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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
ui.cpp
- Committer:
- asobhy
- Date:
- 2018-03-23
- Revision:
- 20:9118203f7c9c
- Parent:
- 19:4fbffc755ed7
- Child:
- 22:c09acff62e6a
File content as of revision 20:9118203f7c9c:
/******************************************************************************/ // ECE4333 // LAB Partner 1: Ahmed Sobhy - ID: 3594449 // LAB Partner 2: Brandon Kingman - ID: 3470444 // Project: Autonomous Robot Design // Instructor: Prof. Chris Diduch /******************************************************************************/ // filename: ui.cpp // file content description: // * Functions to display and manage the user interface on the PC terminal. /******************************************************************************/ #include "mbed.h" #include "WatchdogThread.h" #include "ui.h" #include "CameraThread.h" #include "PiControlThread.h" Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel Mutex setpointR_mutex; Mutex setpointL_mutex; // speed int setpointR = 0; int setpointL = 0; bool killRobot = false; // variable to store character recieved from terminal char x; int16_t position; /****************************************************************************** User interface 3 Object Follower ******************************************************************************/ void consoleUIcamera(void){ cameraData_mutex.lock(); bluetooth.printf("\r\nsetpointR: %d setpointL: %d ObjectWidth: %d ObjectXcoordinate: %d SteeringError: %d DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError); cameraData_mutex.unlock(); //bluetooth.printf("\r\nsetpointR: %d setpointL: %d ObjectWidth: %d ObjectXcoordinate: %d SteeringError: %d DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError); // safety mechanism if (bluetooth.readable()){ x = bluetooth.getc(); if (x == 't') { killRobot = true; } else if (x == 'r') { killRobot = false; } } } /****************************************************************************** A function to test blutooth communication ******************************************************************************/ void twoTerminalsTest() { if (pc.readable()) { // If a key is pressed on the pc channel x=pc.getc(); // read the character and send it to both the bluetooth.putc(x); // bluetooth channel and the pc channel for pc.putc(x); // display. } if (bluetooth.readable()) { x=bluetooth.getc(); // If there’s a keypress on the bluetooth pc.putc(x); // channel, read the character and send it to bluetooth.putc(x); // both the pc channel and the bluetooth } // channel for display } /****************************************************************************** A function to Display startup Messsage ******************************************************************************/ void displayStartupMsg_old() { bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n**** DC Motor Control using PWM ****"); bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n-Enter r to reset the watchdog timer"); bluetooth.printf("\r\n-press w to increase motor speedR"); bluetooth.printf("\r\n-press s to decrease motor speedR"); bluetooth.printf("\r\n-press i to increase motor speedL"); bluetooth.printf("\r\n-press k to decrease motor speedL"); } void displayStartupMsg() { bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n**** AUTONOMOUS FOLLOWING ROBOT ****"); bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n-PRESS 'r' TO KILL ROBOT"); } /****************************************************************************** User interface 1 - PI tunning ******************************************************************************/ /* void consoleUI(void) { if (bluetooth.readable()) { x = bluetooth.getc(); // if input from console is the letter 'r' if(x == 'r') { // reset watchdog timer WatchdogReset(); bluetooth.printf("\r\nWatchdog has been reset"); } // if w is pressed increase the speed // by incrementing u else if(x == 'w') { setpoint_mutex.lock(); if ( setpoint < 560 ) { //setpoint = setpoint + SPEED_STEP; setpoint = 100; } setpoint_mutex.unlock(); // display speed bluetooth.printf("\r\n %5d", setpoint); } // if s is pressed decrease the speed // by decrementing u else if(x == 's') { setpoint_mutex.lock(); if (setpoint > -560) { setpoint = -100; //setpoint = setpoint - SPEED_STEP; } setpoint_mutex.unlock(); // display speed bluetooth.printf("\r\n %5d", setpoint); } // error wrong input else { 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"); } } position += dPosition; 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); } */ /****************************************************************************** User interface 2 - old ******************************************************************************/ void consoleUIold(void) { if (bluetooth.readable()) { x = bluetooth.getc(); // if input from console is the letter 'r' if(x == 'r') { // reset watchdog timer WatchdogReset(); setpointR = 0; setpointL = 0; bluetooth.printf("\r\nWatchdog has been reset"); } /******************************RIGHT MOTOR*************************************/ // if w is pressed increase the speed // by incrementing u else if(x == 'w') { setpointR_mutex.lock(); //setpoint = setpoint + SPEED_STEP; setpointR = 25; setpointR_mutex.unlock(); bluetooth.printf("\r\n %5d", setpointR); } // if s is pressed decrease the speed // by decrementing u else if(x == 's') { setpointR_mutex.lock(); setpointR = -25; //setpoint = setpoint - SPEED_STEP; setpointR_mutex.unlock(); // display speed //bluetooth.printf("\r\n %5d", setpointR); } /******************************LEFT MOTOR**************************************/ else if (x=='i') { setpointL_mutex.lock(); //setpoint = setpoint + SPEED_STEP; setpointL = 25; setpointL_mutex.unlock(); //bluetooth.printf("\r\n %5d", setpointL); } else if (x=='k') { setpointL_mutex.lock(); setpointL = -25; //setpoint = setpoint - SPEED_STEP; setpointL_mutex.unlock(); // display speed //bluetooth.printf("\r\n %5d", setpointL); } /******************************END MOTOR SETPOINT******************************/ // error wrong input else { 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"); } } //bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); //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); /* bluetooth.printf("\r\n %d, ", e); bluetooth.printf("%d, ", dPosition); bluetooth.printf("%d, ", xState); bluetooth.printf("%d, ", u); */ //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime); } /****************************************************************************** User interface 3 - Manual Control ******************************************************************************/ void consoleUI(void) { if (bluetooth.readable()) { x = bluetooth.getc(); // if input from console is the letter 'r' if(x == 'r') { // reset watchdog timer WatchdogReset(); setpointR = 0; setpointL = 0; bluetooth.printf("\r\nWatchdog has been reset"); } /******************************ROBOT FWD RVS***********************************/ // if w is pressed increase the speed // by incrementing u else if(x == 'w') { mutexSetpoint.lock(); Setpoint = -40; mutexSetpoint.unlock(); } // if s is pressed decrease the speed // by decrementing u else if(x == 's') { mutexSetpoint.lock(); Setpoint = 40; mutexSetpoint.unlock(); } /******************************ROBOT STEERING**********************************/ else if (x=='a') { mutexSetpoint.lock(); SteeringError = 80; mutexSetpoint.unlock(); } else if (x=='d') { mutexSetpoint.lock(); SteeringError = -80; mutexSetpoint.unlock(); } // error wrong input else { 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"); } } else{ // If no key is pressed stop the robot. Setpoint = 0; SteeringError = 0; } }