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@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
87:15fcf7891bf9 
Better version of Intersection detection.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 3:c8867972ffc7 1 #include "mbed.h"
hazheng 5:577b582e4fe9 2
hazheng 63:d9a81b3d69f5 3 //#define SW_DEBUG
hazheng 56:7d3395ae022d 4 #include "SWCommon.h"
hazheng 56:7d3395ae022d 5 #include "GlobalVariable.h"
hazheng 83:b2c7c6f76575 6 #include "PinAssignment.h"
hazheng 56:7d3395ae022d 7
Bobymicjohn 8:92f6baeea027 8 #include "Motor.h"
Bobymicjohn 11:676ea42afd56 9 #include "Servo.h"
hazheng 29:f87d8790f57d 10
hazheng 29:f87d8790f57d 11 #include "ArduCAM.h"
hazheng 40:be98219930e4 12 #include "ArduUTFT.h"
hazheng 79:bdbac82c979b 13 #include "ArduTouch.h"
Bobymicjohn 10:fedb5786a109 14
hazheng 80:c85cb93713b3 15 #include "StateManager.h"
hazheng 80:c85cb93713b3 16
Bobymicjohn 8:92f6baeea027 17
hazheng 28:271fc8445e89 18 SPI g_spi_port(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK);
hazheng 5:577b582e4fe9 19
hazheng 3:c8867972ffc7 20 int main(void) {
hazheng 16:66c7a09e71ee 21
hazheng 48:f76b5e252444 22 g_spi_port.frequency(5000000);
Bobymicjohn 10:fedb5786a109 23
hazheng 46:a5eb9bd3bb55 24 motor_init();
hazheng 83:b2c7c6f76575 25
hazheng 45:501b7909139a 26 servo_init();
hazheng 16:66c7a09e71ee 27
hazheng 83:b2c7c6f76575 28 wait(1.0f);
hazheng 40:be98219930e4 29
hazheng 40:be98219930e4 30 ardu_utft_init();
hazheng 29:f87d8790f57d 31
hazheng 41:7b21c5e3599e 32 ardu_cam_init();
hazheng 41:7b21c5e3599e 33
hazheng 79:bdbac82c979b 34 ardu_touch_init();
hazheng 79:bdbac82c979b 35
hazheng 46:a5eb9bd3bb55 36 servo_set_angle(0.0f);
hazheng 80:c85cb93713b3 37
hazheng 82:992ba6f31e24 38 state_manager_switch_state(STANDBY_STATE);
hazheng 80:c85cb93713b3 39
hazheng 5:577b582e4fe9 40 while (1)
hazheng 5:577b582e4fe9 41 {
hazheng 80:c85cb93713b3 42 state_manager_update(0.0f);
hazheng 68:b15cab740371 43 }
hazheng 68:b15cab740371 44 }