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

Committer:
Bobymicjohn
Date:
2017-02-14
Revision:
21:60377d6f1cc2
Parent:
20:4cdbd1ae4ead
Child:
25:6f63053cee81

File content as of revision 21:60377d6f1cc2:

#include "mbed.h"

#include "Motor.h"
#include "Servo.h"
#include "WheelEncoder.h"
#include "Core.h"
#include "SWUSBServer.h"
#include "Camera.h"

#include "PinAssignment.h"

//DigitalOut led(LED1, 1);

int main(void) {
    
    Timer timer;
    
    SW::Core core;
    
    Motor motor(core);
    Servo servo(core);
    WheelEncoder wheelEncoder(core);
    Camera cam(core);
    
    DigitalOut led(LED3, 1);
    
    bool isRegRead = false;
    
    //motor.setLeftSpeed(0.2);
    
    float tempCount = 0;
    //timer.reset();
    timer.start();
    float timeWas = timer.read();
    while (1) 
    {
        
        float deltaTime = timeWas;
        timeWas = timer.read();
        deltaTime = timeWas - deltaTime;
        
        //led = 0;
        core.Update(deltaTime);
        motor.Update(deltaTime);
        servo.Update(deltaTime);
        wheelEncoder.Update(deltaTime);
        
        tempCount += deltaTime;
        if(tempCount > 1.0f)
        {
            led = !led;
            tempCount = 0.0f;
        }
        
        /*
        if(!isRegRead && core.GetUSBServer().GetStatus() == SER_STAT_RUNNING)
        {
            cam.ReadRegisters();
            isRegRead = true;
        }
        */
        wait(0.01);
    }
}

/*
PwmOut servo(PTE20);
 
int main() {
    servo.period(0.020);          // servo requires a 20ms period
    
    while (1) {
        for(float offset=0.0; offset<0.001; offset+=0.0001) {
            servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
            wait(0.25);
        }
    }
    
}
*/

/*  //code for accelerometer sensor.
    const char regAddr = 0x0D;
    char readValue = 0;
    int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
    int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
    char buf[20];
    sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
    m_core.GetUSBServer().PushUnreliableMsg('D', buf);
*/