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@26:d99d078921a0, 2016-03-22 (annotated)

Committer:
j_j205
Date:
Tue Mar 22 03:00:41 2016 +0000
Revision:
26:d99d078921a0
Parent:
25:670a59096bf8
Child:
28:17c17157e728
3/21/16 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 12:e9f878ced6e7 9 InterruptIn start(SW1);
j_j205 12:e9f878ced6e7 10 DigitalOut led_red(LED_RED);
j_j205 12:e9f878ced6e7 11 DigitalOut led_green(LED_GREEN);
j_j205 12:e9f878ced6e7 12 bool active = false;
j_j205 12:e9f878ced6e7 13
j_j205 12:e9f878ced6e7 14 void activate();
j_j205 0:a3c39d3359ac 15
j_j205 0:a3c39d3359ac 16 int main()
j_j205 0:a3c39d3359ac 17 {
j_j205 0:a3c39d3359ac 18 pc.baud(115200);
j_j205 12:e9f878ced6e7 19 start.mode(PullUp); /* Start/Stop button is active low needing PullUp */
j_j205 12:e9f878ced6e7 20 start.fall(&activate);
j_j205 20:53ab414d7b33 21
j_j205 12:e9f878ced6e7 22 led_red = 0;
j_j205 12:e9f878ced6e7 23 led_green = 1;
j_j205 20:53ab414d7b33 24
j_j205 25:670a59096bf8 25 pc.printf("\nWaiting for START BUTTON\n");
j_j205 25:670a59096bf8 26 while(!active) // wait for start_button
j_j205 25:670a59096bf8 27 {
j_j205 25:670a59096bf8 28 wait(1e-6);
j_j205 25:670a59096bf8 29 }
j_j205 25:670a59096bf8 30
j_j205 25:670a59096bf8 31 StepperDrive drive(pc, PTE19, PTE18, 0, PTE3, PTE2, 1, 10.0625, 8.3750, 500);
j_j205 25:670a59096bf8 32 //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
j_j205 25:670a59096bf8 33
j_j205 25:670a59096bf8 34 VL6180x shortRangeL(PTE0, PTE1, 0x52); // I2C1, 0x29 left-shifted by 1 bit
j_j205 25:670a59096bf8 35 VL6180x shortRangeR(PTC9, PTC8, 0x52); // I2C0, 0x29 left-shifted by 1 bit
j_j205 26:d99d078921a0 36 LongRangeSensor longRangeL(pc, PTB2);
j_j205 26:d99d078921a0 37 LongRangeSensor longRangeR(pc, PTB3);
j_j205 25:670a59096bf8 38
j_j205 25:670a59096bf8 39 Scanner scanner(pc, PTB0, PTB1, shortRangeL, shortRangeR, longRangeL, longRangeR, 0.075);
j_j205 25:670a59096bf8 40 // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period)
j_j205 25:670a59096bf8 41
j_j205 25:670a59096bf8 42 Navigation r5nav(scanner, 10);
j_j205 8:90af8914ce03 43 wait(0.1);
j_j205 20:53ab414d7b33 44
j_j205 25:670a59096bf8 45 r5nav.addGraphNode(0, 1, 10.0625, 0);
j_j205 25:670a59096bf8 46 r5nav.addGraphNode(1, 0, 10.0625, 180);
j_j205 25:670a59096bf8 47 r5nav.addGraphNode(1, 2, 10.0625, 270);
j_j205 25:670a59096bf8 48 r5nav.addGraphNode(2, 1, 10.0625, 90);
j_j205 25:670a59096bf8 49 r5nav.addGraphNode(2, 3, 10.0625, 180);
j_j205 25:670a59096bf8 50 r5nav.addGraphNode(3, 2, 10.0625, 0);
j_j205 25:670a59096bf8 51 r5nav.addGraphNode(3, 0, 10.0625, 90);
j_j205 25:670a59096bf8 52 r5nav.addGraphNode(0, 3, 10.0625, 270);
j_j205 1:1958e6db41fc 53
j_j205 15:d8940756d5d5 54 /*
j_j205 20:53ab414d7b33 55 // loading r5 map
j_j205 8:90af8914ce03 56 r5nav.addGraphNode(0, 1, 18, 0);
j_j205 8:90af8914ce03 57 r5nav.addGraphNode(1, 0, 18, 180);
j_j205 12:e9f878ced6e7 58 r5nav.addGraphNode(1, 2, 72, 0);
j_j205 12:e9f878ced6e7 59 r5nav.addGraphNode(1, 3, 13.5, 90);
j_j205 8:90af8914ce03 60 r5nav.addGraphNode(2, 1, 72, 180);
j_j205 12:e9f878ced6e7 61 r5nav.addGraphNode(3, 1, 13.5, 270);
j_j205 8:90af8914ce03 62 r5nav.addGraphNode(3, 4, 12, 180);
j_j205 8:90af8914ce03 63 r5nav.addGraphNode(3, 5, 23, 0);
j_j205 8:90af8914ce03 64 r5nav.addGraphNode(4, 3, 12, 0);
j_j205 8:90af8914ce03 65 r5nav.addGraphNode(5, 3, 23, 180);
j_j205 8:90af8914ce03 66 r5nav.addGraphNode(5, 6, 37, 0);
j_j205 8:90af8914ce03 67 r5nav.addGraphNode(5, 8, 12, 90);
j_j205 8:90af8914ce03 68 r5nav.addGraphNode(6, 5, 37, 180);
j_j205 8:90af8914ce03 69 r5nav.addGraphNode(6, 7, 12, 0);
j_j205 8:90af8914ce03 70 r5nav.addGraphNode(7, 6, 12, 180);
j_j205 8:90af8914ce03 71 r5nav.addGraphNode(8, 5, 12, 270);
j_j205 8:90af8914ce03 72 r5nav.addGraphNode(8, 9, 35, 180);
j_j205 8:90af8914ce03 73 r5nav.addGraphNode(9, 8, 35, 0);
j_j205 20:53ab414d7b33 74
j_j205 8:90af8914ce03 75 const uint16_t YELLOW_VICTIM = 7;
j_j205 8:90af8914ce03 76 const uint16_t RED_VICTIM = 9;
j_j205 8:90af8914ce03 77 const uint16_t YELLOW_DROP_ZONE = 4;
j_j205 8:90af8914ce03 78 const uint16_t RED_DROP_ZONE = 2;
j_j205 15:d8940756d5d5 79 */
j_j205 20:53ab414d7b33 80
j_j205 15:d8940756d5d5 81 r5nav.getShortestPath(1);
j_j205 15:d8940756d5d5 82 pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 15:d8940756d5d5 83 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 84 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 85 wait(0.1);
j_j205 20:53ab414d7b33 86
j_j205 15:d8940756d5d5 87 r5nav.getShortestPath(2);
j_j205 15:d8940756d5d5 88 pc.printf("\n\nDistance from 1 to 2: %i\n", r5nav.getMinDist(2) );
j_j205 15:d8940756d5d5 89 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 90 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 91 wait(0.1);
j_j205 20:53ab414d7b33 92
j_j205 15:d8940756d5d5 93 r5nav.getShortestPath(3);
j_j205 15:d8940756d5d5 94 pc.printf("\n\nDistance from 2 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 8:90af8914ce03 95 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 96 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 97 wait(0.1);
j_j205 20:53ab414d7b33 98
j_j205 15:d8940756d5d5 99 r5nav.getShortestPath(0);
j_j205 15:d8940756d5d5 100 pc.printf("\n\nDistance from 3 to 0: %i\n", r5nav.getMinDist(0) );
j_j205 15:d8940756d5d5 101 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 102 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 103 wait(0.1);
j_j205 20:53ab414d7b33 104
j_j205 15:d8940756d5d5 105 /*
j_j205 15:d8940756d5d5 106 r5nav.getShortestPath(YELLOW_VICTIM);
j_j205 15:d8940756d5d5 107 pc.printf("\n\nDistance from 0 to YELLOW_VICTIM: %i\n", r5nav.getMinDist(YELLOW_VICTIM) );
j_j205 15:d8940756d5d5 108 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 109 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 110 //r5nav.setVertex(YELLOW_VICTIM)
j_j205 12:e9f878ced6e7 111 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 112 wait(0.1);
j_j205 1:1958e6db41fc 113
j_j205 8:90af8914ce03 114 r5nav.getShortestPath(YELLOW_DROP_ZONE);
j_j205 15:d8940756d5d5 115 pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
j_j205 8:90af8914ce03 116 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 117 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 118 //r5nav.setVertex(YELLOW_DROP_ZONE);
j_j205 12:e9f878ced6e7 119 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 120 wait(0.1);
j_j205 1:1958e6db41fc 121
j_j205 8:90af8914ce03 122 r5nav.getShortestPath(RED_VICTIM);
j_j205 15:d8940756d5d5 123 pc.printf("\n\nDistance from %i to RED_VICTIM: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_VICTIM) );
j_j205 8:90af8914ce03 124 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 125 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 126 //r5nav.setVertex(RED_VICTIM);
j_j205 12:e9f878ced6e7 127 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 128 wait(0.1);
j_j205 1:1958e6db41fc 129
j_j205 8:90af8914ce03 130 r5nav.getShortestPath(RED_DROP_ZONE);
j_j205 15:d8940756d5d5 131 pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
j_j205 8:90af8914ce03 132 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 133 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 134 //r5nav.setVertex(RED_DROP_ZONE);
j_j205 12:e9f878ced6e7 135 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 136 wait(0.1);
j_j205 15:d8940756d5d5 137 */
j_j205 20:53ab414d7b33 138
j_j205 15:d8940756d5d5 139 drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle
j_j205 15:d8940756d5d5 140 // wait for move to complete
j_j205 15:d8940756d5d5 141 while(!drive.isMoveDone())
j_j205 15:d8940756d5d5 142 {
j_j205 15:d8940756d5d5 143 wait(1e-6);
j_j205 15:d8940756d5d5 144 }
j_j205 20:53ab414d7b33 145
j_j205 15:d8940756d5d5 146 pc.printf("\n\nExercise Complete");
j_j205 0:a3c39d3359ac 147 return 0;
j_j205 12:e9f878ced6e7 148 }
j_j205 12:e9f878ced6e7 149
j_j205 12:e9f878ced6e7 150 void activate()
j_j205 12:e9f878ced6e7 151 {
j_j205 12:e9f878ced6e7 152 led_red = 1;
j_j205 12:e9f878ced6e7 153 led_green = 0;
j_j205 12:e9f878ced6e7 154 active = true;
j_j205 25:670a59096bf8 155 }