M3pi_logo_principle - M3pi logo character recognition principle

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Nicholas Dart / Mbed 2 deprecated M3pi_logo_principle

M3pi logo character recognition principle

main.cpp@0:33bfb6a726ba, 2011-07-08 (annotated)

Committer:: Nicholas
Date:: Fri Jul 08 12:12:56 2011 +0000
Revision:: 0:33bfb6a726ba

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User	Revision	Line number	New contents of line
Nicholas	0:33bfb6a726ba	1	#include "mbed.h"
Nicholas	0:33bfb6a726ba	2	#include "m3pi.h"
Nicholas	0:33bfb6a726ba	3	#include "MSCFileSystem.h"
Nicholas	0:33bfb6a726ba	4
Nicholas	0:33bfb6a726ba	5	DigitalOut ledone(LED1);
Nicholas	0:33bfb6a726ba	6	DigitalOut ledtwo(LED2);
Nicholas	0:33bfb6a726ba	7	DigitalOut ledthree(LED3);
Nicholas	0:33bfb6a726ba	8	DigitalOut ledfour(LED4);
Nicholas	0:33bfb6a726ba	9	MSCFileSystem msc("msc"); // allows read/write to a removable USB device through the m3pi's USB interface
Nicholas	0:33bfb6a726ba	10	Serial pc(USBTX, USBRX);
Nicholas	0:33bfb6a726ba	11	m3pi m3pi;
Nicholas	0:33bfb6a726ba	12
Nicholas	0:33bfb6a726ba	13	float speed_max; //the maximum speed allowed. used in fwd/bck under recognition
Nicholas	0:33bfb6a726ba	14	float speed_mod; //the modifiable speed varible used for cornering. may be used to adjust cornering values in future versions
Nicholas	0:33bfb6a726ba	15	float speed_user;
Nicholas	0:33bfb6a726ba	16
Nicholas	0:33bfb6a726ba	17	char Buffer[512]; //will house all of the data in the Commands.txt file. has space for 510 commands + one speed variable at begining (M5)
Nicholas	0:33bfb6a726ba	18
Nicholas	0:33bfb6a726ba	19	FILE *CMD = fopen("/msc/Commands.txt", "r"); //where all the commands should be stored
Nicholas	0:33bfb6a726ba	20
Nicholas	0:33bfb6a726ba	21	//this will be run in the event that something goes wrong like a character cant be recognised or a file is missing
Nicholas	0:33bfb6a726ba	22	void ERR() {
Nicholas	0:33bfb6a726ba	23	while (1) {
Nicholas	0:33bfb6a726ba	24	ledtwo = 0;
Nicholas	0:33bfb6a726ba	25	ledthree = 0;
Nicholas	0:33bfb6a726ba	26	ledone = 1;
Nicholas	0:33bfb6a726ba	27	ledfour = 1;
Nicholas	0:33bfb6a726ba	28	wait(0.2);
Nicholas	0:33bfb6a726ba	29	ledfour = 0;
Nicholas	0:33bfb6a726ba	30	ledone = 0;
Nicholas	0:33bfb6a726ba	31	ledtwo = 1;
Nicholas	0:33bfb6a726ba	32	ledthree = 1;
Nicholas	0:33bfb6a726ba	33	wait(0.2);
Nicholas	0:33bfb6a726ba	34	}
Nicholas	0:33bfb6a726ba	35	}
Nicholas	0:33bfb6a726ba	36
Nicholas	0:33bfb6a726ba	37	//run on completion of the scrip
Nicholas	0:33bfb6a726ba	38	void FIN() {
Nicholas	0:33bfb6a726ba	39	while (1) {
Nicholas	0:33bfb6a726ba	40	ledone = 1;
Nicholas	0:33bfb6a726ba	41	ledtwo = 1;
Nicholas	0:33bfb6a726ba	42	ledthree = 1;
Nicholas	0:33bfb6a726ba	43	ledfour = 1;
Nicholas	0:33bfb6a726ba	44	wait(0.5);
Nicholas	0:33bfb6a726ba	45	ledone = 0;
Nicholas	0:33bfb6a726ba	46	ledtwo = 0;
Nicholas	0:33bfb6a726ba	47	ledthree = 0;
Nicholas	0:33bfb6a726ba	48	ledfour = 0;
Nicholas	0:33bfb6a726ba	49	wait(0.5);
Nicholas	0:33bfb6a726ba	50	}
Nicholas	0:33bfb6a726ba	51	}
Nicholas	0:33bfb6a726ba	52	//this will check that all the files are present and accounted for.
Nicholas	0:33bfb6a726ba	53	void opening() {
Nicholas	0:33bfb6a726ba	54	m3pi.cls();
Nicholas	0:33bfb6a726ba	55	m3pi.locate(0,0);
Nicholas	0:33bfb6a726ba	56	m3pi.printf(" LOGO");
Nicholas	0:33bfb6a726ba	57	m3pi.locate(0,1);
Nicholas	0:33bfb6a726ba	58	m3pi.printf(" RACE");
Nicholas	0:33bfb6a726ba	59	FILE *CMD = fopen("/msc/Commands.txt", "r");
Nicholas	0:33bfb6a726ba	60	//if it isnt is there, we have an ERROR, Run ERR();
Nicholas	0:33bfb6a726ba	61	if (CMD == NULL) {
Nicholas	0:33bfb6a726ba	62	m3pi.cls();
Nicholas	0:33bfb6a726ba	63	m3pi.printf("CMD ERR");
Nicholas	0:33bfb6a726ba	64	fclose(CMD);
Nicholas	0:33bfb6a726ba	65	while (1) {
Nicholas	0:33bfb6a726ba	66	ERR();
Nicholas	0:33bfb6a726ba	67	}
Nicholas	0:33bfb6a726ba	68	fclose(CMD);
Nicholas	0:33bfb6a726ba	69	}
Nicholas	0:33bfb6a726ba	70	}
Nicholas	0:33bfb6a726ba	71
Nicholas	0:33bfb6a726ba	72	//getting everything from the text document
Nicholas	0:33bfb6a726ba	73	void grabbing() {
Nicholas	0:33bfb6a726ba	74	fopen("/msc/Commands.txt", "r");
Nicholas	0:33bfb6a726ba	75	while (!feof(CMD)) {
Nicholas	0:33bfb6a726ba	76	ledone = 1;
Nicholas	0:33bfb6a726ba	77	//put everything in Buffer as a string it would be easier to have it in seperate containers but for simplicity to understand for nivices like my, i have done it like this.
Nicholas	0:33bfb6a726ba	78	fscanf (CMD, "%s", Buffer);
Nicholas	0:33bfb6a726ba	79	}
Nicholas	0:33bfb6a726ba	80	fclose(CMD);
Nicholas	0:33bfb6a726ba	81	ledone = 0;
Nicholas	0:33bfb6a726ba	82	//add on to the end of Buffer a * so that the end can be recognised
Nicholas	0:33bfb6a726ba	83	sprintf(Buffer + strlen(Buffer), "*");
Nicholas	0:33bfb6a726ba	84	}
Nicholas	0:33bfb6a726ba	85
Nicholas	0:33bfb6a726ba	86	//sets the speed
Nicholas	0:33bfb6a726ba	87	void variables () {
Nicholas	0:33bfb6a726ba	88	if (Buffer[0] == 'M') {
Nicholas	0:33bfb6a726ba	89	//as everything is in a string, numbers /begin at 48 (0, 1 etc) so anything after 48 should be a number
Nicholas	0:33bfb6a726ba	90	if (Buffer[1] >= 49) {
Nicholas	0:33bfb6a726ba	91	speed_max = ((Buffer[1] - 48) / 10);
Nicholas	0:33bfb6a726ba	92	} else {
Nicholas	0:33bfb6a726ba	93	// if it isnt a number, it can be used, say ERR
Nicholas	0:33bfb6a726ba	94	m3pi.cls();
Nicholas	0:33bfb6a726ba	95	m3pi.printf("BAD");
Nicholas	0:33bfb6a726ba	96	m3pi.locate(0,1);
Nicholas	0:33bfb6a726ba	97	m3pi.printf("SPEED");
Nicholas	0:33bfb6a726ba	98	ERR();
Nicholas	0:33bfb6a726ba	99	}
Nicholas	0:33bfb6a726ba	100	speed_user = speed_max;
Nicholas	0:33bfb6a726ba	101	} else {
Nicholas	0:33bfb6a726ba	102	//if nothing is there, there has been no speed defined!
Nicholas	0:33bfb6a726ba	103	m3pi.cls();
Nicholas	0:33bfb6a726ba	104	m3pi.printf("NO SPEED");
Nicholas	0:33bfb6a726ba	105	m3pi.locate(0,1);
Nicholas	0:33bfb6a726ba	106	m3pi.printf("DEFINED");
Nicholas	0:33bfb6a726ba	107	}
Nicholas	0:33bfb6a726ba	108	}
Nicholas	0:33bfb6a726ba	109
Nicholas	0:33bfb6a726ba	110
Nicholas	0:33bfb6a726ba	111	void recognition() {
Nicholas	0:33bfb6a726ba	112	//this shall be used to incriment what character we are looking at
Nicholas	0:33bfb6a726ba	113	int N=2;
Nicholas	0:33bfb6a726ba	114	//repeat until the end of the document
Nicholas	0:33bfb6a726ba	115	while (!feof(CMD)) {
Nicholas	0:33bfb6a726ba	116	if (Buffer[N] == 'F' \|\| Buffer[N] == 'f') {
Nicholas	0:33bfb6a726ba	117	N++;
Nicholas	0:33bfb6a726ba	118	//Because it's a string, the conversion will turn the number 1 into 49, as it is the 49th character that can be recognised.
Nicholas	0:33bfb6a726ba	119	while (Buffer[N] >= 48) {
Nicholas	0:33bfb6a726ba	120	m3pi.cls();
Nicholas	0:33bfb6a726ba	121	m3pi.printf("FWD %c", Buffer[N]); // F represents forward and
Nicholas	0:33bfb6a726ba	122	m3pi.forward(speed_max); // a number after it represents how long
Nicholas	0:33bfb6a726ba	123	wait(Buffer[N] - 48); //to go forwards for. this senario
Nicholas	0:33bfb6a726ba	124	m3pi.stop(); //only includes the posibilty of
Nicholas	0:33bfb6a726ba	125	N++; // a one digit number.
Nicholas	0:33bfb6a726ba	126	}
Nicholas	0:33bfb6a726ba	127	} else if (Buffer[N] == 'B' \|\| Buffer[N] == 'b') {
Nicholas	0:33bfb6a726ba	128	N++;
Nicholas	0:33bfb6a726ba	129	while (Buffer[N] >= 48) {
Nicholas	0:33bfb6a726ba	130	m3pi.cls();
Nicholas	0:33bfb6a726ba	131	m3pi.printf("BACK %c", Buffer[N]);
Nicholas	0:33bfb6a726ba	132	m3pi.backward(speed_max);
Nicholas	0:33bfb6a726ba	133	wait(Buffer[N] - 48);
Nicholas	0:33bfb6a726ba	134	N++;
Nicholas	0:33bfb6a726ba	135	}
Nicholas	0:33bfb6a726ba	136	} else if (Buffer[N] == 'R' \|\| Buffer[N] == 'r') {
Nicholas	0:33bfb6a726ba	137	N++;
Nicholas	0:33bfb6a726ba	138	while (Buffer[N] >= 48) {
Nicholas	0:33bfb6a726ba	139	int A=Buffer[N] - 48;
Nicholas	0:33bfb6a726ba	140	m3pi.cls();
Nicholas	0:33bfb6a726ba	141	m3pi.printf("RGHT %d", A);
Nicholas	0:33bfb6a726ba	142	m3pi.left( - speed_max);
Nicholas	0:33bfb6a726ba	143	m3pi.right(speed_max);
Nicholas	0:33bfb6a726ba	144	wait(((speed_mod * 0.28)/9)*A); //a number after R or L represents
Nicholas	0:33bfb6a726ba	145	m3pi.stop(); //how much to turn. the algorithm
Nicholas	0:33bfb6a726ba	146	N++; //above converts that to wait times for motors
Nicholas	0:33bfb6a726ba	147	}
Nicholas	0:33bfb6a726ba	148	} else if (Buffer[N] == 'L' \|\| Buffer[N] == 'l') {
Nicholas	0:33bfb6a726ba	149	N++;
Nicholas	0:33bfb6a726ba	150	while (Buffer[N] >= 48) {
Nicholas	0:33bfb6a726ba	151	int A=Buffer[N] - 48;
Nicholas	0:33bfb6a726ba	152	m3pi.cls();
Nicholas	0:33bfb6a726ba	153	m3pi.printf("LFT %d", A);
Nicholas	0:33bfb6a726ba	154	m3pi.right( - speed_max);
Nicholas	0:33bfb6a726ba	155	m3pi.left(speed_max);
Nicholas	0:33bfb6a726ba	156	wait(((speed_mod * 0.28)/9)*A);
Nicholas	0:33bfb6a726ba	157	m3pi.stop();
Nicholas	0:33bfb6a726ba	158	N++;
Nicholas	0:33bfb6a726ba	159	}
Nicholas	0:33bfb6a726ba	160	} else if (Buffer[N] == 'S' \|\| Buffer[N] == 's') {
Nicholas	0:33bfb6a726ba	161	m3pi.cls();
Nicholas	0:33bfb6a726ba	162	m3pi.printf("STOP");
Nicholas	0:33bfb6a726ba	163	m3pi.stop();
Nicholas	0:33bfb6a726ba	164	FIN();
Nicholas	0:33bfb6a726ba	165	N++;
Nicholas	0:33bfb6a726ba	166	//if there is a * then we have reached the end of what is in Buffer
Nicholas	0:33bfb6a726ba	167	} else if (Buffer[N] == '*') {
Nicholas	0:33bfb6a726ba	168	m3pi.stop();
Nicholas	0:33bfb6a726ba	169	m3pi.cls();
Nicholas	0:33bfb6a726ba	170	m3pi.printf("FIN!");
Nicholas	0:33bfb6a726ba	171	FIN();
Nicholas	0:33bfb6a726ba	172	//if there is a character that is not listed above, it is probebly an error
Nicholas	0:33bfb6a726ba	173	} else {
Nicholas	0:33bfb6a726ba	174	m3pi.stop();
Nicholas	0:33bfb6a726ba	175	m3pi.cls();
Nicholas	0:33bfb6a726ba	176	m3pi.printf(" ERR ");
Nicholas	0:33bfb6a726ba	177	ERR();
Nicholas	0:33bfb6a726ba	178	}
Nicholas	0:33bfb6a726ba	179	}
Nicholas	0:33bfb6a726ba	180	}
Nicholas	0:33bfb6a726ba	181
Nicholas	0:33bfb6a726ba	182	int main() {
Nicholas	0:33bfb6a726ba	183	opening();
Nicholas	0:33bfb6a726ba	184	grabbing();
Nicholas	0:33bfb6a726ba	185	variables();
Nicholas	0:33bfb6a726ba	186	speed_mod = speed_max;
Nicholas	0:33bfb6a726ba	187	wait(2.0);
Nicholas	0:33bfb6a726ba	188	recognition();
Nicholas	0:33bfb6a726ba	189	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	08 Jul 2011
Imports:	13
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	3
Followers:	1

main.cpp@0:33bfb6a726ba, 2011-07-08 (annotated)

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