Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

main.cpp@21:9e6ddb590103, 2021-10-29 (annotated)

Committer:
quarren42
Date:
Fri Oct 29 18:42:13 2021 +0000
Revision:
21:9e6ddb590103
Parent:
20:7dcdadbd7bc0
Child:
22:08d30ea47111
latest commit

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;
quarren42 1:c324a2849500 18 Timer t;
aalawfi 9:5320c2dfb913 19 Ticker controlUpdate;
quarren42 1:c324a2849500 20
aalawfi 9:5320c2dfb913 21 void PID (void) {
aalawfi 9:5320c2dfb913 22 steering_control();
aalawfi 9:5320c2dfb913 23 PI();
aalawfi 9:5320c2dfb913 24 };
quarren42 18:831c1e03d83e 25
quarren42 19:65fecaa2a387 26
aalawfi 3:25c6bf0abc00 27 int main() {
quarren42 19:65fecaa2a387 28
aalawfi 2:c857935f928e 29 state_update();
aalawfi 2:c857935f928e 30 //Delcare Onboard LED with blue color
aalawfi 2:c857935f928e 31 DigitalOut led_b(LED_BLUE);
aalawfi 2:c857935f928e 32 //Set the period of the servo motor control signal
aalawfi 2:c857935f928e 33 servo_motor_pwm.period(1/SERVO_MOTOR_FREQ);
quarren42 6:d2bd68ba99c9 34 motorLeft.period(1/freq);
quarren42 6:d2bd68ba99c9 35 motorRight.period(1/freq);
aalawfi 14:eb9c58c0f8cd 36 //controlUpdate.attach(&PID, TI);
aalawfi 2:c857935f928e 37 //Center the servo motor
aalawfi 14:eb9c58c0f8cd 38 servo_motor_pwm.write(CENTER_DUTY_CYCLE);
quarren42 20:7dcdadbd7bc0 39 // controlUpdate.attach(&PID, TI);
aalawfi 2:c857935f928e 40 //Start the control systm using a Ticker object
aalawfi 14:eb9c58c0f8cd 41 steering_control_ticker.attach(&steering_control, 0.02);
aalawfi 14:eb9c58c0f8cd 42 motorLoop.attach(&PI,TI);
quarren42 18:831c1e03d83e 43 fault_detector.attach(&fault_check, 0.003);
quarren42 6:d2bd68ba99c9 44 //bt.attach(&btReceive);
aalawfi 2:c857935f928e 45
aalawfi 2:c857935f928e 46 // call landmark_counter wjen a landmark is detected
aalawfi 2:c857935f928e 47 left_landmark_sensor.rise(&landmark_counter);
aalawfi 2:c857935f928e 48 right_landmark_sensor.rise(&landmark_counter);
aalawfi 2:c857935f928e 49 // update status when the button is pressed
aalawfi 2:c857935f928e 50 stop_button.rise(&state_update);
aalawfi 2:c857935f928e 51 run_button.rise(&state_update);
aalawfi 2:c857935f928e 52 wait_button.rise(&state_update);
aalawfi 2:c857935f928e 53
quarren42 0:0a6756c7e3ed 54 bt.baud(BLUETOOTHBAUDRATE);
quarren42 0:0a6756c7e3ed 55 //Sets the communication rate of the micro-controller to the Bluetooth module.
quarren42 0:0a6756c7e3ed 56 pc.printf("Hello World!\n");
quarren42 1:c324a2849500 57 bt.printf("Hello World!\n");
quarren42 1:c324a2849500 58
quarren42 17:d2c98ebda90b 59 //t.start();
quarren42 17:d2c98ebda90b 60 //float time = t.read();
quarren42 1:c324a2849500 61
quarren42 0:0a6756c7e3ed 62 //prints the string to the Tera-Term Console using the Bluetooth object ‘bt’.
quarren42 0:0a6756c7e3ed 63 while(1) {
aalawfi 2:c857935f928e 64
aalawfi 2:c857935f928e 65 pc.printf("\n\n");
quarren42 20:7dcdadbd7bc0 66 wait(1);
quarren42 17:d2c98ebda90b 67 /*
aalawfi 9:5320c2dfb913 68 bt.printf("\n\n");
aalawfi 9:5320c2dfb913 69 bt.printf("\n\rMotor enabled ? : %d ", motor_enabled );
aalawfi 9:5320c2dfb913 70 bt.printf("\n\rSteering enabled ? : %d ", steering_enabled );
aalawfi 9:5320c2dfb913 71 bt.printf("\n\rCurrent duty cycle : %f", current_duty_cycle);
aalawfi 13:0091da3021df 72 bt.printf("\n\Brake enabled ? : %d ", are_brakes_activated );
aalawfi 9:5320c2dfb913 73 bt.printf("\n\rCurrent duty cycle? : %f ", current_duty_cycle );
quarren42 17:d2c98ebda90b 74 */
quarren42 6:d2bd68ba99c9 75 //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 76 //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 77 switch(current_state){
aalawfi 9:5320c2dfb913 78 case STOP : bt.printf("\r\nCurrent state is stop"); break;
aalawfi 9:5320c2dfb913 79 case RUN: bt.printf("\r\nCurrent state is RUN"); break;
aalawfi 9:5320c2dfb913 80 case WAIT : bt.printf("\r\nCurrent state is WAIT"); break;
aalawfi 2:c857935f928e 81 };
aalawfi 2:c857935f928e 82 switch(fault_type) {
aalawfi 9:5320c2dfb913 83 case CLEAR : bt.printf("\r\nFault: CLEAR"); break;
aalawfi 9:5320c2dfb913 84 case OFF_TRACK: bt.printf("\r\nFault: OFF TRACK"); break;
quarren42 19:65fecaa2a387 85 case COLLISION : bt.printf("\r\nFault: COLLISION"); break;
aalawfi 9:5320c2dfb913 86 case LOW_VOLTAGE : bt.printf("\r\nFault: LOW VOLTAGE"); break;
aalawfi 2:c857935f928e 87 }
quarren42 21:9e6ddb590103 88 /* bt.printf("\n\n----");
quarren42 20:7dcdadbd7bc0 89 bt.printf("\n\rLandmark counter : %d", counter);
quarren42 20:7dcdadbd7bc0 90 bt.printf("\n\rLandmark restarted : %d", restarted);
quarren42 20:7dcdadbd7bc0 91 bt.printf("\n\rlandmark triggered : %d", landmark_triggered);
quarren42 20:7dcdadbd7bc0 92 bt.printf("\n\rleft distance sensor : %1.6f", left_distance_sensor.read());
quarren42 20:7dcdadbd7bc0 93 bt.printf("\n\rRight distance sensor : %1.6f", right_distance_sensor.read()*1.4);
quarren42 20:7dcdadbd7bc0 94 bt.printf("\n\rCurrent duty cycle : %f", current_duty_cycle);
quarren42 19:65fecaa2a387 95
quarren42 18:831c1e03d83e 96 //pot1Voltage = pot1 * 3.3f;
quarren42 0:0a6756c7e3ed 97 //dutyCycleLeft = (pot1 * fullBatScalar);
quarren42 0:0a6756c7e3ed 98 //dutyCycleRight = (pot1 * fullBatScalar);
quarren42 0:0a6756c7e3ed 99
quarren42 1:c324a2849500 100 //speedLeft = (speedSensorLeft * speedSensorScalar);
quarren42 1:c324a2849500 101 //speedRight = (speedSensorRight * speedSensorScalar);
quarren42 20:7dcdadbd7bc0 102 /*
quarren42 1:c324a2849500 103 bt.printf("Duty Cycle = %1.2f ", dutyCycleLeft);
quarren42 1:c324a2849500 104 bt.printf("Speed (V) L,R = %1.2f", speedLeftVolt);
quarren42 1:c324a2849500 105 bt.printf(", %1.2f ", speedRightVolt);
quarren42 1:c324a2849500 106
quarren42 1:c324a2849500 107 bt.printf("Error L,R: %5.2f", errorLeft);
quarren42 1:c324a2849500 108 bt.printf(", %5.2f ", errorRight);
quarren42 1:c324a2849500 109
quarren42 1:c324a2849500 110 bt.printf("ErrorArea: %1.2f ", errorAreaLeft);
quarren42 18:831c1e03d83e 111 pc.printf("Output: %1.2f ", controllerOutputLeft);
quarren42 1:c324a2849500 112
quarren42 18:831c1e03d83e 113 pc.printf("Batt Voltage: %1.2f \n",avgCellVoltage);
quarren42 20:7dcdadbd7bc0 114 */
quarren42 1:c324a2849500 115 //setpointLeft = pot1;
quarren42 1:c324a2849500 116 //setpointRight = pot1;
quarren42 0:0a6756c7e3ed 117
aalawfi 9:5320c2dfb913 118 /*
quarren42 1:c324a2849500 119 if (t.read() > 5){
quarren42 1:c324a2849500 120 setpointLeft = 0.0;
quarren42 1:c324a2849500 121 setpointRight = 0.0;
quarren42 1:c324a2849500 122 }
quarren42 1:c324a2849500 123
quarren42 1:c324a2849500 124 if (t.read_ms() > 5100){
quarren42 1:c324a2849500 125 setpointLeft = 0.2;
quarren42 1:c324a2849500 126 setpointRight = 0.2;
quarren42 1:c324a2849500 127 }
aalawfi 9:5320c2dfb913 128 */
quarren42 0:0a6756c7e3ed 129
quarren42 1:c324a2849500 130 if (newData){
quarren42 1:c324a2849500 131 newData = false;
quarren42 1:c324a2849500 132 // bt.printf("Got %c %3i\n",newInputChar, newInputInt);
quarren42 1:c324a2849500 133
quarren42 1:c324a2849500 134 if (newInputChar == 'L')
quarren42 1:c324a2849500 135 setpointLeft = (newInputInt / 100.0f);
quarren42 1:c324a2849500 136 if (newInputChar == 'R')
quarren42 1:c324a2849500 137 setpointRight = (newInputInt / 100.0f);
quarren42 1:c324a2849500 138
quarren42 0:0a6756c7e3ed 139
quarren42 1:c324a2849500 140 //wait(0.1);
quarren42 1:c324a2849500 141 }
quarren42 1:c324a2849500 142 }
quarren42 1:c324a2849500 143 }
quarren42 1:c324a2849500 144