![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Code to drive Team 1's robot for the 2016 R5 robotics competition.
Dependencies: mbed navigation R5_StepperDrive LongRangeSensor DistanceSensor scanner Gripper ColorSensor
Revision 45:9a7ddd922706, committed 2016-04-09
- Comitter:
- Hypna
- Date:
- Sat Apr 09 11:01:18 2016 +0000
- Parent:
- 44:d4207182bfc2
- Commit message:
- Added some more debug
Changed in this revision
ColorSensor.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 |
diff -r d4207182bfc2 -r 9a7ddd922706 ColorSensor.lib --- a/ColorSensor.lib Sat Apr 09 03:29:24 2016 +0000 +++ b/ColorSensor.lib Sat Apr 09 11:01:18 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/teams/Texas-State-IEEE-Robotics/code/ColorSensor/#42c0a779b199 +http://mbed.org/teams/Texas-State-IEEE-Robotics/code/ColorSensor/#b4139bd2715f
diff -r d4207182bfc2 -r 9a7ddd922706 r5driver.cpp --- a/r5driver.cpp Sat Apr 09 03:29:24 2016 +0000 +++ b/r5driver.cpp Sat Apr 09 11:01:18 2016 +0000 @@ -4,7 +4,6 @@ #include "navigation.h" #include "Gripper.h" - Serial pc(USBTX, USBRX); Serial bluetooth(PTE16,PTE17); // bluetooth InterruptIn start(SW1); @@ -21,6 +20,8 @@ led_red = 1; led_green = 0; active = true; + pc.printf("Activated\n\r"); + bluetooth.printf("Activated\n\r"); } int main() @@ -35,22 +36,22 @@ LongRangeSensor longRangeL(bluetooth, PTB2); LongRangeSensor longRangeR(bluetooth, PTB3); -pc.printf("\nLong Range Sensors created"); -bluetooth.printf("\nLong Range Sensors created"); + pc.printf("\nLong Range Sensors created"); + bluetooth.printf("\nLong Range Sensors created"); StepperDrive drive(bluetooth, PTE19, PTE18, 1, PTE3, PTE2, PTE22, 0, 10.0625, 8.1875, 700); // 8.4800 /* (serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs) */ -pc.printf("\nStepperDrive created"); -bluetooth.printf("\nStepperDrive created"); + pc.printf("\nStepperDrive created"); + bluetooth.printf("\nStepperDrive created"); // Gripper gripper(PTE20, PTE21); // grip pin, wrist pin Navigation r5map(bluetooth, drive, longRangeL, longRangeR, led_red, led_green, 61); -pc.printf("\nNavigation created"); -bluetooth.printf("\nNavigation created"); + pc.printf("\nNavigation created"); + bluetooth.printf("\nNavigation created"); //loading r5 map... r5map.addGraphNode(0, 1, 6.75, 0); @@ -175,8 +176,14 @@ r5map.addGraphNode(59, 60, 2, 270); r5map.addGraphNode(60, 59, 2, 90); -// gripper.lift(); -// gripper.release(); + pc.printf("Map loaded\n\r"); + bluetooth.printf("Map loaded\n\r"); + + gripper.lift(); + gripper.release(); + + pc.printf("Gripper positioned\n\r"); + bluetooth.printf("Gripper positioned\n\r"); const uint8_t V1 = 23; const uint8_t V2 = 35; @@ -189,6 +196,7 @@ pc.printf("\nWaiting for START BUTTON\n"); bluetooth.printf("\nWaiting for START BUTTON\n"); + while(!active) // wait for start_button { wait(1e-6);