Reiko Randoja
/
ut_bbr_2018
Firmware for UT Robotex 2018 basketball robot
main.cpp@0:ef6268629f0b, 2018-09-28 (annotated)
- Committer:
- Reiko
- Date:
- Fri Sep 28 10:46:57 2018 +0000
- Revision:
- 0:ef6268629f0b
- Child:
- 1:a286bf92d291
Firmware for UT Robotex 2018 basketball robot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Reiko | 0:ef6268629f0b | 1 | #include "mbed.h" |
Reiko | 0:ef6268629f0b | 2 | #include "pins.h" |
Reiko | 0:ef6268629f0b | 3 | #include "motor.h" |
Reiko | 0:ef6268629f0b | 4 | #include "USBSerial.h" |
Reiko | 0:ef6268629f0b | 5 | #include "RFManager.h" |
Reiko | 0:ef6268629f0b | 6 | |
Reiko | 0:ef6268629f0b | 7 | USBSerial serial; |
Reiko | 0:ef6268629f0b | 8 | |
Reiko | 0:ef6268629f0b | 9 | Serial pc(USBTX, USBRX); |
Reiko | 0:ef6268629f0b | 10 | |
Reiko | 0:ef6268629f0b | 11 | DigitalOut led1(LED_1); |
Reiko | 0:ef6268629f0b | 12 | DigitalOut led2(LED_2); |
Reiko | 0:ef6268629f0b | 13 | DigitalOut led3(LED_3); |
Reiko | 0:ef6268629f0b | 14 | |
Reiko | 0:ef6268629f0b | 15 | static const int NUMBER_OF_MOTORS = 3; |
Reiko | 0:ef6268629f0b | 16 | |
Reiko | 0:ef6268629f0b | 17 | PwmOut m3(M3_PWM); |
Reiko | 0:ef6268629f0b | 18 | |
Reiko | 0:ef6268629f0b | 19 | Motor motor0(M0_PWM, M0_DIR1, M0_DIR2, M0_ENCA, M0_ENCB); |
Reiko | 0:ef6268629f0b | 20 | Motor motor1(M1_PWM, M1_DIR1, M1_DIR2, M1_ENCA, M1_ENCB); |
Reiko | 0:ef6268629f0b | 21 | Motor motor2(M2_PWM, M2_DIR1, M2_DIR2, M2_ENCA, M2_ENCB); |
Reiko | 0:ef6268629f0b | 22 | //Motor motor3(M3_PWM, M3_DIR1, M3_DIR2, M3_ENCA, M3_ENCB); |
Reiko | 0:ef6268629f0b | 23 | |
Reiko | 0:ef6268629f0b | 24 | Motor * motors[NUMBER_OF_MOTORS] = { |
Reiko | 0:ef6268629f0b | 25 | &motor0, &motor1, &motor2 |
Reiko | 0:ef6268629f0b | 26 | }; |
Reiko | 0:ef6268629f0b | 27 | |
Reiko | 0:ef6268629f0b | 28 | RFManager rfModule(COM1_TX, COM1_RX); |
Reiko | 0:ef6268629f0b | 29 | |
Reiko | 0:ef6268629f0b | 30 | void serialInterrupt(); |
Reiko | 0:ef6268629f0b | 31 | void parseCommand(char *command); |
Reiko | 0:ef6268629f0b | 32 | |
Reiko | 0:ef6268629f0b | 33 | Ticker pidTicker; |
Reiko | 0:ef6268629f0b | 34 | unsigned int pidTickerCount = 0; |
Reiko | 0:ef6268629f0b | 35 | static const float PID_FREQ = 60; |
Reiko | 0:ef6268629f0b | 36 | |
Reiko | 0:ef6268629f0b | 37 | char buf[32]; |
Reiko | 0:ef6268629f0b | 38 | int serialCount = 0; |
Reiko | 0:ef6268629f0b | 39 | bool serialData = false; |
Reiko | 0:ef6268629f0b | 40 | |
Reiko | 0:ef6268629f0b | 41 | bool failSafeEnabled = true; |
Reiko | 0:ef6268629f0b | 42 | int failSafeCount = 0; |
Reiko | 0:ef6268629f0b | 43 | int failSafeLimit = 60; |
Reiko | 0:ef6268629f0b | 44 | |
Reiko | 0:ef6268629f0b | 45 | void pidTick() { |
Reiko | 0:ef6268629f0b | 46 | for (int i = 0; i < NUMBER_OF_MOTORS; i++) { |
Reiko | 0:ef6268629f0b | 47 | motors[i]->pid(); |
Reiko | 0:ef6268629f0b | 48 | } |
Reiko | 0:ef6268629f0b | 49 | |
Reiko | 0:ef6268629f0b | 50 | if (pidTickerCount++ % 60 == 0) { |
Reiko | 0:ef6268629f0b | 51 | led1 = !led1; |
Reiko | 0:ef6268629f0b | 52 | } |
Reiko | 0:ef6268629f0b | 53 | |
Reiko | 0:ef6268629f0b | 54 | failSafeCount++; |
Reiko | 0:ef6268629f0b | 55 | |
Reiko | 0:ef6268629f0b | 56 | if (failSafeCount == failSafeLimit) { |
Reiko | 0:ef6268629f0b | 57 | failSafeCount = 0; |
Reiko | 0:ef6268629f0b | 58 | |
Reiko | 0:ef6268629f0b | 59 | if (failSafeEnabled) { |
Reiko | 0:ef6268629f0b | 60 | for (int i = 0; i < NUMBER_OF_MOTORS; ++i) { |
Reiko | 0:ef6268629f0b | 61 | motors[i]->setSpeed(0); |
Reiko | 0:ef6268629f0b | 62 | } |
Reiko | 0:ef6268629f0b | 63 | |
Reiko | 0:ef6268629f0b | 64 | m3.pulsewidth_us(800); |
Reiko | 0:ef6268629f0b | 65 | } |
Reiko | 0:ef6268629f0b | 66 | } |
Reiko | 0:ef6268629f0b | 67 | } |
Reiko | 0:ef6268629f0b | 68 | |
Reiko | 0:ef6268629f0b | 69 | int main() { |
Reiko | 0:ef6268629f0b | 70 | pidTicker.attach(pidTick, 1 / PID_FREQ); |
Reiko | 0:ef6268629f0b | 71 | //serial.attach(&serialInterrupt); |
Reiko | 0:ef6268629f0b | 72 | |
Reiko | 0:ef6268629f0b | 73 | // Dribbler motor |
Reiko | 0:ef6268629f0b | 74 | //m3.period_us(4000); |
Reiko | 0:ef6268629f0b | 75 | m3.pulsewidth_us(800); |
Reiko | 0:ef6268629f0b | 76 | |
Reiko | 0:ef6268629f0b | 77 | while (1) { |
Reiko | 0:ef6268629f0b | 78 | if (rfModule.readable()) { |
Reiko | 0:ef6268629f0b | 79 | serial.printf("<ref:%s>\n", rfModule.read()); |
Reiko | 0:ef6268629f0b | 80 | } |
Reiko | 0:ef6268629f0b | 81 | |
Reiko | 0:ef6268629f0b | 82 | rfModule.update(); |
Reiko | 0:ef6268629f0b | 83 | |
Reiko | 0:ef6268629f0b | 84 | if (serial.readable()) { |
Reiko | 0:ef6268629f0b | 85 | buf[serialCount] = serial.getc(); |
Reiko | 0:ef6268629f0b | 86 | |
Reiko | 0:ef6268629f0b | 87 | if (buf[serialCount] == '\n') { |
Reiko | 0:ef6268629f0b | 88 | parseCommand(buf); |
Reiko | 0:ef6268629f0b | 89 | serialCount = 0; |
Reiko | 0:ef6268629f0b | 90 | memset(buf, 0, 32); |
Reiko | 0:ef6268629f0b | 91 | } else { |
Reiko | 0:ef6268629f0b | 92 | serialCount++; |
Reiko | 0:ef6268629f0b | 93 | } |
Reiko | 0:ef6268629f0b | 94 | } |
Reiko | 0:ef6268629f0b | 95 | } |
Reiko | 0:ef6268629f0b | 96 | } |
Reiko | 0:ef6268629f0b | 97 | |
Reiko | 0:ef6268629f0b | 98 | void parseCommand(char *buffer) { |
Reiko | 0:ef6268629f0b | 99 | failSafeCount = 0; |
Reiko | 0:ef6268629f0b | 100 | |
Reiko | 0:ef6268629f0b | 101 | char *cmd = strtok(buffer, ":"); |
Reiko | 0:ef6268629f0b | 102 | |
Reiko | 0:ef6268629f0b | 103 | // buffer == "sd:14:16:10:30" |
Reiko | 0:ef6268629f0b | 104 | if (strncmp(cmd, "sd", 2) == 0) { |
Reiko | 0:ef6268629f0b | 105 | for (int i = 0; i < NUMBER_OF_MOTORS; ++i) { |
Reiko | 0:ef6268629f0b | 106 | motors[i]->setSpeed(atoi(strtok(NULL, ":"))); |
Reiko | 0:ef6268629f0b | 107 | } |
Reiko | 0:ef6268629f0b | 108 | |
Reiko | 0:ef6268629f0b | 109 | serial.printf("<gs:%d:%d:%d>\n", |
Reiko | 0:ef6268629f0b | 110 | motors[0]->getSpeed(), |
Reiko | 0:ef6268629f0b | 111 | motors[1]->getSpeed(), |
Reiko | 0:ef6268629f0b | 112 | motors[2]->getSpeed() |
Reiko | 0:ef6268629f0b | 113 | ); |
Reiko | 0:ef6268629f0b | 114 | } |
Reiko | 0:ef6268629f0b | 115 | |
Reiko | 0:ef6268629f0b | 116 | if (strncmp(cmd, "d", 1) == 0) { |
Reiko | 0:ef6268629f0b | 117 | int pulsewidth = atoi(buffer + 2); |
Reiko | 0:ef6268629f0b | 118 | |
Reiko | 0:ef6268629f0b | 119 | if (pulsewidth < 800) { |
Reiko | 0:ef6268629f0b | 120 | pulsewidth = 800; |
Reiko | 0:ef6268629f0b | 121 | } else if (pulsewidth > 2100) { |
Reiko | 0:ef6268629f0b | 122 | pulsewidth = 2100; |
Reiko | 0:ef6268629f0b | 123 | } |
Reiko | 0:ef6268629f0b | 124 | |
Reiko | 0:ef6268629f0b | 125 | m3.pulsewidth_us(pulsewidth); |
Reiko | 0:ef6268629f0b | 126 | } |
Reiko | 0:ef6268629f0b | 127 | |
Reiko | 0:ef6268629f0b | 128 | if (strncmp(cmd, "gs", 2) == 0) { |
Reiko | 0:ef6268629f0b | 129 | serial.printf("<gs:%d:%d:%d>\n", |
Reiko | 0:ef6268629f0b | 130 | motors[0]->getSpeed(), |
Reiko | 0:ef6268629f0b | 131 | motors[1]->getSpeed(), |
Reiko | 0:ef6268629f0b | 132 | motors[2]->getSpeed() |
Reiko | 0:ef6268629f0b | 133 | ); |
Reiko | 0:ef6268629f0b | 134 | } |
Reiko | 0:ef6268629f0b | 135 | |
Reiko | 0:ef6268629f0b | 136 | if (strncmp(cmd, "rf", 2) == 0) { |
Reiko | 0:ef6268629f0b | 137 | rfModule.send(buffer + 3); |
Reiko | 0:ef6268629f0b | 138 | } |
Reiko | 0:ef6268629f0b | 139 | |
Reiko | 0:ef6268629f0b | 140 | if (strncmp(cmd, "fs", 1) == 0) { |
Reiko | 0:ef6268629f0b | 141 | failSafeEnabled = buffer[3] != '0'; |
Reiko | 0:ef6268629f0b | 142 | } |
Reiko | 0:ef6268629f0b | 143 | } |