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@15:eb6a274b3dfb, 2017-02-14 (annotated)

Committer:
Bobymicjohn
Date:
Tue Feb 14 19:51:57 2017 +0000
Revision:
15:eb6a274b3dfb
Parent:
14:88302da8bff0
Child:
20:4cdbd1ae4ead
Finished wheelEncoder class.

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 5:577b582e4fe9 13
hazheng 3:c8867972ffc7 14 int main(void) {
Bobymicjohn 11:676ea42afd56 15
Bobymicjohn 11:676ea42afd56 16 SW::Core core;
Bobymicjohn 10:fedb5786a109 17
Bobymicjohn 11:676ea42afd56 18 Motor motor(core);
Bobymicjohn 11:676ea42afd56 19 Servo servo(core);
Bobymicjohn 15:eb6a274b3dfb 20 WheelEncoder wheelEncoder(core);
hazheng 13:7dcb1642ef99 21 Camera cam(core);
hazheng 6:0682e1c90119 22
hazheng 5:577b582e4fe9 23 unsigned int testCount = 0;
hazheng 5:577b582e4fe9 24 unsigned int testCount2 = 0;
hazheng 5:577b582e4fe9 25 char buf[5];
hazheng 13:7dcb1642ef99 26 bool isRegRead = false;
Bobymicjohn 14:88302da8bff0 27
hazheng 5:577b582e4fe9 28 while (1)
hazheng 5:577b582e4fe9 29 {
Bobymicjohn 11:676ea42afd56 30 //led = 0;
Bobymicjohn 11:676ea42afd56 31 core.Update(0.0f);
Bobymicjohn 8:92f6baeea027 32 motor.Update(0.0f);
hazheng 5:577b582e4fe9 33 testCount++;
Bobymicjohn 11:676ea42afd56 34 if(testCount >= 200)
hazheng 5:577b582e4fe9 35 {
hazheng 5:577b582e4fe9 36 testCount2++;
hazheng 5:577b582e4fe9 37 sprintf(buf, "%d", testCount2);
Bobymicjohn 11:676ea42afd56 38 servo.setAngle(SERVO_RT * SERVO_MAX_ANGLE);
Bobymicjohn 11:676ea42afd56 39 //core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 5:577b582e4fe9 40 testCount = 0;
hazheng 3:c8867972ffc7 41 }
hazheng 3:c8867972ffc7 42
Bobymicjohn 15:eb6a274b3dfb 43 /*
hazheng 13:7dcb1642ef99 44 if(!isRegRead && core.GetUSBServer().GetStatus() == SER_STAT_RUNNING)
hazheng 13:7dcb1642ef99 45 {
hazheng 13:7dcb1642ef99 46 cam.ReadRegisters();
hazheng 13:7dcb1642ef99 47 isRegRead = true;
hazheng 13:7dcb1642ef99 48 }
Bobymicjohn 15:eb6a274b3dfb 49 */
Bobymicjohn 8:92f6baeea027 50 wait(0.01);
hazheng 3:c8867972ffc7 51 }
hazheng 3:c8867972ffc7 52 }
hazheng 3:c8867972ffc7 53
hazheng 3:c8867972ffc7 54 /*
hazheng 3:c8867972ffc7 55 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 56
hazheng 3:c8867972ffc7 57 int main() {
hazheng 3:c8867972ffc7 58 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 59
hazheng 3:c8867972ffc7 60 while (1) {
hazheng 3:c8867972ffc7 61 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 62 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 63 wait(0.25);
hazheng 3:c8867972ffc7 64 }
hazheng 3:c8867972ffc7 65 }
hazheng 3:c8867972ffc7 66
hazheng 3:c8867972ffc7 67 }
hazheng 13:7dcb1642ef99 68 */
hazheng 13:7dcb1642ef99 69
hazheng 13:7dcb1642ef99 70 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 71 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 72 char readValue = 0;
hazheng 13:7dcb1642ef99 73 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 74 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 75 char buf[20];
hazheng 13:7dcb1642ef99 76 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 77 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 78 */