EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

main.c@32:8b589710632b, 2014-12-09 (annotated)

Committer:
lsaristo
Date:
Tue Dec 09 22:56:54 2014 +0000
Revision:
32:8b589710632b
Parent:
31:1e950ee04481
Child:
34:3066686d5152
Added pi.stop()s back in. Removed unneeded stuff.

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();
alecguertin 26:a74edc4c6acb 43
lsaristo 21:0c80a5d89ea3 44 do {
lsaristo 21:0c80a5d89ea3 45 pos = pi.line_position();
lsaristo 21:0c80a5d89ea3 46 if(pos > over_thresh) {
lsaristo 21:0c80a5d89ea3 47 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 48 pi.left_motor(CAL_SPEED-correction);
lsaristo 21:0c80a5d89ea3 49 } else if(pos < -over_thresh) {
lsaristo 21:0c80a5d89ea3 50 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 51 pi.right_motor(CAL_SPEED-correction);
lsaristo 21:0c80a5d89ea3 52 } else {
lsaristo 21:0c80a5d89ea3 53 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 54 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 55 }
lsaristo 21:0c80a5d89ea3 56 pi.cls();
lsaristo 21:0c80a5d89ea3 57 pi.locate(0,0);
lsaristo 21:0c80a5d89ea3 58 pi.printf("Pos: %f", pos);
lsaristo 21:0c80a5d89ea3 59 } while(pos != -1 && pos > -0.3);
lsaristo 21:0c80a5d89ea3 60 pi.stop();
lsaristo 21:0c80a5d89ea3 61 if(pos != -1) {
lsaristo 21:0c80a5d89ea3 62 timer.stop();
lsaristo 21:0c80a5d89ea3 63 } else {
lsaristo 21:0c80a5d89ea3 64 return 1;
lsaristo 21:0c80a5d89ea3 65 }
chstrchu 31:1e950ee04481 66 left(180);
alecguertin 22:46b9d9b2e35c 67 Timer caltimer;
alecguertin 22:46b9d9b2e35c 68 caltimer.start();
lsaristo 12:1aa6b8a74136 69 do {
lsaristo 12:1aa6b8a74136 70 pos = pi.line_position();
lsaristo 13:070846d87d4a 71 if(pos > over_thresh) {
lsaristo 21:0c80a5d89ea3 72 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 73 pi.left_motor(CAL_SPEED-correction);
lsaristo 13:070846d87d4a 74 } else if(pos < -over_thresh) {
lsaristo 21:0c80a5d89ea3 75 pi.left_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 76 pi.right_motor(CAL_SPEED-correction);
lsaristo 13:070846d87d4a 77 } else {
lsaristo 21:0c80a5d89ea3 78 pi.right_motor(CAL_SPEED);
lsaristo 21:0c80a5d89ea3 79 pi.left_motor(CAL_SPEED);
alecguertin 15:14d4e7021125 80 }
alecguertin 15:14d4e7021125 81 pi.cls();
alecguertin 15:14d4e7021125 82 pi.locate(0,0);
alecguertin 15:14d4e7021125 83 pi.printf("Pos: %f", pos);
alecguertin 15:14d4e7021125 84 } while(pos != -1 && pos <= 0.3);
alecguertin 22:46b9d9b2e35c 85 caltimer.stop();
alecguertin 22:46b9d9b2e35c 86 cal_time = caltimer.read_ms();
alecguertin 15:14d4e7021125 87 pi.stop();
alecguertin 15:14d4e7021125 88 if(pos != -1) {
alecguertin 15:14d4e7021125 89 timer.stop();
alecguertin 15:14d4e7021125 90 } else {
alecguertin 15:14d4e7021125 91 return 1;
alecguertin 15:14d4e7021125 92 }
lsaristo 21:0c80a5d89ea3 93 right(180);
lsaristo 32:8b589710632b 94 timerWait(.2);
lsaristo 32:8b589710632b 95
alecguertin 22:46b9d9b2e35c 96 while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) {
alecguertin 22:46b9d9b2e35c 97 pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED));
alecguertin 22:46b9d9b2e35c 98 pi.cls();
alecguertin 22:46b9d9b2e35c 99 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 100 pi.printf("O: %f", pos);
alecguertin 22:46b9d9b2e35c 101 }
lsaristo 30:3211e2962441 102 pi.stop();
lsaristo 32:8b589710632b 103 timerWait(0.2);
alecguertin 22:46b9d9b2e35c 104 backward(500);
alecguertin 26:a74edc4c6acb 105
lsaristo 32:8b589710632b 106 // ---------------------------------------------------------
lsaristo 32:8b589710632b 107 // DONE calibrating. Begin reading in coordinate
lsaristo 32:8b589710632b 108 // file and run robot.
alecguertin 17:c72c092fcdf7 109 size_t bytes_read = 0;
alecguertin 22:46b9d9b2e35c 110 int err, x, y, last_x, last_y, delta_x, delta_y;
alecguertin 22:46b9d9b2e35c 111 float delta_a;
alecguertin 19:47759cf4f9b9 112 int dim_x, dim_y;
alecguertin 17:c72c092fcdf7 113 int offset = 0;
alecguertin 17:c72c092fcdf7 114 char *cur, *next;
alecguertin 19:47759cf4f9b9 115 float angle;
alecguertin 19:47759cf4f9b9 116 double dist, theta;
alecguertin 18:eab7b0e89398 117 angle = 0;
alecguertin 18:eab7b0e89398 118 theta = 0;
alecguertin 19:47759cf4f9b9 119 last_x = 0;
alecguertin 19:47759cf4f9b9 120 last_y = 0;
alecguertin 15:14d4e7021125 121 ps_file = fopen("/local/test.ps", "r");
chstrchu 20:76718145b403 122 if (ps_file == NULL) {
chstrchu 20:76718145b403 123 return 1;
chstrchu 20:76718145b403 124 }
alecguertin 25:2c7717684d09 125
alecguertin 17:c72c092fcdf7 126 /* PS parsing loop. */
alecguertin 19:47759cf4f9b9 127 memset(instbuf, 0, instbuflen);
chstrchu 20:76718145b403 128 bytes_read = fread(instbuf, sizeof(char), instbuflen-1, ps_file);
alecguertin 22:46b9d9b2e35c 129 if (bytes_read == 0) {
alecguertin 22:46b9d9b2e35c 130 return 1;
alecguertin 22:46b9d9b2e35c 131 }
alecguertin 19:47759cf4f9b9 132 err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y);
alecguertin 19:47759cf4f9b9 133 if (err != 2) {
chstrchu 20:76718145b403 134 pi.cls();
chstrchu 20:76718145b403 135 pi.locate(0,0);
chstrchu 20:76718145b403 136 pi.printf("sscanf1");
alecguertin 19:47759cf4f9b9 137 return 1;
alecguertin 19:47759cf4f9b9 138 }
alecguertin 19:47759cf4f9b9 139 cur = strchr(instbuf, '\n');
chstrchu 20:76718145b403 140 cur++;
alecguertin 22:46b9d9b2e35c 141 offset = instbuf+instbuflen-cur-1;
chstrchu 20:76718145b403 142 memcpy(instbuf, cur, offset);
lsaristo 32:8b589710632b 143
lsaristo 32:8b589710632b 144
lsaristo 32:8b589710632b 145 // ---------------------------------------------------------
lsaristo 32:8b589710632b 146 // File open and buffer setup. Begin reading instructions and
lsaristo 32:8b589710632b 147 // moving robot. Refill buffer after each instruction.
alecguertin 17:c72c092fcdf7 148 while (1) {
alecguertin 17:c72c092fcdf7 149 memset(instbuf+offset, 0, instbuflen-offset);
alecguertin 17:c72c092fcdf7 150 bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file);
alecguertin 28:9976a94efa83 151
alecguertin 27:44a4a0abc8ee 152 if (instbuf[0] == '\0') {
alecguertin 28:9976a94efa83 153 pi.cls();
alecguertin 28:9976a94efa83 154 pi.locate(0,0);
alecguertin 28:9976a94efa83 155 pi.printf("%s", instbuf+1);
alecguertin 28:9976a94efa83 156 while(1);
alecguertin 27:44a4a0abc8ee 157 }
alecguertin 28:9976a94efa83 158
alecguertin 17:c72c092fcdf7 159 cur = instbuf;
alecguertin 22:46b9d9b2e35c 160 err = retrieve_inst(instbuf, &x, &y, &draw);
lsaristo 32:8b589710632b 161
alecguertin 22:46b9d9b2e35c 162 if (err == 0) {
chstrchu 20:76718145b403 163 pi.cls();
chstrchu 20:76718145b403 164 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 165 pi.printf("noinst");
alecguertin 22:46b9d9b2e35c 166 return 1;
alecguertin 22:46b9d9b2e35c 167 }
lsaristo 32:8b589710632b 168
alecguertin 22:46b9d9b2e35c 169 delta_x = x-last_x;
alecguertin 22:46b9d9b2e35c 170 delta_y = y-last_y;
alecguertin 22:46b9d9b2e35c 171
alecguertin 22:46b9d9b2e35c 172 /* Compute turn angle and turn. */
alecguertin 25:2c7717684d09 173 theta = atan(((double) delta_y)/((double) delta_x));
alecguertin 22:46b9d9b2e35c 174 theta *= 57.29;
alecguertin 27:44a4a0abc8ee 175 if (delta_x < 0 && delta_y > 0) {
alecguertin 27:44a4a0abc8ee 176 theta += 180;
alecguertin 27:44a4a0abc8ee 177 }
alecguertin 22:46b9d9b2e35c 178 delta_a = theta-angle;
lsaristo 32:8b589710632b 179
alecguertin 23:e4616259a7f0 180 if (delta_x < 0 && delta_y < 0) {
alecguertin 23:e4616259a7f0 181 delta_a += 180;
alecguertin 23:e4616259a7f0 182 }
lsaristo 32:8b589710632b 183
alecguertin 28:9976a94efa83 184 if (delta_a > 180) {
alecguertin 28:9976a94efa83 185 delta_a -= 360;
lsaristo 32:8b589710632b 186 } else if (delta_a < -180) {
lsaristo 30:3211e2962441 187 delta_a = 360 + delta_a;
lsaristo 30:3211e2962441 188 }
alecguertin 25:2c7717684d09 189 angle += delta_a;
alecguertin 28:9976a94efa83 190 if (angle >= 360) {
alecguertin 28:9976a94efa83 191 angle -= 360;
alecguertin 28:9976a94efa83 192 }
chstrchu 31:1e950ee04481 193 pi.cls();
chstrchu 31:1e950ee04481 194 pi.locate(0,0);
chstrchu 31:1e950ee04481 195 pi.printf("a:%f", delta_a);
alecguertin 25:2c7717684d09 196 left(delta_a);
alecguertin 19:47759cf4f9b9 197
alecguertin 22:46b9d9b2e35c 198 /* Put pen into position. */
alecguertin 22:46b9d9b2e35c 199 if (draw) {
alecguertin 28:9976a94efa83 200 oled_3 = 1;
alecguertin 22:46b9d9b2e35c 201 } else {
alecguertin 28:9976a94efa83 202 oled_3 = 0;
alecguertin 22:46b9d9b2e35c 203 }
alecguertin 22:46b9d9b2e35c 204
alecguertin 22:46b9d9b2e35c 205 /* Compute drive time and move forward. */
alecguertin 22:46b9d9b2e35c 206 dist = sqrt(pow((double) (delta_x),2) + pow((double) (delta_y), 2));
alecguertin 22:46b9d9b2e35c 207 if (dist < 0) {
alecguertin 22:46b9d9b2e35c 208 dist *= -1;
alecguertin 22:46b9d9b2e35c 209 }
chstrchu 31:1e950ee04481 210 pi.cls();
chstrchu 31:1e950ee04481 211 pi.locate(0,0);
chstrchu 31:1e950ee04481 212 pi.printf("d:%f", 0.4*cal_time*(dist/(double)dim_x));
alecguertin 22:46b9d9b2e35c 213 forward(0.4*cal_time*(dist/(double)dim_x));
alecguertin 22:46b9d9b2e35c 214
alecguertin 22:46b9d9b2e35c 215 last_x = x;
alecguertin 22:46b9d9b2e35c 216 last_y = y;
alecguertin 22:46b9d9b2e35c 217 next = strchr(cur, '\n');
alecguertin 22:46b9d9b2e35c 218 if (next == NULL) {
chstrchu 20:76718145b403 219 pi.cls();
chstrchu 20:76718145b403 220 pi.locate(0,0);
alecguertin 22:46b9d9b2e35c 221 pi.printf("nonext");
alecguertin 22:46b9d9b2e35c 222 break;
alecguertin 17:c72c092fcdf7 223 }
alecguertin 22:46b9d9b2e35c 224 cur = next+1;
alecguertin 22:46b9d9b2e35c 225 offset = instbuf+instbuflen-cur-1;
alecguertin 17:c72c092fcdf7 226 memcpy(instbuf, cur, offset);
alecguertin 15:14d4e7021125 227 }
chstrchu 20:76718145b403 228 pi.cls();
chstrchu 20:76718145b403 229 pi.locate(0,0);
lsaristo 29:459ff10d2a07 230 pi.printf("Done");
lsaristo 32:8b589710632b 231 pi.stop(); // Just in case. Prevent runaway polio. That's all bad!
alecguertin 27:44a4a0abc8ee 232 while (1);
John Wilkey 5:01882c3de2dc 233 }
lsaristo 8:12d780f7443e 234
alecguertin 17:c72c092fcdf7 235 int retrieve_inst(char *buf, int *x, int *y, int *draw)
alecguertin 17:c72c092fcdf7 236 {
alecguertin 17:c72c092fcdf7 237 int matches;
alecguertin 17:c72c092fcdf7 238 char *srch;
alecguertin 17:c72c092fcdf7 239 matches = sscanf(buf, "%d %d", x, y);
alecguertin 17:c72c092fcdf7 240 if (matches != 2) {
chstrchu 20:76718145b403 241 pi.cls();
chstrchu 20:76718145b403 242 pi.locate(0,0);
chstrchu 20:76718145b403 243 pi.printf("nomatch");
alecguertin 17:c72c092fcdf7 244 return 0;
alecguertin 17:c72c092fcdf7 245 }
alecguertin 17:c72c092fcdf7 246 srch = strchr(buf, ' ');
alecguertin 17:c72c092fcdf7 247 srch++;
chstrchu 20:76718145b403 248 srch = strchr(srch, ' ');
alecguertin 17:c72c092fcdf7 249 srch++;
alecguertin 17:c72c092fcdf7 250 if (srch[0] == 'm') {
alecguertin 17:c72c092fcdf7 251 *draw = 0;
chstrchu 20:76718145b403 252 } else if (srch[0] == 'l') {
alecguertin 17:c72c092fcdf7 253 *draw = 1;
alecguertin 17:c72c092fcdf7 254 } else {
chstrchu 20:76718145b403 255 pi.cls();
chstrchu 20:76718145b403 256 pi.locate(0,0);
chstrchu 20:76718145b403 257 pi.printf("%.8s", srch);
alecguertin 17:c72c092fcdf7 258 return 0;
alecguertin 17:c72c092fcdf7 259 }
alecguertin 17:c72c092fcdf7 260 return 1;
alecguertin 17:c72c092fcdf7 261 }
alecguertin 17:c72c092fcdf7 262
lsaristo 29:459ff10d2a07 263 void forward(int amt)
lsaristo 8:12d780f7443e 264 {
lsaristo 12:1aa6b8a74136 265 Timer t;
lsaristo 9:3a0433c391cb 266 pi.locate(0,0);
lsaristo 9:3a0433c391cb 267 pi.printf("Fwd %d", amt);
lsaristo 30:3211e2962441 268 t.start();
lsaristo 21:0c80a5d89ea3 269 pi.left_motor(DRIVE_SPEED+.0023);
lsaristo 21:0c80a5d89ea3 270 pi.right_motor(DRIVE_SPEED);
alecguertin 25:2c7717684d09 271 while(t.read_ms() < amt);
lsaristo 12:1aa6b8a74136 272 pi.stop();
lsaristo 8:12d780f7443e 273 }
lsaristo 8:12d780f7443e 274
lsaristo 29:459ff10d2a07 275 void backward(int amt)
lsaristo 8:12d780f7443e 276 {
lsaristo 12:1aa6b8a74136 277 Timer t;
lsaristo 12:1aa6b8a74136 278 t.start();
alecguertin 22:46b9d9b2e35c 279 pi.backward(.5*DRIVE_SPEED);
chstrchu 20:76718145b403 280 while(t.read_ms() < amt);
lsaristo 12:1aa6b8a74136 281 pi.stop();
lsaristo 8:12d780f7443e 282 }
lsaristo 8:12d780f7443e 283
lsaristo 29:459ff10d2a07 284 void right(float deg)
lsaristo 8:12d780f7443e 285 {
lsaristo 24:b797563776fc 286 if(deg < 0) {
lsaristo 24:b797563776fc 287 return left(-1*deg);
lsaristo 24:b797563776fc 288 }
lsaristo 12:1aa6b8a74136 289 Timer t;
lsaristo 30:3211e2962441 290 float amt = ((float)(deg/360)*TIME_FACT);
lsaristo 12:1aa6b8a74136 291 t.start();
lsaristo 30:3211e2962441 292 pi.right(TURN_SPEED);
lsaristo 30:3211e2962441 293 while(t.read_ms() < amt);
lsaristo 12:1aa6b8a74136 294 pi.stop();
lsaristo 8:12d780f7443e 295 }
lsaristo 8:12d780f7443e 296
lsaristo 21:0c80a5d89ea3 297 void timerWait(float seconds)
lsaristo 21:0c80a5d89ea3 298 {
lsaristo 21:0c80a5d89ea3 299 Timer t;
lsaristo 21:0c80a5d89ea3 300 t.start();
lsaristo 21:0c80a5d89ea3 301 while(t.read_us() < 1000000*seconds);
lsaristo 21:0c80a5d89ea3 302 }
lsaristo 21:0c80a5d89ea3 303
lsaristo 29:459ff10d2a07 304 void left(float deg)
lsaristo 8:12d780f7443e 305 {
lsaristo 24:b797563776fc 306 if(deg < 0) {
lsaristo 24:b797563776fc 307 return right(-1*deg);
lsaristo 24:b797563776fc 308 }
lsaristo 12:1aa6b8a74136 309 Timer t;
lsaristo 8:12d780f7443e 310 pi.left(TURN_SPEED);
lsaristo 12:1aa6b8a74136 311 t.start();
alecguertin 22:46b9d9b2e35c 312 while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
lsaristo 12:1aa6b8a74136 313 pi.stop();
lsaristo 9:3a0433c391cb 314 }