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

state_control.h@9:5f032ca6c9b5, 2021-10-25 (annotated)

Committer:
aalawfi
Date:
Mon Oct 25 17:39:23 2021 +0000
Revision:
9:5f032ca6c9b5
Parent:
7:05ea1c004b49 
- fixed some bugs

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