Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

main.cpp@24:7bf492bf50f4, 2021-11-04 (annotated)

Committer:
aalawfi
Date:
Thu Nov 04 17:21:18 2021 +0000
Revision:
24:7bf492bf50f4
Parent:
23:4c743746533c
Child:
25:8bd029d58251
- Most recent 11/4/2021. Changed gains values for calmer steering

Who changed what in which revision?

UserRevisionLine numberNew contents of line
quarren42 19:65fecaa2a387 1 #include "MMA8451Q.h"
quarren42 0:0a6756c7e3ed 2 #include "mbed.h"
quarren42 1:c324a2849500 3 #include "driving.h"
aalawfi 2:c857935f928e 4 #include "steering_header.h"
aalawfi 2:c857935f928e 5 #include "steering_methods.h"
aalawfi 2:c857935f928e 6 #include "state_control.h"
quarren42 19:65fecaa2a387 7
quarren42 0:0a6756c7e3ed 8 #include <iostream>
aalawfi 3:25c6bf0abc00 9 #include "bluetooth.h"
quarren42 19:65fecaa2a387 10
quarren42 1:c324a2849500 11
quarren42 0:0a6756c7e3ed 12 Serial pc(USBTX, USBRX); // tx, rx
aalawfi 3:25c6bf0abc00 13
quarren42 0:0a6756c7e3ed 14
quarren42 1:c324a2849500 15
quarren42 1:c324a2849500 16 Ticker motorLoop;
aalawfi 7:05ea1c004b49 17 Ticker fault_detector;
aalawfi 9:5320c2dfb913 18 Ticker controlUpdate;
quarren42 1:c324a2849500 19
aalawfi 9:5320c2dfb913 20 void PID (void) {
aalawfi 9:5320c2dfb913 21 steering_control();
aalawfi 9:5320c2dfb913 22 PI();
aalawfi 9:5320c2dfb913 23 };
quarren42 18:831c1e03d83e 24
quarren42 19:65fecaa2a387 25
aalawfi 3:25c6bf0abc00 26 int main() {
quarren42 19:65fecaa2a387 27
aalawfi 2:c857935f928e 28 state_update();
aalawfi 2:c857935f928e 29 //Delcare Onboard LED with blue color
aalawfi 2:c857935f928e 30 DigitalOut led_b(LED_BLUE);
aalawfi 2:c857935f928e 31 //Set the period of the servo motor control signal
aalawfi 2:c857935f928e 32 servo_motor_pwm.period(1/SERVO_MOTOR_FREQ);
quarren42 6:d2bd68ba99c9 33 motorLeft.period(1/freq);
quarren42 6:d2bd68ba99c9 34 motorRight.period(1/freq);
aalawfi 14:eb9c58c0f8cd 35 //controlUpdate.attach(&PID, TI);
aalawfi 2:c857935f928e 36 //Center the servo motor
aalawfi 14:eb9c58c0f8cd 37 servo_motor_pwm.write(CENTER_DUTY_CYCLE);
quarren42 20:7dcdadbd7bc0 38 // controlUpdate.attach(&PID, TI);
aalawfi 2:c857935f928e 39 //Start the control systm using a Ticker object
aalawfi 22:08d30ea47111 40 steering_control_ticker.attach(&steering_control, TI_STEERING);
aalawfi 14:eb9c58c0f8cd 41 motorLoop.attach(&PI,TI);
quarren42 18:831c1e03d83e 42 fault_detector.attach(&fault_check, 0.003);
quarren42 6:d2bd68ba99c9 43 //bt.attach(&btReceive);
aalawfi 2:c857935f928e 44
aalawfi 2:c857935f928e 45 // call landmark_counter wjen a landmark is detected
aalawfi 2:c857935f928e 46 left_landmark_sensor.rise(&landmark_counter);
aalawfi 2:c857935f928e 47 right_landmark_sensor.rise(&landmark_counter);
aalawfi 2:c857935f928e 48 // update status when the button is pressed
aalawfi 2:c857935f928e 49 stop_button.rise(&state_update);
aalawfi 2:c857935f928e 50 run_button.rise(&state_update);
aalawfi 2:c857935f928e 51 wait_button.rise(&state_update);
aalawfi 2:c857935f928e 52
quarren42 0:0a6756c7e3ed 53 bt.baud(BLUETOOTHBAUDRATE);
quarren42 0:0a6756c7e3ed 54 //Sets the communication rate of the micro-controller to the Bluetooth module.
quarren42 0:0a6756c7e3ed 55 pc.printf("Hello World!\n");
quarren42 1:c324a2849500 56 bt.printf("Hello World!\n");
quarren42 1:c324a2849500 57
quarren42 1:c324a2849500 58
quarren42 0:0a6756c7e3ed 59 while(1) {
aalawfi 2:c857935f928e 60
aalawfi 2:c857935f928e 61 pc.printf("\n\n");
aalawfi 24:7bf492bf50f4 62 wait(0.5);
quarren42 17:d2c98ebda90b 63 /*
aalawfi 9:5320c2dfb913 64 bt.printf("\n\n");
aalawfi 9:5320c2dfb913 65 bt.printf("\n\rMotor enabled ? : %d ", motor_enabled );
aalawfi 9:5320c2dfb913 66 bt.printf("\n\rSteering enabled ? : %d ", steering_enabled );
aalawfi 9:5320c2dfb913 67 bt.printf("\n\rCurrent duty cycle : %f", current_duty_cycle);
aalawfi 13:0091da3021df 68 bt.printf("\n\Brake enabled ? : %d ", are_brakes_activated );
aalawfi 9:5320c2dfb913 69 bt.printf("\n\rCurrent duty cycle? : %f ", current_duty_cycle );
quarren42 17:d2c98ebda90b 70 */
quarren42 6:d2bd68ba99c9 71 //wait(0.5); //commented out the wait bc it slows down the fault_check, and it breaks the analogIn readings for the driving input
quarren42 6:d2bd68ba99c9 72 //the driving input ticker is faster than the analog.read() function, so all analog.read() methods must be in the main loop
quarren42 18:831c1e03d83e 73 switch(current_state){
aalawfi 9:5320c2dfb913 74 case STOP : bt.printf("\r\nCurrent state is stop"); break;
aalawfi 9:5320c2dfb913 75 case RUN: bt.printf("\r\nCurrent state is RUN"); break;
aalawfi 9:5320c2dfb913 76 case WAIT : bt.printf("\r\nCurrent state is WAIT"); break;
aalawfi 2:c857935f928e 77 };
aalawfi 2:c857935f928e 78 switch(fault_type) {
aalawfi 9:5320c2dfb913 79 case CLEAR : bt.printf("\r\nFault: CLEAR"); break;
aalawfi 9:5320c2dfb913 80 case OFF_TRACK: bt.printf("\r\nFault: OFF TRACK"); break;
quarren42 19:65fecaa2a387 81 case COLLISION : bt.printf("\r\nFault: COLLISION"); break;
aalawfi 9:5320c2dfb913 82 case LOW_VOLTAGE : bt.printf("\r\nFault: LOW VOLTAGE"); break;
aalawfi 2:c857935f928e 83 }
aalawfi 22:08d30ea47111 84 bt.printf("\n\n----");
aalawfi 24:7bf492bf50f4 85 bt.printf("\n\rLeft sensor %1.2f", left_distance_sensor.read());
aalawfi 24:7bf492bf50f4 86 bt.printf("\n\rRight sensor: %1,2", right_distance_sensor.read());
aalawfi 24:7bf492bf50f4 87 bt.printf("\n\rdifference: %1,2", abs(left_distance_sensor.read() - right_distance_sensor.read() ));
quarren42 19:65fecaa2a387 88
quarren42 18:831c1e03d83e 89 //pot1Voltage = pot1 * 3.3f;
quarren42 0:0a6756c7e3ed 90 //dutyCycleLeft = (pot1 * fullBatScalar);
quarren42 0:0a6756c7e3ed 91 //dutyCycleRight = (pot1 * fullBatScalar);
quarren42 0:0a6756c7e3ed 92
quarren42 1:c324a2849500 93 //speedLeft = (speedSensorLeft * speedSensorScalar);
quarren42 1:c324a2849500 94 //speedRight = (speedSensorRight * speedSensorScalar);
quarren42 20:7dcdadbd7bc0 95 /*
quarren42 1:c324a2849500 96 bt.printf("Duty Cycle = %1.2f ", dutyCycleLeft);
quarren42 1:c324a2849500 97 bt.printf("Speed (V) L,R = %1.2f", speedLeftVolt);
quarren42 1:c324a2849500 98 bt.printf(", %1.2f ", speedRightVolt);
quarren42 1:c324a2849500 99
quarren42 1:c324a2849500 100 bt.printf("Error L,R: %5.2f", errorLeft);
quarren42 1:c324a2849500 101 bt.printf(", %5.2f ", errorRight);
quarren42 1:c324a2849500 102
quarren42 1:c324a2849500 103 bt.printf("ErrorArea: %1.2f ", errorAreaLeft);
quarren42 18:831c1e03d83e 104 pc.printf("Output: %1.2f ", controllerOutputLeft);
quarren42 1:c324a2849500 105
quarren42 18:831c1e03d83e 106 pc.printf("Batt Voltage: %1.2f \n",avgCellVoltage);
quarren42 20:7dcdadbd7bc0 107 */
quarren42 1:c324a2849500 108 //setpointLeft = pot1;
quarren42 1:c324a2849500 109 //setpointRight = pot1;
quarren42 0:0a6756c7e3ed 110
aalawfi 9:5320c2dfb913 111 /*
quarren42 1:c324a2849500 112 if (t.read() > 5){
quarren42 1:c324a2849500 113 setpointLeft = 0.0;
quarren42 1:c324a2849500 114 setpointRight = 0.0;
quarren42 1:c324a2849500 115 }
quarren42 1:c324a2849500 116
quarren42 1:c324a2849500 117 if (t.read_ms() > 5100){
quarren42 1:c324a2849500 118 setpointLeft = 0.2;
quarren42 1:c324a2849500 119 setpointRight = 0.2;
quarren42 1:c324a2849500 120 }
aalawfi 9:5320c2dfb913 121 */
quarren42 0:0a6756c7e3ed 122
quarren42 1:c324a2849500 123 if (newData){
quarren42 1:c324a2849500 124 newData = false;
quarren42 1:c324a2849500 125 // bt.printf("Got %c %3i\n",newInputChar, newInputInt);
quarren42 1:c324a2849500 126
quarren42 1:c324a2849500 127 if (newInputChar == 'L')
quarren42 1:c324a2849500 128 setpointLeft = (newInputInt / 100.0f);
quarren42 1:c324a2849500 129 if (newInputChar == 'R')
quarren42 1:c324a2849500 130 setpointRight = (newInputInt / 100.0f);
quarren42 1:c324a2849500 131
quarren42 0:0a6756c7e3ed 132
quarren42 1:c324a2849500 133 //wait(0.1);
quarren42 1:c324a2849500 134 }
quarren42 1:c324a2849500 135 }
quarren42 1:c324a2849500 136 }
quarren42 1:c324a2849500 137