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?
User | Revision | Line number | New 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 | } |