EE149
/
FinalProject
Final Project files for mBed development.
main.c@15:14d4e7021125, 2014-11-30 (annotated)
- Committer:
- alecguertin
- Date:
- Sun Nov 30 21:49:46 2014 +0000
- Revision:
- 15:14d4e7021125
- Parent:
- 13:070846d87d4a
- Child:
- 16:f1beef7beeb9
fixed line detection state
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lsaristo | 1:7e0243c27ecb | 1 | /** |
lsaristo | 1:7e0243c27ecb | 2 | * @file driver.c |
lsaristo | 1:7e0243c27ecb | 3 | * @brief Basic driver program for our robot's controller logic. |
lsaristo | 1:7e0243c27ecb | 4 | * |
lsaristo | 1:7e0243c27ecb | 5 | * Maybe add lots of stuff here or maybe split it off into |
lsaristo | 1:7e0243c27ecb | 6 | * multiple subfiles? |
lsaristo | 1:7e0243c27ecb | 7 | * |
lsaristo | 1:7e0243c27ecb | 8 | * @author John Wilkey |
lsaristo | 1:7e0243c27ecb | 9 | */ |
lsaristo | 9:3a0433c391cb | 10 | #include "main.h" |
lsaristo | 10:94b068b2ce1d | 11 | #include "control.h" |
John Wilkey |
5:01882c3de2dc | 12 | |
John Wilkey |
5:01882c3de2dc | 13 | /** |
John Wilkey |
5:01882c3de2dc | 14 | * These are global data Used externally in all other files |
John Wilkey |
5:01882c3de2dc | 15 | */ |
lsaristo | 7:6e5cc24e1ce7 | 16 | m3pi pi; |
lsaristo | 12:1aa6b8a74136 | 17 | Timer timer; |
lsaristo | 9:3a0433c391cb | 18 | |
lsaristo | 9:3a0433c391cb | 19 | // |
lsaristo | 9:3a0433c391cb | 20 | // Digital inputs to the mBed |
lsaristo | 10:94b068b2ce1d | 21 | DigitalIn start_button(p21); |
lsaristo | 9:3a0433c391cb | 22 | |
lsaristo | 9:3a0433c391cb | 23 | // |
lsaristo | 9:3a0433c391cb | 24 | // Digital outputs from the mBed. Note that by default these are |
lsaristo | 9:3a0433c391cb | 25 | // used to drive the 8 LED's on the top board. |
lsaristo | 7:6e5cc24e1ce7 | 26 | DigitalOut pin15(p15); |
lsaristo | 7:6e5cc24e1ce7 | 27 | DigitalOut pin16(p16); |
lsaristo | 7:6e5cc24e1ce7 | 28 | DigitalOut pin17(p17); |
lsaristo | 7:6e5cc24e1ce7 | 29 | DigitalOut pin18(p18); |
lsaristo | 7:6e5cc24e1ce7 | 30 | DigitalOut pin19(p19); |
lsaristo | 7:6e5cc24e1ce7 | 31 | DigitalOut pin20(p20); |
lsaristo | 7:6e5cc24e1ce7 | 32 | |
lsaristo | 9:3a0433c391cb | 33 | // |
lsaristo | 9:3a0433c391cb | 34 | // mBed onboard LEDs |
lsaristo | 9:3a0433c391cb | 35 | DigitalOut oled_1(LED1); |
lsaristo | 9:3a0433c391cb | 36 | DigitalOut oled_2(LED2); |
lsaristo | 9:3a0433c391cb | 37 | DigitalOut oled_3(LED3); |
lsaristo | 9:3a0433c391cb | 38 | DigitalOut oled_4(LED4); |
lsaristo | 9:3a0433c391cb | 39 | |
alecguertin | 15:14d4e7021125 | 40 | /* Local File System */ |
alecguertin | 15:14d4e7021125 | 41 | LocalFileSystem local("local"); |
lsaristo | 9:3a0433c391cb | 42 | |
John Wilkey |
5:01882c3de2dc | 43 | /** |
John Wilkey |
5:01882c3de2dc | 44 | * @brief Entry point. Main loop. |
John Wilkey |
5:01882c3de2dc | 45 | */ |
John Wilkey |
5:01882c3de2dc | 46 | int main() |
John Wilkey |
5:01882c3de2dc | 47 | { |
lsaristo | 9:3a0433c391cb | 48 | // |
lsaristo | 9:3a0433c391cb | 49 | // Basic setup information |
lsaristo | 10:94b068b2ce1d | 50 | start_button.mode(PullUp); |
lsaristo | 12:1aa6b8a74136 | 51 | |
lsaristo | 13:070846d87d4a | 52 | // |
lsaristo | 13:070846d87d4a | 53 | // Drawing environment calibration. |
lsaristo | 12:1aa6b8a74136 | 54 | pi.sensor_auto_calibrate(); |
alecguertin | 15:14d4e7021125 | 55 | //pi.backward(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 56 | float pos = 0; |
alecguertin | 15:14d4e7021125 | 57 | float over_thresh = 0.05; |
alecguertin | 15:14d4e7021125 | 58 | float correction = 0.2*DRIVE_SPEED; |
alecguertin | 15:14d4e7021125 | 59 | |
alecguertin | 15:14d4e7021125 | 60 | wait(1); |
alecguertin | 15:14d4e7021125 | 61 | |
alecguertin | 15:14d4e7021125 | 62 | do { |
alecguertin | 15:14d4e7021125 | 63 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 64 | if(pos > over_thresh) { |
alecguertin | 15:14d4e7021125 | 65 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 66 | pi.left_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 67 | } else if(pos < -over_thresh) { |
alecguertin | 15:14d4e7021125 | 68 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 69 | pi.right_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 70 | } else { |
alecguertin | 15:14d4e7021125 | 71 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 72 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 73 | } |
alecguertin | 15:14d4e7021125 | 74 | /* |
alecguertin | 15:14d4e7021125 | 75 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 76 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 77 | pi.printf("P: %f", pos); |
alecguertin | 15:14d4e7021125 | 78 | */ |
alecguertin | 15:14d4e7021125 | 79 | } while (pos != -1 && pos < 0.2); |
alecguertin | 15:14d4e7021125 | 80 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 81 | wait(1); |
alecguertin | 15:14d4e7021125 | 82 | if (pos != -1) { |
alecguertin | 15:14d4e7021125 | 83 | timer.start(); |
alecguertin | 15:14d4e7021125 | 84 | pi.forward(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 85 | } else { |
alecguertin | 15:14d4e7021125 | 86 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 87 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 88 | pi.printf("LP: %f",pos); |
alecguertin | 15:14d4e7021125 | 89 | return 1; |
alecguertin | 15:14d4e7021125 | 90 | } |
alecguertin | 15:14d4e7021125 | 91 | |
alecguertin | 15:14d4e7021125 | 92 | wait(1); |
lsaristo | 12:1aa6b8a74136 | 93 | |
lsaristo | 12:1aa6b8a74136 | 94 | do { |
lsaristo | 12:1aa6b8a74136 | 95 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 96 | if(pos > over_thresh) { |
lsaristo | 13:070846d87d4a | 97 | pi.right_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 98 | pi.left_motor(DRIVE_SPEED-correction); |
lsaristo | 13:070846d87d4a | 99 | } else if(pos < -over_thresh) { |
lsaristo | 13:070846d87d4a | 100 | pi.left_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 101 | pi.right_motor(DRIVE_SPEED-correction); |
lsaristo | 13:070846d87d4a | 102 | } else { |
alecguertin | 15:14d4e7021125 | 103 | pi.right_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 104 | pi.left_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 105 | } |
alecguertin | 15:14d4e7021125 | 106 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 107 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 108 | pi.printf("Pos: %f", pos); |
alecguertin | 15:14d4e7021125 | 109 | } while(pos != -1 && pos <= 0.3); |
alecguertin | 15:14d4e7021125 | 110 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 111 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 112 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 113 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 114 | pi.printf("T: %d", timer.read_ms()); |
alecguertin | 15:14d4e7021125 | 115 | } else { |
alecguertin | 15:14d4e7021125 | 116 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 117 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 118 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 119 | return 1; |
alecguertin | 15:14d4e7021125 | 120 | } |
alecguertin | 15:14d4e7021125 | 121 | pi.right(TURN_SPEED); |
alecguertin | 15:14d4e7021125 | 122 | wait(0.5); |
alecguertin | 15:14d4e7021125 | 123 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 124 | do { |
alecguertin | 15:14d4e7021125 | 125 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 126 | if(pos > over_thresh) { |
alecguertin | 15:14d4e7021125 | 127 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 128 | pi.left_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 129 | } else if(pos < -over_thresh) { |
alecguertin | 15:14d4e7021125 | 130 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 131 | pi.right_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 132 | } else { |
alecguertin | 15:14d4e7021125 | 133 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 134 | pi.left_motor(-DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 135 | } |
lsaristo | 12:1aa6b8a74136 | 136 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 137 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 138 | pi.printf("P: %f", pos); |
alecguertin | 15:14d4e7021125 | 139 | } while (pos != -1 && pos > -0.3); |
alecguertin | 15:14d4e7021125 | 140 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 141 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 142 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 143 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 144 | pi.printf("T: %d", timer.read_ms()); |
lsaristo | 12:1aa6b8a74136 | 145 | } else { |
lsaristo | 12:1aa6b8a74136 | 146 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 147 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 148 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 149 | return 1; |
lsaristo | 12:1aa6b8a74136 | 150 | } |
John Wilkey |
6:00b7198f0b51 | 151 | // |
lsaristo | 9:3a0433c391cb | 152 | // Main program loop. |
lsaristo | 12:1aa6b8a74136 | 153 | // robot_loop(); |
lsaristo | 9:3a0433c391cb | 154 | |
alecguertin | 15:14d4e7021125 | 155 | ps_file = fopen("/local/test.ps", "r"); |
alecguertin | 15:14d4e7021125 | 156 | while () { |
alecguertin | 15:14d4e7021125 | 157 | memset(instbuf, 0, instbuflen); |
alecguertin | 15:14d4e7021125 | 158 | fread(instbuf, sizeof(char), instbuflen, ps_file); |
alecguertin | 15:14d4e7021125 | 159 | } |
lsaristo | 9:3a0433c391cb | 160 | // |
lsaristo | 9:3a0433c391cb | 161 | // We should never reach this point! |
alecguertin | 15:14d4e7021125 | 162 | return 0; |
John Wilkey |
5:01882c3de2dc | 163 | } |
lsaristo | 8:12d780f7443e | 164 | |
lsaristo | 9:3a0433c391cb | 165 | int forward(int amt) |
lsaristo | 8:12d780f7443e | 166 | { |
lsaristo | 12:1aa6b8a74136 | 167 | Timer t; |
lsaristo | 12:1aa6b8a74136 | 168 | t.start(); |
lsaristo | 10:94b068b2ce1d | 169 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 170 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 171 | pi.printf("Fwd %d", amt); |
lsaristo | 9:3a0433c391cb | 172 | pi.forward(DRIVE_SPEED); |
lsaristo | 12:1aa6b8a74136 | 173 | while(t.read_ms() < amt*DRIVE_RATE*1000); |
lsaristo | 12:1aa6b8a74136 | 174 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 175 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 176 | pi.stop(); |
lsaristo | 8:12d780f7443e | 177 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 178 | } |
lsaristo | 8:12d780f7443e | 179 | |
lsaristo | 9:3a0433c391cb | 180 | int backward(int amt) |
lsaristo | 8:12d780f7443e | 181 | { |
lsaristo | 12:1aa6b8a74136 | 182 | Timer t; |
lsaristo | 10:94b068b2ce1d | 183 | oled_3 = 1; |
lsaristo | 9:3a0433c391cb | 184 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 185 | pi.printf("Back %d", amt); |
lsaristo | 9:3a0433c391cb | 186 | pi.backward(DRIVE_SPEED); |
lsaristo | 12:1aa6b8a74136 | 187 | t.start(); |
lsaristo | 12:1aa6b8a74136 | 188 | while(t.read_ms() < amt*DRIVE_RATE*1000); |
lsaristo | 12:1aa6b8a74136 | 189 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 190 | oled_3 = 0; |
lsaristo | 12:1aa6b8a74136 | 191 | pi.stop(); |
lsaristo | 8:12d780f7443e | 192 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 193 | } |
lsaristo | 8:12d780f7443e | 194 | |
lsaristo | 8:12d780f7443e | 195 | int right(float deg) |
lsaristo | 8:12d780f7443e | 196 | { |
lsaristo | 12:1aa6b8a74136 | 197 | Timer t; |
lsaristo | 10:94b068b2ce1d | 198 | oled_4 = 1; |
lsaristo | 9:3a0433c391cb | 199 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 200 | pi.printf("Right %f", deg); |
lsaristo | 8:12d780f7443e | 201 | pi.right(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 202 | t.start(); |
lsaristo | 12:1aa6b8a74136 | 203 | while(t.read_ms() < (deg/360)*1000); |
lsaristo | 12:1aa6b8a74136 | 204 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 205 | oled_4 = 0; |
lsaristo | 12:1aa6b8a74136 | 206 | pi.stop(); |
lsaristo | 8:12d780f7443e | 207 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 208 | } |
lsaristo | 8:12d780f7443e | 209 | |
lsaristo | 8:12d780f7443e | 210 | int left(float deg) |
lsaristo | 8:12d780f7443e | 211 | { |
lsaristo | 12:1aa6b8a74136 | 212 | Timer t; |
lsaristo | 10:94b068b2ce1d | 213 | oled_4 = 1; |
lsaristo | 10:94b068b2ce1d | 214 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 215 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 216 | pi.printf("Left %f", deg); |
lsaristo | 8:12d780f7443e | 217 | pi.left(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 218 | t.start(); |
lsaristo | 12:1aa6b8a74136 | 219 | while(t.read_ms() < (deg/360)*1000); |
lsaristo | 12:1aa6b8a74136 | 220 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 221 | oled_4 = 0; |
lsaristo | 10:94b068b2ce1d | 222 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 223 | pi.stop(); |
lsaristo | 8:12d780f7443e | 224 | return EXIT_SUCCESS; |
lsaristo | 10:94b068b2ce1d | 225 | } |
lsaristo | 10:94b068b2ce1d | 226 | |
lsaristo | 10:94b068b2ce1d | 227 | void pen_down() |
lsaristo | 10:94b068b2ce1d | 228 | { |
lsaristo | 10:94b068b2ce1d | 229 | oled_1 = 1; |
lsaristo | 10:94b068b2ce1d | 230 | } |
lsaristo | 10:94b068b2ce1d | 231 | |
lsaristo | 10:94b068b2ce1d | 232 | void pen_up() |
lsaristo | 10:94b068b2ce1d | 233 | { |
lsaristo | 10:94b068b2ce1d | 234 | oled_1 = 0; |
lsaristo | 9:3a0433c391cb | 235 | } |