EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

main.c@34:3066686d5152, 2014-12-10 (annotated)

Committer:
lsaristo
Date:
Wed Dec 10 18:49:45 2014 +0000
Revision:
34:3066686d5152
Parent:
32:8b589710632b
Child:
35:a1c14c6d9282
Everything done on Tuesday night. This code actually produces a closed box of side length 500!

Who changed what in which revision?

UserRevisionLine numberNew 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 32:8b589710632b 37 // ---------------------------------------------------------
lsaristo 32:8b589710632b 38 // First calibrate robot and figure out space dimensions.
lsaristo 21:0c80a5d89ea3 39 pi.cls();
lsaristo 21:0c80a5d89ea3 40 pi.locate(0,1);
lsaristo 21:0c80a5d89ea3 41 pi.printf("%f mV", pi.battery());
lsaristo 12:1aa6b8a74136 42 pi.sensor_auto_calibrate();
lsaristo 34:3066686d5152 43 timerWait(.2);
alecguertin 26:a74edc4c6acb 44
lsaristo 21:0c80a5d89ea3 45 do {
lsaristo 21:0c80a5d89ea3 46 pos = pi.line_position();
lsaristo 34:3066686d5152 47 if(pos > over_thresh) {
lsaristo 21:0c80a5d89ea3 48 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 49 pi.left_motor(CAL_SPEED-correction);
lsaristo 21:0c80a5d89ea3 50 } else if(pos < -over_thresh) {
lsaristo 21:0c80a5d89ea3 51 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 52 pi.right_motor(CAL_SPEED-correction);
lsaristo 21:0c80a5d89ea3 53 } else {
lsaristo 21:0c80a5d89ea3 54 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 55 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 56 }
lsaristo 21:0c80a5d89ea3 57 pi.cls();
lsaristo 21:0c80a5d89ea3 58 pi.locate(0,0);
lsaristo 21:0c80a5d89ea3 59 pi.printf("Pos: %f", pos);
lsaristo 21:0c80a5d89ea3 60 } while(pos != -1 && pos > -0.3);
lsaristo 21:0c80a5d89ea3 61 pi.stop();
lsaristo 21:0c80a5d89ea3 62 if(pos != -1) {
lsaristo 21:0c80a5d89ea3 63 timer.stop();
lsaristo 21:0c80a5d89ea3 64 } else {
lsaristo 34:3066686d5152 65 oled_1 = 1;
lsaristo 34:3066686d5152 66 while(1);
lsaristo 21:0c80a5d89ea3 67 }
chstrchu 31:1e950ee04481 68 left(180);
alecguertin 22:46b9d9b2e35c 69 Timer caltimer;
alecguertin 22:46b9d9b2e35c 70 caltimer.start();
lsaristo 12:1aa6b8a74136 71 do {
lsaristo 12:1aa6b8a74136 72 pos = pi.line_position();
lsaristo 13:070846d87d4a 73 if(pos > over_thresh) {
lsaristo 21:0c80a5d89ea3 74 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 75 pi.left_motor(CAL_SPEED-correction);
lsaristo 13:070846d87d4a 76 } else if(pos < -over_thresh) {
lsaristo 21:0c80a5d89ea3 77 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 78 pi.right_motor(CAL_SPEED-correction);
lsaristo 13:070846d87d4a 79 } else {
lsaristo 21:0c80a5d89ea3 80 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 81 pi.left_motor(CAL_SPEED);
alecguertin 15:14d4e7021125 82 }
alecguertin 15:14d4e7021125 83 pi.cls();
alecguertin 15:14d4e7021125 84 pi.locate(0,0);
alecguertin 15:14d4e7021125 85 pi.printf("Pos: %f", pos);
alecguertin 15:14d4e7021125 86 } while(pos != -1 && pos <= 0.3);
alecguertin 22:46b9d9b2e35c 87 caltimer.stop();
lsaristo 34:3066686d5152 88 cal_time = caltimer.read_ms()*2;
alecguertin 15:14d4e7021125 89 pi.stop();
alecguertin 15:14d4e7021125 90 if(pos != -1) {
alecguertin 15:14d4e7021125 91 timer.stop();
alecguertin 15:14d4e7021125 92 } else {
lsaristo 34:3066686d5152 93 oled_1 = 1;
lsaristo 34:3066686d5152 94 while(1);
alecguertin 15:14d4e7021125 95 }
lsaristo 21:0c80a5d89ea3 96 right(180);
lsaristo 32:8b589710632b 97 timerWait(.2);
lsaristo 32:8b589710632b 98
alecguertin 22:46b9d9b2e35c 99 while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) {
lsaristo 34:3066686d5152 100 pi.right((pos < 0 ? -.6*.5*CAL_SPEED : .6*.5*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 32:8b589710632b 106 timerWait(0.2);
lsaristo 34:3066686d5152 107 backward(400);
lsaristo 34:3066686d5152 108
lsaristo 32:8b589710632b 109 // ---------------------------------------------------------
lsaristo 32:8b589710632b 110 // DONE calibrating. Begin reading in coordinate
lsaristo 32:8b589710632b 111 // file and run robot.
alecguertin 17:c72c092fcdf7 112 size_t bytes_read = 0;
alecguertin 22:46b9d9b2e35c 113 int err, x, y, last_x, last_y, delta_x, delta_y;
alecguertin 22:46b9d9b2e35c 114 float delta_a;
alecguertin 19:47759cf4f9b9 115 int dim_x, dim_y;
alecguertin 17:c72c092fcdf7 116 int offset = 0;
alecguertin 17:c72c092fcdf7 117 char *cur, *next;
alecguertin 19:47759cf4f9b9 118 float angle;
alecguertin 19:47759cf4f9b9 119 double dist, theta;
alecguertin 18:eab7b0e89398 120 angle = 0;
alecguertin 18:eab7b0e89398 121 theta = 0;
alecguertin 19:47759cf4f9b9 122 last_x = 0;
alecguertin 19:47759cf4f9b9 123 last_y = 0;
alecguertin 15:14d4e7021125 124 ps_file = fopen("/local/test.ps", "r");
chstrchu 20:76718145b403 125 if (ps_file == NULL) {
chstrchu 20:76718145b403 126 return 1;
chstrchu 20:76718145b403 127 }
alecguertin 25:2c7717684d09 128
alecguertin 17:c72c092fcdf7 129 /* PS parsing loop. */
alecguertin 19:47759cf4f9b9 130 memset(instbuf, 0, instbuflen);
chstrchu 20:76718145b403 131 bytes_read = fread(instbuf, sizeof(char), instbuflen-1, ps_file);
alecguertin 22:46b9d9b2e35c 132 if (bytes_read == 0) {
alecguertin 22:46b9d9b2e35c 133 return 1;
alecguertin 22:46b9d9b2e35c 134 }
alecguertin 19:47759cf4f9b9 135 err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y);
alecguertin 19:47759cf4f9b9 136 if (err != 2) {
chstrchu 20:76718145b403 137 pi.cls();
chstrchu 20:76718145b403 138 pi.locate(0,0);
chstrchu 20:76718145b403 139 pi.printf("sscanf1");
lsaristo 34:3066686d5152 140 while(1);
alecguertin 19:47759cf4f9b9 141 }
alecguertin 19:47759cf4f9b9 142 cur = strchr(instbuf, '\n');
chstrchu 20:76718145b403 143 cur++;
alecguertin 22:46b9d9b2e35c 144 offset = instbuf+instbuflen-cur-1;
chstrchu 20:76718145b403 145 memcpy(instbuf, cur, offset);
lsaristo 32:8b589710632b 146
lsaristo 32:8b589710632b 147
lsaristo 32:8b589710632b 148 // ---------------------------------------------------------
lsaristo 32:8b589710632b 149 // File open and buffer setup. Begin reading instructions and
lsaristo 32:8b589710632b 150 // moving robot. Refill buffer after each instruction.
alecguertin 17:c72c092fcdf7 151 while (1) {
alecguertin 17:c72c092fcdf7 152 memset(instbuf+offset, 0, instbuflen-offset);
alecguertin 17:c72c092fcdf7 153 bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file);
alecguertin 28:9976a94efa83 154
alecguertin 27:44a4a0abc8ee 155 if (instbuf[0] == '\0') {
alecguertin 28:9976a94efa83 156 pi.cls();
alecguertin 28:9976a94efa83 157 pi.locate(0,0);
alecguertin 28:9976a94efa83 158 pi.printf("%s", instbuf+1);
alecguertin 28:9976a94efa83 159 while(1);
alecguertin 27:44a4a0abc8ee 160 }
alecguertin 28:9976a94efa83 161
alecguertin 17:c72c092fcdf7 162 cur = instbuf;
alecguertin 22:46b9d9b2e35c 163 err = retrieve_inst(instbuf, &x, &y, &draw);
lsaristo 32:8b589710632b 164
alecguertin 22:46b9d9b2e35c 165 if (err == 0) {
chstrchu 20:76718145b403 166 pi.cls();
chstrchu 20:76718145b403 167 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 168 pi.printf("noinst");
alecguertin 22:46b9d9b2e35c 169 return 1;
alecguertin 22:46b9d9b2e35c 170 }
lsaristo 32:8b589710632b 171
alecguertin 22:46b9d9b2e35c 172 delta_x = x-last_x;
alecguertin 22:46b9d9b2e35c 173 delta_y = y-last_y;
lsaristo 34:3066686d5152 174 if (delta_y == 0) {
lsaristo 34:3066686d5152 175 if (delta_x < 0) {
lsaristo 34:3066686d5152 176 theta = 180;
lsaristo 34:3066686d5152 177 } else {
lsaristo 34:3066686d5152 178 theta = 0;
lsaristo 34:3066686d5152 179 }
lsaristo 34:3066686d5152 180 } else if (delta_x == 0) {
lsaristo 34:3066686d5152 181 if (delta_y < 0) {
lsaristo 34:3066686d5152 182 theta = -90;
lsaristo 34:3066686d5152 183 } else {
lsaristo 34:3066686d5152 184 theta = 90;
lsaristo 34:3066686d5152 185 }
lsaristo 34:3066686d5152 186 } else {
lsaristo 34:3066686d5152 187 /* Compute turn angle and turn. */
lsaristo 34:3066686d5152 188 theta = atan(((double) delta_y)/((double) delta_x));
lsaristo 34:3066686d5152 189 theta *= 57.29;
lsaristo 34:3066686d5152 190 }
alecguertin 27:44a4a0abc8ee 191 if (delta_x < 0 && delta_y > 0) {
alecguertin 27:44a4a0abc8ee 192 theta += 180;
alecguertin 27:44a4a0abc8ee 193 }
alecguertin 22:46b9d9b2e35c 194 delta_a = theta-angle;
lsaristo 32:8b589710632b 195
alecguertin 23:e4616259a7f0 196 if (delta_x < 0 && delta_y < 0) {
alecguertin 23:e4616259a7f0 197 delta_a += 180;
alecguertin 23:e4616259a7f0 198 }
lsaristo 32:8b589710632b 199
alecguertin 28:9976a94efa83 200 if (delta_a > 180) {
alecguertin 28:9976a94efa83 201 delta_a -= 360;
lsaristo 32:8b589710632b 202 } else if (delta_a < -180) {
lsaristo 30:3211e2962441 203 delta_a = 360 + delta_a;
lsaristo 30:3211e2962441 204 }
alecguertin 25:2c7717684d09 205 angle += delta_a;
alecguertin 28:9976a94efa83 206 if (angle >= 360) {
alecguertin 28:9976a94efa83 207 angle -= 360;
alecguertin 28:9976a94efa83 208 }
chstrchu 31:1e950ee04481 209 pi.cls();
chstrchu 31:1e950ee04481 210 pi.locate(0,0);
chstrchu 31:1e950ee04481 211 pi.printf("a:%f", delta_a);
alecguertin 25:2c7717684d09 212 left(delta_a);
alecguertin 19:47759cf4f9b9 213
alecguertin 22:46b9d9b2e35c 214 /* Put pen into position. */
alecguertin 22:46b9d9b2e35c 215 if (draw) {
alecguertin 28:9976a94efa83 216 oled_3 = 1;
alecguertin 22:46b9d9b2e35c 217 } else {
alecguertin 28:9976a94efa83 218 oled_3 = 0;
alecguertin 22:46b9d9b2e35c 219 }
alecguertin 22:46b9d9b2e35c 220
alecguertin 22:46b9d9b2e35c 221 /* Compute drive time and move forward. */
alecguertin 22:46b9d9b2e35c 222 dist = sqrt(pow((double) (delta_x),2) + pow((double) (delta_y), 2));
alecguertin 22:46b9d9b2e35c 223 if (dist < 0) {
alecguertin 22:46b9d9b2e35c 224 dist *= -1;
alecguertin 22:46b9d9b2e35c 225 }
chstrchu 31:1e950ee04481 226 pi.cls();
chstrchu 31:1e950ee04481 227 pi.locate(0,0);
lsaristo 34:3066686d5152 228 pi.printf("d:%f", 0.55*cal_time*(dist/(double)dim_x));
lsaristo 34:3066686d5152 229 forward(0.55*cal_time*(dist/(double)dim_x));
alecguertin 22:46b9d9b2e35c 230 last_x = x;
alecguertin 22:46b9d9b2e35c 231 last_y = y;
alecguertin 22:46b9d9b2e35c 232 next = strchr(cur, '\n');
alecguertin 22:46b9d9b2e35c 233 if (next == NULL) {
chstrchu 20:76718145b403 234 pi.cls();
chstrchu 20:76718145b403 235 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 236 pi.printf("nonext");
alecguertin 22:46b9d9b2e35c 237 break;
alecguertin 17:c72c092fcdf7 238 }
alecguertin 22:46b9d9b2e35c 239 cur = next+1;
alecguertin 22:46b9d9b2e35c 240 offset = instbuf+instbuflen-cur-1;
alecguertin 17:c72c092fcdf7 241 memcpy(instbuf, cur, offset);
alecguertin 15:14d4e7021125 242 }
chstrchu 20:76718145b403 243 pi.cls();
chstrchu 20:76718145b403 244 pi.locate(0,0);
lsaristo 29:459ff10d2a07 245 pi.printf("Done");
lsaristo 34:3066686d5152 246 pi.stop();
lsaristo 34:3066686d5152 247 oled_3 = 0;
alecguertin 27:44a4a0abc8ee 248 while (1);
John Wilkey 5:01882c3de2dc 249 }
lsaristo 8:12d780f7443e 250
alecguertin 17:c72c092fcdf7 251 int retrieve_inst(char *buf, int *x, int *y, int *draw)
alecguertin 17:c72c092fcdf7 252 {
alecguertin 17:c72c092fcdf7 253 int matches;
alecguertin 17:c72c092fcdf7 254 char *srch;
alecguertin 17:c72c092fcdf7 255 matches = sscanf(buf, "%d %d", x, y);
alecguertin 17:c72c092fcdf7 256 if (matches != 2) {
chstrchu 20:76718145b403 257 pi.cls();
chstrchu 20:76718145b403 258 pi.locate(0,0);
chstrchu 20:76718145b403 259 pi.printf("nomatch");
alecguertin 17:c72c092fcdf7 260 return 0;
alecguertin 17:c72c092fcdf7 261 }
alecguertin 17:c72c092fcdf7 262 srch = strchr(buf, ' ');
alecguertin 17:c72c092fcdf7 263 srch++;
chstrchu 20:76718145b403 264 srch = strchr(srch, ' ');
alecguertin 17:c72c092fcdf7 265 srch++;
alecguertin 17:c72c092fcdf7 266 if (srch[0] == 'm') {
alecguertin 17:c72c092fcdf7 267 *draw = 0;
chstrchu 20:76718145b403 268 } else if (srch[0] == 'l') {
alecguertin 17:c72c092fcdf7 269 *draw = 1;
alecguertin 17:c72c092fcdf7 270 } else {
chstrchu 20:76718145b403 271 pi.cls();
chstrchu 20:76718145b403 272 pi.locate(0,0);
chstrchu 20:76718145b403 273 pi.printf("%.8s", srch);
alecguertin 17:c72c092fcdf7 274 return 0;
alecguertin 17:c72c092fcdf7 275 }
alecguertin 17:c72c092fcdf7 276 return 1;
alecguertin 17:c72c092fcdf7 277 }
alecguertin 17:c72c092fcdf7 278
lsaristo 29:459ff10d2a07 279 void forward(int amt)
lsaristo 8:12d780f7443e 280 {
lsaristo 12:1aa6b8a74136 281 Timer t;
lsaristo 34:3066686d5152 282 float ms = 0;
lsaristo 34:3066686d5152 283 float last_ms = 0;
lsaristo 9:3a0433c391cb 284 pi.locate(0,0);
lsaristo 9:3a0433c391cb 285 pi.printf("Fwd %d", amt);
lsaristo 30:3211e2962441 286 t.start();
lsaristo 34:3066686d5152 287 pi.left_motor(DRIVE_SPEED+.002);
lsaristo 21:0c80a5d89ea3 288 pi.right_motor(DRIVE_SPEED);
lsaristo 34:3066686d5152 289 ms = t.read_ms();
lsaristo 34:3066686d5152 290 while(ms < amt) {
lsaristo 34:3066686d5152 291 if (ms-last_ms > 1000) {
lsaristo 34:3066686d5152 292 t.stop();
lsaristo 34:3066686d5152 293 right(3);
lsaristo 34:3066686d5152 294 last_ms = ms;
lsaristo 34:3066686d5152 295 t.start();
lsaristo 34:3066686d5152 296 pi.left_motor(DRIVE_SPEED+.002);
lsaristo 34:3066686d5152 297 pi.right_motor(DRIVE_SPEED);
lsaristo 34:3066686d5152 298 }
lsaristo 34:3066686d5152 299 ms = t.read_ms();
lsaristo 34:3066686d5152 300 }
lsaristo 12:1aa6b8a74136 301 pi.stop();
lsaristo 8:12d780f7443e 302 }
lsaristo 8:12d780f7443e 303
lsaristo 29:459ff10d2a07 304 void backward(int amt)
lsaristo 8:12d780f7443e 305 {
lsaristo 12:1aa6b8a74136 306 Timer t;
lsaristo 12:1aa6b8a74136 307 t.start();
alecguertin 22:46b9d9b2e35c 308 pi.backward(.5*DRIVE_SPEED);
chstrchu 20:76718145b403 309 while(t.read_ms() < amt);
lsaristo 12:1aa6b8a74136 310 pi.stop();
lsaristo 8:12d780f7443e 311 }
lsaristo 8:12d780f7443e 312
lsaristo 29:459ff10d2a07 313 void right(float deg)
lsaristo 8:12d780f7443e 314 {
lsaristo 24:b797563776fc 315 if(deg < 0) {
lsaristo 24:b797563776fc 316 return left(-1*deg);
lsaristo 24:b797563776fc 317 }
lsaristo 34:3066686d5152 318 deg = deg+1.5;
lsaristo 12:1aa6b8a74136 319 Timer t;
lsaristo 30:3211e2962441 320 float amt = ((float)(deg/360)*TIME_FACT);
lsaristo 12:1aa6b8a74136 321 t.start();
lsaristo 30:3211e2962441 322 pi.right(TURN_SPEED);
lsaristo 30:3211e2962441 323 while(t.read_ms() < amt);
lsaristo 12:1aa6b8a74136 324 pi.stop();
lsaristo 8:12d780f7443e 325 }
lsaristo 8:12d780f7443e 326
lsaristo 21:0c80a5d89ea3 327 void timerWait(float seconds)
lsaristo 21:0c80a5d89ea3 328 {
lsaristo 21:0c80a5d89ea3 329 Timer t;
lsaristo 21:0c80a5d89ea3 330 t.start();
lsaristo 21:0c80a5d89ea3 331 while(t.read_us() < 1000000*seconds);
lsaristo 21:0c80a5d89ea3 332 }
lsaristo 21:0c80a5d89ea3 333
lsaristo 29:459ff10d2a07 334 void left(float deg)
lsaristo 8:12d780f7443e 335 {
lsaristo 24:b797563776fc 336 if(deg < 0) {
lsaristo 24:b797563776fc 337 return right(-1*deg);
lsaristo 24:b797563776fc 338 }
lsaristo 34:3066686d5152 339 deg = deg + 1.5;
lsaristo 12:1aa6b8a74136 340 Timer t;
lsaristo 8:12d780f7443e 341 pi.left(TURN_SPEED);
lsaristo 12:1aa6b8a74136 342 t.start();
alecguertin 22:46b9d9b2e35c 343 while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
lsaristo 12:1aa6b8a74136 344 pi.stop();
lsaristo 9:3a0433c391cb 345 }