Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

main.cpp@37:e8a6ea255c09, 2016-04-26 (annotated)

Committer:
12104404
Date:
Tue Apr 26 20:09:25 2016 +0000
Revision:
37:e8a6ea255c09
Parent:
36:dc69442c4c47
Child:
38:16208e003dc9
WORKING REALLY WORKING

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 0:96d6eb224379 1 #include "LOCALIZE.h"
12104404 6:0602a9e8118b 2 #include "LOCOMOTION.h"
12104404 23:455f7da3dd7a 3 #include "SAFETY.h"
12104404 30:116cd143fdf7 4 #include "BMP280.h"
12104404 0:96d6eb224379 5
12104404 19:2dd81b864e14 6 #define WATCHDOG_TIME 10
12104404 27:fb1298d35bd1 7 //#define PC_MODE 1
12104404 6:0602a9e8118b 8
12104404 19:2dd81b864e14 9 #if defined (PC_MODE)
12104404 19:2dd81b864e14 10 Serial pc(USBTX, USBRX);
12104404 19:2dd81b864e14 11 #else
12104404 8:b36be08c44f8 12 Serial pc(p13, p14);
12104404 19:2dd81b864e14 13 Ticker t;
12104404 19:2dd81b864e14 14 void send();
12104404 19:2dd81b864e14 15 #endif
12104404 19:2dd81b864e14 16
12104404 23:455f7da3dd7a 17 DigitalOut led1(LED1);
12104404 23:455f7da3dd7a 18 DigitalOut led2(LED2);
12104404 23:455f7da3dd7a 19 DigitalOut led3(LED3);
12104404 23:455f7da3dd7a 20 DigitalOut led4(LED4);
12104404 6:0602a9e8118b 21
12104404 23:455f7da3dd7a 22 SAFETY safe;
12104404 19:2dd81b864e14 23 PwmOut suction(p26);
12104404 27:fb1298d35bd1 24 I2C i2c2(p28, p27);
12104404 27:fb1298d35bd1 25 I2C i2c1(p9, p10);
12104404 30:116cd143fdf7 26 BMP280 pres(i2c2);
12104404 23:455f7da3dd7a 27 LOCALIZE loc(i2c1, i2c2, p29, p8, p7, p6, p5, led1, led2, led3, led4);
12104404 0:96d6eb224379 28 LOCALIZE_xya xya;
12104404 27:fb1298d35bd1 29 LOCOMOTION motion(p11, p23, p24, p21, p22, p16, p15, led1, led2, led3, led4);
12104404 27:fb1298d35bd1 30 //LOCOMOTION motion(p11, p21, p22, p23, p24, p15, p16, led1, led2, led3, led4);
12104404 6:0602a9e8118b 31
12104404 20:10a305298e27 32 void BrownOut();
12104404 6:0602a9e8118b 33
12104404 30:116cd143fdf7 34 int xTarget=120;
12104404 36:dc69442c4c47 35 int angle_error=1;
12104404 25:f3bf8351bbd4 36 bool xGood=false;
12104404 25:f3bf8351bbd4 37 bool yGood=false;
12104404 25:f3bf8351bbd4 38 bool angleGood=false;
12104404 35:68917796c30a 39 bool flip=false;
alaurens 33:baf24c59affc 40 int xState=X_INCREASE;
12104404 37:e8a6ea255c09 41 int angleTarget=355;
12104404 35:68917796c30a 42 int yTarget=ROB_SIZE/2;
12104404 30:116cd143fdf7 43 int pressure;
12104404 25:f3bf8351bbd4 44
12104404 20:10a305298e27 45 //bool flag=false;
12104404 20:10a305298e27 46 //int target=20;
12104404 20:10a305298e27 47 //int angle_error=2;
12104404 20:10a305298e27 48 //bool xGood=false;
12104404 20:10a305298e27 49 //int angleTarget=0;
12104404 6:0602a9e8118b 50
12104404 0:96d6eb224379 51 int main()
12104404 0:96d6eb224379 52 {
12104404 19:2dd81b864e14 53 //Set ESC Period
12104404 19:2dd81b864e14 54 suction.period_ms(2);
12104404 19:2dd81b864e14 55 //Initialize to 0
12104404 19:2dd81b864e14 56 suction.pulsewidth_us(1000);
12104404 27:fb1298d35bd1 57 wait(2);
12104404 27:fb1298d35bd1 58 /*suction.pulsewidth_us(1000);
12104404 27:fb1298d35bd1 59 wait(2);*/
12104404 24:fb1f083ebd62 60 //Watchdog Reset Indicator
12104404 24:fb1f083ebd62 61 if ((LPC_WDT->WDMOD>>2)&1)
12104404 24:fb1f083ebd62 62 led4=1;
12104404 24:fb1f083ebd62 63 else
12104404 24:fb1f083ebd62 64 led3=1;
12104404 19:2dd81b864e14 65 //Start Watchdog
12104404 23:455f7da3dd7a 66 safe.kick(WATCHDOG_TIME);
12104404 23:455f7da3dd7a 67 //Power Down Ethernet and USB and Enable Brown Out Interrupt
12104404 23:455f7da3dd7a 68 safe.init((unsigned)BrownOut);
12104404 19:2dd81b864e14 69 //Serial Baudrate
12104404 0:96d6eb224379 70 pc.baud(9600);
12104404 26:0ea6a550a99d 71 //Initialize Locomotion
12104404 26:0ea6a550a99d 72 loc.init();
12104404 30:116cd143fdf7 73 //pres.initialize();
12104404 19:2dd81b864e14 74 //Attach Periodic Wireless Printing
12104404 19:2dd81b864e14 75 #if not defined(PC_MODE)
12104404 8:b36be08c44f8 76 t.attach(&send,1);
12104404 19:2dd81b864e14 77 #endif
12104404 24:fb1f083ebd62 78 led1=0;
12104404 24:fb1f083ebd62 79 led2=0;
12104404 24:fb1f083ebd62 80 led3=0;
12104404 24:fb1f083ebd62 81 led4=0;
alaurens 31:69caabc10879 82 suction.pulsewidth_us(1000);
12104404 30:116cd143fdf7 83 wait(0.5);
alaurens 31:69caabc10879 84 suction.pulsewidth_us(1050);
12104404 30:116cd143fdf7 85 wait(0.5);
alaurens 31:69caabc10879 86 suction.pulsewidth_us(1100);
12104404 30:116cd143fdf7 87 wait(0.5);
alaurens 31:69caabc10879 88 suction.pulsewidth_us(1150);
12104404 30:116cd143fdf7 89 wait(0.5);
12104404 37:e8a6ea255c09 90 suction.pulsewidth_us(1200);
12104404 37:e8a6ea255c09 91 wait(0.5);
alaurens 33:baf24c59affc 92 suction.pulsewidth_us(1250);
alaurens 33:baf24c59affc 93 wait(0.5);
12104404 0:96d6eb224379 94 while(1) {
12104404 37:e8a6ea255c09 95 suction.pulsewidth_us(1285);
12104404 36:dc69442c4c47 96 /*pressure=(int)read[0];//(int)pres.getTemperature();
alaurens 31:69caabc10879 97 if(pressure==88)
12104404 36:dc69442c4c47 98 led1=1;
12104404 27:fb1298d35bd1 99 else
12104404 36:dc69442c4c47 100 led1=0;*/
alaurens 33:baf24c59affc 101 //uncomment this part if you want the robot to just drive down the window with no separtor
alaurens 31:69caabc10879 102 if (xState==0) {
12104404 26:0ea6a550a99d 103 motion.mStop();
12104404 26:0ea6a550a99d 104 safe.kick();
12104404 26:0ea6a550a99d 105 continue;
12104404 26:0ea6a550a99d 106 }
12104404 25:f3bf8351bbd4 107 loc.get_xy(&xya);
12104404 36:dc69442c4c47 108 //motion.check_xya(&xGood,&yGood,&angleGood,xTarget,angleTarget,yTarget,xya,3,3,angle_error);
12104404 36:dc69442c4c47 109
12104404 36:dc69442c4c47 110 //motion.setXstate(&xState,&xTarget,xGood,angleGood,&angleTarget,&angle_error,yTarget);
alaurens 34:083073e54dbd 111 //motion.setAngleTol(&angle_error,yGood,xGood);
12104404 36:dc69442c4c47 112 // motion.setYgoal(xGood,angleGood,yGood,&yTarget);
12104404 36:dc69442c4c47 113 //motion.setXPos(xTarget,xya.x,5,angleTarget,xya.a);
12104404 36:dc69442c4c47 114 xGood=motion.setXPos(xTarget,xya.x,2,0);
12104404 36:dc69442c4c47 115 if(!xGood)
12104404 37:e8a6ea255c09 116 motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_BIAS);
12104404 36:dc69442c4c47 117 else {
12104404 36:dc69442c4c47 118 xTarget=(xTarget==120)?30:120;
12104404 37:e8a6ea255c09 119 angleTarget=(angleTarget==5)?-5:5;
12104404 36:dc69442c4c47 120 }
12104404 35:68917796c30a 121 //motion.setYBias(0,xya.y,2,angleTarget);
12104404 36:dc69442c4c47 122 //loc.get_xy(&xya);
12104404 19:2dd81b864e14 123 #if defined(PC_MODE)
12104404 36:dc69442c4c47 124 pc.printf("X: %3d\tY: %3d\tP: %3d\txGood: %d\tAngleGood: %d\tState: %d \n",xya.y,yTarget,xya.a,xGood,angleGood,xState);
12104404 19:2dd81b864e14 125 #endif
12104404 19:2dd81b864e14 126 //Feed the dog
12104404 23:455f7da3dd7a 127 safe.kick();
12104404 0:96d6eb224379 128 }
12104404 0:96d6eb224379 129 }
12104404 6:0602a9e8118b 130
12104404 6:0602a9e8118b 131 void send()
12104404 6:0602a9e8118b 132 {
12104404 19:2dd81b864e14 133 //Print over serial port to WiFi MCU
12104404 36:dc69442c4c47 134 pc.printf("%c%c%c%c\n",(char)xya.x,(char)xTarget,xya.a/10,xya.a%10);
12104404 6:0602a9e8118b 135 }
12104404 17:2f89826b5679 136
12104404 19:2dd81b864e14 137 void BrownOut()
12104404 6:0602a9e8118b 138 {
12104404 24:fb1f083ebd62 139 //Stop Motors and Driver
12104404 23:455f7da3dd7a 140 motion.eStop();
12104404 24:fb1f083ebd62 141 //Ensure suction on
alaurens 33:baf24c59affc 142 suction.pulsewidth_us(1250);
12104404 24:fb1f083ebd62 143 //Light Up Error Light Pattern
12104404 23:455f7da3dd7a 144 led1=1;
12104404 23:455f7da3dd7a 145 led2=0;
12104404 23:455f7da3dd7a 146 led3=1;
12104404 23:455f7da3dd7a 147 led4=0;
12104404 19:2dd81b864e14 148 //Power Down Non Essential
12104404 24:fb1f083ebd62 149 Peripheral_PowerDown(~(LPC1768_PCONP_PCPWM1 | LPC1768_PCONP_PCGPIO));
12104404 19:2dd81b864e14 150 //Sleep wake by interrupt
12104404 23:455f7da3dd7a 151 //Sleep();
12104404 17:2f89826b5679 152 }