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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
ui.cpp@12:172c448a359e, 2018-03-03 (annotated)
- Committer:
- asobhy
- Date:
- Sat Mar 03 00:33:41 2018 +0000
- Revision:
- 12:172c448a359e
- Parent:
- 9:fe56b888985c
- Child:
- 14:5777377537a2
robot vision two motors debug final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
asobhy | 8:a0890fa79084 | 1 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 2 | // ECE4333 |
asobhy | 9:fe56b888985c | 3 | // LAB Partner 1: Ahmed Sobhy - ID: 3594449 |
asobhy | 9:fe56b888985c | 4 | // LAB Partner 2: Brandon Kingman - ID: 3470444 |
asobhy | 9:fe56b888985c | 5 | // Project: Autonomous Robot Design |
asobhy | 9:fe56b888985c | 6 | // Instructor: Prof. Chris Diduch |
asobhy | 8:a0890fa79084 | 7 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 8 | // filename: ui.cpp |
asobhy | 8:a0890fa79084 | 9 | // file content description: |
asobhy | 8:a0890fa79084 | 10 | // * Functions to display and manage the user interface on the PC terminal. |
asobhy | 8:a0890fa79084 | 11 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 12 | |
asobhy | 0:a355e511bc5d | 13 | #include "mbed.h" |
asobhy | 0:a355e511bc5d | 14 | #include "WatchdogThread.h" |
asobhy | 0:a355e511bc5d | 15 | #include "ui.h" |
asobhy | 0:a355e511bc5d | 16 | |
asobhy | 0:a355e511bc5d | 17 | Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins |
asobhy | 0:a355e511bc5d | 18 | Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel |
asobhy | 0:a355e511bc5d | 19 | |
asobhy | 9:fe56b888985c | 20 | Mutex setpointR_mutex; |
asobhy | 9:fe56b888985c | 21 | Mutex setpointL_mutex; |
asobhy | 0:a355e511bc5d | 22 | |
asobhy | 0:a355e511bc5d | 23 | // speed |
asobhy | 9:fe56b888985c | 24 | int setpointR = 0; |
asobhy | 9:fe56b888985c | 25 | int setpointL = 0; |
asobhy | 9:fe56b888985c | 26 | |
asobhy | 0:a355e511bc5d | 27 | // variable to store character recieved from terminal |
asobhy | 0:a355e511bc5d | 28 | char x; |
asobhy | 0:a355e511bc5d | 29 | |
asobhy | 9:fe56b888985c | 30 | /* |
asobhy | 1:3e9684e81312 | 31 | extern int16_t dPosition, dTime; |
asobhy | 1:3e9684e81312 | 32 | extern float Ki; |
asobhy | 1:3e9684e81312 | 33 | extern float Kp; |
asobhy | 1:3e9684e81312 | 34 | extern int vel; |
asobhy | 2:ca2a7430739b | 35 | extern int32_t e; |
asobhy | 2:ca2a7430739b | 36 | extern int32_t xState; |
asobhy | 2:ca2a7430739b | 37 | extern int32_t u; |
asobhy | 12:172c448a359e | 38 | //extern int time_passed; |
asobhy | 9:fe56b888985c | 39 | */ |
asobhy | 1:3e9684e81312 | 40 | |
asobhy | 1:3e9684e81312 | 41 | int16_t position; |
asobhy | 1:3e9684e81312 | 42 | |
asobhy | 2:ca2a7430739b | 43 | |
asobhy | 0:a355e511bc5d | 44 | |
asobhy | 0:a355e511bc5d | 45 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 46 | A function to test blutooth communication |
asobhy | 0:a355e511bc5d | 47 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 48 | void twoTerminalsTest() |
asobhy | 0:a355e511bc5d | 49 | { |
asobhy | 0:a355e511bc5d | 50 | if (pc.readable()) { // If a key is pressed on the pc channel |
asobhy | 0:a355e511bc5d | 51 | x=pc.getc(); // read the character and send it to both the |
asobhy | 0:a355e511bc5d | 52 | bluetooth.putc(x); // bluetooth channel and the pc channel for |
asobhy | 0:a355e511bc5d | 53 | pc.putc(x); // display. |
asobhy | 0:a355e511bc5d | 54 | } |
asobhy | 0:a355e511bc5d | 55 | if (bluetooth.readable()) { |
asobhy | 0:a355e511bc5d | 56 | x=bluetooth.getc(); // If there’s a keypress on the bluetooth |
asobhy | 0:a355e511bc5d | 57 | pc.putc(x); // channel, read the character and send it to |
asobhy | 0:a355e511bc5d | 58 | bluetooth.putc(x); // both the pc channel and the bluetooth |
asobhy | 0:a355e511bc5d | 59 | } // channel for display |
asobhy | 0:a355e511bc5d | 60 | } |
asobhy | 0:a355e511bc5d | 61 | |
asobhy | 0:a355e511bc5d | 62 | |
asobhy | 0:a355e511bc5d | 63 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 64 | A function to Display startup Messsage |
asobhy | 0:a355e511bc5d | 65 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 66 | void displayStartupMsg() |
asobhy | 0:a355e511bc5d | 67 | { |
asobhy | 1:3e9684e81312 | 68 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 69 | bluetooth.printf("\r\n**** DC Motor Control using PWM ****"); |
asobhy | 1:3e9684e81312 | 70 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 71 | bluetooth.printf("\r\n-Enter r to reset the watchdog timer"); |
asobhy | 9:fe56b888985c | 72 | bluetooth.printf("\r\n-press w to increase motor speedR"); |
asobhy | 9:fe56b888985c | 73 | bluetooth.printf("\r\n-press s to decrease motor speedR"); |
asobhy | 9:fe56b888985c | 74 | bluetooth.printf("\r\n-press i to increase motor speedL"); |
asobhy | 9:fe56b888985c | 75 | bluetooth.printf("\r\n-press k to decrease motor speedL"); |
asobhy | 0:a355e511bc5d | 76 | } |
asobhy | 0:a355e511bc5d | 77 | |
asobhy | 0:a355e511bc5d | 78 | |
asobhy | 0:a355e511bc5d | 79 | /****************************************************************************** |
asobhy | 8:a0890fa79084 | 80 | User interface 1 |
asobhy | 0:a355e511bc5d | 81 | ******************************************************************************/ |
asobhy | 4:417e475239c7 | 82 | /* |
asobhy | 0:a355e511bc5d | 83 | void consoleUI(void) |
asobhy | 0:a355e511bc5d | 84 | { |
asobhy | 1:3e9684e81312 | 85 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 86 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 87 | |
asobhy | 0:a355e511bc5d | 88 | // if input from console is the letter 'r' |
asobhy | 0:a355e511bc5d | 89 | if(x == 'r') { |
asobhy | 0:a355e511bc5d | 90 | // reset watchdog timer |
asobhy | 0:a355e511bc5d | 91 | WatchdogReset(); |
asobhy | 1:3e9684e81312 | 92 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 0:a355e511bc5d | 93 | } |
asobhy | 0:a355e511bc5d | 94 | |
asobhy | 0:a355e511bc5d | 95 | // if w is pressed increase the speed |
asobhy | 0:a355e511bc5d | 96 | // by incrementing u |
asobhy | 0:a355e511bc5d | 97 | else if(x == 'w') { |
asobhy | 1:3e9684e81312 | 98 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 99 | if ( setpoint < 560 ) |
asobhy | 1:3e9684e81312 | 100 | { |
asobhy | 1:3e9684e81312 | 101 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 1:3e9684e81312 | 102 | setpoint = 100; |
asobhy | 0:a355e511bc5d | 103 | } |
asobhy | 1:3e9684e81312 | 104 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 105 | |
asobhy | 0:a355e511bc5d | 106 | // display speed |
asobhy | 1:3e9684e81312 | 107 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 108 | } |
asobhy | 0:a355e511bc5d | 109 | |
asobhy | 0:a355e511bc5d | 110 | // if s is pressed decrease the speed |
asobhy | 0:a355e511bc5d | 111 | // by decrementing u |
asobhy | 0:a355e511bc5d | 112 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 113 | |
asobhy | 1:3e9684e81312 | 114 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 115 | if (setpoint > -560) |
asobhy | 1:3e9684e81312 | 116 | { |
asobhy | 1:3e9684e81312 | 117 | setpoint = -100; |
asobhy | 1:3e9684e81312 | 118 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 0:a355e511bc5d | 119 | } |
asobhy | 1:3e9684e81312 | 120 | |
asobhy | 1:3e9684e81312 | 121 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 122 | |
asobhy | 0:a355e511bc5d | 123 | // display speed |
asobhy | 1:3e9684e81312 | 124 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 125 | } |
asobhy | 0:a355e511bc5d | 126 | |
asobhy | 0:a355e511bc5d | 127 | // error wrong input |
asobhy | 0:a355e511bc5d | 128 | else { |
asobhy | 1:3e9684e81312 | 129 | bluetooth.printf("\r\nwrong input please enter \'w\' to increase the speed, \'s\' to reduce it or move in the opposite direction and \'r\' to reset the watchdog"); |
asobhy | 0:a355e511bc5d | 130 | } |
asobhy | 0:a355e511bc5d | 131 | } |
asobhy | 0:a355e511bc5d | 132 | position += dPosition; |
asobhy | 2:ca2a7430739b | 133 | bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, xState, dTime, Kp, Ki, vel, e); |
asobhy | 0:a355e511bc5d | 134 | |
asobhy | 0:a355e511bc5d | 135 | } |
asobhy | 4:417e475239c7 | 136 | */ |
asobhy | 1:3e9684e81312 | 137 | /****************************************************************************** |
asobhy | 1:3e9684e81312 | 138 | User interface 2 |
asobhy | 1:3e9684e81312 | 139 | ******************************************************************************/ |
asobhy | 1:3e9684e81312 | 140 | |
asobhy | 4:417e475239c7 | 141 | void consoleUI(void) |
asobhy | 1:3e9684e81312 | 142 | { |
asobhy | 1:3e9684e81312 | 143 | |
asobhy | 1:3e9684e81312 | 144 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 145 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 146 | |
asobhy | 1:3e9684e81312 | 147 | // if input from console is the letter 'r' |
asobhy | 1:3e9684e81312 | 148 | if(x == 'r') { |
asobhy | 1:3e9684e81312 | 149 | // reset watchdog timer |
asobhy | 1:3e9684e81312 | 150 | WatchdogReset(); |
asobhy | 9:fe56b888985c | 151 | setpointR = 0; |
asobhy | 9:fe56b888985c | 152 | setpointL = 0; |
asobhy | 1:3e9684e81312 | 153 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 1:3e9684e81312 | 154 | } |
asobhy | 9:fe56b888985c | 155 | |
asobhy | 9:fe56b888985c | 156 | /******************************RIGHT MOTOR*************************************/ |
asobhy | 1:3e9684e81312 | 157 | // if w is pressed increase the speed |
asobhy | 1:3e9684e81312 | 158 | // by incrementing u |
asobhy | 1:3e9684e81312 | 159 | else if(x == 'w') { |
asobhy | 9:fe56b888985c | 160 | setpointR_mutex.lock(); |
asobhy | 9:fe56b888985c | 161 | if ( setpointR < 560 ) |
asobhy | 1:3e9684e81312 | 162 | { |
asobhy | 1:3e9684e81312 | 163 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 9:fe56b888985c | 164 | setpointR = 280; |
asobhy | 1:3e9684e81312 | 165 | } |
asobhy | 9:fe56b888985c | 166 | setpointR_mutex.unlock(); |
asobhy | 12:172c448a359e | 167 | bluetooth.printf("\r\n %5d", setpointR); |
asobhy | 1:3e9684e81312 | 168 | } |
asobhy | 1:3e9684e81312 | 169 | |
asobhy | 1:3e9684e81312 | 170 | // if s is pressed decrease the speed |
asobhy | 1:3e9684e81312 | 171 | // by decrementing u |
asobhy | 1:3e9684e81312 | 172 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 173 | |
asobhy | 9:fe56b888985c | 174 | setpointR_mutex.lock(); |
asobhy | 9:fe56b888985c | 175 | if (setpointR > -560) |
asobhy | 1:3e9684e81312 | 176 | { |
asobhy | 9:fe56b888985c | 177 | setpointR = -280; |
asobhy | 1:3e9684e81312 | 178 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 1:3e9684e81312 | 179 | } |
asobhy | 1:3e9684e81312 | 180 | |
asobhy | 9:fe56b888985c | 181 | setpointR_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 182 | |
asobhy | 1:3e9684e81312 | 183 | // display speed |
asobhy | 9:fe56b888985c | 184 | bluetooth.printf("\r\n %5d", setpointR); |
asobhy | 1:3e9684e81312 | 185 | } |
asobhy | 9:fe56b888985c | 186 | |
asobhy | 9:fe56b888985c | 187 | /******************************LEFT MOTOR**************************************/ |
asobhy | 4:417e475239c7 | 188 | else if (x=='i') |
asobhy | 1:3e9684e81312 | 189 | { |
asobhy | 9:fe56b888985c | 190 | setpointL_mutex.lock(); |
asobhy | 9:fe56b888985c | 191 | if ( setpointL < 560 ) |
asobhy | 9:fe56b888985c | 192 | { |
asobhy | 9:fe56b888985c | 193 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 9:fe56b888985c | 194 | setpointL = 280; |
asobhy | 9:fe56b888985c | 195 | } |
asobhy | 9:fe56b888985c | 196 | setpointL_mutex.unlock(); |
asobhy | 12:172c448a359e | 197 | bluetooth.printf("\r\n %5d", setpointL); |
asobhy | 1:3e9684e81312 | 198 | } |
asobhy | 4:417e475239c7 | 199 | else if (x=='k') |
asobhy | 1:3e9684e81312 | 200 | { |
asobhy | 9:fe56b888985c | 201 | setpointL_mutex.lock(); |
asobhy | 9:fe56b888985c | 202 | if (setpointL > -560) |
asobhy | 9:fe56b888985c | 203 | { |
asobhy | 9:fe56b888985c | 204 | setpointL = -280; |
asobhy | 9:fe56b888985c | 205 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 9:fe56b888985c | 206 | } |
asobhy | 9:fe56b888985c | 207 | |
asobhy | 9:fe56b888985c | 208 | setpointL_mutex.unlock(); |
asobhy | 9:fe56b888985c | 209 | |
asobhy | 9:fe56b888985c | 210 | // display speed |
asobhy | 9:fe56b888985c | 211 | bluetooth.printf("\r\n %5d", setpointL); |
asobhy | 1:3e9684e81312 | 212 | } |
asobhy | 9:fe56b888985c | 213 | /******************************END MOTOR SETPOINT******************************/ |
asobhy | 1:3e9684e81312 | 214 | |
asobhy | 1:3e9684e81312 | 215 | // error wrong input |
asobhy | 1:3e9684e81312 | 216 | else { |
asobhy | 1:3e9684e81312 | 217 | bluetooth.printf("\r\nwrong input please enter \'w\' to increase the speed, \'s\' to reduce it or move in the opposite direction and \'r\' to reset the watchdog"); |
asobhy | 1:3e9684e81312 | 218 | } |
asobhy | 1:3e9684e81312 | 219 | } |
asobhy | 1:3e9684e81312 | 220 | |
asobhy | 8:a0890fa79084 | 221 | |
asobhy | 8:a0890fa79084 | 222 | |
asobhy | 1:3e9684e81312 | 223 | //bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); |
asobhy | 2:ca2a7430739b | 224 | |
asobhy | 8:a0890fa79084 | 225 | //bluetooth.printf("\r\ndP: %d, vel: %d, (Kp*e) Kp: %f, (Ki*xState) Ki: %f, e: %d, xState: %d, u: %d", dPosition, vel, Kp, Ki, e, xState , u); |
asobhy | 8:a0890fa79084 | 226 | |
asobhy | 9:fe56b888985c | 227 | /* |
asobhy | 8:a0890fa79084 | 228 | bluetooth.printf("\r\n %d, ", e); |
asobhy | 8:a0890fa79084 | 229 | bluetooth.printf("%d, ", dPosition); |
asobhy | 8:a0890fa79084 | 230 | bluetooth.printf("%d, ", xState); |
asobhy | 8:a0890fa79084 | 231 | bluetooth.printf("%d, ", u); |
asobhy | 9:fe56b888985c | 232 | */ |
asobhy | 2:ca2a7430739b | 233 | |
asobhy | 2:ca2a7430739b | 234 | //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime); |
asobhy | 1:3e9684e81312 | 235 | |
asobhy | 1:3e9684e81312 | 236 | } |