ISR UC / ISR_Mini-explorer

Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.

Dependencies:   RF24

Dependents:   Mapping VirtualForces_debug OneFileToRuleThemAll VirtualForces_with_class ... more

robot.h@1:8569ac717e68, 2018-02-20 (annotated)

Committer:
ISR
Date:
Tue Feb 20 13:37:47 2018 +0000
Revision:
1:8569ac717e68
Parent:
0:15a30802e719
Child:
2:0435d1171673
Encoders working inside thread.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ISR 0:15a30802e719 1 /** @file */
ISR 0:15a30802e719 2
ISR 0:15a30802e719 3 #include <math.h>
ISR 0:15a30802e719 4 #include <string.h>
ISR 0:15a30802e719 5 #include "VCNL40x0.h"
ISR 1:8569ac717e68 6 #include <RF24.h>
ISR 1:8569ac717e68 7 #include "Encoder.h"
ISR 1:8569ac717e68 8
ISR 1:8569ac717e68 9 I2C i2c(PTC9,PTC8);
ISR 1:8569ac717e68 10 I2C i2c1(PTC11,PTC10);
ISR 1:8569ac717e68 11
ISR 1:8569ac717e68 12
ISR 1:8569ac717e68 13 float X=20;
ISR 1:8569ac717e68 14 float Y=20;
ISR 1:8569ac717e68 15
ISR 1:8569ac717e68 16 Mutex mutex_i2c0, mutex_i2c1;
ISR 1:8569ac717e68 17 Encoder esquerdo(&i2c, &mutex_i2c0, 0);
ISR 1:8569ac717e68 18 Encoder direito(&i2c1, &mutex_i2c1, 1);
ISR 1:8569ac717e68 19
ISR 1:8569ac717e68 20 Thread thread;
ISR 1:8569ac717e68 21
ISR 1:8569ac717e68 22
ISR 1:8569ac717e68 23
ISR 1:8569ac717e68 24 void odometry_thread()
ISR 1:8569ac717e68 25 {
ISR 1:8569ac717e68 26 float theta=0;
ISR 1:8569ac717e68 27 long int ticks2d=0;
ISR 1:8569ac717e68 28 long int ticks2e=0;
ISR 1:8569ac717e68 29
ISR 1:8569ac717e68 30
ISR 0:15a30802e719 31
ISR 1:8569ac717e68 32 while (true) {
ISR 1:8569ac717e68 33 esquerdo.incremental();
ISR 1:8569ac717e68 34 direito.incremental();
ISR 1:8569ac717e68 35 //-------------------------------------------
ISR 1:8569ac717e68 36 long int ticks1d=direito.readIncrementalValue();
ISR 1:8569ac717e68 37 long int ticks1e=esquerdo.readIncrementalValue();
ISR 1:8569ac717e68 38
ISR 1:8569ac717e68 39 long int D_ticks=ticks1d - ticks2d;
ISR 1:8569ac717e68 40 long int E_ticks=ticks1e - ticks2e;
ISR 1:8569ac717e68 41
ISR 1:8569ac717e68 42 ticks2d=ticks1d;
ISR 1:8569ac717e68 43 ticks2e=ticks1e;
ISR 1:8569ac717e68 44
ISR 1:8569ac717e68 45 float D_cm= (float)D_ticks*((3.25*3.1415)/4096);
ISR 1:8569ac717e68 46 float L_cm= (float)E_ticks*((3.25*3.1415)/4096);
ISR 1:8569ac717e68 47
ISR 1:8569ac717e68 48 float CM=(D_cm + L_cm)/2;
ISR 1:8569ac717e68 49
ISR 1:8569ac717e68 50 theta +=(D_cm - L_cm)/7.18;
ISR 1:8569ac717e68 51
ISR 1:8569ac717e68 52 theta = atan2(sin(theta), cos(theta));
ISR 1:8569ac717e68 53
ISR 1:8569ac717e68 54 // meter entre 0
ISR 1:8569ac717e68 55
ISR 1:8569ac717e68 56 X += CM*cos(theta);
ISR 1:8569ac717e68 57 Y += CM*sin(theta);
ISR 1:8569ac717e68 58 //-------------------------------------------
ISR 1:8569ac717e68 59
ISR 1:8569ac717e68 60 Thread::wait(10);
ISR 1:8569ac717e68 61 }
ISR 1:8569ac717e68 62 }
ISR 1:8569ac717e68 63
ISR 0:15a30802e719 64
ISR 0:15a30802e719 65 // classes adicionais
ISR 1:8569ac717e68 66 RF24 radio(PTD2, PTD3, PTD1, PTC12 ,PTC13);
ISR 0:15a30802e719 67 VCNL40x0 VCNL40x0_Device (PTC9, PTC8, VCNL40x0_ADDRESS);
ISR 1:8569ac717e68 68
ISR 1:8569ac717e68 69
ISR 0:15a30802e719 70 Timeout timeout;
ISR 0:15a30802e719 71
ISR 0:15a30802e719 72 Serial pc(PTE0,PTE1);
ISR 1:8569ac717e68 73
ISR 0:15a30802e719 74
ISR 0:15a30802e719 75 // Variables needed by the lib
ISR 0:15a30802e719 76 unsigned int ProxiValue=0;
ISR 0:15a30802e719 77
ISR 0:15a30802e719 78 //SAIDAS DIGITAIS (normal)
ISR 0:15a30802e719 79 DigitalOut q_pha_mot_rig (PTE4,0); //Phase Motor Right
ISR 0:15a30802e719 80 DigitalOut q_sleep_mot_rig (PTE3,0); //Nano Sleep Motor Right
ISR 0:15a30802e719 81 DigitalOut q_pha_mot_lef (PTA17,0); //Phase Motor Left
ISR 0:15a30802e719 82 DigitalOut q_sleep_mot_lef (PTB11,0); //Nano Sleep Motor Left
ISR 0:15a30802e719 83 DigitalOut q_pow_ena_i2c_p (PTE2,0); //Power Enable i2c FET P (0- enable 1-disable)
ISR 0:15a30802e719 84 DigitalOut q_pow_ena_mic_p (PTA14,0); //Power enable Micro FET P (0- enable 1-disable)
ISR 0:15a30802e719 85 DigitalOut q_pow_as5600_n (PTC6,1); //AS5600 Power MOSFET N (1- enable 0-disable)
ISR 0:15a30802e719 86 DigitalOut q_pow_as5600_p (PTC5,0); //AS5600 Power MOSFET P (0- enable 1-disable)
ISR 0:15a30802e719 87 DigitalOut q_pow_spi (PTC4,0); //SPI Power MOSFET P (0- enable 1-disable)
ISR 0:15a30802e719 88 DigitalOut q_ena_mppt (PTC0,0); //Enable MPPT Control (0- enable 1-disable)
ISR 0:15a30802e719 89 DigitalOut q_boost_ps (PTC7,1); //Boost Power Save (1- enable 0-disable)
ISR 0:15a30802e719 90 DigitalOut q_tca9548_reset (PTC3,1); //Reset TCA9548 (1- enable 0-disable)
ISR 0:15a30802e719 91 DigitalOut power_36khz (PTD0,0); //Power enable pic12f - 36khz (0- enable 1-disable)
ISR 0:15a30802e719 92
ISR 0:15a30802e719 93
ISR 0:15a30802e719 94 // ********************************************************************
ISR 0:15a30802e719 95 // ********************************************************************
ISR 0:15a30802e719 96 //DEFINIÇÃO DE ENTRADAS E SAIDAS DO ROBOT
ISR 0:15a30802e719 97 //ENTRADAS DIGITAIS (normal input)
ISR 0:15a30802e719 98 DigitalIn i_enc_dir_rig (PTB8); //Encoder Right Direction
ISR 0:15a30802e719 99 DigitalIn i_enc_dir_lef (PTB9); //Encoder Left Direction
ISR 0:15a30802e719 100 DigitalIn i_micro_sd_det (PTC16); //MICRO SD Card Detect
ISR 0:15a30802e719 101 DigitalIn i_mppt_fail (PTE5); //Fail MPPT Signal
ISR 0:15a30802e719 102 DigitalIn i_usb_volt (PTB10); //USB Voltage detect
ISR 0:15a30802e719 103 DigitalIn i_sup_cap_est (PTB19); //Supercap State Charger
ISR 0:15a30802e719 104 DigitalIn i_li_ion_est (PTB18); //Li-ion State Charger
ISR 0:15a30802e719 105
ISR 0:15a30802e719 106
ISR 0:15a30802e719 107 // ********************************************************************
ISR 0:15a30802e719 108 //ENTRADAS DIGITAIS (external interrupt)
ISR 0:15a30802e719 109 InterruptIn i_int_mpu9250 (PTA15); //Interrupt MPU9250
ISR 0:15a30802e719 110 InterruptIn i_int_isl29125 (PTA16); //Interrupt ISL29125 Color S.
ISR 0:15a30802e719 111 InterruptIn i_mic_f_l (PTD7); //Interrupt Comp Micro F L
ISR 0:15a30802e719 112 InterruptIn i_mic_f_r (PTD6); //Interrupt Comp Micro F R
ISR 0:15a30802e719 113 InterruptIn i_mic_r_c (PTD5); //Interrupt Comp Micro R C
ISR 0:15a30802e719 114
ISR 0:15a30802e719 115
ISR 0:15a30802e719 116 // ********************************************************************
ISR 0:15a30802e719 117 //ENTRADAS ANALOGICAS
ISR 0:15a30802e719 118 AnalogIn a_enc_rig (PTC2); //Encoder Left Output_AS_MR
ISR 0:15a30802e719 119 AnalogIn a_enc_lef (PTC1); //Encoder Right Output_AS_ML
ISR 0:15a30802e719 120 AnalogIn a_mic_f_l (PTB0); //Analog microphone F L
ISR 0:15a30802e719 121 AnalogIn a_mic_f_r (PTB1); //Analog microphone F R
ISR 0:15a30802e719 122 AnalogIn a_mic_r_c (PTB2); //Analog microphone R C
ISR 0:15a30802e719 123 AnalogIn a_temp_bat (PTB3); //Temperature Battery
ISR 0:15a30802e719 124
ISR 0:15a30802e719 125
ISR 0:15a30802e719 126 // ********************************************************************
ISR 0:15a30802e719 127
ISR 0:15a30802e719 128 //PWM OR DIGITAL OUTPUT NORMAL
ISR 0:15a30802e719 129 //DigitalOut q_led_whi (PTE29); //Led white pwm
ISR 0:15a30802e719 130 DigitalOut q_led_red_fro (PTA4); //Led Red Front
ISR 0:15a30802e719 131 DigitalOut q_led_gre_fro (PTA5); //Led Green Front
ISR 0:15a30802e719 132 DigitalOut q_led_blu_fro (PTA12); //Led Blue Front
ISR 0:15a30802e719 133 DigitalOut q_led_red_rea (PTD4); //Led Red Rear
ISR 0:15a30802e719 134 DigitalOut q_led_gre_rea (PTA1); //Led Green Rear
ISR 0:15a30802e719 135 DigitalOut q_led_blu_rea (PTA2); //Led Blue Rear
ISR 0:15a30802e719 136
ISR 0:15a30802e719 137
ISR 0:15a30802e719 138 //SAIDAS DIGITAIS (pwm)
ISR 0:15a30802e719 139 PwmOut pwm_mot_rig (PTE20); //PWM Enable Motor Right
ISR 0:15a30802e719 140 PwmOut pwm_mot_lef (PTE31); //PWM Enable Motor Left
ISR 0:15a30802e719 141 PwmOut pwm_buzzer (PTE21); //Buzzer PWM
ISR 0:15a30802e719 142 PwmOut pwm_led_whi (PTE29); //Led white pwm
ISR 0:15a30802e719 143
ISR 0:15a30802e719 144 // ********************************************************************
ISR 0:15a30802e719 145 //SAIDAS ANALOGICAS
ISR 0:15a30802e719 146 AnalogOut dac_comp_mic (PTE30); //Dac_Comparator MIC
ISR 0:15a30802e719 147
ISR 0:15a30802e719 148
ISR 1:8569ac717e68 149
ISR 0:15a30802e719 150
ISR 0:15a30802e719 151 /**
ISR 0:15a30802e719 152 * Selects the wich infrared to comunicate.
ISR 0:15a30802e719 153 *
ISR 0:15a30802e719 154 * @param ch - Infrared to read (1..5)
ISR 0:15a30802e719 155 */
ISR 0:15a30802e719 156 void tca9548_select_ch(char ch)
ISR 0:15a30802e719 157 {
ISR 0:15a30802e719 158 char ch_f[1];
ISR 0:15a30802e719 159 char addr=0xE0;
ISR 0:15a30802e719 160
ISR 0:15a30802e719 161 if(ch==0)
ISR 0:15a30802e719 162 ch_f[0]=1;
ISR 0:15a30802e719 163
ISR 0:15a30802e719 164 if(ch>=1)
ISR 0:15a30802e719 165 ch_f[0]=1<<ch;
ISR 0:15a30802e719 166
ISR 1:8569ac717e68 167 mutex_i2c0.lock();
ISR 0:15a30802e719 168 i2c.write(addr,ch_f,1);
ISR 1:8569ac717e68 169 mutex_i2c0.unlock();
ISR 1:8569ac717e68 170 }
ISR 1:8569ac717e68 171
ISR 1:8569ac717e68 172
ISR 1:8569ac717e68 173
ISR 1:8569ac717e68 174
ISR 1:8569ac717e68 175
ISR 1:8569ac717e68 176 /* Powers up all the VCNL4020. */
ISR 1:8569ac717e68 177 void init_Infrared()
ISR 1:8569ac717e68 178 {
ISR 1:8569ac717e68 179
ISR 1:8569ac717e68 180 for (int i=0; i<6;i++)
ISR 1:8569ac717e68 181 {
ISR 1:8569ac717e68 182 tca9548_select_ch(i);
ISR 1:8569ac717e68 183 VCNL40x0_Device.SetCurrent (20); // Set current to 200mA
ISR 1:8569ac717e68 184 }
ISR 1:8569ac717e68 185 tca9548_select_ch(0);
ISR 0:15a30802e719 186 }
ISR 0:15a30802e719 187
ISR 0:15a30802e719 188
ISR 0:15a30802e719 189 /**
ISR 1:8569ac717e68 190 * Get the distance from of the chosen infrared.
ISR 0:15a30802e719 191 *
ISR 1:8569ac717e68 192 * @param ch - Infrared to read (0,1..5)
ISR 0:15a30802e719 193 *
ISR 0:15a30802e719 194 * Note: for the values of ch it reads (0-right, ... ,4-left, 5-back)
ISR 0:15a30802e719 195 */
ISR 1:8569ac717e68 196 float read_Infrared(char ch) // 0-direita 4-esquerda 5-tras
ISR 0:15a30802e719 197 {
ISR 0:15a30802e719 198 tca9548_select_ch(ch);
ISR 0:15a30802e719 199 VCNL40x0_Device.ReadProxiOnDemand (&ProxiValue); // read prox value on demand
ISR 1:8569ac717e68 200 float aux =floor(pow((float)ProxiValue/15104.0,-0.57)*10.0)/10.0 ;
ISR 1:8569ac717e68 201 return aux;
ISR 1:8569ac717e68 202 //return ProxiValue;
ISR 0:15a30802e719 203 }
ISR 0:15a30802e719 204
ISR 0:15a30802e719 205 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 206 /////////////////////////////////// MOTOR ///////////////////////////////////////////
ISR 0:15a30802e719 207 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 208
ISR 0:15a30802e719 209 // Calculo do Duty tem de ser revisto, o motor aguenta 6 V e o max definido aqui ronda os 4.2 V
ISR 0:15a30802e719 210 // consultar pag 39 e 95
ISR 0:15a30802e719 211
ISR 0:15a30802e719 212 /**
ISR 0:15a30802e719 213 * Sets speed and direction of the left motor.
ISR 0:15a30802e719 214 *
ISR 0:15a30802e719 215 * @param Dir - Direction of movement, 0 for back, or 1 for fron
ISR 0:15a30802e719 216 * @param Speed - Percentage of speed of the motor (1..100)
ISR 0:15a30802e719 217 *
ISR 0:15a30802e719 218 * Note: Because of differences in the motors they need to be calibrated, test the robot going front and back
ISR 0:15a30802e719 219 * at different speeds and see if it makes a straigth line
ISR 0:15a30802e719 220 */
ISR 0:15a30802e719 221 void leftMotor(short int Dir,short int Speed)
ISR 0:15a30802e719 222 {
ISR 0:15a30802e719 223 float Duty;
ISR 0:15a30802e719 224
ISR 0:15a30802e719 225 if(Dir==1) {
ISR 0:15a30802e719 226 q_pha_mot_lef=0; //Andar em frente
ISR 0:15a30802e719 227 if(Speed>1000) //limite de segurança
ISR 0:15a30802e719 228 Speed=1000;
ISR 0:15a30802e719 229 if(Speed>0) {
ISR 0:15a30802e719 230 Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
ISR 0:15a30802e719 231 q_sleep_mot_lef=1; //Nano Sleep Motor Left
ISR 0:15a30802e719 232 pwm_mot_lef.pulsewidth_us(Duty*5);
ISR 0:15a30802e719 233 } else {
ISR 0:15a30802e719 234 q_sleep_mot_lef=0;
ISR 0:15a30802e719 235 }
ISR 0:15a30802e719 236 }
ISR 0:15a30802e719 237 if(Dir==0) {
ISR 0:15a30802e719 238 q_pha_mot_lef=1; //Andar para tras
ISR 0:15a30802e719 239
ISR 0:15a30802e719 240 if(Speed>1000) //limite de segurança
ISR 0:15a30802e719 241 Speed=1000;
ISR 0:15a30802e719 242 if(Speed>0) {
ISR 0:15a30802e719 243 Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
ISR 0:15a30802e719 244 q_sleep_mot_lef=1; //Nano Sleep Motor Left
ISR 0:15a30802e719 245 pwm_mot_lef.pulsewidth_us(Duty*5);
ISR 0:15a30802e719 246 } else {
ISR 0:15a30802e719 247 q_sleep_mot_lef=0;
ISR 0:15a30802e719 248 }
ISR 0:15a30802e719 249 }
ISR 0:15a30802e719 250 }
ISR 0:15a30802e719 251
ISR 0:15a30802e719 252
ISR 0:15a30802e719 253 /**
ISR 0:15a30802e719 254 * Sets speed and direction of the right motor.
ISR 0:15a30802e719 255 *
ISR 0:15a30802e719 256 * @param Dir - Direction of movement, 0 for back, or 1 for fron
ISR 0:15a30802e719 257 * @param Speed - Percentage of speed of the motor (1..100)
ISR 0:15a30802e719 258 *
ISR 0:15a30802e719 259 * Note: Because of differences in the motors they need to be calibrated, test the robot going front and back
ISR 0:15a30802e719 260 * at different speeds and see if it makes a straigth line
ISR 0:15a30802e719 261 */
ISR 0:15a30802e719 262 void rightMotor(short int Dir,short int Speed)
ISR 0:15a30802e719 263 {
ISR 0:15a30802e719 264 float Duty;
ISR 0:15a30802e719 265
ISR 0:15a30802e719 266 if(Dir==1) {
ISR 0:15a30802e719 267 q_pha_mot_rig=0; //Andar em frente
ISR 0:15a30802e719 268
ISR 0:15a30802e719 269 if(Speed>1000) //limite de segurança
ISR 0:15a30802e719 270 Speed=1000;
ISR 0:15a30802e719 271 if(Speed>0) {
ISR 0:15a30802e719 272 Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
ISR 0:15a30802e719 273 q_sleep_mot_rig=1; //Nano Sleep Motor Right
ISR 0:15a30802e719 274 pwm_mot_rig.pulsewidth_us(Duty*5);
ISR 0:15a30802e719 275 } else {
ISR 0:15a30802e719 276 q_sleep_mot_rig=0;
ISR 0:15a30802e719 277 }
ISR 0:15a30802e719 278 }
ISR 0:15a30802e719 279 if(Dir==0) {
ISR 0:15a30802e719 280 q_pha_mot_rig=1; //Andar para tras
ISR 0:15a30802e719 281
ISR 0:15a30802e719 282
ISR 0:15a30802e719 283 if(Speed>1000) //limite de segurança
ISR 0:15a30802e719 284 Speed=1000;
ISR 0:15a30802e719 285 if(Speed>0) {
ISR 0:15a30802e719 286 Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
ISR 0:15a30802e719 287 q_sleep_mot_rig=1; //Nano Sleep Motor Right
ISR 0:15a30802e719 288 pwm_mot_rig.pulsewidth_us(Duty*5);
ISR 0:15a30802e719 289 } else {
ISR 0:15a30802e719 290 q_sleep_mot_rig=0;
ISR 0:15a30802e719 291 }
ISR 0:15a30802e719 292 }
ISR 0:15a30802e719 293 }
ISR 0:15a30802e719 294
ISR 0:15a30802e719 295
ISR 0:15a30802e719 296 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 297 /////////////////////////////////// BATTERY ///////////////////////////////////////////
ISR 0:15a30802e719 298 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 299
ISR 0:15a30802e719 300 /**
ISR 0:15a30802e719 301 * Reads adc of the battery.
ISR 0:15a30802e719 302 *
ISR 0:15a30802e719 303 * @param addr - Address to read
ISR 1:8569ac717e68 304 * @return The voltage of the baterry
ISR 0:15a30802e719 305 */
ISR 0:15a30802e719 306 long int read16_mcp3424(char addr)
ISR 0:15a30802e719 307 {
ISR 0:15a30802e719 308 char data[4];
ISR 1:8569ac717e68 309 mutex_i2c1.lock();
ISR 0:15a30802e719 310 i2c1.read(addr,data,3);
ISR 1:8569ac717e68 311 mutex_i2c1.unlock();
ISR 0:15a30802e719 312 return(((data[0]&127)*256)+data[1]);
ISR 0:15a30802e719 313 }
ISR 0:15a30802e719 314
ISR 0:15a30802e719 315 /**
ISR 0:15a30802e719 316 * Reads adc of the battery.
ISR 0:15a30802e719 317 *
ISR 0:15a30802e719 318 * @param n_bits - Resolution of measure
ISR 0:15a30802e719 319 * @param ch - Chose value to read, if voltage or current of solar or batery
ISR 0:15a30802e719 320 * @param gain -
ISR 0:15a30802e719 321 * @param addr - Address to write to
ISR 0:15a30802e719 322 */
ISR 0:15a30802e719 323 void write_mcp3424(int n_bits, int ch, int gain, char addr) //chanel 1-4 write -> 0xD0
ISR 0:15a30802e719 324 {
ISR 0:15a30802e719 325
ISR 0:15a30802e719 326 int chanel_end=(ch-1)<<5; //shift left
ISR 0:15a30802e719 327 char n_bits_end=0;
ISR 0:15a30802e719 328
ISR 0:15a30802e719 329 if(n_bits==12) {
ISR 0:15a30802e719 330 n_bits_end=0;
ISR 0:15a30802e719 331 } else if(n_bits==14) {
ISR 0:15a30802e719 332 n_bits_end=1;
ISR 0:15a30802e719 333 } else if(n_bits==16) {
ISR 0:15a30802e719 334 n_bits_end=2;
ISR 0:15a30802e719 335 } else {
ISR 0:15a30802e719 336 n_bits_end=3;
ISR 0:15a30802e719 337 }
ISR 0:15a30802e719 338 n_bits_end=n_bits_end<<2; //shift left
ISR 0:15a30802e719 339
ISR 0:15a30802e719 340 char data[1];
ISR 0:15a30802e719 341 data[0]= (char)chanel_end | (char)n_bits_end | (char)(gain-1) | 128;
ISR 1:8569ac717e68 342 mutex_i2c1.lock();
ISR 0:15a30802e719 343 i2c1.write(addr,data,1);
ISR 1:8569ac717e68 344 mutex_i2c1.unlock();
ISR 0:15a30802e719 345 }
ISR 0:15a30802e719 346
ISR 0:15a30802e719 347
ISR 0:15a30802e719 348 /**
ISR 0:15a30802e719 349 * Reads adc of the battery.
ISR 0:15a30802e719 350 *
ISR 0:15a30802e719 351 * @return The voltage of the batery
ISR 0:15a30802e719 352 */
ISR 0:15a30802e719 353 float value_of_Batery()
ISR 0:15a30802e719 354 {
ISR 0:15a30802e719 355 float R1=75000.0;
ISR 0:15a30802e719 356 float R2=39200.0;
ISR 0:15a30802e719 357 float R3=178000.0;
ISR 0:15a30802e719 358 float Gain=1.0;
ISR 0:15a30802e719 359 write_mcp3424(16,3,1,0xd8);
ISR 0:15a30802e719 360 float cha3_v2=read16_mcp3424(0xd9); //read voltage
ISR 0:15a30802e719 361 float Vin_v_battery=(((cha3_v2*2.048)/32767))/Gain;
ISR 0:15a30802e719 362 float Vin_b_v_battery=(-((-Vin_v_battery)*(R1*R2 + R1*R3 + R2*R3))/(R1*R2));
ISR 0:15a30802e719 363 Vin_b_v_battery=(Vin_b_v_battery-0.0)*1.00268;
ISR 0:15a30802e719 364
ISR 0:15a30802e719 365 return Vin_b_v_battery;
ISR 0:15a30802e719 366 }
ISR 0:15a30802e719 367
ISR 0:15a30802e719 368 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 369 ////////////////////////////////// Sonar ////////////////////////////////////////////
ISR 0:15a30802e719 370 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 371 // Commands of operation with ultrasonic module
ISR 0:15a30802e719 372
ISR 0:15a30802e719 373 // WRITE OPTION:
ISR 0:15a30802e719 374 // ENABLE DC DC CONVERTER - 0x0C;
ISR 0:15a30802e719 375 // DISABLE DC DC CONVERTER - 0x0B;
ISR 0:15a30802e719 376 // START MEASURE LEFT SENSOR - 0x0A;
ISR 0:15a30802e719 377 // START MEASURE FRONT SENSOR - 0x09;
ISR 0:15a30802e719 378 // START MEASURE RIGHT SENSOR - 0x08;
ISR 0:15a30802e719 379 // SENSORS ALWAYS MEASURE ON - 0x07;
ISR 0:15a30802e719 380 // SENSORS ALWAYS MEASURE OFF - 0x06;
ISR 0:15a30802e719 381
ISR 0:15a30802e719 382 // READ OPTION:
ISR 0:15a30802e719 383 // GET MEASURE OF LEFT SENSOR - 0x05;
ISR 0:15a30802e719 384 // GET MEASURE OF FRONT SENSOR - 0x04;
ISR 0:15a30802e719 385 // GET MEASURE OF IGHT SENSOR - 0x03;
ISR 0:15a30802e719 386 // GET STATUS SENSORS ALWAYS MEASURE - 0x02;
ISR 0:15a30802e719 387 // GET STATUS DC DC CONVERTER - 0x01;
ISR 0:15a30802e719 388
ISR 0:15a30802e719 389 void enable_dc_dc_boost()
ISR 0:15a30802e719 390 {
ISR 0:15a30802e719 391 char data[1];
ISR 0:15a30802e719 392 data[0]= 0x0C;
ISR 1:8569ac717e68 393 mutex_i2c1.lock();
ISR 0:15a30802e719 394 i2c1.write(0x30,data,1);
ISR 1:8569ac717e68 395 mutex_i2c1.unlock();
ISR 0:15a30802e719 396 }
ISR 0:15a30802e719 397
ISR 0:15a30802e719 398
ISR 0:15a30802e719 399 void measure_always_on() // left, front, right
ISR 0:15a30802e719 400 {
ISR 0:15a30802e719 401 char data[1];
ISR 0:15a30802e719 402 data[0]= 0x07;
ISR 1:8569ac717e68 403 mutex_i2c1.lock();
ISR 0:15a30802e719 404 i2c1.write(0x30,data,1);
ISR 1:8569ac717e68 405 mutex_i2c1.unlock();
ISR 0:15a30802e719 406 }
ISR 0:15a30802e719 407
ISR 0:15a30802e719 408
ISR 0:15a30802e719 409 /**
ISR 0:15a30802e719 410 * Returns left sensor value
ISR 0:15a30802e719 411 */
ISR 0:15a30802e719 412 static unsigned int get_distance_left_sensor()
ISR 0:15a30802e719 413 {
ISR 1:8569ac717e68 414
ISR 0:15a30802e719 415 static char data_r[3];
ISR 0:15a30802e719 416 static unsigned int aux;
ISR 1:8569ac717e68 417
ISR 0:15a30802e719 418 data_r[0]= 0x05;
ISR 1:8569ac717e68 419 mutex_i2c1.lock();
ISR 0:15a30802e719 420 i2c1.write(0x30,data_r,1);
ISR 1:8569ac717e68 421 i2c1.read(0x31,data_r,2);
ISR 1:8569ac717e68 422 mutex_i2c1.unlock();
ISR 0:15a30802e719 423
ISR 0:15a30802e719 424 aux=(data_r[0]*256)+data_r[1];
ISR 1:8569ac717e68 425
ISR 0:15a30802e719 426 return aux;
ISR 0:15a30802e719 427 }
ISR 0:15a30802e719 428
ISR 0:15a30802e719 429
ISR 0:15a30802e719 430 /**
ISR 0:15a30802e719 431 * Returns front sensor value
ISR 0:15a30802e719 432 */
ISR 0:15a30802e719 433 static unsigned int get_distance_front_sensor()
ISR 0:15a30802e719 434 {
ISR 0:15a30802e719 435
ISR 0:15a30802e719 436 static char data_r[3];
ISR 0:15a30802e719 437 static unsigned int aux;
ISR 1:8569ac717e68 438
ISR 0:15a30802e719 439 data_r[0]= 0x04;
ISR 1:8569ac717e68 440
ISR 1:8569ac717e68 441 mutex_i2c1.lock();
ISR 0:15a30802e719 442 i2c1.write(0x30,data_r,1);
ISR 1:8569ac717e68 443 i2c1.read(0x31,data_r,2);
ISR 1:8569ac717e68 444 mutex_i2c1.unlock();
ISR 0:15a30802e719 445
ISR 0:15a30802e719 446 aux=(data_r[0]*256)+data_r[1];
ISR 1:8569ac717e68 447
ISR 0:15a30802e719 448 return aux;
ISR 0:15a30802e719 449
ISR 0:15a30802e719 450 }
ISR 0:15a30802e719 451
ISR 0:15a30802e719 452
ISR 0:15a30802e719 453 /**
ISR 0:15a30802e719 454 * Returns right sensor value
ISR 0:15a30802e719 455 */
ISR 0:15a30802e719 456 static unsigned int get_distance_right_sensor()
ISR 0:15a30802e719 457 {
ISR 0:15a30802e719 458
ISR 0:15a30802e719 459 static char data_r[3];
ISR 0:15a30802e719 460 static unsigned int aux;
ISR 0:15a30802e719 461
ISR 0:15a30802e719 462 data_r[0]= 0x03;
ISR 1:8569ac717e68 463
ISR 1:8569ac717e68 464 mutex_i2c1.lock();
ISR 0:15a30802e719 465 i2c1.write(0x30,data_r,1);
ISR 0:15a30802e719 466 i2c1.read(0x31,data_r,2,0);
ISR 1:8569ac717e68 467 mutex_i2c1.unlock();
ISR 0:15a30802e719 468
ISR 0:15a30802e719 469 aux=(data_r[0]*256)+data_r[1];
ISR 1:8569ac717e68 470
ISR 0:15a30802e719 471 return aux;
ISR 0:15a30802e719 472
ISR 0:15a30802e719 473 }
ISR 0:15a30802e719 474
ISR 0:15a30802e719 475
ISR 1:8569ac717e68 476 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 1:8569ac717e68 477 ////////////////////////////////// RF COMMUNICATION ////////////////////////////////////////////
ISR 1:8569ac717e68 478 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 479
ISR 1:8569ac717e68 480 /**
ISR 1:8569ac717e68 481 * Initializes nrf24l01 module, return value 1 if module is working correcty and 0 if it's not.
ISR 1:8569ac717e68 482 *
ISR 1:8569ac717e68 483 ** @param channel - Which RF channel to comunicate on, 0-125
ISR 1:8569ac717e68 484 *
ISR 1:8569ac717e68 485 * \warning Channel on Robot and Board has to be the same.
ISR 1:8569ac717e68 486 */
ISR 1:8569ac717e68 487 void init_nRF(int channel){
ISR 1:8569ac717e68 488 int result;
ISR 1:8569ac717e68 489 result = radio.begin();
ISR 1:8569ac717e68 490
ISR 1:8569ac717e68 491 pc.printf( "Initialation nrf24l01=%d\r\n", result ); // 1-working,0-not working
ISR 1:8569ac717e68 492 radio.setDataRate(RF24_1MBPS);
ISR 1:8569ac717e68 493 radio.setCRCLength(RF24_CRC_16);
ISR 1:8569ac717e68 494 radio.setPayloadSize(32);
ISR 1:8569ac717e68 495 radio.setChannel(channel);
ISR 1:8569ac717e68 496 radio.setAutoAck(true);
ISR 1:8569ac717e68 497
ISR 1:8569ac717e68 498 radio.openWritingPipe(0x314e6f6465);
ISR 1:8569ac717e68 499 radio.openReadingPipe(1,0x324e6f6465);
ISR 1:8569ac717e68 500
ISR 1:8569ac717e68 501 radio.startListening();
ISR 1:8569ac717e68 502 }
ISR 1:8569ac717e68 503
ISR 1:8569ac717e68 504 char txData, rxData;
ISR 1:8569ac717e68 505 char q[1];
ISR 1:8569ac717e68 506
ISR 0:15a30802e719 507
ISR 1:8569ac717e68 508 /**
ISR 1:8569ac717e68 509 * Wireless control of motors using nrf24l01 module and FRDM-KL25Z board(robot is working as receiver).
ISR 1:8569ac717e68 510 */
ISR 1:8569ac717e68 511 void robot_RC()
ISR 1:8569ac717e68 512 {
ISR 1:8569ac717e68 513 if (radio.available() ) {
ISR 0:15a30802e719 514
ISR 1:8569ac717e68 515 radio.read( &rxData, sizeof(rxData) );
ISR 1:8569ac717e68 516 pc.putc( rxData );
ISR 1:8569ac717e68 517
ISR 1:8569ac717e68 518 q[0]=pc.putc( rxData );
ISR 1:8569ac717e68 519 if (q[0]=='w'){
ISR 1:8569ac717e68 520 leftMotor(1,500);
ISR 1:8569ac717e68 521 rightMotor(1,500);
ISR 1:8569ac717e68 522 }
ISR 1:8569ac717e68 523 else if( q[0]=='s'){
ISR 1:8569ac717e68 524 leftMotor(0,500);
ISR 1:8569ac717e68 525 rightMotor(0,500);
ISR 1:8569ac717e68 526 }
ISR 1:8569ac717e68 527 else if( q[0]=='a'){
ISR 1:8569ac717e68 528 leftMotor(0,500);
ISR 1:8569ac717e68 529 rightMotor(1,500);
ISR 1:8569ac717e68 530 }
ISR 1:8569ac717e68 531 else if( q[0]=='d'){
ISR 1:8569ac717e68 532 leftMotor(1,500);
ISR 1:8569ac717e68 533 rightMotor(0,1000);
ISR 1:8569ac717e68 534 }
ISR 1:8569ac717e68 535 else if( q[0]==' '){
ISR 1:8569ac717e68 536 leftMotor(1,0);
ISR 1:8569ac717e68 537 rightMotor(1,0);
ISR 1:8569ac717e68 538 }
ISR 1:8569ac717e68 539 }
ISR 0:15a30802e719 540 }
ISR 0:15a30802e719 541
ISR 0:15a30802e719 542
ISR 1:8569ac717e68 543
ISR 1:8569ac717e68 544 /**
ISR 1:8569ac717e68 545 * Robot is sending values of all sensors (right/left incremental encoder, ultrasonic sensors, infarated sensors and Odometria) to FRDM-KL25Z board using nrf24l01 module.
ISR 1:8569ac717e68 546 *
ISR 1:8569ac717e68 547 *Note: Check if module is initilized correctly.
ISR 1:8569ac717e68 548 */
ISR 1:8569ac717e68 549 void send_Robot_values(){
ISR 1:8569ac717e68 550
ISR 1:8569ac717e68 551 // WRITE ID:
ISR 1:8569ac717e68 552 // INCREMENTAL LEFT ENCODER - a
ISR 1:8569ac717e68 553 // INCREMENTAL RIGHT ENCODER - b
ISR 1:8569ac717e68 554 // LEFT ULTRASENSOR - c
ISR 1:8569ac717e68 555 // FRONT ULTRASENSOR - d
ISR 1:8569ac717e68 556 // RIGHT ULTRASENSOR - e
ISR 1:8569ac717e68 557 // INFRARED SENSOR 0 - f
ISR 1:8569ac717e68 558 // INFRARED SENSOR 1 - g
ISR 1:8569ac717e68 559 // INFRARED SENSOR 2 - h
ISR 1:8569ac717e68 560 // INFRARED SENSOR 3 - i
ISR 1:8569ac717e68 561 // INFRARED SENSOR 4 - j
ISR 1:8569ac717e68 562 // INFRARED SENSOR 5 - k
ISR 1:8569ac717e68 563 // ODOMETRIA "X" - l
ISR 1:8569ac717e68 564 // ODOMETRIA "Y" - m
ISR 1:8569ac717e68 565
ISR 1:8569ac717e68 566 // LEFT ENCODER addr: a
ISR 1:8569ac717e68 567
ISR 1:8569ac717e68 568 int left_encoder = 0; //read value from device
ISR 1:8569ac717e68 569 char left_encoder_R[10]; //char array ..._R to read value
ISR 1:8569ac717e68 570 char left_encoder_W[12]; //char array ..._W to write value
ISR 1:8569ac717e68 571
ISR 1:8569ac717e68 572 snprintf(left_encoder_R, 10, "%d", left_encoder); //int value to char array
ISR 1:8569ac717e68 573
ISR 1:8569ac717e68 574 for (int i=0; i < 10;i++) //changing posiision of chars in array
ISR 1:8569ac717e68 575 {
ISR 1:8569ac717e68 576 left_encoder_W[i+2]=left_encoder_R[i];
ISR 1:8569ac717e68 577 }
ISR 1:8569ac717e68 578
ISR 1:8569ac717e68 579 left_encoder_W[0]='Q'; //adding id to message
ISR 1:8569ac717e68 580 left_encoder_W[1]='a'; //adding id to parameter
ISR 1:8569ac717e68 581
ISR 1:8569ac717e68 582 // RIGHT ENCODER addr: b
ISR 1:8569ac717e68 583
ISR 1:8569ac717e68 584 int right_encoder = 0; //read value from device
ISR 1:8569ac717e68 585 char right_encoder_R[10]; //char array ..._R to read value
ISR 1:8569ac717e68 586 char right_encoder_W[11]; //char array ..._W to write value
ISR 1:8569ac717e68 587
ISR 1:8569ac717e68 588 snprintf(right_encoder_R, 10, "%d", right_encoder); //int value to char array
ISR 1:8569ac717e68 589
ISR 1:8569ac717e68 590 for (int i=0; i <10;i++) //changing positision of chars in array
ISR 1:8569ac717e68 591 {
ISR 1:8569ac717e68 592 right_encoder_W[i+1]=right_encoder_R[i];
ISR 1:8569ac717e68 593 }
ISR 1:8569ac717e68 594
ISR 1:8569ac717e68 595 right_encoder_W[0]='b'; //adding id to parameter
ISR 1:8569ac717e68 596
ISR 1:8569ac717e68 597
ISR 1:8569ac717e68 598 // LEFT ULTRASENSOR addr: c
ISR 1:8569ac717e68 599
ISR 1:8569ac717e68 600 int left_sensor = get_distance_left_sensor(); //read value from device
ISR 1:8569ac717e68 601 char left_sensor_R[5]; //char array ..._R to read value
ISR 1:8569ac717e68 602 char left_sensor_W[6]; //char array ..._W to write value
ISR 1:8569ac717e68 603
ISR 1:8569ac717e68 604 snprintf(left_sensor_R, 5, "%d", left_sensor); //int value to char array
ISR 0:15a30802e719 605
ISR 1:8569ac717e68 606 for (int i=0; i < 5;i++) //changing positision of chars in array
ISR 1:8569ac717e68 607 {
ISR 1:8569ac717e68 608 left_sensor_W[i+1]=left_sensor_R[i];
ISR 1:8569ac717e68 609 }
ISR 1:8569ac717e68 610
ISR 1:8569ac717e68 611 left_sensor_W[0]='c'; //adding id to parameter
ISR 1:8569ac717e68 612
ISR 1:8569ac717e68 613
ISR 1:8569ac717e68 614 // FRONT ULTRASENSOR addr: d
ISR 1:8569ac717e68 615
ISR 1:8569ac717e68 616 int front_sensor = get_distance_front_sensor(); //read value from device
ISR 1:8569ac717e68 617 char front_sensor_R[5]; //char array ..._R to read value
ISR 1:8569ac717e68 618 char front_sensor_W[6]; //char array ..._W to write value
ISR 1:8569ac717e68 619
ISR 1:8569ac717e68 620 snprintf(front_sensor_R, 5, "%d", front_sensor); //int value to char array
ISR 1:8569ac717e68 621
ISR 1:8569ac717e68 622 for (int i=0; i < 5;i++) //changing positision of chars in array
ISR 1:8569ac717e68 623 {
ISR 1:8569ac717e68 624 front_sensor_W[i+1]=front_sensor_R[i];
ISR 1:8569ac717e68 625 }
ISR 1:8569ac717e68 626
ISR 1:8569ac717e68 627 front_sensor_W[0]='d'; //adding id to parameter
ISR 1:8569ac717e68 628
ISR 1:8569ac717e68 629
ISR 1:8569ac717e68 630 // RIGHT ULTRASENSOR addr: e
ISR 1:8569ac717e68 631
ISR 1:8569ac717e68 632 int right_sensor = get_distance_right_sensor(); //read value from device
ISR 1:8569ac717e68 633 char right_sensor_R[5]; //char array ..._R to read value
ISR 1:8569ac717e68 634 char right_sensor_W[6]; //char array ..._W to write value
ISR 1:8569ac717e68 635
ISR 1:8569ac717e68 636 snprintf(right_sensor_R, 5, "%d", right_sensor); //int value to char array
ISR 1:8569ac717e68 637
ISR 1:8569ac717e68 638 for (int i=0; i < 5;i++) //changing positision of chars in array
ISR 1:8569ac717e68 639 {
ISR 1:8569ac717e68 640 right_sensor_W[i+1]=right_sensor_R[i];
ISR 1:8569ac717e68 641 }
ISR 1:8569ac717e68 642
ISR 1:8569ac717e68 643 right_sensor_W[0]='e'; //adding id to parameter
ISR 1:8569ac717e68 644
ISR 1:8569ac717e68 645
ISR 1:8569ac717e68 646 // INFRARED SENSOR 0 addr: f
ISR 1:8569ac717e68 647
ISR 1:8569ac717e68 648 float infrared_0 = read_Infrared(0); //read value from device
ISR 1:8569ac717e68 649
ISR 1:8569ac717e68 650 char infrared_0_R[5]; //char array ..._R to read value
ISR 1:8569ac717e68 651 char infrared_0_W[7]; //char array ..._W to write value
ISR 1:8569ac717e68 652
ISR 1:8569ac717e68 653 snprintf(infrared_0_R, 5, "%.1f", infrared_0); //int value to char array
ISR 1:8569ac717e68 654
ISR 1:8569ac717e68 655 for (int i=0; i < 6;i++) //changing positision of chars in array
ISR 1:8569ac717e68 656 {
ISR 1:8569ac717e68 657 infrared_0_W[i+2]=infrared_0_R[i];
ISR 1:8569ac717e68 658 }
ISR 1:8569ac717e68 659
ISR 1:8569ac717e68 660 infrared_0_W[0]='Z'; //adding id to message
ISR 1:8569ac717e68 661 infrared_0_W[1]='f'; //adding id to parameter
ISR 1:8569ac717e68 662
ISR 1:8569ac717e68 663 // INFRARED SENSOR 1 addr: g
ISR 1:8569ac717e68 664
ISR 1:8569ac717e68 665 float infrared_1 = read_Infrared(1); //read value from device
ISR 1:8569ac717e68 666
ISR 1:8569ac717e68 667 char infrared_1_R[sizeof(infrared_1)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 668 char infrared_1_W[sizeof(infrared_1)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 669
ISR 1:8569ac717e68 670 snprintf(infrared_1_R, sizeof(infrared_1_R), "%.1f", infrared_1); //int value to char array
ISR 1:8569ac717e68 671
ISR 1:8569ac717e68 672 for (int i=0; i < sizeof(infrared_1)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 673 {
ISR 1:8569ac717e68 674 infrared_1_W[i+1]=infrared_1_R[i];
ISR 1:8569ac717e68 675 }
ISR 1:8569ac717e68 676
ISR 1:8569ac717e68 677 infrared_1_W[0]='g'; //adding id to parameter
ISR 0:15a30802e719 678
ISR 1:8569ac717e68 679
ISR 1:8569ac717e68 680 // INFRARED SENSOR 2 addr: h
ISR 1:8569ac717e68 681
ISR 1:8569ac717e68 682 float infrared_2 = read_Infrared(2); //read value from device
ISR 1:8569ac717e68 683
ISR 1:8569ac717e68 684 char infrared_2_R[sizeof(infrared_2)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 685 char infrared_2_W[sizeof(infrared_2)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 686
ISR 1:8569ac717e68 687 snprintf(infrared_2_R, sizeof(infrared_2_R), "%.1f", infrared_2); //int value to char array
ISR 1:8569ac717e68 688
ISR 1:8569ac717e68 689 for (int i=0; i < sizeof(infrared_2)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 690 {
ISR 1:8569ac717e68 691 infrared_2_W[i+1]=infrared_2_R[i];
ISR 1:8569ac717e68 692 }
ISR 1:8569ac717e68 693
ISR 1:8569ac717e68 694 infrared_2_W[0]='h'; //adding id to parameter
ISR 1:8569ac717e68 695
ISR 1:8569ac717e68 696
ISR 1:8569ac717e68 697 // INFRARED SENSOR 3 addr: i
ISR 1:8569ac717e68 698
ISR 1:8569ac717e68 699 float infrared_3 = read_Infrared(3); //read value from device
ISR 1:8569ac717e68 700
ISR 1:8569ac717e68 701 char infrared_3_R[sizeof(infrared_3)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 702 char infrared_3_W[sizeof(infrared_3)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 703
ISR 1:8569ac717e68 704 snprintf(infrared_3_R, sizeof(infrared_3_R), "%.1f", infrared_3); //int value to char array
ISR 1:8569ac717e68 705
ISR 1:8569ac717e68 706 for (int i=0; i < sizeof(infrared_3)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 707 {
ISR 1:8569ac717e68 708 infrared_3_W[i+1]=infrared_3_R[i];
ISR 1:8569ac717e68 709 }
ISR 1:8569ac717e68 710
ISR 1:8569ac717e68 711 infrared_3_W[0]='i'; //adding id to parameter
ISR 1:8569ac717e68 712
ISR 1:8569ac717e68 713
ISR 1:8569ac717e68 714 // INFRARED SENSOR 4 addr: j
ISR 1:8569ac717e68 715
ISR 1:8569ac717e68 716 float infrared_4 = read_Infrared(4); //read value from device
ISR 1:8569ac717e68 717
ISR 1:8569ac717e68 718 char infrared_4_R[sizeof(infrared_4)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 719 char infrared_4_W[sizeof(infrared_4)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 720
ISR 1:8569ac717e68 721 snprintf(infrared_4_R, sizeof(infrared_4_R), "%.1f", infrared_4); //int value to char array
ISR 1:8569ac717e68 722
ISR 1:8569ac717e68 723 for (int i=0; i < sizeof(infrared_4)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 724 {
ISR 1:8569ac717e68 725 infrared_4_W[i+1]=infrared_4_R[i];
ISR 1:8569ac717e68 726 }
ISR 1:8569ac717e68 727
ISR 1:8569ac717e68 728 infrared_4_W[0]='j'; //adding id to parameter
ISR 1:8569ac717e68 729
ISR 1:8569ac717e68 730
ISR 1:8569ac717e68 731 // INFRARED SENSOR 5 addr: k
ISR 1:8569ac717e68 732
ISR 1:8569ac717e68 733 float infrared_5 = read_Infrared(5); //read value from device
ISR 1:8569ac717e68 734
ISR 1:8569ac717e68 735 char infrared_5_R[sizeof(infrared_5)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 736 char infrared_5_W[sizeof(infrared_5)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 737
ISR 1:8569ac717e68 738 snprintf(infrared_5_R, sizeof(infrared_5_R), "%.1f", infrared_5); //int value to char array
ISR 0:15a30802e719 739
ISR 1:8569ac717e68 740 for (int i=0; i < sizeof(infrared_5)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 741 {
ISR 1:8569ac717e68 742 infrared_5_W[i+1]=infrared_5_R[i];
ISR 1:8569ac717e68 743 }
ISR 1:8569ac717e68 744
ISR 1:8569ac717e68 745 infrared_5_W[0]='k'; //adding id to parameter
ISR 1:8569ac717e68 746
ISR 1:8569ac717e68 747
ISR 1:8569ac717e68 748 // ODEMETRIA X addr: l
ISR 1:8569ac717e68 749
ISR 1:8569ac717e68 750 float X_od = X; //read value from device
ISR 1:8569ac717e68 751
ISR 1:8569ac717e68 752 char X_od_R[sizeof(X_od)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 753 char X_od_W[sizeof(X_od)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 754
ISR 1:8569ac717e68 755 snprintf(X_od_R, sizeof(X_od_R), "%.1f", X_od); //int value to char array
ISR 1:8569ac717e68 756
ISR 1:8569ac717e68 757 for (int i=0; i < sizeof(X_od)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 758 {
ISR 1:8569ac717e68 759 X_od_W[i+1]=X_od_R[i];
ISR 1:8569ac717e68 760 }
ISR 1:8569ac717e68 761
ISR 1:8569ac717e68 762 X_od_W[0]='l'; //adding id to parameter
ISR 1:8569ac717e68 763
ISR 1:8569ac717e68 764
ISR 1:8569ac717e68 765 // ODEMETRIA X addr: m
ISR 1:8569ac717e68 766
ISR 1:8569ac717e68 767 float Y_od = Y; //read value from device
ISR 1:8569ac717e68 768
ISR 1:8569ac717e68 769 char Y_od_R[sizeof(Y_od)+1]; //char array ..._R to read value
ISR 1:8569ac717e68 770 char Y_od_W[sizeof(Y_od)+2]; //char array ..._W to write value
ISR 1:8569ac717e68 771
ISR 1:8569ac717e68 772 snprintf(Y_od_R, sizeof(Y_od_R), "%.1f", Y_od); //int value to char array
ISR 0:15a30802e719 773
ISR 1:8569ac717e68 774 for (int i=0; i < sizeof(Y_od)+2;i++) //changing positision of chars in array
ISR 1:8569ac717e68 775 {
ISR 1:8569ac717e68 776 Y_od_W[i+1]=Y_od_R[i];
ISR 1:8569ac717e68 777 }
ISR 1:8569ac717e68 778
ISR 1:8569ac717e68 779 Y_od_W[0]='m'; //adding id to parameter
ISR 1:8569ac717e68 780
ISR 1:8569ac717e68 781
ISR 1:8569ac717e68 782
ISR 1:8569ac717e68 783 /////Preparing messages to send//////
ISR 1:8569ac717e68 784
ISR 1:8569ac717e68 785 char send_Z[30];
ISR 1:8569ac717e68 786 for (int i =0; i<sizeof(left_encoder_W);i++){
ISR 1:8569ac717e68 787 send_Z[i]=left_encoder_W[i];
ISR 1:8569ac717e68 788 }
ISR 1:8569ac717e68 789 strcat(send_Z,right_encoder_W);
ISR 1:8569ac717e68 790 strcat(send_Z,left_sensor_W);
ISR 1:8569ac717e68 791 strcat(send_Z,front_sensor_W);
ISR 1:8569ac717e68 792 strcat(send_Z,right_sensor_W);
ISR 1:8569ac717e68 793 strcat(send_Z,X_od_W);
ISR 1:8569ac717e68 794
ISR 1:8569ac717e68 795 char send_Q[40];
ISR 1:8569ac717e68 796 for (int i =0; i<sizeof(infrared_0_W);i++){
ISR 1:8569ac717e68 797 send_Q[i]=infrared_0_W[i];
ISR 1:8569ac717e68 798 }
ISR 1:8569ac717e68 799 strcat(send_Q,infrared_1_W);
ISR 1:8569ac717e68 800 strcat(send_Q,infrared_2_W);
ISR 1:8569ac717e68 801 strcat(send_Q,infrared_3_W);
ISR 1:8569ac717e68 802 strcat(send_Q,infrared_4_W);
ISR 1:8569ac717e68 803 strcat(send_Q,infrared_5_W);
ISR 1:8569ac717e68 804 strcat(send_Q,Y_od_W);
ISR 1:8569ac717e68 805
ISR 1:8569ac717e68 806
ISR 1:8569ac717e68 807
ISR 1:8569ac717e68 808 /////Sending messages//////
ISR 1:8569ac717e68 809 radio.stopListening();
ISR 1:8569ac717e68 810 radio.write( &send_Z, sizeof(send_Z));
ISR 1:8569ac717e68 811 radio.write( &send_Q, sizeof(send_Q) );
ISR 1:8569ac717e68 812 radio.startListening();
ISR 1:8569ac717e68 813 }
ISR 0:15a30802e719 814
ISR 0:15a30802e719 815
ISR 0:15a30802e719 816 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 817 ////////////////////////////////// MISC. ////////////////////////////////////////////
ISR 0:15a30802e719 818 ///////////////////////////////////////////////////////////////////////////////////////////////
ISR 0:15a30802e719 819
ISR 0:15a30802e719 820
ISR 0:15a30802e719 821 /**
ISR 0:15a30802e719 822 * Initializes the necessary robot pins
ISR 0:15a30802e719 823 */
ISR 0:15a30802e719 824 void init_robot_pins()
ISR 0:15a30802e719 825 {
ISR 0:15a30802e719 826
ISR 0:15a30802e719 827 //SAIDAS DIGITAIS (normal)
ISR 0:15a30802e719 828 //q_pha_mot_rig=0; //Phase Motor Right
ISR 0:15a30802e719 829 //q_sleep_mot_rig=0; //Nano Sleep Motor Right
ISR 0:15a30802e719 830 //q_pha_mot_lef=0; //Phase Motor Left
ISR 0:15a30802e719 831 //q_sleep_mot_lef=0; //Nano Sleep Motor Left
ISR 0:15a30802e719 832 //q_pow_ena_i2c_p=0; //Power Enable i2c FET P
ISR 0:15a30802e719 833 //q_pow_ena_mic_p=0; //Power enable Micro FET P
ISR 0:15a30802e719 834 //q_pow_as5600_n=1; //AS5600 Power MOSFET N
ISR 0:15a30802e719 835 //q_pow_as5600_p=0; //AS5600 Power MOSFET P
ISR 0:15a30802e719 836 //q_pow_spi=0; //SPI Power MOSFET P
ISR 0:15a30802e719 837 //q_ena_mppt=0; //Enable MPPT Control
ISR 0:15a30802e719 838 //q_boost_ps=1; //Boost Power Save
ISR 0:15a30802e719 839 //q_tca9548_reset=1; //Reset TCA9548
ISR 0:15a30802e719 840
ISR 0:15a30802e719 841 //SAIDAS DIGITAIS (normal)
ISR 0:15a30802e719 842 q_pha_mot_rig=0; //Phase Motor Right
ISR 0:15a30802e719 843 q_sleep_mot_rig=0; //Nano Sleep Motor Right
ISR 0:15a30802e719 844 q_pha_mot_lef=0; //Phase Motor Left
ISR 0:15a30802e719 845 q_sleep_mot_lef=0; //Nano Sleep Motor Left
ISR 0:15a30802e719 846
ISR 0:15a30802e719 847 q_pow_ena_i2c_p=0; //Power Enable i2c FET P
ISR 0:15a30802e719 848 q_pow_ena_mic_p=0; //Power enable Micro FET P
ISR 0:15a30802e719 849 q_pow_as5600_p=0; //AS5600 Power MOSFET P
ISR 0:15a30802e719 850 // q_pow_spi=0; //SPI Power MOSFET P
ISR 0:15a30802e719 851 q_pow_as5600_n=1; //AS5600 Power MOSFET N
ISR 0:15a30802e719 852
ISR 0:15a30802e719 853
ISR 0:15a30802e719 854 q_ena_mppt=0; //Enable MPPT Control
ISR 0:15a30802e719 855 q_boost_ps=1; //Boost Power Save
ISR 0:15a30802e719 856 q_tca9548_reset=1; //Reset TCA9548
ISR 0:15a30802e719 857
ISR 0:15a30802e719 858 //Leds caso seja saida digital:
ISR 0:15a30802e719 859 q_led_red_fro=1; //Led Red Front (led off)
ISR 0:15a30802e719 860 q_led_gre_fro=1; //Led Green Front (led off)
ISR 0:15a30802e719 861 q_led_blu_fro=1; //Led Blue Front (led off)
ISR 0:15a30802e719 862 q_led_red_rea=1; //Led Red Rear (led off)
ISR 0:15a30802e719 863 q_led_gre_rea=1; //Led Green Rear (led off)
ISR 0:15a30802e719 864 q_led_blu_rea=1; //Led Blue Rear (led off)r
ISR 0:15a30802e719 865
ISR 0:15a30802e719 866
ISR 0:15a30802e719 867 //********************************************************************
ISR 0:15a30802e719 868 //SAIDAS DIGITAIS (pwm)
ISR 0:15a30802e719 869 //PWM Enable Motor Right
ISR 0:15a30802e719 870 pwm_mot_rig.period_us(500);
ISR 0:15a30802e719 871 pwm_mot_rig.pulsewidth_us(0);
ISR 0:15a30802e719 872
ISR 0:15a30802e719 873 //PWM Enable Motor Left
ISR 0:15a30802e719 874 pwm_mot_lef.period_us(500);
ISR 0:15a30802e719 875 pwm_mot_lef.pulsewidth_us(0);
ISR 0:15a30802e719 876
ISR 0:15a30802e719 877 //Buzzer PWM
ISR 0:15a30802e719 878 pwm_buzzer.period_us(500);
ISR 0:15a30802e719 879 pwm_buzzer.pulsewidth_us(0);
ISR 0:15a30802e719 880
ISR 1:8569ac717e68 881
ISR 0:15a30802e719 882 //LED white
ISR 0:15a30802e719 883 pwm_led_whi.period_us(500);
ISR 0:15a30802e719 884 pwm_led_whi.pulsewidth_us(0);
ISR 0:15a30802e719 885
ISR 0:15a30802e719 886 }
ISR 0:15a30802e719 887
ISR 0:15a30802e719 888 /**
ISR 0:15a30802e719 889 * Initializes all the pins and all the modules necessary
ISR 1:8569ac717e68 890 *
ISR 1:8569ac717e68 891 * @param channel - Which RF channel to comunicate on, 0-125.
ISR 1:8569ac717e68 892 *\note If you are not using RF module put random number.
ISR 1:8569ac717e68 893 * \warning Channel on Robot and Board has to be the same.
ISR 0:15a30802e719 894 */
ISR 1:8569ac717e68 895 void initRobot(int channel)
ISR 1:8569ac717e68 896 {
ISR 1:8569ac717e68 897 pc.printf("Battery level: \n\r");
ISR 1:8569ac717e68 898 init_nRF(channel);
ISR 0:15a30802e719 899 init_robot_pins();
ISR 0:15a30802e719 900 enable_dc_dc_boost();
ISR 1:8569ac717e68 901 wait_ms(100); //wait for read wait(>=150ms);
ISR 0:15a30802e719 902 enable_dc_dc_boost();
ISR 1:8569ac717e68 903 measure_always_on();
ISR 0:15a30802e719 904 wait_ms(100); //wait for read wait(>=150ms);
ISR 1:8569ac717e68 905
ISR 1:8569ac717e68 906 init_Infrared();
ISR 0:15a30802e719 907 float value = value_of_Batery();
ISR 1:8569ac717e68 908
ISR 1:8569ac717e68 909 thread.start(odometry_thread);
ISR 1:8569ac717e68 910
ISR 0:15a30802e719 911 pc.printf("Initialization Successful \n\r");
ISR 0:15a30802e719 912 pc.printf("Battery level: %f \n\r",value);
ISR 0:15a30802e719 913 if(value < 3.0) {
ISR 0:15a30802e719 914 pc.printf(" WARNING: BATTERY NEEDS CHARGING ");
ISR 0:15a30802e719 915 }
ISR 0:15a30802e719 916 // float level = value_of_Batery();
ISR 0:15a30802e719 917 // sendValue(int(level*100));
ISR 0:15a30802e719 918
ISR 0:15a30802e719 919 }