Elct Car Team / Mbed 2 deprecated CarLab_v2

- This code combines steering and driving in one ticker - Fault check is in a ticker instead of while loop

Dependencies:   mbed MMA8451Q

main.cpp@9:5f032ca6c9b5, 2021-10-25 (annotated)

Committer:
aalawfi
Date:
Mon Oct 25 17:39:23 2021 +0000
Revision:
9:5f032ca6c9b5
Parent:
8:e4a147850ba4 
- fixed some bugs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
quarren42 0:0a6756c7e3ed 1 #include "mbed.h"
quarren42 1:c324a2849500 2 #include "driving.h"
aalawfi 2:c857935f928e 3 #include "steering_header.h"
aalawfi 2:c857935f928e 4 #include "steering_methods.h"
aalawfi 2:c857935f928e 5 #include "state_control.h"
quarren42 1:c324a2849500 6 #include "MMA8451Q.h"
quarren42 0:0a6756c7e3ed 7 #include <iostream>
aalawfi 3:25c6bf0abc00 8 #include "bluetooth.h"
quarren42 1:c324a2849500 9 #define MMA8451_I2C_ADDRESS (0x1d<<1)
quarren42 1:c324a2849500 10
quarren42 0:0a6756c7e3ed 11 Serial pc(USBTX, USBRX); // tx, rx
aalawfi 3:25c6bf0abc00 12
quarren42 0:0a6756c7e3ed 13
quarren42 1:c324a2849500 14 PinName const SDA = PTE25;
quarren42 1:c324a2849500 15 PinName const SCL = PTE24;
quarren42 1:c324a2849500 16
quarren42 1:c324a2849500 17 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
quarren42 1:c324a2849500 18 Ticker motorLoop;
aalawfi 7:05ea1c004b49 19 Ticker fault_detector;
aalawfi 8:e4a147850ba4 20 Ticker controlUpdate;
quarren42 1:c324a2849500 21 Timer t;
aalawfi 8:e4a147850ba4 22 void PID (void) {
aalawfi 8:e4a147850ba4 23 PI();
aalawfi 9:5f032ca6c9b5 24 steering_control();
aalawfi 8:e4a147850ba4 25 };
aalawfi 3:25c6bf0abc00 26 int main() {
aalawfi 2:c857935f928e 27 state_update();
aalawfi 9:5f032ca6c9b5 28 controlUpdate.attach(&PID, TI);
aalawfi 8:e4a147850ba4 29 fault_detector.attach(&fault_check, 0.02);
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 2:c857935f928e 36 //Center the servo motor
aalawfi 2:c857935f928e 37 servo_motor_pwm.write(CENTER_DUTY_CYCLE);
aalawfi 2:c857935f928e 38
aalawfi 2:c857935f928e 39 //Start the control systm using a Ticker object
aalawfi 8:e4a147850ba4 40 // steering_control_ticker.attach(&steering_control, TI);
aalawfi 8:e4a147850ba4 41 // motorLoop.attach(&PI,TI);
aalawfi 8:e4a147850ba4 42
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 t.start();
quarren42 1:c324a2849500 59 float time = t.read();
quarren42 1:c324a2849500 60
quarren42 0:0a6756c7e3ed 61 //prints the string to the Tera-Term Console using the Bluetooth object ‘bt’.
quarren42 0:0a6756c7e3ed 62 while(1) {
aalawfi 2:c857935f928e 63
aalawfi 2:c857935f928e 64 pc.printf("\n\n");
aalawfi 2:c857935f928e 65
aalawfi 2:c857935f928e 66 pc.printf("\r\nSteering enabled? : %d",steering_enabled);
aalawfi 2:c857935f928e 67 pc.printf("\r\nCurrent duty cycle : %f ", current_duty_cycle);
aalawfi 2:c857935f928e 68 pc.printf("\r\nLeft duty cycle : %f ", left_distance_sensor.read());
aalawfi 2:c857935f928e 69 pc.printf("\r\nRight voltage : %f" , right_distance_sensor.read());
aalawfi 2:c857935f928e 70 pc.printf("\r\nCurrent duty cycle : %f ", current_duty_cycle);
aalawfi 2:c857935f928e 71 fault_check();
quarren42 6:d2bd68ba99c9 72 //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 73 //the driving input ticker is faster than the analog.read() function, so all analog.read() methods must be in the main loop
aalawfi 2:c857935f928e 74 switch(current_state ){
aalawfi 2:c857935f928e 75 case STOP : pc.printf("\r\nCurrent state is stop"); break;
aalawfi 2:c857935f928e 76 case RUN: pc.printf("\r\nCurrent state is RUN"); break;
aalawfi 2:c857935f928e 77 case WAIT : pc.printf("\r\nCurrent state is WAIT"); break;
aalawfi 2:c857935f928e 78 };
aalawfi 2:c857935f928e 79 switch(fault_type) {
aalawfi 2:c857935f928e 80 case CLEAR : pc.printf("\r\nFault: CLEAR"); break;
aalawfi 2:c857935f928e 81 case OFF_TRACK: pc.printf("\r\nFault: OFF TRACK"); break;
quarren42 6:d2bd68ba99c9 82 case BUMPER : pc.printf("\r\nFault: OBSTACLE"); break;
aalawfi 2:c857935f928e 83 case LOW_VOLTAGE : pc.printf("Fault: LOW VOLTAGE"); break;
aalawfi 2:c857935f928e 84 }
aalawfi 2:c857935f928e 85
quarren42 1:c324a2849500 86 x = abs(acc.getAccX());
quarren42 0:0a6756c7e3ed 87 pot1Voltage = pot1 * 3.3f;
quarren42 0:0a6756c7e3ed 88 //dutyCycleLeft = (pot1 * fullBatScalar);
quarren42 0:0a6756c7e3ed 89 //dutyCycleRight = (pot1 * fullBatScalar);
quarren42 0:0a6756c7e3ed 90
quarren42 1:c324a2849500 91 //speedLeft = (speedSensorLeft * speedSensorScalar);
quarren42 1:c324a2849500 92 //speedRight = (speedSensorRight * speedSensorScalar);
quarren42 1:c324a2849500 93
quarren42 1:c324a2849500 94 speedLeftVolt = (speedSensorLeft * 3.3f);
quarren42 1:c324a2849500 95 speedRightVolt = (speedSensorRight * 3.3f);
quarren42 1:c324a2849500 96
quarren42 1:c324a2849500 97 bt.printf("Duty Cycle = %1.2f ", dutyCycleLeft);
quarren42 1:c324a2849500 98 bt.printf("Speed (V) L,R = %1.2f", speedLeftVolt);
quarren42 1:c324a2849500 99 bt.printf(", %1.2f ", speedRightVolt);
quarren42 1:c324a2849500 100
quarren42 1:c324a2849500 101 bt.printf("Error L,R: %5.2f", errorLeft);
quarren42 1:c324a2849500 102 bt.printf(", %5.2f ", errorRight);
quarren42 1:c324a2849500 103
quarren42 1:c324a2849500 104 bt.printf("ErrorArea: %1.2f ", errorAreaLeft);
quarren42 1:c324a2849500 105 bt.printf("Output: %1.2f ", controllerOutputLeft);
quarren42 1:c324a2849500 106
quarren42 1:c324a2849500 107 bt.printf("Batt Voltage: %1.2f \n",avgCellVoltage);
quarren42 1:c324a2849500 108
quarren42 1:c324a2849500 109 //setpointLeft = pot1;
quarren42 1:c324a2849500 110 //setpointRight = pot1;
quarren42 0:0a6756c7e3ed 111
quarren42 0:0a6756c7e3ed 112
quarren42 1:c324a2849500 113 if (t.read() > 5){
quarren42 1:c324a2849500 114 setpointLeft = 0.0;
quarren42 1:c324a2849500 115 setpointRight = 0.0;
quarren42 1:c324a2849500 116 }
quarren42 1:c324a2849500 117
quarren42 1:c324a2849500 118 if (t.read_ms() > 5100){
quarren42 1:c324a2849500 119 setpointLeft = 0.2;
quarren42 1:c324a2849500 120 setpointRight = 0.2;
quarren42 1:c324a2849500 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