Ivelin Kozarev / Mbed 2 deprecated TDP_main_fork

Team Design project 3 main file

Dependencies:   LocalPositionSystem MMA8451Q Motor_Driver Sensors mbed

Fork of TDP_main by Yelfie

main.cpp@28:d1e7daeb240e, 2015-03-23 (annotated)

Committer:
Reckstyle
Date:
Mon Mar 23 14:23:21 2015 +0000
Revision:
28:d1e7daeb240e
Parent:
27:fc0fd2c0eebb
Child:
29:307b45a52401
Child:
30:60c424504a8b
aa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Reckstyle 2:e2adb7ab2947 1 /*
Reckstyle 2:e2adb7ab2947 2 ****** MAIN PROGRAM ******
Reckstyle 2:e2adb7ab2947 3
Reckstyle 2:e2adb7ab2947 4 Please consider that although it is an embedded envrionment we are NOT creating a HARD-TIME real time system - delays can be dealt with
Reckstyle 11:9e56d52485d1 5
Reckstyle 11:9e56d52485d1 6 Sensors are mapped on the global variable sensorsCheckSum,
Reckstyle 11:9e56d52485d1 7 which multiplies the sensor number by itself to then decode,
Reckstyle 11:9e56d52485d1 8 which sensors are off and which are on
Reckstyle 11:9e56d52485d1 9 ie. if sensor rightright - sensorChecksum = 1*1 = 1
Reckstyle 11:9e56d52485d1 10 if rightright and rightcentre - sensorChecksum = 1*1 + 2*2 = 5
Reckstyle 11:9e56d52485d1 11 ...
Reckstyle 2:e2adb7ab2947 12 */
Reckstyle 2:e2adb7ab2947 13
Reckstyle 0:5ca0450111f3 14 #include "mbed.h"
Reckstyle 11:9e56d52485d1 15 #include "sensor_measure.h"
Joseph_Penikis 5:2fc7bf0135d4 16 #include "Motor_Driver.h"
orsharp 12:bb21b76b6375 17 #include "shooter.h"
Reckstyle 0:5ca0450111f3 18
Joseph_Penikis 5:2fc7bf0135d4 19 #define PWM_PERIOD_US 10000
Reckstyle 0:5ca0450111f3 20
Reckstyle 28:d1e7daeb240e 21 DigitalOut led(LED_RED);
Bartas 24:ecc3fbaf2824 22 Serial HC06(PTE0,PTE1);
Reckstyle 9:718987b106a8 23
Reckstyle 18:d277614084bc 24 Timer measureTimer; //Timer used for measurement
Joseph_Penikis 10:c9212bbfeae6 25
Reckstyle 28:d1e7daeb240e 26
Reckstyle 28:d1e7daeb240e 27 Motor_Driver motors(PTA5, PTC9, PTC8,PTD4, PTA12, PTA4, PWM_PERIOD_US);
Reckstyle 9:718987b106a8 28
Reckstyle 11:9e56d52485d1 29 typedef enum mode {REGULAR,SQUARE} mode; //enumeration for different states
Reckstyle 11:9e56d52485d1 30 mode driveMode; //declaring the variable for the states
Reckstyle 11:9e56d52485d1 31 int sensorsCheckSum; //varibale used for sensors mapping access
Reckstyle 18:d277614084bc 32 int passedTime1,passedTime2;
Reckstyle 25:bec5dc4c9f5e 33 int oldValues[5] = {0};
Bartas 27:fc0fd2c0eebb 34 int cursor = 0, k = 0;
Reckstyle 11:9e56d52485d1 35
Reckstyle 11:9e56d52485d1 36
Reckstyle 11:9e56d52485d1 37 void measureSensors () {
Bartas 24:ecc3fbaf2824 38 sensorsCheckSum = 0; //zero it when first going into the routine
Bartas 24:ecc3fbaf2824 39 int iterationNumber = NUMBER_SENSORS_REGULAR;
Bartas 24:ecc3fbaf2824 40 if (driveMode == SQUARE) {
orsharp 12:bb21b76b6375 41 iterationNumber += NUMBER_SENSORS_SQUARE;
Bartas 24:ecc3fbaf2824 42 }
Bartas 24:ecc3fbaf2824 43 for (int i = 0; i < iterationNumber;i++){
Bartas 24:ecc3fbaf2824 44 //pc.printf("%i iteration%i ",i,iterationNumber);
Bartas 24:ecc3fbaf2824 45 if (measure(sensorArray[i]) == 1) {//if sensor is white
Reckstyle 11:9e56d52485d1 46 sensorsCheckSum += (i+1)*(i+1);
Reckstyle 11:9e56d52485d1 47 }
Bartas 24:ecc3fbaf2824 48 }
Reckstyle 25:bec5dc4c9f5e 49 if (oldValues[cursor] != sensorsCheckSum) { //why only if different ??
Reckstyle 25:bec5dc4c9f5e 50 oldValues[cursor] = sensorsCheckSum;
Reckstyle 23:9b53c72fcd38 51 cursor = (cursor+1)%5;
Bartas 24:ecc3fbaf2824 52 }
Bartas 24:ecc3fbaf2824 53 //pc.printf("sensorsCheckSum is %i",sensorsCheckSum);
Reckstyle 11:9e56d52485d1 54 }
Reckstyle 11:9e56d52485d1 55
Reckstyle 15:6453cd351452 56 void printBluetooth() { //for debugging
Reckstyle 20:e8da3b351cd0 57 pc.printf("LLU%i LRU%i rlu%i rru%i\n",sensorArray[7]->state,sensorArray[6]->state,sensorArray[1]->state,sensorArray[0]->state);
Reckstyle 20:e8da3b351cd0 58 pc.printf("LLD%i LRD%i rld%i rrd%i\n\n",sensorArray[5]->state,sensorArray[4]->state,sensorArray[3]->state,sensorArray[2]->state);
Reckstyle 16:3649eb1a056d 59 //HC06.printf("%i %i %i %i",sensorArray[NUMBER_SENSORS_REGULAR-3]->state,sensorArray[NUMBER_SENSORS_REGULAR-4]->state,sensorArray[3]->state,sensorArray[2]->state);
Reckstyle 15:6453cd351452 60 //HC06.printf("%i %i/n%i %i,sensorArray[NUMBER_SENSORS_REGULAR]->state,sensorArray[NUMBER_SENSORS_REGULAR+1]->state,sensorArray[NUMBER_SENSORS_REGULAR+2]->state,sensorArray[NUMBER_SENSORS_REGULAR+3]->state);
Reckstyle 15:6453cd351452 61 //HC06.printf("%f %f",motor.getLeftSpeed(),motor.getRightSpeed());
Reckstyle 18:d277614084bc 62 pc.printf("sensorCheckSum%i\n\n",sensorsCheckSum);
Reckstyle 18:d277614084bc 63 //HC06.printf("passedTime1 %i passedTime2 \n\n",passedTime1,passedTime2);
Reckstyle 15:6453cd351452 64 }
Reckstyle 15:6453cd351452 65
Reckstyle 11:9e56d52485d1 66 int main() {
Reckstyle 21:9cf274ffe1de 67
Reckstyle 28:d1e7daeb240e 68
Reckstyle 22:902c3086394e 69 // setup_counter(1000, 0);
Reckstyle 22:902c3086394e 70 // float frequency = measure_frequency(CHANNEL_1);
Reckstyle 28:d1e7daeb240e 71 led = 1; //start LED with beginning of main program
Reckstyle 22:902c3086394e 72 measureTimer.start();
Reckstyle 22:902c3086394e 73 driveMode = REGULAR; //initialise drivemoder
Reckstyle 22:902c3086394e 74 sensor_initialise(); // initialise sensor values
Reckstyle 22:902c3086394e 75 wait(1); //give time to set up the system
Reckstyle 22:902c3086394e 76
Reckstyle 22:902c3086394e 77 sensorTimer.start(); // start timer for sensors
Bartas 27:fc0fd2c0eebb 78 // float normalSpeed = 0.01f;
Reckstyle 28:d1e7daeb240e 79
Reckstyle 16:3649eb1a056d 80 while(1){
Reckstyle 22:902c3086394e 81 if (pc.getc() == 'r') {
Reckstyle 28:d1e7daeb240e 82 measureSensors();
Reckstyle 28:d1e7daeb240e 83 printBluetooth();
Reckstyle 28:d1e7daeb240e 84 }
Reckstyle 28:d1e7daeb240e 85 if (sensorsCheckSum == 0) {
Reckstyle 28:d1e7daeb240e 86 motors.setSpeed(normalSpeed);
Reckstyle 28:d1e7daeb240e 87 }
Reckstyle 28:d1e7daeb240e 88 else if (sensorsCheckSum == 1 || sensorsCheckSum == 9 || sensorsCheckSum == 10 || sensorsCheckSum == 14 || sensorsCheckSum==26){
Reckstyle 28:d1e7daeb240e 89 motors.setLeftSpeed(normalSpeed/2);
Reckstyle 28:d1e7daeb240e 90
Reckstyle 28:d1e7daeb240e 91 motors.setRightSpeed(normalSpeed*6);
Reckstyle 28:d1e7daeb240e 92 }
Reckstyle 28:d1e7daeb240e 93 else if (sensorsCheckSum == 4 && sensorsCheckSum ==16 || sensorsCheckSum == 20 || sensorsCheckSum ==21 ||sensorsCheckSum== 29) {
Reckstyle 28:d1e7daeb240e 94 motors.setRightSpeed(normalSpeed/2);
Reckstyle 28:d1e7daeb240e 95 motors.setLeftSpeed(normalSpeed*9);
Reckstyle 28:d1e7daeb240e 96 }
Reckstyle 28:d1e7daeb240e 97 else {
Reckstyle 28:d1e7daeb240e 98 motors.setSpeed(normalSpeed);
Reckstyle 28:d1e7daeb240e 99 }
Reckstyle 25:bec5dc4c9f5e 100 }
Reckstyle 28:d1e7daeb240e 101
Reckstyle 28:d1e7daeb240e 102 /*
Reckstyle 28:d1e7daeb240e 103 int testOtherCases = 0; //needed for control statements
Reckstyle 19:198dc13777eb 104 while (1) {
Reckstyle 19:198dc13777eb 105
Reckstyle 25:bec5dc4c9f5e 106 if (driveMode == REGULAR) {
Bartas 27:fc0fd2c0eebb 107 measureSensors();
Bartas 27:fc0fd2c0eebb 108 switch (sensorsCheckSum) {
Reckstyle 25:bec5dc4c9f5e 109 case 0: // all black, turn around by 180 degrees or a possible turn on the left
Bartas 27:fc0fd2c0eebb 110 for (k=0;k<5;k++) { //left turn situation >> stop, go backwards
Bartas 27:fc0fd2c0eebb 111 if (oldValues[k] == 194) {
Bartas 27:fc0fd2c0eebb 112 motors.stop();
Bartas 27:fc0fd2c0eebb 113 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 114 motors.reverse();
Bartas 27:fc0fd2c0eebb 115 motors.setSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 116 motors.start();
Bartas 27:fc0fd2c0eebb 117 wait(2);
Bartas 27:fc0fd2c0eebb 118 motors.stop();
Bartas 27:fc0fd2c0eebb 119 } else { //dead end situation >> stop, go a bit backwards so there is space for turning and turn CCW
Bartas 27:fc0fd2c0eebb 120 motors.stop();
Bartas 27:fc0fd2c0eebb 121 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 122 motors.reverse();
Bartas 27:fc0fd2c0eebb 123 motors.setSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 124 motors.start();
Bartas 27:fc0fd2c0eebb 125 wait(2);
Bartas 27:fc0fd2c0eebb 126 motors.stop();
Bartas 27:fc0fd2c0eebb 127 motors.setSteeringMode(PIVOT_CCW);
Bartas 27:fc0fd2c0eebb 128 motors.setSpeed(0.1f);
Reckstyle 25:bec5dc4c9f5e 129 do
Bartas 27:fc0fd2c0eebb 130 {
Reckstyle 25:bec5dc4c9f5e 131 motors.start();
Reckstyle 25:bec5dc4c9f5e 132 measureSensors();
Bartas 27:fc0fd2c0eebb 133 } while (sensorsCheckSum != 96);
Reckstyle 25:bec5dc4c9f5e 134 motors.stop();
Bartas 27:fc0fd2c0eebb 135 }
Bartas 27:fc0fd2c0eebb 136 }
Bartas 27:fc0fd2c0eebb 137 break;
Bartas 27:fc0fd2c0eebb 138 case 30: //all right are white, left all black >> turn right(move left wheel faster)
Bartas 27:fc0fd2c0eebb 139 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 140 motors.forward();
Bartas 27:fc0fd2c0eebb 141 motors.setRightSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 142 motors.setLeftSpeed(0.05f);
Bartas 27:fc0fd2c0eebb 143 do
Bartas 27:fc0fd2c0eebb 144 {
Bartas 27:fc0fd2c0eebb 145 motors.start();
Bartas 27:fc0fd2c0eebb 146 measureSensors();
Bartas 27:fc0fd2c0eebb 147 } while (sensorsCheckSum == 30);
Bartas 27:fc0fd2c0eebb 148 motors.stop();
Bartas 27:fc0fd2c0eebb 149 break;
Bartas 27:fc0fd2c0eebb 150
Bartas 27:fc0fd2c0eebb 151 case 94: //normal <<STARTING POSITION>>, half of right and half of left are white
Bartas 27:fc0fd2c0eebb 152 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 153 motors.forward();
Bartas 27:fc0fd2c0eebb 154 motors.setSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 155 do
Bartas 27:fc0fd2c0eebb 156 {
Bartas 27:fc0fd2c0eebb 157 motors.start();
Bartas 27:fc0fd2c0eebb 158 measureSensors();
Bartas 27:fc0fd2c0eebb 159 } while (sensorsCheckSum == 94);
Bartas 27:fc0fd2c0eebb 160 motors.start();
Bartas 27:fc0fd2c0eebb 161 break;
Bartas 27:fc0fd2c0eebb 162 case 104: //right all white, left half white >> turn right
Bartas 27:fc0fd2c0eebb 163 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 164 motors.forward();
Bartas 27:fc0fd2c0eebb 165 motors.setSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 166 motors.start();
Bartas 27:fc0fd2c0eebb 167 wait(1);
Bartas 27:fc0fd2c0eebb 168 motors.stop();
Bartas 27:fc0fd2c0eebb 169 motors.setRightSpeed(0.2f);
Bartas 27:fc0fd2c0eebb 170 motors.setLeftSpeed(0.0f);
Bartas 27:fc0fd2c0eebb 171 do
Bartas 27:fc0fd2c0eebb 172 {
Bartas 27:fc0fd2c0eebb 173 motors.start();
Bartas 27:fc0fd2c0eebb 174 measureSensors();
Bartas 27:fc0fd2c0eebb 175 } while (sensorsCheckSum <= 94);
Bartas 27:fc0fd2c0eebb 176 motors.stop();
Bartas 27:fc0fd2c0eebb 177 break;
Bartas 27:fc0fd2c0eebb 178 case 174: //left all white, right all black >> turn left (move right wheel)
Bartas 27:fc0fd2c0eebb 179 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 180 motors.forward();
Bartas 27:fc0fd2c0eebb 181 motors.setRightSpeed(0.05f);
Bartas 27:fc0fd2c0eebb 182 motors.setLeftSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 183 do
Bartas 27:fc0fd2c0eebb 184 {
Bartas 27:fc0fd2c0eebb 185 motors.start();
Bartas 27:fc0fd2c0eebb 186 measureSensors();
Bartas 27:fc0fd2c0eebb 187 } while (sensorsCheckSum == 174);
Bartas 27:fc0fd2c0eebb 188 break;
Bartas 27:fc0fd2c0eebb 189 case 194 : //left all white, right half white >> go straight, turn right if 194 goes to 204
Bartas 27:fc0fd2c0eebb 190 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 191 motors.forward();
Bartas 27:fc0fd2c0eebb 192 motors.setRightSpeed(0.05f);
Bartas 27:fc0fd2c0eebb 193 motors.setLeftSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 194 do
Bartas 27:fc0fd2c0eebb 195 {
Bartas 27:fc0fd2c0eebb 196 motors.start();
Bartas 27:fc0fd2c0eebb 197 measureSensors();
Bartas 27:fc0fd2c0eebb 198 } while (sensorsCheckSum == 194);
Bartas 27:fc0fd2c0eebb 199 motors.stop(); //do while left is white
Bartas 27:fc0fd2c0eebb 200 break;
Bartas 27:fc0fd2c0eebb 201 case 204 : //all sensors are white
Bartas 27:fc0fd2c0eebb 202 for (k=0;k<6;k++) { //situation when a square is entered, need to follow right line
Bartas 27:fc0fd2c0eebb 203 if (oldValues[k] == 194) { //checks whether black line on the right was present before
Bartas 27:fc0fd2c0eebb 204 motors.setSteeringMode(NORMAL);
Bartas 27:fc0fd2c0eebb 205 motors.setRightSpeed(0.05f);
Bartas 27:fc0fd2c0eebb 206 motors.setLeftSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 207 do
Bartas 27:fc0fd2c0eebb 208 {
Bartas 27:fc0fd2c0eebb 209 motors.start();
Bartas 27:fc0fd2c0eebb 210 measureSensors();
Bartas 27:fc0fd2c0eebb 211 } while (sensorsCheckSum == 204);
Bartas 27:fc0fd2c0eebb 212 motors.stop();
Reckstyle 25:bec5dc4c9f5e 213 }
Bartas 27:fc0fd2c0eebb 214 if (oldValues[k] == 104) { //right turn 90 situation
Bartas 27:fc0fd2c0eebb 215 motors.setSteeringMode(PIVOT_CW);
Bartas 27:fc0fd2c0eebb 216 motors.setRightSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 217 motors.setLeftSpeed(0.1f);
Bartas 27:fc0fd2c0eebb 218 do
Bartas 27:fc0fd2c0eebb 219 {
Bartas 27:fc0fd2c0eebb 220 motors.start();
Bartas 27:fc0fd2c0eebb 221 measureSensors();
Bartas 27:fc0fd2c0eebb 222 } while (sensorsCheckSum != 94);
Bartas 27:fc0fd2c0eebb 223 motors.stop();
Reckstyle 28:d1e7daeb240e 224 }
Reckstyle 28:d1e7daeb240e 225 }
Bartas 27:fc0fd2c0eebb 226 break;
Bartas 27:fc0fd2c0eebb 227 default:
Bartas 27:fc0fd2c0eebb 228 measureSensors();
Bartas 27:fc0fd2c0eebb 229 break;
Reckstyle 28:d1e7daeb240e 230 }
Reckstyle 28:d1e7daeb240e 231 } // if statement
Reckstyle 28:d1e7daeb240e 232 else {
Reckstyle 28:d1e7daeb240e 233 testOtherCases = 1;
Reckstyle 28:d1e7daeb240e 234 }//if driveMode == SQUARE
Reckstyle 28:d1e7daeb240e 235
Reckstyle 28:d1e7daeb240e 236 }//while loop
Reckstyle 28:d1e7daeb240e 237 */
Reckstyle 28:d1e7daeb240e 238 } //int main
Reckstyle 11:9e56d52485d1 239
Reckstyle 28:d1e7daeb240e 240