File content as of revision 25:8be440e10126:

// TESTING REPO COMMIT

/*
****** MAIN PROGRAM ******



Please consider that although it is an embedded envrionment we are NOT creating a HARD-TIME real time system - delays can be dealt with


Sensors are mapped on the global variable sensorsCheckSum,
which multiplies the sensor number by itself to then decode,
 which sensors are off and which are on
ie. if sensor rightright - sensorChecksum = 1*1 = 1
    if rightright and rightcentre - sensorChecksum = 1*1 + 2*2 = 5
    ...
*/



#include "mbed.h"
#include "sensor_measure.h"
#include "Motor_Driver.h"
#include "shooter.h"
//#include "Sensors.h"

#define PWM_PERIOD_US 10000


//DigitalOut led(LED1);

Serial HC06(PTE0,PTE1); //TX,RX
//Serial pc(USBTX, USBRX);

Timer measureTimer; //Timer used for measurement

//Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);

typedef enum  mode {REGULAR,SQUARE} mode; //enumeration for different states
mode driveMode; //declaring the variable for the states
int sensorsCheckSum; //varibale used for sensors mapping access
int passedTime1,passedTime2;
int oldValues[5] = {0};
int k = 0;


void measureSensors () {
    sensorsCheckSum = 0; //zero it when first going into the routine
    int iterationNumber = NUMBER_SENSORS_REGULAR;
    if (driveMode == SQUARE) {
          iterationNumber += NUMBER_SENSORS_SQUARE;
    }
    for (int i = 0; i < iterationNumber;i++){
        //pc.printf("%i  iteration%i ",i,iterationNumber);
        if (measure(sensorArray[i]) == 1) {//if sensor is white 
            sensorsCheckSum += (i+1)*(i+1);
        }
    }
    if (oldValues[0] != sensorsCheckSum) {
        for (k = 5; k > 0; k--) {
            oldValues[k] = oldValues[k-1];
        }
        oldValues[0] = sensorsCheckSum;
    }
    //pc.printf("sensorsCheckSum is %i",sensorsCheckSum);
}

void printBluetooth() { //for debugging
    pc.printf("LLU%i  LRU%i               rlu%i rru%i\n",sensorArray[7]->state,sensorArray[6]->state,sensorArray[1]->state,sensorArray[0]->state);
    pc.printf("LLD%i  LRD%i               rld%i rrd%i\n\n",sensorArray[5]->state,sensorArray[4]->state,sensorArray[3]->state,sensorArray[2]->state);
    //HC06.printf("%i  %i               %i %i",sensorArray[NUMBER_SENSORS_REGULAR-3]->state,sensorArray[NUMBER_SENSORS_REGULAR-4]->state,sensorArray[3]->state,sensorArray[2]->state);
    //HC06.printf("%i      %i/n%i      %i,sensorArray[NUMBER_SENSORS_REGULAR]->state,sensorArray[NUMBER_SENSORS_REGULAR+1]->state,sensorArray[NUMBER_SENSORS_REGULAR+2]->state,sensorArray[NUMBER_SENSORS_REGULAR+3]->state);        
    //HC06.printf("%f                      %f",motor.getLeftSpeed(),motor.getRightSpeed());
    pc.printf("sensorCheckSum%i\n\n",sensorsCheckSum);
    //HC06.printf("passedTime1 %i passedTime2 \n\n",passedTime1,passedTime2);
}

int main() {
        
    Motor_Driver motors(PTA5, PTC9, PTC8,PTD4, PTA12, PTA4, PWM_PERIOD_US);
    
  //  motors.setSpeed(0.1f);
//    motors.forward();
//    motors.start();
//    wait(2);
//    float x=0.1f;
//    while (1) {
//        motors.setLeftSpeed(x);
//        x = x+0.05;
//        wait(3);
//        }
//    motors.setLeftSpeed(0.1f);
//    wait(5);
//    motors.setLeftSpeed(0.2f);
//    motors.setRightSpeed (0.2f);
//    wait(3);
//    motors.setRightSpeed (0.1f);
//    wait(5);
//    motors.stop();
    
    //wait(1);
//    motors.reverse();
//    wait(5);
//    motors.stop();
//    motors.setSpeed(0.5f);
//    motors.start();
//    wait(5);
//    motors.stop();
//    wait(1);
//    motors.reverse();
    
   
//motors.start();
    
   // setup_counter(1000, 0);
   // float frequency = measure_frequency(CHANNEL_1);
    measureTimer.start();
    driveMode = REGULAR; //initialise drivemoder
    sensor_initialise(); // initialise sensor values
    wait(1); //give time to set up the system
    
    sensorTimer.start(); // start timer for sensors
//    float normalSpeed = 0.01f;
//    HC06.baud(9600);
//    HC06.printf("working..");
//    motors.setSpeed(normalSpeed);
//    motors.forward();
//    motors.start();
//    
//    
//    
//    wait(3);
 //   while(1){
//        if (pc.getc() == 'r') {
//        measureSensors();
        //measureTimer.reset();
//        printBluetooth();
        //passedTime1 = measureTimer.read_ms();
        //if (sensorsCheckSum == 0) {
//            motors.setSpeed(normalSpeed);
//            }
//        else if (sensorsCheckSum == 1 || sensorsCheckSum == 9 || sensorsCheckSum == 10 || sensorsCheckSum == 14 || sensorsCheckSum==26){
//            motors.setLeftSpeed(normalSpeed/2);
//            
//            motors.setRightSpeed(normalSpeed*6);
//        }
//        else if (sensorsCheckSum == 4 && sensorsCheckSum ==16 || sensorsCheckSum == 20 || sensorsCheckSum ==21 ||sensorsCheckSum== 29) {
//            motors.setRightSpeed(normalSpeed/2);
//            motors.setLeftSpeed(normalSpeed*9);
//        }
//        else {
//            motors.setSpeed(normalSpeed);
//        }
//        }
//    }
//HC06.printf("AT");
//HC06.printf("AT+PIN5555");
    

   // pc.printf("Start...");
    
//    int testOtherCases = 0; //needed for control statements



    while (1) {
       
       if (driveMode == REGULAR) {
          measureSensors();
        switch (sensorsCheckSum) {
        case 0: // all black, turn around by 180 degrees
                for (k=0;k<6;k++) {        //right turn situation
                if (oldValues[k] == 194) {
                motors.stop();
                motors.setSteeringMode(NORMAL);
                motors.reverse();
                motors.setSpeed(0.1f);
                motors.start();
                wait(1);
            } else {            
                motors.stop();
                motors.setSteeringMode(NORMAL);
                motors.reverse();
                motors.setSpeed(0.1f);
                motors.start();
                wait(2);
                motors.stop();
                motors.setSteeringMode(PIVOT_CCW);
                motors.setSpeed(0.1f);
                do
                {
                motors.start();
                measureSensors();
                } while (sensorsCheckSum != 96);
                motors.stop();
                motors.setSteeringMode(NORMAL);
            } 
            break;
        case 30: //all right are white, left all black >> turn right(move left wheel)
            motors.setRightSpeed(0.15f);
            motors.setLeftSpeed(0.5f);
            break;
//        case 46: //left 5 white, right only 3 black >> turn right
//            motors.setRightSpeed(0.15f);
//            motors.setLeftSpeed(0.1f);
//            break;
        case 94: //normal starting position, half of right and half of left are white, (move right wheel)
            motors.setSteeringMode(NORMAL);
            motors.setSpeed(0.1f);
            motors.forward();
            motors.start();
            break;
        case 104: //right all white, left half white >> turn right
            motors.setRightSpeed(0.1f);
            motors.setLeftSpeed(0.15f);
            break;
//        case 154: //right 4 white, left only 6 black >> turn left
//            break;
        case 174: //left all white, right all black >> turn left (move right wheel)
            motors.setRightSpeed(0.05f);
            motors.setLeftSpeed(0.15f);
            break;
        case 194 : //left all white, right half white >> go straight, turn right if 194 goes to 204        
            break;
        case 204 : //all sensors are white
                       
        for (k=0;k<6;k++) {                 //situation when a square is entered, need to follow right line
            if (oldValues[k] == 194) {      //checks whether  black line on the right was present before
            motors.setRightSpeed(0.15f);
            motors.setLeftSpeed(0.05f);
            }
        
            if (oldValues[k] == 104) {          //right turn 90 situation
            motors.stop();
            motors.setSteeringMode(PIVOT_CW);
            motors.setRightSpeed(0.1f);
            motors.setLeftSpeed(0.1f);
                do
                {
                motors.start();
                measureSensors();
                } while (sensorsCheckSum != 94);
                motors.stop();
                motors.setSteeringMode(NORMAL);
        }            
        break;              
            
        default: //checksum is zero , all are black
            measureSensors(); 
            break;
        }
    }
}
}
}
}

//        if (testOtherCases == 1) {
//            if (sensorsCheckSum < 96){ // adjust right
//                }   
//            else   {//adjust left
//                }
//            testOtherCases = 0;
//        }           
//              
//        
//           
//        }
//       else { //if (driveMode == SQUARE}
//        //implement the square searching thing..
//       
//       }
//       
//       
//    }
//