EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

main.c@29:459ff10d2a07, 2014-12-08 (annotated)

Committer:
lsaristo
Date:
Mon Dec 08 22:43:09 2014 +0000
Revision:
29:459ff10d2a07
Parent:
28:9976a94efa83
Child:
30:3211e2962441
Small cleanup and removed unused functions

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 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 21:0c80a5d89ea3 43 wait(.5);
lsaristo 12:1aa6b8a74136 44 pi.sensor_auto_calibrate();
lsaristo 29:459ff10d2a07 45
alecguertin 15:14d4e7021125 46 wait(1);
alecguertin 26:a74edc4c6acb 47
lsaristo 21:0c80a5d89ea3 48 do {
lsaristo 21:0c80a5d89ea3 49 pos = pi.line_position();
lsaristo 21:0c80a5d89ea3 50 if(pos > over_thresh) {
lsaristo 21:0c80a5d89ea3 51 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 52 pi.left_motor(CAL_SPEED-correction);
lsaristo 21:0c80a5d89ea3 53 } else if(pos < -over_thresh) {
lsaristo 21:0c80a5d89ea3 54 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 55 pi.right_motor(CAL_SPEED-correction);
lsaristo 21:0c80a5d89ea3 56 } else {
lsaristo 21:0c80a5d89ea3 57 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 58 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 59 }
lsaristo 21:0c80a5d89ea3 60 pi.cls();
lsaristo 21:0c80a5d89ea3 61 pi.locate(0,0);
lsaristo 21:0c80a5d89ea3 62 pi.printf("Pos: %f", pos);
lsaristo 21:0c80a5d89ea3 63 } while(pos != -1 && pos > -0.3);
lsaristo 21:0c80a5d89ea3 64 pi.stop();
lsaristo 21:0c80a5d89ea3 65 if(pos != -1) {
lsaristo 21:0c80a5d89ea3 66 timer.stop();
lsaristo 21:0c80a5d89ea3 67 } else {
lsaristo 21:0c80a5d89ea3 68 return 1;
lsaristo 21:0c80a5d89ea3 69 }
lsaristo 21:0c80a5d89ea3 70 right(180);
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 }
alecguertin 22:46b9d9b2e35c 105 pi.stop();
alecguertin 22:46b9d9b2e35c 106 timerWait(2);
alecguertin 26:a74edc4c6acb 107
alecguertin 22:46b9d9b2e35c 108 backward(500);
alecguertin 22:46b9d9b2e35c 109 timerWait(.5);
alecguertin 22:46b9d9b2e35c 110 while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) {
alecguertin 22:46b9d9b2e35c 111 pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED));
alecguertin 22:46b9d9b2e35c 112 pi.cls();
alecguertin 22:46b9d9b2e35c 113 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 114 pi.printf("O: %f", pos);
alecguertin 22:46b9d9b2e35c 115 }
alecguertin 22:46b9d9b2e35c 116 pi.stop();
alecguertin 22:46b9d9b2e35c 117 timerWait(2);
alecguertin 26:a74edc4c6acb 118
alecguertin 22:46b9d9b2e35c 119 timerWait(1);
lsaristo 12:1aa6b8a74136 120
lsaristo 9:3a0433c391cb 121 // Main program loop.
alecguertin 17:c72c092fcdf7 122 size_t bytes_read = 0;
alecguertin 22:46b9d9b2e35c 123 int err, x, y, last_x, last_y, delta_x, delta_y;
alecguertin 22:46b9d9b2e35c 124 float delta_a;
alecguertin 19:47759cf4f9b9 125 int dim_x, dim_y;
alecguertin 17:c72c092fcdf7 126 int offset = 0;
alecguertin 17:c72c092fcdf7 127 char *cur, *next;
alecguertin 19:47759cf4f9b9 128 float angle;
alecguertin 19:47759cf4f9b9 129 double dist, theta;
alecguertin 18:eab7b0e89398 130 angle = 0;
alecguertin 18:eab7b0e89398 131 theta = 0;
alecguertin 19:47759cf4f9b9 132 last_x = 0;
alecguertin 19:47759cf4f9b9 133 last_y = 0;
alecguertin 15:14d4e7021125 134 ps_file = fopen("/local/test.ps", "r");
chstrchu 20:76718145b403 135 if (ps_file == NULL) {
chstrchu 20:76718145b403 136 return 1;
chstrchu 20:76718145b403 137 }
alecguertin 25:2c7717684d09 138
alecguertin 17:c72c092fcdf7 139 /* PS parsing loop. */
alecguertin 19:47759cf4f9b9 140 memset(instbuf, 0, instbuflen);
chstrchu 20:76718145b403 141 bytes_read = fread(instbuf, sizeof(char), instbuflen-1, ps_file);
alecguertin 22:46b9d9b2e35c 142 if (bytes_read == 0) {
alecguertin 22:46b9d9b2e35c 143 return 1;
alecguertin 22:46b9d9b2e35c 144 }
alecguertin 19:47759cf4f9b9 145 err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y);
alecguertin 19:47759cf4f9b9 146 if (err != 2) {
chstrchu 20:76718145b403 147 pi.cls();
chstrchu 20:76718145b403 148 pi.locate(0,0);
chstrchu 20:76718145b403 149 pi.printf("sscanf1");
alecguertin 19:47759cf4f9b9 150 return 1;
alecguertin 19:47759cf4f9b9 151 }
alecguertin 19:47759cf4f9b9 152 cur = strchr(instbuf, '\n');
chstrchu 20:76718145b403 153 cur++;
alecguertin 22:46b9d9b2e35c 154 offset = instbuf+instbuflen-cur-1;
chstrchu 20:76718145b403 155 memcpy(instbuf, cur, offset);
alecguertin 17:c72c092fcdf7 156 while (1) {
alecguertin 28:9976a94efa83 157 timerWait(1);
alecguertin 17:c72c092fcdf7 158 memset(instbuf+offset, 0, instbuflen-offset);
alecguertin 17:c72c092fcdf7 159 bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file);
alecguertin 28:9976a94efa83 160
alecguertin 27:44a4a0abc8ee 161 if (instbuf[0] == '\0') {
alecguertin 28:9976a94efa83 162 pi.cls();
alecguertin 28:9976a94efa83 163 pi.locate(0,0);
alecguertin 28:9976a94efa83 164 pi.printf("%s", instbuf+1);
alecguertin 28:9976a94efa83 165 while(1);
alecguertin 27:44a4a0abc8ee 166 }
alecguertin 28:9976a94efa83 167
alecguertin 17:c72c092fcdf7 168 cur = instbuf;
alecguertin 22:46b9d9b2e35c 169 err = retrieve_inst(instbuf, &x, &y, &draw);
alecguertin 22:46b9d9b2e35c 170 if (err == 0) {
chstrchu 20:76718145b403 171 pi.cls();
chstrchu 20:76718145b403 172 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 173 pi.printf("noinst");
alecguertin 22:46b9d9b2e35c 174 return 1;
alecguertin 22:46b9d9b2e35c 175 }
alecguertin 22:46b9d9b2e35c 176 delta_x = x-last_x;
alecguertin 22:46b9d9b2e35c 177 delta_y = y-last_y;
alecguertin 22:46b9d9b2e35c 178
alecguertin 22:46b9d9b2e35c 179 /* Compute turn angle and turn. */
alecguertin 25:2c7717684d09 180 theta = atan(((double) delta_y)/((double) delta_x));
alecguertin 22:46b9d9b2e35c 181 theta *= 57.29;
alecguertin 27:44a4a0abc8ee 182 if (delta_x < 0 && delta_y > 0) {
alecguertin 27:44a4a0abc8ee 183 theta += 180;
alecguertin 27:44a4a0abc8ee 184 }
alecguertin 22:46b9d9b2e35c 185 delta_a = theta-angle;
alecguertin 23:e4616259a7f0 186 if (delta_x < 0 && delta_y < 0) {
alecguertin 23:e4616259a7f0 187 delta_a += 180;
alecguertin 23:e4616259a7f0 188 }
alecguertin 28:9976a94efa83 189 if (delta_a > 180) {
alecguertin 28:9976a94efa83 190 delta_a -= 360;
alecguertin 28:9976a94efa83 191 }
alecguertin 25:2c7717684d09 192 angle += delta_a;
alecguertin 28:9976a94efa83 193 if (angle >= 360) {
alecguertin 28:9976a94efa83 194 angle -= 360;
alecguertin 28:9976a94efa83 195 }
alecguertin 25:2c7717684d09 196 //pi.cls();
alecguertin 25:2c7717684d09 197 //pi.locate(0,0);
alecguertin 25:2c7717684d09 198 //pi.printf("a:%f", delta_a);
alecguertin 25:2c7717684d09 199 //timerWait(1.5);
alecguertin 25:2c7717684d09 200 left(delta_a);
alecguertin 19:47759cf4f9b9 201
alecguertin 22:46b9d9b2e35c 202 /* Put pen into position. */
alecguertin 22:46b9d9b2e35c 203 if (draw) {
alecguertin 28:9976a94efa83 204 oled_3 = 1;
alecguertin 22:46b9d9b2e35c 205 } else {
alecguertin 28:9976a94efa83 206 oled_3 = 0;
alecguertin 22:46b9d9b2e35c 207 }
alecguertin 22:46b9d9b2e35c 208
alecguertin 22:46b9d9b2e35c 209 /* Compute drive time and move forward. */
alecguertin 22:46b9d9b2e35c 210 dist = sqrt(pow((double) (delta_x),2) + pow((double) (delta_y), 2));
alecguertin 22:46b9d9b2e35c 211 if (dist < 0) {
alecguertin 22:46b9d9b2e35c 212 dist *= -1;
alecguertin 22:46b9d9b2e35c 213 }
alecguertin 25:2c7717684d09 214 //pi.cls();
alecguertin 25:2c7717684d09 215 //pi.locate(0,0);
alecguertin 25:2c7717684d09 216 //pi.printf("d:%f", 0.4*cal_time*(dist/(double)dim_x));
alecguertin 25:2c7717684d09 217 //timerWait(1.5);
alecguertin 22:46b9d9b2e35c 218 forward(0.4*cal_time*(dist/(double)dim_x));
alecguertin 22:46b9d9b2e35c 219
alecguertin 22:46b9d9b2e35c 220 last_x = x;
alecguertin 22:46b9d9b2e35c 221 last_y = y;
alecguertin 22:46b9d9b2e35c 222 next = strchr(cur, '\n');
alecguertin 22:46b9d9b2e35c 223 if (next == NULL) {
chstrchu 20:76718145b403 224 pi.cls();
chstrchu 20:76718145b403 225 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 226 pi.printf("nonext");
alecguertin 22:46b9d9b2e35c 227 break;
alecguertin 17:c72c092fcdf7 228 }
alecguertin 22:46b9d9b2e35c 229 cur = next+1;
alecguertin 22:46b9d9b2e35c 230 offset = instbuf+instbuflen-cur-1;
alecguertin 17:c72c092fcdf7 231 memcpy(instbuf, cur, offset);
alecguertin 15:14d4e7021125 232 }
chstrchu 20:76718145b403 233 pi.cls();
chstrchu 20:76718145b403 234 pi.locate(0,0);
lsaristo 29:459ff10d2a07 235 pi.printf("Done");
alecguertin 27:44a4a0abc8ee 236 while (1);
John Wilkey 5:01882c3de2dc 237 }
lsaristo 8:12d780f7443e 238
alecguertin 17:c72c092fcdf7 239 int retrieve_inst(char *buf, int *x, int *y, int *draw)
alecguertin 17:c72c092fcdf7 240 {
alecguertin 17:c72c092fcdf7 241 int matches;
alecguertin 17:c72c092fcdf7 242 char *srch;
alecguertin 17:c72c092fcdf7 243 matches = sscanf(buf, "%d %d", x, y);
alecguertin 17:c72c092fcdf7 244 if (matches != 2) {
chstrchu 20:76718145b403 245 pi.cls();
chstrchu 20:76718145b403 246 pi.locate(0,0);
chstrchu 20:76718145b403 247 pi.printf("nomatch");
alecguertin 17:c72c092fcdf7 248 return 0;
alecguertin 17:c72c092fcdf7 249 }
alecguertin 17:c72c092fcdf7 250 srch = strchr(buf, ' ');
alecguertin 17:c72c092fcdf7 251 srch++;
chstrchu 20:76718145b403 252 srch = strchr(srch, ' ');
alecguertin 17:c72c092fcdf7 253 srch++;
alecguertin 17:c72c092fcdf7 254 if (srch[0] == 'm') {
alecguertin 17:c72c092fcdf7 255 *draw = 0;
chstrchu 20:76718145b403 256 } else if (srch[0] == 'l') {
alecguertin 17:c72c092fcdf7 257 *draw = 1;
alecguertin 17:c72c092fcdf7 258 } else {
chstrchu 20:76718145b403 259 pi.cls();
chstrchu 20:76718145b403 260 pi.locate(0,0);
chstrchu 20:76718145b403 261 pi.printf("%.8s", srch);
alecguertin 17:c72c092fcdf7 262 return 0;
alecguertin 17:c72c092fcdf7 263 }
alecguertin 17:c72c092fcdf7 264 return 1;
alecguertin 17:c72c092fcdf7 265 }
alecguertin 17:c72c092fcdf7 266
lsaristo 29:459ff10d2a07 267 void forward(int amt)
lsaristo 8:12d780f7443e 268 {
lsaristo 12:1aa6b8a74136 269 Timer t;
lsaristo 9:3a0433c391cb 270 pi.locate(0,0);
lsaristo 9:3a0433c391cb 271 pi.printf("Fwd %d", amt);
lsaristo 21:0c80a5d89ea3 272 pi.left_motor(DRIVE_SPEED+.0023);
lsaristo 21:0c80a5d89ea3 273 pi.right_motor(DRIVE_SPEED);
alecguertin 25:2c7717684d09 274 t.start();
alecguertin 25:2c7717684d09 275 while(t.read_ms() < amt);
lsaristo 21:0c80a5d89ea3 276 pi.left_motor(.7*DRIVE_SPEED+.0023);
lsaristo 21:0c80a5d89ea3 277 pi.right_motor(.7*DRIVE_SPEED);
lsaristo 12:1aa6b8a74136 278 t.stop();
lsaristo 12:1aa6b8a74136 279 pi.stop();
lsaristo 8:12d780f7443e 280 }
lsaristo 8:12d780f7443e 281
lsaristo 29:459ff10d2a07 282 void backward(int amt)
lsaristo 8:12d780f7443e 283 {
lsaristo 12:1aa6b8a74136 284 Timer t;
lsaristo 12:1aa6b8a74136 285 t.start();
alecguertin 22:46b9d9b2e35c 286 pi.backward(.5*DRIVE_SPEED);
alecguertin 22:46b9d9b2e35c 287 while(t.read_ms() < (amt-500));
alecguertin 22:46b9d9b2e35c 288 pi.backward(.5*DRIVE_SPEED);
chstrchu 20:76718145b403 289 while(t.read_ms() < amt);
lsaristo 12:1aa6b8a74136 290 t.stop();
lsaristo 12:1aa6b8a74136 291 pi.stop();
lsaristo 8:12d780f7443e 292 }
lsaristo 8:12d780f7443e 293
lsaristo 29:459ff10d2a07 294 void right(float deg)
lsaristo 8:12d780f7443e 295 {
lsaristo 24:b797563776fc 296 if(deg < 0) {
lsaristo 24:b797563776fc 297 return left(-1*deg);
lsaristo 24:b797563776fc 298 }
lsaristo 12:1aa6b8a74136 299 Timer t;
lsaristo 8:12d780f7443e 300 pi.right(TURN_SPEED);
lsaristo 12:1aa6b8a74136 301 t.start();
alecguertin 22:46b9d9b2e35c 302 while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
lsaristo 12:1aa6b8a74136 303 t.stop();
lsaristo 12:1aa6b8a74136 304 pi.stop();
lsaristo 8:12d780f7443e 305 }
lsaristo 8:12d780f7443e 306
lsaristo 21:0c80a5d89ea3 307 void timerWait(float seconds)
lsaristo 21:0c80a5d89ea3 308 {
lsaristo 21:0c80a5d89ea3 309 Timer t;
lsaristo 21:0c80a5d89ea3 310 t.start();
lsaristo 21:0c80a5d89ea3 311 while(t.read_us() < 1000000*seconds);
lsaristo 21:0c80a5d89ea3 312 t.stop();
lsaristo 21:0c80a5d89ea3 313 }
lsaristo 21:0c80a5d89ea3 314
lsaristo 29:459ff10d2a07 315 void left(float deg)
lsaristo 8:12d780f7443e 316 {
lsaristo 24:b797563776fc 317 if(deg < 0) {
lsaristo 24:b797563776fc 318 return right(-1*deg);
lsaristo 24:b797563776fc 319 }
lsaristo 12:1aa6b8a74136 320 Timer t;
lsaristo 8:12d780f7443e 321 pi.left(TURN_SPEED);
lsaristo 12:1aa6b8a74136 322 t.start();
alecguertin 22:46b9d9b2e35c 323 while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
lsaristo 12:1aa6b8a74136 324 t.stop();
lsaristo 12:1aa6b8a74136 325 pi.stop();
lsaristo 10:94b068b2ce1d 326 }
lsaristo 10:94b068b2ce1d 327
lsaristo 10:94b068b2ce1d 328 void pen_down()
lsaristo 10:94b068b2ce1d 329 {
lsaristo 10:94b068b2ce1d 330 oled_1 = 1;
lsaristo 10:94b068b2ce1d 331 }
lsaristo 10:94b068b2ce1d 332
lsaristo 10:94b068b2ce1d 333 void pen_up()
lsaristo 10:94b068b2ce1d 334 {
lsaristo 10:94b068b2ce1d 335 oled_1 = 0;
lsaristo 9:3a0433c391cb 336 }