E=MC / Mbed 2 deprecated figure_eight

Code for the car to drive in a figure eight motion

Dependencies:   mbed-rtos mbed MODSERIAL mbed-dsp telemetry

main.cpp@18:16f1297a4260, 2015-03-20 (annotated)

Committer:
ericoneill
Date:
Fri Mar 20 05:53:29 2015 +0000
Revision:
18:16f1297a4260
Parent:
17:3b545dc0c800
Child:
19:29b3decea5e2
data acquisition;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ericoneill 0:2002d645d2a6 1 #include "mbed.h"
ericoneill 2:3eb545c3e6a1 2 #include "rtos.h"
cheryl_he 14:09d61b20b102 3 #include "telemetry.h"
ericoneill 0:2002d645d2a6 4
ericoneill 2:3eb545c3e6a1 5 // Camera Pins
ericoneill 18:16f1297a4260 6 DigitalOut clk(PTD5);
ericoneill 2:3eb545c3e6a1 7 DigitalOut si(PTD4);
ericoneill 2:3eb545c3e6a1 8 AnalogIn camData(PTC2);
ericoneill 2:3eb545c3e6a1 9 //Servo, Motor, Serial Pins
ericoneill 2:3eb545c3e6a1 10 PwmOut servo(PTA5);
cheryl_he 10:85f486ad4e5f 11 PwmOut motor1(PTA4);
cheryl_he 10:85f486ad4e5f 12 PwmOut motor2(PTA12);
cheryl_he 10:85f486ad4e5f 13 DigitalOut break1(PTC12);
cheryl_he 10:85f486ad4e5f 14 DigitalOut break2(PTC13);
ericoneill 2:3eb545c3e6a1 15 Serial pc(USBTX, USBRX);
ericoneill 2:3eb545c3e6a1 16 // Interrupt for encoder
ericoneill 2:3eb545c3e6a1 17 InterruptIn interrupt(PTA13);
ericoneill 18:16f1297a4260 18 const int maxFrames = 10;
ericoneill 18:16f1297a4260 19 float frames[maxFrames][128];
ericoneill 18:16f1297a4260 20 float ADCdata [128];
ericoneill 12:45e6cb021301 21 Mutex line_mutex;
ericoneill 4:03594bf9a0de 22
ericoneill 4:03594bf9a0de 23 void linecam_thread(void const *args){
ericoneill 13:97708869a4ba 24 while(1){
ericoneill 18:16f1297a4260 25 //line_mutex.lock();
ericoneill 13:97708869a4ba 26 pc.printf("[");
ericoneill 13:97708869a4ba 27 for(int i=0; i<128; i++){
ericoneill 18:16f1297a4260 28 //pc.printf("%f",ADCdata[i]);
ericoneill 13:97708869a4ba 29 pc.printf(" ");
ericoneill 13:97708869a4ba 30 }
ericoneill 13:97708869a4ba 31 pc.printf("]");
ericoneill 18:16f1297a4260 32 //line_mutex.unlock();
ericoneill 13:97708869a4ba 33 }
ericoneill 5:764c2ffb523a 34
ericoneill 4:03594bf9a0de 35 }
ericoneill 4:03594bf9a0de 36
ericoneill 4:03594bf9a0de 37
ericoneill 0:2002d645d2a6 38 int main() {
ericoneill 18:16f1297a4260 39 //Thread thread(linecam_thread);
ericoneill 18:16f1297a4260 40 //thread.set_priority(osPriorityIdle);
ericoneill 18:16f1297a4260 41 pc.printf("Beginning linecam data acquisition... ");
ericoneill 18:16f1297a4260 42 for(int numFrames = 0; numFrames < maxFrames; numFrames++){
ericoneill 18:16f1297a4260 43 for(int integrationCounter = 0;integrationCounter < 151;) {
ericoneill 18:16f1297a4260 44 if(integrationCounter % 151== 0){
ericoneill 18:16f1297a4260 45 si = 1;
ericoneill 18:16f1297a4260 46 clk = 1;
ericoneill 18:16f1297a4260 47 //wait(.00001);
ericoneill 18:16f1297a4260 48 si = 0;
ericoneill 18:16f1297a4260 49 clk = 0;
ericoneill 18:16f1297a4260 50 integrationCounter = 0;
ericoneill 18:16f1297a4260 51
ericoneill 18:16f1297a4260 52
ericoneill 18:16f1297a4260 53 }
ericoneill 18:16f1297a4260 54 else if (integrationCounter > 129){
ericoneill 18:16f1297a4260 55
ericoneill 18:16f1297a4260 56
ericoneill 18:16f1297a4260 57 integrationCounter = 150;
ericoneill 18:16f1297a4260 58 }
ericoneill 18:16f1297a4260 59 else{
ericoneill 18:16f1297a4260 60 clk = 1;
ericoneill 18:16f1297a4260 61 wait_us(50);
ericoneill 18:16f1297a4260 62 //line_mutex.lock();
ericoneill 18:16f1297a4260 63 frames[numFrames][integrationCounter - 1] = camData;
ericoneill 18:16f1297a4260 64 //line_mutex.unlock();
ericoneill 18:16f1297a4260 65 clk = 0;
ericoneill 18:16f1297a4260 66 }
ericoneill 12:45e6cb021301 67
ericoneill 18:16f1297a4260 68 integrationCounter++;
ericoneill 16:fa13ac00f583 69
ericoneill 16:fa13ac00f583 70 }
ericoneill 18:16f1297a4260 71 //frames[numFrames] = ADCdata;
ericoneill 18:16f1297a4260 72 }
ericoneill 18:16f1297a4260 73
ericoneill 18:16f1297a4260 74 for(int i =0; i<maxFrames; i++){
ericoneill 18:16f1297a4260 75 pc.printf("[");
ericoneill 18:16f1297a4260 76 for(int j = 0; j < 128; j++){
ericoneill 18:16f1297a4260 77 pc.printf(" %f",frames[i][j]);
ericoneill 16:fa13ac00f583 78 }
ericoneill 18:16f1297a4260 79 pc.printf("]\n\r");
ericoneill 0:2002d645d2a6 80 }
ericoneill 0:2002d645d2a6 81 }