DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
main.cpp@38:16208e003dc9, 2016-04-27 (annotated)
- Committer:
- 12104404
- Date:
- Wed Apr 27 04:24:11 2016 +0000
- Revision:
- 38:16208e003dc9
- Parent:
- 37:e8a6ea255c09
- Child:
- 39:ecc9defe3dc0
- Child:
- 40:9a97c4403c0a
good good;
Who changed what in which revision?
User | Revision | Line number | New 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 | 38:16208e003dc9 | 27 | LOCALIZE loc(i2c1, i2c2, p29, p5, p6, p7, p8, 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 | 6:0602a9e8118b | 30 | |
12104404 | 20:10a305298e27 | 31 | void BrownOut(); |
12104404 | 6:0602a9e8118b | 32 | |
12104404 | 38:16208e003dc9 | 33 | int xTarget=FRAME_W; |
12104404 | 36:dc69442c4c47 | 34 | int angle_error=1; |
12104404 | 25:f3bf8351bbd4 | 35 | bool xGood=false; |
12104404 | 25:f3bf8351bbd4 | 36 | bool yGood=false; |
12104404 | 25:f3bf8351bbd4 | 37 | bool angleGood=false; |
12104404 | 35:68917796c30a | 38 | bool flip=false; |
alaurens | 33:baf24c59affc | 39 | int xState=X_INCREASE; |
12104404 | 37:e8a6ea255c09 | 40 | int angleTarget=355; |
12104404 | 35:68917796c30a | 41 | int yTarget=ROB_SIZE/2; |
12104404 | 30:116cd143fdf7 | 42 | int pressure; |
12104404 | 25:f3bf8351bbd4 | 43 | |
12104404 | 20:10a305298e27 | 44 | //bool flag=false; |
12104404 | 20:10a305298e27 | 45 | //int target=20; |
12104404 | 20:10a305298e27 | 46 | //int angle_error=2; |
12104404 | 20:10a305298e27 | 47 | //bool xGood=false; |
12104404 | 20:10a305298e27 | 48 | //int angleTarget=0; |
12104404 | 6:0602a9e8118b | 49 | |
12104404 | 0:96d6eb224379 | 50 | int main() |
12104404 | 0:96d6eb224379 | 51 | { |
12104404 | 19:2dd81b864e14 | 52 | //Set ESC Period |
12104404 | 19:2dd81b864e14 | 53 | suction.period_ms(2); |
12104404 | 19:2dd81b864e14 | 54 | //Initialize to 0 |
12104404 | 19:2dd81b864e14 | 55 | suction.pulsewidth_us(1000); |
12104404 | 27:fb1298d35bd1 | 56 | wait(2); |
12104404 | 27:fb1298d35bd1 | 57 | /*suction.pulsewidth_us(1000); |
12104404 | 27:fb1298d35bd1 | 58 | wait(2);*/ |
12104404 | 24:fb1f083ebd62 | 59 | //Watchdog Reset Indicator |
12104404 | 24:fb1f083ebd62 | 60 | if ((LPC_WDT->WDMOD>>2)&1) |
12104404 | 24:fb1f083ebd62 | 61 | led4=1; |
12104404 | 24:fb1f083ebd62 | 62 | else |
12104404 | 24:fb1f083ebd62 | 63 | led3=1; |
12104404 | 19:2dd81b864e14 | 64 | //Start Watchdog |
12104404 | 23:455f7da3dd7a | 65 | safe.kick(WATCHDOG_TIME); |
12104404 | 23:455f7da3dd7a | 66 | //Power Down Ethernet and USB and Enable Brown Out Interrupt |
12104404 | 23:455f7da3dd7a | 67 | safe.init((unsigned)BrownOut); |
12104404 | 19:2dd81b864e14 | 68 | //Serial Baudrate |
12104404 | 0:96d6eb224379 | 69 | pc.baud(9600); |
12104404 | 26:0ea6a550a99d | 70 | //Initialize Locomotion |
12104404 | 26:0ea6a550a99d | 71 | loc.init(); |
12104404 | 30:116cd143fdf7 | 72 | //pres.initialize(); |
12104404 | 19:2dd81b864e14 | 73 | //Attach Periodic Wireless Printing |
12104404 | 19:2dd81b864e14 | 74 | #if not defined(PC_MODE) |
12104404 | 8:b36be08c44f8 | 75 | t.attach(&send,1); |
12104404 | 19:2dd81b864e14 | 76 | #endif |
12104404 | 24:fb1f083ebd62 | 77 | led1=0; |
12104404 | 24:fb1f083ebd62 | 78 | led2=0; |
12104404 | 24:fb1f083ebd62 | 79 | led3=0; |
12104404 | 24:fb1f083ebd62 | 80 | led4=0; |
alaurens | 31:69caabc10879 | 81 | suction.pulsewidth_us(1000); |
12104404 | 30:116cd143fdf7 | 82 | wait(0.5); |
alaurens | 31:69caabc10879 | 83 | suction.pulsewidth_us(1050); |
12104404 | 30:116cd143fdf7 | 84 | wait(0.5); |
alaurens | 31:69caabc10879 | 85 | suction.pulsewidth_us(1100); |
12104404 | 30:116cd143fdf7 | 86 | wait(0.5); |
alaurens | 31:69caabc10879 | 87 | suction.pulsewidth_us(1150); |
12104404 | 30:116cd143fdf7 | 88 | wait(0.5); |
12104404 | 37:e8a6ea255c09 | 89 | suction.pulsewidth_us(1200); |
12104404 | 37:e8a6ea255c09 | 90 | wait(0.5); |
alaurens | 33:baf24c59affc | 91 | suction.pulsewidth_us(1250); |
alaurens | 33:baf24c59affc | 92 | wait(0.5); |
12104404 | 0:96d6eb224379 | 93 | while(1) { |
12104404 | 37:e8a6ea255c09 | 94 | suction.pulsewidth_us(1285); |
alaurens | 33:baf24c59affc | 95 | //uncomment this part if you want the robot to just drive down the window with no separtor |
12104404 | 38:16208e003dc9 | 96 | if (xya.y>FRAME_H*0.65) { |
12104404 | 38:16208e003dc9 | 97 | while(1) |
12104404 | 38:16208e003dc9 | 98 | { |
12104404 | 38:16208e003dc9 | 99 | suction.pulsewidth_us(1285); |
12104404 | 38:16208e003dc9 | 100 | motion.mStop(); |
12104404 | 38:16208e003dc9 | 101 | safe.kick(); |
12104404 | 38:16208e003dc9 | 102 | } |
12104404 | 38:16208e003dc9 | 103 | //continue; |
12104404 | 26:0ea6a550a99d | 104 | } |
12104404 | 25:f3bf8351bbd4 | 105 | loc.get_xy(&xya); |
12104404 | 36:dc69442c4c47 | 106 | xGood=motion.setXPos(xTarget,xya.x,2,0); |
12104404 | 36:dc69442c4c47 | 107 | if(!xGood) |
12104404 | 37:e8a6ea255c09 | 108 | motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_BIAS); |
12104404 | 36:dc69442c4c47 | 109 | else { |
12104404 | 38:16208e003dc9 | 110 | xTarget=(xTarget==FRAME_W)?0:FRAME_W; |
12104404 | 37:e8a6ea255c09 | 111 | angleTarget=(angleTarget==5)?-5:5; |
12104404 | 36:dc69442c4c47 | 112 | } |
12104404 | 35:68917796c30a | 113 | //motion.setYBias(0,xya.y,2,angleTarget); |
12104404 | 38:16208e003dc9 | 114 | //loc.get_xy(&xya);5 |
12104404 | 19:2dd81b864e14 | 115 | #if defined(PC_MODE) |
12104404 | 36:dc69442c4c47 | 116 | 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 | 117 | #endif |
12104404 | 19:2dd81b864e14 | 118 | //Feed the dog |
12104404 | 23:455f7da3dd7a | 119 | safe.kick(); |
12104404 | 0:96d6eb224379 | 120 | } |
12104404 | 0:96d6eb224379 | 121 | } |
12104404 | 6:0602a9e8118b | 122 | |
12104404 | 6:0602a9e8118b | 123 | void send() |
12104404 | 6:0602a9e8118b | 124 | { |
12104404 | 19:2dd81b864e14 | 125 | //Print over serial port to WiFi MCU |
12104404 | 38:16208e003dc9 | 126 | pc.printf("%c%c%c%c\n",(char)xya.x,(char)xya.y,xya.a/10,xya.a%10); |
12104404 | 6:0602a9e8118b | 127 | } |
12104404 | 17:2f89826b5679 | 128 | |
12104404 | 19:2dd81b864e14 | 129 | void BrownOut() |
12104404 | 6:0602a9e8118b | 130 | { |
12104404 | 24:fb1f083ebd62 | 131 | //Stop Motors and Driver |
12104404 | 23:455f7da3dd7a | 132 | motion.eStop(); |
12104404 | 24:fb1f083ebd62 | 133 | //Ensure suction on |
alaurens | 33:baf24c59affc | 134 | suction.pulsewidth_us(1250); |
12104404 | 24:fb1f083ebd62 | 135 | //Light Up Error Light Pattern |
12104404 | 23:455f7da3dd7a | 136 | led1=1; |
12104404 | 23:455f7da3dd7a | 137 | led2=0; |
12104404 | 23:455f7da3dd7a | 138 | led3=1; |
12104404 | 23:455f7da3dd7a | 139 | led4=0; |
12104404 | 19:2dd81b864e14 | 140 | //Power Down Non Essential |
12104404 | 24:fb1f083ebd62 | 141 | Peripheral_PowerDown(~(LPC1768_PCONP_PCPWM1 | LPC1768_PCONP_PCGPIO)); |
12104404 | 19:2dd81b864e14 | 142 | //Sleep wake by interrupt |
12104404 | 23:455f7da3dd7a | 143 | //Sleep(); |
12104404 | 17:2f89826b5679 | 144 | } |