The subsystem design/basis for the final project
Dependencies: mbed-rtos mbed-src pixylib
main.cpp@3:dfb6733ae397, 2016-03-14 (annotated)
- Committer:
- balsamfir
- Date:
- Mon Mar 14 00:40:28 2016 +0000
- Revision:
- 3:dfb6733ae397
- Parent:
- 2:2bc519e14bae
- Child:
- 4:01252f56e0e5
Ported robot controls to new framework and got everything working and tested
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
balsamfir | 2:2bc519e14bae | 1 | // Includes |
balsamfir | 2:2bc519e14bae | 2 | // ---------------------------------------------------------------- |
JamesMacLean | 0:80a37292f6b2 | 3 | |
balsamfir | 2:2bc519e14bae | 4 | #include "global.h" |
balsamfir | 2:2bc519e14bae | 5 | #include "robot.h" |
balsamfir | 2:2bc519e14bae | 6 | #include "response.h" |
balsamfir | 2:2bc519e14bae | 7 | #include "tuning.h" |
JamesMacLean | 0:80a37292f6b2 | 8 | |
JamesMacLean | 0:80a37292f6b2 | 9 | |
balsamfir | 2:2bc519e14bae | 10 | // Definitions |
balsamfir | 2:2bc519e14bae | 11 | // ---------------------------------------------------------------- |
balsamfir | 2:2bc519e14bae | 12 | enum Mode { |
balsamfir | 3:dfb6733ae397 | 13 | AUTO_TRACK = '0', |
balsamfir | 3:dfb6733ae397 | 14 | MANUAL_CONTROL = '1', |
balsamfir | 3:dfb6733ae397 | 15 | PIXY_SUBSYSTEM = '2', |
balsamfir | 3:dfb6733ae397 | 16 | MOTOR_RESPONSE = '3', |
balsamfir | 3:dfb6733ae397 | 17 | SPEED_RESPONSE = '4', |
balsamfir | 3:dfb6733ae397 | 18 | STEERING_RESPONSE = '5', |
balsamfir | 3:dfb6733ae397 | 19 | TILT_RESPONSE = '6', |
balsamfir | 3:dfb6733ae397 | 20 | MOTOR_TUNING = '7', |
balsamfir | 3:dfb6733ae397 | 21 | SPEED_TUNING = '8', |
balsamfir | 3:dfb6733ae397 | 22 | STEERING_TUNING = '9', |
balsamfir | 3:dfb6733ae397 | 23 | TILT_TUNING = 'a' |
balsamfir | 2:2bc519e14bae | 24 | }; |
JamesMacLean | 0:80a37292f6b2 | 25 | |
balsamfir | 2:2bc519e14bae | 26 | void PrintMenu(Serial *pc); |
JamesMacLean | 0:80a37292f6b2 | 27 | |
JamesMacLean | 0:80a37292f6b2 | 28 | |
balsamfir | 2:2bc519e14bae | 29 | // Wiring - TODO |
balsamfir | 2:2bc519e14bae | 30 | // ---------------------------------------------------------------- |
balsamfir | 2:2bc519e14bae | 31 | // |
balsamfir | 2:2bc519e14bae | 32 | // |
balsamfir | 2:2bc519e14bae | 33 | // |
balsamfir | 2:2bc519e14bae | 34 | // |
balsamfir | 2:2bc519e14bae | 35 | // |
balsamfir | 2:2bc519e14bae | 36 | // |
JamesMacLean | 0:80a37292f6b2 | 37 | |
balsamfir | 2:2bc519e14bae | 38 | // Main Program |
balsamfir | 2:2bc519e14bae | 39 | // ---------------------------------------------------------------- |
balsamfir | 2:2bc519e14bae | 40 | int main() { |
balsamfir | 3:dfb6733ae397 | 41 | int mode; |
balsamfir | 3:dfb6733ae397 | 42 | |
JamesMacLean | 0:80a37292f6b2 | 43 | while (1) { |
balsamfir | 2:2bc519e14bae | 44 | PrintMenu(&pc); |
balsamfir | 2:2bc519e14bae | 45 | mode = pc.getc(); |
balsamfir | 3:dfb6733ae397 | 46 | pc.printf("\r\n\r\n"); |
balsamfir | 2:2bc519e14bae | 47 | switch (mode) { |
balsamfir | 2:2bc519e14bae | 48 | case AUTO_TRACK: |
balsamfir | 2:2bc519e14bae | 49 | AutoTrack(); |
balsamfir | 2:2bc519e14bae | 50 | break; |
balsamfir | 2:2bc519e14bae | 51 | case MANUAL_CONTROL: |
balsamfir | 2:2bc519e14bae | 52 | ManualControl(); |
balsamfir | 2:2bc519e14bae | 53 | break; |
balsamfir | 2:2bc519e14bae | 54 | case PIXY_SUBSYSTEM: |
balsamfir | 2:2bc519e14bae | 55 | PixySubsystem(); |
balsamfir | 2:2bc519e14bae | 56 | break; |
balsamfir | 2:2bc519e14bae | 57 | case MOTOR_RESPONSE: |
balsamfir | 2:2bc519e14bae | 58 | MotorResponse(); |
balsamfir | 2:2bc519e14bae | 59 | break; |
balsamfir | 2:2bc519e14bae | 60 | case SPEED_RESPONSE: |
balsamfir | 2:2bc519e14bae | 61 | SpeedResponse(); |
balsamfir | 2:2bc519e14bae | 62 | break; |
balsamfir | 2:2bc519e14bae | 63 | case STEERING_RESPONSE: |
balsamfir | 2:2bc519e14bae | 64 | SteeringResponse(); |
balsamfir | 2:2bc519e14bae | 65 | break; |
balsamfir | 2:2bc519e14bae | 66 | case TILT_RESPONSE: |
balsamfir | 2:2bc519e14bae | 67 | TiltResponse(); |
balsamfir | 2:2bc519e14bae | 68 | break; |
balsamfir | 2:2bc519e14bae | 69 | case MOTOR_TUNING: |
balsamfir | 2:2bc519e14bae | 70 | MotorTuning(); |
balsamfir | 2:2bc519e14bae | 71 | break; |
balsamfir | 2:2bc519e14bae | 72 | case SPEED_TUNING: |
balsamfir | 2:2bc519e14bae | 73 | SpeedTuning(); |
balsamfir | 2:2bc519e14bae | 74 | break; |
balsamfir | 2:2bc519e14bae | 75 | case STEERING_TUNING: |
balsamfir | 2:2bc519e14bae | 76 | SteeringTuning(); |
balsamfir | 2:2bc519e14bae | 77 | break; |
balsamfir | 2:2bc519e14bae | 78 | case TILT_TUNING: |
balsamfir | 3:dfb6733ae397 | 79 | TiltTuning(); |
balsamfir | 2:2bc519e14bae | 80 | break; |
balsamfir | 2:2bc519e14bae | 81 | default: |
balsamfir | 3:dfb6733ae397 | 82 | pc.printf("Error: Invalid Selection \r\n\r\n"); |
balsamfir | 2:2bc519e14bae | 83 | break; |
JamesMacLean | 0:80a37292f6b2 | 84 | } |
balsamfir | 3:dfb6733ae397 | 85 | wait_ms(2000); |
JamesMacLean | 0:80a37292f6b2 | 86 | } |
JamesMacLean | 0:80a37292f6b2 | 87 | } |
JamesMacLean | 0:80a37292f6b2 | 88 | |
balsamfir | 2:2bc519e14bae | 89 | // Other Functions |
balsamfir | 2:2bc519e14bae | 90 | // ---------------------------------------------------------------- |
balsamfir | 2:2bc519e14bae | 91 | void PrintMenu(Serial *pc){ |
balsamfir | 3:dfb6733ae397 | 92 | pc->printf("\e[1;1H\e[2J"); |
balsamfir | 3:dfb6733ae397 | 93 | pc->printf("Select Mode: \r\n\r\n"); |
balsamfir | 3:dfb6733ae397 | 94 | |
balsamfir | 2:2bc519e14bae | 95 | pc->printf("---------------------------------------------------------------- \r\n"); |
balsamfir | 2:2bc519e14bae | 96 | pc->printf("0. Automated Tracking \r\n"); |
balsamfir | 2:2bc519e14bae | 97 | pc->printf("1. Manual Control \r\n"); |
balsamfir | 2:2bc519e14bae | 98 | pc->printf("2. Pixy Subsystem \r\n"); |
balsamfir | 2:2bc519e14bae | 99 | pc->printf("3. Motor Response \r\n"); |
balsamfir | 2:2bc519e14bae | 100 | pc->printf("4. Speed Response \r\n"); |
balsamfir | 2:2bc519e14bae | 101 | pc->printf("5. Steering Response \r\n"); |
balsamfir | 2:2bc519e14bae | 102 | pc->printf("6. Tilt Response \r\n"); |
balsamfir | 3:dfb6733ae397 | 103 | pc->printf("7. Motor Tunning \r\n"); |
balsamfir | 3:dfb6733ae397 | 104 | pc->printf("8. Speed Tunning \r\n"); |
balsamfir | 3:dfb6733ae397 | 105 | pc->printf("9. Steeing Tunning \r\n"); |
balsamfir | 3:dfb6733ae397 | 106 | pc->printf("a. Tilit Tunning \r\n"); |
balsamfir | 2:2bc519e14bae | 107 | pc->printf("---------------------------------------------------------------- \r\n\r\n"); |
JamesMacLean | 0:80a37292f6b2 | 108 | |
balsamfir | 2:2bc519e14bae | 109 | pc->printf("=> "); |
JamesMacLean | 0:80a37292f6b2 | 110 | } |