Nim leo niiiim
Main.cpp@0:da791f233257, 2018-05-11 (annotated)
- Committer:
- Kiwicjam
- Date:
- Fri May 11 12:21:19 2018 +0000
- Revision:
- 0:da791f233257
start of rome2 p5;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kiwicjam | 0:da791f233257 | 1 | /* |
Kiwicjam | 0:da791f233257 | 2 | * Main.cpp |
Kiwicjam | 0:da791f233257 | 3 | * Copyright (c) 2018, ZHAW |
Kiwicjam | 0:da791f233257 | 4 | * All rights reserved. |
Kiwicjam | 0:da791f233257 | 5 | */ |
Kiwicjam | 0:da791f233257 | 6 | |
Kiwicjam | 0:da791f233257 | 7 | #include <cstdlib> |
Kiwicjam | 0:da791f233257 | 8 | #include <mbed.h> |
Kiwicjam | 0:da791f233257 | 9 | #include "EncoderCounter.h" |
Kiwicjam | 0:da791f233257 | 10 | #include "IRSensor.h" |
Kiwicjam | 0:da791f233257 | 11 | #include "IMU.h" |
Kiwicjam | 0:da791f233257 | 12 | #include "LIDAR.h" |
Kiwicjam | 0:da791f233257 | 13 | #include "Controller.h" |
Kiwicjam | 0:da791f233257 | 14 | #include "StateMachine.h" |
Kiwicjam | 0:da791f233257 | 15 | #include "SerialServer.h" |
Kiwicjam | 0:da791f233257 | 16 | |
Kiwicjam | 0:da791f233257 | 17 | int main() { |
Kiwicjam | 0:da791f233257 | 18 | |
Kiwicjam | 0:da791f233257 | 19 | // create miscellaneous periphery objects |
Kiwicjam | 0:da791f233257 | 20 | |
Kiwicjam | 0:da791f233257 | 21 | DigitalOut led(LED1); |
Kiwicjam | 0:da791f233257 | 22 | DigitalIn button(USER_BUTTON); |
Kiwicjam | 0:da791f233257 | 23 | |
Kiwicjam | 0:da791f233257 | 24 | DigitalOut led0(PC_8); |
Kiwicjam | 0:da791f233257 | 25 | DigitalOut led1(PC_6); |
Kiwicjam | 0:da791f233257 | 26 | DigitalOut led2(PB_12); |
Kiwicjam | 0:da791f233257 | 27 | DigitalOut led3(PA_7); |
Kiwicjam | 0:da791f233257 | 28 | DigitalOut led4(PC_0); |
Kiwicjam | 0:da791f233257 | 29 | DigitalOut led5(PC_9); |
Kiwicjam | 0:da791f233257 | 30 | |
Kiwicjam | 0:da791f233257 | 31 | // create motor control objects |
Kiwicjam | 0:da791f233257 | 32 | |
Kiwicjam | 0:da791f233257 | 33 | DigitalOut enableMotorDriver(PB_2); |
Kiwicjam | 0:da791f233257 | 34 | DigitalIn motorDriverFault(PB_14); |
Kiwicjam | 0:da791f233257 | 35 | DigitalIn motorDriverWarning(PB_15); |
Kiwicjam | 0:da791f233257 | 36 | |
Kiwicjam | 0:da791f233257 | 37 | PwmOut pwmLeft(PA_8); |
Kiwicjam | 0:da791f233257 | 38 | PwmOut pwmRight(PA_9); |
Kiwicjam | 0:da791f233257 | 39 | |
Kiwicjam | 0:da791f233257 | 40 | EncoderCounter counterLeft(PB_6, PB_7); |
Kiwicjam | 0:da791f233257 | 41 | EncoderCounter counterRight(PA_6, PC_7); |
Kiwicjam | 0:da791f233257 | 42 | |
Kiwicjam | 0:da791f233257 | 43 | // create distance sensor objects |
Kiwicjam | 0:da791f233257 | 44 | |
Kiwicjam | 0:da791f233257 | 45 | DigitalOut enableIRSensors(PC_1); |
Kiwicjam | 0:da791f233257 | 46 | enableIRSensors = 1; |
Kiwicjam | 0:da791f233257 | 47 | |
Kiwicjam | 0:da791f233257 | 48 | AnalogIn distance(PB_1); |
Kiwicjam | 0:da791f233257 | 49 | DigitalOut bit0(PH_1); |
Kiwicjam | 0:da791f233257 | 50 | DigitalOut bit1(PC_2); |
Kiwicjam | 0:da791f233257 | 51 | DigitalOut bit2(PC_3); |
Kiwicjam | 0:da791f233257 | 52 | |
Kiwicjam | 0:da791f233257 | 53 | IRSensor irSensor0(distance, bit0, bit1, bit2, 0); |
Kiwicjam | 0:da791f233257 | 54 | IRSensor irSensor1(distance, bit0, bit1, bit2, 1); |
Kiwicjam | 0:da791f233257 | 55 | IRSensor irSensor2(distance, bit0, bit1, bit2, 2); |
Kiwicjam | 0:da791f233257 | 56 | IRSensor irSensor3(distance, bit0, bit1, bit2, 3); |
Kiwicjam | 0:da791f233257 | 57 | IRSensor irSensor4(distance, bit0, bit1, bit2, 4); |
Kiwicjam | 0:da791f233257 | 58 | IRSensor irSensor5(distance, bit0, bit1, bit2, 5); |
Kiwicjam | 0:da791f233257 | 59 | |
Kiwicjam | 0:da791f233257 | 60 | // create LIDAR object |
Kiwicjam | 0:da791f233257 | 61 | |
Kiwicjam | 0:da791f233257 | 62 | PwmOut pwm(PA_10); |
Kiwicjam | 0:da791f233257 | 63 | pwm.period(0.00005f); |
Kiwicjam | 0:da791f233257 | 64 | pwm.write(0.5f); // 50% duty-cycle |
Kiwicjam | 0:da791f233257 | 65 | |
Kiwicjam | 0:da791f233257 | 66 | RawSerial uart(PA_0, PA_1); |
Kiwicjam | 0:da791f233257 | 67 | |
Kiwicjam | 0:da791f233257 | 68 | LIDAR lidar(uart); |
Kiwicjam | 0:da791f233257 | 69 | |
Kiwicjam | 0:da791f233257 | 70 | // create robot controller objects |
Kiwicjam | 0:da791f233257 | 71 | |
Kiwicjam | 0:da791f233257 | 72 | Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); |
Kiwicjam | 0:da791f233257 | 73 | StateMachine stateMachine(controller, enableMotorDriver, led0, led1, led2, led3, led4, led5, button, irSensor0, irSensor1, irSensor2, irSensor3, irSensor4, irSensor5); |
Kiwicjam | 0:da791f233257 | 74 | |
Kiwicjam | 0:da791f233257 | 75 | // create serial server object |
Kiwicjam | 0:da791f233257 | 76 | |
Kiwicjam | 0:da791f233257 | 77 | RawSerial serial(PB_10, PC_5); |
Kiwicjam | 0:da791f233257 | 78 | serial.baud(9600); |
Kiwicjam | 0:da791f233257 | 79 | serial.format(8, SerialBase::None, 1); |
Kiwicjam | 0:da791f233257 | 80 | |
Kiwicjam | 0:da791f233257 | 81 | DigitalOut reset(PB_3); |
Kiwicjam | 0:da791f233257 | 82 | DigitalOut modes1(PB_4); |
Kiwicjam | 0:da791f233257 | 83 | |
Kiwicjam | 0:da791f233257 | 84 | modes1 = 0; |
Kiwicjam | 0:da791f233257 | 85 | |
Kiwicjam | 0:da791f233257 | 86 | reset = 1; wait(0.1f); |
Kiwicjam | 0:da791f233257 | 87 | reset = 0; wait(0.1f); |
Kiwicjam | 0:da791f233257 | 88 | reset = 1; wait(0.1f); |
Kiwicjam | 0:da791f233257 | 89 | |
Kiwicjam | 0:da791f233257 | 90 | SerialServer serialServer(serial, lidar, controller); |
Kiwicjam | 0:da791f233257 | 91 | |
Kiwicjam | 0:da791f233257 | 92 | while (true) { |
Kiwicjam | 0:da791f233257 | 93 | |
Kiwicjam | 0:da791f233257 | 94 | led = !led; // toggle led |
Kiwicjam | 0:da791f233257 | 95 | |
Kiwicjam | 0:da791f233257 | 96 | wait(0.2f); // wait for 200 ms |
Kiwicjam | 0:da791f233257 | 97 | |
Kiwicjam | 0:da791f233257 | 98 | lidar.lookForBeacon(); |
Kiwicjam | 0:da791f233257 | 99 | } |
Kiwicjam | 0:da791f233257 | 100 | } |