Justin Eng / Mbed 2 deprecated RoboticsCatAndMouse_HumanDriver

Spring 2014, ECE 4180 project, Georgia Institute of Technolgoy. This is the human driver (RF controller) program for the Robotics Cat and Mouse program.

Dependencies:   ADXL345_I2C_NEST HMC6352 IMUfilter ITG3200_NEST USBHost mbed-rtos mbed

Fork of Project by Ganesh Subramaniam

AI.cpp@6:3fb9f96765f6, 2014-04-30 (annotated)

Committer:
Strikewolf
Date:
Wed Apr 30 12:23:04 2014 +0000
Revision:
6:3fb9f96765f6
Parent:
5:210cd333f770 
Final product before demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Strikewolf 5:210cd333f770 1 #include "mbed.h"
Strikewolf 5:210cd333f770 2 #include "rtos.h"
Strikewolf 5:210cd333f770 3 #include "IMU_RPY.h"
Strikewolf 5:210cd333f770 4 #include "GameCode.h"
Strikewolf 5:210cd333f770 5 #include "AIPosition.h"
Strikewolf 5:210cd333f770 6 #include "AIControl.h"
Strikewolf 5:210cd333f770 7
Strikewolf 5:210cd333f770 8 InterruptIn sw(p30);
Strikewolf 5:210cd333f770 9
Strikewolf 5:210cd333f770 10 void StopISR()
Strikewolf 5:210cd333f770 11 {
Strikewolf 5:210cd333f770 12 rightMotorPWM = 0;
Strikewolf 5:210cd333f770 13 leftMotorPWM = 0;
Strikewolf 5:210cd333f770 14 exit(1);
Strikewolf 5:210cd333f770 15 }
Strikewolf 5:210cd333f770 16
Strikewolf 5:210cd333f770 17 int main()
Strikewolf 5:210cd333f770 18 {
Strikewolf 5:210cd333f770 19 pc.printf("\n\rStartup...\r\n");
Strikewolf 5:210cd333f770 20
Strikewolf 5:210cd333f770 21 //Emergency stop mechanism
Strikewolf 5:210cd333f770 22 sw.rise(&StopISR);
Strikewolf 5:210cd333f770 23
Strikewolf 5:210cd333f770 24 //Reset xbee
Strikewolf 5:210cd333f770 25 pc.printf("Resetting XBee...\r\n");
Strikewolf 5:210cd333f770 26 rst1 = 0;
Strikewolf 5:210cd333f770 27 wait_us(1);
Strikewolf 5:210cd333f770 28 rst1 = 1;
Strikewolf 5:210cd333f770 29 wait_us(1);
Strikewolf 5:210cd333f770 30
Strikewolf 5:210cd333f770 31 //Initialize IMU and filter
Strikewolf 5:210cd333f770 32 pc.printf("Initializing IMU...\r\n");
Strikewolf 5:210cd333f770 33 imuFilter.reset();
Strikewolf 5:210cd333f770 34 rpy_init();
Strikewolf 5:210cd333f770 35
Strikewolf 5:210cd333f770 36 // start positioning system
Strikewolf 5:210cd333f770 37 pc.printf("Starting Positioning System...\n\r");
Strikewolf 5:210cd333f770 38 Thread position(PositionSystemMain, NULL, osPriorityRealtime, 256 * 4);
Strikewolf 5:210cd333f770 39 wait(3); // wait for the mouse sensor to boot up
Strikewolf 5:210cd333f770 40
Strikewolf 5:210cd333f770 41 // get away from user before starting game
Strikewolf 5:210cd333f770 42 pc.printf("Getting head start (straight)...\n\r");
Strikewolf 6:3fb9f96765f6 43 gyroDriveStraight(0.8, false, 5000);
Strikewolf 6:3fb9f96765f6 44 //wait(5);
Strikewolf 6:3fb9f96765f6 45
Strikewolf 5:210cd333f770 46 // gyroDriveStraight(0.7, false, 10000);
Strikewolf 5:210cd333f770 47 // pc.printf("Getting head start (turn right)...\n\r");
Strikewolf 5:210cd333f770 48 // centerTurnRight(90);
Strikewolf 5:210cd333f770 49
Strikewolf 5:210cd333f770 50 // bursts of 10 seconds for driving straight
Strikewolf 5:210cd333f770 51 pc.printf("Running!\r\n");
Strikewolf 5:210cd333f770 52 while(!gameOver) {
Strikewolf 5:210cd333f770 53 gyroDriveStraight(0.7, true, 10000);
Strikewolf 5:210cd333f770 54 }
Strikewolf 5:210cd333f770 55 }