Texas State IEEE / Mbed 2 deprecated R5 2016 Robotics Team 1

Code to drive Team 1's robot for the 2016 R5 robotics competition.

Dependencies:   mbed navigation R5_StepperDrive LongRangeSensor DistanceSensor scanner Gripper ColorSensor

r5driver.cpp@28:17c17157e728, 2016-03-22 (annotated)

Committer:
j_j205
Date:
Tue Mar 22 18:11:56 2016 +0000
Revision:
28:17c17157e728
Parent:
26:d99d078921a0
Child:
29:e77e8891d985
3/22/16 jj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 8:90af8914ce03 1 #include "navigation.h"
j_j205 15:d8940756d5d5 2 #include "scanner.h"
j_j205 12:e9f878ced6e7 3 #include "StepperDrive.h"
j_j205 15:d8940756d5d5 4 #include "VL6180x.h"
j_j205 8:90af8914ce03 5 #include "stdint.h"
j_j205 2:3b162e764c9d 6 #include "mbed.h"
j_j205 0:a3c39d3359ac 7
j_j205 0:a3c39d3359ac 8 Serial pc(USBTX, USBRX);
j_j205 28:17c17157e728 9 // Serial pc(PTE16,PTE17); // bluetooth
j_j205 12:e9f878ced6e7 10 InterruptIn start(SW1);
j_j205 12:e9f878ced6e7 11 DigitalOut led_red(LED_RED);
j_j205 12:e9f878ced6e7 12 DigitalOut led_green(LED_GREEN);
j_j205 12:e9f878ced6e7 13 bool active = false;
j_j205 12:e9f878ced6e7 14
j_j205 12:e9f878ced6e7 15 void activate();
j_j205 0:a3c39d3359ac 16
j_j205 0:a3c39d3359ac 17 int main()
j_j205 0:a3c39d3359ac 18 {
j_j205 0:a3c39d3359ac 19 pc.baud(115200);
j_j205 28:17c17157e728 20 // pc.baud(9600); /* interface via Bluetooth at 9600 */
j_j205 12:e9f878ced6e7 21 start.mode(PullUp); /* Start/Stop button is active low needing PullUp */
j_j205 12:e9f878ced6e7 22 start.fall(&activate);
j_j205 20:53ab414d7b33 23
j_j205 12:e9f878ced6e7 24 led_red = 0;
j_j205 12:e9f878ced6e7 25 led_green = 1;
j_j205 20:53ab414d7b33 26
j_j205 25:670a59096bf8 27 pc.printf("\nWaiting for START BUTTON\n");
j_j205 25:670a59096bf8 28 while(!active) // wait for start_button
j_j205 25:670a59096bf8 29 {
j_j205 25:670a59096bf8 30 wait(1e-6);
j_j205 25:670a59096bf8 31 }
j_j205 25:670a59096bf8 32
j_j205 25:670a59096bf8 33 StepperDrive drive(pc, PTE19, PTE18, 0, PTE3, PTE2, 1, 10.0625, 8.3750, 500);
j_j205 25:670a59096bf8 34 //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
j_j205 25:670a59096bf8 35
j_j205 25:670a59096bf8 36 VL6180x shortRangeL(PTE0, PTE1, 0x52); // I2C1, 0x29 left-shifted by 1 bit
j_j205 25:670a59096bf8 37 VL6180x shortRangeR(PTC9, PTC8, 0x52); // I2C0, 0x29 left-shifted by 1 bit
j_j205 26:d99d078921a0 38 LongRangeSensor longRangeL(pc, PTB2);
j_j205 26:d99d078921a0 39 LongRangeSensor longRangeR(pc, PTB3);
j_j205 25:670a59096bf8 40
j_j205 25:670a59096bf8 41 Scanner scanner(pc, PTB0, PTB1, shortRangeL, shortRangeR, longRangeL, longRangeR, 0.075);
j_j205 25:670a59096bf8 42 // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period)
j_j205 25:670a59096bf8 43
j_j205 28:17c17157e728 44 Navigation r5nav(scanner, 11);
j_j205 8:90af8914ce03 45 wait(0.1);
j_j205 20:53ab414d7b33 46
j_j205 25:670a59096bf8 47 r5nav.addGraphNode(0, 1, 10.0625, 0);
j_j205 25:670a59096bf8 48 r5nav.addGraphNode(1, 0, 10.0625, 180);
j_j205 25:670a59096bf8 49 r5nav.addGraphNode(1, 2, 10.0625, 270);
j_j205 25:670a59096bf8 50 r5nav.addGraphNode(2, 1, 10.0625, 90);
j_j205 25:670a59096bf8 51 r5nav.addGraphNode(2, 3, 10.0625, 180);
j_j205 25:670a59096bf8 52 r5nav.addGraphNode(3, 2, 10.0625, 0);
j_j205 25:670a59096bf8 53 r5nav.addGraphNode(3, 0, 10.0625, 90);
j_j205 25:670a59096bf8 54 r5nav.addGraphNode(0, 3, 10.0625, 270);
j_j205 1:1958e6db41fc 55
j_j205 15:d8940756d5d5 56 /*
j_j205 20:53ab414d7b33 57 // loading r5 map
j_j205 8:90af8914ce03 58 r5nav.addGraphNode(0, 1, 18, 0);
j_j205 8:90af8914ce03 59 r5nav.addGraphNode(1, 0, 18, 180);
j_j205 12:e9f878ced6e7 60 r5nav.addGraphNode(1, 2, 72, 0);
j_j205 12:e9f878ced6e7 61 r5nav.addGraphNode(1, 3, 13.5, 90);
j_j205 8:90af8914ce03 62 r5nav.addGraphNode(2, 1, 72, 180);
j_j205 12:e9f878ced6e7 63 r5nav.addGraphNode(3, 1, 13.5, 270);
j_j205 8:90af8914ce03 64 r5nav.addGraphNode(3, 4, 12, 180);
j_j205 8:90af8914ce03 65 r5nav.addGraphNode(3, 5, 23, 0);
j_j205 8:90af8914ce03 66 r5nav.addGraphNode(4, 3, 12, 0);
j_j205 8:90af8914ce03 67 r5nav.addGraphNode(5, 3, 23, 180);
j_j205 8:90af8914ce03 68 r5nav.addGraphNode(5, 6, 37, 0);
j_j205 8:90af8914ce03 69 r5nav.addGraphNode(5, 8, 12, 90);
j_j205 8:90af8914ce03 70 r5nav.addGraphNode(6, 5, 37, 180);
j_j205 8:90af8914ce03 71 r5nav.addGraphNode(6, 7, 12, 0);
j_j205 8:90af8914ce03 72 r5nav.addGraphNode(7, 6, 12, 180);
j_j205 8:90af8914ce03 73 r5nav.addGraphNode(8, 5, 12, 270);
j_j205 8:90af8914ce03 74 r5nav.addGraphNode(8, 9, 35, 180);
j_j205 8:90af8914ce03 75 r5nav.addGraphNode(9, 8, 35, 0);
j_j205 28:17c17157e728 76 r5nav.addGraphNode(8, 10, 37, 0);
j_j205 28:17c17157e728 77 r5nav.addGraphNode(6, 10, 12, 90);
j_j205 28:17c17157e728 78 r5nav.addGraphNode(10, 6, 12, 270);
j_j205 28:17c17157e728 79 r5nav.addGraphNode(8, 11, 12, 90);
j_j205 28:17c17157e728 80 r5nav.addGraphNode(11, 8, 12, 270);
j_j205 28:17c17157e728 81 r5nav.addGraphNode(11, 12, 35, 180);
j_j205 28:17c17157e728 82 r5nav.addGraphNode(12, 11, 35, 0);
j_j205 28:17c17157e728 83 r5nav.addGraphNode(11, 13, 37, 0);
j_j205 28:17c17157e728 84 r5nav.addGraphNode(13, 11, 37, 180);
j_j205 28:17c17157e728 85 r5nav.addGraphNode(13, 14, 12, 0);
j_j205 28:17c17157e728 86 r5nav.addGraphNode(14, 13, 12, 180);
j_j205 28:17c17157e728 87
j_j205 8:90af8914ce03 88 const uint16_t YELLOW_VICTIM = 7;
j_j205 8:90af8914ce03 89 const uint16_t RED_VICTIM = 9;
j_j205 8:90af8914ce03 90 const uint16_t YELLOW_DROP_ZONE = 4;
j_j205 8:90af8914ce03 91 const uint16_t RED_DROP_ZONE = 2;
j_j205 15:d8940756d5d5 92 */
j_j205 20:53ab414d7b33 93
j_j205 15:d8940756d5d5 94 r5nav.getShortestPath(1);
j_j205 15:d8940756d5d5 95 pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 15:d8940756d5d5 96 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 97 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 98 wait(0.1);
j_j205 20:53ab414d7b33 99
j_j205 15:d8940756d5d5 100 r5nav.getShortestPath(2);
j_j205 15:d8940756d5d5 101 pc.printf("\n\nDistance from 1 to 2: %i\n", r5nav.getMinDist(2) );
j_j205 15:d8940756d5d5 102 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 103 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 104 wait(0.1);
j_j205 20:53ab414d7b33 105
j_j205 15:d8940756d5d5 106 r5nav.getShortestPath(3);
j_j205 15:d8940756d5d5 107 pc.printf("\n\nDistance from 2 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 8:90af8914ce03 108 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 109 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 110 wait(0.1);
j_j205 20:53ab414d7b33 111
j_j205 15:d8940756d5d5 112 r5nav.getShortestPath(0);
j_j205 15:d8940756d5d5 113 pc.printf("\n\nDistance from 3 to 0: %i\n", r5nav.getMinDist(0) );
j_j205 15:d8940756d5d5 114 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 115 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 116 wait(0.1);
j_j205 20:53ab414d7b33 117
j_j205 15:d8940756d5d5 118 /*
j_j205 15:d8940756d5d5 119 r5nav.getShortestPath(YELLOW_VICTIM);
j_j205 15:d8940756d5d5 120 pc.printf("\n\nDistance from 0 to YELLOW_VICTIM: %i\n", r5nav.getMinDist(YELLOW_VICTIM) );
j_j205 15:d8940756d5d5 121 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 122 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 123 //r5nav.setVertex(YELLOW_VICTIM)
j_j205 12:e9f878ced6e7 124 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 125 wait(0.1);
j_j205 1:1958e6db41fc 126
j_j205 8:90af8914ce03 127 r5nav.getShortestPath(YELLOW_DROP_ZONE);
j_j205 15:d8940756d5d5 128 pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
j_j205 8:90af8914ce03 129 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 130 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 131 //r5nav.setVertex(YELLOW_DROP_ZONE);
j_j205 12:e9f878ced6e7 132 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 133 wait(0.1);
j_j205 1:1958e6db41fc 134
j_j205 8:90af8914ce03 135 r5nav.getShortestPath(RED_VICTIM);
j_j205 15:d8940756d5d5 136 pc.printf("\n\nDistance from %i to RED_VICTIM: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_VICTIM) );
j_j205 8:90af8914ce03 137 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 138 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 139 //r5nav.setVertex(RED_VICTIM);
j_j205 12:e9f878ced6e7 140 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 141 wait(0.1);
j_j205 1:1958e6db41fc 142
j_j205 8:90af8914ce03 143 r5nav.getShortestPath(RED_DROP_ZONE);
j_j205 15:d8940756d5d5 144 pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
j_j205 8:90af8914ce03 145 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 146 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 147 //r5nav.setVertex(RED_DROP_ZONE);
j_j205 12:e9f878ced6e7 148 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 149 wait(0.1);
j_j205 15:d8940756d5d5 150 */
j_j205 20:53ab414d7b33 151
j_j205 15:d8940756d5d5 152 drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle
j_j205 15:d8940756d5d5 153 // wait for move to complete
j_j205 15:d8940756d5d5 154 while(!drive.isMoveDone())
j_j205 15:d8940756d5d5 155 {
j_j205 15:d8940756d5d5 156 wait(1e-6);
j_j205 15:d8940756d5d5 157 }
j_j205 20:53ab414d7b33 158
j_j205 15:d8940756d5d5 159 pc.printf("\n\nExercise Complete");
j_j205 0:a3c39d3359ac 160 return 0;
j_j205 12:e9f878ced6e7 161 }
j_j205 12:e9f878ced6e7 162
j_j205 12:e9f878ced6e7 163 void activate()
j_j205 12:e9f878ced6e7 164 {
j_j205 12:e9f878ced6e7 165 led_red = 1;
j_j205 12:e9f878ced6e7 166 led_green = 0;
j_j205 12:e9f878ced6e7 167 active = true;
j_j205 25:670a59096bf8 168 }