scribe robot working with stepper motors
Dependencies: BLE_nRF8001 BNO055 HC_SR04_Ultrasonic_Library localization mbed-rtos mbed
main.cpp
- Committer:
- manz
- Date:
- 2016-04-21
- Revision:
- 0:83acd45a2405
- Child:
- 2:63aef644e6d2
File content as of revision 0:83acd45a2405:
// main of SCRIBE stepper // Import libraries #include "Arduino.h" #include "BLEPeripheral.h" #include "mbed.h" #include "stepper.h" #include "rtos.h" #include "localization.h"; Serial serial(USBTX, USBRX); SPI spi(p11, p12, p13); DigitalInOut BLE_RDY(p21); DigitalInOut BLE_REQ(p22); DigitalInOut BLE_RESET(p23); unsigned char txbuf[16] = {0}; unsigned char txlen = 0; // create peripheral BLEPeripheral blePeripheral = BLEPeripheral(&BLE_REQ, &BLE_RDY, &BLE_RESET); // create service w/ uuid BLEService uartService = BLEService("713d0000503e4c75ba943148f18d941e"); // create characteristics BLECharacteristic txCharacteristic = BLECharacteristic("713d0002503e4c75ba943148f18d941e", BLENotify, 20); BLECharacteristic rxCharacteristic = BLECharacteristic("713d0003503e4c75ba943148f18d941e", BLEWriteWithoutResponse, 20); unsigned int interval = 0; unsigned char count_on = 0; // array to save the values of the user const int size = 40; int path_x [size]; int path_y [size]; int counter = 0; int start = 0; //coordinates of the pen and the centre of SCRIBE at beginning double x_pen = 0; double y_pen = 0; double x_cent = 0; double y_cent = -1; //speed of SCRIBE float speed = 0.3; float t_factor = 0.15; Semaphore one_slot(1); void bluetooth_thread(void const *args){ serial.printf("Serial begin!\r\n"); int x,y,x_dir,y_dir; /*----- BLE Utility ---------------------------------------------*/ // set advertised local name and service UUID blePeripheral.setLocalName("BLE Shield"); blePeripheral.setAdvertisedServiceUuid(uartService.uuid()); // add service and characteristic blePeripheral.addAttribute(uartService); blePeripheral.addAttribute(rxCharacteristic); blePeripheral.addAttribute(txCharacteristic); // begin initialization blePeripheral.begin(); /*---------------------------------------------------------------*/ //return value for move functions int ret; serial.printf("BLE UART Peripheral begin!\r\n"); while(1) { BLECentral central = blePeripheral.central(); if (central) { // central connected to peripheral serial.printf("Connected to central\r\n"); while (central.connected()) { // central still connected to peripheral if (rxCharacteristic.written()) { unsigned char rxlen = rxCharacteristic.valueLength(); const unsigned char *val = rxCharacteristic.value(); serial.printf("didCharacteristicWritten, Length: %d\r\n", rxlen); unsigned char i = 0; while(i<rxlen) { serial.printf("%d, ",val[i++]); } serial.printf("\r\n"); x = (int) val[0]; y = (int) val[1]; x_dir = (int) val[2]; y_dir = (int) val[3]; // see if values are negative if(x_dir == 1){ x = -1*x; } if(y_dir == 1){ y = -1*y; } // go forward if(x == 0 && y == 4){ serial.printf("Go forward \r\n"); } // go backward else if(x == 0 && y == -4){ serial.printf("Go backward \r\n"); } // go left else if(x == 4 && y == 0 && x_dir == 0 && y_dir == 1){ serial.printf("Go left \r\n"); } // go right else if(x == 4 && y == 0){ serial.printf("Go right \r\n"); } else { serial.printf("Coordinates \r\n"); } // putting values into array serial.printf("try to put coordinates \r\n"); one_slot.wait(); if (counter == size){ counter = 0; } path_x[counter] = x; path_y[counter] = y; counter++; one_slot.release(); serial.printf("put coordinates \r\n"); Thread::wait(100); } if(serial.readable()) { if(!count_on) { count_on = 1; } interval = 0; txbuf[txlen] = serial.getc(); txlen++; } if(count_on) // Count the interval after receiving a new char from terminate { interval++; } if(interval == 10) // If there is no char available last the interval, send the received chars to central. { interval = 0; count_on = 0; serial.printf("Received from terminal: %d bytes\r\n", txlen); txCharacteristic.setValue((const unsigned char *)txbuf, txlen); txlen = 0; } } // central disconnected serial.printf("Disconnected from central\r\n"); } } } void move_thread(void const *args){ int angle; Timer t; t.start(); localization L; L.reset(); //initally put pen down //L.servo(0); float currentAngle; float targetAngle; float startAngle; float diffAngle; int control; double dot,a2,b2,c2; double x_tar,y_tar; double cosg,gamma,distance,wait_t; double x_taro = 0; double y_taro = 0; serial.printf("Started move thread\r\n"); int newval = 0; while(1){ one_slot.wait(); if(counter != start){ if (start == size){ start = 0; } x_tar = path_x[start]; y_tar = path_y[start]; start++; newval = 1; } one_slot.release(); if(newval == 1){ serial.printf("x-coord: %f, y-coord: %f\r\n",x_tar,y_tar); newval = 0; //compute angle and turn direction a2 = (x_pen - x_cent)*(x_pen - x_cent) + (y_pen - y_cent)*(y_pen - y_cent); b2 = (x_tar - x_pen)*(x_tar - x_pen) + (y_tar - y_pen)*(y_tar - y_pen); c2 = (x_tar - x_cent)*(x_tar - x_cent) + (y_tar - y_cent)*(y_tar - y_cent); cosg = (a2 + b2 - c2)/(2*sqrt(a2*b2)); gamma = acos(cosg)/3.14159*180; dot = (x_tar - x_cent)*(y_pen - y_cent) - (y_tar - y_cent)*(x_pen - x_cent); serial.printf("Angle: %f \r\n",gamma); angle = ceil(180 - gamma); serial.printf("Turning angle: %i \r\n",angle); //put pen up //L.servo(30); currentAngle = L.getAngle(); if(dot > 0){ //serial.printf("Turn right \r\n"); targetAngle = fmod(currentAngle+angle,360); while(fmod(abs(L.getAngle() - targetAngle),360)> 3){ control = step_right(); serial.printf("Turning angle: %f \r\n",abs(L.getAngle() - targetAngle)); } //serial.printf("Reached target \r\n"); } else if(dot < 0){ //serial.printf("Turn left \r\n"); targetAngle = fmod(currentAngle-angle,360); while(fmod(abs(L.getAngle() - targetAngle),360)> 3){ control = step_left(); serial.printf("Turning angle: %f \r\n",abs(L.getAngle() - targetAngle)); } } else{ } //put pen down again //L.servo(0); startAngle = L.getAngle(); serial.printf("Current angle: %f \r\n",startAngle); //compute length of path til target distance = sqrt((x_tar - x_pen)*(x_tar - x_pen) + (y_tar - y_pen)*(y_tar - y_pen)); //forward SCRIBE til target wait_t = distance/speed*t_factor; t.reset(); while(t.read() < wait_t){ control = step_f(); } serial.printf("Reached destination \r\n"); //update pen and center when at target x_pen = x_tar; y_pen = y_tar; serial.printf("Update Pen: %f, %f \r\n",x_pen,y_pen); x_cent = x_taro; y_cent = y_taro; serial.printf("Update Center: %f, %f \r\n",x_cent,y_cent); x_taro = x_tar; y_taro = y_tar; } Thread::wait(100); } } int main() { serial.printf("Starting the threads"); Thread bluetooth(bluetooth_thread); Thread move(move_thread); Thread::wait(osWaitForever); }