Diff: main.cpp

Revision:

0:ba8d8b12f8cc

Child:

1:2ff0b2e16716

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 24 23:13:05 2016 +0000
@@ -0,0 +1,104 @@
+/**
+ * @file main.cpp
+ * @date June 24th, 2016
+ * @author Weimen Li
+ * @mainpage MAE433_Library_Tester
+ * This testing program tests all hardware that should be installed on your robotic vehicle to
+ * ensure that the hardware was assembled correctly. It runs the following programs:
+ */
+
+#include "mbed.h"
+#include "rtos.h"
+#include "FXOS8700CQ.hpp"
+#include "HBridge.hpp"
+#include "HC06Bluetooth.hpp"
+#include "QuadEnc.hpp"
+#include "dsp.h"
+
+/* Constants */
+/// The CPR of the encoder.
+const float encoderCPR = 100.98f * 12.0f;
+/// The transmission period of the bluetooth module.
+const int32_t SerialTransmitPeriodMS = 20;
+/// The sampling period of the control system.
+const int32_t controlSampleRateMS = 1;
+/// The diameter of the wheels in inches
+const float wheelDiameter = 1.9f;
+
+/* Forward declaration of functions for the Bluetooth module */
+// Forward declaration of lineCallback:
+void lineCallback(const char* receivedString);
+// Forward declaration of charCallback:
+void charCallback(char receivedChar);
+
+/* Objects that encapsulate the hardware: */
+FXOS8700CQ accelerometer;
+HBridge leftMotor(D9, D7);
+HBridge rightMotor(D10, D8);
+HC06Bluetooth bluetooth(PTD3, PTD2, lineCallback, charCallback);
+QuadEnc leftQuadEnc(PTB0, PTB1, encoderCPR);
+QuadEnc rightQuadEnc(PTC2, PTC1, encoderCPR);
+RawSerial pc(USBTX, USBRX);
+
+/* Set up Bluetooth module to echo received characters. */
+/* Callback function when a line has been received from Bluetooth.
+ * This function prints "Line received.\n". */
+void lineCallback(const char* receivedString) {
+    bluetooth.print("Line received.\n\r");
+}
+
+/* Callback function when a char has been received from Bluetooth.
+ * This function echos any character received.
+ */
+void charCallback(char receivedChar) {
+    bluetooth.print(receivedChar);
+}
+
+
+/* Threads */
+
+Thread *PCSerialThreadObj;
+void PCSerialThread(const void* arguments) {
+    float xAccel;
+    float yAccel;
+    float zAccel;
+    pc.baud(115200);
+    Timer t;
+    t.start();
+    while(true) {
+        float leftEncoderReading = leftQuadEnc.getRevs();
+        float rightEncoderReading = rightQuadEnc.getRevs();
+        float leftMotorOutput = leftMotor.read();
+        float rightMotorOutput = rightMotor.read();
+        accelerometer.readAccelerometer(&xAccel, &yAccel, &zAccel);
+        pc.printf("Time: %f;"
+                "Left Encoder: %f, Right Encoder: %f; "
+                "leftMotor: %f, rightMotor: %f; "
+                "xAccel: %f, yAccel %f, zAccel: %f;\n\r",
+                t.read(),
+                leftEncoderReading, rightEncoderReading,
+                leftMotorOutput, rightMotorOutput,
+                xAccel, yAccel, zAccel
+                );
+        Thread::wait(SerialTransmitPeriodMS);
+    }
+}
+
+Thread *MotorControlThreadObj;
+void MotorControlThread(const void* arguments) {
+    Timer t;
+    t.start();
+    while(true) {
+        float output = 1 * arm_sin_f32(2*M_PI*t.read() / 8);
+        leftMotor.write(output);
+        rightMotor.write(output);
+        Thread::wait(controlSampleRateMS);
+    }
+}
+
+int main() {
+    PCSerialThreadObj = new Thread(PCSerialThread);
+    MotorControlThreadObj = new Thread(MotorControlThread);
+    Thread::wait(osWaitForever);
+}
+