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@10:fedb5786a109, 2017-02-07 (annotated)

Committer:
Bobymicjohn
Date:
Tue Feb 07 18:20:38 2017 +0000
Revision:
10:fedb5786a109
Parent:
8:92f6baeea027
Child:
11:676ea42afd56
Added pin assignment for servo, and changed its pin from PTE20 to PTB0 for easier access.

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"
hazheng 5:577b582e4fe9 4
hazheng 5:577b582e4fe9 5 #include "USBHIDServer.h"
Bobymicjohn 10:fedb5786a109 6
Bobymicjohn 10:fedb5786a109 7 #include "PinAssignment.h"
hazheng 3:c8867972ffc7 8
Bobymicjohn 10:fedb5786a109 9 PwmOut servo(ST_SERVO);
Bobymicjohn 8:92f6baeea027 10
hazheng 5:577b582e4fe9 11 DigitalOut led(LED1, 1);
hazheng 5:577b582e4fe9 12
hazheng 3:c8867972ffc7 13 int main(void) {
Bobymicjohn 4:25e028102625 14 servo.period(0.020);
Bobymicjohn 10:fedb5786a109 15 servo.pulsewidth(0.00185);
hazheng 5:577b582e4fe9 16 //Camera cam;
hazheng 6:0682e1c90119 17
Bobymicjohn 8:92f6baeea027 18 Motor motor;
Bobymicjohn 10:fedb5786a109 19 motor.setLeftSpeed(0.5f);
Bobymicjohn 10:fedb5786a109 20 motor.setRightSpeed(0.5f);
Bobymicjohn 10:fedb5786a109 21
Bobymicjohn 10:fedb5786a109 22 wait(5);
Bobymicjohn 10:fedb5786a109 23
Bobymicjohn 10:fedb5786a109 24 servo.pulsewidth(0.0012);
Bobymicjohn 10:fedb5786a109 25 motor.setLeftSpeed(0.5f);
Bobymicjohn 10:fedb5786a109 26 motor.setRightSpeed(0.5f);
Bobymicjohn 8:92f6baeea027 27
Bobymicjohn 8:92f6baeea027 28 wait(2);
Bobymicjohn 8:92f6baeea027 29
Bobymicjohn 8:92f6baeea027 30 motor.setLeftSpeed(-0.0f);
Bobymicjohn 8:92f6baeea027 31 motor.setRightSpeed(-0.0f);
Bobymicjohn 4:25e028102625 32
hazheng 5:577b582e4fe9 33 USBHIDServer server;
hazheng 6:0682e1c90119 34
hazheng 5:577b582e4fe9 35 unsigned int testCount = 0;
hazheng 5:577b582e4fe9 36 unsigned int testCount2 = 0;
hazheng 5:577b582e4fe9 37 char buf[5];
hazheng 3:c8867972ffc7 38
hazheng 5:577b582e4fe9 39 while (1)
hazheng 5:577b582e4fe9 40 {
hazheng 5:577b582e4fe9 41 led = 0;
hazheng 5:577b582e4fe9 42 server.Update(0.0f);
Bobymicjohn 8:92f6baeea027 43 motor.Update(0.0f);
hazheng 5:577b582e4fe9 44 testCount++;
hazheng 5:577b582e4fe9 45 if(testCount >= 10000)
hazheng 5:577b582e4fe9 46 {
hazheng 5:577b582e4fe9 47 testCount2++;
hazheng 5:577b582e4fe9 48 sprintf(buf, "%d", testCount2);
hazheng 5:577b582e4fe9 49 //server.PushUnreliableMsg('D', "Test Message!");
hazheng 5:577b582e4fe9 50 server.PushUnreliableMsg('D', buf);
hazheng 5:577b582e4fe9 51 testCount = 0;
hazheng 3:c8867972ffc7 52 }
hazheng 3:c8867972ffc7 53
Bobymicjohn 8:92f6baeea027 54 wait(0.01);
hazheng 3:c8867972ffc7 55 }
hazheng 3:c8867972ffc7 56 }
hazheng 3:c8867972ffc7 57
hazheng 3:c8867972ffc7 58 /*
hazheng 3:c8867972ffc7 59 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 60
hazheng 3:c8867972ffc7 61 int main() {
hazheng 3:c8867972ffc7 62 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 63
hazheng 3:c8867972ffc7 64 while (1) {
hazheng 3:c8867972ffc7 65 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 66 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 67 wait(0.25);
hazheng 3:c8867972ffc7 68 }
hazheng 3:c8867972ffc7 69 }
hazheng 3:c8867972ffc7 70
hazheng 3:c8867972ffc7 71 }
hazheng 3:c8867972ffc7 72 */