verBOT / Mbed OS PM2_Example_Summer_School

workshop 1

Dependencies:   PM2_Libary Eigen

Fork of PM2_Example_Summer_School by Kate Huelskamp

main.cpp@44:a65bc3e11481, 2022-05-18 (annotated)

Committer:
pmic
Date:
Wed May 18 07:53:31 2022 +0200
Revision:
44:a65bc3e11481
Parent:
43:a889b6a30787
Child:
45:42adc921bc66
This is the students version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 36:8c75783c1eca 1 #include <mbed.h>
pmic 36:8c75783c1eca 2
pmic 17:c19b471f05cb 3 #include "PM2_Libary.h"
pmic 36:8c75783c1eca 4 #include "Eigen/Dense.h"
pmic 36:8c75783c1eca 5
pmic 36:8c75783c1eca 6 # define M_PI 3.14159265358979323846 // number pi
pmic 6:e1fa1a2d7483 7
pmic 24:86f1a63e35a0 8 // logical variable main task
pmic 24:86f1a63e35a0 9 bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 17:c19b471f05cb 10
pmic 24:86f1a63e35a0 11 // user button on nucleo board
pmic 24:86f1a63e35a0 12 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 24:86f1a63e35a0 13 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 14 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 15 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 16
pmic 1:93d997d6b232 17 int main()
pmic 23:26b3a25fc637 18 {
pmic 36:8c75783c1eca 19 // while loop gets executed every main_task_period_ms milliseconds
pmic 41:8a63b01edd7e 20 const int main_task_period_ms = 10; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 36:8c75783c1eca 21 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 36:8c75783c1eca 22
pmic 40:7e6b7aec3947 23 // a coutner
pmic 40:7e6b7aec3947 24 uint32_t main_task_cntr = 0;
pmic 40:7e6b7aec3947 25
pmic 36:8c75783c1eca 26 // led on nucleo board
pmic 36:8c75783c1eca 27 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 36:8c75783c1eca 28
pmic 24:86f1a63e35a0 29 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 30 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 31 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 32
pmic 29:d6f1ccf42a31 33 // start timer
pmic 24:86f1a63e35a0 34 main_task_timer.start();
pmic 6:e1fa1a2d7483 35
pmic 24:86f1a63e35a0 36 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 37
pmic 24:86f1a63e35a0 38 main_task_timer.reset();
pmic 40:7e6b7aec3947 39
pmic 44:a65bc3e11481 40
pmic 24:86f1a63e35a0 41 if (do_execute_main_task) {
pmic 17:c19b471f05cb 42
pmic 1:93d997d6b232 43 } else {
pmic 40:7e6b7aec3947 44
pmic 1:93d997d6b232 45 }
pmic 6:e1fa1a2d7483 46
pmic 41:8a63b01edd7e 47 // user_led is switching its state every second
pmic 41:8a63b01edd7e 48 if ( (main_task_cntr%(1000 / main_task_period_ms) == 0) && (main_task_cntr!=0) ) {
pmic 40:7e6b7aec3947 49 user_led = !user_led;
pmic 40:7e6b7aec3947 50 }
pmic 40:7e6b7aec3947 51 main_task_cntr++;
pmic 40:7e6b7aec3947 52
pmic 24:86f1a63e35a0 53 // do only output via serial what's really necessary (this makes your code slow)
pmic 41:8a63b01edd7e 54 /*
pmic 41:8a63b01edd7e 55 printf("IR sensor (mV): %3.3f, IR sensor (cm): %3.3f, SensorBar angle (rad): %3.3f, Speed M1 (rps) %3.3f, Position M2 (rot): %3.3f\r\n",
pmic 24:86f1a63e35a0 56 ir_distance_mV,
pmic 41:8a63b01edd7e 57 ir_distance_cm,
pmic 40:7e6b7aec3947 58 sensor_bar_avgAngleRad,
pmic 40:7e6b7aec3947 59 speedController_M1.getSpeedRPS(),
pmic 40:7e6b7aec3947 60 positionController_M2.getRotation());
pmic 41:8a63b01edd7e 61 */
pmic 17:c19b471f05cb 62
pmic 24:86f1a63e35a0 63 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 64 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 65 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 66 }
pmic 1:93d997d6b232 67 }
pmic 6:e1fa1a2d7483 68
pmic 24:86f1a63e35a0 69 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 70 {
pmic 26:28693b369945 71 user_button_timer.start();
pmic 6:e1fa1a2d7483 72 user_button_timer.reset();
pmic 6:e1fa1a2d7483 73 }
pmic 6:e1fa1a2d7483 74
pmic 24:86f1a63e35a0 75 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 76 {
pmic 24:86f1a63e35a0 77 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 78 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 79 user_button_timer.stop();
pmic 24:86f1a63e35a0 80 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 81 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 82 }
pmic 6:e1fa1a2d7483 83 }