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@20:4cdbd1ae4ead, 2017-02-14 (annotated)

Committer:
Bobymicjohn
Date:
Tue Feb 14 19:55:04 2017 +0000
Revision:
20:4cdbd1ae4ead
Parent:
18:bf6c5f8281eb
Parent:
15:eb6a274b3dfb
Child:
21:60377d6f1cc2
Merged origin/default to default.

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) {
hazheng 16:66c7a09e71ee 15
hazheng 16:66c7a09e71ee 16 Timer timer;
hazheng 16:66c7a09e71ee 17
Bobymicjohn 11:676ea42afd56 18 SW::Core core;
Bobymicjohn 10:fedb5786a109 19
Bobymicjohn 11:676ea42afd56 20 Motor motor(core);
Bobymicjohn 11:676ea42afd56 21 Servo servo(core);
Bobymicjohn 15:eb6a274b3dfb 22 WheelEncoder wheelEncoder(core);
hazheng 13:7dcb1642ef99 23 Camera cam(core);
hazheng 6:0682e1c90119 24
hazheng 18:bf6c5f8281eb 25 DigitalOut led(LED3, 1);
hazheng 16:66c7a09e71ee 26
hazheng 13:7dcb1642ef99 27 bool isRegRead = false;
Bobymicjohn 14:88302da8bff0 28
hazheng 18:bf6c5f8281eb 29 float tempCount = 0;
hazheng 18:bf6c5f8281eb 30 //timer.reset();
hazheng 16:66c7a09e71ee 31 timer.start();
hazheng 18:bf6c5f8281eb 32 float timeWas = timer.read();
hazheng 5:577b582e4fe9 33 while (1)
hazheng 5:577b582e4fe9 34 {
hazheng 18:bf6c5f8281eb 35
hazheng 18:bf6c5f8281eb 36 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 37 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 38 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 39
Bobymicjohn 11:676ea42afd56 40 //led = 0;
hazheng 16:66c7a09e71ee 41 core.Update(deltaTime);
hazheng 16:66c7a09e71ee 42 motor.Update(deltaTime);
hazheng 16:66c7a09e71ee 43 servo.Update(deltaTime);
hazheng 16:66c7a09e71ee 44
hazheng 18:bf6c5f8281eb 45 tempCount += deltaTime;
hazheng 18:bf6c5f8281eb 46 if(tempCount > 1.0f)
hazheng 5:577b582e4fe9 47 {
hazheng 18:bf6c5f8281eb 48 led = !led;
hazheng 18:bf6c5f8281eb 49 tempCount = 0.0f;
hazheng 3:c8867972ffc7 50 }
hazheng 3:c8867972ffc7 51
Bobymicjohn 15:eb6a274b3dfb 52 /*
hazheng 13:7dcb1642ef99 53 if(!isRegRead && core.GetUSBServer().GetStatus() == SER_STAT_RUNNING)
hazheng 13:7dcb1642ef99 54 {
hazheng 13:7dcb1642ef99 55 cam.ReadRegisters();
hazheng 13:7dcb1642ef99 56 isRegRead = true;
hazheng 13:7dcb1642ef99 57 }
Bobymicjohn 15:eb6a274b3dfb 58 */
Bobymicjohn 8:92f6baeea027 59 wait(0.01);
hazheng 3:c8867972ffc7 60 }
hazheng 3:c8867972ffc7 61 }
hazheng 3:c8867972ffc7 62
hazheng 3:c8867972ffc7 63 /*
hazheng 3:c8867972ffc7 64 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 65
hazheng 3:c8867972ffc7 66 int main() {
hazheng 3:c8867972ffc7 67 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 68
hazheng 3:c8867972ffc7 69 while (1) {
hazheng 3:c8867972ffc7 70 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 71 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 72 wait(0.25);
hazheng 3:c8867972ffc7 73 }
hazheng 3:c8867972ffc7 74 }
hazheng 3:c8867972ffc7 75
hazheng 3:c8867972ffc7 76 }
hazheng 13:7dcb1642ef99 77 */
hazheng 13:7dcb1642ef99 78
hazheng 13:7dcb1642ef99 79 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 80 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 81 char readValue = 0;
hazheng 13:7dcb1642ef99 82 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 83 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 84 char buf[20];
hazheng 13:7dcb1642ef99 85 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 86 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 87 */