EE149
/
FinalProject
Final Project files for mBed development.
main.h@21:0c80a5d89ea3, 2014-12-06 (annotated)
- Committer:
- lsaristo
- Date:
- Sat Dec 06 22:04:53 2014 +0000
- Revision:
- 21:0c80a5d89ea3
- Parent:
- 18:eab7b0e89398
- Child:
- 22:46b9d9b2e35c
Worked on calibrating robot movements. Accurate enough for now
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lsaristo | 8:12d780f7443e | 1 | /** |
lsaristo | 10:94b068b2ce1d | 2 | * @file main.h |
lsaristo | 8:12d780f7443e | 3 | * @brief Main header file for includes and whatnot |
lsaristo | 8:12d780f7443e | 4 | * for the other project files. |
lsaristo | 8:12d780f7443e | 5 | * @author John Wilkey |
lsaristo | 8:12d780f7443e | 6 | */ |
lsaristo | 8:12d780f7443e | 7 | |
lsaristo | 10:94b068b2ce1d | 8 | #ifndef _MAIN_H |
lsaristo | 10:94b068b2ce1d | 9 | #define _MAIN_H |
lsaristo | 8:12d780f7443e | 10 | |
lsaristo | 8:12d780f7443e | 11 | #include "mbed.h" |
lsaristo | 8:12d780f7443e | 12 | #include "m3pi.h" |
lsaristo | 9:3a0433c391cb | 13 | #include <string.h> |
lsaristo | 9:3a0433c391cb | 14 | #include <stdarg.h> |
lsaristo | 9:3a0433c391cb | 15 | #include <stdio.h> |
lsaristo | 21:0c80a5d89ea3 | 16 | #include <math.h> |
lsaristo | 21:0c80a5d89ea3 | 17 | #define TURN_SPEED 0.15 |
lsaristo | 21:0c80a5d89ea3 | 18 | #define DRIVE_SPEED 0.2 |
lsaristo | 8:12d780f7443e | 19 | #define ERR_SUCCESS 0 |
lsaristo | 8:12d780f7443e | 20 | #define ERR_FAILURE 1 |
lsaristo | 9:3a0433c391cb | 21 | #define DRIVE_RATE 1/50 |
lsaristo | 21:0c80a5d89ea3 | 22 | #define TIME_FACT 1820 |
lsaristo | 21:0c80a5d89ea3 | 23 | #define CAL_SPEED .1 |
lsaristo | 21:0c80a5d89ea3 | 24 | #define CLOSE_ENOUGH .02 |
lsaristo | 8:12d780f7443e | 25 | |
alecguertin | 18:eab7b0e89398 | 26 | |
alecguertin | 18:eab7b0e89398 | 27 | /** |
alecguertin | 18:eab7b0e89398 | 28 | * @brief move the robot from its current position to (x,y) |
alecguertin | 18:eab7b0e89398 | 29 | * |
alecguertin | 18:eab7b0e89398 | 30 | */ |
alecguertin | 18:eab7b0e89398 | 31 | void move(int x, int y, int draw); |
alecguertin | 18:eab7b0e89398 | 32 | |
lsaristo | 8:12d780f7443e | 33 | /** |
alecguertin | 17:c72c092fcdf7 | 34 | * @brief get values of next PostScript instruction. |
alecguertin | 17:c72c092fcdf7 | 35 | * |
alecguertin | 17:c72c092fcdf7 | 36 | * @param buf Buffer with PS instructions. |
alecguertin | 17:c72c092fcdf7 | 37 | * @param x Pointer to storage for x coordinate. |
alecguertin | 17:c72c092fcdf7 | 38 | * @param y Pointer to storage for y coordinate. |
alecguertin | 17:c72c092fcdf7 | 39 | * @param draw Pointer to storage for draw/move boolean. |
alecguertin | 17:c72c092fcdf7 | 40 | * |
alecguertin | 17:c72c092fcdf7 | 41 | * @return Success or failure code. |
alecguertin | 17:c72c092fcdf7 | 42 | */ |
alecguertin | 17:c72c092fcdf7 | 43 | int retrieve_inst(char *buf, int *x, int *y, int *draw); |
alecguertin | 17:c72c092fcdf7 | 44 | |
alecguertin | 17:c72c092fcdf7 | 45 | /** |
lsaristo | 8:12d780f7443e | 46 | * @brief Driver forward. |
lsaristo | 8:12d780f7443e | 47 | * |
lsaristo | 9:3a0433c391cb | 48 | * @param[in] amt Amount to drive forward. In centimeters. |
lsaristo | 8:12d780f7443e | 49 | * @return Success or failure. |
lsaristo | 8:12d780f7443e | 50 | */ |
lsaristo | 9:3a0433c391cb | 51 | int forward(int amt); |
lsaristo | 8:12d780f7443e | 52 | |
lsaristo | 8:12d780f7443e | 53 | /** |
lsaristo | 8:12d780f7443e | 54 | * @brief Drive backward. |
lsaristo | 8:12d780f7443e | 55 | * |
lsaristo | 9:3a0433c391cb | 56 | * @param[in] amt Amount to drive backward. In centimeters. |
lsaristo | 8:12d780f7443e | 57 | * @return Success or failure. |
lsaristo | 8:12d780f7443e | 58 | */ |
lsaristo | 9:3a0433c391cb | 59 | int backward(int amt); |
lsaristo | 8:12d780f7443e | 60 | |
lsaristo | 8:12d780f7443e | 61 | /** |
lsaristo | 8:12d780f7443e | 62 | * @brief Turn right. |
lsaristo | 8:12d780f7443e | 63 | * |
lsaristo | 8:12d780f7443e | 64 | * @param[in] deg Desired final turn angle from starting position. |
lsaristo | 8:12d780f7443e | 65 | * @param[in] spd Desired turning speed. |
lsaristo | 8:12d780f7443e | 66 | * @return Success or failure. |
lsaristo | 8:12d780f7443e | 67 | */ |
lsaristo | 8:12d780f7443e | 68 | int right(float deg); |
lsaristo | 8:12d780f7443e | 69 | |
lsaristo | 8:12d780f7443e | 70 | /** |
lsaristo | 8:12d780f7443e | 71 | * @brief Turn left. |
lsaristo | 8:12d780f7443e | 72 | * |
lsaristo | 8:12d780f7443e | 73 | * @param[in] deg Desired final turn angle from starting position. |
lsaristo | 8:12d780f7443e | 74 | * @param[in] spd Desired turning speed. |
lsaristo | 8:12d780f7443e | 75 | * @return Success or failure. |
lsaristo | 8:12d780f7443e | 76 | */ |
lsaristo | 8:12d780f7443e | 77 | int left (float deg); |
lsaristo | 8:12d780f7443e | 78 | |
lsaristo | 8:12d780f7443e | 79 | /** |
lsaristo | 10:94b068b2ce1d | 80 | * @brief Enable pen motion. |
lsaristo | 10:94b068b2ce1d | 81 | * |
lsaristo | 10:94b068b2ce1d | 82 | * Note that at the moment, for simplicity, this method just activates an LED |
lsaristo | 10:94b068b2ce1d | 83 | * on the expansion board to indicate that the pen should be in DOWN mode. |
lsaristo | 10:94b068b2ce1d | 84 | */ |
lsaristo | 10:94b068b2ce1d | 85 | void pen_down(); |
lsaristo | 10:94b068b2ce1d | 86 | |
lsaristo | 10:94b068b2ce1d | 87 | /** |
lsaristo | 10:94b068b2ce1d | 88 | * @brief Raise pen |
lsaristo | 10:94b068b2ce1d | 89 | */ |
lsaristo | 10:94b068b2ce1d | 90 | void pen_up(); |
lsaristo | 10:94b068b2ce1d | 91 | |
lsaristo | 10:94b068b2ce1d | 92 | |
lsaristo | 10:94b068b2ce1d | 93 | /** |
lsaristo | 8:12d780f7443e | 94 | * @brief Controller decision logic. |
lsaristo | 8:12d780f7443e | 95 | * |
lsaristo | 8:12d780f7443e | 96 | * Decide what to do next based on the status of the drawing so far. |
lsaristo | 8:12d780f7443e | 97 | */ |
lsaristo | 8:12d780f7443e | 98 | void next_action(); |
lsaristo | 21:0c80a5d89ea3 | 99 | |
lsaristo | 21:0c80a5d89ea3 | 100 | /** |
lsaristo | 21:0c80a5d89ea3 | 101 | * @brief Wait for a number of seconds, possibly fractional. |
lsaristo | 21:0c80a5d89ea3 | 102 | * |
lsaristo | 21:0c80a5d89ea3 | 103 | * This is because mBed wait() function SUCKS |
lsaristo | 21:0c80a5d89ea3 | 104 | */ |
lsaristo | 21:0c80a5d89ea3 | 105 | void timerWait(float); |
lsaristo | 21:0c80a5d89ea3 | 106 | |
lsaristo | 8:12d780f7443e | 107 | #endif |