EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

control.c@10:94b068b2ce1d, 2014-11-15 (annotated)

Committer:
lsaristo
Date:
Sat Nov 15 23:03:06 2014 +0000
Revision:
10:94b068b2ce1d
Child:
11:a30f30d3066e
Started working on control files for robot movement control.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lsaristo 10:94b068b2ce1d 1 /**
lsaristo 10:94b068b2ce1d 2 * @file control.c
lsaristo 10:94b068b2ce1d 3 * @brief Implemention of robot control algorithms.
lsaristo 10:94b068b2ce1d 4 *
lsaristo 10:94b068b2ce1d 5 * This file should also contain the logic needed to parse
lsaristo 10:94b068b2ce1d 6 * any drawing file and issue motor commands through functions
lsaristo 10:94b068b2ce1d 7 * defined in main.h
lsaristo 10:94b068b2ce1d 8 *
lsaristo 10:94b068b2ce1d 9 * @author John Wilkey
lsaristo 10:94b068b2ce1d 10 */
lsaristo 10:94b068b2ce1d 11 #include "control.h"
lsaristo 10:94b068b2ce1d 12 #include "main.h"
lsaristo 10:94b068b2ce1d 13 extern m3pi pi;
lsaristo 10:94b068b2ce1d 14 extern DigitalIn start_button;
lsaristo 10:94b068b2ce1d 15
lsaristo 10:94b068b2ce1d 16 void get_ps_file(char* moves)
lsaristo 10:94b068b2ce1d 17 {
lsaristo 10:94b068b2ce1d 18 char* contents;
lsaristo 10:94b068b2ce1d 19 FILE* fp = fopen(_CANVAS_FILE, "r");
lsaristo 10:94b068b2ce1d 20 fseek(fp, 0L, SEEK_END);
lsaristo 10:94b068b2ce1d 21 int size = ftell(fp);
lsaristo 10:94b068b2ce1d 22 fseek(fp, 0L, SEEK_SET);
lsaristo 10:94b068b2ce1d 23 contents = (char*)malloc(size);
lsaristo 10:94b068b2ce1d 24 fread(contents, size, 1, fp);
lsaristo 10:94b068b2ce1d 25 fclose(fp);
lsaristo 10:94b068b2ce1d 26 }
lsaristo 10:94b068b2ce1d 27
lsaristo 10:94b068b2ce1d 28 void robot_loop()
lsaristo 10:94b068b2ce1d 29 {
lsaristo 10:94b068b2ce1d 30 start:
lsaristo 10:94b068b2ce1d 31 while(1) {
lsaristo 10:94b068b2ce1d 32 if(start_button) {
lsaristo 10:94b068b2ce1d 33 pi.stop();
lsaristo 10:94b068b2ce1d 34 goto start;
lsaristo 10:94b068b2ce1d 35 }
lsaristo 10:94b068b2ce1d 36
lsaristo 10:94b068b2ce1d 37 //
lsaristo 10:94b068b2ce1d 38 // Right now the robot controller is clearly a very basic
lsaristo 10:94b068b2ce1d 39 // 'hello world' loop that must be changed.
lsaristo 10:94b068b2ce1d 40 forward(10);
lsaristo 10:94b068b2ce1d 41 right(90);
lsaristo 10:94b068b2ce1d 42 forward(10);
lsaristo 10:94b068b2ce1d 43 right(90);
lsaristo 10:94b068b2ce1d 44 forward(10);
lsaristo 10:94b068b2ce1d 45 wait(2);
lsaristo 10:94b068b2ce1d 46 left(180);
lsaristo 10:94b068b2ce1d 47 }
lsaristo 10:94b068b2ce1d 48 }