Diff: main.cpp

Revision:

1:584ac95c4061

Parent:

0:52cc151dc505

Child:

2:027fe033f5f7

diff -r 52cc151dc505 -r 584ac95c4061 main.cpp
--- a/main.cpp	Thu Jun 29 20:37:24 2017 +0000
+++ b/main.cpp	Thu Jun 29 20:59:25 2017 +0000
@@ -1,205 +1,151 @@
-// Includes --------------------------------------------------------------------
-#include "Ioton.h"
-
-// Defines ---------------------------------------------------------------------
-#define MY_SSID     "mySSID"    // Enter router ssid inside the quotes
-#define MY_PASS     "myPASS"    // Enter router password inside the quotes
-#define MY_API_KEY  "myAPIKEY"  // Enter ThingSpeak API KEY of channel
-
-
-// Private variables -----------------------------------------------------------
-PwmOut pwm(PIN13);              // PWM output
-DigitalOut out(PIN14);          // Digital output
-AnalogIn ain(PIN15);            // Analog input
-DigitalIn in(PIN16);            // Digital input
-
-InterruptIn button(SW_USER);    // USER button - interrupt mode
-int userCount = 0;              // USER button counter
-
-char bufferRxBluetooth[20];     // Buffer of Bluetooth commands
-volatile uint8_t bufferCountRxBluetooth = 0;    // Index counter - Blutooth buffer
-volatile bool flagCmdBluetooth = false; // Indicates new Bluetooth command received
-
-char* replyHttp;                // Buffer of reply http get method
-uint8_t countThingSpeak = 0;    // Auxiliar counter - ThingSpeak
-
-Ticker imuTick;                 // IMU Tick Timer
+/**
+******************************************************************************
+* @file    main.cpp
+* @author  Kleber Lima da Silva (kleber@ioton.cc)
+* @version V0.0.1
+* @date    19-Junho-2017
+* @brief   Programa para testes do hardware do Robô TON-BOT.
+******************************************************************************
+* @attention
+*
+* COPYRIGHT(c) 2017 IOTON Technology
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+******************************************************************************
+*/
 
-
-// *****************************************************************************
-// Private functions ***********************************************************
-// *****************************************************************************
-// Runs the AHRS algorithm - Rate: 0.1 s - 10 Hz -------------------------------
-// AHRS provide: roll, pitch and yaw
-void imuCallback(void)
-{
-//    imu.runAHRS(0.1); // ### FIX: BUG TICKER
-}   // end of imuCallback
-
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
 
-// Called everytime a new character goes into the RX buffer --------------------
-void bluetoothRxCallback(void)
-{
-    bufferRxBluetooth[bufferCountRxBluetooth] = bluetooth.getc();
-    bufferCountRxBluetooth++;
+/** @addtogroup Teste TON-BOT
+ * @{
+ */
 
-    if (bluetooth.readable() == 0) flagCmdBluetooth = true;
-}   // end of bluetoothRxCallback
-
-
-// USER button interrupt callback ----------------------------------------------
-void userCallback(void)
-{
-    userCount++;
-}   // end of userCallback
+/* Variáveis privadas --------------------------------------------------------*/
+Ticker imuTick;   /* Timer para o algoritmo da IMU */
+Timer t1;         /* Timer auxiliar */
 
 
-// Parse the Bluetooth commands ------------------------------------------------
-// COMMAND          |   DESCRIPTION
-// -----------------------------------------------------------------------------
-// #PWM:float       | Update pwm output. Ex: #PWM:0.5
-// #OUT:int         | Update digital output. Ex: #OUT:1
-// #RGB:rgbcode     | Update LED RGB color. Ex: #RGB:00AFEF
-// #AIN?            | Return analog input
-// #DIN?            | Return digital input
-// #BAT?            | Return battery voltage
-// #IMU?            | Return imu data (roll, pitch and yaw)
-// #ALL?            | Return all values
-void parseCmdBluetooth(char* str)
+/* Funções Privadas ----------------------------------------------------------*/
+
+/**
+ * @brief  Callback para execução do Algoritmo AHRS com taxa de 10 Hz
+ * @note   O algoritmo AHRS calcula os ângulos: roll, pitch and yaw
+ * @param  Nenhum
+ * @retval Nenhum
+ */
+void imuCallback(void)
+{
+//  imu.runAHRS(0.1); // ### FIX: TICKER com bug nesta versao do mbed
+} // fim da imuCallback
+
+/**
+ * @brief  Programa Principal
+ * @param  Nenhum
+ * @retval Nenhum
+ */
+int main(void)
 {
-    if (strncmp("#PWM:", str, 5) == 0)
-    {
-        pwm = strtof(str + 5, NULL);
-    }
-    else if (strncmp("#OUT:", str, 5) == 0)
-    {
-        out = atoi(str + 5);
-    }
-    else if (strncmp("#RGB:", str, 5) == 0)
-    {
-        ton.setLED(str + 5);
-    }
-    else if (strncmp("#AIN?", str, 5) == 0)
-    {
-        bluetooth.printf("#AIN:%0.2f\r\n", ain.read());
-    }
-    else if (strncmp("#DIN?", str, 5) == 0)
-    {
-        bluetooth.printf("#DIN:%d\r\n", in.read());
-    }
-    else if (strncmp("#BAT?", str, 5) == 0)
-    {
-        bluetooth.printf("#BAT:%0.2fV\r\n", ton.getBattery());
-    }
-    else if (strncmp("#IMU?", str, 5) == 0)
-    {
-        bluetooth.printf("pitch: %0.2f\r\nroll: %0.2f\r\nyaw: %0.2f\r\n",
-            imu.getPitch(), imu.getRoll(), imu.getYaw());
-    }
-    else if (strncmp("#ALL?", str, 5) == 0)
-    {
-        bluetooth.printf("#AIN:%0.2f\r\n#DIN:%d\r\n#BAT:%0.2fV\r\n",
-            ain.read(), in.read(), ton.getBattery());
+  float lf = 0, l = 0, r = 0, rf = 0;
+
+  /* Ligue o TON com o botão USER pressionado para indicar o estado da bateria */
+  if (ton.USERisPressed())
+  {
+    /* Necessário pressionar o botão RESET voltar ao modo normal */
+    ton.batteryStatus();
+  }
+
+  /* Inicialização dos periféricos */
+  ton.setLED(BLUE);
+  initTonBot();
+  ton.setLED(RED);
+  ton.enableBluetooth();
+  ton.enableIMU();  /* Deixe o robô parado durante a inicialização (~5s) */
+
+  /* Configura o Timer da IMU - intervalo = 0.1 segundos */
+  imuTick.attach(&imuCallback, 0.1);
+
+  /* Inicio do programa ------------------------------------------------------*/
+  usb.printf("Programa TESTE - TON-BOT!\r\n");
+  ton.setLED(WHITE);
+  wait(1);
+  ton.setLED(NONE);
+  beeps(3, 100, 50);
+
+  resetEncoderEsquerda();
+  resetEncoderDireita();
 
-        bluetooth.printf("pitch: %0.2f\r\nroll: %0.2f\r\nyaw: %0.2f\r\n",
-            imu.getPitch(), imu.getRoll(), imu.getYaw());
-    }
-    else
-    {
-        bluetooth.printf("Invalid command!\r\n");
-    }
-}   // end of parseCmdBluetooth function
+  /* LOOP principal ----------------------------------------------------------*/
+  while (1)
+  {
+    /* Zera e inicia o timer para estabelecer a base de tempo */
+    t1.reset();
+    t1.start();
+
+    /* Envia mensagens de estados dos periféricos a cada 1s para a USB */
+    usb.printf("Sensores de Linha (erro): %d\r\n", getSensoresLinha());
+    usb.printf("\r\n");
+
+    usb.printf("Sensores de Paredes: %d\r\n", getSensoresParede(&lf, &l, &r, &rf));
+    usb.printf("%0.3f | %0.3f | %0.3f | %0.3f\r\n", lf, l, r, rf);
+    usb.printf("\r\n");
+
+    usb.printf("IMU - Algoritmo AHRS:\r\n");
+    usb.printf("pitch: %0.3f\r\n", imu.getPitch());
+    usb.printf("roll: %0.3f\r\n", imu.getRoll());
+    usb.printf("yaw: %0.3f\r\n", imu.getYaw());
+    usb.printf("\r\n");
+
+    usb.printf("Bateria: %0.3fV\r\n", ton.getBattery());
+    usb.printf("\r\n");
+
+    usb.printf("Encoders: %d | %d\r\n", getEncoderEsquerda(), getEncoderDireita());
+    usb.printf("\r\n");
+
+    usb.printf("---\r\n");
 
 
-// Data format: #rgbcode,float,int  | Ex: #00AFEF,0.5,1 ------------------------
-void parseCmdWifi(char* str)
-{
-    char* tmp = strstr(str, "#");   // Search the first character of the command
-
-    if (tmp != NULL)
-    {
-        tmp = strtok(tmp, ",\n");
-        ton.setLED(tmp + 1);        // Remove the '#' and update LED RGB color
-
-        tmp = strtok(NULL,",\n");
-        pwm = strtof(tmp, NULL);    // Convert to float and update pwm output
-
-        tmp = strtok(NULL,",\n");
-        out = atoi(tmp);            // Convert to int and update digital output
-    }
-}   // end of parseCmdWifi function
+    /* Caso queira direcionar alguma mensagem para o Bluetooth, basta..
+     * mudar de 'usb.' para 'bluetooth.' - como o exemplo a seguir: */
+    bluetooth.printf("%0.3f | %0.3f | %0.3f | %0.3f\r\n", lf, l, r, rf);
 
 
-// *****************************************************************************
-// MAIN PROGRAM ****************************************************************
-// *****************************************************************************
-int main(void)
-{
-    // Initializations
-    ton.setLED(RED);
-    ton.enableBluetooth();
-    ton.enableWifi();
-    ton.enableIMU();    // Leave standing the TON board at initialization (~5s)
-    ton.setLED(BLUE);
-
-    // Configure Tick Timer for IMU reads - interval (0.1 second)
-    imuTick.attach(&imuCallback, 0.1);
-
-    // Configure RX interrupt of Bluetooth
-    bluetooth.attach(&bluetoothRxCallback, Serial::RxIrq);
-
-    // Try to connect to the access point
-    if (wifi.connect(MY_SSID, MY_PASS) == true) ton.setLED(GREEN);
-    else ton.setLED(YELLOW);
-
-    // Configure USER button interrupt
-    button.rise(&userCallback);
-
-    // The main LOOP -----------------------------------------------------------
-    while (1)
+    /* Se o botão for pressionado: liga os motores por 1 segundo
+     * .. ou aguarda 1 segundo sem fazer nada */
+    while (t1.read_ms() < 1000)
     {
-        // Prints messages to the USB ------------------------------------------
-        usb.printf("pitch: %0.3f\r\n", imu.getPitch());
-        usb.printf("roll: %0.3f\r\n", imu.getRoll());
-        usb.printf("yaw: %0.3f\r\n", imu.getYaw());
-        usb.printf("---\r\n");
-        usb.printf("battery: %0.3fV\r\n", ton.getBattery());
-        usb.printf("count: %d\r\n", userCount);
-        usb.printf("\r\n");
+      if (ton.USERisPressed())
+      {
+        ton.setLED(YELLOW);
+        beep(100);
+        setMotores(0.2, -0.2); /* CUIDADO COM VELOCIDADES ALTAS (~ 2.0 m/s) */
+        wait(1);
+        setMotores(0, 0);
+        ton.setLED(NONE);
+      }
+    }
 
-        // Checks new Blutooth commands ----------------------------------------
-        if (flagCmdBluetooth == true)
-        {
-            // Parse the Bluetooth commands
-            parseCmdBluetooth(bufferRxBluetooth);
 
-            bufferCountRxBluetooth = 0;
-            memset(bufferRxBluetooth, 0, sizeof(bufferRxBluetooth));
-            flagCmdBluetooth = false;
-        }   // end of check new Bluetooth commands
+    /* Pisca o LED verde */
+    ton.toggleLED(GREEN);
 
-        // Checks if wifi is connected and run wifi tasks ----------------------
-        if (wifi.isConnected() == true)
-        {
-            // Parse the http get method
-            replyHttp = wifi.httpGet("ioton.cc", "/ton-demo.txt");
-            parseCmdWifi(replyHttp);
+  } // fim do loop principal
+} // fim da função principal
 
-            // Send data via ThingSpeak (does not support high rates)
-            if (++countThingSpeak == 5)
-            {
-                char thingspeak[50];
-
-                sprintf(thingspeak, "field1=%0.3f&field2=%d&field3=%0.3f",
-                    ain.read(), in.read(), ton.getBattery());
 
-                usb.printf("Send to ThingSpeak: %s\r\n", thingspeak);
-                wifi.sendThingSpeak(thingspeak, MY_API_KEY);
+/**
+ * @}
+ */
 
-                countThingSpeak = 0;
-            }   // end of send to ThingSpeak
-        }   // end of wifi tasks
-
-        wait(1);
-    }   // end of main LOOP
-}   // end of main function
+/************************ (C) COPYRIGHT IOTON Technology **********************/
+/***********************************END OF FILE********************************/