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Dependencies:   FRDM-TFC mbed

main.cpp@15:830209e846d5, 2015-02-25 (annotated)

Committer:
bbbobbbieo
Date:
Wed Feb 25 16:05:21 2015 +0000
Revision:
15:830209e846d5
Parent:
14:f43b386b8b5d
Child:
16:11ba5d6f42ba
cleaned unused blocks, added more behaviour levels

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bbbobbbieo 3:c7caa058fc50 1 //#include "mbed.h"
bbbobbbieo 1:21d40d90b2f0 2 #include "TFC.h"
bbbobbbieo 0:d57117b2188d 3
bbbobbbieo 0:d57117b2188d 4 DigitalOut myled(LED1);
bbbobbbieo 0:d57117b2188d 5
bbbobbbieo 14:f43b386b8b5d 6 int main()
bbbobbbieo 1:21d40d90b2f0 7 {
bbbobbbieo 7:455e7dd338ee 8 //run this before anything
bbbobbbieo 2:d8a51492b646 9 TFC_Init();
bbbobbbieo 14:f43b386b8b5d 10
bbbobbbieo 7:455e7dd338ee 11 //variables
bbbobbbieo 4:7584ff0426f1 12 float current_servo_position = 0;
bbbobbbieo 6:44d1079f076c 13 float current_left_motor_speed = 0;
bbbobbbieo 6:44d1079f076c 14 float current_right_motor_speed = 0;
bbbobbbieo 6:44d1079f076c 15 bool rear_motor_enable_flag = true;
bbbobbbieo 7:455e7dd338ee 16 bool linescan_ping_pong = false;
bbbobbbieo 9:2b028ee421ad 17 bool linescan_enable = true;
bbbobbbieo 14:f43b386b8b5d 18
bbbobbbieo 11:d65d6d7fc85e 19 int black_values_list[128];
bbbobbbieo 11:d65d6d7fc85e 20 int black_value_count = 0;
bbbobbbieo 11:d65d6d7fc85e 21 int black_center_value = 0;
bbbobbbieo 11:d65d6d7fc85e 22 int sum_black = 0;
bbbobbbieo 14:f43b386b8b5d 23 int violence_level = 0;
bbbobbbieo 15:830209e846d5 24
bbbobbbieo 9:2b028ee421ad 25 //uint16_t MyImage0Buffer[2][128];
bbbobbbieo 9:2b028ee421ad 26 //uint16_t MyImage1Buffer[2][128];
bbbobbbieo 14:f43b386b8b5d 27
bbbobbbieo 7:455e7dd338ee 28 // major loop
bbbobbbieo 14:f43b386b8b5d 29 while(1) {
bbbobbbieo 14:f43b386b8b5d 30
bbbobbbieo 15:830209e846d5 31 // manual servo control, unused
bbbobbbieo 14:f43b386b8b5d 32 if (TFC_ReadPushButton(0) != 0 ) {
bbbobbbieo 14:f43b386b8b5d 33 current_servo_position = current_servo_position-.005;
bbbobbbieo 14:f43b386b8b5d 34 if(current_servo_position <= -0.4)
bbbobbbieo 14:f43b386b8b5d 35 current_servo_position = -0.4;
bbbobbbieo 14:f43b386b8b5d 36 TFC_SetServo(0, current_servo_position);
bbbobbbieo 14:f43b386b8b5d 37 }// end check button0
bbbobbbieo 14:f43b386b8b5d 38
bbbobbbieo 15:830209e846d5 39 else {}
bbbobbbieo 14:f43b386b8b5d 40
bbbobbbieo 15:830209e846d5 41 // manual servo control, unused
bbbobbbieo 14:f43b386b8b5d 42 if (TFC_ReadPushButton(1) != 0 ) {
bbbobbbieo 14:f43b386b8b5d 43 current_servo_position = current_servo_position+.005;
bbbobbbieo 14:f43b386b8b5d 44 if(current_servo_position >= 0.4)
bbbobbbieo 14:f43b386b8b5d 45 current_servo_position = 0.4;
bbbobbbieo 14:f43b386b8b5d 46 TFC_SetServo(0, current_servo_position);
bbbobbbieo 14:f43b386b8b5d 47 }// end check button1
bbbobbbieo 14:f43b386b8b5d 48
bbbobbbieo 15:830209e846d5 49 else {}
bbbobbbieo 14:f43b386b8b5d 50
bbbobbbieo 15:830209e846d5 51 // initial motor stuff
bbbobbbieo 14:f43b386b8b5d 52 if(rear_motor_enable_flag) {
bbbobbbieo 14:f43b386b8b5d 53 TFC_HBRIDGE_ENABLE;
bbbobbbieo 14:f43b386b8b5d 54
bbbobbbieo 15:830209e846d5 55 //current_left_motor_speed = (TFC_ReadPot(0));
bbbobbbieo 15:830209e846d5 56 //current_right_motor_speed = (TFC_ReadPot(1));
bbbobbbieo 14:f43b386b8b5d 57
bbbobbbieo 15:830209e846d5 58 // checking behavior level
bbbobbbieo 14:f43b386b8b5d 59 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 14:f43b386b8b5d 60
bbbobbbieo 15:830209e846d5 61 if (violence_level==2) {
bbbobbbieo 15:830209e846d5 62 current_left_motor_speed = .28;
bbbobbbieo 15:830209e846d5 63 current_right_motor_speed = .28;
bbbobbbieo 15:830209e846d5 64 }
bbbobbbieo 15:830209e846d5 65 else if (violence_level==1) {
bbbobbbieo 14:f43b386b8b5d 66 current_left_motor_speed = .2;
bbbobbbieo 14:f43b386b8b5d 67 current_right_motor_speed = .2;
bbbobbbieo 14:f43b386b8b5d 68 }
bbbobbbieo 15:830209e846d5 69 else if (violence_level==0) {
bbbobbbieo 15:830209e846d5 70 current_left_motor_speed = 0;
bbbobbbieo 15:830209e846d5 71 current_right_motor_speed = 0;
bbbobbbieo 15:830209e846d5 72 }
bbbobbbieo 15:830209e846d5 73 else {
bbbobbbieo 15:830209e846d5 74 current_left_motor_speed = 0;
bbbobbbieo 15:830209e846d5 75 current_right_motor_speed = 0;
bbbobbbieo 15:830209e846d5 76 }
bbbobbbieo 15:830209e846d5 77
bbbobbbieo 14:f43b386b8b5d 78
bbbobbbieo 15:830209e846d5 79 // protection block
bbbobbbieo 15:830209e846d5 80 if(current_left_motor_speed >= 0.5)
bbbobbbieo 15:830209e846d5 81 current_left_motor_speed= 0.5;
bbbobbbieo 15:830209e846d5 82 if(current_right_motor_speed >= 0.5)
bbbobbbieo 15:830209e846d5 83 current_right_motor_speed= 0.5;
bbbobbbieo 15:830209e846d5 84 if(current_left_motor_speed <= -0.5)
bbbobbbieo 15:830209e846d5 85 current_left_motor_speed= -0.5;
bbbobbbieo 15:830209e846d5 86 if(current_right_motor_speed <= -0.5)
bbbobbbieo 15:830209e846d5 87 current_right_motor_speed= -0.5;
bbbobbbieo 14:f43b386b8b5d 88
bbbobbbieo 14:f43b386b8b5d 89 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 14:f43b386b8b5d 90 }// end motor enabled
bbbobbbieo 14:f43b386b8b5d 91 else {
bbbobbbieo 14:f43b386b8b5d 92 TFC_HBRIDGE_DISABLE;
bbbobbbieo 14:f43b386b8b5d 93 }// end motor disabled
bbbobbbieo 14:f43b386b8b5d 94
bbbobbbieo 15:830209e846d5 95 // camera stuff
bbbobbbieo 14:f43b386b8b5d 96 if (linescan_enable) {
bbbobbbieo 14:f43b386b8b5d 97 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 14:f43b386b8b5d 98
bbbobbbieo 15:830209e846d5 99 if (linescan_ping_pong) {
bbbobbbieo 15:830209e846d5 100 //checking channel 0
bbbobbbieo 15:830209e846d5 101
bbbobbbieo 15:830209e846d5 102 //checking center pixel, displays aprox value on leds
bbbobbbieo 14:f43b386b8b5d 103 uint8_t shitnum = 1;
bbbobbbieo 14:f43b386b8b5d 104 if (*(TFC_LineScanImage0+64) > 800)
bbbobbbieo 14:f43b386b8b5d 105 shitnum = 15;
bbbobbbieo 14:f43b386b8b5d 106 else if((*(TFC_LineScanImage0+64) > 450))
bbbobbbieo 14:f43b386b8b5d 107 shitnum = 7;
bbbobbbieo 14:f43b386b8b5d 108 else if((*(TFC_LineScanImage0+64) > 400))
bbbobbbieo 14:f43b386b8b5d 109 shitnum = 3;
bbbobbbieo 14:f43b386b8b5d 110 else
bbbobbbieo 14:f43b386b8b5d 111 shitnum = 1;
bbbobbbieo 14:f43b386b8b5d 112 TFC_SetBatteryLED(shitnum);
bbbobbbieo 14:f43b386b8b5d 113
bbbobbbieo 15:830209e846d5 114
bbbobbbieo 15:830209e846d5 115 // checking for center line (single line)
bbbobbbieo 14:f43b386b8b5d 116 for (uint16_t i=0; i<128; i++) {
bbbobbbieo 14:f43b386b8b5d 117 if ((*(TFC_LineScanImage0+i) < 300)) {
bbbobbbieo 14:f43b386b8b5d 118 black_values_list[black_value_count] = i;
bbbobbbieo 14:f43b386b8b5d 119 black_value_count++;
bbbobbbieo 14:f43b386b8b5d 120 }
bbbobbbieo 14:f43b386b8b5d 121 }
bbbobbbieo 14:f43b386b8b5d 122
bbbobbbieo 14:f43b386b8b5d 123 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 14:f43b386b8b5d 124 sum_black += black_values_list[i];
bbbobbbieo 14:f43b386b8b5d 125 }
bbbobbbieo 14:f43b386b8b5d 126
bbbobbbieo 15:830209e846d5 127 // value of center of black (single line)
bbbobbbieo 14:f43b386b8b5d 128 black_center_value= sum_black / black_value_count;
bbbobbbieo 15:830209e846d5 129
bbbobbbieo 14:f43b386b8b5d 130
bbbobbbieo 15:830209e846d5 131 // need to turn left
bbbobbbieo 15:830209e846d5 132 if (black_center_value < 64) {
bbbobbbieo 15:830209e846d5 133
bbbobbbieo 14:f43b386b8b5d 134 current_servo_position= float(.015625*black_center_value-(1));
bbbobbbieo 14:f43b386b8b5d 135 if(current_servo_position <= -0.4)
bbbobbbieo 14:f43b386b8b5d 136 current_servo_position = -0.4;
bbbobbbieo 14:f43b386b8b5d 137 TFC_SetServo(0, current_servo_position);
bbbobbbieo 15:830209e846d5 138
bbbobbbieo 15:830209e846d5 139
bbbobbbieo 14:f43b386b8b5d 140 current_left_motor_speed = current_left_motor_speed - float(64-black_center_value)*.0025;
bbbobbbieo 14:f43b386b8b5d 141 current_right_motor_speed = current_right_motor_speed + float(64-black_center_value)*.0025;
bbbobbbieo 15:830209e846d5 142
bbbobbbieo 14:f43b386b8b5d 143 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 14:f43b386b8b5d 144
bbbobbbieo 7:455e7dd338ee 145 }
bbbobbbieo 14:f43b386b8b5d 146
bbbobbbieo 15:830209e846d5 147 // need to turn right
bbbobbbieo 14:f43b386b8b5d 148 if (black_center_value > 64) {
bbbobbbieo 14:f43b386b8b5d 149
bbbobbbieo 14:f43b386b8b5d 150 current_servo_position= float(.015625*black_center_value-(1));
bbbobbbieo 14:f43b386b8b5d 151 if( current_servo_position >= +0.4)
bbbobbbieo 14:f43b386b8b5d 152 current_servo_position = +0.4;
bbbobbbieo 14:f43b386b8b5d 153 TFC_SetServo(0, current_servo_position);
bbbobbbieo 15:830209e846d5 154
bbbobbbieo 14:f43b386b8b5d 155 current_left_motor_speed = current_left_motor_speed + float(black_center_value-64)*.0025;
bbbobbbieo 14:f43b386b8b5d 156 current_right_motor_speed = current_right_motor_speed - float(black_center_value-64)*.0025;
bbbobbbieo 15:830209e846d5 157
bbbobbbieo 14:f43b386b8b5d 158 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 15:830209e846d5 159
bbbobbbieo 14:f43b386b8b5d 160 }
bbbobbbieo 14:f43b386b8b5d 161
bbbobbbieo 15:830209e846d5 162 // clearing values for next image processing round
bbbobbbieo 14:f43b386b8b5d 163 black_value_count = 0;
bbbobbbieo 14:f43b386b8b5d 164 black_center_value = 0;
bbbobbbieo 14:f43b386b8b5d 165 sum_black = 0;
bbbobbbieo 14:f43b386b8b5d 166
bbbobbbieo 15:830209e846d5 167 // end image processing
bbbobbbieo 14:f43b386b8b5d 168
bbbobbbieo 14:f43b386b8b5d 169 linescan_ping_pong = false;
bbbobbbieo 14:f43b386b8b5d 170 } // end checking channel 0
bbbobbbieo 15:830209e846d5 171
bbbobbbieo 15:830209e846d5 172 else { //checking channel 1
bbbobbbieo 14:f43b386b8b5d 173 linescan_ping_pong = true;
bbbobbbieo 14:f43b386b8b5d 174 }
bbbobbbieo 14:f43b386b8b5d 175
bbbobbbieo 7:455e7dd338ee 176 TFC_LineScanImageReady ==0; // since we used it, we reset the flag
bbbobbbieo 14:f43b386b8b5d 177 }// end imageready
bbbobbbieo 14:f43b386b8b5d 178 }// end linescan stuff
bbbobbbieo 0:d57117b2188d 179 }
bbbobbbieo 0:d57117b2188d 180 }
bbbobbbieo 8:946806df7347 181
bbbobbbieo 8:946806df7347 182
bbbobbbieo 15:830209e846d5 183 // shit code down here