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Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
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main.cpp
- Committer:
- tashworth
- Date:
- 2014-03-03
- Revision:
- 2:4e082e4c255d
- Parent:
- 1:fe4a0b47ff25
- Child:
- 3:b7b4780a7f6e
File content as of revision 2:4e082e4c255d:
#include "mbed.h" #include "Adafruit_PWMServoDriver.h" #include "ShapeDetect.h" Serial pc(USBTX,USBRX); Adafruit_PWMServoDriver pwm(p9,p10); DigitalOut ServoOutputDisable(p8); extern Serial lrf; //Servo Positions #define STORE_POSITION 0 #define OIL_RIG1 1 #define OIL_RIG2 2 #define OIL_RIG3 3 #define IMG_SHAPE_1 4 #define IMG_SHAPE_2 5 #define IMG_SHAPE_3 6 #define GRASP_SHAPE_1 7 #define GRASP_SHAPE_2 8 #define GRASP_SHAPE_3 9 #define INSERT_TOOL_1 10 #define INSERT_TOOL_2 11 #define INSERT_TOOL_3 11 void servoBegin(void); void initServoDriver(void); void setServoPulse(uint8_t n, float pulse); void setServoPulseNo_delay(uint8_t n, float pulse); void servoPosition(int set); /************ Variables for Servos *************/ int servoNum, pulseWidth, outputDisabled, posNum; int currentPosition[7]; typedef struct {int arm_action; int base_rotate; int base_arm; int lil_arm; int big_arm; int claw_arm; int claw_rotate; int claw_open;} Coord; Coord Arm_Table[] = { // POSITION ODER: // base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position {OIL_RIG1, 1500, 1400, 1900, 900, 900, 0, 0}, // point laser at oilrig2 {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position }; int main() { /***************** INITIALIZATIONS *******************/ //pc.baud(115200); //Laser Range Finder Initialization //lrf_baudCalibration(); //Servo initialization initServoDriver(); servoBegin(); // initiates servos to start position ServoOutputDisable = 0; while(1){ if(pc.readable()){ /* pc.scanf("%d %d %d", &outputDisabled, &servoNum, &pulseWidth); setServoPulse(servoNum, pulseWidth); */ pc.scanf("%d", &posNum); servoPosition(posNum); } } /************************************************** * FIRST STAGE * * - DETERMINE OIL RIG ON FIRE * - DETERMINE PATH * **************************************************/ //TODO: EXTEND ARM AND FACE OILRIGS //OILRIG 1 DISTANCE READING //TODO: ROTATE ARM TO NEXT OIL RIG //OILRIG 2 DISTANCE READING //ROTATE ARM TO NEXT OIL RIG //OILRIG 3 DISTANCE READING } /************ Servo Functions **************/ void setServoPulse(uint8_t n, float pulse) { float pulselength = 20000; // 20,000 us per second int i = currentPosition[n]; pc.printf("\ncurrent position = %d\n", currentPosition[n]); int pulse2; if(currentPosition[n] < pulse){ pc.printf("\ncurrent position < pulse\n"); for(i; i < pulse; i++){ pulse2 = 4094 * i / pulselength; pwm.setPWM(n, 0, pulse2); wait_ms(3); } } else if (currentPosition[n] > pulse) { pc.printf("\ncurrent position > pulse\n"); for(i; i > pulse; i--){ pulse2 = 4094 * i / pulselength; pwm.setPWM(n, 0, pulse2); wait_ms(3); } } currentPosition[n] = i; pc.printf("\nending position = %d\n\n", i); } void initServoDriver(void) { pwm.begin(); //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). pwm.setPrescale(140); //This value is decided for 20ms interval. pwm.setI2Cfreq(400000); //400kHz } void servoBegin(void){ setServoPulseNo_delay(0, 900); setServoPulseNo_delay(1, 500); setServoPulseNo_delay(2, 600); setServoPulseNo_delay(3, 2450); setServoPulseNo_delay(4, 2450); setServoPulseNo_delay(5, 0); setServoPulseNo_delay(6, 0); } void setServoPulseNo_delay(uint8_t n, float pulse) { float pulselength = 20000; // 20,000 us per second currentPosition[n] = pulse; pulse = 4094 * pulse / pulselength; pwm.setPWM(n, 0, pulse); } void servoPosition(int set){ //moves to current position setServoPulse(0, Arm_Table[set].base_rotate); setServoPulse(1, Arm_Table[set].base_arm); setServoPulse(2, Arm_Table[set].lil_arm); setServoPulse(3, Arm_Table[set].big_arm); setServoPulse(4, Arm_Table[set].claw_arm); setServoPulse(5, Arm_Table[set].claw_rotate); setServoPulse(6, Arm_Table[set].claw_open); }