Diff: main.cpp

Revision:

5:99be83f824b8

Parent:

3:293a771fc470

Child:

6:c8f14de0e3f4

--- a/main.cpp	Mon Apr 19 20:28:11 2021 +0000
+++ b/main.cpp	Tue Apr 27 16:34:57 2021 +0000
@@ -1,11 +1,12 @@
-//**************************
-// Mbed to Raspberry Pi
-//**************************
-// 0 - pass starting line
-// 1 - pass checkpoint 1
-// 2 - pass checkpoint 2
-// ...
-// 9 - end race
+//******************************************************
+// Mbed to Raspberry Pi     ** Raspberry Pi to Mbed    *
+//******************************************************
+// 0 - pass starting line   ** S - start race          *
+// 1 - pass checkpoint 1    ** R - reset               *
+// 2 - pass checkpoint 2    **                         *
+// ...                      **                         *
+// 9 - end race             **                         *
+//******************************************************
 
 #include "mbed.h"
 #include "ultrasonic.h"
@@ -24,13 +25,16 @@
 DigitalOut  rgbCtrl2(p9);
 DigitalOut  rgbCtrl3(p10);
 
-int width[3];          //width of each checkpoint, mm
-int sensitivity = 5;   //sensitivity, adjust with testing, mm
+#define     B4NOTE  500 //Hz
+#define     E5NOTE  659 //Hz
+
+int width[3];           //width of each checkpoint, mm
+int threshold[3];       //how much distance has to change, mm
+int sensitivity[3] = {0.05,0.05,0.05};
 int total_laps = 3;
 int current_lap = 0;
-int B4Note = 500;
-int E5Note = 659;
 int i = 500;
+
 bool early_start = 0;
 bool start_done = 0;
 
@@ -40,12 +44,15 @@
 enum state_type {start,past_start,past_cp1,past_cp2};
 state_type track_state = start;
 
-// Race start lights and sound
+//Mbed reset
+extern "C" void mbed_reset();
+
+//Starting countdown
 void start_race()
 {
     // 3
     rgbRed = 1;
-    speaker.period(1.0/B4Note);
+    speaker.period(1.0/B4NOTE);
     speaker =0.5;
     rgbCtrl1 = 1;
     Thread::wait(500);
@@ -67,7 +74,7 @@
     rgbRed = 0;
     rgbGreen = 1;
     start_done = 1;
-    speaker.period(1.0/E5Note);
+    speaker.period(1.0/E5NOTE);
     speaker =0.5;
     Thread::wait(500);
     speaker = 0;
@@ -79,7 +86,7 @@
 // Plays bleep for crossing finish line
 void play_audio()
 {
-    speaker.period(1.0/B4Note); // 500hz period
+    speaker.period(1.0/B4NOTE); // 500hz period
     speaker =0.5; //50% duty cycle - max volume
     Thread::wait(150);
     speaker=0.0; // turn off audio
@@ -89,14 +96,15 @@
 void start_line(int distance)
 {
     if (setup[0]) {
-        pc.printf("Setup\n");
-        pc.printf("%d",distance);
         width[0] = distance;
+        threshold[0] = distance*sensitivity[0];
         setup[0] = !setup[0];
+        pc.printf("Setup: Starting Line\n");
+        pc.printf("Distance: %3d\n\n",distance);
     }
 
-    if (width[0] - distance >= sensitivity) {
-        pc.printf("Past start line\n");
+    if (width[0] - distance >= threshold[0]) {
+        pc.printf("Past starting line\n");
         led0 = 1;
         led1 = 0;
         led2 = 0;
@@ -112,14 +120,15 @@
 void checkpoint1(int distance)
 {
     if (setup[1]) {
-        pc.printf("Setup\n");
-        pc.printf("%d",distance);
         width[1] = distance;
+        threshold[1] = distance*sensitivity[1];
         setup[1] = !setup[1];
+        pc.printf("Setup: Starting Line\n");
+        pc.printf("Distance: %3d\n\n",distance);
     }
 
-    pc.printf("Past Checkpoint 1\n");
-    if (width[1] - distance >= sensitivity) {
+    if (width[1] - distance >= threshold[1]) {
+        pc.printf("Past Checkpoint 1\n");
         led1 = 1;
         track_state = past_cp1;
         pc.putc('1');
@@ -130,14 +139,15 @@
 void checkpoint2(int distance)
 {
     if (setup[2]) {
-        pc.printf("Setup\n");
-        pc.printf("%d",distance);
         width[2] = distance;
-        setup[2] = !setup[2];
+        threshold[2] = distance*sensitivity[2];
+        setup[2] = !setup[1];
+        pc.printf("Setup: Starting Line\n");
+        pc.printf("Distance: %3d\n\n",distance);
     }
 
     pc.printf("Past Checkpoint 2\n");
-    if (width[2] - distance >= sensitivity) {
+    if (width[2] - distance >= threshold[2]) {
         led2 = 1;
         track_state = past_cp2;
         pc.putc('2');
@@ -150,19 +160,42 @@
 
 int main()
 {
+    //sonar initialization
     sonar0.startUpdates();
     sonar1.startUpdates();
     sonar2.startUpdates();
 
+    //sonar calibration
     sonar0.checkDistance();
     sonar1.checkDistance();
     sonar2.checkDistance();
 
+    //wait for start char from Pi
+    while (1) {
+        if (pc.getc() == 'S') {
+            break;
+        }
+        Thread::wait(50);
+    }
+
+    //starting countdown
     thread2.start(&start_race);
 
+    //false start detect
     while(!start_done) {
         if (current_lap) {
-            // Flash everything red. Play bad sounds.
+            rgbCtrl1 = rgbCtrl2 = rgbCtrl3 = 0;
+            rgbRed = 1;
+            rgbGreen = 0;
+            while (1) {
+                rgbCtrl1 = !rgbCtrl1;
+                rgbCtrl2 = !rgbCtrl2;
+                rgbCtrl3 = !rgbCtrl3;
+                if (pc.getc() == 'R') {
+                    mbed_reset();
+                }
+                Thread::wait(50);
+            }
         }
         Thread::wait(50);
     }
@@ -184,8 +217,11 @@
         }
         if (current_lap > total_laps) {
             pc.putc('9');
+            pc.printf("Race Over");
             while(1) {
-                pc.printf("Race Over");
+                if (pc.getc() == 'R') {
+                    mbed_reset();
+                }
                 Thread::wait(50);
             }
         }