Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

state_control.h@17:d2c98ebda90b, 2021-10-26 (annotated)

Committer:
quarren42
Date:
Tue Oct 26 19:10:13 2021 +0000
Revision:
17:d2c98ebda90b
Parent:
16:8cd4dd323941
Child:
19:65fecaa2a387
fixed PI controller, main loop still crashes though;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aalawfi 2:c857935f928e 1 /*
aalawfi 2:c857935f928e 2 This file controls the three states of the car
aalawfi 2:c857935f928e 3
aalawfi 2:c857935f928e 4 */
aalawfi 4:8b1d52dab862 5 InterruptIn stop_button(PTD0);
aalawfi 4:8b1d52dab862 6 InterruptIn run_button(PTD5);
aalawfi 4:8b1d52dab862 7 InterruptIn wait_button(PTA13);
aalawfi 4:8b1d52dab862 8 DigitalOut red_led(PTC16);
aalawfi 4:8b1d52dab862 9 DigitalOut green_led(PTC13);
aalawfi 4:8b1d52dab862 10 DigitalOut yellow_led(PTC12);
aalawfi 2:c857935f928e 11
aalawfi 2:c857935f928e 12 // Available states
aalawfi 2:c857935f928e 13 enum states {STOP, WAIT, RUN};
aalawfi 2:c857935f928e 14
aalawfi 2:c857935f928e 15 // Available LED colors
aalawfi 2:c857935f928e 16 enum led_colors {RED, YELLOW, GREEN};
aalawfi 2:c857935f928e 17
aalawfi 2:c857935f928e 18 void turn_leds_off(void){ yellow_led =0; green_led =0; red_led=0;};
aalawfi 2:c857935f928e 19
aalawfi 2:c857935f928e 20 // turns an led
aalawfi 2:c857935f928e 21 void turn_led(led_colors Color){
aalawfi 2:c857935f928e 22 turn_leds_off();
aalawfi 2:c857935f928e 23 switch(Color) {
aalawfi 2:c857935f928e 24 case RED : {red_led = 1; green_led=0; yellow_led=0;}; break;
aalawfi 2:c857935f928e 25 case YELLOW : {yellow_led = 1; green_led =0; red_led=0;}; break;
aalawfi 2:c857935f928e 26 case GREEN : {green_led = 1; yellow_led =0; red_led=0;}; break;
aalawfi 2:c857935f928e 27 }
aalawfi 2:c857935f928e 28 };
aalawfi 2:c857935f928e 29
aalawfi 2:c857935f928e 30 void _stop(void){
aalawfi 2:c857935f928e 31 steering_enabled =false;
aalawfi 16:8cd4dd323941 32 enable_brakes();
aalawfi 5:636c3fe18aa8 33 motor_enabled = false;
aalawfi 2:c857935f928e 34 turn_led(RED);
aalawfi 2:c857935f928e 35
aalawfi 2:c857935f928e 36 };
aalawfi 2:c857935f928e 37 void _run(void){
aalawfi 12:f6139597354e 38 // TODO: realease brakes, start the motors
aalawfi 16:8cd4dd323941 39 //
quarren42 17:d2c98ebda90b 40 disable_brakes();
aalawfi 5:636c3fe18aa8 41 motor_enabled = true;
aalawfi 2:c857935f928e 42 turn_led(GREEN);
quarren42 17:d2c98ebda90b 43 setpointLeft = 0.2;
quarren42 17:d2c98ebda90b 44 setpointRight = 0.2;
aalawfi 2:c857935f928e 45 };
aalawfi 2:c857935f928e 46 void _wait(void){
aalawfi 2:c857935f928e 47 // release brakes, turn on steering system, do not start the motor
aalawfi 12:f6139597354e 48
aalawfi 12:f6139597354e 49 // disable_brakes();
aalawfi 16:8cd4dd323941 50 disable_brakes();
aalawfi 5:636c3fe18aa8 51 motor_enabled = false;
aalawfi 9:5320c2dfb913 52 setpointLeft = 0.0;
aalawfi 9:5320c2dfb913 53 setpointRight = 0.0;
aalawfi 2:c857935f928e 54 steering_enabled = true;
aalawfi 2:c857935f928e 55 turn_led(YELLOW);
aalawfi 2:c857935f928e 56 };
aalawfi 2:c857935f928e 57
aalawfi 2:c857935f928e 58 states current_state = WAIT; // By default the car waits
aalawfi 2:c857935f928e 59 states prev_state = WAIT;
aalawfi 2:c857935f928e 60 volatile bool _fault = false;
aalawfi 2:c857935f928e 61 // This function gets called when a button is pushed
aalawfi 2:c857935f928e 62 void state_update (void){
aalawfi 2:c857935f928e 63 current_state = (stop_button.read()==1 || _fault == true) ? STOP: ((run_button.read() ==1 && prev_state == WAIT) ? RUN : (wait_button.read() ==1 )? WAIT: prev_state);
aalawfi 2:c857935f928e 64 switch(current_state) {
aalawfi 2:c857935f928e 65 case STOP : _stop(); break;
aalawfi 2:c857935f928e 66 case WAIT : _wait(); break;
aalawfi 2:c857935f928e 67 case RUN : _run(); break;
aalawfi 2:c857935f928e 68 }
aalawfi 2:c857935f928e 69 prev_state = current_state;
aalawfi 2:c857935f928e 70 }
aalawfi 2:c857935f928e 71 enum fault_list {CLEAR,OFF_TRACK, BUMPER, LOW_VOLTAGE};
aalawfi 2:c857935f928e 72 fault_list fault_type=CLEAR;
aalawfi 2:c857935f928e 73 void fault_check(void){
aalawfi 7:05ea1c004b49 74 batteryVoltage = battInput * 3.3 * battDividerScalar;
aalawfi 7:05ea1c004b49 75 avgCellVoltage = batteryVoltage / 3.0;
aalawfi 9:5320c2dfb913 76 if (left_distance_sensor.read() < (0.700/3.3) && right_distance_sensor.read()*3.3 < (0.700/3.3))
aalawfi 2:c857935f928e 77 {
aalawfi 2:c857935f928e 78 _fault = true;
aalawfi 2:c857935f928e 79 fault_type = OFF_TRACK;
aalawfi 2:c857935f928e 80 }
aalawfi 9:5320c2dfb913 81 /* else if (avgCellVoltage <= 3.4){
quarren42 6:d2bd68ba99c9 82 _fault = true;
quarren42 6:d2bd68ba99c9 83 fault_type = LOW_VOLTAGE;
aalawfi 9:5320c2dfb913 84 }*/
aalawfi 7:05ea1c004b49 85 else { //we should only set _fault to false when the user manually clears a fault w a button
aalawfi 7:05ea1c004b49 86 _fault = false;
aalawfi 7:05ea1c004b49 87 fault_type = CLEAR;
aalawfi 7:05ea1c004b49 88 };
aalawfi 7:05ea1c004b49 89
quarren42 6:d2bd68ba99c9 90
aalawfi 2:c857935f928e 91 /*
aalawfi 2:c857935f928e 92 else if (hit something){
aalawfi 2:c857935f928e 93
aalawfi 2:c857935f928e 94 _fault = true;
aalawfi 2:c857935f928e 95 fault_type = BUMPER;
aalawfi 2:c857935f928e 96 }
aalawfi 2:c857935f928e 97
aalawfi 2:c857935f928e 98 else if(low battery)
aalawfi 2:c857935f928e 99 _fault = true;
aalawfi 2:c857935f928e 100 fault_type = LOW_VOLTAGE;
aalawfi 2:c857935f928e 101 else {
aalawfi 2:c857935f928e 102 _faule =false;
aalawfi 2:c857935f928e 103 fault_type = CLEAR;
aalawfi 2:c857935f928e 104 };
aalawfi 2:c857935f928e 105 */
aalawfi 2:c857935f928e 106 //_fault=true;
aalawfi 2:c857935f928e 107
aalawfi 2:c857935f928e 108 state_update();
aalawfi 2:c857935f928e 109 };
aalawfi 2:c857935f928e 110