David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp@10:e4dd36148539, 2014-02-22 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sat Feb 22 04:44:44 2014 +0000
- Revision:
- 10:e4dd36148539
- Parent:
- 9:9734347b5756
- Child:
- 12:835a4d24ae3b
Successfully tested the encoders, printing out a nice bar graph.
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 | 10:e4dd36148539 | 12 | |
DavidEGrayson | 10:e4dd36148539 | 13 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 14 | |
DavidEGrayson | 10:e4dd36148539 | 15 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 16 | { |
DavidEGrayson | 10:e4dd36148539 | 17 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 18 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 19 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 20 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 21 | { |
DavidEGrayson | 10:e4dd36148539 | 22 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 23 | { |
DavidEGrayson | 10:e4dd36148539 | 24 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 25 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 26 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 27 | |
DavidEGrayson | 10:e4dd36148539 | 28 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 29 | { |
DavidEGrayson | 10:e4dd36148539 | 30 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 31 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 32 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 33 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 34 | } |
DavidEGrayson | 10:e4dd36148539 | 35 | else |
DavidEGrayson | 10:e4dd36148539 | 36 | { |
DavidEGrayson | 10:e4dd36148539 | 37 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 38 | } |
DavidEGrayson | 10:e4dd36148539 | 39 | } |
DavidEGrayson | 10:e4dd36148539 | 40 | } |
DavidEGrayson | 10:e4dd36148539 | 41 | } |
DavidEGrayson | 8:78b1ff957cba | 42 | |
DavidEGrayson | 9:9734347b5756 | 43 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 44 | { |
DavidEGrayson | 9:9734347b5756 | 45 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 46 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 47 | while(1) |
DavidEGrayson | 9:9734347b5756 | 48 | { |
DavidEGrayson | 9:9734347b5756 | 49 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 50 | { |
DavidEGrayson | 9:9734347b5756 | 51 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 52 | } |
DavidEGrayson | 9:9734347b5756 | 53 | |
DavidEGrayson | 9:9734347b5756 | 54 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 55 | { |
DavidEGrayson | 9:9734347b5756 | 56 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 57 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 58 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 59 | } |
DavidEGrayson | 9:9734347b5756 | 60 | } |
DavidEGrayson | 9:9734347b5756 | 61 | } |
DavidEGrayson | 9:9734347b5756 | 62 | |
DavidEGrayson | 8:78b1ff957cba | 63 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 64 | { |
DavidEGrayson | 8:78b1ff957cba | 65 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 66 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 67 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 68 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 69 | { |
DavidEGrayson | 9:9734347b5756 | 70 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 71 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 72 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 73 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 74 | |
DavidEGrayson | 9:9734347b5756 | 75 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 76 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 77 | |
DavidEGrayson | 9:9734347b5756 | 78 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 79 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 80 | |
DavidEGrayson | 9:9734347b5756 | 81 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 82 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 83 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 84 | |
DavidEGrayson | 9:9734347b5756 | 85 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 86 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 87 | |
DavidEGrayson | 9:9734347b5756 | 88 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 89 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 90 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 91 | |
DavidEGrayson | 9:9734347b5756 | 92 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 93 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 94 | } |
DavidEGrayson | 10:e4dd36148539 | 95 | } |
DavidEGrayson | 10:e4dd36148539 | 96 | |
DavidEGrayson | 10:e4dd36148539 | 97 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 98 | { |
DavidEGrayson | 10:e4dd36148539 | 99 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 100 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 101 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 102 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 103 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 104 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 105 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 106 | } |