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@32:5badeff825dc, 2017-03-02 (annotated)

Committer:
hazheng
Date:
Thu Mar 02 23:56:42 2017 +0000
Revision:
32:5badeff825dc
Parent:
29:f87d8790f57d
Child:
36:7e747e19f660
Successfully get the first picture from the camera and displayed on the computer screen.

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 29:f87d8790f57d 8 //#include "Camera.h"
hazheng 29:f87d8790f57d 9 #include "OV7725RegBuf.h"
hazheng 29:f87d8790f57d 10
hazheng 29:f87d8790f57d 11 #include "ArduCAM.h"
Bobymicjohn 10:fedb5786a109 12
Bobymicjohn 10:fedb5786a109 13 #include "PinAssignment.h"
hazheng 29:f87d8790f57d 14 #include "GlobalVariable.h"
Bobymicjohn 8:92f6baeea027 15
hazheng 28:271fc8445e89 16 SPI g_spi_port(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK);
hazheng 29:f87d8790f57d 17 SW::Core g_core;
hazheng 5:577b582e4fe9 18
hazheng 3:c8867972ffc7 19 int main(void) {
hazheng 16:66c7a09e71ee 20
hazheng 16:66c7a09e71ee 21 Timer timer;
hazheng 16:66c7a09e71ee 22
hazheng 29:f87d8790f57d 23 g_spi_port.frequency(1000000);
hazheng 29:f87d8790f57d 24 //g_spi_port.format(8, 0);
hazheng 29:f87d8790f57d 25
hazheng 29:f87d8790f57d 26 //SW::Core core;
Bobymicjohn 10:fedb5786a109 27
hazheng 25:6f63053cee81 28 //Motor motor(core);
hazheng 25:6f63053cee81 29 //Servo servo(core);
hazheng 25:6f63053cee81 30 //WheelEncoder wheelEncoder(core);
hazheng 29:f87d8790f57d 31 //Camera cam(core);
hazheng 6:0682e1c90119 32
hazheng 16:66c7a09e71ee 33
hazheng 29:f87d8790f57d 34 bool isRegRead = false;
Bobymicjohn 14:88302da8bff0 35
Bobymicjohn 21:60377d6f1cc2 36 //motor.setLeftSpeed(0.2);
hazheng 32:5badeff825dc 37 //ardu_cam_print_debug();
hazheng 29:f87d8790f57d 38 ardu_cam_init();
hazheng 32:5badeff825dc 39 //ardu_cam_print_debug();
hazheng 29:f87d8790f57d 40
hazheng 18:bf6c5f8281eb 41 float tempCount = 0;
hazheng 18:bf6c5f8281eb 42 //timer.reset();
hazheng 16:66c7a09e71ee 43 timer.start();
hazheng 18:bf6c5f8281eb 44 float timeWas = timer.read();
hazheng 5:577b582e4fe9 45 while (1)
hazheng 5:577b582e4fe9 46 {
hazheng 18:bf6c5f8281eb 47
hazheng 18:bf6c5f8281eb 48 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 49 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 50 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 51
Bobymicjohn 11:676ea42afd56 52 //led = 0;
hazheng 29:f87d8790f57d 53 g_core.Update(deltaTime);
hazheng 25:6f63053cee81 54 //motor.Update(deltaTime);
hazheng 25:6f63053cee81 55 //servo.Update(deltaTime);
hazheng 25:6f63053cee81 56 //wheelEncoder.Update(deltaTime);
hazheng 29:f87d8790f57d 57 //cam.Update(deltaTime);
hazheng 16:66c7a09e71ee 58
hazheng 18:bf6c5f8281eb 59 tempCount += deltaTime;
hazheng 18:bf6c5f8281eb 60 if(tempCount > 1.0f)
hazheng 5:577b582e4fe9 61 {
hazheng 29:f87d8790f57d 62 //led = !led;
hazheng 18:bf6c5f8281eb 63 tempCount = 0.0f;
hazheng 3:c8867972ffc7 64 }
hazheng 3:c8867972ffc7 65
hazheng 29:f87d8790f57d 66
hazheng 32:5badeff825dc 67 if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_get_fifo_length() > 0)
hazheng 13:7dcb1642ef99 68 {
hazheng 32:5badeff825dc 69 //OV7725RegBuf * regBuf = new OV7725RegBuf(g_core);
hazheng 32:5badeff825dc 70 //regBuf->ReadRegisters();
hazheng 32:5badeff825dc 71 //delete regBuf;
hazheng 32:5badeff825dc 72 ardu_cam_print_debug();
hazheng 13:7dcb1642ef99 73 isRegRead = true;
hazheng 13:7dcb1642ef99 74 }
hazheng 29:f87d8790f57d 75
Bobymicjohn 8:92f6baeea027 76 wait(0.01);
hazheng 3:c8867972ffc7 77 }
hazheng 3:c8867972ffc7 78 }
hazheng 3:c8867972ffc7 79
hazheng 3:c8867972ffc7 80 /*
hazheng 3:c8867972ffc7 81 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 82
hazheng 3:c8867972ffc7 83 int main() {
hazheng 3:c8867972ffc7 84 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 85
hazheng 3:c8867972ffc7 86 while (1) {
hazheng 3:c8867972ffc7 87 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 88 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 89 wait(0.25);
hazheng 3:c8867972ffc7 90 }
hazheng 3:c8867972ffc7 91 }
hazheng 3:c8867972ffc7 92
hazheng 3:c8867972ffc7 93 }
hazheng 13:7dcb1642ef99 94 */
hazheng 13:7dcb1642ef99 95
hazheng 13:7dcb1642ef99 96 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 97 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 98 char readValue = 0;
hazheng 13:7dcb1642ef99 99 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 100 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 101 char buf[20];
hazheng 13:7dcb1642ef99 102 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 103 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 104 */