Diff: main.cpp

Revision:

4:8588557fbd75

Parent:

3:293a771fc470

--- a/main.cpp	Mon Apr 19 20:28:11 2021 +0000
+++ b/main.cpp	Mon Apr 26 20:52:21 2021 +0000
@@ -7,25 +7,57 @@
 // ...
 // 9 - end race
 
+/*
+
+    Color Coding
+
+Finish Line:
+    red     +
+    black   -
+    yellow  mbed out (rbg ctrl)
+    red     rbgRed
+    blue    pwm (audio)
+    white   echo
+    orange  trigger
+
+Checkpoint 1-2
+    red     +
+    black   -
+    white   echo
+    orange  trigger
+    yellow  led ctrl
+
+*/
+
+// Includes
 #include "mbed.h"
 #include "ultrasonic.h"
 #include "rtos.h"
+#include "SevenSegmentSerial.h"
 
+// Threads
 Thread      thread1;
 Thread      thread2;
+// PC Serial
 Serial      pc(USBTX,USBRX);
+//LED Ctrls (1 per CP)
 DigitalOut  led0(p5);
 DigitalOut  led1(p6);
 DigitalOut  led2(p7);
-PwmOut      speaker(p25);
-DigitalOut  rgbRed(p23);
-DigitalOut  rgbGreen(p24);
+// Finish Line RGB Ctrl
 DigitalOut  rgbCtrl1(p8);
 DigitalOut  rgbCtrl2(p9);
 DigitalOut  rgbCtrl3(p10);
+// Finish Line RGB Colors
+DigitalOut  rgbRed(p23);
+DigitalOut  rgbGreen(p24);
+PwmOut      speaker(p25);
+// Seven Segment Display
+SevenSegmentSerial ssd(UART_MODE, p28);
 
+// Globals
 int width[3];          //width of each checkpoint, mm
-int sensitivity = 5;   //sensitivity, adjust with testing, mm
+int sensitivity[3];   //sensitivity, adjust with testing, mm
 int total_laps = 3;
 int current_lap = 0;
 int B4Note = 500;
@@ -33,7 +65,6 @@
 int i = 500;
 bool early_start = 0;
 bool start_done = 0;
-
 int setup[3] = {1,1,1};
 
 //state machine, tracks current position in track
@@ -44,32 +75,40 @@
 void start_race()
 {
     // 3
-    rgbRed = 1;
+    ssd.setDigit(3,0);
     speaker.period(1.0/B4Note);
     speaker =0.5;
+    rgbRed = 1;
     rgbCtrl1 = 1;
     Thread::wait(500);
     speaker = 0;
     Thread::wait(500);
+
     // 2
+    ssd.setDigit(2,1);
+    ssd = 2;
     speaker =0.5;
     rgbCtrl2 = 1;
     Thread::wait(500);
     speaker = 0;
     Thread::wait(500);
+
     // 1
+    ssd.setDigit(1,2);
     speaker =0.5;
     rgbCtrl3 = 1;
     Thread::wait(500);
     speaker = 0;
     Thread::wait(500);
+
     // GO!
+    ssd.write("GOOO");
     rgbRed = 0;
     rgbGreen = 1;
     start_done = 1;
     speaker.period(1.0/E5Note);
     speaker =0.5;
-    Thread::wait(500);
+    Thread::wait(1000);
     speaker = 0;
     rgbCtrl1 = 0;
     rgbCtrl2 = 0;
@@ -93,9 +132,10 @@
         pc.printf("%d",distance);
         width[0] = distance;
         setup[0] = !setup[0];
+        sensitivity[0] = 0.1f*width[0];
     }
 
-    if (width[0] - distance >= sensitivity) {
+    if (width[0] - distance >= sensitivity[0]) {
         pc.printf("Past start line\n");
         led0 = 1;
         led1 = 0;
@@ -106,6 +146,7 @@
         pc.putc('0');
         thread1.start(&play_audio);
     }
+    
 }
 
 //executed when passing checkpoint 1
@@ -116,10 +157,11 @@
         pc.printf("%d",distance);
         width[1] = distance;
         setup[1] = !setup[1];
+        sensitivity[1] = 0.1f*width[1];
     }
 
     pc.printf("Past Checkpoint 1\n");
-    if (width[1] - distance >= sensitivity) {
+    if (width[1] - distance >= sensitivity[1]) {
         led1 = 1;
         track_state = past_cp1;
         pc.putc('1');
@@ -134,32 +176,39 @@
         pc.printf("%d",distance);
         width[2] = distance;
         setup[2] = !setup[2];
+        sensitivity[2] = 0.1f*width[2];
     }
 
     pc.printf("Past Checkpoint 2\n");
-    if (width[2] - distance >= sensitivity) {
+    if (width[2] - distance >= sensitivity[2]) {
         led2 = 1;
         track_state = past_cp2;
         pc.putc('2');
     }
 }
-
+// Sonars (19-20 CANNOT be set for sonar, they don't allow for interrupts)
 ultrasonic  sonar0(p15,p16,0.1,0.1,&start_line);      //starting line
 ultrasonic  sonar1(p17,p18,0.1,0.1,&checkpoint1);     //checkpoint 1
 ultrasonic  sonar2(p21,p22,0.1,0.1,&checkpoint2);     //checkpoint 2
 
 int main()
 {
+    // Reset
+    ssd.clear();
+
+    // Settings
+    ssd.setBrightness(100);
+
+    // Start Sonars
     sonar0.startUpdates();
     sonar1.startUpdates();
     sonar2.startUpdates();
-
     sonar0.checkDistance();
     sonar1.checkDistance();
     sonar2.checkDistance();
 
+    // Start Race Lights + Sound
     thread2.start(&start_race);
-
     while(!start_done) {
         if (current_lap) {
             // Flash everything red. Play bad sounds.
@@ -167,6 +216,7 @@
         Thread::wait(50);
     }
 
+    // Race Checkpoint Tracking
     while(1) {
         switch (track_state) {
             case start:
@@ -184,6 +234,10 @@
         }
         if (current_lap > total_laps) {
             pc.putc('9');
+            speaker.period(1.0/E5Note); // 500hz period
+            speaker =0.5; //50% duty cycle - max volume
+            Thread::wait(1000);
+            speaker=0.0; // turn off audio
             while(1) {
                 pc.printf("Race Over");
                 Thread::wait(50);