EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

main.h@39:cc8691700d2a, 2014-12-13 (annotated)

Committer:
alecguertin
Date:
Sat Dec 13 07:35:57 2014 +0000
Revision:
39:cc8691700d2a
Parent:
37:1d51cf101b03
Child:
40:0199bad6c979
final

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lsaristo 8:12d780f7443e 1 /**
lsaristo 10:94b068b2ce1d 2 * @file main.h
lsaristo 35:a1c14c6d9282 3 * @brief Main header file for includes and defs
lsaristo 8:12d780f7443e 4 * @author John Wilkey
lsaristo 29:459ff10d2a07 5 * @author Alec Guertin
lsaristo 29:459ff10d2a07 6 * @author Chester Chu
lsaristo 8:12d780f7443e 7 */
lsaristo 8:12d780f7443e 8
lsaristo 10:94b068b2ce1d 9 #ifndef _MAIN_H
lsaristo 10:94b068b2ce1d 10 #define _MAIN_H
lsaristo 8:12d780f7443e 11
lsaristo 8:12d780f7443e 12 #include "mbed.h"
lsaristo 8:12d780f7443e 13 #include "m3pi.h"
lsaristo 9:3a0433c391cb 14 #include <string.h>
lsaristo 9:3a0433c391cb 15 #include <stdarg.h>
lsaristo 9:3a0433c391cb 16 #include <stdio.h>
lsaristo 21:0c80a5d89ea3 17 #include <math.h>
lsaristo 35:a1c14c6d9282 18
lsaristo 35:a1c14c6d9282 19 // Constants used in main.c
lsaristo 35:a1c14c6d9282 20 #define TURN_SPEED 0.15 /**< Motor power for turning */
lsaristo 35:a1c14c6d9282 21 #define DRIVE_SPEED 0.25 /**< Motor power for drawing/moving */
lsaristo 35:a1c14c6d9282 22 #define TIME_FACT 1780 /**< Multiplier for forward() and backward() */
lsaristo 35:a1c14c6d9282 23 #define CAL_SPEED .25 /**< Drive speed during calibration */
lsaristo 35:a1c14c6d9282 24 #define CLOSE_ENOUGH .0008 /**< Threshold for calibration line centering */
alecguertin 37:1d51cf101b03 25 #define WIGGLE_MAX 30 /**< Max 'wiggles' during calibration */
alecguertin 39:cc8691700d2a 26 #define CORNER_THRESHOLD 0.3 /**< Threshold for checking if line position denotes a corner */
alecguertin 39:cc8691700d2a 27 #define INST_BUF_SIZE 250 /**< Size of input buffer for instructions */
alecguertin 39:cc8691700d2a 28 #define CORRECTION_SPEED 0.2*DRIVE_SPEED /**< Amount to change speed of one wheel when following line */
alecguertin 39:cc8691700d2a 29 #define CORRECTION_THRESHOLD 0.05 /**< Maximum tolerable deviation from line when following line */
alecguertin 39:cc8691700d2a 30 #define RAD_TO_DEG 57.29 /**< Factor to convert radians to degrees */
alecguertin 39:cc8691700d2a 31 #define FULL_TURN 360 /**< Degrees for a full turn */
alecguertin 39:cc8691700d2a 32 #define HALF_TURN 180 /**< Degrees for a half turn */
alecguertin 39:cc8691700d2a 33 #define QUARTER_TURN 90 /**< Degrees for a quarter (right angle) turn */
alecguertin 39:cc8691700d2a 34 #define CAL_FACTOR 1.1 /**< Scaling factor for time to drive */
alecguertin 39:cc8691700d2a 35 #define DEGREE_CORRECTION 0 /**< Amount (in degrees) added to the angle for each turn */
alecguertin 39:cc8691700d2a 36 #define SEC_TO_MSEC 1000 /**< Scaling factor to convert seconds to milliseconds */
alecguertin 39:cc8691700d2a 37 #define SEC_TO_USEC 1000000 /**< Scaling factor to convert seconds to microseconds */
alecguertin 39:cc8691700d2a 38 #define MSEC_TO_USEC 1000 /**< Scaling factor to convert milliseconds to microseconds */
lsaristo 8:12d780f7443e 39
lsaristo 29:459ff10d2a07 40 /** @brief Move the robot from its current position to (x,y) */
alecguertin 18:eab7b0e89398 41 void move(int x, int y, int draw);
alecguertin 18:eab7b0e89398 42
lsaristo 8:12d780f7443e 43 /**
alecguertin 17:c72c092fcdf7 44 * @brief get values of next PostScript instruction.
alecguertin 17:c72c092fcdf7 45 *
alecguertin 17:c72c092fcdf7 46 * @param buf Buffer with PS instructions.
alecguertin 17:c72c092fcdf7 47 * @param x Pointer to storage for x coordinate.
alecguertin 17:c72c092fcdf7 48 * @param y Pointer to storage for y coordinate.
alecguertin 17:c72c092fcdf7 49 * @param draw Pointer to storage for draw/move boolean.
alecguertin 17:c72c092fcdf7 50 *
alecguertin 17:c72c092fcdf7 51 * @return Success or failure code.
alecguertin 17:c72c092fcdf7 52 */
alecguertin 17:c72c092fcdf7 53 int retrieve_inst(char *buf, int *x, int *y, int *draw);
alecguertin 17:c72c092fcdf7 54
alecguertin 17:c72c092fcdf7 55 /**
lsaristo 29:459ff10d2a07 56 * @brief Driver forward for a time.
lsaristo 8:12d780f7443e 57 *
lsaristo 29:459ff10d2a07 58 * @param[in] amt Amount to drive forward. In milliseconds.
lsaristo 8:12d780f7443e 59 */
lsaristo 29:459ff10d2a07 60 void forward(int amt);
lsaristo 8:12d780f7443e 61
lsaristo 8:12d780f7443e 62 /**
lsaristo 29:459ff10d2a07 63 * @brief Drive backward for a time.
lsaristo 8:12d780f7443e 64 *
lsaristo 29:459ff10d2a07 65 * @param[in] amt Amount to drive backward. In milliseconds.
lsaristo 8:12d780f7443e 66 */
lsaristo 29:459ff10d2a07 67 void backward(int amt);
lsaristo 8:12d780f7443e 68
lsaristo 8:12d780f7443e 69 /**
lsaristo 29:459ff10d2a07 70 * @brief Turn right by some angle.
lsaristo 8:12d780f7443e 71 *
lsaristo 29:459ff10d2a07 72 * @param[in] deg Desired final turn angle in degrees from start.
lsaristo 29:459ff10d2a07 73 * Note that a negative angle will turn in the opposite
lsaristo 29:459ff10d2a07 74 * direction.
lsaristo 8:12d780f7443e 75 */
lsaristo 29:459ff10d2a07 76 void right(float deg);
lsaristo 8:12d780f7443e 77
lsaristo 8:12d780f7443e 78 /**
lsaristo 29:459ff10d2a07 79 * @brief Turn left by some angle.
lsaristo 8:12d780f7443e 80 *
lsaristo 29:459ff10d2a07 81 * @param[in] deg Desired final turn angle in degrees from start.
lsaristo 29:459ff10d2a07 82 * Note that a negative angle will turn in the opposite
lsaristo 29:459ff10d2a07 83 * direction.
lsaristo 8:12d780f7443e 84 */
lsaristo 29:459ff10d2a07 85 void left (float deg);
lsaristo 8:12d780f7443e 86
lsaristo 21:0c80a5d89ea3 87 /**
lsaristo 29:459ff10d2a07 88 * @brief Wait for a number of seconds, possibly fractional.
lsaristo 29:459ff10d2a07 89 *
lsaristo 29:459ff10d2a07 90 * Timer resolution is on the order of microseconds. A negative wait
lsaristo 29:459ff10d2a07 91 * time does nothing.
lsaristo 21:0c80a5d89ea3 92 *
lsaristo 29:459ff10d2a07 93 * @param[in] amt Time to wait, in seconds.
lsaristo 21:0c80a5d89ea3 94 */
lsaristo 29:459ff10d2a07 95 void timerWait(float amt);
alecguertin 39:cc8691700d2a 96
alecguertin 39:cc8691700d2a 97 int find_corner(int left);
alecguertin 39:cc8691700d2a 98
alecguertin 39:cc8691700d2a 99 void find_line();
alecguertin 39:cc8691700d2a 100
alecguertin 39:cc8691700d2a 101 float distance(int x1, int y1, int x2, int y2);
alecguertin 39:cc8691700d2a 102
alecguertin 39:cc8691700d2a 103 void robot_printf(int line, const char *format, ...);
alecguertin 39:cc8691700d2a 104
alecguertin 39:cc8691700d2a 105 float compute_turn_angle(int last_x, int last_y, int x, int y, float angle);
lsaristo 29:459ff10d2a07 106 #endif