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@2:c857935f928e, 2021-10-25 (annotated)

Committer:
aalawfi
Date:
Mon Oct 25 01:28:53 2021 +0000
Revision:
2:c857935f928e
Child:
4:8b1d52dab862
- Added steering files ; - We must re-assign IO pins

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 2:c857935f928e 5 InterruptIn stop_button(PTD0);
aalawfi 2:c857935f928e 6 InterruptIn wait_button(PTD5);
aalawfi 2:c857935f928e 7 InterruptIn run_button(PTA13);
aalawfi 2:c857935f928e 8 DigitalOut red_led(PTA16);
aalawfi 2:c857935f928e 9 DigitalOut green_led(PTA17);
aalawfi 2:c857935f928e 10 DigitalOut yellow_led(PTE31);
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 2:c857935f928e 32 // TODO: Activate brakes. Example:
aalawfi 2:c857935f928e 33 // left_brakes_enabled = true;
aalawfi 2:c857935f928e 34 // right_brakes_enabled = true;
aalawfi 2:c857935f928e 35 // motor_enabled = false;
aalawfi 2:c857935f928e 36 turn_led(RED);
aalawfi 2:c857935f928e 37
aalawfi 2:c857935f928e 38 };
aalawfi 2:c857935f928e 39 void _run(void){
aalawfi 2:c857935f928e 40 // TODO: realease brakes, start the motors
aalawfi 2:c857935f928e 41 // motor_enabled = true;
aalawfi 2:c857935f928e 42 turn_led(GREEN);
aalawfi 2:c857935f928e 43 };
aalawfi 2:c857935f928e 44 void _wait(void){
aalawfi 2:c857935f928e 45 // release brakes, turn on steering system, do not start the motor
aalawfi 2:c857935f928e 46 // left_brakes_enabled = false;
aalawfi 2:c857935f928e 47 // right_brakes_enabled = false;
aalawfi 2:c857935f928e 48 // motor_enabled = false;
aalawfi 2:c857935f928e 49 steering_enabled = true;
aalawfi 2:c857935f928e 50 turn_led(YELLOW);
aalawfi 2:c857935f928e 51 };
aalawfi 2:c857935f928e 52
aalawfi 2:c857935f928e 53 states current_state = WAIT; // By default the car waits
aalawfi 2:c857935f928e 54 states prev_state = WAIT;
aalawfi 2:c857935f928e 55 volatile bool _fault = false;
aalawfi 2:c857935f928e 56 // This function gets called when a button is pushed
aalawfi 2:c857935f928e 57 void state_update (void){
aalawfi 2:c857935f928e 58 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 59 switch(current_state) {
aalawfi 2:c857935f928e 60 case STOP : _stop(); break;
aalawfi 2:c857935f928e 61 case WAIT : _wait(); break;
aalawfi 2:c857935f928e 62 case RUN : _run(); break;
aalawfi 2:c857935f928e 63 }
aalawfi 2:c857935f928e 64 prev_state = current_state;
aalawfi 2:c857935f928e 65 }
aalawfi 2:c857935f928e 66 enum fault_list {CLEAR,OFF_TRACK, BUMPER, LOW_VOLTAGE};
aalawfi 2:c857935f928e 67 fault_list fault_type=CLEAR;
aalawfi 2:c857935f928e 68 void fault_check(void){
aalawfi 2:c857935f928e 69
aalawfi 2:c857935f928e 70 if (left_distance_sensor.read()*3.3 < 0.700 && right_distance_sensor.read()*3.3 < 0.700)
aalawfi 2:c857935f928e 71 {
aalawfi 2:c857935f928e 72 _fault = true;
aalawfi 2:c857935f928e 73 fault_type = OFF_TRACK;
aalawfi 2:c857935f928e 74 }
aalawfi 2:c857935f928e 75 else {
aalawfi 2:c857935f928e 76
aalawfi 2:c857935f928e 77 _fault = false;
aalawfi 2:c857935f928e 78 fault_type = CLEAR;
aalawfi 2:c857935f928e 79 };
aalawfi 2:c857935f928e 80
aalawfi 2:c857935f928e 81 /*
aalawfi 2:c857935f928e 82 else if (hit something){
aalawfi 2:c857935f928e 83
aalawfi 2:c857935f928e 84 _fault = true;
aalawfi 2:c857935f928e 85 fault_type = BUMPER;
aalawfi 2:c857935f928e 86 }
aalawfi 2:c857935f928e 87
aalawfi 2:c857935f928e 88 else if(low battery)
aalawfi 2:c857935f928e 89 _fault = true;
aalawfi 2:c857935f928e 90 fault_type = LOW_VOLTAGE;
aalawfi 2:c857935f928e 91 else {
aalawfi 2:c857935f928e 92 _faule =false;
aalawfi 2:c857935f928e 93 fault_type = CLEAR;
aalawfi 2:c857935f928e 94 };
aalawfi 2:c857935f928e 95 */
aalawfi 2:c857935f928e 96 //_fault=true;
aalawfi 2:c857935f928e 97
aalawfi 2:c857935f928e 98 state_update();
aalawfi 2:c857935f928e 99 };
aalawfi 2:c857935f928e 100