David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp@16:8eaa5bc2bdb1, 2014-02-24 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Mon Feb 24 01:26:00 2014 +0000
- Revision:
- 16:8eaa5bc2bdb1
- Parent:
- 14:c8cca3687e64
- Child:
- 17:2df9861f53ee
Got debounced button pressing to work.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 8:78b1ff957cba | 1 | // A file for testing routines that will not be used in the final firmware. |
DavidEGrayson | 8:78b1ff957cba | 2 | |
DavidEGrayson | 8:78b1ff957cba | 3 | #include <mbed.h> |
DavidEGrayson | 8:78b1ff957cba | 4 | #include "motors.h" |
DavidEGrayson | 9:9734347b5756 | 5 | #include <Pacer.h> |
DavidEGrayson | 9:9734347b5756 | 6 | |
DavidEGrayson | 9:9734347b5756 | 7 | #include "test.h" |
DavidEGrayson | 8:78b1ff957cba | 8 | #include "leds.h" |
DavidEGrayson | 9:9734347b5756 | 9 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 10 | #include "pc_serial.h" |
DavidEGrayson | 10:e4dd36148539 | 11 | #include "line_sensors.h" |
DavidEGrayson | 12:835a4d24ae3b | 12 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 13 | #include "buttons.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 14 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 15 | #include <GeneralDebouncer.h> // tmphax |
DavidEGrayson | 16:8eaa5bc2bdb1 | 16 | extern GeneralDebouncer button1Debouncer; // tmphax |
DavidEGrayson | 10:e4dd36148539 | 17 | |
DavidEGrayson | 10:e4dd36148539 | 18 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 19 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 20 | void testDriveHomoe() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 21 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 22 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 23 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 24 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 25 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 26 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 27 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 28 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 29 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 30 | Pacer reportPacer(100000); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 31 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 32 | while(!button1DefinitelyReleased()) |
DavidEGrayson | 16:8eaa5bc2bdb1 | 33 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 34 | if (false && reportPacer.pace()) |
DavidEGrayson | 16:8eaa5bc2bdb1 | 35 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 36 | pc.printf("%1d %11d %11d %11d %11d\r\n", |
DavidEGrayson | 16:8eaa5bc2bdb1 | 37 | button1Debouncer.firstReportReceived, |
DavidEGrayson | 16:8eaa5bc2bdb1 | 38 | button1Debouncer.maxUpdateIntervalMicroseconds, |
DavidEGrayson | 16:8eaa5bc2bdb1 | 39 | button1Debouncer.lastReportTimeMicroseconds, |
DavidEGrayson | 16:8eaa5bc2bdb1 | 40 | button1Debouncer.spanBeginTimeMicroseconds, |
DavidEGrayson | 16:8eaa5bc2bdb1 | 41 | button1Debouncer.currentState |
DavidEGrayson | 16:8eaa5bc2bdb1 | 42 | ); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 43 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 44 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 45 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 16:8eaa5bc2bdb1 | 46 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 47 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 48 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 49 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 50 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 51 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 52 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 53 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 54 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 55 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 56 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 57 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 58 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 59 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 60 | |
DavidEGrayson | 12:835a4d24ae3b | 61 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 62 | { |
DavidEGrayson | 13:bba5b3abd13f | 63 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 64 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 65 | { |
DavidEGrayson | 12:835a4d24ae3b | 66 | updateReckonerFromEncoders(); |
DavidEGrayson | 13:bba5b3abd13f | 67 | led1 = (reckoner.cos > 0); |
DavidEGrayson | 13:bba5b3abd13f | 68 | led2 = (reckoner.sin > 0); |
DavidEGrayson | 13:bba5b3abd13f | 69 | led3 = (reckoner.x > 0); |
DavidEGrayson | 13:bba5b3abd13f | 70 | led4 = (reckoner.y > 0); |
DavidEGrayson | 12:835a4d24ae3b | 71 | |
DavidEGrayson | 13:bba5b3abd13f | 72 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 73 | { |
DavidEGrayson | 14:c8cca3687e64 | 74 | pc.printf("%11d %11d %11d %11d | %8d %8d\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 75 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 13:bba5b3abd13f | 76 | encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 13:bba5b3abd13f | 77 | } |
DavidEGrayson | 12:835a4d24ae3b | 78 | } |
DavidEGrayson | 12:835a4d24ae3b | 79 | } |
DavidEGrayson | 12:835a4d24ae3b | 80 | |
DavidEGrayson | 10:e4dd36148539 | 81 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 82 | { |
DavidEGrayson | 10:e4dd36148539 | 83 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 84 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 85 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 86 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 87 | { |
DavidEGrayson | 10:e4dd36148539 | 88 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 89 | { |
DavidEGrayson | 10:e4dd36148539 | 90 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 91 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 92 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 93 | |
DavidEGrayson | 10:e4dd36148539 | 94 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 95 | { |
DavidEGrayson | 10:e4dd36148539 | 96 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 97 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 98 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 99 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 100 | } |
DavidEGrayson | 10:e4dd36148539 | 101 | else |
DavidEGrayson | 10:e4dd36148539 | 102 | { |
DavidEGrayson | 10:e4dd36148539 | 103 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 104 | } |
DavidEGrayson | 10:e4dd36148539 | 105 | } |
DavidEGrayson | 10:e4dd36148539 | 106 | } |
DavidEGrayson | 10:e4dd36148539 | 107 | } |
DavidEGrayson | 8:78b1ff957cba | 108 | |
DavidEGrayson | 9:9734347b5756 | 109 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 110 | { |
DavidEGrayson | 9:9734347b5756 | 111 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 112 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 113 | while(1) |
DavidEGrayson | 9:9734347b5756 | 114 | { |
DavidEGrayson | 9:9734347b5756 | 115 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 116 | { |
DavidEGrayson | 9:9734347b5756 | 117 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 118 | } |
DavidEGrayson | 9:9734347b5756 | 119 | |
DavidEGrayson | 9:9734347b5756 | 120 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 121 | { |
DavidEGrayson | 9:9734347b5756 | 122 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 123 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 124 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 125 | } |
DavidEGrayson | 9:9734347b5756 | 126 | } |
DavidEGrayson | 9:9734347b5756 | 127 | } |
DavidEGrayson | 9:9734347b5756 | 128 | |
DavidEGrayson | 8:78b1ff957cba | 129 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 130 | { |
DavidEGrayson | 8:78b1ff957cba | 131 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 132 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 133 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 134 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 135 | { |
DavidEGrayson | 9:9734347b5756 | 136 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 137 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 138 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 139 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 140 | |
DavidEGrayson | 9:9734347b5756 | 141 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 142 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 143 | |
DavidEGrayson | 9:9734347b5756 | 144 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 145 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 146 | |
DavidEGrayson | 9:9734347b5756 | 147 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 148 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 149 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 150 | |
DavidEGrayson | 9:9734347b5756 | 151 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 152 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 153 | |
DavidEGrayson | 9:9734347b5756 | 154 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 155 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 156 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 157 | |
DavidEGrayson | 9:9734347b5756 | 158 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 159 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 160 | } |
DavidEGrayson | 10:e4dd36148539 | 161 | } |
DavidEGrayson | 10:e4dd36148539 | 162 | |
DavidEGrayson | 10:e4dd36148539 | 163 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 164 | { |
DavidEGrayson | 10:e4dd36148539 | 165 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 166 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 167 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 168 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 169 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 170 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 171 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 172 | } |