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Dependencies:   mbed

main.cpp@15:151e59899221, 2017-05-20 (annotated)

Committer:
kolanery
Date:
Sat May 20 05:17:47 2017 +0000
Revision:
15:151e59899221
Parent:
14:a646667ac9ea
Child:
16:c26d8e007df5
update working version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kolanery 0:cb667de3a336 1 #include "drivecontrol.h"
szh66 6:1bcfda49e146 2 //#include "pin_assignment.h"
kolanery 4:73510c7fa316 3 #include "io_modules.h"
szh66 6:1bcfda49e146 4 #include "mbed.h"
szh66 6:1bcfda49e146 5
szh66 6:1bcfda49e146 6 // Battery Debugger Interface
szh66 6:1bcfda49e146 7 AnalogIn battery(PA_3);
szh66 6:1bcfda49e146 8
szh66 6:1bcfda49e146 9
szh66 6:1bcfda49e146 10 // Led Debugger Interface
szh66 6:1bcfda49e146 11 DigitalOut led_1(PB_12);
szh66 6:1bcfda49e146 12 DigitalOut led_2(PB_13);
szh66 6:1bcfda49e146 13 DigitalOut led_3(PB_14);
szh66 6:1bcfda49e146 14 DigitalOut led_4(PB_15);
szh66 6:1bcfda49e146 15
szh66 6:1bcfda49e146 16 // System io
szh66 6:1bcfda49e146 17 Serial serial (PA_9, PA_10);
kolanery 2:619b02232144 18
kolanery 0:cb667de3a336 19 // Define states for debugging the mouse hardware
kolanery 2:619b02232144 20 // const int DRIVE = 1, TURN = 2, DEBUG = 3, STOP = 4;
kolanery 0:cb667de3a336 21 // Direction of which to turn
kolanery 2:619b02232144 22 // const int LEFT = 0, RIGHT = 1;
kolanery 0:cb667de3a336 23 // Start and End Pos
kolanery 14:a646667ac9ea 24 const int STRAIGHT = 0, LEFT = 1, RIGHT = 2;
kolanery 0:cb667de3a336 25 const int START_POS = 0, END_POS = 0;
kolanery 2:619b02232144 26
kolanery 0:cb667de3a336 27 // Terminating condition for the main control loop
kolanery 0:cb667de3a336 28 bool hasFoundCenter = false;
kolanery 0:cb667de3a336 29
kolanery 0:cb667de3a336 30 // Battery Consumption Indicator
kolanery 0:cb667de3a336 31 void setup() {
szh66 6:1bcfda49e146 32 // pc.baud(9600);
kolanery 4:73510c7fa316 33 // using the serial functions will have an impact on timing.
kolanery 15:151e59899221 34 // serial.printf("voltage value is: %3.3f%%\r\n", battery.read()*100.0f);
kolanery 4:73510c7fa316 35 // serial.printf("normalized: 0x%04X \r\n", battery.read_u16());
kolanery 15:151e59899221 36 if (battery.read() < 0.70f){
kolanery 0:cb667de3a336 37 // flash led
kolanery 4:73510c7fa316 38 led_1 = 1;
kolanery 4:73510c7fa316 39 led_2 = 1;
kolanery 4:73510c7fa316 40 led_3 = 1;
kolanery 4:73510c7fa316 41 led_4 = 1;
kolanery 15:151e59899221 42 }
kolanery 0:cb667de3a336 43 }
kolanery 0:cb667de3a336 44
kolanery 0:cb667de3a336 45 // Performs the basic drive control of the mouse
kolanery 0:cb667de3a336 46 int main() {
kolanery 4:73510c7fa316 47 DriveControl * driver = new DriveControl (START_POS, END_POS);
kolanery 14:a646667ac9ea 48 driver->resetEncoders();
kolanery 14:a646667ac9ea 49 int state;
kolanery 14:a646667ac9ea 50 bool finished_traverse_one_cell = true;
kolanery 2:619b02232144 51 while(1) {
kolanery 2:619b02232144 52 setup();
kolanery 14:a646667ac9ea 53 // switch state
kolanery 15:151e59899221 54 wait_ms(1);
kolanery 14:a646667ac9ea 55 if (finished_traverse_one_cell == true) {
kolanery 14:a646667ac9ea 56 if (!driver->has_front_wall()) {
kolanery 14:a646667ac9ea 57 state = STRAIGHT;
kolanery 15:151e59899221 58 driver->resetEncoders();
kolanery 15:151e59899221 59 }
kolanery 15:151e59899221 60 else if (!driver->has_left_wall()) {
kolanery 15:151e59899221 61 state = LEFT;
kolanery 15:151e59899221 62 driver->resetEncoders();
kolanery 15:151e59899221 63 }
kolanery 15:151e59899221 64 else {
kolanery 15:151e59899221 65 state = RIGHT;
kolanery 15:151e59899221 66 driver->resetEncoders();
kolanery 15:151e59899221 67 }
kolanery 15:151e59899221 68 finished_traverse_one_cell = false;
kolanery 15:151e59899221 69
kolanery 15:151e59899221 70 /*
kolanery 15:151e59899221 71 if (!driver->has_left_wall()) {
kolanery 15:151e59899221 72 state = LEFT;
kolanery 15:151e59899221 73 driver->resetEncoders();
kolanery 14:a646667ac9ea 74 }
kolanery 14:a646667ac9ea 75 else if (!driver->has_right_wall()) {
kolanery 15:151e59899221 76 state = RIGHT;
kolanery 15:151e59899221 77 driver->resetEncoders();
kolanery 14:a646667ac9ea 78 }
kolanery 14:a646667ac9ea 79 else {
kolanery 15:151e59899221 80 state = STRAIGHT;
kolanery 15:151e59899221 81 driver->resetEncoders();
kolanery 14:a646667ac9ea 82 }
kolanery 15:151e59899221 83 finished_traverse_one_cell = false;*/
kolanery 7:7215adbae3da 84 }
kolanery 14:a646667ac9ea 85
kolanery 14:a646667ac9ea 86 if (state == STRAIGHT) {
kolanery 15:151e59899221 87 if (!driver->has_front_wall()) {
kolanery 14:a646667ac9ea 88 driver->drive_forward();
kolanery 14:a646667ac9ea 89 }
kolanery 14:a646667ac9ea 90 else {
kolanery 15:151e59899221 91 driver->stop();
kolanery 15:151e59899221 92 wait(0.5);
kolanery 15:151e59899221 93 led_1 = 1;
kolanery 15:151e59899221 94 led_2 = 1;
kolanery 15:151e59899221 95 led_3 = 0;
kolanery 15:151e59899221 96 led_4 = 0;
kolanery 14:a646667ac9ea 97 finished_traverse_one_cell = true;
kolanery 14:a646667ac9ea 98 continue;
kolanery 14:a646667ac9ea 99 }
kolanery 7:7215adbae3da 100 }
kolanery 14:a646667ac9ea 101 if (state == RIGHT) {
kolanery 14:a646667ac9ea 102 if (!driver->should_finish_turn_right()) {
kolanery 14:a646667ac9ea 103 driver->turn_right();
kolanery 14:a646667ac9ea 104 }
kolanery 14:a646667ac9ea 105 else {
kolanery 14:a646667ac9ea 106 driver->stop();
kolanery 15:151e59899221 107 wait(0.5);
kolanery 15:151e59899221 108 led_1 = 0;
kolanery 15:151e59899221 109 led_2 = 1;
kolanery 14:a646667ac9ea 110 led_3 = 1;
kolanery 15:151e59899221 111 led_4 = 0;
kolanery 14:a646667ac9ea 112 finished_traverse_one_cell = true;
kolanery 14:a646667ac9ea 113 continue;
kolanery 14:a646667ac9ea 114 }
kolanery 14:a646667ac9ea 115 }
kolanery 14:a646667ac9ea 116 if (state == LEFT) {
kolanery 14:a646667ac9ea 117 if (!driver->should_finish_turn_left()) {
kolanery 14:a646667ac9ea 118 driver->turn_left();
kolanery 14:a646667ac9ea 119 }
kolanery 14:a646667ac9ea 120 else {
kolanery 14:a646667ac9ea 121 driver->stop();
kolanery 15:151e59899221 122 wait(0.5);
kolanery 15:151e59899221 123 led_1 = 0;
kolanery 15:151e59899221 124 led_2 = 0;
kolanery 15:151e59899221 125 led_3 = 1;
kolanery 14:a646667ac9ea 126 led_4 = 1;
kolanery 14:a646667ac9ea 127 finished_traverse_one_cell = true;
kolanery 14:a646667ac9ea 128 continue;
kolanery 14:a646667ac9ea 129 }
kolanery 15:151e59899221 130 }
kolanery 15:151e59899221 131
kolanery 0:cb667de3a336 132 }
kolanery 2:619b02232144 133 }