Asif Sattar
/
mbed_mainboard_source_n
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Dependencies: USBDevice mbed motor
Fork of
mbed_mainboard_source
by 
Asif Sattar
Revision 2:2a47186e72c3, committed 2016-11-11
- Comitter:
- Asif_
- Date:
- Fri Nov 11 22:13:25 2016 +0000
- Parent:
- 1:51cc4a95a95e
- Commit message:
- mem
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| motor.lib | Show annotated file Show diff for this revision Revisions of this file |
diff -r 51cc4a95a95e -r 2a47186e72c3 main.cpp
--- a/main.cpp Thu Oct 13 15:26:32 2016 +0000
+++ b/main.cpp Fri Nov 11 22:13:25 2016 +0000
@@ -6,8 +6,14 @@
typedef void (*VoidArray) ();
-DigitalOut led(LED1);
-DigitalOut l(LED2);
+DigitalOut led(P2_8);
+DigitalOut led2g(P1_18);
+//DigitalOut l(P1_18);
+PwmOut dribbler(P2_4); //Dribbler pwm pin - B1
+DigitalOut charge(P0_10); //Kicker charge pin - A3
+DigitalOut kick(P0_11); //Kicker kick pin - A2
+DigitalIn done(P1_29); // Kicker done pin - A4
+DigitalIn infrared(P3_25); //PWM - GPIO2
USBSerial pc;
Ticker motorPidTicker[NUMBER_OF_MOTORS];
@@ -40,6 +46,7 @@
#endif
int main() {
+
void (*encTicker[])() = {
motor0EncTick,
motor1EncTick,
@@ -78,16 +85,39 @@
motors[i].init();
}
- pc.printf("Start\n");
+ //pc.printf("Start\n");
+ /*motors[0].setSpeed(100);
+ motors[1].setSpeed(50);
+ motors[2].setSpeed(150);*/
+
+ /*while (pc.readable())
+ {
+ pc.printf("readdddd");
+ }*/
pc.attach(&serialInterrupt);
int count = 0;
+
+
+ /*dribbler.pulsewidth_us(100);
+ wait(3.0);
+ dribbler.pulsewidth_us(140);
+ wait(5.0);
+ charge = 1;
+ wait(8.0);
+ charge = 0;
+ wait(1);
+ kick = 1;
+ wait_ms(200);
+ kick = 0;*/
+
+ //pc.printf('true');
while(1) {
- if (count % 20 == 0) {
+ /*if (count % 20 == 0) {
for (int i = 0; i < NUMBER_OF_MOTORS; i++) {
pc.printf("s%d:%d\n", i, motors[i].getSpeed());
}
- }
+ }*/
if (serialData) {
char temp[16];
memcpy(temp, buf, 16);
@@ -95,16 +125,31 @@
serialData = false;
parseCommad(temp);
}
+ if (infrared)
+ {
+ led2g = 0;
+ }
+ else {led2g = 1;}
+ //else {pc.printf("false");}
//motors[0].pid(motor0Ticks);
//motor0Ticks = 0;
wait_ms(50);
count++;
+ /*while (pc.writeable())
+ {
+ pc.printf("test_write \n");
+ }
+
+ while (pc.readable())
+ {
+ pc.printf("test_read \n");
+ }*/
//pc.printf("buf: %s\n", buf);
//pc.printf("Loop\n");
}
}
-
+//uint buf[128];
void serialInterrupt(){
while(pc.readable()) {
buf[serialCount] = pc.getc();
@@ -117,11 +162,111 @@
}
void parseCommad (char *command) {
- if (command[0] == 's' && command[1] == 'd') {
- int16_t speed = atoi(command + 2);
+ char *searcha = command;
+ char *a;
+ int indexa;
+ a=strchr(searcha, 'a');
+ indexa = int(a - searcha);
+
+ char *searchb = command;
+ char *b;
+ int indexb;
+ b=strchr(searchb, 'b');
+ indexb = int(b - searchb);
+
+ //dribbler.period(0.058f);
+
+ char *searchc = command;
+ char *c;
+ int indexc;
+ c=strchr(searchc, 'c');
+ indexc = int(c - searchc);
+
+ /*char *searchd = command;
+ char *d;
+ int indexd;
+ d=strchr(searchd, 'd');
+ indexd = int(d - searchd);*/
+
+ int16_t speeda = atoi(command + (indexa+1));
+ motors[0].pid_on = 1;
+ motors[0].setSpeed(speeda);
+
+ int16_t speedb = atoi(command + (indexb+1));
+ motors[1].pid_on = 1;
+ motors[1].setSpeed(speedb);
+
+ int16_t speedc = atoi(command + (indexc+1));
+ motors[2].pid_on = 1;
+ motors[2].setSpeed(speedc);
+
+ /*int16_t speedd = atoi(command + (indexd+1));
+ if (speedd == 0)
+ {
+ dribbler.pulsewidth_us(100);
+ wait(3.0);
+ }
+ if (speedd == 1)
+ {
+ dribbler.pulsewidth_us(135);
+ }*/
+
+
+ /*if (command[0] == 's' && command[1] == 'd' && command[2] == '0') {
+ int16_t speed = atoi(command + 3);
motors[0].pid_on = 1;
motors[0].setSpeed(speed);
}
+ if (command[0] == 's' && command[1] == 'd' && command[2] == '1') {
+ int16_t speed = atoi(command + 3);
+ motors[1].pid_on = 1;
+ motors[1].setSpeed(speed);
+ }
+ if (command[0] == 's' && command[1] == 'd' && command[2] == '2') {
+ int16_t speed = atoi(command + 3);
+ motors[2].pid_on = 1;
+ motors[2].setSpeed(speed);
+ }
+ if (command[0] == 'f') {
+ int16_t speed = atoi(command + 1);
+ motors[0].pid_on = 1;
+ motors[0].setSpeed(-speed);
+ motors[2].pid_on = 1;
+ motors[2].setSpeed(speed);
+ }
+ if (command[0] == 'b' && command[1] == '1' && command[2] == '2') {
+ int16_t speed = atoi(command + 3);
+ motors[1].pid_on = 1;
+ motors[1].setSpeed(speed);
+ motors[2].pid_on = 1;
+ motors[2].setSpeed(speed);
+ }
+
+ if (command[0] == 'b' && command[1] == '0' && command[2] == '1') {
+ int16_t speed = atoi(command + 3);
+ motors[0].pid_on = 1;
+ motors[0].setSpeed(speed);
+ motors[1].pid_on = 1;
+ motors[1].setSpeed(speed);
+ }
+ if (command[0] == 'b' && command[1] == '0' && command[2] == '2') {
+ int16_t speed = atoi(command + 3);
+ motors[0].pid_on = 1;
+ motors[0].setSpeed(speed);
+ motors[2].pid_on = 1;
+ motors[2].setSpeed(speed);
+ }
+ if (command[0] == 'a') {
+ int16_t speed = atoi(command + 1);
+ motors[0].pid_on = 1;
+ motors[0].setSpeed(speed);
+ motors[1].pid_on = 1;
+ motors[1].setSpeed(speed);
+ motors[2].pid_on = 1;
+ motors[2].setSpeed(speed);
+ } */
+
+
if (command[0] == 's') {
for (int i = 0; i < NUMBER_OF_MOTORS; i++) {
pc.printf("s%d:%d\n", i, motors[i].getSpeed());
diff -r 51cc4a95a95e -r 2a47186e72c3 motor.lib --- a/motor.lib Thu Oct 13 15:26:32 2016 +0000 +++ b/motor.lib Fri Nov 11 22:13:25 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/kolibakter/code/motor/#910b46b1e4ae +https://developer.mbed.org/users/Asif_/code/motor/#01623db996f2