Bartas Abaravicius / Mbed 2 deprecated TDP_main

Lol smth

Dependencies:   LocalPositionSystem MMA8451Q Motor_Driver Sensors mbed

Fork of TDP_main_BartFork by Yelfie

main.cpp@9:718987b106a8, 2015-02-23 (annotated)

Committer:
Reckstyle
Date:
Mon Feb 23 16:49:59 2015 +0000
Revision:
9:718987b106a8
Parent:
7:14af656b721f
Child:
10:c9212bbfeae6
23/02 sensors working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joseph_Penikis 3:0274e082582e 1 // TESTING REPO COMMIT
Joseph_Penikis 3:0274e082582e 2
Reckstyle 2:e2adb7ab2947 3 /*
Reckstyle 2:e2adb7ab2947 4 ****** MAIN PROGRAM ******
Reckstyle 2:e2adb7ab2947 5
Reckstyle 2:e2adb7ab2947 6 TODO : organisational routine still to be decided.
Reckstyle 2:e2adb7ab2947 7 3 main approaches:
Reckstyle 2:e2adb7ab2947 8 -sequential prirority based tasks
Reckstyle 2:e2adb7ab2947 9 -Timer/Ticker driven with sequential prirority based tasks
Reckstyle 2:e2adb7ab2947 10 - interrupt driven from sensor inputs
Reckstyle 2:e2adb7ab2947 11
Reckstyle 2:e2adb7ab2947 12 Please consider that although it is an embedded envrionment we are NOT creating a HARD-TIME real time system - delays can be dealt with
Reckstyle 2:e2adb7ab2947 13 */
Reckstyle 2:e2adb7ab2947 14
Reckstyle 2:e2adb7ab2947 15
Reckstyle 2:e2adb7ab2947 16
Reckstyle 0:5ca0450111f3 17 #include "mbed.h"
Reckstyle 0:5ca0450111f3 18 #include "sensor_measure.h"
Joseph_Penikis 5:2fc7bf0135d4 19 #include "Motor_Driver.h"
Reckstyle 9:718987b106a8 20 //#include "Sensors.h"
Reckstyle 0:5ca0450111f3 21
Joseph_Penikis 5:2fc7bf0135d4 22 #define PWM_PERIOD_US 10000
Reckstyle 0:5ca0450111f3 23
Joseph_Penikis 7:14af656b721f 24
Joseph_Penikis 6:bea13722aae7 25
Reckstyle 9:718987b106a8 26 Serial pc(USBTX, USBRX);
Reckstyle 9:718987b106a8 27
Reckstyle 9:718987b106a8 28 Timer MeasureTimer; //Timer used for measurement
Reckstyle 9:718987b106a8 29
Reckstyle 9:718987b106a8 30 /* For deleting
Reckstyle 9:718987b106a8 31 double measure1 (){
Reckstyle 9:718987b106a8 32
Reckstyle 9:718987b106a8 33
Reckstyle 9:718987b106a8 34
Reckstyle 9:718987b106a8 35 sensorTimer.reset();
Reckstyle 9:718987b106a8 36 double freq,period = 0.0;
Reckstyle 9:718987b106a8 37 int n =0; //number of samples
Reckstyle 9:718987b106a8 38 int sensor_old = 0;
Reckstyle 9:718987b106a8 39 int sensor_new = 0;//variable to remember old sensor state
Reckstyle 9:718987b106a8 40 double time_us = sensorTimer.read();
Reckstyle 9:718987b106a8 41 while (n < NUMBER_SAMPLES){
Reckstyle 9:718987b106a8 42 sensor_new = pin_right_right.read();
Reckstyle 9:718987b106a8 43 if ( sensor_new== 1 && sensor_old == 0){ // detect on rising edge ,sensor_old
Reckstyle 9:718987b106a8 44 n++;
Reckstyle 9:718987b106a8 45 }
Reckstyle 9:718987b106a8 46 sensor_old = sensor_new;
Reckstyle 9:718987b106a8 47
Reckstyle 9:718987b106a8 48 }
Reckstyle 9:718987b106a8 49 double time_us2 = sensorTimer.read();
Reckstyle 9:718987b106a8 50 // pc.printf(" delta time is %f , time 2 is %f " , (time_us2 - time_us), time_us2);
Reckstyle 9:718987b106a8 51 period = time_us2/((double)NUMBER_SAMPLES); // Get time
Reckstyle 9:718987b106a8 52 freq = (1/period); // Convert period (in us) to frequency (Hz). Works up to 100kHz.
Reckstyle 9:718987b106a8 53 // pc.printf(" period is %f ", period);
Reckstyle 9:718987b106a8 54
Reckstyle 9:718987b106a8 55 return freq;//(freq < sensor.black_value*2)? 1 : 0;
Reckstyle 9:718987b106a8 56 }
Reckstyle 9:718987b106a8 57 */
Reckstyle 9:718987b106a8 58
Reckstyle 0:5ca0450111f3 59 int main() {
Joseph_Penikis 5:2fc7bf0135d4 60
Joseph_Penikis 5:2fc7bf0135d4 61 /*
Joseph_Penikis 5:2fc7bf0135d4 62 Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);
Joseph_Penikis 5:2fc7bf0135d4 63
Joseph_Penikis 5:2fc7bf0135d4 64 motors.setSpeed(1.0f);
Joseph_Penikis 5:2fc7bf0135d4 65 motors.forward();
Joseph_Penikis 5:2fc7bf0135d4 66 motors.start();
Joseph_Penikis 5:2fc7bf0135d4 67
Joseph_Penikis 5:2fc7bf0135d4 68 wait(3);
Joseph_Penikis 5:2fc7bf0135d4 69
Joseph_Penikis 5:2fc7bf0135d4 70 motors.stop()
Joseph_Penikis 5:2fc7bf0135d4 71 motors.reverse();
Joseph_Penikis 5:2fc7bf0135d4 72 wait(200ms);
Joseph_Penikis 5:2fc7bf0135d4 73
Joseph_Penikis 5:2fc7bf0135d4 74 motors.start();
Joseph_Penikis 5:2fc7bf0135d4 75 */
Reckstyle 9:718987b106a8 76 // setup_counter(1000, 0);
Reckstyle 9:718987b106a8 77 // float frequency = measure_frequency(CHANNEL_1);
Joseph_Penikis 5:2fc7bf0135d4 78
Joseph_Penikis 5:2fc7bf0135d4 79 sensor_initialise(); // initialise sensor values
Joseph_Penikis 5:2fc7bf0135d4 80 wait(1); //give time to set up the system
Reckstyle 9:718987b106a8 81
Reckstyle 9:718987b106a8 82 sensorTimer.start(); // start timer for sensors
Reckstyle 9:718987b106a8 83 pc.printf("Start...");
Reckstyle 9:718987b106a8 84 MeasureTimer.start();
Reckstyle 9:718987b106a8 85
Reckstyle 9:718987b106a8 86 while (1) {
Reckstyle 9:718987b106a8 87 MeasureTimer.reset();
Reckstyle 9:718987b106a8 88 measure(right_right);
Reckstyle 9:718987b106a8 89 pc.printf("Time taken for the whole thing is %f",MeasureTimer.read());
Reckstyle 9:718987b106a8 90 }
Reckstyle 0:5ca0450111f3 91
Reckstyle 0:5ca0450111f3 92 }