EE149
/
FinalProject
Final Project files for mBed development.
main.c@22:46b9d9b2e35c, 2014-12-07 (annotated)
- Committer:
- alecguertin
- Date:
- Sun Dec 07 04:39:33 2014 +0000
- Revision:
- 22:46b9d9b2e35c
- Parent:
- 21:0c80a5d89ea3
- Child:
- 23:e4616259a7f0
reads instructions correctly
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 | * |
alecguertin | 19:47759cf4f9b9 | 8 | * @author John Wilkey - aw hells no! you ain't takin' credit for all this! |
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 | |
alecguertin | 17:c72c092fcdf7 | 43 | /* Boolean for drawing/moving. */ |
alecguertin | 17:c72c092fcdf7 | 44 | int draw; |
alecguertin | 17:c72c092fcdf7 | 45 | |
John Wilkey |
5:01882c3de2dc | 46 | /** |
John Wilkey |
5:01882c3de2dc | 47 | * @brief Entry point. Main loop. |
John Wilkey |
5:01882c3de2dc | 48 | */ |
John Wilkey |
5:01882c3de2dc | 49 | int main() |
John Wilkey |
5:01882c3de2dc | 50 | { |
alecguertin | 17:c72c092fcdf7 | 51 | FILE *ps_file; |
alecguertin | 17:c72c092fcdf7 | 52 | int instbuflen = 250; |
alecguertin | 17:c72c092fcdf7 | 53 | char instbuf[instbuflen]; |
alecguertin | 17:c72c092fcdf7 | 54 | |
lsaristo | 9:3a0433c391cb | 55 | // |
lsaristo | 9:3a0433c391cb | 56 | // Basic setup information |
lsaristo | 10:94b068b2ce1d | 57 | start_button.mode(PullUp); |
lsaristo | 12:1aa6b8a74136 | 58 | |
lsaristo | 21:0c80a5d89ea3 | 59 | start: |
lsaristo | 21:0c80a5d89ea3 | 60 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 61 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 62 | pi.printf("PiCO"); |
lsaristo | 21:0c80a5d89ea3 | 63 | pi.locate(0,1); |
lsaristo | 21:0c80a5d89ea3 | 64 | pi.printf("%f mV", pi.battery()); |
lsaristo | 21:0c80a5d89ea3 | 65 | wait(.5); |
lsaristo | 21:0c80a5d89ea3 | 66 | /* while(start_button) { |
lsaristo | 21:0c80a5d89ea3 | 67 | oled_2 = 1; |
lsaristo | 21:0c80a5d89ea3 | 68 | wait(.5); |
lsaristo | 21:0c80a5d89ea3 | 69 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 70 | pi.printf("Ready"); |
lsaristo | 21:0c80a5d89ea3 | 71 | oled_2 = 0; |
lsaristo | 21:0c80a5d89ea3 | 72 | } /**/ |
lsaristo | 21:0c80a5d89ea3 | 73 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 74 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 75 | // pi.printf("GO!"); |
lsaristo | 21:0c80a5d89ea3 | 76 | wait(.5); |
lsaristo | 21:0c80a5d89ea3 | 77 | |
lsaristo | 21:0c80a5d89ea3 | 78 | /* |
lsaristo | 21:0c80a5d89ea3 | 79 | while(1) { |
lsaristo | 21:0c80a5d89ea3 | 80 | if(!start_button) { |
lsaristo | 21:0c80a5d89ea3 | 81 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 82 | goto start; |
lsaristo | 21:0c80a5d89ea3 | 83 | } else { |
lsaristo | 21:0c80a5d89ea3 | 84 | goto calibrate; |
lsaristo | 21:0c80a5d89ea3 | 85 | } |
lsaristo | 21:0c80a5d89ea3 | 86 | } |
lsaristo | 21:0c80a5d89ea3 | 87 | /**/ |
lsaristo | 21:0c80a5d89ea3 | 88 | |
lsaristo | 13:070846d87d4a | 89 | // |
lsaristo | 13:070846d87d4a | 90 | // Drawing environment calibration. |
lsaristo | 21:0c80a5d89ea3 | 91 | int cal_count = 1; |
lsaristo | 12:1aa6b8a74136 | 92 | pi.sensor_auto_calibrate(); |
alecguertin | 15:14d4e7021125 | 93 | //pi.backward(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 94 | float pos = 0; |
alecguertin | 15:14d4e7021125 | 95 | float over_thresh = 0.05; |
alecguertin | 15:14d4e7021125 | 96 | float correction = 0.2*DRIVE_SPEED; |
alecguertin | 19:47759cf4f9b9 | 97 | float cal_time; |
alecguertin | 15:14d4e7021125 | 98 | wait(1); |
lsaristo | 21:0c80a5d89ea3 | 99 | /* |
alecguertin | 15:14d4e7021125 | 100 | do { |
alecguertin | 15:14d4e7021125 | 101 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 102 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 103 | pi.left_motor(-CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 104 | pi.right_motor(-CAL_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 105 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 106 | pi.right_motor(-CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 107 | pi.left_motor(-CAL_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 108 | } else { |
lsaristo | 21:0c80a5d89ea3 | 109 | pi.backward(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 110 | } |
alecguertin | 15:14d4e7021125 | 111 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 112 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 113 | pi.printf("P: %f", pos); |
alecguertin | 17:c72c092fcdf7 | 114 | } while (pos != -1 && pos <= 0.3); |
alecguertin | 15:14d4e7021125 | 115 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 116 | wait(1); |
lsaristo | 21:0c80a5d89ea3 | 117 | |
alecguertin | 15:14d4e7021125 | 118 | if (pos != -1) { |
alecguertin | 15:14d4e7021125 | 119 | timer.start(); |
lsaristo | 21:0c80a5d89ea3 | 120 | pi.forward(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 121 | } else { |
alecguertin | 15:14d4e7021125 | 122 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 123 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 124 | pi.printf("LP: %f",pos); |
lsaristo | 21:0c80a5d89ea3 | 125 | forward(1000); |
lsaristo | 21:0c80a5d89ea3 | 126 | goto calibrate; |
alecguertin | 15:14d4e7021125 | 127 | return 1; |
alecguertin | 15:14d4e7021125 | 128 | } |
lsaristo | 21:0c80a5d89ea3 | 129 | /**/ |
lsaristo | 21:0c80a5d89ea3 | 130 | |
lsaristo | 21:0c80a5d89ea3 | 131 | // wait(1); |
lsaristo | 21:0c80a5d89ea3 | 132 | |
lsaristo | 21:0c80a5d89ea3 | 133 | do { |
lsaristo | 21:0c80a5d89ea3 | 134 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 135 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 136 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 137 | pi.left_motor(CAL_SPEED-correction); |
lsaristo | 21:0c80a5d89ea3 | 138 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 139 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 140 | pi.right_motor(CAL_SPEED-correction); |
lsaristo | 21:0c80a5d89ea3 | 141 | } else { |
lsaristo | 21:0c80a5d89ea3 | 142 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 143 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 144 | } |
lsaristo | 21:0c80a5d89ea3 | 145 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 146 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 147 | pi.printf("Pos: %f", pos); |
lsaristo | 21:0c80a5d89ea3 | 148 | } while(pos != -1 && pos > -0.3); |
lsaristo | 21:0c80a5d89ea3 | 149 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 150 | if(pos != -1) { |
lsaristo | 21:0c80a5d89ea3 | 151 | oled_1 = 1; |
lsaristo | 21:0c80a5d89ea3 | 152 | timer.stop(); |
lsaristo | 21:0c80a5d89ea3 | 153 | pi.printf("T: %d", timer.read_ms()); |
lsaristo | 21:0c80a5d89ea3 | 154 | } else { |
lsaristo | 21:0c80a5d89ea3 | 155 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 156 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 157 | pi.printf("lP:%f", pos); |
lsaristo | 21:0c80a5d89ea3 | 158 | return 1; |
lsaristo | 21:0c80a5d89ea3 | 159 | } |
lsaristo | 21:0c80a5d89ea3 | 160 | right(180); |
alecguertin | 22:46b9d9b2e35c | 161 | Timer caltimer; |
alecguertin | 22:46b9d9b2e35c | 162 | caltimer.start(); |
lsaristo | 12:1aa6b8a74136 | 163 | do { |
lsaristo | 12:1aa6b8a74136 | 164 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 165 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 166 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 167 | pi.left_motor(CAL_SPEED-correction); |
lsaristo | 13:070846d87d4a | 168 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 169 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 170 | pi.right_motor(CAL_SPEED-correction); |
lsaristo | 13:070846d87d4a | 171 | } else { |
lsaristo | 21:0c80a5d89ea3 | 172 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 173 | pi.left_motor(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 174 | } |
alecguertin | 15:14d4e7021125 | 175 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 176 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 177 | pi.printf("Pos: %f", pos); |
alecguertin | 15:14d4e7021125 | 178 | } while(pos != -1 && pos <= 0.3); |
alecguertin | 22:46b9d9b2e35c | 179 | caltimer.stop(); |
alecguertin | 22:46b9d9b2e35c | 180 | cal_time = caltimer.read_ms(); |
alecguertin | 15:14d4e7021125 | 181 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 182 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 183 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 184 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 185 | pi.printf("T: %d", timer.read_ms()); |
alecguertin | 15:14d4e7021125 | 186 | } else { |
alecguertin | 15:14d4e7021125 | 187 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 188 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 189 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 190 | return 1; |
alecguertin | 15:14d4e7021125 | 191 | } |
lsaristo | 21:0c80a5d89ea3 | 192 | right(180); |
alecguertin | 22:46b9d9b2e35c | 193 | timerWait(.5); |
alecguertin | 22:46b9d9b2e35c | 194 | while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) { |
alecguertin | 22:46b9d9b2e35c | 195 | pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED)); |
alecguertin | 22:46b9d9b2e35c | 196 | // timerWait(.08); |
alecguertin | 22:46b9d9b2e35c | 197 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 198 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 199 | pi.printf("O: %f", pos); |
alecguertin | 22:46b9d9b2e35c | 200 | // pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 201 | // timerWait(.2); |
alecguertin | 22:46b9d9b2e35c | 202 | } |
alecguertin | 22:46b9d9b2e35c | 203 | pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 204 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 205 | /* |
alecguertin | 22:46b9d9b2e35c | 206 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 207 | do { |
alecguertin | 22:46b9d9b2e35c | 208 | pi.backward(CAL_SPEED); |
alecguertin | 22:46b9d9b2e35c | 209 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 210 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 211 | pi.printf("p:%f", pos); |
alecguertin | 22:46b9d9b2e35c | 212 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 213 | } while (pos != -1 && pos >= -0.25); |
alecguertin | 22:46b9d9b2e35c | 214 | /**/ |
alecguertin | 22:46b9d9b2e35c | 215 | backward(500); |
alecguertin | 22:46b9d9b2e35c | 216 | timerWait(.5); |
alecguertin | 22:46b9d9b2e35c | 217 | while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) { |
alecguertin | 22:46b9d9b2e35c | 218 | pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED)); |
alecguertin | 22:46b9d9b2e35c | 219 | // timerWait(.08); |
alecguertin | 22:46b9d9b2e35c | 220 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 221 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 222 | pi.printf("O: %f", pos); |
alecguertin | 22:46b9d9b2e35c | 223 | // pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 224 | // timerWait(.2); |
alecguertin | 22:46b9d9b2e35c | 225 | } |
alecguertin | 22:46b9d9b2e35c | 226 | pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 227 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 228 | /* |
alecguertin | 22:46b9d9b2e35c | 229 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 230 | do { |
alecguertin | 22:46b9d9b2e35c | 231 | pi.forward(CAL_SPEED); |
alecguertin | 22:46b9d9b2e35c | 232 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 233 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 234 | pi.printf("p:%f", pos); |
alecguertin | 22:46b9d9b2e35c | 235 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 236 | } while (pos <= -0.07); |
alecguertin | 22:46b9d9b2e35c | 237 | timerWait(0.25); |
alecguertin | 22:46b9d9b2e35c | 238 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 239 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 240 | while(fabs(pos) > CLOSE_ENOUGH) { |
lsaristo | 21:0c80a5d89ea3 | 241 | pi.right((pos < 0 ? -CAL_SPEED : CAL_SPEED)); |
lsaristo | 21:0c80a5d89ea3 | 242 | timerWait(.08); |
lsaristo | 21:0c80a5d89ea3 | 243 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 244 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 245 | pi.printf("O: %f", pos); |
lsaristo | 21:0c80a5d89ea3 | 246 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 247 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 248 | timerWait(.2); |
lsaristo | 21:0c80a5d89ea3 | 249 | } |
alecguertin | 22:46b9d9b2e35c | 250 | /**/ |
alecguertin | 22:46b9d9b2e35c | 251 | timerWait(1); |
lsaristo | 21:0c80a5d89ea3 | 252 | // |
lsaristo | 21:0c80a5d89ea3 | 253 | // Pivot 180 degrees to go to the starting position. |
lsaristo | 21:0c80a5d89ea3 | 254 | /* |
alecguertin | 15:14d4e7021125 | 255 | do { |
alecguertin | 15:14d4e7021125 | 256 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 257 | if(pos > over_thresh) { |
alecguertin | 15:14d4e7021125 | 258 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 259 | pi.left_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 260 | } else if(pos < -over_thresh) { |
alecguertin | 15:14d4e7021125 | 261 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 262 | pi.right_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 263 | } else { |
lsaristo | 21:0c80a5d89ea3 | 264 | pi.backward(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 265 | } |
lsaristo | 12:1aa6b8a74136 | 266 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 267 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 268 | pi.printf("P: %f", pos); |
alecguertin | 15:14d4e7021125 | 269 | } while (pos != -1 && pos > -0.3); |
alecguertin | 15:14d4e7021125 | 270 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 271 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 272 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 273 | timer.stop(); |
alecguertin | 19:47759cf4f9b9 | 274 | cal_time = timer.read(); |
chstrchu | 20:76718145b403 | 275 | pi.cls(); |
chstrchu | 20:76718145b403 | 276 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 277 | pi.printf("T: %d", timer.read_ms()); |
lsaristo | 12:1aa6b8a74136 | 278 | } else { |
lsaristo | 12:1aa6b8a74136 | 279 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 280 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 281 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 282 | return 1; |
lsaristo | 12:1aa6b8a74136 | 283 | } |
lsaristo | 21:0c80a5d89ea3 | 284 | /**/ |
chstrchu | 20:76718145b403 | 285 | /* |
lsaristo | 12:1aa6b8a74136 | 286 | while(pi.line_position() == 1); |
lsaristo | 12:1aa6b8a74136 | 287 | do { |
lsaristo | 12:1aa6b8a74136 | 288 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 289 | if(pos > over_thresh) { |
lsaristo | 13:070846d87d4a | 290 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 291 | pi.left_motor(DRIVE_SPEED - correction); |
lsaristo | 13:070846d87d4a | 292 | } else if(pos < -over_thresh) { |
lsaristo | 13:070846d87d4a | 293 | pi.left_motor(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 294 | pi.right_motor(DRIVE_SPEED - correction); |
lsaristo | 13:070846d87d4a | 295 | } else { |
lsaristo | 13:070846d87d4a | 296 | pi.forward(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 297 | } |
lsaristo | 12:1aa6b8a74136 | 298 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 299 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 300 | pi.printf("Pos: %f", pos); |
lsaristo | 12:1aa6b8a74136 | 301 | } while(pos != -1 && pos != 1); |
lsaristo | 12:1aa6b8a74136 | 302 | if(pos == 1) { |
lsaristo | 12:1aa6b8a74136 | 303 | oled_1 = 1; |
lsaristo | 12:1aa6b8a74136 | 304 | timer.stop(); |
alecguertin | 19:47759cf4f9b9 | 305 | pi.stop(); |
lsaristo | 12:1aa6b8a74136 | 306 | } else { |
lsaristo | 12:1aa6b8a74136 | 307 | pi.stop(); |
lsaristo | 12:1aa6b8a74136 | 308 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 309 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 310 | pi.printf("LP:%f", pos); |
lsaristo | 12:1aa6b8a74136 | 311 | while(1); |
lsaristo | 12:1aa6b8a74136 | 312 | } |
chstrchu | 20:76718145b403 | 313 | */ |
lsaristo | 14:41fa8b95a9ab | 314 | // If we got here, calibration is complete. |
lsaristo | 12:1aa6b8a74136 | 315 | |
John Wilkey |
6:00b7198f0b51 | 316 | // |
lsaristo | 9:3a0433c391cb | 317 | // Main program loop. |
lsaristo | 12:1aa6b8a74136 | 318 | // robot_loop(); |
alecguertin | 17:c72c092fcdf7 | 319 | size_t bytes_read = 0; |
alecguertin | 22:46b9d9b2e35c | 320 | int err, x, y, last_x, last_y, delta_x, delta_y; |
alecguertin | 22:46b9d9b2e35c | 321 | float delta_a; |
alecguertin | 19:47759cf4f9b9 | 322 | int dim_x, dim_y; |
alecguertin | 17:c72c092fcdf7 | 323 | int offset = 0; |
alecguertin | 17:c72c092fcdf7 | 324 | char *cur, *next; |
alecguertin | 19:47759cf4f9b9 | 325 | float angle; |
alecguertin | 19:47759cf4f9b9 | 326 | double dist, theta; |
alecguertin | 18:eab7b0e89398 | 327 | angle = 0; |
alecguertin | 18:eab7b0e89398 | 328 | theta = 0; |
alecguertin | 19:47759cf4f9b9 | 329 | last_x = 0; |
alecguertin | 19:47759cf4f9b9 | 330 | last_y = 0; |
alecguertin | 15:14d4e7021125 | 331 | ps_file = fopen("/local/test.ps", "r"); |
chstrchu | 20:76718145b403 | 332 | if (ps_file == NULL) { |
chstrchu | 20:76718145b403 | 333 | return 1; |
chstrchu | 20:76718145b403 | 334 | } |
chstrchu | 20:76718145b403 | 335 | pi.cls(); |
chstrchu | 20:76718145b403 | 336 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 337 | pi.printf("open"); |
alecguertin | 17:c72c092fcdf7 | 338 | /* PS parsing loop. */ |
alecguertin | 19:47759cf4f9b9 | 339 | memset(instbuf, 0, instbuflen); |
chstrchu | 20:76718145b403 | 340 | bytes_read = fread(instbuf, sizeof(char), instbuflen-1, ps_file); |
alecguertin | 22:46b9d9b2e35c | 341 | if (bytes_read == 0) { |
alecguertin | 22:46b9d9b2e35c | 342 | return 1; |
alecguertin | 22:46b9d9b2e35c | 343 | } |
chstrchu | 20:76718145b403 | 344 | pi.cls(); |
chstrchu | 20:76718145b403 | 345 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 346 | pi.printf("%.7s", instbuf); |
alecguertin | 19:47759cf4f9b9 | 347 | err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y); |
alecguertin | 19:47759cf4f9b9 | 348 | if (err != 2) { |
chstrchu | 20:76718145b403 | 349 | pi.cls(); |
chstrchu | 20:76718145b403 | 350 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 351 | pi.printf("sscanf1"); |
alecguertin | 19:47759cf4f9b9 | 352 | return 1; |
alecguertin | 19:47759cf4f9b9 | 353 | } |
alecguertin | 19:47759cf4f9b9 | 354 | cur = strchr(instbuf, '\n'); |
chstrchu | 20:76718145b403 | 355 | cur++; |
alecguertin | 22:46b9d9b2e35c | 356 | offset = instbuf+instbuflen-cur-1; |
chstrchu | 20:76718145b403 | 357 | memcpy(instbuf, cur, offset); |
alecguertin | 17:c72c092fcdf7 | 358 | while (1) { |
alecguertin | 17:c72c092fcdf7 | 359 | memset(instbuf+offset, 0, instbuflen-offset); |
alecguertin | 17:c72c092fcdf7 | 360 | bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file); |
alecguertin | 17:c72c092fcdf7 | 361 | if (bytes_read == 0) { |
chstrchu | 20:76718145b403 | 362 | pi.cls(); |
chstrchu | 20:76718145b403 | 363 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 364 | pi.printf("bytes0"); |
alecguertin | 22:46b9d9b2e35c | 365 | timerWait(2); |
alecguertin | 17:c72c092fcdf7 | 366 | } |
alecguertin | 17:c72c092fcdf7 | 367 | cur = instbuf; |
alecguertin | 22:46b9d9b2e35c | 368 | err = retrieve_inst(instbuf, &x, &y, &draw); |
alecguertin | 22:46b9d9b2e35c | 369 | if (err == 0) { |
chstrchu | 20:76718145b403 | 370 | pi.cls(); |
chstrchu | 20:76718145b403 | 371 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 372 | pi.printf("noinst"); |
alecguertin | 22:46b9d9b2e35c | 373 | return 1; |
alecguertin | 22:46b9d9b2e35c | 374 | } |
alecguertin | 22:46b9d9b2e35c | 375 | delta_x = x-last_x; |
alecguertin | 22:46b9d9b2e35c | 376 | delta_y = y-last_y; |
alecguertin | 22:46b9d9b2e35c | 377 | |
alecguertin | 22:46b9d9b2e35c | 378 | /* Compute turn angle and turn. */ |
alecguertin | 22:46b9d9b2e35c | 379 | theta = atan(((double) delta_x)/((double) delta_y)); |
alecguertin | 22:46b9d9b2e35c | 380 | theta *= 57.29; |
alecguertin | 22:46b9d9b2e35c | 381 | delta_a = theta-angle; |
alecguertin | 22:46b9d9b2e35c | 382 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 383 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 384 | pi.printf("a:%f", delta_a); |
alecguertin | 22:46b9d9b2e35c | 385 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 386 | if (delta_a > 0) { |
alecguertin | 22:46b9d9b2e35c | 387 | left(delta_a); |
alecguertin | 22:46b9d9b2e35c | 388 | } |
alecguertin | 19:47759cf4f9b9 | 389 | |
alecguertin | 22:46b9d9b2e35c | 390 | /* Put pen into position. */ |
alecguertin | 22:46b9d9b2e35c | 391 | if (draw) { |
alecguertin | 22:46b9d9b2e35c | 392 | oled_1 = 1; |
alecguertin | 22:46b9d9b2e35c | 393 | } else { |
alecguertin | 22:46b9d9b2e35c | 394 | oled_1 = 0; |
alecguertin | 22:46b9d9b2e35c | 395 | } |
alecguertin | 22:46b9d9b2e35c | 396 | |
alecguertin | 22:46b9d9b2e35c | 397 | /* Compute drive time and move forward. */ |
alecguertin | 22:46b9d9b2e35c | 398 | dist = sqrt(pow((double) (delta_x),2) + pow((double) (delta_y), 2)); |
alecguertin | 22:46b9d9b2e35c | 399 | if (dist < 0) { |
alecguertin | 22:46b9d9b2e35c | 400 | dist *= -1; |
alecguertin | 22:46b9d9b2e35c | 401 | } |
alecguertin | 22:46b9d9b2e35c | 402 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 403 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 404 | pi.printf("d:%f", 0.4*cal_time*(dist/(double)dim_x)); |
alecguertin | 22:46b9d9b2e35c | 405 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 406 | forward(0.4*cal_time*(dist/(double)dim_x)); |
alecguertin | 22:46b9d9b2e35c | 407 | |
alecguertin | 22:46b9d9b2e35c | 408 | last_x = x; |
alecguertin | 22:46b9d9b2e35c | 409 | last_y = y; |
alecguertin | 22:46b9d9b2e35c | 410 | next = strchr(cur, '\n'); |
alecguertin | 22:46b9d9b2e35c | 411 | if (next == NULL) { |
chstrchu | 20:76718145b403 | 412 | pi.cls(); |
chstrchu | 20:76718145b403 | 413 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 414 | pi.printf("nonext"); |
alecguertin | 22:46b9d9b2e35c | 415 | break; |
alecguertin | 17:c72c092fcdf7 | 416 | } |
alecguertin | 22:46b9d9b2e35c | 417 | cur = next+1; |
alecguertin | 22:46b9d9b2e35c | 418 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 419 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 420 | pi.printf("waiting!"); |
alecguertin | 22:46b9d9b2e35c | 421 | offset = instbuf+instbuflen-cur-1; |
alecguertin | 17:c72c092fcdf7 | 422 | memcpy(instbuf, cur, offset); |
alecguertin | 22:46b9d9b2e35c | 423 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 424 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 425 | pi.printf("%.08s", instbuf); |
alecguertin | 22:46b9d9b2e35c | 426 | timerWait(2); |
alecguertin | 15:14d4e7021125 | 427 | } |
lsaristo | 9:3a0433c391cb | 428 | // |
lsaristo | 9:3a0433c391cb | 429 | // We should never reach this point! |
alecguertin | 18:eab7b0e89398 | 430 | // |
alecguertin | 18:eab7b0e89398 | 431 | // Yes, we should... |
chstrchu | 20:76718145b403 | 432 | pi.cls(); |
chstrchu | 20:76718145b403 | 433 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 434 | pi.printf("done"); |
alecguertin | 15:14d4e7021125 | 435 | return 0; |
John Wilkey |
5:01882c3de2dc | 436 | } |
lsaristo | 8:12d780f7443e | 437 | |
alecguertin | 17:c72c092fcdf7 | 438 | int retrieve_inst(char *buf, int *x, int *y, int *draw) |
alecguertin | 17:c72c092fcdf7 | 439 | { |
alecguertin | 17:c72c092fcdf7 | 440 | int matches; |
alecguertin | 17:c72c092fcdf7 | 441 | char *srch; |
alecguertin | 17:c72c092fcdf7 | 442 | matches = sscanf(buf, "%d %d", x, y); |
alecguertin | 17:c72c092fcdf7 | 443 | if (matches != 2) { |
chstrchu | 20:76718145b403 | 444 | pi.cls(); |
chstrchu | 20:76718145b403 | 445 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 446 | pi.printf("nomatch"); |
alecguertin | 17:c72c092fcdf7 | 447 | return 0; |
alecguertin | 17:c72c092fcdf7 | 448 | } |
alecguertin | 17:c72c092fcdf7 | 449 | srch = strchr(buf, ' '); |
alecguertin | 17:c72c092fcdf7 | 450 | srch++; |
chstrchu | 20:76718145b403 | 451 | srch = strchr(srch, ' '); |
alecguertin | 17:c72c092fcdf7 | 452 | srch++; |
alecguertin | 17:c72c092fcdf7 | 453 | if (srch[0] == 'm') { |
alecguertin | 17:c72c092fcdf7 | 454 | *draw = 0; |
chstrchu | 20:76718145b403 | 455 | } else if (srch[0] == 'l') { |
alecguertin | 17:c72c092fcdf7 | 456 | *draw = 1; |
alecguertin | 17:c72c092fcdf7 | 457 | } else { |
chstrchu | 20:76718145b403 | 458 | pi.cls(); |
chstrchu | 20:76718145b403 | 459 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 460 | pi.printf("%.8s", srch); |
alecguertin | 17:c72c092fcdf7 | 461 | return 0; |
alecguertin | 17:c72c092fcdf7 | 462 | } |
alecguertin | 17:c72c092fcdf7 | 463 | return 1; |
alecguertin | 17:c72c092fcdf7 | 464 | } |
alecguertin | 17:c72c092fcdf7 | 465 | |
lsaristo | 9:3a0433c391cb | 466 | int forward(int amt) |
lsaristo | 8:12d780f7443e | 467 | { |
lsaristo | 12:1aa6b8a74136 | 468 | Timer t; |
lsaristo | 12:1aa6b8a74136 | 469 | t.start(); |
lsaristo | 10:94b068b2ce1d | 470 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 471 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 472 | pi.printf("Fwd %d", amt); |
lsaristo | 21:0c80a5d89ea3 | 473 | pi.left_motor(DRIVE_SPEED+.0023); |
lsaristo | 21:0c80a5d89ea3 | 474 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 475 | while(t.read_ms() < (amt-500)); |
lsaristo | 21:0c80a5d89ea3 | 476 | pi.left_motor(.7*DRIVE_SPEED+.0023); |
lsaristo | 21:0c80a5d89ea3 | 477 | pi.right_motor(.7*DRIVE_SPEED); |
lsaristo | 12:1aa6b8a74136 | 478 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 479 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 480 | pi.stop(); |
lsaristo | 8:12d780f7443e | 481 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 482 | } |
lsaristo | 8:12d780f7443e | 483 | |
lsaristo | 9:3a0433c391cb | 484 | int backward(int amt) |
lsaristo | 8:12d780f7443e | 485 | { |
lsaristo | 12:1aa6b8a74136 | 486 | Timer t; |
lsaristo | 10:94b068b2ce1d | 487 | oled_3 = 1; |
lsaristo | 9:3a0433c391cb | 488 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 489 | pi.printf("Back %d", amt); |
lsaristo | 12:1aa6b8a74136 | 490 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 491 | pi.backward(.5*DRIVE_SPEED); |
alecguertin | 22:46b9d9b2e35c | 492 | while(t.read_ms() < (amt-500)); |
alecguertin | 22:46b9d9b2e35c | 493 | pi.backward(.5*DRIVE_SPEED); |
chstrchu | 20:76718145b403 | 494 | while(t.read_ms() < amt); |
lsaristo | 12:1aa6b8a74136 | 495 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 496 | oled_3 = 0; |
lsaristo | 12:1aa6b8a74136 | 497 | pi.stop(); |
lsaristo | 8:12d780f7443e | 498 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 499 | } |
lsaristo | 8:12d780f7443e | 500 | |
lsaristo | 8:12d780f7443e | 501 | int right(float deg) |
lsaristo | 8:12d780f7443e | 502 | { |
lsaristo | 12:1aa6b8a74136 | 503 | Timer t; |
lsaristo | 10:94b068b2ce1d | 504 | oled_4 = 1; |
lsaristo | 9:3a0433c391cb | 505 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 506 | pi.printf("Right %f", deg); |
lsaristo | 8:12d780f7443e | 507 | pi.right(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 508 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 509 | while(t.read_ms() < ((float)(deg/360)*TIME_FACT)); |
lsaristo | 12:1aa6b8a74136 | 510 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 511 | oled_4 = 0; |
lsaristo | 12:1aa6b8a74136 | 512 | pi.stop(); |
lsaristo | 8:12d780f7443e | 513 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 514 | } |
lsaristo | 8:12d780f7443e | 515 | |
lsaristo | 21:0c80a5d89ea3 | 516 | void timerWait(float seconds) |
lsaristo | 21:0c80a5d89ea3 | 517 | { |
lsaristo | 21:0c80a5d89ea3 | 518 | Timer t; |
lsaristo | 21:0c80a5d89ea3 | 519 | t.start(); |
lsaristo | 21:0c80a5d89ea3 | 520 | while(t.read_us() < 1000000*seconds); |
lsaristo | 21:0c80a5d89ea3 | 521 | t.stop(); |
lsaristo | 21:0c80a5d89ea3 | 522 | } |
lsaristo | 21:0c80a5d89ea3 | 523 | |
lsaristo | 8:12d780f7443e | 524 | int left(float deg) |
lsaristo | 8:12d780f7443e | 525 | { |
lsaristo | 12:1aa6b8a74136 | 526 | Timer t; |
lsaristo | 10:94b068b2ce1d | 527 | oled_4 = 1; |
lsaristo | 10:94b068b2ce1d | 528 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 529 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 530 | pi.printf("Left %f", deg); |
lsaristo | 8:12d780f7443e | 531 | pi.left(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 532 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 533 | while(t.read_ms() < ((float)(deg/360)*TIME_FACT)); |
lsaristo | 12:1aa6b8a74136 | 534 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 535 | oled_4 = 0; |
lsaristo | 10:94b068b2ce1d | 536 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 537 | pi.stop(); |
lsaristo | 8:12d780f7443e | 538 | return EXIT_SUCCESS; |
lsaristo | 10:94b068b2ce1d | 539 | } |
lsaristo | 10:94b068b2ce1d | 540 | |
lsaristo | 10:94b068b2ce1d | 541 | void pen_down() |
lsaristo | 10:94b068b2ce1d | 542 | { |
lsaristo | 10:94b068b2ce1d | 543 | oled_1 = 1; |
lsaristo | 10:94b068b2ce1d | 544 | } |
lsaristo | 10:94b068b2ce1d | 545 | |
lsaristo | 10:94b068b2ce1d | 546 | void pen_up() |
lsaristo | 10:94b068b2ce1d | 547 | { |
lsaristo | 10:94b068b2ce1d | 548 | oled_1 = 0; |
lsaristo | 9:3a0433c391cb | 549 | } |