zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

Sources/main.cpp@11:292bdbd85a9c, 2017-05-06 (annotated)

Committer:
beacon
Date:
Sat May 06 13:33:23 2017 +0000
Revision:
11:292bdbd85a9c
Parent:
10:f76476943a6c
Child:
12:c0bcb95885dd
Nenne dieses Programm "PES_Official" und l?sche das alte.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 0:d267b248eff4 1 #include "mbed.h"
beacon 0:d267b248eff4 2 #include "Robot.h"
beacon 4:67d7177c213f 3 #include "Declarations.h"
beacon 0:d267b248eff4 4
beacon 0:d267b248eff4 5 #include <cstdlib>
beacon 0:d267b248eff4 6
beacon 4:67d7177c213f 7 //DistanceSensors related bottom:
beacon 0:d267b248eff4 8 Serial pc(SERIAL_TX, SERIAL_RX);
beacon 0:d267b248eff4 9
beacon 0:d267b248eff4 10 AnalogIn sensorVoltage(PB_1);
beacon 0:d267b248eff4 11 DigitalOut enable(PC_1);
beacon 0:d267b248eff4 12 DigitalOut bit0(PH_1);
beacon 0:d267b248eff4 13 DigitalOut bit1(PC_2);
beacon 0:d267b248eff4 14 DigitalOut bit2(PC_3);
beacon 1:388c915756f5 15
beacon 4:67d7177c213f 16 //DistanceSensors top:
beacon 4:67d7177c213f 17 AnalogIn frontS(A1);
beacon 4:67d7177c213f 18 AnalogIn leftS(A2);
beacon 4:67d7177c213f 19 AnalogIn rightS(A3);
beacon 4:67d7177c213f 20
beacon 1:388c915756f5 21 //Leds related:
beacon 1:388c915756f5 22 DigitalOut leds[6] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
beacon 0:d267b248eff4 23
beacon 1:388c915756f5 24 //motor related:
beacon 1:388c915756f5 25 PwmOut left(PA_8);
beacon 1:388c915756f5 26 PwmOut right(PA_9);
beacon 0:d267b248eff4 27
beacon 1:388c915756f5 28 DigitalOut powerSignal(PB_2);
beacon 10:f76476943a6c 29 DigitalIn errorMotor(PB_14);
beacon 1:388c915756f5 30 DigitalIn overtemperatur(PB_15);
beacon 1:388c915756f5 31
beacon 4:67d7177c213f 32 //Arm:
beacon 10:f76476943a6c 33 ServoArm servoArm(PA_6);
beacon 10:f76476943a6c 34
beacon 10:f76476943a6c 35 //Greifer:
beacon 11:292bdbd85a9c 36 Servo servoGreifer(PB_7);
beacon 4:67d7177c213f 37
beacon 1:388c915756f5 38 //Farbsensor:
beacon 1:388c915756f5 39 AnalogIn FarbVoltage(A0);
beacon 1:388c915756f5 40
beacon 10:f76476943a6c 41 Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm, &servoGreifer ); //Implement the Farbsensor into the Robot init function!!
beacon 10:f76476943a6c 42
beacon 11:292bdbd85a9c 43 void initializeDistanceSensors()
beacon 11:292bdbd85a9c 44 {
beacon 10:f76476943a6c 45 for( int ii = 0; ii<9; ++ii) {
beacon 10:f76476943a6c 46 sam.sensors[ii].init(&sensorVoltage, &frontS, &leftS, &rightS, &bit0, &bit1, &bit2, ii);
beacon 10:f76476943a6c 47
beacon 11:292bdbd85a9c 48 enable = 1;
beacon 10:f76476943a6c 49 }
beacon 10:f76476943a6c 50 }
beacon 1:388c915756f5 51
beacon 0:d267b248eff4 52
beacon 10:f76476943a6c 53 /* */
beacon 11:292bdbd85a9c 54 int main()
beacon 11:292bdbd85a9c 55 {
beacon 4:67d7177c213f 56 initializeDistanceSensors(); //Initialises IR-Sensors.
beacon 11:292bdbd85a9c 57 //int counter = 0; //Counts how many times the robot has turned, before driving
beacon 4:67d7177c213f 58 int timer = 0; //Is used, to reset the robot. Returns time in [0.1s]
beacon 4:67d7177c213f 59 //int lastFun = -1; //Is used, to check if the same action in Robot::search() was made multiple times.
beacon 11:292bdbd85a9c 60 //int found = 0; //0:= no block available, 1 := a lego is ready to be picked up
beacon 11:292bdbd85a9c 61 //int done = 0;
beacon 11:292bdbd85a9c 62
beacon 11:292bdbd85a9c 63 enum states { search = 0, forward, downward, down, upward, color, backwardDrop, readyDrop, backward };
beacon 11:292bdbd85a9c 64
beacon 11:292bdbd85a9c 65 int state = search;
beacon 11:292bdbd85a9c 66
beacon 11:292bdbd85a9c 67 while( 1 ) {
beacon 10:f76476943a6c 68
beacon 11:292bdbd85a9c 69 if ( timer > TIMEOUT ) {
beacon 4:67d7177c213f 70 NVIC_SystemReset(); //Resets Sam.
beacon 4:67d7177c213f 71 }
beacon 11:292bdbd85a9c 72
beacon 11:292bdbd85a9c 73 switch( state ) {
beacon 11:292bdbd85a9c 74 case search:
beacon 11:292bdbd85a9c 75 if( sam.search(&timer) ){
beacon 11:292bdbd85a9c 76 state = forward;
beacon 11:292bdbd85a9c 77 timer = 0;
beacon 11:292bdbd85a9c 78 }
beacon 11:292bdbd85a9c 79
beacon 11:292bdbd85a9c 80 break;
beacon 11:292bdbd85a9c 81
beacon 11:292bdbd85a9c 82 case forward:
beacon 11:292bdbd85a9c 83 if( sam.Arm.backToCollect() ){
beacon 11:292bdbd85a9c 84 state = downward;
beacon 11:292bdbd85a9c 85 timer = 0;
beacon 11:292bdbd85a9c 86 }
beacon 11:292bdbd85a9c 87
beacon 11:292bdbd85a9c 88 break;
beacon 11:292bdbd85a9c 89
beacon 11:292bdbd85a9c 90 case downward:
beacon 11:292bdbd85a9c 91 if( sam.Arm.collectToDown() ){
beacon 11:292bdbd85a9c 92 state = down;
beacon 11:292bdbd85a9c 93 timer = 0;
beacon 11:292bdbd85a9c 94 }
beacon 11:292bdbd85a9c 95
beacon 11:292bdbd85a9c 96 break;
beacon 11:292bdbd85a9c 97
beacon 11:292bdbd85a9c 98 case down:
beacon 11:292bdbd85a9c 99 if( sam.Greifer.take() ) {
beacon 11:292bdbd85a9c 100 state = upward;
beacon 11:292bdbd85a9c 101 timer = 0;
beacon 11:292bdbd85a9c 102 }
beacon 11:292bdbd85a9c 103
beacon 11:292bdbd85a9c 104 break;
beacon 11:292bdbd85a9c 105
beacon 11:292bdbd85a9c 106 case upward:
beacon 11:292bdbd85a9c 107 if( sam.Arm.downToCollect() ){
beacon 11:292bdbd85a9c 108 state = color;
beacon 11:292bdbd85a9c 109 timer = 0;
beacon 11:292bdbd85a9c 110 }
beacon 11:292bdbd85a9c 111
beacon 11:292bdbd85a9c 112 break;
beacon 11:292bdbd85a9c 113
beacon 11:292bdbd85a9c 114 case color: {
beacon 11:292bdbd85a9c 115 int color = sam.FarbVoltage.read();
beacon 11:292bdbd85a9c 116
beacon 11:292bdbd85a9c 117 if( color == -1){
beacon 11:292bdbd85a9c 118 //Do nothing
beacon 11:292bdbd85a9c 119 }
beacon 11:292bdbd85a9c 120
beacon 11:292bdbd85a9c 121 else if( color == 0 || color == GREEN ){
beacon 11:292bdbd85a9c 122 state = backwardDrop;
beacon 11:292bdbd85a9c 123 timer = 0;
beacon 11:292bdbd85a9c 124 }
beacon 11:292bdbd85a9c 125
beacon 11:292bdbd85a9c 126 else if( color == RED ){
beacon 11:292bdbd85a9c 127 state = readyDrop;
beacon 11:292bdbd85a9c 128 timer = 0;
beacon 11:292bdbd85a9c 129 }
beacon 11:292bdbd85a9c 130
beacon 11:292bdbd85a9c 131 else{
beacon 11:292bdbd85a9c 132 //Shit...
beacon 11:292bdbd85a9c 133 }
beacon 11:292bdbd85a9c 134 break;
beacon 11:292bdbd85a9c 135 }
beacon 11:292bdbd85a9c 136
beacon 11:292bdbd85a9c 137 case backwardDrop:
beacon 11:292bdbd85a9c 138 if( sam.Arm.collectToBack() ){
beacon 11:292bdbd85a9c 139 state = readyDrop;
beacon 11:292bdbd85a9c 140 timer = 0;
beacon 11:292bdbd85a9c 141 }
beacon 11:292bdbd85a9c 142
beacon 11:292bdbd85a9c 143 break;
beacon 11:292bdbd85a9c 144
beacon 11:292bdbd85a9c 145 case readyDrop:
beacon 11:292bdbd85a9c 146 if( sam.Greifer.leave() ){
beacon 11:292bdbd85a9c 147 state = backward;
beacon 11:292bdbd85a9c 148 timer = 0;
beacon 11:292bdbd85a9c 149 }
beacon 11:292bdbd85a9c 150
beacon 11:292bdbd85a9c 151 break;
beacon 11:292bdbd85a9c 152
beacon 11:292bdbd85a9c 153 case backward:
beacon 11:292bdbd85a9c 154 if( sam.Arm.collectToBack() ){
beacon 11:292bdbd85a9c 155 state = search;
beacon 11:292bdbd85a9c 156 timer = 0;
beacon 11:292bdbd85a9c 157 }
beacon 11:292bdbd85a9c 158
beacon 11:292bdbd85a9c 159 break;
beacon 4:67d7177c213f 160 }
beacon 1:388c915756f5 161
beacon 11:292bdbd85a9c 162 timer++;
beacon 11:292bdbd85a9c 163 wait(0.1f);
beacon 11:292bdbd85a9c 164 }
beacon 11:292bdbd85a9c 165
beacon 11:292bdbd85a9c 166 return 0;
beacon 11:292bdbd85a9c 167 }
beacon 11:292bdbd85a9c 168
beacon 11:292bdbd85a9c 169
beacon 11:292bdbd85a9c 170
beacon 11:292bdbd85a9c 171 /*
beacon 11:292bdbd85a9c 172 if (sam.search(&counter, &timer)) {
beacon 11:292bdbd85a9c 173
beacon 11:292bdbd85a9c 174 while(!done) {
beacon 11:292bdbd85a9c 175 sam.Arm.collectToDown(&done);
beacon 11:292bdbd85a9c 176 wait(0.1f);
beacon 11:292bdbd85a9c 177 }
beacon 11:292bdbd85a9c 178 done = 0;
beacon 11:292bdbd85a9c 179
beacon 11:292bdbd85a9c 180 sam.Greifer.take();
beacon 11:292bdbd85a9c 181
beacon 11:292bdbd85a9c 182 while(!done) {
beacon 11:292bdbd85a9c 183 sam.Arm.downToCollect(&done);
beacon 11:292bdbd85a9c 184 sam.leds[1] = 1;
beacon 11:292bdbd85a9c 185 wait(0.1f);
beacon 11:292bdbd85a9c 186 }
beacon 11:292bdbd85a9c 187 done = 0;
beacon 11:292bdbd85a9c 188
beacon 11:292bdbd85a9c 189 sam.Greifer.leave();
beacon 11:292bdbd85a9c 190
beacon 11:292bdbd85a9c 191 found = 0;
beacon 11:292bdbd85a9c 192 }
beacon 11:292bdbd85a9c 193
beacon 11:292bdbd85a9c 194
beacon 1:388c915756f5 195 wait( 0.1f );
beacon 0:d267b248eff4 196 }
beacon 0:d267b248eff4 197 return 0;
beacon 4:67d7177c213f 198 }
beacon 11:292bdbd85a9c 199 */
beacon 4:67d7177c213f 200
beacon 4:67d7177c213f 201 /* * /
beacon 4:67d7177c213f 202 int main(){
beacon 11:292bdbd85a9c 203
beacon 4:67d7177c213f 204 initializeDistanceSensors();
beacon 4:67d7177c213f 205 sam.stop();
beacon 11:292bdbd85a9c 206
beacon 4:67d7177c213f 207 while ( 1 ){
beacon 4:67d7177c213f 208 for (int i=0; i<6; i++){
beacon 4:67d7177c213f 209 sam.sensors[i] < NEAR ? sam.leds[i] = 1 : sam.leds[i] = 0;
beacon 4:67d7177c213f 210 }
beacon 11:292bdbd85a9c 211
beacon 4:67d7177c213f 212 sam.turnLeftS();
beacon 11:292bdbd85a9c 213
beacon 4:67d7177c213f 214 while (sam.sensors[FWD] < NEAR){
beacon 4:67d7177c213f 215 wait(0.05f);
beacon 4:67d7177c213f 216 sam.stop();
beacon 4:67d7177c213f 217 }
beacon 11:292bdbd85a9c 218
beacon 4:67d7177c213f 219 }
beacon 4:67d7177c213f 220 return 0;
beacon 4:67d7177c213f 221 }
beacon 4:67d7177c213f 222 /* */
beacon 4:67d7177c213f 223
beacon 4:67d7177c213f 224 /* * /
beacon 4:67d7177c213f 225 int main(){
beacon 4:67d7177c213f 226 for(float p=0; p<1.0; p += 0.1) {
beacon 4:67d7177c213f 227 // arm = p;
beacon 4:67d7177c213f 228 wait(0.2);
beacon 4:67d7177c213f 229 }
beacon 4:67d7177c213f 230 }
beacon 6:ba26dd3251b3 231 /* */
beacon 6:ba26dd3251b3 232
beacon 10:f76476943a6c 233 /* * /
beacon 6:ba26dd3251b3 234 int main(){
beacon 6:ba26dd3251b3 235 sam.stop();
beacon 6:ba26dd3251b3 236 int done = 0; //1:= finished process; 0:= not finished
beacon 6:ba26dd3251b3 237 int fun = 0; //just to test.
beacon 11:292bdbd85a9c 238 int start = 0;
beacon 11:292bdbd85a9c 239
beacon 11:292bdbd85a9c 240
beacon 6:ba26dd3251b3 241 while(1){
beacon 6:ba26dd3251b3 242 if(fun == 0){
beacon 6:ba26dd3251b3 243 done = 0;
beacon 6:ba26dd3251b3 244 sam.Arm.collecttoback(&done);
beacon 11:292bdbd85a9c 245 done == 0 ? fun = 0 : fun = 1;
beacon 6:ba26dd3251b3 246 }
beacon 6:ba26dd3251b3 247 else if(fun == 1){
beacon 6:ba26dd3251b3 248 done = 0;
beacon 6:ba26dd3251b3 249 sam.Arm.backtocollect(&done);
beacon 6:ba26dd3251b3 250 done == 0 ? fun = 1 : fun = 2;
beacon 6:ba26dd3251b3 251 }
beacon 6:ba26dd3251b3 252 else if(fun == 2){
beacon 6:ba26dd3251b3 253 done = 0;
beacon 6:ba26dd3251b3 254 sam.Arm.collecttodown(&done);
beacon 6:ba26dd3251b3 255 done == 0 ? fun = 2 : fun = 3;
beacon 6:ba26dd3251b3 256 }
beacon 6:ba26dd3251b3 257 else if(fun == 3){
beacon 6:ba26dd3251b3 258 done = 0;
beacon 6:ba26dd3251b3 259 sam.Arm.downtocollect(&done);
beacon 6:ba26dd3251b3 260 done == 0 ? fun = 3 : fun = 0;
beacon 6:ba26dd3251b3 261 }
beacon 6:ba26dd3251b3 262 wait(0.1);
beacon 6:ba26dd3251b3 263 }
beacon 10:f76476943a6c 264 }
beacon 10:f76476943a6c 265
beacon 10:f76476943a6c 266 */