EE149
/
FinalProject
Final Project files for mBed development.
main.c@24:b797563776fc, 2014-12-07 (annotated)
- Committer:
- lsaristo
- Date:
- Sun Dec 07 09:36:59 2014 +0000
- Revision:
- 24:b797563776fc
- Parent:
- 23:e4616259a7f0
- Child:
- 25:2c7717684d09
Changed turning functions to allow negative arguments
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 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 60 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 61 | pi.printf("PiCO"); |
lsaristo | 21:0c80a5d89ea3 | 62 | pi.locate(0,1); |
lsaristo | 21:0c80a5d89ea3 | 63 | pi.printf("%f mV", pi.battery()); |
lsaristo | 21:0c80a5d89ea3 | 64 | wait(.5); |
lsaristo | 21:0c80a5d89ea3 | 65 | /* while(start_button) { |
lsaristo | 21:0c80a5d89ea3 | 66 | oled_2 = 1; |
lsaristo | 21:0c80a5d89ea3 | 67 | wait(.5); |
lsaristo | 21:0c80a5d89ea3 | 68 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 69 | pi.printf("Ready"); |
lsaristo | 21:0c80a5d89ea3 | 70 | oled_2 = 0; |
lsaristo | 24:b797563776fc | 71 | } */ |
lsaristo | 21:0c80a5d89ea3 | 72 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 73 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 74 | // pi.printf("GO!"); |
lsaristo | 21:0c80a5d89ea3 | 75 | wait(.5); |
lsaristo | 21:0c80a5d89ea3 | 76 | |
lsaristo | 21:0c80a5d89ea3 | 77 | /* |
lsaristo | 21:0c80a5d89ea3 | 78 | while(1) { |
lsaristo | 21:0c80a5d89ea3 | 79 | if(!start_button) { |
lsaristo | 21:0c80a5d89ea3 | 80 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 81 | goto start; |
lsaristo | 21:0c80a5d89ea3 | 82 | } else { |
lsaristo | 21:0c80a5d89ea3 | 83 | goto calibrate; |
lsaristo | 21:0c80a5d89ea3 | 84 | } |
lsaristo | 21:0c80a5d89ea3 | 85 | } |
lsaristo | 24:b797563776fc | 86 | */ |
lsaristo | 21:0c80a5d89ea3 | 87 | |
lsaristo | 13:070846d87d4a | 88 | // |
lsaristo | 13:070846d87d4a | 89 | // Drawing environment calibration. |
lsaristo | 12:1aa6b8a74136 | 90 | pi.sensor_auto_calibrate(); |
alecguertin | 15:14d4e7021125 | 91 | //pi.backward(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 92 | float pos = 0; |
alecguertin | 15:14d4e7021125 | 93 | float over_thresh = 0.05; |
alecguertin | 15:14d4e7021125 | 94 | float correction = 0.2*DRIVE_SPEED; |
alecguertin | 19:47759cf4f9b9 | 95 | float cal_time; |
alecguertin | 15:14d4e7021125 | 96 | wait(1); |
lsaristo | 21:0c80a5d89ea3 | 97 | /* |
alecguertin | 15:14d4e7021125 | 98 | do { |
alecguertin | 15:14d4e7021125 | 99 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 100 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 101 | pi.left_motor(-CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 102 | pi.right_motor(-CAL_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 103 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 104 | pi.right_motor(-CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 105 | pi.left_motor(-CAL_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 106 | } else { |
lsaristo | 21:0c80a5d89ea3 | 107 | pi.backward(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 108 | } |
alecguertin | 15:14d4e7021125 | 109 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 110 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 111 | pi.printf("P: %f", pos); |
alecguertin | 17:c72c092fcdf7 | 112 | } while (pos != -1 && pos <= 0.3); |
alecguertin | 15:14d4e7021125 | 113 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 114 | wait(1); |
lsaristo | 21:0c80a5d89ea3 | 115 | |
alecguertin | 15:14d4e7021125 | 116 | if (pos != -1) { |
alecguertin | 15:14d4e7021125 | 117 | timer.start(); |
lsaristo | 21:0c80a5d89ea3 | 118 | pi.forward(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 119 | } else { |
alecguertin | 15:14d4e7021125 | 120 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 121 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 122 | pi.printf("LP: %f",pos); |
lsaristo | 21:0c80a5d89ea3 | 123 | forward(1000); |
lsaristo | 21:0c80a5d89ea3 | 124 | goto calibrate; |
alecguertin | 15:14d4e7021125 | 125 | return 1; |
alecguertin | 15:14d4e7021125 | 126 | } |
lsaristo | 24:b797563776fc | 127 | */ |
lsaristo | 21:0c80a5d89ea3 | 128 | |
lsaristo | 21:0c80a5d89ea3 | 129 | // wait(1); |
lsaristo | 21:0c80a5d89ea3 | 130 | |
lsaristo | 21:0c80a5d89ea3 | 131 | do { |
lsaristo | 21:0c80a5d89ea3 | 132 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 133 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 134 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 135 | pi.left_motor(CAL_SPEED-correction); |
lsaristo | 21:0c80a5d89ea3 | 136 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 137 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 138 | pi.right_motor(CAL_SPEED-correction); |
lsaristo | 21:0c80a5d89ea3 | 139 | } else { |
lsaristo | 21:0c80a5d89ea3 | 140 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 141 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 142 | } |
lsaristo | 21:0c80a5d89ea3 | 143 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 144 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 145 | pi.printf("Pos: %f", pos); |
lsaristo | 21:0c80a5d89ea3 | 146 | } while(pos != -1 && pos > -0.3); |
lsaristo | 21:0c80a5d89ea3 | 147 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 148 | if(pos != -1) { |
lsaristo | 21:0c80a5d89ea3 | 149 | oled_1 = 1; |
lsaristo | 21:0c80a5d89ea3 | 150 | timer.stop(); |
lsaristo | 21:0c80a5d89ea3 | 151 | pi.printf("T: %d", timer.read_ms()); |
lsaristo | 21:0c80a5d89ea3 | 152 | } else { |
lsaristo | 21:0c80a5d89ea3 | 153 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 154 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 155 | pi.printf("lP:%f", pos); |
lsaristo | 21:0c80a5d89ea3 | 156 | return 1; |
lsaristo | 21:0c80a5d89ea3 | 157 | } |
lsaristo | 21:0c80a5d89ea3 | 158 | right(180); |
alecguertin | 22:46b9d9b2e35c | 159 | Timer caltimer; |
alecguertin | 22:46b9d9b2e35c | 160 | caltimer.start(); |
lsaristo | 12:1aa6b8a74136 | 161 | do { |
lsaristo | 12:1aa6b8a74136 | 162 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 163 | if(pos > over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 164 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 165 | pi.left_motor(CAL_SPEED-correction); |
lsaristo | 13:070846d87d4a | 166 | } else if(pos < -over_thresh) { |
lsaristo | 21:0c80a5d89ea3 | 167 | pi.left_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 168 | pi.right_motor(CAL_SPEED-correction); |
lsaristo | 13:070846d87d4a | 169 | } else { |
lsaristo | 21:0c80a5d89ea3 | 170 | pi.right_motor(CAL_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 171 | pi.left_motor(CAL_SPEED); |
alecguertin | 15:14d4e7021125 | 172 | } |
alecguertin | 15:14d4e7021125 | 173 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 174 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 175 | pi.printf("Pos: %f", pos); |
alecguertin | 15:14d4e7021125 | 176 | } while(pos != -1 && pos <= 0.3); |
alecguertin | 22:46b9d9b2e35c | 177 | caltimer.stop(); |
alecguertin | 22:46b9d9b2e35c | 178 | cal_time = caltimer.read_ms(); |
alecguertin | 15:14d4e7021125 | 179 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 180 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 181 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 182 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 183 | pi.printf("T: %d", timer.read_ms()); |
alecguertin | 15:14d4e7021125 | 184 | } else { |
alecguertin | 15:14d4e7021125 | 185 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 186 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 187 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 188 | return 1; |
alecguertin | 15:14d4e7021125 | 189 | } |
lsaristo | 21:0c80a5d89ea3 | 190 | right(180); |
alecguertin | 22:46b9d9b2e35c | 191 | timerWait(.5); |
alecguertin | 22:46b9d9b2e35c | 192 | while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) { |
alecguertin | 22:46b9d9b2e35c | 193 | pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED)); |
alecguertin | 22:46b9d9b2e35c | 194 | // timerWait(.08); |
alecguertin | 22:46b9d9b2e35c | 195 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 196 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 197 | pi.printf("O: %f", pos); |
alecguertin | 22:46b9d9b2e35c | 198 | // pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 199 | // timerWait(.2); |
alecguertin | 22:46b9d9b2e35c | 200 | } |
alecguertin | 22:46b9d9b2e35c | 201 | pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 202 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 203 | /* |
alecguertin | 22:46b9d9b2e35c | 204 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 205 | do { |
alecguertin | 22:46b9d9b2e35c | 206 | pi.backward(CAL_SPEED); |
alecguertin | 22:46b9d9b2e35c | 207 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 208 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 209 | pi.printf("p:%f", pos); |
alecguertin | 22:46b9d9b2e35c | 210 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 211 | } while (pos != -1 && pos >= -0.25); |
lsaristo | 24:b797563776fc | 212 | */ |
alecguertin | 22:46b9d9b2e35c | 213 | backward(500); |
alecguertin | 22:46b9d9b2e35c | 214 | timerWait(.5); |
alecguertin | 22:46b9d9b2e35c | 215 | while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) { |
alecguertin | 22:46b9d9b2e35c | 216 | pi.right((pos < 0 ? -.6*CAL_SPEED : .6*CAL_SPEED)); |
alecguertin | 22:46b9d9b2e35c | 217 | // timerWait(.08); |
alecguertin | 22:46b9d9b2e35c | 218 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 219 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 220 | pi.printf("O: %f", pos); |
alecguertin | 22:46b9d9b2e35c | 221 | // pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 222 | // timerWait(.2); |
alecguertin | 22:46b9d9b2e35c | 223 | } |
alecguertin | 22:46b9d9b2e35c | 224 | pi.stop(); |
alecguertin | 22:46b9d9b2e35c | 225 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 226 | /* |
alecguertin | 22:46b9d9b2e35c | 227 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 228 | do { |
alecguertin | 22:46b9d9b2e35c | 229 | pi.forward(CAL_SPEED); |
alecguertin | 22:46b9d9b2e35c | 230 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 231 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 232 | pi.printf("p:%f", pos); |
alecguertin | 22:46b9d9b2e35c | 233 | pos = pi.line_position(); |
alecguertin | 22:46b9d9b2e35c | 234 | } while (pos <= -0.07); |
alecguertin | 22:46b9d9b2e35c | 235 | timerWait(0.25); |
alecguertin | 22:46b9d9b2e35c | 236 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 237 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 238 | while(fabs(pos) > CLOSE_ENOUGH) { |
lsaristo | 21:0c80a5d89ea3 | 239 | pi.right((pos < 0 ? -CAL_SPEED : CAL_SPEED)); |
lsaristo | 21:0c80a5d89ea3 | 240 | timerWait(.08); |
lsaristo | 21:0c80a5d89ea3 | 241 | pi.cls(); |
lsaristo | 21:0c80a5d89ea3 | 242 | pi.locate(0,0); |
lsaristo | 21:0c80a5d89ea3 | 243 | pi.printf("O: %f", pos); |
lsaristo | 21:0c80a5d89ea3 | 244 | pi.stop(); |
lsaristo | 21:0c80a5d89ea3 | 245 | pos = pi.line_position(); |
lsaristo | 21:0c80a5d89ea3 | 246 | timerWait(.2); |
lsaristo | 21:0c80a5d89ea3 | 247 | } |
lsaristo | 24:b797563776fc | 248 | */ |
alecguertin | 22:46b9d9b2e35c | 249 | timerWait(1); |
lsaristo | 21:0c80a5d89ea3 | 250 | // |
lsaristo | 21:0c80a5d89ea3 | 251 | // Pivot 180 degrees to go to the starting position. |
lsaristo | 21:0c80a5d89ea3 | 252 | /* |
alecguertin | 15:14d4e7021125 | 253 | do { |
alecguertin | 15:14d4e7021125 | 254 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 255 | if(pos > over_thresh) { |
alecguertin | 15:14d4e7021125 | 256 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 257 | pi.left_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 258 | } else if(pos < -over_thresh) { |
alecguertin | 15:14d4e7021125 | 259 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 260 | pi.right_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 261 | } else { |
lsaristo | 21:0c80a5d89ea3 | 262 | pi.backward(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 263 | } |
lsaristo | 12:1aa6b8a74136 | 264 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 265 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 266 | pi.printf("P: %f", pos); |
alecguertin | 15:14d4e7021125 | 267 | } while (pos != -1 && pos > -0.3); |
alecguertin | 15:14d4e7021125 | 268 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 269 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 270 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 271 | timer.stop(); |
alecguertin | 19:47759cf4f9b9 | 272 | cal_time = timer.read(); |
chstrchu | 20:76718145b403 | 273 | pi.cls(); |
chstrchu | 20:76718145b403 | 274 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 275 | pi.printf("T: %d", timer.read_ms()); |
lsaristo | 12:1aa6b8a74136 | 276 | } else { |
lsaristo | 12:1aa6b8a74136 | 277 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 278 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 279 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 280 | return 1; |
lsaristo | 12:1aa6b8a74136 | 281 | } |
lsaristo | 24:b797563776fc | 282 | */ |
chstrchu | 20:76718145b403 | 283 | /* |
lsaristo | 12:1aa6b8a74136 | 284 | while(pi.line_position() == 1); |
lsaristo | 12:1aa6b8a74136 | 285 | do { |
lsaristo | 12:1aa6b8a74136 | 286 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 287 | if(pos > over_thresh) { |
lsaristo | 13:070846d87d4a | 288 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 289 | pi.left_motor(DRIVE_SPEED - correction); |
lsaristo | 13:070846d87d4a | 290 | } else if(pos < -over_thresh) { |
lsaristo | 13:070846d87d4a | 291 | pi.left_motor(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 292 | pi.right_motor(DRIVE_SPEED - correction); |
lsaristo | 13:070846d87d4a | 293 | } else { |
lsaristo | 13:070846d87d4a | 294 | pi.forward(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 295 | } |
lsaristo | 12:1aa6b8a74136 | 296 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 297 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 298 | pi.printf("Pos: %f", pos); |
lsaristo | 12:1aa6b8a74136 | 299 | } while(pos != -1 && pos != 1); |
lsaristo | 12:1aa6b8a74136 | 300 | if(pos == 1) { |
lsaristo | 12:1aa6b8a74136 | 301 | oled_1 = 1; |
lsaristo | 12:1aa6b8a74136 | 302 | timer.stop(); |
alecguertin | 19:47759cf4f9b9 | 303 | pi.stop(); |
lsaristo | 12:1aa6b8a74136 | 304 | } else { |
lsaristo | 12:1aa6b8a74136 | 305 | pi.stop(); |
lsaristo | 12:1aa6b8a74136 | 306 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 307 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 308 | pi.printf("LP:%f", pos); |
lsaristo | 12:1aa6b8a74136 | 309 | while(1); |
lsaristo | 12:1aa6b8a74136 | 310 | } |
chstrchu | 20:76718145b403 | 311 | */ |
lsaristo | 14:41fa8b95a9ab | 312 | // If we got here, calibration is complete. |
lsaristo | 12:1aa6b8a74136 | 313 | |
John Wilkey |
6:00b7198f0b51 | 314 | // |
lsaristo | 9:3a0433c391cb | 315 | // Main program loop. |
lsaristo | 12:1aa6b8a74136 | 316 | // robot_loop(); |
alecguertin | 17:c72c092fcdf7 | 317 | size_t bytes_read = 0; |
alecguertin | 22:46b9d9b2e35c | 318 | int err, x, y, last_x, last_y, delta_x, delta_y; |
alecguertin | 22:46b9d9b2e35c | 319 | float delta_a; |
alecguertin | 19:47759cf4f9b9 | 320 | int dim_x, dim_y; |
alecguertin | 17:c72c092fcdf7 | 321 | int offset = 0; |
alecguertin | 17:c72c092fcdf7 | 322 | char *cur, *next; |
alecguertin | 19:47759cf4f9b9 | 323 | float angle; |
alecguertin | 19:47759cf4f9b9 | 324 | double dist, theta; |
alecguertin | 18:eab7b0e89398 | 325 | angle = 0; |
alecguertin | 18:eab7b0e89398 | 326 | theta = 0; |
alecguertin | 19:47759cf4f9b9 | 327 | last_x = 0; |
alecguertin | 19:47759cf4f9b9 | 328 | last_y = 0; |
alecguertin | 15:14d4e7021125 | 329 | ps_file = fopen("/local/test.ps", "r"); |
chstrchu | 20:76718145b403 | 330 | if (ps_file == NULL) { |
chstrchu | 20:76718145b403 | 331 | return 1; |
chstrchu | 20:76718145b403 | 332 | } |
chstrchu | 20:76718145b403 | 333 | pi.cls(); |
chstrchu | 20:76718145b403 | 334 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 335 | pi.printf("open"); |
alecguertin | 17:c72c092fcdf7 | 336 | /* PS parsing loop. */ |
alecguertin | 19:47759cf4f9b9 | 337 | memset(instbuf, 0, instbuflen); |
chstrchu | 20:76718145b403 | 338 | bytes_read = fread(instbuf, sizeof(char), instbuflen-1, ps_file); |
alecguertin | 22:46b9d9b2e35c | 339 | if (bytes_read == 0) { |
alecguertin | 22:46b9d9b2e35c | 340 | return 1; |
alecguertin | 22:46b9d9b2e35c | 341 | } |
chstrchu | 20:76718145b403 | 342 | pi.cls(); |
chstrchu | 20:76718145b403 | 343 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 344 | pi.printf("%.7s", instbuf); |
alecguertin | 19:47759cf4f9b9 | 345 | err = sscanf(instbuf, "%d/%d", &dim_x, &dim_y); |
alecguertin | 19:47759cf4f9b9 | 346 | if (err != 2) { |
chstrchu | 20:76718145b403 | 347 | pi.cls(); |
chstrchu | 20:76718145b403 | 348 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 349 | pi.printf("sscanf1"); |
alecguertin | 19:47759cf4f9b9 | 350 | return 1; |
alecguertin | 19:47759cf4f9b9 | 351 | } |
alecguertin | 19:47759cf4f9b9 | 352 | cur = strchr(instbuf, '\n'); |
chstrchu | 20:76718145b403 | 353 | cur++; |
alecguertin | 22:46b9d9b2e35c | 354 | offset = instbuf+instbuflen-cur-1; |
chstrchu | 20:76718145b403 | 355 | memcpy(instbuf, cur, offset); |
alecguertin | 17:c72c092fcdf7 | 356 | while (1) { |
alecguertin | 17:c72c092fcdf7 | 357 | memset(instbuf+offset, 0, instbuflen-offset); |
alecguertin | 17:c72c092fcdf7 | 358 | bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file); |
alecguertin | 17:c72c092fcdf7 | 359 | if (bytes_read == 0) { |
chstrchu | 20:76718145b403 | 360 | pi.cls(); |
chstrchu | 20:76718145b403 | 361 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 362 | pi.printf("bytes0"); |
alecguertin | 22:46b9d9b2e35c | 363 | timerWait(2); |
alecguertin | 17:c72c092fcdf7 | 364 | } |
alecguertin | 17:c72c092fcdf7 | 365 | cur = instbuf; |
alecguertin | 22:46b9d9b2e35c | 366 | err = retrieve_inst(instbuf, &x, &y, &draw); |
alecguertin | 22:46b9d9b2e35c | 367 | if (err == 0) { |
chstrchu | 20:76718145b403 | 368 | pi.cls(); |
chstrchu | 20:76718145b403 | 369 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 370 | pi.printf("noinst"); |
alecguertin | 22:46b9d9b2e35c | 371 | return 1; |
alecguertin | 22:46b9d9b2e35c | 372 | } |
alecguertin | 22:46b9d9b2e35c | 373 | delta_x = x-last_x; |
alecguertin | 22:46b9d9b2e35c | 374 | delta_y = y-last_y; |
alecguertin | 22:46b9d9b2e35c | 375 | |
alecguertin | 22:46b9d9b2e35c | 376 | /* Compute turn angle and turn. */ |
alecguertin | 22:46b9d9b2e35c | 377 | theta = atan(((double) delta_x)/((double) delta_y)); |
alecguertin | 22:46b9d9b2e35c | 378 | theta *= 57.29; |
alecguertin | 22:46b9d9b2e35c | 379 | delta_a = theta-angle; |
alecguertin | 23:e4616259a7f0 | 380 | if (delta_x < 0 && delta_y < 0) { |
alecguertin | 23:e4616259a7f0 | 381 | delta_a += 180; |
alecguertin | 23:e4616259a7f0 | 382 | } |
alecguertin | 23:e4616259a7f0 | 383 | angle += theta; |
alecguertin | 22:46b9d9b2e35c | 384 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 385 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 386 | pi.printf("a:%f", delta_a); |
alecguertin | 22:46b9d9b2e35c | 387 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 388 | if (delta_a > 0) { |
alecguertin | 22:46b9d9b2e35c | 389 | left(delta_a); |
alecguertin | 22:46b9d9b2e35c | 390 | } |
alecguertin | 19:47759cf4f9b9 | 391 | |
alecguertin | 22:46b9d9b2e35c | 392 | /* Put pen into position. */ |
alecguertin | 22:46b9d9b2e35c | 393 | if (draw) { |
alecguertin | 22:46b9d9b2e35c | 394 | oled_1 = 1; |
alecguertin | 22:46b9d9b2e35c | 395 | } else { |
alecguertin | 22:46b9d9b2e35c | 396 | oled_1 = 0; |
alecguertin | 22:46b9d9b2e35c | 397 | } |
alecguertin | 22:46b9d9b2e35c | 398 | |
alecguertin | 22:46b9d9b2e35c | 399 | /* Compute drive time and move forward. */ |
alecguertin | 22:46b9d9b2e35c | 400 | dist = sqrt(pow((double) (delta_x),2) + pow((double) (delta_y), 2)); |
alecguertin | 22:46b9d9b2e35c | 401 | if (dist < 0) { |
alecguertin | 22:46b9d9b2e35c | 402 | dist *= -1; |
alecguertin | 22:46b9d9b2e35c | 403 | } |
alecguertin | 22:46b9d9b2e35c | 404 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 405 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 406 | pi.printf("d:%f", 0.4*cal_time*(dist/(double)dim_x)); |
alecguertin | 22:46b9d9b2e35c | 407 | timerWait(2); |
alecguertin | 22:46b9d9b2e35c | 408 | forward(0.4*cal_time*(dist/(double)dim_x)); |
alecguertin | 22:46b9d9b2e35c | 409 | |
alecguertin | 22:46b9d9b2e35c | 410 | last_x = x; |
alecguertin | 22:46b9d9b2e35c | 411 | last_y = y; |
alecguertin | 22:46b9d9b2e35c | 412 | next = strchr(cur, '\n'); |
alecguertin | 22:46b9d9b2e35c | 413 | if (next == NULL) { |
chstrchu | 20:76718145b403 | 414 | pi.cls(); |
chstrchu | 20:76718145b403 | 415 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 416 | pi.printf("nonext"); |
alecguertin | 22:46b9d9b2e35c | 417 | break; |
alecguertin | 17:c72c092fcdf7 | 418 | } |
alecguertin | 22:46b9d9b2e35c | 419 | cur = next+1; |
alecguertin | 22:46b9d9b2e35c | 420 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 421 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 422 | pi.printf("waiting!"); |
alecguertin | 22:46b9d9b2e35c | 423 | offset = instbuf+instbuflen-cur-1; |
alecguertin | 17:c72c092fcdf7 | 424 | memcpy(instbuf, cur, offset); |
alecguertin | 22:46b9d9b2e35c | 425 | pi.cls(); |
alecguertin | 22:46b9d9b2e35c | 426 | pi.locate(0,0); |
alecguertin | 22:46b9d9b2e35c | 427 | pi.printf("%.08s", instbuf); |
alecguertin | 22:46b9d9b2e35c | 428 | timerWait(2); |
alecguertin | 15:14d4e7021125 | 429 | } |
lsaristo | 9:3a0433c391cb | 430 | // |
lsaristo | 9:3a0433c391cb | 431 | // We should never reach this point! |
alecguertin | 18:eab7b0e89398 | 432 | // |
alecguertin | 18:eab7b0e89398 | 433 | // Yes, we should... |
chstrchu | 20:76718145b403 | 434 | pi.cls(); |
chstrchu | 20:76718145b403 | 435 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 436 | pi.printf("done"); |
alecguertin | 15:14d4e7021125 | 437 | return 0; |
John Wilkey |
5:01882c3de2dc | 438 | } |
lsaristo | 8:12d780f7443e | 439 | |
alecguertin | 17:c72c092fcdf7 | 440 | int retrieve_inst(char *buf, int *x, int *y, int *draw) |
alecguertin | 17:c72c092fcdf7 | 441 | { |
alecguertin | 17:c72c092fcdf7 | 442 | int matches; |
alecguertin | 17:c72c092fcdf7 | 443 | char *srch; |
alecguertin | 17:c72c092fcdf7 | 444 | matches = sscanf(buf, "%d %d", x, y); |
alecguertin | 17:c72c092fcdf7 | 445 | if (matches != 2) { |
chstrchu | 20:76718145b403 | 446 | pi.cls(); |
chstrchu | 20:76718145b403 | 447 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 448 | pi.printf("nomatch"); |
alecguertin | 17:c72c092fcdf7 | 449 | return 0; |
alecguertin | 17:c72c092fcdf7 | 450 | } |
alecguertin | 17:c72c092fcdf7 | 451 | srch = strchr(buf, ' '); |
alecguertin | 17:c72c092fcdf7 | 452 | srch++; |
chstrchu | 20:76718145b403 | 453 | srch = strchr(srch, ' '); |
alecguertin | 17:c72c092fcdf7 | 454 | srch++; |
alecguertin | 17:c72c092fcdf7 | 455 | if (srch[0] == 'm') { |
alecguertin | 17:c72c092fcdf7 | 456 | *draw = 0; |
chstrchu | 20:76718145b403 | 457 | } else if (srch[0] == 'l') { |
alecguertin | 17:c72c092fcdf7 | 458 | *draw = 1; |
alecguertin | 17:c72c092fcdf7 | 459 | } else { |
chstrchu | 20:76718145b403 | 460 | pi.cls(); |
chstrchu | 20:76718145b403 | 461 | pi.locate(0,0); |
chstrchu | 20:76718145b403 | 462 | pi.printf("%.8s", srch); |
alecguertin | 17:c72c092fcdf7 | 463 | return 0; |
alecguertin | 17:c72c092fcdf7 | 464 | } |
alecguertin | 17:c72c092fcdf7 | 465 | return 1; |
alecguertin | 17:c72c092fcdf7 | 466 | } |
alecguertin | 17:c72c092fcdf7 | 467 | |
lsaristo | 9:3a0433c391cb | 468 | int forward(int amt) |
lsaristo | 8:12d780f7443e | 469 | { |
lsaristo | 12:1aa6b8a74136 | 470 | Timer t; |
lsaristo | 12:1aa6b8a74136 | 471 | t.start(); |
lsaristo | 10:94b068b2ce1d | 472 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 473 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 474 | pi.printf("Fwd %d", amt); |
lsaristo | 21:0c80a5d89ea3 | 475 | pi.left_motor(DRIVE_SPEED+.0023); |
lsaristo | 21:0c80a5d89ea3 | 476 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 21:0c80a5d89ea3 | 477 | while(t.read_ms() < (amt-500)); |
lsaristo | 21:0c80a5d89ea3 | 478 | pi.left_motor(.7*DRIVE_SPEED+.0023); |
lsaristo | 21:0c80a5d89ea3 | 479 | pi.right_motor(.7*DRIVE_SPEED); |
lsaristo | 12:1aa6b8a74136 | 480 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 481 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 482 | pi.stop(); |
lsaristo | 8:12d780f7443e | 483 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 484 | } |
lsaristo | 8:12d780f7443e | 485 | |
lsaristo | 9:3a0433c391cb | 486 | int backward(int amt) |
lsaristo | 8:12d780f7443e | 487 | { |
lsaristo | 12:1aa6b8a74136 | 488 | Timer t; |
lsaristo | 10:94b068b2ce1d | 489 | oled_3 = 1; |
lsaristo | 9:3a0433c391cb | 490 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 491 | pi.printf("Back %d", amt); |
lsaristo | 12:1aa6b8a74136 | 492 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 493 | pi.backward(.5*DRIVE_SPEED); |
alecguertin | 22:46b9d9b2e35c | 494 | while(t.read_ms() < (amt-500)); |
alecguertin | 22:46b9d9b2e35c | 495 | pi.backward(.5*DRIVE_SPEED); |
chstrchu | 20:76718145b403 | 496 | while(t.read_ms() < amt); |
lsaristo | 12:1aa6b8a74136 | 497 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 498 | oled_3 = 0; |
lsaristo | 12:1aa6b8a74136 | 499 | pi.stop(); |
lsaristo | 8:12d780f7443e | 500 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 501 | } |
lsaristo | 8:12d780f7443e | 502 | |
lsaristo | 8:12d780f7443e | 503 | int right(float deg) |
lsaristo | 8:12d780f7443e | 504 | { |
lsaristo | 24:b797563776fc | 505 | if(deg < 0) { |
lsaristo | 24:b797563776fc | 506 | return left(-1*deg); |
lsaristo | 24:b797563776fc | 507 | } |
lsaristo | 12:1aa6b8a74136 | 508 | Timer t; |
lsaristo | 10:94b068b2ce1d | 509 | oled_4 = 1; |
lsaristo | 9:3a0433c391cb | 510 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 511 | pi.printf("Right %f", deg); |
lsaristo | 8:12d780f7443e | 512 | pi.right(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 513 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 514 | while(t.read_ms() < ((float)(deg/360)*TIME_FACT)); |
lsaristo | 12:1aa6b8a74136 | 515 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 516 | oled_4 = 0; |
lsaristo | 12:1aa6b8a74136 | 517 | pi.stop(); |
lsaristo | 8:12d780f7443e | 518 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 519 | } |
lsaristo | 8:12d780f7443e | 520 | |
lsaristo | 21:0c80a5d89ea3 | 521 | void timerWait(float seconds) |
lsaristo | 21:0c80a5d89ea3 | 522 | { |
lsaristo | 21:0c80a5d89ea3 | 523 | Timer t; |
lsaristo | 21:0c80a5d89ea3 | 524 | t.start(); |
lsaristo | 21:0c80a5d89ea3 | 525 | while(t.read_us() < 1000000*seconds); |
lsaristo | 21:0c80a5d89ea3 | 526 | t.stop(); |
lsaristo | 21:0c80a5d89ea3 | 527 | } |
lsaristo | 21:0c80a5d89ea3 | 528 | |
lsaristo | 8:12d780f7443e | 529 | int left(float deg) |
lsaristo | 8:12d780f7443e | 530 | { |
lsaristo | 24:b797563776fc | 531 | if(deg < 0) { |
lsaristo | 24:b797563776fc | 532 | return right(-1*deg); |
lsaristo | 24:b797563776fc | 533 | } |
lsaristo | 12:1aa6b8a74136 | 534 | Timer t; |
lsaristo | 10:94b068b2ce1d | 535 | oled_4 = 1; |
lsaristo | 10:94b068b2ce1d | 536 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 537 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 538 | pi.printf("Left %f", deg); |
lsaristo | 8:12d780f7443e | 539 | pi.left(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 540 | t.start(); |
alecguertin | 22:46b9d9b2e35c | 541 | while(t.read_ms() < ((float)(deg/360)*TIME_FACT)); |
lsaristo | 12:1aa6b8a74136 | 542 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 543 | oled_4 = 0; |
lsaristo | 10:94b068b2ce1d | 544 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 545 | pi.stop(); |
lsaristo | 8:12d780f7443e | 546 | return EXIT_SUCCESS; |
lsaristo | 10:94b068b2ce1d | 547 | } |
lsaristo | 10:94b068b2ce1d | 548 | |
lsaristo | 10:94b068b2ce1d | 549 | void pen_down() |
lsaristo | 10:94b068b2ce1d | 550 | { |
lsaristo | 10:94b068b2ce1d | 551 | oled_1 = 1; |
lsaristo | 10:94b068b2ce1d | 552 | } |
lsaristo | 10:94b068b2ce1d | 553 | |
lsaristo | 10:94b068b2ce1d | 554 | void pen_up() |
lsaristo | 10:94b068b2ce1d | 555 | { |
lsaristo | 10:94b068b2ce1d | 556 | oled_1 = 0; |
lsaristo | 9:3a0433c391cb | 557 | } |