EE149
/
FinalProject
Final Project files for mBed development.
main.h@32:8b589710632b, 2014-12-09 (annotated)
- Committer:
- lsaristo
- Date:
- Tue Dec 09 22:56:54 2014 +0000
- Revision:
- 32:8b589710632b
- Parent:
- 31:1e950ee04481
- Child:
- 34:3066686d5152
Added pi.stop()s back in. Removed unneeded stuff.
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 | 29:459ff10d2a07 | 6 | * @author Alec Guertin |
lsaristo | 29:459ff10d2a07 | 7 | * @author Chester Chu |
lsaristo | 8:12d780f7443e | 8 | */ |
lsaristo | 8:12d780f7443e | 9 | |
lsaristo | 10:94b068b2ce1d | 10 | #ifndef _MAIN_H |
lsaristo | 10:94b068b2ce1d | 11 | #define _MAIN_H |
lsaristo | 8:12d780f7443e | 12 | |
lsaristo | 8:12d780f7443e | 13 | #include "mbed.h" |
lsaristo | 8:12d780f7443e | 14 | #include "m3pi.h" |
lsaristo | 9:3a0433c391cb | 15 | #include <string.h> |
lsaristo | 9:3a0433c391cb | 16 | #include <stdarg.h> |
lsaristo | 9:3a0433c391cb | 17 | #include <stdio.h> |
lsaristo | 21:0c80a5d89ea3 | 18 | #include <math.h> |
lsaristo | 21:0c80a5d89ea3 | 19 | #define TURN_SPEED 0.15 |
lsaristo | 21:0c80a5d89ea3 | 20 | #define DRIVE_SPEED 0.2 |
lsaristo | 8:12d780f7443e | 21 | #define ERR_SUCCESS 0 |
lsaristo | 8:12d780f7443e | 22 | #define ERR_FAILURE 1 |
lsaristo | 9:3a0433c391cb | 23 | #define DRIVE_RATE 1/50 |
chstrchu | 31:1e950ee04481 | 24 | #define TIME_FACT 1780 |
lsaristo | 21:0c80a5d89ea3 | 25 | #define CAL_SPEED .1 |
alecguertin | 22:46b9d9b2e35c | 26 | #define CLOSE_ENOUGH .0008 |
lsaristo | 8:12d780f7443e | 27 | |
lsaristo | 29:459ff10d2a07 | 28 | /** @brief Move the robot from its current position to (x,y) */ |
alecguertin | 18:eab7b0e89398 | 29 | void move(int x, int y, int draw); |
alecguertin | 18:eab7b0e89398 | 30 | |
lsaristo | 8:12d780f7443e | 31 | /** |
alecguertin | 17:c72c092fcdf7 | 32 | * @brief get values of next PostScript instruction. |
alecguertin | 17:c72c092fcdf7 | 33 | * |
alecguertin | 17:c72c092fcdf7 | 34 | * @param buf Buffer with PS instructions. |
alecguertin | 17:c72c092fcdf7 | 35 | * @param x Pointer to storage for x coordinate. |
alecguertin | 17:c72c092fcdf7 | 36 | * @param y Pointer to storage for y coordinate. |
alecguertin | 17:c72c092fcdf7 | 37 | * @param draw Pointer to storage for draw/move boolean. |
alecguertin | 17:c72c092fcdf7 | 38 | * |
alecguertin | 17:c72c092fcdf7 | 39 | * @return Success or failure code. |
alecguertin | 17:c72c092fcdf7 | 40 | */ |
alecguertin | 17:c72c092fcdf7 | 41 | int retrieve_inst(char *buf, int *x, int *y, int *draw); |
alecguertin | 17:c72c092fcdf7 | 42 | |
alecguertin | 17:c72c092fcdf7 | 43 | /** |
lsaristo | 29:459ff10d2a07 | 44 | * @brief Driver forward for a time. |
lsaristo | 8:12d780f7443e | 45 | * |
lsaristo | 29:459ff10d2a07 | 46 | * @param[in] amt Amount to drive forward. In milliseconds. |
lsaristo | 8:12d780f7443e | 47 | */ |
lsaristo | 29:459ff10d2a07 | 48 | void forward(int amt); |
lsaristo | 8:12d780f7443e | 49 | |
lsaristo | 8:12d780f7443e | 50 | /** |
lsaristo | 29:459ff10d2a07 | 51 | * @brief Drive backward for a time. |
lsaristo | 8:12d780f7443e | 52 | * |
lsaristo | 29:459ff10d2a07 | 53 | * @param[in] amt Amount to drive backward. In milliseconds. |
lsaristo | 8:12d780f7443e | 54 | */ |
lsaristo | 29:459ff10d2a07 | 55 | void backward(int amt); |
lsaristo | 8:12d780f7443e | 56 | |
lsaristo | 8:12d780f7443e | 57 | /** |
lsaristo | 29:459ff10d2a07 | 58 | * @brief Turn right by some angle. |
lsaristo | 8:12d780f7443e | 59 | * |
lsaristo | 29:459ff10d2a07 | 60 | * @param[in] deg Desired final turn angle in degrees from start. |
lsaristo | 29:459ff10d2a07 | 61 | * Note that a negative angle will turn in the opposite |
lsaristo | 29:459ff10d2a07 | 62 | * direction. |
lsaristo | 8:12d780f7443e | 63 | */ |
lsaristo | 29:459ff10d2a07 | 64 | void right(float deg); |
lsaristo | 8:12d780f7443e | 65 | |
lsaristo | 8:12d780f7443e | 66 | /** |
lsaristo | 29:459ff10d2a07 | 67 | * @brief Turn left by some angle. |
lsaristo | 8:12d780f7443e | 68 | * |
lsaristo | 29:459ff10d2a07 | 69 | * @param[in] deg Desired final turn angle in degrees from start. |
lsaristo | 29:459ff10d2a07 | 70 | * Note that a negative angle will turn in the opposite |
lsaristo | 29:459ff10d2a07 | 71 | * direction. |
lsaristo | 8:12d780f7443e | 72 | */ |
lsaristo | 29:459ff10d2a07 | 73 | void left (float deg); |
lsaristo | 8:12d780f7443e | 74 | |
lsaristo | 29:459ff10d2a07 | 75 | /** @brief Lower pen intro drawing position */ |
lsaristo | 10:94b068b2ce1d | 76 | void pen_down(); |
lsaristo | 10:94b068b2ce1d | 77 | |
lsaristo | 29:459ff10d2a07 | 78 | /** @brief Raise pen into moveto position */ |
lsaristo | 29:459ff10d2a07 | 79 | void pen_up(); |
lsaristo | 10:94b068b2ce1d | 80 | |
lsaristo | 10:94b068b2ce1d | 81 | /** |
lsaristo | 8:12d780f7443e | 82 | * @brief Controller decision logic. |
lsaristo | 8:12d780f7443e | 83 | * |
lsaristo | 8:12d780f7443e | 84 | * Decide what to do next based on the status of the drawing so far. |
lsaristo | 8:12d780f7443e | 85 | */ |
lsaristo | 8:12d780f7443e | 86 | void next_action(); |
lsaristo | 21:0c80a5d89ea3 | 87 | |
lsaristo | 21:0c80a5d89ea3 | 88 | /** |
lsaristo | 29:459ff10d2a07 | 89 | * @brief Wait for a number of seconds, possibly fractional. |
lsaristo | 29:459ff10d2a07 | 90 | * |
lsaristo | 29:459ff10d2a07 | 91 | * Timer resolution is on the order of microseconds. A negative wait |
lsaristo | 29:459ff10d2a07 | 92 | * time does nothing. |
lsaristo | 21:0c80a5d89ea3 | 93 | * |
lsaristo | 29:459ff10d2a07 | 94 | * @param[in] amt Time to wait, in seconds. |
lsaristo | 21:0c80a5d89ea3 | 95 | */ |
lsaristo | 29:459ff10d2a07 | 96 | void timerWait(float amt); |
lsaristo | 29:459ff10d2a07 | 97 | #endif |