Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

state_control.h@7:05ea1c004b49, 2021-10-25 (annotated)

Committer:
aalawfi
Date:
Mon Oct 25 16:48:20 2021 +0000
Revision:
7:05ea1c004b49
Parent:
6:d2bd68ba99c9
Child:
9:5320c2dfb913
- Combined steering and driving tickers into one ticker that calls both, similar to what is shown in the lecture

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;
quarren42 6:d2bd68ba99c9 32 // TODO: Activate brakes. Example: DONE
quarren42 6:d2bd68ba99c9 33 // left_brakes_enabled = true;
aalawfi 2:c857935f928e 34 // right_brakes_enabled = true;
quarren42 6:d2bd68ba99c9 35 brakeLeftBool = true;
quarren42 6:d2bd68ba99c9 36 brakeRightBool = true;
aalawfi 5:636c3fe18aa8 37 motor_enabled = false;
aalawfi 2:c857935f928e 38 turn_led(RED);
aalawfi 2:c857935f928e 39
aalawfi 2:c857935f928e 40 };
aalawfi 2:c857935f928e 41 void _run(void){
aalawfi 2:c857935f928e 42 // TODO: realease brakes, start the motors
quarren42 6:d2bd68ba99c9 43 brakeLeftBool = false;
quarren42 6:d2bd68ba99c9 44 brakeLeftBool = false;
aalawfi 5:636c3fe18aa8 45 motor_enabled = true;
aalawfi 2:c857935f928e 46 turn_led(GREEN);
aalawfi 2:c857935f928e 47 };
aalawfi 2:c857935f928e 48 void _wait(void){
aalawfi 2:c857935f928e 49 // release brakes, turn on steering system, do not start the motor
aalawfi 2:c857935f928e 50 // left_brakes_enabled = false;
aalawfi 2:c857935f928e 51 // right_brakes_enabled = false;
quarren42 6:d2bd68ba99c9 52 brakeLeftBool = false;
quarren42 6:d2bd68ba99c9 53 brakeLeftBool = false;
aalawfi 5:636c3fe18aa8 54 motor_enabled = false;
aalawfi 2:c857935f928e 55 steering_enabled = true;
aalawfi 2:c857935f928e 56 turn_led(YELLOW);
aalawfi 2:c857935f928e 57 };
aalawfi 2:c857935f928e 58
aalawfi 2:c857935f928e 59 states current_state = WAIT; // By default the car waits
aalawfi 2:c857935f928e 60 states prev_state = WAIT;
aalawfi 2:c857935f928e 61 volatile bool _fault = false;
aalawfi 2:c857935f928e 62 // This function gets called when a button is pushed
aalawfi 2:c857935f928e 63 void state_update (void){
aalawfi 2:c857935f928e 64 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 65 switch(current_state) {
aalawfi 2:c857935f928e 66 case STOP : _stop(); break;
aalawfi 2:c857935f928e 67 case WAIT : _wait(); break;
aalawfi 2:c857935f928e 68 case RUN : _run(); break;
aalawfi 2:c857935f928e 69 }
aalawfi 2:c857935f928e 70 prev_state = current_state;
aalawfi 2:c857935f928e 71 }
aalawfi 2:c857935f928e 72 enum fault_list {CLEAR,OFF_TRACK, BUMPER, LOW_VOLTAGE};
aalawfi 2:c857935f928e 73 fault_list fault_type=CLEAR;
aalawfi 2:c857935f928e 74 void fault_check(void){
aalawfi 7:05ea1c004b49 75 batteryVoltage = battInput * 3.3 * battDividerScalar;
aalawfi 7:05ea1c004b49 76 avgCellVoltage = batteryVoltage / 3.0;
aalawfi 2:c857935f928e 77 if (left_distance_sensor.read()*3.3 < 0.700 && right_distance_sensor.read()*3.3 < 0.700)
aalawfi 2:c857935f928e 78 {
aalawfi 2:c857935f928e 79 _fault = true;
aalawfi 2:c857935f928e 80 fault_type = OFF_TRACK;
aalawfi 2:c857935f928e 81 }
aalawfi 7:05ea1c004b49 82 else if (avgCellVoltage <= 3.4){
quarren42 6:d2bd68ba99c9 83 _fault = true;
quarren42 6:d2bd68ba99c9 84 fault_type = LOW_VOLTAGE;
quarren42 6:d2bd68ba99c9 85 }
aalawfi 7:05ea1c004b49 86 else { //we should only set _fault to false when the user manually clears a fault w a button
aalawfi 7:05ea1c004b49 87 _fault = false;
aalawfi 7:05ea1c004b49 88 fault_type = CLEAR;
aalawfi 7:05ea1c004b49 89 };
aalawfi 7:05ea1c004b49 90
quarren42 6:d2bd68ba99c9 91
aalawfi 2:c857935f928e 92 /*
aalawfi 2:c857935f928e 93 else if (hit something){
aalawfi 2:c857935f928e 94
aalawfi 2:c857935f928e 95 _fault = true;
aalawfi 2:c857935f928e 96 fault_type = BUMPER;
aalawfi 2:c857935f928e 97 }
aalawfi 2:c857935f928e 98
aalawfi 2:c857935f928e 99 else if(low battery)
aalawfi 2:c857935f928e 100 _fault = true;
aalawfi 2:c857935f928e 101 fault_type = LOW_VOLTAGE;
aalawfi 2:c857935f928e 102 else {
aalawfi 2:c857935f928e 103 _faule =false;
aalawfi 2:c857935f928e 104 fault_type = CLEAR;
aalawfi 2:c857935f928e 105 };
aalawfi 2:c857935f928e 106 */
aalawfi 2:c857935f928e 107 //_fault=true;
aalawfi 2:c857935f928e 108
aalawfi 2:c857935f928e 109 state_update();
aalawfi 2:c857935f928e 110 };
aalawfi 2:c857935f928e 111