Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

main.cpp@28:271fc8445e89, 2017-02-27 (annotated)

Committer:
hazheng
Date:
Mon Feb 27 21:43:59 2017 +0000
Revision:
28:271fc8445e89
Parent:
26:5814404856e2
Child:
29:f87d8790f57d
Added basic framework for the ArduCAM. Started to change the hardware interface code into Pure C style, so that the call process will be faster and program size could be smaller.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 3:c8867972ffc7 1 #include "mbed.h"
hazheng 5:577b582e4fe9 2
Bobymicjohn 8:92f6baeea027 3 #include "Motor.h"
Bobymicjohn 11:676ea42afd56 4 #include "Servo.h"
Bobymicjohn 15:eb6a274b3dfb 5 #include "WheelEncoder.h"
Bobymicjohn 11:676ea42afd56 6 #include "Core.h"
Bobymicjohn 11:676ea42afd56 7 #include "SWUSBServer.h"
hazheng 13:7dcb1642ef99 8 #include "Camera.h"
Bobymicjohn 10:fedb5786a109 9
Bobymicjohn 10:fedb5786a109 10 #include "PinAssignment.h"
Bobymicjohn 8:92f6baeea027 11
Bobymicjohn 11:676ea42afd56 12 //DigitalOut led(LED1, 1);
hazheng 28:271fc8445e89 13 SPI g_spi_port(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK);
hazheng 5:577b582e4fe9 14
hazheng 3:c8867972ffc7 15 int main(void) {
hazheng 16:66c7a09e71ee 16
hazheng 16:66c7a09e71ee 17 Timer timer;
hazheng 16:66c7a09e71ee 18
Bobymicjohn 11:676ea42afd56 19 SW::Core core;
Bobymicjohn 10:fedb5786a109 20
hazheng 25:6f63053cee81 21 //Motor motor(core);
hazheng 25:6f63053cee81 22 //Servo servo(core);
hazheng 25:6f63053cee81 23 //WheelEncoder wheelEncoder(core);
hazheng 13:7dcb1642ef99 24 Camera cam(core);
hazheng 6:0682e1c90119 25
hazheng 18:bf6c5f8281eb 26 DigitalOut led(LED3, 1);
hazheng 16:66c7a09e71ee 27
hazheng 25:6f63053cee81 28 //bool isRegRead = false;
Bobymicjohn 14:88302da8bff0 29
Bobymicjohn 21:60377d6f1cc2 30 //motor.setLeftSpeed(0.2);
Bobymicjohn 21:60377d6f1cc2 31
hazheng 18:bf6c5f8281eb 32 float tempCount = 0;
hazheng 18:bf6c5f8281eb 33 //timer.reset();
hazheng 16:66c7a09e71ee 34 timer.start();
hazheng 18:bf6c5f8281eb 35 float timeWas = timer.read();
hazheng 5:577b582e4fe9 36 while (1)
hazheng 5:577b582e4fe9 37 {
hazheng 18:bf6c5f8281eb 38
hazheng 18:bf6c5f8281eb 39 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 40 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 41 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 42
Bobymicjohn 11:676ea42afd56 43 //led = 0;
hazheng 16:66c7a09e71ee 44 core.Update(deltaTime);
hazheng 25:6f63053cee81 45 //motor.Update(deltaTime);
hazheng 25:6f63053cee81 46 //servo.Update(deltaTime);
hazheng 25:6f63053cee81 47 //wheelEncoder.Update(deltaTime);
hazheng 26:5814404856e2 48 cam.Update(deltaTime);
hazheng 16:66c7a09e71ee 49
hazheng 18:bf6c5f8281eb 50 tempCount += deltaTime;
hazheng 18:bf6c5f8281eb 51 if(tempCount > 1.0f)
hazheng 5:577b582e4fe9 52 {
hazheng 18:bf6c5f8281eb 53 led = !led;
hazheng 18:bf6c5f8281eb 54 tempCount = 0.0f;
hazheng 3:c8867972ffc7 55 }
hazheng 3:c8867972ffc7 56
Bobymicjohn 15:eb6a274b3dfb 57 /*
hazheng 13:7dcb1642ef99 58 if(!isRegRead && core.GetUSBServer().GetStatus() == SER_STAT_RUNNING)
hazheng 13:7dcb1642ef99 59 {
hazheng 13:7dcb1642ef99 60 cam.ReadRegisters();
hazheng 13:7dcb1642ef99 61 isRegRead = true;
hazheng 13:7dcb1642ef99 62 }
Bobymicjohn 15:eb6a274b3dfb 63 */
Bobymicjohn 8:92f6baeea027 64 wait(0.01);
hazheng 3:c8867972ffc7 65 }
hazheng 3:c8867972ffc7 66 }
hazheng 3:c8867972ffc7 67
hazheng 3:c8867972ffc7 68 /*
hazheng 3:c8867972ffc7 69 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 70
hazheng 3:c8867972ffc7 71 int main() {
hazheng 3:c8867972ffc7 72 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 73
hazheng 3:c8867972ffc7 74 while (1) {
hazheng 3:c8867972ffc7 75 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 76 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 77 wait(0.25);
hazheng 3:c8867972ffc7 78 }
hazheng 3:c8867972ffc7 79 }
hazheng 3:c8867972ffc7 80
hazheng 3:c8867972ffc7 81 }
hazheng 13:7dcb1642ef99 82 */
hazheng 13:7dcb1642ef99 83
hazheng 13:7dcb1642ef99 84 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 85 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 86 char readValue = 0;
hazheng 13:7dcb1642ef99 87 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 88 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 89 char buf[20];
hazheng 13:7dcb1642ef99 90 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 91 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 92 */