ELCT 302 / Mbed 2 deprecated Top_Fuel_Dragster

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Dependencies:   mbed

main.cpp@12:3b83eb9a98bc, 2018-04-22 (annotated)

Committer:
KDrainEE
Date:
Sun Apr 22 19:22:49 2018 +0000
Revision:
12:3b83eb9a98bc
Parent:
11:c47a34f047d5 
probably a dead end

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KDrainEE 0:30871514c229 1 #include "mbed.h"
KDrainEE 0:30871514c229 2 #include <iostream>
KDrainEE 11:c47a34f047d5 3 #include "globals.h"
ELCT302Honors 6:1b4a677c468c 4 #include "lsc.h"
KDrainEE 11:c47a34f047d5 5 #include "stateMachine.h"
KDrainEE 11:c47a34f047d5 6 #include "control.h"
KDrainEE 0:30871514c229 7
ELCT302Honors 6:1b4a677c468c 8 /***********************************|Pin Declarations|*************************************************************/
ELCT302Honors 6:1b4a677c468c 9 //Communication
ELCT302Honors 6:1b4a677c468c 10 Serial bt(PTE22, PTE23); //Serial Pins (Tx, Rx)
ELCT302Honors 6:1b4a677c468c 11 //LEDs
KDrainEE 12:3b83eb9a98bc 12
ELCT302Honors 6:1b4a677c468c 13 //Checkpoint Interrupts
ELCT302Honors 6:1b4a677c468c 14 InterruptIn navRt(PTD2);
ELCT302Honors 6:1b4a677c468c 15 InterruptIn navLft(PTD3);
KDrainEE 11:c47a34f047d5 16
KDrainEE 0:30871514c229 17
ELCT302Honors 6:1b4a677c468c 18 /***********************************|Variable Declarations|*************************************************************/
KDrainEE 0:30871514c229 19
KDrainEE 12:3b83eb9a98bc 20 //bool lTrig = false;
KDrainEE 12:3b83eb9a98bc 21 //bool rTrig = false;
KDrainEE 12:3b83eb9a98bc 22 //
KDrainEE 12:3b83eb9a98bc 23 //int rightCount;
KDrainEE 12:3b83eb9a98bc 24 //int leftCount;
ELCT302Honors 6:1b4a677c468c 25
ELCT302Honors 6:1b4a677c468c 26
KDrainEE 11:c47a34f047d5 27 //void applyBrake()
KDrainEE 11:c47a34f047d5 28 //{
KDrainEE 11:c47a34f047d5 29 // spHolder = Setpoint;
KDrainEE 11:c47a34f047d5 30 // brake.write(1);
KDrainEE 11:c47a34f047d5 31 // Setpoint = 0.0;
KDrainEE 11:c47a34f047d5 32 //}
KDrainEE 11:c47a34f047d5 33 //
KDrainEE 11:c47a34f047d5 34 //void releaseBrake()
KDrainEE 11:c47a34f047d5 35 //{
KDrainEE 11:c47a34f047d5 36 // brake.write(0);
KDrainEE 11:c47a34f047d5 37 // Setpoint = spHolder;
KDrainEE 11:c47a34f047d5 38 //}
KDrainEE 11:c47a34f047d5 39 bool paramChanged = false;
ELCT302Honors 6:1b4a677c468c 40
KDrainEE 0:30871514c229 41 void serCb()
KDrainEE 0:30871514c229 42 {
KDrainEE 0:30871514c229 43 char x = bt.getc();
KDrainEE 0:30871514c229 44 if (x == 'u')
KDrainEE 0:30871514c229 45 {
ELCT302Honors 3:246625f3ceee 46 Setpoint += 0.025;
KDrainEE 11:c47a34f047d5 47 paramChanged = true;
KDrainEE 0:30871514c229 48 }
KDrainEE 0:30871514c229 49 else if(x == 'h')
KDrainEE 0:30871514c229 50 {
ELCT302Honors 3:246625f3ceee 51 Setpoint -= 0.025;
KDrainEE 11:c47a34f047d5 52 paramChanged = true;
ELCT302Honors 6:1b4a677c468c 53 }
KDrainEE 0:30871514c229 54 else
KDrainEE 0:30871514c229 55 {
KDrainEE 2:e87736742f99 56 bt.printf("Invalid input");
KDrainEE 0:30871514c229 57 }
KDrainEE 0:30871514c229 58 if(Setpoint > MAXM) Setpoint = MAXM;
KDrainEE 2:e87736742f99 59 if(Setpoint < MINM) Setpoint = MINM;
KDrainEE 0:30871514c229 60 }
KDrainEE 0:30871514c229 61
KDrainEE 12:3b83eb9a98bc 62 //void incL()
KDrainEE 12:3b83eb9a98bc 63 //{
KDrainEE 12:3b83eb9a98bc 64 // leftCount++;
KDrainEE 12:3b83eb9a98bc 65 // lTrig = true;
KDrainEE 12:3b83eb9a98bc 66 //}
KDrainEE 12:3b83eb9a98bc 67 //
KDrainEE 12:3b83eb9a98bc 68 //void incR()
KDrainEE 12:3b83eb9a98bc 69 //{
KDrainEE 12:3b83eb9a98bc 70 // rightCount++;
KDrainEE 12:3b83eb9a98bc 71 // rTrig = true;
KDrainEE 12:3b83eb9a98bc 72 //}
KDrainEE 0:30871514c229 73
KDrainEE 0:30871514c229 74 int main()
KDrainEE 0:30871514c229 75 {
ELCT302Honors 3:246625f3ceee 76 bt.baud(115200);
ELCT302Honors 6:1b4a677c468c 77 bt.attach(&serCb);
KDrainEE 11:c47a34f047d5 78 cameraInit();
KDrainEE 11:c47a34f047d5 79 controlInit();
KDrainEE 12:3b83eb9a98bc 80 initStateMachine();
KDrainEE 0:30871514c229 81
KDrainEE 12:3b83eb9a98bc 82 // rightCount = 0;
KDrainEE 12:3b83eb9a98bc 83 // leftCount = 0;
ELCT302Honors 5:aa582398b2eb 84
KDrainEE 12:3b83eb9a98bc 85 //navRt.fall(&incR);
KDrainEE 12:3b83eb9a98bc 86 // navLft.fall(&incL);
KDrainEE 0:30871514c229 87 while(1) {
KDrainEE 12:3b83eb9a98bc 88 systemState();
KDrainEE 12:3b83eb9a98bc 89 if(paramChanged){
KDrainEE 12:3b83eb9a98bc 90 bt.printf("%f\r\n", Setpoint);
KDrainEE 12:3b83eb9a98bc 91 paramChanged = false;
KDrainEE 12:3b83eb9a98bc 92 }
KDrainEE 0:30871514c229 93 }
KDrainEE 0:30871514c229 94 }