EE149
/
FinalProject
Final Project files for mBed development.
main.c@31:1e950ee04481, 2014-12-09 (annotated)
- Committer:
- chstrchu
- Date:
- Tue Dec 09 21:18:07 2014 +0000
- Revision:
- 31:1e950ee04481
- Parent:
- 30:3211e2962441
- Child:
- 32:8b589710632b
revisions
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lsaristo | 1:7e0243c27ecb | 1 | /** |
lsaristo | 1:7e0243c27ecb | 2 | * @file driver.c |
lsaristo | 29:459ff10d2a07 | 3 | * @brief Primary control logic for robot. |
lsaristo | 1:7e0243c27ecb | 4 | * |
lsaristo | 29:459ff10d2a07 | 5 | * @author John Wilkey |
lsaristo | 29:459ff10d2a07 | 6 | * @author Alec Guertin |
lsaristo | 29:459ff10d2a07 | 7 | * @author Chester Chu |
lsaristo | 1:7e0243c27ecb | 8 | */ |
lsaristo | 9:3a0433c391cb | 9 | #include "main.h" |
John Wilkey |
5:01882c3de2dc | 10 | |
lsaristo | 29:459ff10d2a07 | 11 | m3pi pi; /**< m3pi Object for all control operations. */ |
lsaristo | 29:459ff10d2a07 | 12 | Timer timer; /**< Timer used to wait in timerWait. */ |
lsaristo | 29:459ff10d2a07 | 13 | DigitalIn start_button(p21); /**< Pi start button input on mBed pin 32 */ |
lsaristo | 29:459ff10d2a07 | 14 | int draw; /**< Boolean for drawing/moving. */ |
lsaristo | 9:3a0433c391cb | 15 | |
lsaristo | 29:459ff10d2a07 | 16 | /* 4 mBed onboard LEDs */ |
lsaristo | 29:459ff10d2a07 | 17 | DigitalOut oled_1(LED1), oled_2(LED2), oled_3(LED3), oled_4(LED4); |
lsaristo | 7:6e5cc24e1ce7 | 18 | |
lsaristo | 29:459ff10d2a07 | 19 | /* 8 LEDs driven from mBed digital outs. */ |
lsaristo | 29:459ff10d2a07 | 20 | DigitalOut pin13(p13), pin14(p14), pin15(p15), pin16(p16), |
lsaristo | 29:459ff10d2a07 | 21 | pin17(p17), pin18(p18), pin19(p19), pin20(p20); |
lsaristo | 9:3a0433c391cb | 22 | |
alecguertin | 15:14d4e7021125 | 23 | /* Local File System */ |
alecguertin | 15:14d4e7021125 | 24 | LocalFileSystem local("local"); |
lsaristo | 9:3a0433c391cb | 25 | |
lsaristo | 29:459ff10d2a07 | 26 | /** @brief Entry point. Main loop. */ |
John Wilkey |
5:01882c3de2dc | 27 | int main() |
John Wilkey |
5:01882c3de2dc | 28 | { |
lsaristo | 29:459ff10d2a07 | 29 | FILE *ps_file; |
lsaristo | 29:459ff10d2a07 | 30 | float cal_time; |
lsaristo | 29:459ff10d2a07 | 31 | float pos = 0; |
lsaristo | 29:459ff10d2a07 | 32 | float over_thresh = 0.05; |
lsaristo | 29:459ff10d2a07 | 33 | float correction = 0.2*DRIVE_SPEED; |
lsaristo | 29:459ff10d2a07 | 34 | int instbuflen = 250; |
lsaristo | 29:459ff10d2a07 | 35 | char instbuf[instbuflen]; |
lsaristo | 29:459ff10d2a07 | 36 | |
lsaristo | 10:94b068b2ce1d | 37 | start_button.mode(PullUp); |
lsaristo | 21:0c80a5d89ea3 | 38 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 39 | pi.locate(0,0); |
lsaristo | 29:459ff10d2a07 | 40 | pi.printf("Ready"); |
lsaristo | 21:0c80a5d89ea3 | 41 | pi.locate(0,1); |
lsaristo | 21:0c80a5d89ea3 | 42 | pi.printf("%f mV", pi.battery()); |
lsaristo | 12:1aa6b8a74136 | 43 | pi.sensor_auto_calibrate(); |
lsaristo | 29:459ff10d2a07 | 44 | |
alecguertin | 15:14d4e7021125 | 45 | wait(1); |
alecguertin | 26:a74edc4c6acb | 46 | |
lsaristo | 21:0c80a5d89ea3 | 47 | do { |
lsaristo | 21:0c80a5d89ea3 | 48 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 49 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 50 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 51 | pi.left_motor(CAL_SPEED-correction); |
lsaristo | 21:0c80a5d89ea3 | 52 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 53 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 54 | pi.right_motor(CAL_SPEED-correction); |
lsaristo | 21:0c80a5d89ea3 | 55 | } else { |
lsaristo | 21:0c80a5d89ea3 | 56 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 57 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 58 | } |
lsaristo | 21:0c80a5d89ea3 | 59 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 60 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 61 | pi.printf("Pos: %f", pos); |
lsaristo | 21:0c80a5d89ea3 | 62 | } while(pos != -1 && pos > -0.3); |
lsaristo | 21:0c80a5d89ea3 | 63 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 64 | if(pos != -1) { |
lsaristo | 21:0c80a5d89ea3 | 65 | timer.stop(); |
lsaristo | 21:0c80a5d89ea3 | 66 | } else { |
lsaristo | 21:0c80a5d89ea3 | 67 | return 1; |
lsaristo | 21:0c80a5d89ea3 | 68 | } |
chstrchu | 31:1e950ee04481 | 69 | left(180); |
chstrchu | 31:1e950ee04481 | 70 | |
alecguertin | 22:46b9d9b2e35c | 71 | Timer caltimer; |
alecguertin | 22:46b9d9b2e35c | 72 | caltimer.start(); |
lsaristo | 12:1aa6b8a74136 | 73 | do { |
lsaristo | 12:1aa6b8a74136 | 74 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 75 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 76 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 77 | pi.left_motor(CAL_SPEED-correction); |
lsaristo | 13:070846d87d4a | 78 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 79 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 80 | pi.right_motor(CAL_SPEED-correction); |
lsaristo | 13:070846d87d4a | 81 | } else { |
lsaristo | 21:0c80a5d89ea3 | 82 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 83 | pi.left_motor(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 84 | } |
alecguertin | 15:14d4e7021125 | 85 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 86 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 87 | pi.printf("Pos: %f", pos); |
alecguertin | 15:14d4e7021125 | 88 | } while(pos != -1 && pos <= 0.3); |
alecguertin | 22:46b9d9b2e35c | 89 | caltimer.stop(); |
alecguertin | 22:46b9d9b2e35c | 90 | cal_time = caltimer.read_ms(); |
alecguertin | 15:14d4e7021125 | 91 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 92 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 93 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 94 | } else { |
alecguertin | 15:14d4e7021125 | 95 | return 1; |
alecguertin | 15:14d4e7021125 | 96 | } |
lsaristo | 21:0c80a5d89ea3 | 97 | right(180); |
alecguertin | 22:46b9d9b2e35c | 98 | timerWait(.5); |
alecguertin | 22:46b9d9b2e35c | 99 | while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) { |
alecguertin | 22:46b9d9b2e35c | 100 | pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED)); |
alecguertin | 22:46b9d9b2e35c | 101 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 102 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 103 | pi.printf("O: %f", pos); |
alecguertin | 22:46b9d9b2e35c | 104 | } |
lsaristo | 30:3211e2962441 | 105 | pi.stop(); |
lsaristo | 30:3211e2962441 | 106 | timerWait(0.5); |
alecguertin | 22:46b9d9b2e35c | 107 | backward(500); |
lsaristo | 30:3211e2962441 | 108 | |
lsaristo | 30:3211e2962441 | 109 | /* Maybe uncomment this depending on the surface. |
alecguertin | 22:46b9d9b2e35c | 110 | timerWait(.5); |
alecguertin | 22:46b9d9b2e35c | 111 | while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) { |
alecguertin | 22:46b9d9b2e35c | 112 | pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED)); |
alecguertin | 22:46b9d9b2e35c | 113 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 114 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 115 | pi.printf("O: %f", pos); |
alecguertin | 22:46b9d9b2e35c | 116 | } |
alecguertin | 22:46b9d9b2e35c | 117 | pi.stop(); |
lsaristo | 30:3211e2962441 | 118 | */ |
lsaristo | 30:3211e2962441 | 119 | |
lsaristo | 30:3211e2962441 | 120 | timerWait(.6); |
alecguertin | 26:a74edc4c6acb | 121 | |
lsaristo | 9:3a0433c391cb | 122 | // Main program loop. |
alecguertin | 17:c72c092fcdf7 | 123 | size_t bytes_read = 0; |
alecguertin | 22:46b9d9b2e35c | 124 | int err, x, y, last_x, last_y, delta_x, delta_y; |
alecguertin | 22:46b9d9b2e35c | 125 | float delta_a; |
alecguertin | 19:47759cf4f9b9 | 126 | int dim_x, dim_y; |
alecguertin | 17:c72c092fcdf7 | 127 | int offset = 0; |
alecguertin | 17:c72c092fcdf7 | 128 | char *cur, *next; |
alecguertin | 19:47759cf4f9b9 | 129 | float angle; |
alecguertin | 19:47759cf4f9b9 | 130 | double dist, theta; |
alecguertin | 18:eab7b0e89398 | 131 | angle = 0; |
alecguertin | 18:eab7b0e89398 | 132 | theta = 0; |
alecguertin | 19:47759cf4f9b9 | 133 | last_x = 0; |
alecguertin | 19:47759cf4f9b9 | 134 | last_y = 0; |
alecguertin | 15:14d4e7021125 | 135 | ps_file = fopen("/local/test.ps", "r"); |
chstrchu | 20:76718145b403 | 136 | if (ps_file == NULL) { |
chstrchu | 20:76718145b403 | 137 | return 1; |
chstrchu | 20:76718145b403 | 138 | } |
alecguertin | 25:2c7717684d09 | 139 | |
alecguertin | 17:c72c092fcdf7 | 140 | /* PS parsing loop. */ |
alecguertin | 19:47759cf4f9b9 | 141 | memset(instbuf, 0, instbuflen); |
chstrchu | 20:76718145b403 | 142 | bytes_read = fread(instbuf, sizeof(char), instbuflen-1, ps_file); |
alecguertin | 22:46b9d9b2e35c | 143 | if (bytes_read == 0) { |
alecguertin | 22:46b9d9b2e35c | 144 | return 1; |
alecguertin | 22:46b9d9b2e35c | 145 | } |
alecguertin | 19:47759cf4f9b9 | 146 | err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y); |
alecguertin | 19:47759cf4f9b9 | 147 | if (err != 2) { |
chstrchu | 20:76718145b403 | 148 | pi.cls(); |
chstrchu | 20:76718145b403 | 149 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 150 | pi.printf("sscanf1"); |
alecguertin | 19:47759cf4f9b9 | 151 | return 1; |
alecguertin | 19:47759cf4f9b9 | 152 | } |
alecguertin | 19:47759cf4f9b9 | 153 | cur = strchr(instbuf, '\n'); |
chstrchu | 20:76718145b403 | 154 | cur++; |
alecguertin | 22:46b9d9b2e35c | 155 | offset = instbuf+instbuflen-cur-1; |
chstrchu | 20:76718145b403 | 156 | memcpy(instbuf, cur, offset); |
alecguertin | 17:c72c092fcdf7 | 157 | while (1) { |
lsaristo | 30:3211e2962441 | 158 | timerWait(.18); |
alecguertin | 17:c72c092fcdf7 | 159 | memset(instbuf+offset, 0, instbuflen-offset); |
alecguertin | 17:c72c092fcdf7 | 160 | bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file); |
alecguertin | 28:9976a94efa83 | 161 | |
alecguertin | 27:44a4a0abc8ee | 162 | if (instbuf[0] == '\0') { |
alecguertin | 28:9976a94efa83 | 163 | pi.cls(); |
alecguertin | 28:9976a94efa83 | 164 | pi.locate(0,0); |
alecguertin | 28:9976a94efa83 | 165 | pi.printf("%s", instbuf+1); |
alecguertin | 28:9976a94efa83 | 166 | while(1); |
alecguertin | 27:44a4a0abc8ee | 167 | } |
alecguertin | 28:9976a94efa83 | 168 | |
alecguertin | 17:c72c092fcdf7 | 169 | cur = instbuf; |
alecguertin | 22:46b9d9b2e35c | 170 | err = retrieve_inst(instbuf, &x, &y, &draw); |
alecguertin | 22:46b9d9b2e35c | 171 | if (err == 0) { |
chstrchu | 20:76718145b403 | 172 | pi.cls(); |
chstrchu | 20:76718145b403 | 173 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 174 | pi.printf("noinst"); |
alecguertin | 22:46b9d9b2e35c | 175 | return 1; |
alecguertin | 22:46b9d9b2e35c | 176 | } |
alecguertin | 22:46b9d9b2e35c | 177 | delta_x = x-last_x; |
alecguertin | 22:46b9d9b2e35c | 178 | delta_y = y-last_y; |
alecguertin | 22:46b9d9b2e35c | 179 | |
alecguertin | 22:46b9d9b2e35c | 180 | /* Compute turn angle and turn. */ |
alecguertin | 25:2c7717684d09 | 181 | theta = atan(((double) delta_y)/((double) delta_x)); |
alecguertin | 22:46b9d9b2e35c | 182 | theta *= 57.29; |
alecguertin | 27:44a4a0abc8ee | 183 | if (delta_x < 0 && delta_y > 0) { |
alecguertin | 27:44a4a0abc8ee | 184 | theta += 180; |
alecguertin | 27:44a4a0abc8ee | 185 | } |
alecguertin | 22:46b9d9b2e35c | 186 | delta_a = theta-angle; |
alecguertin | 23:e4616259a7f0 | 187 | if (delta_x < 0 && delta_y < 0) { |
alecguertin | 23:e4616259a7f0 | 188 | delta_a += 180; |
alecguertin | 23:e4616259a7f0 | 189 | } |
alecguertin | 28:9976a94efa83 | 190 | if (delta_a > 180) { |
alecguertin | 28:9976a94efa83 | 191 | delta_a -= 360; |
alecguertin | 28:9976a94efa83 | 192 | } |
lsaristo | 30:3211e2962441 | 193 | if (delta_a < -180) { |
lsaristo | 30:3211e2962441 | 194 | delta_a = 360 + delta_a; |
lsaristo | 30:3211e2962441 | 195 | } |
alecguertin | 25:2c7717684d09 | 196 | angle += delta_a; |
alecguertin | 28:9976a94efa83 | 197 | if (angle >= 360) { |
alecguertin | 28:9976a94efa83 | 198 | angle -= 360; |
alecguertin | 28:9976a94efa83 | 199 | } |
chstrchu | 31:1e950ee04481 | 200 | pi.cls(); |
chstrchu | 31:1e950ee04481 | 201 | pi.locate(0,0); |
chstrchu | 31:1e950ee04481 | 202 | pi.printf("a:%f", delta_a); |
chstrchu | 31:1e950ee04481 | 203 | timerWait(1.5); |
alecguertin | 25:2c7717684d09 | 204 | left(delta_a); |
alecguertin | 19:47759cf4f9b9 | 205 | |
alecguertin | 22:46b9d9b2e35c | 206 | /* Put pen into position. */ |
alecguertin | 22:46b9d9b2e35c | 207 | if (draw) { |
alecguertin | 28:9976a94efa83 | 208 | oled_3 = 1; |
alecguertin | 22:46b9d9b2e35c | 209 | } else { |
alecguertin | 28:9976a94efa83 | 210 | oled_3 = 0; |
alecguertin | 22:46b9d9b2e35c | 211 | } |
alecguertin | 22:46b9d9b2e35c | 212 | |
alecguertin | 22:46b9d9b2e35c | 213 | /* Compute drive time and move forward. */ |
alecguertin | 22:46b9d9b2e35c | 214 | dist = sqrt(pow((double) (delta_x),2) + pow((double) (delta_y), 2)); |
alecguertin | 22:46b9d9b2e35c | 215 | if (dist < 0) { |
alecguertin | 22:46b9d9b2e35c | 216 | dist *= -1; |
alecguertin | 22:46b9d9b2e35c | 217 | } |
chstrchu | 31:1e950ee04481 | 218 | pi.cls(); |
chstrchu | 31:1e950ee04481 | 219 | pi.locate(0,0); |
chstrchu | 31:1e950ee04481 | 220 | pi.printf("d:%f", 0.4*cal_time*(dist/(double)dim_x)); |
chstrchu | 31:1e950ee04481 | 221 | timerWait(1.5); |
alecguertin | 22:46b9d9b2e35c | 222 | forward(0.4*cal_time*(dist/(double)dim_x)); |
alecguertin | 22:46b9d9b2e35c | 223 | |
alecguertin | 22:46b9d9b2e35c | 224 | last_x = x; |
alecguertin | 22:46b9d9b2e35c | 225 | last_y = y; |
alecguertin | 22:46b9d9b2e35c | 226 | next = strchr(cur, '\n'); |
alecguertin | 22:46b9d9b2e35c | 227 | if (next == NULL) { |
chstrchu | 20:76718145b403 | 228 | pi.cls(); |
chstrchu | 20:76718145b403 | 229 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 230 | pi.printf("nonext"); |
alecguertin | 22:46b9d9b2e35c | 231 | break; |
alecguertin | 17:c72c092fcdf7 | 232 | } |
alecguertin | 22:46b9d9b2e35c | 233 | cur = next+1; |
alecguertin | 22:46b9d9b2e35c | 234 | offset = instbuf+instbuflen-cur-1; |
alecguertin | 17:c72c092fcdf7 | 235 | memcpy(instbuf, cur, offset); |
alecguertin | 15:14d4e7021125 | 236 | } |
chstrchu | 20:76718145b403 | 237 | pi.cls(); |
chstrchu | 20:76718145b403 | 238 | pi.locate(0,0); |
lsaristo | 29:459ff10d2a07 | 239 | pi.printf("Done"); |
alecguertin | 27:44a4a0abc8ee | 240 | while (1); |
John Wilkey |
5:01882c3de2dc | 241 | } |
lsaristo | 8:12d780f7443e | 242 | |
alecguertin | 17:c72c092fcdf7 | 243 | int retrieve_inst(char *buf, int *x, int *y, int *draw) |
alecguertin | 17:c72c092fcdf7 | 244 | { |
alecguertin | 17:c72c092fcdf7 | 245 | int matches; |
alecguertin | 17:c72c092fcdf7 | 246 | char *srch; |
alecguertin | 17:c72c092fcdf7 | 247 | matches = sscanf(buf, "%d %d", x, y); |
alecguertin | 17:c72c092fcdf7 | 248 | if (matches != 2) { |
chstrchu | 20:76718145b403 | 249 | pi.cls(); |
chstrchu | 20:76718145b403 | 250 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 251 | pi.printf("nomatch"); |
alecguertin | 17:c72c092fcdf7 | 252 | return 0; |
alecguertin | 17:c72c092fcdf7 | 253 | } |
alecguertin | 17:c72c092fcdf7 | 254 | srch = strchr(buf, ' '); |
alecguertin | 17:c72c092fcdf7 | 255 | srch++; |
chstrchu | 20:76718145b403 | 256 | srch = strchr(srch, ' '); |
alecguertin | 17:c72c092fcdf7 | 257 | srch++; |
alecguertin | 17:c72c092fcdf7 | 258 | if (srch[0] == 'm') { |
alecguertin | 17:c72c092fcdf7 | 259 | *draw = 0; |
chstrchu | 20:76718145b403 | 260 | } else if (srch[0] == 'l') { |
alecguertin | 17:c72c092fcdf7 | 261 | *draw = 1; |
alecguertin | 17:c72c092fcdf7 | 262 | } else { |
chstrchu | 20:76718145b403 | 263 | pi.cls(); |
chstrchu | 20:76718145b403 | 264 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 265 | pi.printf("%.8s", srch); |
alecguertin | 17:c72c092fcdf7 | 266 | return 0; |
alecguertin | 17:c72c092fcdf7 | 267 | } |
alecguertin | 17:c72c092fcdf7 | 268 | return 1; |
alecguertin | 17:c72c092fcdf7 | 269 | } |
alecguertin | 17:c72c092fcdf7 | 270 | |
lsaristo | 29:459ff10d2a07 | 271 | void forward(int amt) |
lsaristo | 8:12d780f7443e | 272 | { |
lsaristo | 12:1aa6b8a74136 | 273 | Timer t; |
lsaristo | 9:3a0433c391cb | 274 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 275 | pi.printf("Fwd %d", amt); |
lsaristo | 30:3211e2962441 | 276 | t.start(); |
lsaristo | 21:0c80a5d89ea3 | 277 | pi.left_motor(DRIVE_SPEED+.0023); |
lsaristo | 21:0c80a5d89ea3 | 278 | pi.right_motor(DRIVE_SPEED); |
alecguertin | 25:2c7717684d09 | 279 | while(t.read_ms() < amt); |
lsaristo | 12:1aa6b8a74136 | 280 | t.stop(); |
lsaristo | 12:1aa6b8a74136 | 281 | pi.stop(); |
lsaristo | 8:12d780f7443e | 282 | } |
lsaristo | 8:12d780f7443e | 283 | |
lsaristo | 29:459ff10d2a07 | 284 | void backward(int amt) |
lsaristo | 8:12d780f7443e | 285 | { |
lsaristo | 12:1aa6b8a74136 | 286 | Timer t; |
lsaristo | 12:1aa6b8a74136 | 287 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 288 | pi.backward(.5*DRIVE_SPEED); |
alecguertin | 22:46b9d9b2e35c | 289 | while(t.read_ms() < (amt-500)); |
alecguertin | 22:46b9d9b2e35c | 290 | pi.backward(.5*DRIVE_SPEED); |
chstrchu | 20:76718145b403 | 291 | while(t.read_ms() < amt); |
lsaristo | 12:1aa6b8a74136 | 292 | t.stop(); |
lsaristo | 12:1aa6b8a74136 | 293 | pi.stop(); |
lsaristo | 8:12d780f7443e | 294 | } |
lsaristo | 8:12d780f7443e | 295 | |
lsaristo | 29:459ff10d2a07 | 296 | void right(float deg) |
lsaristo | 8:12d780f7443e | 297 | { |
lsaristo | 24:b797563776fc | 298 | if(deg < 0) { |
lsaristo | 24:b797563776fc | 299 | return left(-1*deg); |
lsaristo | 24:b797563776fc | 300 | } |
lsaristo | 12:1aa6b8a74136 | 301 | Timer t; |
lsaristo | 30:3211e2962441 | 302 | float amt = ((float)(deg/360)*TIME_FACT); |
lsaristo | 12:1aa6b8a74136 | 303 | t.start(); |
lsaristo | 30:3211e2962441 | 304 | pi.right(TURN_SPEED); |
lsaristo | 30:3211e2962441 | 305 | while(t.read_ms() < amt); |
lsaristo | 12:1aa6b8a74136 | 306 | t.stop(); |
lsaristo | 12:1aa6b8a74136 | 307 | pi.stop(); |
lsaristo | 8:12d780f7443e | 308 | } |
lsaristo | 8:12d780f7443e | 309 | |
lsaristo | 21:0c80a5d89ea3 | 310 | void timerWait(float seconds) |
lsaristo | 21:0c80a5d89ea3 | 311 | { |
lsaristo | 21:0c80a5d89ea3 | 312 | Timer t; |
lsaristo | 21:0c80a5d89ea3 | 313 | t.start(); |
lsaristo | 21:0c80a5d89ea3 | 314 | while(t.read_us() < 1000000*seconds); |
lsaristo | 21:0c80a5d89ea3 | 315 | t.stop(); |
lsaristo | 21:0c80a5d89ea3 | 316 | } |
lsaristo | 21:0c80a5d89ea3 | 317 | |
lsaristo | 29:459ff10d2a07 | 318 | void left(float deg) |
lsaristo | 8:12d780f7443e | 319 | { |
lsaristo | 24:b797563776fc | 320 | if(deg < 0) { |
lsaristo | 24:b797563776fc | 321 | return right(-1*deg); |
lsaristo | 24:b797563776fc | 322 | } |
lsaristo | 12:1aa6b8a74136 | 323 | Timer t; |
lsaristo | 8:12d780f7443e | 324 | pi.left(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 325 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 326 | while(t.read_ms() < ((float)(deg/360)*TIME_FACT)); |
lsaristo | 12:1aa6b8a74136 | 327 | t.stop(); |
lsaristo | 12:1aa6b8a74136 | 328 | pi.stop(); |
lsaristo | 10:94b068b2ce1d | 329 | } |
lsaristo | 10:94b068b2ce1d | 330 | |
lsaristo | 10:94b068b2ce1d | 331 | void pen_down() |
lsaristo | 10:94b068b2ce1d | 332 | { |
lsaristo | 10:94b068b2ce1d | 333 | oled_1 = 1; |
lsaristo | 10:94b068b2ce1d | 334 | } |
lsaristo | 10:94b068b2ce1d | 335 | |
lsaristo | 10:94b068b2ce1d | 336 | void pen_up() |
lsaristo | 10:94b068b2ce1d | 337 | { |
lsaristo | 10:94b068b2ce1d | 338 | oled_1 = 0; |
lsaristo | 9:3a0433c391cb | 339 | } |