ObjectFollower
Dependencies: TPixy-Interface
Fork of PlayBack by
ui.cpp@19:4fbffc755ed7, 2018-03-23 (annotated)
- Committer:
- asobhy
- Date:
- Fri Mar 23 19:03:35 2018 +0000
- Revision:
- 19:4fbffc755ed7
- Parent:
- 18:db6d9fc1ebd0
- Child:
- 20:9118203f7c9c
increasing sampling rate manual control
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 | 9:fe56b888985c | 22 | Mutex setpointR_mutex; |
asobhy | 9:fe56b888985c | 23 | Mutex setpointL_mutex; |
asobhy | 0:a355e511bc5d | 24 | |
asobhy | 0:a355e511bc5d | 25 | // speed |
asobhy | 9:fe56b888985c | 26 | int setpointR = 0; |
asobhy | 9:fe56b888985c | 27 | int setpointL = 0; |
asobhy | 9:fe56b888985c | 28 | |
asobhy | 17:1184df616383 | 29 | |
asobhy | 15:cf67f83d5409 | 30 | bool killRobot = false; |
asobhy | 15:cf67f83d5409 | 31 | |
asobhy | 0:a355e511bc5d | 32 | // variable to store character recieved from terminal |
asobhy | 0:a355e511bc5d | 33 | char x; |
asobhy | 17:1184df616383 | 34 | int16_t position; |
asobhy | 0:a355e511bc5d | 35 | |
asobhy | 1:3e9684e81312 | 36 | |
asobhy | 14:5777377537a2 | 37 | /****************************************************************************** |
asobhy | 18:db6d9fc1ebd0 | 38 | User interface 3 Camera |
asobhy | 14:5777377537a2 | 39 | ******************************************************************************/ |
asobhy | 18:db6d9fc1ebd0 | 40 | void consoleUIcamera(void){ |
asobhy | 14:5777377537a2 | 41 | |
asobhy | 15:cf67f83d5409 | 42 | cameraData_mutex.lock(); |
asobhy | 15:cf67f83d5409 | 43 | bluetooth.printf("\r\nsetpointR: %d setpointL: %d ObjectWidth: %d ObjectXcoordinate: %d SteeringError: %d DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError); |
asobhy | 15:cf67f83d5409 | 44 | cameraData_mutex.unlock(); |
asobhy | 15:cf67f83d5409 | 45 | //bluetooth.printf("\r\nsetpointR: %d setpointL: %d ObjectWidth: %d ObjectXcoordinate: %d SteeringError: %d DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError); |
asobhy | 15:cf67f83d5409 | 46 | |
asobhy | 15:cf67f83d5409 | 47 | // safety mechanism |
asobhy | 15:cf67f83d5409 | 48 | if (bluetooth.readable()){ |
asobhy | 15:cf67f83d5409 | 49 | x = bluetooth.getc(); |
asobhy | 17:1184df616383 | 50 | if (x == 't') |
asobhy | 15:cf67f83d5409 | 51 | { |
asobhy | 15:cf67f83d5409 | 52 | killRobot = true; |
asobhy | 15:cf67f83d5409 | 53 | } |
asobhy | 17:1184df616383 | 54 | else if (x == 'r') |
asobhy | 15:cf67f83d5409 | 55 | { |
asobhy | 15:cf67f83d5409 | 56 | killRobot = false; |
asobhy | 15:cf67f83d5409 | 57 | } |
asobhy | 17:1184df616383 | 58 | |
asobhy | 17:1184df616383 | 59 | |
asobhy | 15:cf67f83d5409 | 60 | } |
asobhy | 15:cf67f83d5409 | 61 | |
asobhy | 14:5777377537a2 | 62 | } |
asobhy | 14:5777377537a2 | 63 | |
asobhy | 2:ca2a7430739b | 64 | |
asobhy | 0:a355e511bc5d | 65 | |
asobhy | 0:a355e511bc5d | 66 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 67 | A function to test blutooth communication |
asobhy | 0:a355e511bc5d | 68 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 69 | void twoTerminalsTest() |
asobhy | 0:a355e511bc5d | 70 | { |
asobhy | 0:a355e511bc5d | 71 | if (pc.readable()) { // If a key is pressed on the pc channel |
asobhy | 0:a355e511bc5d | 72 | x=pc.getc(); // read the character and send it to both the |
asobhy | 0:a355e511bc5d | 73 | bluetooth.putc(x); // bluetooth channel and the pc channel for |
asobhy | 0:a355e511bc5d | 74 | pc.putc(x); // display. |
asobhy | 0:a355e511bc5d | 75 | } |
asobhy | 0:a355e511bc5d | 76 | if (bluetooth.readable()) { |
asobhy | 0:a355e511bc5d | 77 | x=bluetooth.getc(); // If there’s a keypress on the bluetooth |
asobhy | 0:a355e511bc5d | 78 | pc.putc(x); // channel, read the character and send it to |
asobhy | 0:a355e511bc5d | 79 | bluetooth.putc(x); // both the pc channel and the bluetooth |
asobhy | 0:a355e511bc5d | 80 | } // channel for display |
asobhy | 0:a355e511bc5d | 81 | } |
asobhy | 0:a355e511bc5d | 82 | |
asobhy | 0:a355e511bc5d | 83 | |
asobhy | 0:a355e511bc5d | 84 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 85 | A function to Display startup Messsage |
asobhy | 0:a355e511bc5d | 86 | ******************************************************************************/ |
asobhy | 15:cf67f83d5409 | 87 | void displayStartupMsg_old() |
asobhy | 0:a355e511bc5d | 88 | { |
asobhy | 1:3e9684e81312 | 89 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 90 | bluetooth.printf("\r\n**** DC Motor Control using PWM ****"); |
asobhy | 1:3e9684e81312 | 91 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 92 | bluetooth.printf("\r\n-Enter r to reset the watchdog timer"); |
asobhy | 9:fe56b888985c | 93 | bluetooth.printf("\r\n-press w to increase motor speedR"); |
asobhy | 9:fe56b888985c | 94 | bluetooth.printf("\r\n-press s to decrease motor speedR"); |
asobhy | 9:fe56b888985c | 95 | bluetooth.printf("\r\n-press i to increase motor speedL"); |
asobhy | 9:fe56b888985c | 96 | bluetooth.printf("\r\n-press k to decrease motor speedL"); |
asobhy | 0:a355e511bc5d | 97 | } |
asobhy | 0:a355e511bc5d | 98 | |
asobhy | 15:cf67f83d5409 | 99 | void displayStartupMsg() |
asobhy | 15:cf67f83d5409 | 100 | { |
asobhy | 15:cf67f83d5409 | 101 | bluetooth.printf("\r\n************************************"); |
asobhy | 15:cf67f83d5409 | 102 | bluetooth.printf("\r\n**** AUTONOMOUS FOLLOWING ROBOT ****"); |
asobhy | 15:cf67f83d5409 | 103 | bluetooth.printf("\r\n************************************"); |
asobhy | 15:cf67f83d5409 | 104 | bluetooth.printf("\r\n-PRESS 'r' TO KILL ROBOT"); |
asobhy | 15:cf67f83d5409 | 105 | } |
asobhy | 0:a355e511bc5d | 106 | |
asobhy | 0:a355e511bc5d | 107 | /****************************************************************************** |
asobhy | 8:a0890fa79084 | 108 | User interface 1 |
asobhy | 0:a355e511bc5d | 109 | ******************************************************************************/ |
asobhy | 4:417e475239c7 | 110 | /* |
asobhy | 0:a355e511bc5d | 111 | void consoleUI(void) |
asobhy | 0:a355e511bc5d | 112 | { |
asobhy | 1:3e9684e81312 | 113 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 114 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 115 | |
asobhy | 0:a355e511bc5d | 116 | // if input from console is the letter 'r' |
asobhy | 0:a355e511bc5d | 117 | if(x == 'r') { |
asobhy | 0:a355e511bc5d | 118 | // reset watchdog timer |
asobhy | 0:a355e511bc5d | 119 | WatchdogReset(); |
asobhy | 1:3e9684e81312 | 120 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 0:a355e511bc5d | 121 | } |
asobhy | 0:a355e511bc5d | 122 | |
asobhy | 0:a355e511bc5d | 123 | // if w is pressed increase the speed |
asobhy | 0:a355e511bc5d | 124 | // by incrementing u |
asobhy | 0:a355e511bc5d | 125 | else if(x == 'w') { |
asobhy | 1:3e9684e81312 | 126 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 127 | if ( setpoint < 560 ) |
asobhy | 1:3e9684e81312 | 128 | { |
asobhy | 1:3e9684e81312 | 129 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 1:3e9684e81312 | 130 | setpoint = 100; |
asobhy | 0:a355e511bc5d | 131 | } |
asobhy | 1:3e9684e81312 | 132 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 133 | |
asobhy | 0:a355e511bc5d | 134 | // display speed |
asobhy | 1:3e9684e81312 | 135 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 136 | } |
asobhy | 0:a355e511bc5d | 137 | |
asobhy | 0:a355e511bc5d | 138 | // if s is pressed decrease the speed |
asobhy | 0:a355e511bc5d | 139 | // by decrementing u |
asobhy | 0:a355e511bc5d | 140 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 141 | |
asobhy | 1:3e9684e81312 | 142 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 143 | if (setpoint > -560) |
asobhy | 1:3e9684e81312 | 144 | { |
asobhy | 1:3e9684e81312 | 145 | setpoint = -100; |
asobhy | 1:3e9684e81312 | 146 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 0:a355e511bc5d | 147 | } |
asobhy | 1:3e9684e81312 | 148 | |
asobhy | 1:3e9684e81312 | 149 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 150 | |
asobhy | 0:a355e511bc5d | 151 | // display speed |
asobhy | 1:3e9684e81312 | 152 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 153 | } |
asobhy | 0:a355e511bc5d | 154 | |
asobhy | 0:a355e511bc5d | 155 | // error wrong input |
asobhy | 0:a355e511bc5d | 156 | else { |
asobhy | 1:3e9684e81312 | 157 | 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 | 158 | } |
asobhy | 0:a355e511bc5d | 159 | } |
asobhy | 0:a355e511bc5d | 160 | position += dPosition; |
asobhy | 2:ca2a7430739b | 161 | 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 | 162 | |
asobhy | 0:a355e511bc5d | 163 | } |
asobhy | 4:417e475239c7 | 164 | */ |
asobhy | 1:3e9684e81312 | 165 | /****************************************************************************** |
asobhy | 1:3e9684e81312 | 166 | User interface 2 |
asobhy | 1:3e9684e81312 | 167 | ******************************************************************************/ |
asobhy | 1:3e9684e81312 | 168 | |
asobhy | 14:5777377537a2 | 169 | void consoleUIold(void) |
asobhy | 1:3e9684e81312 | 170 | { |
asobhy | 1:3e9684e81312 | 171 | |
asobhy | 1:3e9684e81312 | 172 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 173 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 174 | |
asobhy | 1:3e9684e81312 | 175 | // if input from console is the letter 'r' |
asobhy | 1:3e9684e81312 | 176 | if(x == 'r') { |
asobhy | 1:3e9684e81312 | 177 | // reset watchdog timer |
asobhy | 1:3e9684e81312 | 178 | WatchdogReset(); |
asobhy | 9:fe56b888985c | 179 | setpointR = 0; |
asobhy | 9:fe56b888985c | 180 | setpointL = 0; |
asobhy | 1:3e9684e81312 | 181 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 1:3e9684e81312 | 182 | } |
asobhy | 9:fe56b888985c | 183 | |
asobhy | 9:fe56b888985c | 184 | /******************************RIGHT MOTOR*************************************/ |
asobhy | 1:3e9684e81312 | 185 | // if w is pressed increase the speed |
asobhy | 1:3e9684e81312 | 186 | // by incrementing u |
asobhy | 1:3e9684e81312 | 187 | else if(x == 'w') { |
asobhy | 9:fe56b888985c | 188 | setpointR_mutex.lock(); |
asobhy | 19:4fbffc755ed7 | 189 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 19:4fbffc755ed7 | 190 | setpointR = 25; |
asobhy | 9:fe56b888985c | 191 | setpointR_mutex.unlock(); |
asobhy | 19:4fbffc755ed7 | 192 | |
asobhy | 12:172c448a359e | 193 | bluetooth.printf("\r\n %5d", setpointR); |
asobhy | 1:3e9684e81312 | 194 | } |
asobhy | 1:3e9684e81312 | 195 | |
asobhy | 1:3e9684e81312 | 196 | // if s is pressed decrease the speed |
asobhy | 1:3e9684e81312 | 197 | // by decrementing u |
asobhy | 1:3e9684e81312 | 198 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 199 | |
asobhy | 9:fe56b888985c | 200 | setpointR_mutex.lock(); |
asobhy | 19:4fbffc755ed7 | 201 | |
asobhy | 19:4fbffc755ed7 | 202 | setpointR = -25; |
asobhy | 19:4fbffc755ed7 | 203 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 19:4fbffc755ed7 | 204 | |
asobhy | 9:fe56b888985c | 205 | setpointR_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 206 | |
asobhy | 1:3e9684e81312 | 207 | // display speed |
asobhy | 19:4fbffc755ed7 | 208 | //bluetooth.printf("\r\n %5d", setpointR); |
asobhy | 1:3e9684e81312 | 209 | } |
asobhy | 9:fe56b888985c | 210 | |
asobhy | 9:fe56b888985c | 211 | /******************************LEFT MOTOR**************************************/ |
asobhy | 4:417e475239c7 | 212 | else if (x=='i') |
asobhy | 1:3e9684e81312 | 213 | { |
asobhy | 9:fe56b888985c | 214 | setpointL_mutex.lock(); |
asobhy | 19:4fbffc755ed7 | 215 | |
asobhy | 19:4fbffc755ed7 | 216 | |
asobhy | 9:fe56b888985c | 217 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 19:4fbffc755ed7 | 218 | setpointL = 25; |
asobhy | 19:4fbffc755ed7 | 219 | |
asobhy | 9:fe56b888985c | 220 | setpointL_mutex.unlock(); |
asobhy | 19:4fbffc755ed7 | 221 | //bluetooth.printf("\r\n %5d", setpointL); |
asobhy | 1:3e9684e81312 | 222 | } |
asobhy | 4:417e475239c7 | 223 | else if (x=='k') |
asobhy | 1:3e9684e81312 | 224 | { |
asobhy | 9:fe56b888985c | 225 | setpointL_mutex.lock(); |
asobhy | 19:4fbffc755ed7 | 226 | |
asobhy | 19:4fbffc755ed7 | 227 | setpointL = -25; |
asobhy | 19:4fbffc755ed7 | 228 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 19:4fbffc755ed7 | 229 | |
asobhy | 9:fe56b888985c | 230 | setpointL_mutex.unlock(); |
asobhy | 9:fe56b888985c | 231 | |
asobhy | 9:fe56b888985c | 232 | // display speed |
asobhy | 19:4fbffc755ed7 | 233 | //bluetooth.printf("\r\n %5d", setpointL); |
asobhy | 1:3e9684e81312 | 234 | } |
asobhy | 9:fe56b888985c | 235 | /******************************END MOTOR SETPOINT******************************/ |
asobhy | 1:3e9684e81312 | 236 | |
asobhy | 1:3e9684e81312 | 237 | // error wrong input |
asobhy | 1:3e9684e81312 | 238 | else { |
asobhy | 1:3e9684e81312 | 239 | 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 | 240 | } |
asobhy | 1:3e9684e81312 | 241 | } |
asobhy | 1:3e9684e81312 | 242 | |
asobhy | 8:a0890fa79084 | 243 | |
asobhy | 8:a0890fa79084 | 244 | |
asobhy | 1:3e9684e81312 | 245 | //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 | 246 | |
asobhy | 8:a0890fa79084 | 247 | //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 | 248 | |
asobhy | 9:fe56b888985c | 249 | /* |
asobhy | 8:a0890fa79084 | 250 | bluetooth.printf("\r\n %d, ", e); |
asobhy | 8:a0890fa79084 | 251 | bluetooth.printf("%d, ", dPosition); |
asobhy | 8:a0890fa79084 | 252 | bluetooth.printf("%d, ", xState); |
asobhy | 8:a0890fa79084 | 253 | bluetooth.printf("%d, ", u); |
asobhy | 9:fe56b888985c | 254 | */ |
asobhy | 2:ca2a7430739b | 255 | |
asobhy | 2:ca2a7430739b | 256 | //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime); |
asobhy | 1:3e9684e81312 | 257 | |
asobhy | 1:3e9684e81312 | 258 | } |
asobhy | 14:5777377537a2 | 259 | |
asobhy | 17:1184df616383 | 260 | /****************************************************************************** |
asobhy | 17:1184df616383 | 261 | User interface 3 - manual control |
asobhy | 17:1184df616383 | 262 | ******************************************************************************/ |
asobhy | 14:5777377537a2 | 263 | |
asobhy | 18:db6d9fc1ebd0 | 264 | void consoleUI(void) |
asobhy | 17:1184df616383 | 265 | { |
asobhy | 17:1184df616383 | 266 | if (bluetooth.readable()) { |
asobhy | 17:1184df616383 | 267 | x = bluetooth.getc(); |
asobhy | 17:1184df616383 | 268 | |
asobhy | 17:1184df616383 | 269 | // if input from console is the letter 'r' |
asobhy | 17:1184df616383 | 270 | if(x == 'r') { |
asobhy | 17:1184df616383 | 271 | // reset watchdog timer |
asobhy | 17:1184df616383 | 272 | WatchdogReset(); |
asobhy | 17:1184df616383 | 273 | setpointR = 0; |
asobhy | 17:1184df616383 | 274 | setpointL = 0; |
asobhy | 17:1184df616383 | 275 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 17:1184df616383 | 276 | } |
asobhy | 17:1184df616383 | 277 | |
asobhy | 17:1184df616383 | 278 | /******************************ROBOT FWD RVS***********************************/ |
asobhy | 17:1184df616383 | 279 | // if w is pressed increase the speed |
asobhy | 17:1184df616383 | 280 | // by incrementing u |
asobhy | 17:1184df616383 | 281 | else if(x == 'w') { |
asobhy | 17:1184df616383 | 282 | mutexSetpoint.lock(); |
asobhy | 19:4fbffc755ed7 | 283 | Setpoint = -25; |
asobhy | 17:1184df616383 | 284 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 285 | |
asobhy | 17:1184df616383 | 286 | } |
asobhy | 17:1184df616383 | 287 | |
asobhy | 17:1184df616383 | 288 | // if s is pressed decrease the speed |
asobhy | 17:1184df616383 | 289 | // by decrementing u |
asobhy | 17:1184df616383 | 290 | else if(x == 's') { |
asobhy | 17:1184df616383 | 291 | mutexSetpoint.lock(); |
asobhy | 19:4fbffc755ed7 | 292 | Setpoint = 25; |
asobhy | 17:1184df616383 | 293 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 294 | |
asobhy | 17:1184df616383 | 295 | } |
asobhy | 17:1184df616383 | 296 | |
asobhy | 17:1184df616383 | 297 | /******************************ROBOT STEERING**********************************/ |
asobhy | 18:db6d9fc1ebd0 | 298 | else if (x=='a') |
asobhy | 18:db6d9fc1ebd0 | 299 | { |
asobhy | 18:db6d9fc1ebd0 | 300 | mutexSetpoint.lock(); |
asobhy | 19:4fbffc755ed7 | 301 | SteeringError = 75; |
asobhy | 18:db6d9fc1ebd0 | 302 | mutexSetpoint.unlock(); |
asobhy | 18:db6d9fc1ebd0 | 303 | } |
asobhy | 17:1184df616383 | 304 | else if (x=='d') |
asobhy | 17:1184df616383 | 305 | { |
asobhy | 17:1184df616383 | 306 | mutexSetpoint.lock(); |
asobhy | 19:4fbffc755ed7 | 307 | SteeringError = -75; |
asobhy | 17:1184df616383 | 308 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 309 | } |
asobhy | 17:1184df616383 | 310 | // error wrong input |
asobhy | 17:1184df616383 | 311 | else { |
asobhy | 17:1184df616383 | 312 | 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 | 313 | } |
asobhy | 17:1184df616383 | 314 | } |
asobhy | 18:db6d9fc1ebd0 | 315 | else{ |
asobhy | 18:db6d9fc1ebd0 | 316 | // If no key is pressed stop the robot. |
asobhy | 18:db6d9fc1ebd0 | 317 | Setpoint = 0; |
asobhy | 18:db6d9fc1ebd0 | 318 | SteeringError = 0; |
asobhy | 18:db6d9fc1ebd0 | 319 | |
asobhy | 18:db6d9fc1ebd0 | 320 | } |
asobhy | 17:1184df616383 | 321 | |
asobhy | 19:4fbffc755ed7 | 322 | //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 | 19:4fbffc755ed7 | 323 | |
asobhy | 17:1184df616383 | 324 | } |