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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
ui.cpp@22:c09acff62e6a, 2018-03-23 (annotated)
- Committer:
- asobhy
- Date:
- Fri Mar 23 22:42:41 2018 +0000
- Revision:
- 22:c09acff62e6a
- Parent:
- 20:9118203f7c9c
- Child:
- 23:1839085ffdcf
- Child:
- 28:00b21c648d31
Manual Control - More Cleanup - Latest!!!
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 | 15:cf67f83d5409 | 16 | #include "CameraThread.h" |
asobhy | 17:1184df616383 | 17 | #include "PiControlThread.h" |
asobhy | 0:a355e511bc5d | 18 | |
asobhy | 0:a355e511bc5d | 19 | Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins |
asobhy | 0:a355e511bc5d | 20 | Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel |
asobhy | 0:a355e511bc5d | 21 | |
asobhy | 15:cf67f83d5409 | 22 | bool killRobot = false; |
asobhy | 15:cf67f83d5409 | 23 | |
asobhy | 0:a355e511bc5d | 24 | // variable to store character recieved from terminal |
asobhy | 0:a355e511bc5d | 25 | char x; |
asobhy | 0:a355e511bc5d | 26 | |
asobhy | 1:3e9684e81312 | 27 | |
asobhy | 15:cf67f83d5409 | 28 | void displayStartupMsg() |
asobhy | 15:cf67f83d5409 | 29 | { |
asobhy | 15:cf67f83d5409 | 30 | bluetooth.printf("\r\n************************************"); |
asobhy | 15:cf67f83d5409 | 31 | bluetooth.printf("\r\n**** AUTONOMOUS FOLLOWING ROBOT ****"); |
asobhy | 15:cf67f83d5409 | 32 | bluetooth.printf("\r\n************************************"); |
asobhy | 15:cf67f83d5409 | 33 | bluetooth.printf("\r\n-PRESS 'r' TO KILL ROBOT"); |
asobhy | 15:cf67f83d5409 | 34 | } |
asobhy | 0:a355e511bc5d | 35 | |
asobhy | 0:a355e511bc5d | 36 | /****************************************************************************** |
asobhy | 20:9118203f7c9c | 37 | User interface 3 - Manual Control |
asobhy | 17:1184df616383 | 38 | ******************************************************************************/ |
asobhy | 14:5777377537a2 | 39 | |
asobhy | 18:db6d9fc1ebd0 | 40 | void consoleUI(void) |
asobhy | 17:1184df616383 | 41 | { |
asobhy | 17:1184df616383 | 42 | if (bluetooth.readable()) { |
asobhy | 17:1184df616383 | 43 | x = bluetooth.getc(); |
asobhy | 17:1184df616383 | 44 | |
asobhy | 17:1184df616383 | 45 | // if input from console is the letter 'r' |
asobhy | 17:1184df616383 | 46 | if(x == 'r') { |
asobhy | 17:1184df616383 | 47 | // reset watchdog timer |
asobhy | 17:1184df616383 | 48 | WatchdogReset(); |
asobhy | 17:1184df616383 | 49 | setpointR = 0; |
asobhy | 17:1184df616383 | 50 | setpointL = 0; |
asobhy | 17:1184df616383 | 51 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 17:1184df616383 | 52 | } |
asobhy | 17:1184df616383 | 53 | |
asobhy | 17:1184df616383 | 54 | /******************************ROBOT FWD RVS***********************************/ |
asobhy | 17:1184df616383 | 55 | // if w is pressed increase the speed |
asobhy | 17:1184df616383 | 56 | // by incrementing u |
asobhy | 17:1184df616383 | 57 | else if(x == 'w') { |
asobhy | 17:1184df616383 | 58 | mutexSetpoint.lock(); |
asobhy | 20:9118203f7c9c | 59 | Setpoint = -40; |
asobhy | 17:1184df616383 | 60 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 61 | |
asobhy | 17:1184df616383 | 62 | } |
asobhy | 17:1184df616383 | 63 | |
asobhy | 17:1184df616383 | 64 | // if s is pressed decrease the speed |
asobhy | 17:1184df616383 | 65 | // by decrementing u |
asobhy | 17:1184df616383 | 66 | else if(x == 's') { |
asobhy | 17:1184df616383 | 67 | mutexSetpoint.lock(); |
asobhy | 20:9118203f7c9c | 68 | Setpoint = 40; |
asobhy | 17:1184df616383 | 69 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 70 | |
asobhy | 17:1184df616383 | 71 | } |
asobhy | 17:1184df616383 | 72 | |
asobhy | 17:1184df616383 | 73 | /******************************ROBOT STEERING**********************************/ |
asobhy | 18:db6d9fc1ebd0 | 74 | else if (x=='a') |
asobhy | 18:db6d9fc1ebd0 | 75 | { |
asobhy | 18:db6d9fc1ebd0 | 76 | mutexSetpoint.lock(); |
asobhy | 20:9118203f7c9c | 77 | SteeringError = 80; |
asobhy | 18:db6d9fc1ebd0 | 78 | mutexSetpoint.unlock(); |
asobhy | 18:db6d9fc1ebd0 | 79 | } |
asobhy | 17:1184df616383 | 80 | else if (x=='d') |
asobhy | 17:1184df616383 | 81 | { |
asobhy | 17:1184df616383 | 82 | mutexSetpoint.lock(); |
asobhy | 20:9118203f7c9c | 83 | SteeringError = -80; |
asobhy | 17:1184df616383 | 84 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 85 | } |
asobhy | 17:1184df616383 | 86 | // error wrong input |
asobhy | 17:1184df616383 | 87 | else { |
asobhy | 17:1184df616383 | 88 | 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 | 17:1184df616383 | 89 | } |
asobhy | 17:1184df616383 | 90 | } |
asobhy | 18:db6d9fc1ebd0 | 91 | else{ |
asobhy | 18:db6d9fc1ebd0 | 92 | // If no key is pressed stop the robot. |
asobhy | 18:db6d9fc1ebd0 | 93 | Setpoint = 0; |
asobhy | 18:db6d9fc1ebd0 | 94 | SteeringError = 0; |
asobhy | 18:db6d9fc1ebd0 | 95 | } |
asobhy | 17:1184df616383 | 96 | |
asobhy | 17:1184df616383 | 97 | } |