:1f59690eebe2 | 258 | if(state==0 && receivedCOMMAND) { |
alcocerg | 0:1f59690eebe2 | 259 | receivedCOMMAND = false; |
alcocerg | 0:1f59690eebe2 | 260 | state=1; |
alcocerg | 0:1f59690eebe2 | 261 | executeCommand(commandRECEIVED); |
alcocerg | 0:1f59690eebe2 | 262 | } |
alcocerg | 0:1f59690eebe2 | 263 | wait (0.3); |
alcocerg | 0:1f59690eebe2 | 264 | board->sensor_bottom->get_distance(&dist) ; |
alcocerg | 0:1f59690eebe2 | 265 | DEBUG ("Distance bottom: %d \n\r", dist); |
alcocerg | 0:1f59690eebe2 | 266 | if (dist<100) { |
alcocerg | 0:1f59690eebe2 | 267 | commandRECEIVED = 'l'; |
alcocerg | 0:1f59690eebe2 | 268 | executeCommand(commandRECEIVED);} |
alcocerg | 0:1f59690eebe2 | 269 | wait (0.3); |
alcocerg | 0:1f59690eebe2 | 270 | board->sensor_top->get_distance(&dist) ; |
alcocerg | 0:1f59690eebe2 | 271 | DEBUG ("Distance top: %d \n\r", dist); |
alcocerg | 0:1f59690eebe2 | 272 | if (dist<100) { |
alcocerg | 0:1f59690eebe2 | 273 | commandRECEIVED = 's'; |
alcocerg | 0:1f59690eebe2 | 274 | executeCommand(commandRECEIVED);} |
alcocerg | 0:1f59690eebe2 | 275 | wait(0.1); |
alcocerg | 0:1f59690eebe2 | 276 | } } |