Diff: main.cpp

Revision:

10:716484b1ddb5

Parent:

9:10fcf3d0ec2d

Child:

11:4348bba086a4

--- a/main.cpp	Fri Apr 01 23:47:07 2016 +0000
+++ b/main.cpp	Tue Apr 05 18:30:41 2016 +0000
@@ -6,31 +6,29 @@
 #include "QEI.h"
 #include "telemetry.h"
 
+//extern "C" { extern int printfNB(const char *format, ...); }
+//extern "C" { extern int putcharNB(int);}
+
 // =========
 // Telemetry
 // =========
-MODSERIAL telemetry_serial(PTC4, PTC3);             // TX, RX
-telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
-telemetry::Telemetry telemetry_obj(telemetry_hal);  // Telemetry
-
-int dec = 0;
-Timer t;
-telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
-telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
-telemetry::Numeric<float> tele_vel(telemetry_obj, "t_vel", "Velocity", "m/s", 0);
-telemetry::Numeric<uint32_t> tele_center(telemetry_obj, "t_center", "Center", "", 0);
+//MODSERIAL telemetry_serial(PTC4, PTC3);             // TX, RX
+//telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
+//telemetry::Telemetry telemetry_obj(telemetry_hal);  // Telemetry
 
 
 // =============
 // Communication
 // =============
 Serial pc(USBTX, USBRX);                            // USB connection
-//Serial bt(PTC4, PTC3);                              // BlueSMiRF connection
+MODSERIAL bt(PTC4, PTC3);                              // BlueSMiRF connection
+//int idx = 0;
 char cmd;                                           // Command
 char ch;
 char in[5];
 
 void communication(void const *args);               // Communications
+int lock = 0;
 
 // =====
 // Motor
@@ -58,7 +56,7 @@
 float Kp = 6.0;                                     // Proportional factor
 float Ki = 0;                                       // Integral factor
 float Kd = 0;                                       // Derivative factor
-float interval = 0.1;                              // Sampling interval
+float interval = 0.01;                              // Sampling interval
 float ref_v = 1.0;
 PID motor_ctrl(Kp, Ki, Kd, interval);               // Motor controller
 
@@ -78,6 +76,7 @@
 Timeout camera_read;                                // Camera read timeout
 int t_int = 15000;                                  // Exposure time
 int img[128];                                       // Image data
+uint8_t img_out[128];
 
 void readCamera();                                  // Read data from camera
 
@@ -98,102 +97,105 @@
 // Functions
 // ================
 
-void tele_comm(void const *args) {
-    telemetry_serial.baud(115200);
-    telemetry_obj.transmit_header();
+// Communications
+void communication(void const *args) {
     while (true) {
-        tele_time_ms = t.read_ms();
-        telemetry_obj.do_io();
-        Thread::wait(100);
+        bt.printf("\r\nPress q to return to this prompt.\r\n");
+        bt.printf("Available diagnostics:\r\n");
+        bt.printf("  [0] Velocity\r\n");
+        bt.printf("  [1] Steering\r\n");
+        bt.printf("  [2] Change Kp\r\n");
+        bt.printf("  [3] Change Ki\r\n");
+        bt.printf("  [4] Change Kd\r\n");
+        bt.printf("  [5] Change Ks\r\n");
+        bt.printf("  [6] Change reference velocity\r\n");
+        bt.printf("  [7] Checkpoint telemetry\r\n");
+        cmd = bt.getc();
+        while (cmd != 'q') {
+            switch(atoi(&cmd)){
+                case 0:
+                    bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
+                    break;
+                case 1:
+                    bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
+                    break;
+                case 2:
+                    bt.printf("Current: %f, New (5 digits): ", Kp);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Kp = atof(in);
+                    motor_ctrl.setTunings(Kp, Ki, Kd);
+                    cmd = 'q';
+                    break;
+                case 3:
+                    bt.printf("Current: %f, New (5 digits): ", Ki);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Ki = atof(in);
+                    motor_ctrl.setTunings(Kp, Ki, Kd);
+                    cmd = 'q';
+                    break;
+                case 4:
+                    bt.printf("Current: %f, New (5 digits): ", Kd);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Kd = atof(in);
+                    motor_ctrl.setTunings(Kp, Ki, Kd);
+                    cmd = 'q';
+                    break;
+                case 5:
+                    bt.printf("Current: %f, New (5 digits): ", Ks);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Ks = atof(in);
+                    cmd = 'q';
+                    break;
+                case 6:
+                    bt.printf("Current: %f, New (5 digits): ", ref_v);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    ref_v = atof(in);
+                    motor_ctrl.setSetPoint(ref_v);
+                    cmd = 'q';
+                    break;
+//                case 7:
+//                    while (lock == 0);
+//                    for (int i = 0; i < 128; i++) {
+//                        bt.printf("%d, ", img[i]);
+//                    }
+//                    bt.printf("%d\r\n", center);
+//                    lock = 0;
+//                    break;
+            }
+            if (bt.readable()) {
+                cmd = bt.getc();
+            }
+        }
     }
 }
 
-// Communications
-//void communication(void const *args) {
-//    while (true) {
-//        bt.printf("\r\nPress q to return to this prompt.\r\n");
-//        bt.printf("Available diagnostics:\r\n");
-//        bt.printf("  [0] Velocity\r\n");
-//        bt.printf("  [1] Steering\r\n");
-//        bt.printf("  [2] Change Kp\r\n");
-//        bt.printf("  [3] Change Ki\r\n");
-//        bt.printf("  [4] Change Kd\r\n");
-//        bt.printf("  [5] Change Ks\r\n");
-//        bt.printf("  [6] Change reference velocity\r\n");
-//        cmd = bt.getc();
-//        while (cmd != 'q') {
-//            switch(atoi(&cmd)){
-//                case 0:
-//                    bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
-//                    break;
-//                case 1:
-//                    bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
-//                    break;
-//                case 2:
-//                    bt.printf("Current: %f, New (5 digits): ", Kp);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Kp = atof(in);
-//                    motor_ctrl.setTunings(Kp, Ki, Kd);
-//                    cmd = 'q';
-//                    break;
-//                case 3:
-//                    bt.printf("Current: %f, New (5 digits): ", Ki);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Ki = atof(in);
-//                    motor_ctrl.setTunings(Kp, Ki, Kd);
-//                    cmd = 'q';
-//                    break;
-//                case 4:
-//                    bt.printf("Current: %f, New (5 digits): ", Kd);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Kd = atof(in);
-//                    motor_ctrl.setTunings(Kp, Ki, Kd);
-//                    cmd = 'q';
-//                    break;
-//                case 5:
-//                    bt.printf("Current: %f, New (5 digits): ", Ks);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Ks = atof(in);
-//                    cmd = 'q';
-//                    break;
-//                case 6:
-//                    bt.printf("Current: %f, New (5 digits): ", ref_v);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    ref_v = atof(in);
-//                    motor_ctrl.setSetPoint(ref_v);
-//                    cmd = 'q';
-//                    break;
-//            }
-//            if (bt.readable()) {
-//                cmd = bt.getc();
-//            }
-//        }
-//    }
-//}
-
 // Read data from camera
 void read_camera() {
     // Start data transfer
+    //if (lock == 1) {
+//        camera_read.attach_us(&read_camera, t_int);
+//        return;
+//    }
     si = 1;
     wait_us(1);
     clk = 1;
@@ -205,7 +207,6 @@
     for (int i = 0; i < 128; i++) {
         clk = 0;
         img[i] = ao.read_u16();
-        tele_linescan[i] = img[i];
         clk = 1;
         wait_us(1);
     }
@@ -272,20 +273,18 @@
     
     if (max > 43253) {
         center = (argmax + argmin + 2 + 11) / 2;
-        tele_center = center;
         a = 88 + (64 - center) * Ks;
         servo = a / 180;
     }
     
     camera_read.attach_us(&read_camera, t_int);
+//    lock = 1;
 }
 
 // ====
 // Main
 // ====
 int main() {
-    osThreadSetPriority(osThreadGetId(), osPriorityRealTime);
-    t.start();
     
     // Initialize motor
     motor.period_us(T);
@@ -307,31 +306,19 @@
     motor_ctrl.setMode(1);
     
     // Initialize bluetooth
-//    bt.baud(115200);
-
-//    osThreadSetPriority(osThreadGetId(), osPriorityAboveNormal);
+    bt.baud(115200);
     
     // Initialize communications thread
-//    Thread communication_thread(communication);
-    Thread tele_comm_thread(tele_comm);
-//    tele_comm_thread.set_priority(osPriorityBelowNormal);
+    Thread communication_thread(communication);
     
     // Start motor controller
     while (true) {
-//        telemetry_serial.printf("%d\r\n", t.read_ms());
-//        if (dec == 100) {
-            //tele_time_ms = t.read_ms();
-//            telemetry_obj.do_io();
-//            dec = 0;
-//        }
-//        dec = dec + 1;
         curr_pulses = qei.getPulses();
         //for (int i = 0; i < MVG_AVG - 1; i++) {
 //            v_prev[i] = abs(1.5 - 0.5 * (1.5 - v_prev[i+1]));
 //        }
 //        v_prev[MVG_AVG-1] = velocity;
         velocity = (curr_pulses - prev_pulses)/ interval / ppr * c / 2.5;
-        tele_vel = velocity;
         //vel = velocity;
 //        for (int i = 0; i < MVG_AVG; i++) {
 //            velocity = velocity + v_prev[i];
@@ -341,7 +328,7 @@
         motor_ctrl.setProcessValue(velocity);
         d = motor_ctrl.compute();
         motor = 1.0 - d;
-        Thread::wait(interval*1000);
-//        pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
+        wait(interval);
+        pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
     }
 }
\ No newline at end of file