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

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Dependencies:   mbed navigation R5_StepperDrive LongRangeSensor DistanceSensor scanner Gripper ColorSensor

Files at this revision

API Documentation at this revision

Revision 12:e9f878ced6e7, committed 2016-01-27

Comitter:
j_j205
Date:
Wed Jan 27 20:48:55 2016 +0000
Parent:
11:b5f75d25a4b3
Child:
13:856474c5df5c
Commit message:
1/27/16 updated JJ

Changed in this revision

R5_StepperDrive.lib Show annotated file Show diff for this revision Revisions of this file
Short_Distance_Sensor.lib Show annotated file Show diff for this revision Revisions of this file
StepperMotor.lib Show diff for this revision Revisions of this file
navigation.lib Show annotated file Show diff for this revision Revisions of this file
r5driver.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/R5_StepperDrive.lib	Wed Jan 27 20:48:55 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/j_j205/code/R5_StepperDrive/#909572175aad

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Short_Distance_Sensor.lib	Wed Jan 27 20:48:55 2016 +0000
@@ -0,0 +1,1 @@
+Short_Distance_Sensor#375445d76687

--- a/StepperMotor.lib	Sun Nov 22 19:33:03 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/teams/Texas-State-IEEE-Robotics/code/StepperMotor/#67ff59ba669b

--- a/navigation.lib	Sun Nov 22 19:33:03 2015 +0000
+++ b/navigation.lib	Wed Jan 27 20:48:55 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/Texas-State-IEEE-Robotics/code/navigation/#a53d97b74fab
+https://developer.mbed.org/teams/Texas-State-IEEE-Robotics/code/navigation/#17bd430aeca1

--- a/r5driver.cpp	Sun Nov 22 19:33:03 2015 +0000
+++ b/r5driver.cpp	Wed Jan 27 20:48:55 2016 +0000
@@ -1,14 +1,25 @@
-#include "StepperMotor.h"
 #include "navigation.h"
+#include "StepperDrive.h"
 #include "stdint.h"
 #include "mbed.h"
 
 Serial pc(USBTX, USBRX);
+InterruptIn start(SW1);
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+bool active = false;
+
+void activate();
 
 int main()
 {
     pc.baud(115200);
+    start.mode(PullUp); /* Start/Stop button is active low needing PullUp */
+    start.fall(&activate);
     
+    led_red = 0;
+    led_green = 1;
+       
     Navigation r5nav(10);
     pc.printf("Navigation Object Created\n\n");
     wait(0.1);
@@ -16,10 +27,10 @@
     // loading map
     r5nav.addGraphNode(0, 1, 18, 0);
     r5nav.addGraphNode(1, 0, 18, 180);
-    r5nav.addGraphNode(1, 2, 7, 0);
-    r5nav.addGraphNode(1, 3, 1, 90);
+    r5nav.addGraphNode(1, 2, 72, 0);
+    r5nav.addGraphNode(1, 3, 13.5, 90);
     r5nav.addGraphNode(2, 1, 72, 180);
-    r5nav.addGraphNode(3, 1, 13, 270);
+    r5nav.addGraphNode(3, 1, 13.5, 270);
     r5nav.addGraphNode(3, 4, 12, 180);
     r5nav.addGraphNode(3, 5, 23, 0);
     r5nav.addGraphNode(4, 3, 12, 0);
@@ -37,39 +48,59 @@
     const uint16_t RED_VICTIM = 9;
     const uint16_t YELLOW_DROP_ZONE = 4;
     const uint16_t RED_DROP_ZONE = 2;
+    
+    StepperDrive drive(pc, PTE19, PTE18, 1,PTE3, PTE2, 0, 5.0, 5.0, 1000);
+              //(stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
 
     pc.printf("Size of graph is %i\n", r5nav.graphSize() );
     wait(0.1);
 
+    pc.printf("\nWaiting for START BUTTON\n");
+    while(!active) // wait for start_button
+    {
+        wait(1e-6);
+    }
+    
     r5nav.getShortestPath(YELLOW_VICTIM);
     pc.printf("\nDistance from 0 to YELLOW_VICTIM: %i\n", r5nav.getMinDist(YELLOW_VICTIM) );
     pc.printf("Route:\n");
-    r5nav.printRoute(pc);
-    r5nav.setVertex(YELLOW_VICTIM);
+    /*r5nav.printRoute(pc);
+    r5nav.setVertex(YELLOW_VICTIM);*/
+    r5nav.executeRoute(pc, drive);
     wait(0.1);
 
     r5nav.getShortestPath(YELLOW_DROP_ZONE);
     pc.printf("\nDistance from %i to YELLOW_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(YELLOW_DROP_ZONE) );
     pc.printf("Route:\n");
-    r5nav.printRoute(pc);
-    r5nav.setVertex(YELLOW_DROP_ZONE);
+    /*r5nav.printRoute(pc);
+    r5nav.setVertex(YELLOW_DROP_ZONE);*/
+    r5nav.executeRoute(pc, drive);
     wait(0.1);
 
     r5nav.getShortestPath(RED_VICTIM);
     pc.printf("\nDistance from %i to RED_VICTIM: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_VICTIM) );
     pc.printf("Route:\n");
-    r5nav.printRoute(pc);
-    r5nav.setVertex(RED_VICTIM);
+    /*r5nav.printRoute(pc);
+    r5nav.setVertex(RED_VICTIM);*/
+    r5nav.executeRoute(pc, drive);
     wait(0.1);
 
     r5nav.getShortestPath(RED_DROP_ZONE);
     pc.printf("\nDistance from %i to RED_DROP_ZONE: %i\n", r5nav.getVertex(), r5nav.getMinDist(RED_DROP_ZONE) );
     pc.printf("Route:\n");
-    r5nav.printRoute(pc);
-    r5nav.setVertex(RED_DROP_ZONE);
+    /*r5nav.printRoute(pc);
+    r5nav.setVertex(RED_DROP_ZONE);*/
+    r5nav.executeRoute(pc, drive);
     wait(0.1);
     
-    r5nav.printGraph(pc);
+    //r5nav.printGraph(pc);
 
     return 0;
+}
+
+void activate()
+{
+    led_red = 1;
+    led_green = 0;
+    active = true;
 }
\ No newline at end of file