Romain Ame / Mbed 2 deprecated Robot2016_2-0_STATIC

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Dependencies:   RoboClaw StepperMotor mbed

Fork of Robot2016_2-0 by ARES

main.cpp@18:0f1fefe78266, 2016-01-07 (annotated)

Committer:
IceTeam
Date:
Thu Jan 07 15:54:49 2016 +0100
Revision:
18:0f1fefe78266
Parent:
17:e32b4b54fc04
Child:
19:30942f018252
Child:
20:b2f3757fd7ee
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sype 0:ad9600df4a70 1 #include "Odometry.h"
IceTeam 17:e32b4b54fc04 2 /** Dependencies :
IceTeam 17:e32b4b54fc04 3 Map/Point.h
IceTeam 17:e32b4b54fc04 4 Map/define.h
IceTeam 17:e32b4b54fc04 5 Map/Obstacles/Obstacle.h
IceTeam 17:e32b4b54fc04 6 */
IceTeam 12:5355aed288b0 7 #include "Map/Map.h"
sype 0:ad9600df4a70 8
sype 0:ad9600df4a70 9 #define dt 10000
sype 10:ae3178aa94e9 10 #define ATTENTE 0
sype 10:ae3178aa94e9 11 #define GO 1
sype 10:ae3178aa94e9 12 #define STOP 2
sype 0:ad9600df4a70 13
sype 10:ae3178aa94e9 14 InterruptIn mybutton(USER_BUTTON);
sype 10:ae3178aa94e9 15 DigitalIn button(USER_BUTTON);
sype 2:abdf8c6823a1 16 DigitalOut led(LED1);
sype 0:ad9600df4a70 17 Ticker ticker;
sype 10:ae3178aa94e9 18 //Serial pc(USBTX, USBRX);
sype 10:ae3178aa94e9 19 Serial pc(PA_9, PA_10);
sype 10:ae3178aa94e9 20 RoboClaw roboclaw(460800, PA_11, PA_12);
sype 10:ae3178aa94e9 21 Odometry odo(63.2, 63.3, 252, 4096, roboclaw);
sype 10:ae3178aa94e9 22
sype 10:ae3178aa94e9 23 int i = 0;
sype 0:ad9600df4a70 24
sype 0:ad9600df4a70 25 void update_main(void);
sype 2:abdf8c6823a1 26 void init(void);
sype 10:ae3178aa94e9 27 void pressed(void);
sype 10:ae3178aa94e9 28 void unpressed(void);
sype 0:ad9600df4a70 29
IceTeam 9:e39b218ab20d 30 /** Debut du programme */
sype 0:ad9600df4a70 31 int main(void)
sype 10:ae3178aa94e9 32 {
sype 10:ae3178aa94e9 33 double angle_v = 2*PI/5;
sype 10:ae3178aa94e9 34 double distance_v = 200.0;
IceTeam 12:5355aed288b0 35 std::vector<SimplePoint> path;
IceTeam 12:5355aed288b0 36 Map map;
IceTeam 12:5355aed288b0 37
sype 2:abdf8c6823a1 38 init();
IceTeam 18:0f1fefe78266 39 //Construction des obstacles
IceTeam 17:e32b4b54fc04 40 map.build();
IceTeam 13:a394e27b8cb2 41 map.Astar(0, 1000, 2000, 1000, 1);
IceTeam 13:a394e27b8cb2 42 path = map.path;
IceTeam 13:a394e27b8cb2 43
IceTeam 18:0f1fefe78266 44 for(int i=0; i<path.size();i++) {
IceTeam 12:5355aed288b0 45 odo.GotoXYT(path[i].x, path[i].y, 0);
IceTeam 18:0f1fefe78266 46 }
IceTeam 12:5355aed288b0 47
IceTeam 12:5355aed288b0 48 //odo.GotoXYT(500, 50, 0);
sype 10:ae3178aa94e9 49 //odo.GotoXYT(200, 0, 0);
sype 10:ae3178aa94e9 50 //odo.GotoXYT(0, 0, 0);
sype 10:ae3178aa94e9 51
sype 10:ae3178aa94e9 52 //odo.GotoThet(-PI/2);
sype 10:ae3178aa94e9 53 wait(2000);
sype 10:ae3178aa94e9 54 //odo.GotoXYT(2250,500,0);
sype 2:abdf8c6823a1 55 while(1);
sype 2:abdf8c6823a1 56 }
sype 2:abdf8c6823a1 57
sype 2:abdf8c6823a1 58 void init(void)
sype 0:ad9600df4a70 59 {
sype 10:ae3178aa94e9 60 pc.baud(9600);
sype 2:abdf8c6823a1 61 pc.printf("Hello from main !\n\r");
sype 10:ae3178aa94e9 62 wait_ms(500);
sype 10:ae3178aa94e9 63
sype 10:ae3178aa94e9 64 odo.setPos(0, 0, 0);
sype 2:abdf8c6823a1 65 roboclaw.ForwardM1(ADR, 0);
sype 2:abdf8c6823a1 66 roboclaw.ForwardM2(ADR, 0);
sype 10:ae3178aa94e9 67
sype 10:ae3178aa94e9 68 while(button);
sype 10:ae3178aa94e9 69 wait(1);
sype 10:ae3178aa94e9 70 mybutton.fall(&pressed);
sype 10:ae3178aa94e9 71 mybutton.rise(&unpressed);
sype 0:ad9600df4a70 72 ticker.attach_us(&update_main,dt); // 100 Hz
sype 0:ad9600df4a70 73 }
sype 0:ad9600df4a70 74
sype 0:ad9600df4a70 75 void update_main(void)
sype 0:ad9600df4a70 76 {
sype 0:ad9600df4a70 77 odo.update_odo();
sype 10:ae3178aa94e9 78 //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
sype 2:abdf8c6823a1 79 //if(pc.readable()) if(pc.getc()=='l') led = !led;
sype 0:ad9600df4a70 80 }
sype 10:ae3178aa94e9 81
sype 10:ae3178aa94e9 82 void pressed(void)
sype 10:ae3178aa94e9 83 {
sype 10:ae3178aa94e9 84 if(i==0) {
sype 10:ae3178aa94e9 85 roboclaw.ForwardM1(ADR, 0);
sype 10:ae3178aa94e9 86 roboclaw.ForwardM2(ADR, 0);
sype 10:ae3178aa94e9 87 //pc.printf("X : %3.2f\tY : %3.2f\tTheta : %3.2f\n\r", odo.getX(), odo.getY(), odo.getTheta()*180/PI);
sype 10:ae3178aa94e9 88 i++;
sype 10:ae3178aa94e9 89 }
sype 10:ae3178aa94e9 90 }
sype 10:ae3178aa94e9 91
sype 10:ae3178aa94e9 92 void unpressed(void)
sype 10:ae3178aa94e9 93 {
sype 10:ae3178aa94e9 94 if(i==1) {
sype 10:ae3178aa94e9 95 i--;
sype 10:ae3178aa94e9 96 }
sype 10:ae3178aa94e9 97 }