Diff: main.c

Revision:

29:459ff10d2a07

Parent:

28:9976a94efa83

Child:

30:3211e2962441

--- a/main.c	Mon Dec 08 10:52:42 2014 +0000
+++ b/main.c	Mon Dec 08 22:43:09 2014 +0000
@@ -1,72 +1,48 @@
 /**
  * @file    driver.c
- * @brief   Basic driver program for our robot's controller logic. 
+ * @brief   Primary control logic for robot.
  *
- * Maybe add lots of stuff here or maybe split it off into
- * multiple subfiles?
- *
- * @author  John Wilkey - aw hells no! you ain't takin' credit for all this!
+ * @author  John Wilkey
+ * @author  Alec Guertin
+ * @author  Chester Chu
  */
 #include "main.h"
-#include "control.h"
 
-/* These are global data Used externally in all other files */
-m3pi        pi;
-Timer       timer;
-
-/* Digital inputs to the mBed */
-DigitalIn   start_button(p21);
+m3pi        pi;                 /**< m3pi Object for all control operations. */
+Timer       timer;              /**< Timer used to wait in timerWait. */
+DigitalIn   start_button(p21);  /**< Pi start button input on mBed pin 32 */
+int         draw;               /**< Boolean for drawing/moving. */
 
-/*
- * Digital outputs from the mBed. Note that by default these are
- * used to drive the 8 LED's on the top board. 
- */
-DigitalOut  pin13(p13);
-DigitalOut  pin14(p14);
-DigitalOut  pin15(p15);
-DigitalOut  pin16(p16);
-DigitalOut  pin17(p17);
-DigitalOut  pin18(p18);
-DigitalOut  pin19(p19);
-DigitalOut  pin20(p20);
+/* 4 mBed onboard LEDs */
+DigitalOut  oled_1(LED1), oled_2(LED2), oled_3(LED3), oled_4(LED4);
 
-/* mBed onboard LEDs */
-DigitalOut  oled_1(LED1);
-DigitalOut  oled_2(LED2);
-DigitalOut  oled_3(LED3);
-DigitalOut  oled_4(LED4);
+/* 8 LEDs driven from mBed digital outs. */
+DigitalOut  pin13(p13), pin14(p14), pin15(p15), pin16(p16),
+            pin17(p17), pin18(p18), pin19(p19), pin20(p20);         
 
 /* Local File System */
 LocalFileSystem local("local");
 
-/* Boolean for drawing/moving. */
-int draw;
-
-/**
- * @brief Entry point. Main loop.
- */
+/** @brief Entry point. Main loop. */
 int main()
 {
-    FILE *ps_file;
-    int instbuflen = 250;
-    char instbuf[instbuflen];
-    
-    // Basic setup information
+    FILE    *ps_file;
+    float   cal_time;
+    float   pos         = 0;
+    float   over_thresh = 0.05;
+    float   correction  = 0.2*DRIVE_SPEED;
+    int     instbuflen  = 250;
+    char    instbuf[instbuflen];
+ 
     start_button.mode(PullUp);
-        
     pi.cls();
     pi.locate(0,0);
-    pi.printf("PiCO");
+    pi.printf("Ready");
     pi.locate(0,1);
     pi.printf("%f mV", pi.battery());
     wait(.5);
-        
-    // Drawing environment calibration.
     pi.sensor_auto_calibrate();
-    float   pos         = 0;
-    float   over_thresh = 0.05;
-    float   correction  = 0.2*DRIVE_SPEED;
-    float   cal_time;
+    
     wait(1);
 
     do {
@@ -256,9 +232,8 @@
     }
     pi.cls();
     pi.locate(0,0);
-    pi.printf("done");
+    pi.printf("Done");
     while (1);
-    return 0;
 }
 
 int retrieve_inst(char *buf, int *x, int *y, int *draw)
@@ -289,7 +264,7 @@
     return 1;
 }
 
-int forward(int amt)
+void forward(int amt)
 {
     Timer t;
     pi.locate(0,0);
@@ -302,10 +277,9 @@
     pi.right_motor(.7*DRIVE_SPEED);
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
-int backward(int amt)
+void backward(int amt)
 {
     Timer t;
     t.start();
@@ -315,10 +289,9 @@
     while(t.read_ms() < amt);
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
-int right(float deg)
+void right(float deg)
 {
     if(deg < 0) {
         return left(-1*deg);
@@ -329,7 +302,6 @@
     while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
 void timerWait(float seconds)
@@ -340,7 +312,7 @@
     t.stop();
 }
 
-int left(float deg)
+void left(float deg)
 {
     if(deg < 0) {
         return right(-1*deg);
@@ -351,7 +323,6 @@
     while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
 void pen_down()