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@13:7dcb1642ef99, 2017-02-08 (annotated)

Committer:
hazheng
Date:
Wed Feb 08 23:47:02 2017 +0000
Revision:
13:7dcb1642ef99
Parent:
11:676ea42afd56
Child:
14:88302da8bff0
Child:
16:66c7a09e71ee
Finished reading SCCB from camera.

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 11:676ea42afd56 5 #include "Core.h"
Bobymicjohn 11:676ea42afd56 6 #include "SWUSBServer.h"
hazheng 13:7dcb1642ef99 7 #include "Camera.h"
Bobymicjohn 10:fedb5786a109 8
Bobymicjohn 10:fedb5786a109 9 #include "PinAssignment.h"
Bobymicjohn 8:92f6baeea027 10
Bobymicjohn 11:676ea42afd56 11 //DigitalOut led(LED1, 1);
hazheng 5:577b582e4fe9 12
hazheng 3:c8867972ffc7 13 int main(void) {
Bobymicjohn 11:676ea42afd56 14
Bobymicjohn 11:676ea42afd56 15 SW::Core core;
Bobymicjohn 10:fedb5786a109 16
Bobymicjohn 11:676ea42afd56 17 Motor motor(core);
Bobymicjohn 11:676ea42afd56 18 Servo servo(core);
hazheng 13:7dcb1642ef99 19 Camera cam(core);
hazheng 6:0682e1c90119 20
hazheng 5:577b582e4fe9 21 unsigned int testCount = 0;
hazheng 5:577b582e4fe9 22 unsigned int testCount2 = 0;
hazheng 5:577b582e4fe9 23 char buf[5];
hazheng 13:7dcb1642ef99 24 bool isRegRead = false;
hazheng 3:c8867972ffc7 25
hazheng 5:577b582e4fe9 26 while (1)
hazheng 5:577b582e4fe9 27 {
Bobymicjohn 11:676ea42afd56 28 //led = 0;
Bobymicjohn 11:676ea42afd56 29 core.Update(0.0f);
Bobymicjohn 8:92f6baeea027 30 motor.Update(0.0f);
hazheng 5:577b582e4fe9 31 testCount++;
Bobymicjohn 11:676ea42afd56 32 if(testCount >= 200)
hazheng 5:577b582e4fe9 33 {
hazheng 5:577b582e4fe9 34 testCount2++;
hazheng 5:577b582e4fe9 35 sprintf(buf, "%d", testCount2);
Bobymicjohn 11:676ea42afd56 36 servo.setAngle(SERVO_RT * SERVO_MAX_ANGLE);
Bobymicjohn 11:676ea42afd56 37 //core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 5:577b582e4fe9 38 testCount = 0;
hazheng 3:c8867972ffc7 39 }
hazheng 3:c8867972ffc7 40
hazheng 13:7dcb1642ef99 41 if(!isRegRead && core.GetUSBServer().GetStatus() == SER_STAT_RUNNING)
hazheng 13:7dcb1642ef99 42 {
hazheng 13:7dcb1642ef99 43 cam.ReadRegisters();
hazheng 13:7dcb1642ef99 44 isRegRead = true;
hazheng 13:7dcb1642ef99 45 }
hazheng 13:7dcb1642ef99 46
Bobymicjohn 8:92f6baeea027 47 wait(0.01);
hazheng 3:c8867972ffc7 48 }
hazheng 3:c8867972ffc7 49 }
hazheng 3:c8867972ffc7 50
hazheng 3:c8867972ffc7 51 /*
hazheng 3:c8867972ffc7 52 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 53
hazheng 3:c8867972ffc7 54 int main() {
hazheng 3:c8867972ffc7 55 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 56
hazheng 3:c8867972ffc7 57 while (1) {
hazheng 3:c8867972ffc7 58 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 59 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 60 wait(0.25);
hazheng 3:c8867972ffc7 61 }
hazheng 3:c8867972ffc7 62 }
hazheng 3:c8867972ffc7 63
hazheng 3:c8867972ffc7 64 }
hazheng 13:7dcb1642ef99 65 */
hazheng 13:7dcb1642ef99 66
hazheng 13:7dcb1642ef99 67 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 68 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 69 char readValue = 0;
hazheng 13:7dcb1642ef99 70 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 71 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 72 char buf[20];
hazheng 13:7dcb1642ef99 73 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 74 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 75 */