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@15:d8940756d5d5, 2016-02-17 (annotated)

Committer:
j_j205
Date:
Wed Feb 17 16:48:15 2016 +0000
Revision:
15:d8940756d5d5
Parent:
12:e9f878ced6e7
Child:
19:4abc62759078
Child:
20:53ab414d7b33
2/17/16 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 0:a3c39d3359ac 21
j_j205 12:e9f878ced6e7 22 led_red = 0;
j_j205 12:e9f878ced6e7 23 led_green = 1;
j_j205 12:e9f878ced6e7 24
j_j205 8:90af8914ce03 25 Navigation r5nav(10);
j_j205 8:90af8914ce03 26 pc.printf("Navigation Object Created\n\n");
j_j205 8:90af8914ce03 27 wait(0.1);
j_j205 15:d8940756d5d5 28
j_j205 15:d8940756d5d5 29 r5nav.addGraphNode(0, 1, 9.875, 0);
j_j205 15:d8940756d5d5 30 r5nav.addGraphNode(1, 0, 9.875, 180);
j_j205 15:d8940756d5d5 31 r5nav.addGraphNode(1, 2, 9.875, 270);
j_j205 15:d8940756d5d5 32 r5nav.addGraphNode(2, 1, 9.875, 90);
j_j205 15:d8940756d5d5 33 r5nav.addGraphNode(2, 3, 9.875, 180);
j_j205 15:d8940756d5d5 34 r5nav.addGraphNode(3, 2, 9.875, 0);
j_j205 15:d8940756d5d5 35 r5nav.addGraphNode(3, 0, 9.875, 90);
j_j205 15:d8940756d5d5 36 r5nav.addGraphNode(0, 3, 9.875, 270);
j_j205 1:1958e6db41fc 37
j_j205 15:d8940756d5d5 38 /*
j_j205 8:90af8914ce03 39 // loading map
j_j205 8:90af8914ce03 40 r5nav.addGraphNode(0, 1, 18, 0);
j_j205 8:90af8914ce03 41 r5nav.addGraphNode(1, 0, 18, 180);
j_j205 12:e9f878ced6e7 42 r5nav.addGraphNode(1, 2, 72, 0);
j_j205 12:e9f878ced6e7 43 r5nav.addGraphNode(1, 3, 13.5, 90);
j_j205 8:90af8914ce03 44 r5nav.addGraphNode(2, 1, 72, 180);
j_j205 12:e9f878ced6e7 45 r5nav.addGraphNode(3, 1, 13.5, 270);
j_j205 8:90af8914ce03 46 r5nav.addGraphNode(3, 4, 12, 180);
j_j205 8:90af8914ce03 47 r5nav.addGraphNode(3, 5, 23, 0);
j_j205 8:90af8914ce03 48 r5nav.addGraphNode(4, 3, 12, 0);
j_j205 8:90af8914ce03 49 r5nav.addGraphNode(5, 3, 23, 180);
j_j205 8:90af8914ce03 50 r5nav.addGraphNode(5, 6, 37, 0);
j_j205 8:90af8914ce03 51 r5nav.addGraphNode(5, 8, 12, 90);
j_j205 8:90af8914ce03 52 r5nav.addGraphNode(6, 5, 37, 180);
j_j205 8:90af8914ce03 53 r5nav.addGraphNode(6, 7, 12, 0);
j_j205 8:90af8914ce03 54 r5nav.addGraphNode(7, 6, 12, 180);
j_j205 8:90af8914ce03 55 r5nav.addGraphNode(8, 5, 12, 270);
j_j205 8:90af8914ce03 56 r5nav.addGraphNode(8, 9, 35, 180);
j_j205 8:90af8914ce03 57 r5nav.addGraphNode(9, 8, 35, 0);
j_j205 8:90af8914ce03 58
j_j205 8:90af8914ce03 59 const uint16_t YELLOW_VICTIM = 7;
j_j205 8:90af8914ce03 60 const uint16_t RED_VICTIM = 9;
j_j205 8:90af8914ce03 61 const uint16_t YELLOW_DROP_ZONE = 4;
j_j205 8:90af8914ce03 62 const uint16_t RED_DROP_ZONE = 2;
j_j205 15:d8940756d5d5 63 */
j_j205 15:d8940756d5d5 64 StepperDrive drive(pc, PTE19, PTE18, 0, PTE3, PTE2, 1, 9.875, 6.4375, 500);
j_j205 15:d8940756d5d5 65 //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
j_j205 1:1958e6db41fc 66
j_j205 8:90af8914ce03 67 pc.printf("Size of graph is %i\n", r5nav.graphSize() );
j_j205 8:90af8914ce03 68 wait(0.1);
j_j205 15:d8940756d5d5 69
j_j205 15:d8940756d5d5 70
j_j205 8:90af8914ce03 71
j_j205 12:e9f878ced6e7 72 pc.printf("\nWaiting for START BUTTON\n");
j_j205 12:e9f878ced6e7 73 while(!active) // wait for start_button
j_j205 12:e9f878ced6e7 74 {
j_j205 12:e9f878ced6e7 75 wait(1e-6);
j_j205 12:e9f878ced6e7 76 }
j_j205 12:e9f878ced6e7 77
j_j205 15:d8940756d5d5 78 r5nav.getShortestPath(1);
j_j205 15:d8940756d5d5 79 pc.printf("\n\nDistance from 0 to 1: %i\n", r5nav.getMinDist(1) );
j_j205 15:d8940756d5d5 80 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 81 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 82 wait(0.1);
j_j205 15:d8940756d5d5 83
j_j205 15:d8940756d5d5 84 r5nav.getShortestPath(2);
j_j205 15:d8940756d5d5 85 pc.printf("\n\nDistance from 1 to 2: %i\n", r5nav.getMinDist(2) );
j_j205 15:d8940756d5d5 86 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 87 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 88 wait(0.1);
j_j205 15:d8940756d5d5 89
j_j205 15:d8940756d5d5 90 r5nav.getShortestPath(3);
j_j205 15:d8940756d5d5 91 pc.printf("\n\nDistance from 2 to 3: %i\n", r5nav.getMinDist(3) );
j_j205 8:90af8914ce03 92 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 93 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 94 wait(0.1);
j_j205 15:d8940756d5d5 95
j_j205 15:d8940756d5d5 96 r5nav.getShortestPath(0);
j_j205 15:d8940756d5d5 97 pc.printf("\n\nDistance from 3 to 0: %i\n", r5nav.getMinDist(0) );
j_j205 15:d8940756d5d5 98 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 99 r5nav.executeRoute(pc, drive);
j_j205 15:d8940756d5d5 100 wait(0.1);
j_j205 15:d8940756d5d5 101
j_j205 15:d8940756d5d5 102 /*
j_j205 15:d8940756d5d5 103 r5nav.getShortestPath(YELLOW_VICTIM);
j_j205 15:d8940756d5d5 104 pc.printf("\n\nDistance from 0 to YELLOW_VICTIM: %i\n", r5nav.getMinDist(YELLOW_VICTIM) );
j_j205 15:d8940756d5d5 105 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 106 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 107 //r5nav.setVertex(YELLOW_VICTIM)
j_j205 12:e9f878ced6e7 108 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 109 wait(0.1);
j_j205 1:1958e6db41fc 110
j_j205 8:90af8914ce03 111 r5nav.getShortestPath(YELLOW_DROP_ZONE);
j_j205 15:d8940756d5d5 112 pc.printf("\n\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
j_j205 8:90af8914ce03 113 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 114 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 115 //r5nav.setVertex(YELLOW_DROP_ZONE);
j_j205 12:e9f878ced6e7 116 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 117 wait(0.1);
j_j205 1:1958e6db41fc 118
j_j205 8:90af8914ce03 119 r5nav.getShortestPath(RED_VICTIM);
j_j205 15:d8940756d5d5 120 pc.printf("\n\nDistance from %i to RED_VICTIM: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_VICTIM) );
j_j205 8:90af8914ce03 121 pc.printf("Route:\n");
j_j205 15:d8940756d5d5 122 //r5nav.printRoute(pc);
j_j205 15:d8940756d5d5 123 //r5nav.setVertex(RED_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(RED_DROP_ZONE);
j_j205 15:d8940756d5d5 128 pc.printf("\n\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_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(RED_DROP_ZONE);
j_j205 12:e9f878ced6e7 132 r5nav.executeRoute(pc, drive);
j_j205 8:90af8914ce03 133 wait(0.1);
j_j205 15:d8940756d5d5 134 */
j_j205 11:b5f75d25a4b3 135
j_j205 15:d8940756d5d5 136 drive.move(0, ((90.0)*(3.14159 / 180.0))); // return to initial angle
j_j205 15:d8940756d5d5 137 // wait for move to complete
j_j205 15:d8940756d5d5 138 while(!drive.isMoveDone())
j_j205 15:d8940756d5d5 139 {
j_j205 15:d8940756d5d5 140 wait(1e-6);
j_j205 15:d8940756d5d5 141 }
j_j205 15:d8940756d5d5 142
j_j205 15:d8940756d5d5 143 pc.printf("\n\nExercise Complete");
j_j205 0:a3c39d3359ac 144 return 0;
j_j205 12:e9f878ced6e7 145 }
j_j205 12:e9f878ced6e7 146
j_j205 12:e9f878ced6e7 147 void activate()
j_j205 12:e9f878ced6e7 148 {
j_j205 12:e9f878ced6e7 149 led_red = 1;
j_j205 12:e9f878ced6e7 150 led_green = 0;
j_j205 12:e9f878ced6e7 151 active = true;
j_j205 1:1958e6db41fc 152 }