ECE4333 - 2018 - Ahmed & Brandon / Mbed OS MbedOS_Robot_Team

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Dependencies:   TPixy-Interface

Fork of MbedOS_Robot by ECE4333 - 2018 - Ahmed & Brandon

Files at this revision

API Documentation at this revision

Revision 8:a0890fa79084, committed 2018-02-19

Comitter:
asobhy
Date:
Mon Feb 19 17:42:33 2018 +0000
Parent:
7:73fd05fe556a
Child:
9:fe56b888985c
Commit message:
added more comments

Changed in this revision

Drivers/DE0_driver.cpp Show annotated file Show diff for this revision Revisions of this file
Drivers/DE0_driver.h Show annotated file Show diff for this revision Revisions of this file
Drivers/PiController.cpp Show annotated file Show diff for this revision Revisions of this file
Drivers/PiController.h Show annotated file Show diff for this revision Revisions of this file
Drivers/motor_driver.cpp Show annotated file Show diff for this revision Revisions of this file
Drivers/motor_driver.h Show annotated file Show diff for this revision Revisions of this file
ExternalInterruptThread.cpp Show annotated file Show diff for this revision Revisions of this file
ExternalInterruptThread.h Show annotated file Show diff for this revision Revisions of this file
PiControlThread.cpp Show annotated file Show diff for this revision Revisions of this file
PiControlThread.h Show annotated file Show diff for this revision Revisions of this file
WatchdogThread.cpp Show annotated file Show diff for this revision Revisions of this file
WatchdogThread.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
ui.cpp Show annotated file Show diff for this revision Revisions of this file
ui.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Drivers/DE0_driver.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/Drivers/DE0_driver.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,4 +1,16 @@
-// DE0 FPGA driver
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+// filename: DE0_driver.cpp
+// file content description:
+//      * function to initialize the hardware interface for communication
+//        between the FPGA and LPC1768
+//      * function to read required data from the DE0 (FPGA).
+/******************************************************************************/
 
 #include "mbed.h"
 

--- a/Drivers/DE0_driver.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/Drivers/DE0_driver.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,11 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+
 #ifndef DE0_DRIVER_H
 #define DE0_DRIVER_H
 

--- a/Drivers/PiController.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/Drivers/PiController.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,17 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+// filename: PiController.cpp
+// file content description:
+//      * PiController initialization function
+//      * Picontroller function
+//      * Value Saturation functions
+/******************************************************************************/
+
 #include "mbed.h"
 #include "PiController.h"
 

--- a/Drivers/PiController.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/Drivers/PiController.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,11 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+
 #ifndef PICONTROLLER_H
 #define PICONTROLLER_H
 

--- a/Drivers/motor_driver.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/Drivers/motor_driver.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,16 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+// filename: motor_driver.cpp
+// file content description:
+//      * function to initialize the hardware used to control a DC Motor
+//      * functions to drive to motor in forward, reverse and stop.
+/******************************************************************************/
+
 #include "mbed.h"
 #include "motor_driver.h"
 

--- a/Drivers/motor_driver.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/Drivers/motor_driver.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,10 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
 
 #ifndef MOTOR_DRIVER_H
 #define MOTOR_DRIVER_H

--- a/ExternalInterruptThread.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/ExternalInterruptThread.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,16 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+// filename: ExternalInterruptThread.cpp
+// file content description:
+//      * Function to create the External Interrupt Thread
+//      * ExternalInterruptThread
+//      * ExternalInterrupt ISR
+/******************************************************************************/
 #include "mbed.h"
 
 void ExtInterruptISR(void);

--- a/ExternalInterruptThread.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/ExternalInterruptThread.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,11 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+
 #ifndef EXTERNAL_INT_H
 #define EXTERNAL_INT_H
 

--- a/PiControlThread.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/PiControlThread.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,18 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+// filename: PiControlThread.cpp
+// file content description:
+//      * Function to Create the PiControl Thread
+//      * PiControl Thread
+//      * PiControl ISR
+//      * Variables related to the functionality of the thread
+/******************************************************************************/
+
 #include "mbed.h"
 #include "ui.h"
 #include "Drivers/motor_driver.h"
@@ -12,6 +27,8 @@
 int vel;
 int32_t U;
 
+int time_passed = 0;
+
 void PiControlThread(void const *);
 void PeriodicInterruptISR(void);
 
@@ -70,6 +87,8 @@
     {
         osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalPi, is received.
         
+        time_passed++;
+        
         // get incremental position and time from QEI
         DE0_read(&ID, &dPosition, &dTime);
         SaturateValue(dPosition, 560);

--- a/PiControlThread.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/PiControlThread.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,10 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
 
 #ifndef PERIODIC_INT_H
 #define PERIODIC_INT_H

--- a/WatchdogThread.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/WatchdogThread.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,18 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+// filename: WatchdogThread.cpp
+// file content description: 
+//      * Function to create the Watchdog Thead
+//      * Watchdog thread
+//      * Watchdog ISR 
+//      * Variables related to the functionality of the thread
+/******************************************************************************/
+
 #include "mbed.h"
 
 osThreadId WatchdogId;

--- a/WatchdogThread.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/WatchdogThread.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,10 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
 
 #ifndef WDTHREAD_H_
 #define WDTHREAD_H_

--- a/main.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/main.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,6 +1,10 @@
+/******************************************************************************/
 // ECE4333
-// Authors: Ahmed Sobhy & Brandon Kingman
-// Project: Robot
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
 
 #include "mbed.h"
 #include "WatchdogThread.h"

--- a/ui.cpp	Thu Feb 15 01:15:26 2018 +0000
+++ b/ui.cpp	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,15 @@
+/******************************************************************************/
+// 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"
@@ -9,7 +21,7 @@
 
 // speed
 int setpoint = 0;
-
+float total_time_passed = 0;
 // variable to store character recieved from terminal
 char x;
 
@@ -20,6 +32,7 @@
 extern int32_t e;
 extern int32_t xState;
 extern int32_t u;
+extern int time_passed;
 
 int16_t position;
 
@@ -58,7 +71,7 @@
 
 
 /******************************************************************************
-                           User interface
+                           User interface 1
 ******************************************************************************/
 /*
 void consoleUI(void)
@@ -137,15 +150,15 @@
         // by incrementing u
         else if(x == 'w') {
             setpoint_mutex.lock();
-            if ( setpoint < 506 ) 
+            if ( setpoint < 560 ) 
             {
                 //setpoint = setpoint + SPEED_STEP;
-                setpoint = 400;
+                setpoint = 280;
             }
             setpoint_mutex.unlock();
 
             // display speed
-            bluetooth.printf("\r\n %5d", setpoint);
+            //bluetooth.printf("\r\n %5d", setpoint);
         }
 
         // if s is pressed decrease the speed
@@ -155,7 +168,7 @@
             setpoint_mutex.lock();
             if (setpoint > -560) 
             {
-                setpoint = -400;
+                setpoint = -280;
                 //setpoint = setpoint - SPEED_STEP;
             }
                 
@@ -189,9 +202,18 @@
     
     position += dPosition;
     
+    
+    
     //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\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);
     

--- a/ui.h	Thu Feb 15 01:15:26 2018 +0000
+++ b/ui.h	Mon Feb 19 17:42:33 2018 +0000
@@ -1,3 +1,11 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1: Ahmed Sobhy - ID: 3594449
+// LAB Partner 2: Brandon Kingman - ID: 3470444
+// Project: Autonomous Robot Design
+// Instructor: Prof. Chris Diduch
+/******************************************************************************/
+
 #ifndef UI_H
 #define UI_H