ECE4333 - 2018 - Ahmed & Brandon / Mbed OS PlayBack

PlayBack

Dependencies:   TPixy-Interface

Fork of ManualControlFinal by ECE4333 - 2018 - Ahmed & Brandon

ui.cpp@23:1839085ffdcf, 2018-03-29 (annotated)

Committer:
asobhy
Date:
Thu Mar 29 22:33:52 2018 +0000
Revision:
23:1839085ffdcf
Parent:
22:c09acff62e6a 
PLAYBACK SUBSYSTEM WORKING!!!

Who changed what in which revision?

UserRevisionLine numberNew 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 23:1839085ffdcf 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 23:1839085ffdcf 19 bool startRecording = false;
asobhy 23:1839085ffdcf 20 bool MC = true;
asobhy 23:1839085ffdcf 21
asobhy 0:a355e511bc5d 22 Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins
asobhy 0:a355e511bc5d 23 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
asobhy 0:a355e511bc5d 24
asobhy 15:cf67f83d5409 25 bool killRobot = false;
asobhy 15:cf67f83d5409 26
asobhy 0:a355e511bc5d 27 // variable to store character recieved from terminal
asobhy 0:a355e511bc5d 28 char x;
asobhy 0:a355e511bc5d 29
asobhy 1:3e9684e81312 30
asobhy 15:cf67f83d5409 31 void displayStartupMsg()
asobhy 15:cf67f83d5409 32 {
asobhy 15:cf67f83d5409 33 bluetooth.printf("\r\n************************************");
asobhy 15:cf67f83d5409 34 bluetooth.printf("\r\n**** AUTONOMOUS FOLLOWING ROBOT ****");
asobhy 15:cf67f83d5409 35 bluetooth.printf("\r\n************************************");
asobhy 23:1839085ffdcf 36 bluetooth.printf("\r\n-PRESS 'r' TO reset");
asobhy 15:cf67f83d5409 37 }
asobhy 0:a355e511bc5d 38
asobhy 0:a355e511bc5d 39 /******************************************************************************
asobhy 20:9118203f7c9c 40 User interface 3 - Manual Control
asobhy 17:1184df616383 41 ******************************************************************************/
asobhy 14:5777377537a2 42
asobhy 18:db6d9fc1ebd0 43 void consoleUI(void)
asobhy 17:1184df616383 44 {
asobhy 17:1184df616383 45 if (bluetooth.readable()) {
asobhy 17:1184df616383 46 x = bluetooth.getc();
asobhy 23:1839085ffdcf 47
asobhy 23:1839085ffdcf 48 // enter manual control and exit patrol mode
asobhy 23:1839085ffdcf 49 if(x == 'm') {
asobhy 23:1839085ffdcf 50 MC = true;
asobhy 23:1839085ffdcf 51 }
asobhy 23:1839085ffdcf 52
asobhy 23:1839085ffdcf 53 // exit manual control and enter patrol mode
asobhy 23:1839085ffdcf 54 if(x == 'p') {
asobhy 23:1839085ffdcf 55 MC = false;
asobhy 23:1839085ffdcf 56 startRecording = false;
asobhy 23:1839085ffdcf 57 }
asobhy 17:1184df616383 58
asobhy 23:1839085ffdcf 59 if(x == 'l'){
asobhy 23:1839085ffdcf 60 startRecording = true;
asobhy 23:1839085ffdcf 61 }
asobhy 23:1839085ffdcf 62
asobhy 17:1184df616383 63 // if input from console is the letter 'r'
asobhy 23:1839085ffdcf 64 if(x == 'r' && (MC)) {
asobhy 23:1839085ffdcf 65
asobhy 17:1184df616383 66 // reset watchdog timer
asobhy 17:1184df616383 67 WatchdogReset();
asobhy 17:1184df616383 68 setpointR = 0;
asobhy 17:1184df616383 69 setpointL = 0;
asobhy 23:1839085ffdcf 70 MC = true;
asobhy 23:1839085ffdcf 71 startRecording = false;
asobhy 23:1839085ffdcf 72 memoryFull = false;
asobhy 23:1839085ffdcf 73 dpArray.i = 0;
asobhy 23:1839085ffdcf 74
asobhy 23:1839085ffdcf 75 // reset array
asobhy 23:1839085ffdcf 76 for(int i = 0; i < dpArray.size; i++){
asobhy 23:1839085ffdcf 77 dpArray.dpR[i] = 0;
asobhy 23:1839085ffdcf 78 dpArray.dpL[i] = 0;
asobhy 23:1839085ffdcf 79 }
asobhy 23:1839085ffdcf 80
asobhy 23:1839085ffdcf 81 bluetooth.printf("\r\nSystem has been Reset");
asobhy 23:1839085ffdcf 82
asobhy 17:1184df616383 83 }
asobhy 23:1839085ffdcf 84
asobhy 23:1839085ffdcf 85 /******************************ROBOT FWD RVS***********************************/
asobhy 17:1184df616383 86 // if w is pressed increase the speed
asobhy 17:1184df616383 87 // by incrementing u
asobhy 23:1839085ffdcf 88 else if(x == 'w'&& (MC)) {
asobhy 17:1184df616383 89 mutexSetpoint.lock();
asobhy 20:9118203f7c9c 90 Setpoint = -40;
asobhy 17:1184df616383 91 mutexSetpoint.unlock();
asobhy 23:1839085ffdcf 92
asobhy 17:1184df616383 93 }
asobhy 17:1184df616383 94
asobhy 17:1184df616383 95 // if s is pressed decrease the speed
asobhy 17:1184df616383 96 // by decrementing u
asobhy 23:1839085ffdcf 97 else if(x == 's' && (MC)) {
asobhy 17:1184df616383 98 mutexSetpoint.lock();
asobhy 20:9118203f7c9c 99 Setpoint = 40;
asobhy 17:1184df616383 100 mutexSetpoint.unlock();
asobhy 23:1839085ffdcf 101
asobhy 17:1184df616383 102 }
asobhy 17:1184df616383 103
asobhy 23:1839085ffdcf 104 /******************************ROBOT STEERING**********************************/
asobhy 23:1839085ffdcf 105 else if (x=='a'&& (MC)) {
asobhy 18:db6d9fc1ebd0 106 mutexSetpoint.lock();
asobhy 20:9118203f7c9c 107 SteeringError = 80;
asobhy 18:db6d9fc1ebd0 108 mutexSetpoint.unlock();
asobhy 23:1839085ffdcf 109 } else if (x=='d'&& (MC)) {
asobhy 17:1184df616383 110 mutexSetpoint.lock();
asobhy 20:9118203f7c9c 111 SteeringError = -80;
asobhy 17:1184df616383 112 mutexSetpoint.unlock();
asobhy 23:1839085ffdcf 113 }
asobhy 17:1184df616383 114 // error wrong input
asobhy 17:1184df616383 115 else {
asobhy 23:1839085ffdcf 116 //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 117 }
asobhy 23:1839085ffdcf 118 } else {
asobhy 23:1839085ffdcf 119 // If no key is pressed stop the robot.
asobhy 18:db6d9fc1ebd0 120 Setpoint = 0;
asobhy 18:db6d9fc1ebd0 121 SteeringError = 0;
asobhy 18:db6d9fc1ebd0 122 }
asobhy 17:1184df616383 123
asobhy 23:1839085ffdcf 124 if(memoryFull){
asobhy 23:1839085ffdcf 125 bluetooth.printf("\r\nmemory is full");
asobhy 23:1839085ffdcf 126 }
asobhy 23:1839085ffdcf 127
asobhy 17:1184df616383 128 }