ECE 4180 / Mbed 2 deprecated 4180_Project

Basic funcitonality

Dependencies:   mbed mbed-rtos SevenSegmentSerial HC_SR04_Ultrasonic_Library

main.cpp@5:99be83f824b8, 2021-04-27 (annotated)

Committer:
dtran76
Date:
Tue Apr 27 16:34:57 2021 +0000
Revision:
5:99be83f824b8
Parent:
3:293a771fc470
Child:
6:c8f14de0e3f4
Added stuff to false start, software reset code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dtran76 5:99be83f824b8 1 //******************************************************
dtran76 5:99be83f824b8 2 // Mbed to Raspberry Pi ** Raspberry Pi to Mbed *
dtran76 5:99be83f824b8 3 //******************************************************
dtran76 5:99be83f824b8 4 // 0 - pass starting line ** S - start race *
dtran76 5:99be83f824b8 5 // 1 - pass checkpoint 1 ** R - reset *
dtran76 5:99be83f824b8 6 // 2 - pass checkpoint 2 ** *
dtran76 5:99be83f824b8 7 // ... ** *
dtran76 5:99be83f824b8 8 // 9 - end race ** *
dtran76 5:99be83f824b8 9 //******************************************************
dtran76 0:0747159bf07d 10
dtran76 0:0747159bf07d 11 #include "mbed.h"
dtran76 0:0747159bf07d 12 #include "ultrasonic.h"
glanier9 1:28e137ae5af7 13 #include "rtos.h"
dtran76 0:0747159bf07d 14
glanier9 1:28e137ae5af7 15 Thread thread1;
glanier9 3:293a771fc470 16 Thread thread2;
dtran76 0:0747159bf07d 17 Serial pc(USBTX,USBRX);
dtran76 0:0747159bf07d 18 DigitalOut led0(p5);
dtran76 0:0747159bf07d 19 DigitalOut led1(p6);
dtran76 0:0747159bf07d 20 DigitalOut led2(p7);
glanier9 1:28e137ae5af7 21 PwmOut speaker(p25);
glanier9 3:293a771fc470 22 DigitalOut rgbRed(p23);
glanier9 3:293a771fc470 23 DigitalOut rgbGreen(p24);
glanier9 3:293a771fc470 24 DigitalOut rgbCtrl1(p8);
glanier9 3:293a771fc470 25 DigitalOut rgbCtrl2(p9);
glanier9 3:293a771fc470 26 DigitalOut rgbCtrl3(p10);
dtran76 0:0747159bf07d 27
dtran76 5:99be83f824b8 28 #define B4NOTE 500 //Hz
dtran76 5:99be83f824b8 29 #define E5NOTE 659 //Hz
dtran76 5:99be83f824b8 30
dtran76 5:99be83f824b8 31 int width[3]; //width of each checkpoint, mm
dtran76 5:99be83f824b8 32 int threshold[3]; //how much distance has to change, mm
dtran76 5:99be83f824b8 33 int sensitivity[3] = {0.05,0.05,0.05};
dtran76 0:0747159bf07d 34 int total_laps = 3;
dtran76 0:0747159bf07d 35 int current_lap = 0;
glanier9 1:28e137ae5af7 36 int i = 500;
dtran76 5:99be83f824b8 37
glanier9 3:293a771fc470 38 bool early_start = 0;
glanier9 3:293a771fc470 39 bool start_done = 0;
dtran76 0:0747159bf07d 40
dtran76 0:0747159bf07d 41 int setup[3] = {1,1,1};
dtran76 0:0747159bf07d 42
dtran76 0:0747159bf07d 43 //state machine, tracks current position in track
dtran76 0:0747159bf07d 44 enum state_type {start,past_start,past_cp1,past_cp2};
dtran76 0:0747159bf07d 45 state_type track_state = start;
dtran76 0:0747159bf07d 46
dtran76 5:99be83f824b8 47 //Mbed reset
dtran76 5:99be83f824b8 48 extern "C" void mbed_reset();
dtran76 5:99be83f824b8 49
dtran76 5:99be83f824b8 50 //Starting countdown
glanier9 3:293a771fc470 51 void start_race()
glanier9 3:293a771fc470 52 {
glanier9 3:293a771fc470 53 // 3
glanier9 3:293a771fc470 54 rgbRed = 1;
dtran76 5:99be83f824b8 55 speaker.period(1.0/B4NOTE);
glanier9 3:293a771fc470 56 speaker =0.5;
glanier9 3:293a771fc470 57 rgbCtrl1 = 1;
glanier9 3:293a771fc470 58 Thread::wait(500);
glanier9 3:293a771fc470 59 speaker = 0;
glanier9 3:293a771fc470 60 Thread::wait(500);
glanier9 3:293a771fc470 61 // 2
glanier9 3:293a771fc470 62 speaker =0.5;
glanier9 3:293a771fc470 63 rgbCtrl2 = 1;
glanier9 3:293a771fc470 64 Thread::wait(500);
glanier9 3:293a771fc470 65 speaker = 0;
glanier9 3:293a771fc470 66 Thread::wait(500);
glanier9 3:293a771fc470 67 // 1
glanier9 3:293a771fc470 68 speaker =0.5;
glanier9 3:293a771fc470 69 rgbCtrl3 = 1;
glanier9 3:293a771fc470 70 Thread::wait(500);
glanier9 3:293a771fc470 71 speaker = 0;
glanier9 3:293a771fc470 72 Thread::wait(500);
glanier9 3:293a771fc470 73 // GO!
glanier9 3:293a771fc470 74 rgbRed = 0;
glanier9 3:293a771fc470 75 rgbGreen = 1;
glanier9 3:293a771fc470 76 start_done = 1;
dtran76 5:99be83f824b8 77 speaker.period(1.0/E5NOTE);
glanier9 3:293a771fc470 78 speaker =0.5;
glanier9 3:293a771fc470 79 Thread::wait(500);
glanier9 3:293a771fc470 80 speaker = 0;
glanier9 3:293a771fc470 81 rgbCtrl1 = 0;
glanier9 3:293a771fc470 82 rgbCtrl2 = 0;
glanier9 3:293a771fc470 83 rgbCtrl3 = 0;
glanier9 3:293a771fc470 84 }
glanier9 3:293a771fc470 85
glanier9 2:8c29e1aaaff0 86 // Plays bleep for crossing finish line
glanier9 1:28e137ae5af7 87 void play_audio()
glanier9 1:28e137ae5af7 88 {
dtran76 5:99be83f824b8 89 speaker.period(1.0/B4NOTE); // 500hz period
glanier9 1:28e137ae5af7 90 speaker =0.5; //50% duty cycle - max volume
glanier9 2:8c29e1aaaff0 91 Thread::wait(150);
glanier9 1:28e137ae5af7 92 speaker=0.0; // turn off audio
glanier9 1:28e137ae5af7 93 }
glanier9 1:28e137ae5af7 94
dtran76 0:0747159bf07d 95 //executed when crossing starting line
dtran76 0:0747159bf07d 96 void start_line(int distance)
dtran76 0:0747159bf07d 97 {
dtran76 0:0747159bf07d 98 if (setup[0]) {
dtran76 0:0747159bf07d 99 width[0] = distance;
dtran76 5:99be83f824b8 100 threshold[0] = distance*sensitivity[0];
glanier9 1:28e137ae5af7 101 setup[0] = !setup[0];
dtran76 5:99be83f824b8 102 pc.printf("Setup: Starting Line\n");
dtran76 5:99be83f824b8 103 pc.printf("Distance: %3d\n\n",distance);
dtran76 0:0747159bf07d 104 }
glanier9 1:28e137ae5af7 105
dtran76 5:99be83f824b8 106 if (width[0] - distance >= threshold[0]) {
dtran76 5:99be83f824b8 107 pc.printf("Past starting line\n");
dtran76 0:0747159bf07d 108 led0 = 1;
dtran76 0:0747159bf07d 109 led1 = 0;
dtran76 0:0747159bf07d 110 led2 = 0;
dtran76 0:0747159bf07d 111 current_lap++;
dtran76 0:0747159bf07d 112 pc.printf("%d\n",current_lap);
dtran76 0:0747159bf07d 113 track_state = past_start;
dtran76 0:0747159bf07d 114 pc.putc('0');
glanier9 1:28e137ae5af7 115 thread1.start(&play_audio);
dtran76 0:0747159bf07d 116 }
dtran76 0:0747159bf07d 117 }
dtran76 0:0747159bf07d 118
dtran76 0:0747159bf07d 119 //executed when passing checkpoint 1
dtran76 0:0747159bf07d 120 void checkpoint1(int distance)
dtran76 0:0747159bf07d 121 {
dtran76 0:0747159bf07d 122 if (setup[1]) {
dtran76 0:0747159bf07d 123 width[1] = distance;
dtran76 5:99be83f824b8 124 threshold[1] = distance*sensitivity[1];
glanier9 1:28e137ae5af7 125 setup[1] = !setup[1];
dtran76 5:99be83f824b8 126 pc.printf("Setup: Starting Line\n");
dtran76 5:99be83f824b8 127 pc.printf("Distance: %3d\n\n",distance);
dtran76 0:0747159bf07d 128 }
glanier9 1:28e137ae5af7 129
dtran76 5:99be83f824b8 130 if (width[1] - distance >= threshold[1]) {
dtran76 5:99be83f824b8 131 pc.printf("Past Checkpoint 1\n");
dtran76 0:0747159bf07d 132 led1 = 1;
dtran76 0:0747159bf07d 133 track_state = past_cp1;
dtran76 0:0747159bf07d 134 pc.putc('1');
dtran76 0:0747159bf07d 135 }
dtran76 0:0747159bf07d 136 }
dtran76 0:0747159bf07d 137
dtran76 0:0747159bf07d 138 //executed when passing checkpoint 2
dtran76 0:0747159bf07d 139 void checkpoint2(int distance)
dtran76 0:0747159bf07d 140 {
dtran76 0:0747159bf07d 141 if (setup[2]) {
dtran76 0:0747159bf07d 142 width[2] = distance;
dtran76 5:99be83f824b8 143 threshold[2] = distance*sensitivity[2];
dtran76 5:99be83f824b8 144 setup[2] = !setup[1];
dtran76 5:99be83f824b8 145 pc.printf("Setup: Starting Line\n");
dtran76 5:99be83f824b8 146 pc.printf("Distance: %3d\n\n",distance);
dtran76 0:0747159bf07d 147 }
glanier9 1:28e137ae5af7 148
dtran76 0:0747159bf07d 149 pc.printf("Past Checkpoint 2\n");
dtran76 5:99be83f824b8 150 if (width[2] - distance >= threshold[2]) {
dtran76 0:0747159bf07d 151 led2 = 1;
dtran76 0:0747159bf07d 152 track_state = past_cp2;
dtran76 0:0747159bf07d 153 pc.putc('2');
dtran76 0:0747159bf07d 154 }
dtran76 0:0747159bf07d 155 }
dtran76 0:0747159bf07d 156
dtran76 0:0747159bf07d 157 ultrasonic sonar0(p15,p16,0.1,0.1,&start_line); //starting line
dtran76 0:0747159bf07d 158 ultrasonic sonar1(p17,p18,0.1,0.1,&checkpoint1); //checkpoint 1
dtran76 0:0747159bf07d 159 ultrasonic sonar2(p21,p22,0.1,0.1,&checkpoint2); //checkpoint 2
dtran76 0:0747159bf07d 160
glanier9 1:28e137ae5af7 161 int main()
dtran76 0:0747159bf07d 162 {
dtran76 5:99be83f824b8 163 //sonar initialization
dtran76 0:0747159bf07d 164 sonar0.startUpdates();
dtran76 0:0747159bf07d 165 sonar1.startUpdates();
dtran76 0:0747159bf07d 166 sonar2.startUpdates();
glanier9 1:28e137ae5af7 167
dtran76 5:99be83f824b8 168 //sonar calibration
dtran76 0:0747159bf07d 169 sonar0.checkDistance();
dtran76 0:0747159bf07d 170 sonar1.checkDistance();
dtran76 0:0747159bf07d 171 sonar2.checkDistance();
dtran76 0:0747159bf07d 172
dtran76 5:99be83f824b8 173 //wait for start char from Pi
dtran76 5:99be83f824b8 174 while (1) {
dtran76 5:99be83f824b8 175 if (pc.getc() == 'S') {
dtran76 5:99be83f824b8 176 break;
dtran76 5:99be83f824b8 177 }
dtran76 5:99be83f824b8 178 Thread::wait(50);
dtran76 5:99be83f824b8 179 }
dtran76 5:99be83f824b8 180
dtran76 5:99be83f824b8 181 //starting countdown
glanier9 3:293a771fc470 182 thread2.start(&start_race);
glanier9 3:293a771fc470 183
dtran76 5:99be83f824b8 184 //false start detect
glanier9 3:293a771fc470 185 while(!start_done) {
glanier9 3:293a771fc470 186 if (current_lap) {
dtran76 5:99be83f824b8 187 rgbCtrl1 = rgbCtrl2 = rgbCtrl3 = 0;
dtran76 5:99be83f824b8 188 rgbRed = 1;
dtran76 5:99be83f824b8 189 rgbGreen = 0;
dtran76 5:99be83f824b8 190 while (1) {
dtran76 5:99be83f824b8 191 rgbCtrl1 = !rgbCtrl1;
dtran76 5:99be83f824b8 192 rgbCtrl2 = !rgbCtrl2;
dtran76 5:99be83f824b8 193 rgbCtrl3 = !rgbCtrl3;
dtran76 5:99be83f824b8 194 if (pc.getc() == 'R') {
dtran76 5:99be83f824b8 195 mbed_reset();
dtran76 5:99be83f824b8 196 }
dtran76 5:99be83f824b8 197 Thread::wait(50);
dtran76 5:99be83f824b8 198 }
glanier9 3:293a771fc470 199 }
glanier9 3:293a771fc470 200 Thread::wait(50);
glanier9 3:293a771fc470 201 }
glanier9 3:293a771fc470 202
glanier9 1:28e137ae5af7 203 while(1) {
dtran76 0:0747159bf07d 204 switch (track_state) {
dtran76 0:0747159bf07d 205 case start:
dtran76 0:0747159bf07d 206 sonar0.checkDistance();
dtran76 0:0747159bf07d 207 break;
dtran76 0:0747159bf07d 208 case past_start:
dtran76 0:0747159bf07d 209 sonar1.checkDistance();
dtran76 0:0747159bf07d 210 break;
dtran76 0:0747159bf07d 211 case past_cp1:
dtran76 0:0747159bf07d 212 sonar2.checkDistance();
dtran76 0:0747159bf07d 213 break;
dtran76 0:0747159bf07d 214 case past_cp2:
dtran76 0:0747159bf07d 215 sonar0.checkDistance();
dtran76 0:0747159bf07d 216 break;
dtran76 0:0747159bf07d 217 }
dtran76 0:0747159bf07d 218 if (current_lap > total_laps) {
dtran76 0:0747159bf07d 219 pc.putc('9');
dtran76 5:99be83f824b8 220 pc.printf("Race Over");
dtran76 0:0747159bf07d 221 while(1) {
dtran76 5:99be83f824b8 222 if (pc.getc() == 'R') {
dtran76 5:99be83f824b8 223 mbed_reset();
dtran76 5:99be83f824b8 224 }
glanier9 3:293a771fc470 225 Thread::wait(50);
dtran76 0:0747159bf07d 226 }
dtran76 0:0747159bf07d 227 }
glanier9 3:293a771fc470 228 Thread::wait(50);
dtran76 0:0747159bf07d 229 }
dtran76 0:0747159bf07d 230 }