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

Committer:
Strikewolf
Date:
2014-04-30
Revision:
6:3fb9f96765f6
Parent:
5:210cd333f770

File content as of revision 6:3fb9f96765f6:

#include "mbed.h"
#include "rtos.h"
#include "IMU_RPY.h"
#include "GameCode.h"
#include "AIPosition.h"
#include "AIControl.h"

InterruptIn sw(p30);

void StopISR()
{
    rightMotorPWM = 0;
    leftMotorPWM = 0;
    exit(1);
}

int main()
{
    pc.printf("\n\rStartup...\r\n");

    //Emergency stop mechanism
    sw.rise(&StopISR);

    //Reset xbee
    pc.printf("Resetting XBee...\r\n");
    rst1 = 0;
    wait_us(1);
    rst1 = 1;
    wait_us(1);

    //Initialize IMU and filter
    pc.printf("Initializing IMU...\r\n");
    imuFilter.reset();
    rpy_init();

    // start positioning system
    pc.printf("Starting Positioning System...\n\r");
    Thread position(PositionSystemMain, NULL, osPriorityRealtime, 256 * 4);
    wait(3); // wait for the mouse sensor to boot up

    // get away from user before starting game
    pc.printf("Getting head start (straight)...\n\r");
    gyroDriveStraight(0.8, false, 5000);
    //wait(5);
    
    // gyroDriveStraight(0.7, false, 10000);
    // pc.printf("Getting head start (turn right)...\n\r");
    // centerTurnRight(90);
    
    // bursts of 10 seconds for driving straight
    pc.printf("Running!\r\n");
    while(!gameOver) {
       gyroDriveStraight(0.7, true, 10000);
    }
}