Diff: main.cpp

Revision:

0:865d42c46692

Child:

1:ffd9a51e7d35

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 25 14:34:47 2014 +0000
@@ -0,0 +1,214 @@
+/*
+** This software can be freely used, even comercially, as highlighted in the license.
+** 
+** Copyright 2014 GHI Electronics, LLC
+** 
+** 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.
+**
+**/
+
+#include "mbed.h"
+#include "mBot.h"
+
+#define MOTOR_SPEED 50
+// 0.5 was too sensitive, just spun on light table
+// 0.9 was too sensitive for dark tables, with 10 bit precision
+#define REFLECTIVITY_READING 0.950
+
+bool OverEdge(bool * leftOverEdge, bool * rightOverEdge, int threshold_l, int threshold_r);
+
+        
+int base_reflective_l;
+int base_reflective_r;
+
+DigitalOut LED[] = {(P1_19), (P0_19), (P0_20), (P0_2)};
+static const int LED_L1 = 0;
+static const int LED_L2 = 1;
+static const int LED_R1 = 2;
+static const int LED_R2 = 3;
+static const int LED_COUNT = 4;
+
+static int next_LED = 0;
+void LEDfrontOn(){
+    LED[LED_L1] = 1;
+    LED[LED_R1] = 1;
+};
+void LEDfrontOff(){
+    LED[LED_L1] = 0;
+    LED[LED_R1] = 0;
+};
+void LEDbackOn(){
+    LED[LED_L2] = 1;
+    LED[LED_R2] = 1;
+};
+void LEDbackOff(){
+    LED[LED_L2] = 0;
+    LED[LED_R2] = 0;
+};
+void LEDsOff(){
+    for (int ix = 0; ix < LED_COUNT; ix++) LED[ix] = 0;
+}
+
+
+DigitalOut Buzzer(P0_18); // 18 mbot, 14 lovemeter
+void soundBuzzer(int Hz)
+{
+    int ticks = Hz/64;
+    int tickCount = 0;
+    float frequency = 1/(float)Hz;
+    
+    while(tickCount < ticks) {
+        wait(frequency);
+        Buzzer = true;
+        wait(frequency);
+        Buzzer = false;
+        tickCount++;
+    }
+}
+void soundBreaks() { 
+        for (int ix = 1; ix <= 10; ix++) {       
+            soundBuzzer((ix * 100) + 1500);
+        }
+}
+void soundMotorStart() {
+        for (int ix = 1; ix <= 35; ix++) {       
+            soundBuzzer(ix * 100 + 800);
+        } 
+}
+void soundForward() {     
+            soundBuzzer(1000);
+}
+
+typedef DigitalIn  Button_t;
+Button_t btn1(P0_1,  PullUp);
+//Button_t btn2(P0_16, PullUp);
+
+
+bool buttonIsUp(Button_t * button){
+        return *button == 1;
+};
+
+mBot mybot;
+void stopIfButtonPress(){
+      if (!buttonIsUp(&btn1)){
+                LEDsOff();
+                 mybot.SetReflectiveSensorState(0);
+                 mybot.SetMotorSpeed(0,0);
+                 deepsleep();
+        }
+}
+void startTone() {
+    for (int ix = 1; ix <= 5; ix++) {
+        soundBuzzer(500);
+    }
+}
+void startUp(){
+    LEDsOff();
+
+    next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(10);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(10);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(10);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(20);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(20);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(20);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(40);
+    if (next_LED >= LED_COUNT) next_LED = 0; LED[next_LED++] = 1;
+    startTone(); wait_ms(40);
+    if (next_LED < LED_COUNT && next_LED >= 0) LED[next_LED-1] = 0;
+    startTone();
+    LEDfrontOn();
+    LEDbackOff();
+}
+int main()
+{
+          int overleft; 
+          int overright;
+          int left_temp;
+          int right_temp;
+          int LEDblinkCounter = 0;
+          startUp();
+          // add time slicing for waits
+          mybot.SetMotorSpeed(MOTOR_SPEED, MOTOR_SPEED);
+          wait_ms(10);
+    while(1)
+    {
+            //wait_ms(5);
+            overleft    = mybot.GetReflectiveReading(mybot.Left) > REFLECTIVITY_READING;
+            overright   = mybot.GetReflectiveReading(mybot.Right)> REFLECTIVITY_READING;
+            stopIfButtonPress();
+            if (LEDblinkCounter++ < 8000) {
+                    if (LEDblinkCounter == 4000) {
+                        LEDfrontOff();
+                        soundForward(); // slight wait here
+                    }
+            } else {              
+                    LEDfrontOn();
+                    LEDblinkCounter = 0;
+                    soundForward(); // slight wait here
+            }
+            
+            if( overleft || overright  )
+            {   
+
+                mybot.SetMotorSpeed(0,0);
+                LEDfrontOff();
+                LEDbackOn();
+                //wait_us(100);
+                if (overleft && overright) 
+                {
+                    left_temp = -30;
+                    right_temp = 30;       
+                } 
+                else if (overleft) 
+                {
+                    left_temp = 60;
+                    right_temp = -50;  
+                } 
+                else 
+                {
+                    left_temp = -50;
+                    right_temp = 60;
+                }
+                
+                // back straight for a safety margin and comeabout
+                mybot.SetMotorSpeed(-80, -80);
+                wait_ms(325);
+                mybot.SetMotorSpeed(0,0);
+                wait_ms(5);
+                mybot.SetMotorSpeed(left_temp, right_temp);
+                wait_ms(300);
+                LEDbackOff();
+                mybot.SetMotorSpeed(0,0);               
+                LEDfrontOn();
+                LEDblinkCounter = 0; 
+                soundBreaks();
+                mybot.SetMotorSpeed(MOTOR_SPEED,MOTOR_SPEED);
+                /*
+                for (left_temp = 10; left_temp <= MOTOR_SPEED; left_temp += 10) 
+                {
+                    mybot.SetMotorSpeed(left_temp,left_temp);
+                    wait_ms(75);
+                }
+                */
+             
+            }    
+    }
+}
+