Richard Ames / rover_on_pokitto

Smart car platform driven by Pokitto

Dependencies:   PokittoLib

Fork of Blinky by Pokitto Community Team

main.cpp@11:524d13eb7d5e, 2018-01-15 (annotated)

Committer:
RichardAmes
Date:
Mon Jan 15 15:28:26 2018 +0000
Revision:
11:524d13eb7d5e
Parent:
10:f5dfd33d5431 
Updated mapping for IN4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Pokitto 0:2d2a3994d55d 1 #include "Pokitto.h"
Pokitto 0:2d2a3994d55d 2
RichardAmes 10:f5dfd33d5431 3 #define STATE_IDLE 0
RichardAmes 10:f5dfd33d5431 4 #define STATE_RUNNING 1
RichardAmes 10:f5dfd33d5431 5
Pokitto 8:1f8f91d671a5 6 // the pokitto core library
Pokitto 8:1f8f91d671a5 7 Pokitto::Core pokitto;
Pokitto 8:1f8f91d671a5 8
RichardAmes 10:f5dfd33d5431 9 /* Map EXTn outputs to inputs on L298 Full Bridge Driver */
RichardAmes 10:f5dfd33d5431 10 DigitalOut ena = DigitalOut(EXT0);
RichardAmes 10:f5dfd33d5431 11 DigitalOut enb = DigitalOut(EXT1);
RichardAmes 10:f5dfd33d5431 12 DigitalOut in1 = DigitalOut(EXT2);
RichardAmes 10:f5dfd33d5431 13 DigitalOut in2 = DigitalOut(EXT3);
RichardAmes 10:f5dfd33d5431 14 DigitalOut in3 = DigitalOut(EXT4);
RichardAmes 11:524d13eb7d5e 15 DigitalOut in4 = DigitalOut(EXT5);
RichardAmes 10:f5dfd33d5431 16
RichardAmes 10:f5dfd33d5431 17 int state;
RichardAmes 10:f5dfd33d5431 18
RichardAmes 10:f5dfd33d5431 19 int script[] = {1, 1, 4, -1, -1, 4, 1, -1, 4, -1, 1, 4, 0, 0, 0};
RichardAmes 10:f5dfd33d5431 20 int step;
RichardAmes 10:f5dfd33d5431 21 int substep;
RichardAmes 10:f5dfd33d5431 22
RichardAmes 10:f5dfd33d5431 23 void init(void)
RichardAmes 10:f5dfd33d5431 24 {
RichardAmes 10:f5dfd33d5431 25 state = STATE_IDLE;
RichardAmes 10:f5dfd33d5431 26 ena.write(0);
RichardAmes 10:f5dfd33d5431 27 enb.write(0);
RichardAmes 10:f5dfd33d5431 28 in1.write(0);
RichardAmes 10:f5dfd33d5431 29 in2.write(0);
RichardAmes 10:f5dfd33d5431 30 in3.write(0);
RichardAmes 10:f5dfd33d5431 31 in4.write(0);
RichardAmes 10:f5dfd33d5431 32 }
RichardAmes 10:f5dfd33d5431 33
RichardAmes 10:f5dfd33d5431 34 void set_motors(int a, int b)
RichardAmes 10:f5dfd33d5431 35 {
RichardAmes 10:f5dfd33d5431 36 ena.write(1);
RichardAmes 10:f5dfd33d5431 37 enb.write(1);
RichardAmes 10:f5dfd33d5431 38 if (a == -1)
RichardAmes 10:f5dfd33d5431 39 {
RichardAmes 10:f5dfd33d5431 40 in1.write(0);
RichardAmes 10:f5dfd33d5431 41 in2.write(1);
RichardAmes 10:f5dfd33d5431 42 }
RichardAmes 10:f5dfd33d5431 43 else if (a == 1)
RichardAmes 10:f5dfd33d5431 44 {
RichardAmes 10:f5dfd33d5431 45 in1.write(1);
RichardAmes 10:f5dfd33d5431 46 in2.write(0);
RichardAmes 10:f5dfd33d5431 47 }
RichardAmes 10:f5dfd33d5431 48 else
RichardAmes 10:f5dfd33d5431 49 {
RichardAmes 10:f5dfd33d5431 50 in1.write(1);
RichardAmes 10:f5dfd33d5431 51 in2.write(1);
RichardAmes 10:f5dfd33d5431 52 }
RichardAmes 10:f5dfd33d5431 53 if (b == -1)
RichardAmes 10:f5dfd33d5431 54 {
RichardAmes 10:f5dfd33d5431 55 in3.write(0);
RichardAmes 10:f5dfd33d5431 56 in4.write(1);
RichardAmes 10:f5dfd33d5431 57 }
RichardAmes 10:f5dfd33d5431 58 else if (b == 1)
RichardAmes 10:f5dfd33d5431 59 {
RichardAmes 10:f5dfd33d5431 60 in3.write(1);
RichardAmes 10:f5dfd33d5431 61 in4.write(0);
RichardAmes 10:f5dfd33d5431 62 }
RichardAmes 10:f5dfd33d5431 63 else
RichardAmes 10:f5dfd33d5431 64 {
RichardAmes 10:f5dfd33d5431 65 in3.write(1);
RichardAmes 10:f5dfd33d5431 66 in4.write(1);
RichardAmes 10:f5dfd33d5431 67 }
RichardAmes 10:f5dfd33d5431 68 }
RichardAmes 10:f5dfd33d5431 69
RichardAmes 10:f5dfd33d5431 70 void run(void)
RichardAmes 10:f5dfd33d5431 71 {
RichardAmes 10:f5dfd33d5431 72 if (substep == 0)
RichardAmes 10:f5dfd33d5431 73 {
RichardAmes 10:f5dfd33d5431 74 set_motors(script[step], script[step + 1]);
RichardAmes 10:f5dfd33d5431 75 substep = script[step + 2];
RichardAmes 10:f5dfd33d5431 76 }
RichardAmes 10:f5dfd33d5431 77 substep--;
RichardAmes 10:f5dfd33d5431 78 if (substep == 0)
RichardAmes 10:f5dfd33d5431 79 {
RichardAmes 10:f5dfd33d5431 80 step += 3;
RichardAmes 10:f5dfd33d5431 81 if (script[step] == 0)
RichardAmes 10:f5dfd33d5431 82 state = STATE_IDLE;
RichardAmes 10:f5dfd33d5431 83 }
RichardAmes 10:f5dfd33d5431 84 }
RichardAmes 10:f5dfd33d5431 85
RichardAmes 10:f5dfd33d5431 86 void stop(void)
RichardAmes 10:f5dfd33d5431 87 {
RichardAmes 10:f5dfd33d5431 88 ena.write(0);
RichardAmes 10:f5dfd33d5431 89 enb.write(0);
RichardAmes 10:f5dfd33d5431 90 in1.write(1);
RichardAmes 10:f5dfd33d5431 91 in2.write(1);
RichardAmes 10:f5dfd33d5431 92 in3.write(1);
RichardAmes 10:f5dfd33d5431 93 in4.write(1);
RichardAmes 10:f5dfd33d5431 94 }
Pokitto 8:1f8f91d671a5 95
Pokitto 8:1f8f91d671a5 96 int main ()
Pokitto 8:1f8f91d671a5 97 {
Pokitto 8:1f8f91d671a5 98 // initialise the Pokitto
Pokitto 8:1f8f91d671a5 99 pokitto.begin();
Pokitto 0:2d2a3994d55d 100
Pokitto 8:1f8f91d671a5 101 // the main loop
Pokitto 8:1f8f91d671a5 102 while (pokitto.isRunning())
Pokitto 8:1f8f91d671a5 103 {
Pokitto 8:1f8f91d671a5 104 // update the Pokitto's state
Pokitto 8:1f8f91d671a5 105 if (pokitto.update())
Pokitto 8:1f8f91d671a5 106 {
RichardAmes 10:f5dfd33d5431 107 switch (state)
Pokitto 8:1f8f91d671a5 108 {
RichardAmes 10:f5dfd33d5431 109 case STATE_IDLE:
RichardAmes 10:f5dfd33d5431 110 pokitto.display.print("Idle");
RichardAmes 10:f5dfd33d5431 111 stop();
RichardAmes 10:f5dfd33d5431 112 if (pokitto.buttons.aBtn())
RichardAmes 10:f5dfd33d5431 113 {
RichardAmes 10:f5dfd33d5431 114 state = STATE_RUNNING;
RichardAmes 10:f5dfd33d5431 115 step = 0;
RichardAmes 10:f5dfd33d5431 116 substep = 0;
RichardAmes 10:f5dfd33d5431 117 }
RichardAmes 10:f5dfd33d5431 118 break;
RichardAmes 10:f5dfd33d5431 119 case STATE_RUNNING:
RichardAmes 10:f5dfd33d5431 120 pokitto.display.print("Running");
RichardAmes 10:f5dfd33d5431 121 run();
RichardAmes 10:f5dfd33d5431 122 if (pokitto.buttons.aBtn())
RichardAmes 10:f5dfd33d5431 123 state = STATE_IDLE;
RichardAmes 10:f5dfd33d5431 124 break;
Pokitto 8:1f8f91d671a5 125 }
Pokitto 8:1f8f91d671a5 126 }
RichardAmes 10:f5dfd33d5431 127 wait_ms(100);
Pokitto 8:1f8f91d671a5 128 }
Pokitto 8:1f8f91d671a5 129
Pokitto 8:1f8f91d671a5 130 return 1;
Pokitto 0:2d2a3994d55d 131 }