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

Diff: main.cpp

Revision:
56:7d3395ae022d
Parent:
55:d4db9eef4a9d
Child:
57:0d8a155d511d
--- a/main.cpp	Thu Apr 06 21:43:15 2017 +0000
+++ b/main.cpp	Thu Apr 06 22:19:59 2017 +0000
@@ -3,6 +3,10 @@
 #include <math.h>
 #define PI 3.14159265f
 
+#define SW_DEBUG
+#include "SWCommon.h"
+#include "GlobalVariable.h"
+
 #include "Motor.h"
 #include "Servo.h"
 #include "WheelEncoder.h"
@@ -13,11 +17,15 @@
 #include "ArduUTFT.h"
 
 #include "PinAssignment.h"
-#include "GlobalVariable.h"
 
 SPI g_spi_port(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK);
 SW::Core g_core;
 
+#ifdef SW_DEBUG
+#include <rtos.h>
+Mutex g_sw_spi_lock;
+#endif 
+
 int main(void) {
     
     Timer timer;
@@ -125,6 +133,8 @@
             motor_set_right_speed(speedRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
             motor_set_left_speed(speedRatio * 1.0f);
         }
+        
+        LOGI("FPS: %f", 1 / deltaTime);
         /*
         //////// Steer Vehicle / Adjust Speed for Differential //////////
         servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));