main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  Julien Tiron, FIP Télécom Bretagne
00005  * @version V1.0.0
00006  * @date    March 23th, 2016
00007  * @brief   DoorCloser robot main code
00008  ******************************************************************************
00009  **/
00010 
00011 /* Includes ------------------------------------------------------------------*/
00012 
00013 #include "mbed.h"
00014 #include "DevSPI.h"
00015 #include "l6474_class.h"
00016 #include "DevI2C.h"
00017 #include "vl6180x_class.h"
00018 
00019 /* Definitions ---------------------------------------------------------------*/
00020 
00021 #define VL6180X_ADDRESS 0x29
00022 
00023 /* Variables -----------------------------------------------------------------*/
00024 
00025 /* Start and  Stop Component */
00026 InterruptIn startup(PC_1);
00027 Ticker game_length;
00028 volatile bool start = 1;
00029 volatile bool end = 1;
00030 
00031 /* Motor Control Component */
00032 L6474 *motor1;
00033 L6474 *motor2;
00034 
00035 /* Distance Sensors Component */
00036 DevI2C *i2c =new DevI2C(D14, D15); 
00037 VL6180X sensor1(i2c);
00038 VL6180X sensor2(i2c);
00039 VL6180X sensor3(i2c);
00040 
00041 /* Functions -----------------------------------------------------------------*/
00042 
00043 void go()
00044 {
00045     start = 0;
00046 }
00047 
00048 void stop()
00049 {
00050     end = 0;
00051 }
00052 
00053 void init_sensor(){
00054     
00055 }
00056     
00057 void switch_sensor(int number){
00058     
00059 }
00060 
00061 /* Main ----------------------------------------------------------------------*/
00062 
00063 int main()
00064 {
00065     /*----- Initialization. -----*/
00066 
00067     /* Initializing SPI bus. */
00068     DevSPI dev_spi(D11, D12, D13);
00069 
00070     /* Initializing Motor Control Components. */
00071     motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
00072     motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
00073     if (motor1->Init() != COMPONENT_OK)
00074         exit(EXIT_FAILURE);
00075     if (motor2->Init() != COMPONENT_OK)
00076         exit(EXIT_FAILURE);
00077 
00078     /* Interrupt to start the robot */
00079     startup.fall(&go);
00080     
00081     /* Interrupt to stop the robot */
00082     game_length.attach(&stop, 90); //1 minutes 30 secondes pour la Coupe
00083 
00084     while(start) {
00085         /* Waiting code */
00086     }
00087     
00088     while(end) {
00089         /* In-game code */
00090         
00091         /* Requesting to run backward. */
00092         motor1->Run(StepperMotor::BWD);
00093         motor2->Run(StepperMotor::FWD);
00094 
00095         /* Waiting until delay has expired. */
00096         wait_ms(3000);
00097         
00098         motor1->HardStop();
00099         motor2->HardStop();
00100 
00101         motor1->WaitWhileActive();
00102         motor2->WaitWhileActive();
00103         
00104         /* Requesting to run backward. */
00105         motor1->Run(StepperMotor::FWD);
00106         motor2->Run(StepperMotor::BWD);
00107 
00108         /* Waiting until delay has expired. */
00109         wait_ms(3000);
00110         
00111         motor1->HardStop();
00112         motor2->HardStop();
00113 
00114         motor1->WaitWhileActive();
00115         motor2->WaitWhileActive();
00116     }
00117     
00118     motor1->HardStop();
00119     motor2->HardStop();
00120 
00121     motor1->WaitWhileActive();
00122     motor2->WaitWhileActive();
00123 }