Revision 4:48d390356fba, committed 2018-02-22

Comitter:

Weranest

Date:

Thu Feb 22 17:01:00 2018 +0000

Parent:

3:c9df852ad9ac

Commit message:

Tech Demo version

Changed in this revision

--- a/constants.cpp	Wed Feb 21 11:55:29 2018 +0000
+++ b/constants.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -9,4 +9,5 @@
 #define SLOW_PWM 0.3f
 #define RIGHT_MOTOR_CONST 1
 #define LEFT_MOTOR_CONST 1
-#define MOTOR_PERIOD 1.0f
\ No newline at end of file
+#define MOTOR_PERIOD 1.0f
+#define ADC_CONSTANT 0.0005f
\ No newline at end of file

--- a/constants.h	Wed Feb 21 11:55:29 2018 +0000
+++ b/constants.h	Thu Feb 22 17:01:00 2018 +0000
@@ -2,9 +2,12 @@
 extern int GEAR_RATIO;
 extern float SAMPLE_TIME;
 extern int WHEEL_DISTANCE;
-extern float NORMAL_PWM;
-extern float FAST_PWM;
-extern float SLOW_PWM;
+extern float NORMAL_PWM_L;
+extern float NORMAL_PWM_R;
+extern float FAST_PWM_L;
+extern float FAST_PWM_R;
+extern float SLOW_PWM_L;
+extern float SLOW_PWM_R;
 extern int RIGHT_MOTOR_CONST;
 extern int LEFT_MOTOR_CONST;
 extern float MOTOR_PERIOD;
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "pwm.h"
+#include "pins.h"
+#include "constants.cpp"
+#include "C12832.h"
+#include "encoderBase.h"
+
+void buggyGoLeft();
+void buggyGoF();
+void buggyGoRight();
+void buggyStop();
+
+void controlAutomatic(int flag){ //this is a showoff version
+    while(flag==1){
+    wait(0.5);
+    buggyGoF();
+    wait(2);
+    buggyGoLeft();
+    wait(2);
+    buggyGoRight();
+    wait(2);
+    buggyStop();
+    }
+}
+void controlManual(int flag){
+    while (1){ //this function is for manual wheel turnage using the potentiometers. Knock yourself out
+    while(1){
+       if(joystickDown!=0) break;
+       
+       float rightPWM= (float)potentiometerRight.read() ;
+       float leftPWM= (float)potentiometerLeft.read();
+       lcd.locate(0,3);
+       lcd.printf("L=%d;    R=%d", encoderVelocityLeft(), encoderVelocityRight());
+       //wait(2);
+       lcd.cls();
+    buggyPWM(leftPWM ,rightPWM);
+    }
+    wait(0.5);
+    buggyGoF();
+    wait(1);
+    buggyGoLeft();
+    wait(2);
+    buggyGoRight();
+    wait(2);
+    buggyGoF();
+    wait (1);
+    buggyStop();
+    }
+    }
+    
+    
+void stateMachine(int flag){
+    while (1){ //depending on the flag  changes the state. Not efficient, since relies on looping the whole thing, but will do for now
+    switch(flag){
+        case 0: controlManual(flag);
+        case 1:controlAutomatic(flag);
+                break;
+        }
+        }
+    }
+void buggyGoLeft(){
+    buggyPWM(SLOW_PWM, FAST_PWM);
+    }
+void buggyGoRight(){
+    buggyPWM(FAST_PWM, SLOW_PWM);
+    }
+void buggyGoF(){
+    buggyPWM(NORMAL_PWM, NORMAL_PWM);
+    }
+void buggyStop(){
+    buggyPWM(0.0f, 0.0f);
+    }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.h	Thu Feb 22 17:01:00 2018 +0000
@@ -0,0 +1,5 @@
+extern void buggyGoF();
+extern void buggyGoLeft();
+extern void buggyGoRight();
+extern void buggyStop();
+extern void controlManual(int);
\ No newline at end of file

--- a/encoderBase.cpp	Wed Feb 21 11:55:29 2018 +0000
+++ b/encoderBase.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 #include "QEI.h"
 #include "pins.h"
-#include "constants.h"
+#include "constants.cpp"
 
 
 //these lines setup the encoders for both wheels
@@ -33,3 +33,10 @@
             return (wheelRight.velocity(pulseRight)-wheelLeft.velocity(pulseLeft))/WHEEL_DISTANCE;
             }
     }buggy;
+    //temp functions to get the encoder speed
+int encoderVelocityLeft(){
+    return wheelLeft.velocity(encoderLeft.getPulses());
+    }
+int encoderVelocityRight(){
+    return wheelRight.velocity(encoderRight.getPulses());
+    }
\ No newline at end of file

--- a/encoderBase.h	Wed Feb 21 11:55:29 2018 +0000
+++ b/encoderBase.h	Thu Feb 22 17:01:00 2018 +0000
@@ -0,0 +1,2 @@
+extern int encoderVelocityLeft();
+extern int encoderVelocityRight();
\ No newline at end of file

--- a/main.cpp	Wed Feb 21 11:55:29 2018 +0000
+++ b/main.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -1,20 +1,9 @@
 #include "mbed.h"
 #include "pwm.h"
+#include "control.h"
+
 
 int main(){
-    
     motorSetup();
-while(1){
-    if(joystickCenter == 1){
-    wait(0.5);
-    buggyGoF();
-    wait(2);
-    buggyGoLeft();
-    wait(2);
-    buggyGoRight();
-    wait(2);
-    buggyStop();
+    controlManual(0);
     }
-}
-
-}
\ No newline at end of file

--- a/pins.cpp	Wed Feb 21 11:55:29 2018 +0000
+++ b/pins.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -4,6 +4,7 @@
 #include "pins.h"
 #include "QEI.h"
 #include "constants.cpp"
+#include "C12832.h"
 //Encoder pins (created as a QEI object, so just defined naming for pins)
 //=======================
 #define channelARight PB_1
@@ -16,20 +17,21 @@
 QEI encoderLeft(channelALeft, channelBLeft, channelILeft, ENCODER_PULSE);
 //Motor control pins
 //=======================
-PwmOut motorRight(PB_6);
-PwmOut motorLeft(PB_7);
-DigitalOut motorDirRight(PB_4);
+PwmOut motorRight(PB_7);
+PwmOut motorLeft(PC_8);
+DigitalOut motorDirRight(PH_0);
 DigitalOut motorDirLeft(PB_5);
-DigitalOut motorModeRight(PB_2);
-DigitalOut motorModeLeft(PB_3);
-DigitalOut driveBoard (PB_1);
+DigitalOut motorModeRight(PC_15);
+DigitalOut motorModeLeft(PB_4);
+DigitalOut driveBoard (PB_2);
 //Line sensor pins
 //=======================
 //UI pins(setup for control)
 //=======================
-AnalogIn potLeft(PA_0);
-AnalogIn potRight(PA_1);
-DigitalIn joystickCentre(PB_5);
+C12832 lcd(D11, D13, D12, D7, D10);
+AnalogIn potentiometerLeft(PA_1);
+AnalogIn potentiometerRight(PA_0);
+DigitalIn joystickCentre(PB_10);
 DigitalIn joystickDown(PB_0);
 //Magnet sensor pins
 //=======================

--- a/pins.h	Wed Feb 21 11:55:29 2018 +0000
+++ b/pins.h	Thu Feb 22 17:01:00 2018 +0000
@@ -1,4 +1,5 @@
 #include "QEI.h"
+#include "C12832.h"
 extern PwmOut motorRight;
 extern PwmOut motorLeft;
 extern DigitalOut motorDirRight;
@@ -7,9 +8,10 @@
 extern DigitalOut motorModeLeft;
 extern DigitalOut driveBoard;
 extern QEI encoderRight;
-extern AnalogIn potLeft;
-extern AnalogIn potRight;
+extern AnalogIn potentiometerLeft;
+extern AnalogIn potentiometerRight;
 extern DigitalIn joystickCentre;
 extern DigitalIn joystickDown;
 extern QEI encoderLeft;
-extern int ENCODER_PULSE;
\ No newline at end of file
+extern int ENCODER_PULSE;
+extern C12832 lcd;
\ No newline at end of file

--- a/pwm.cpp	Wed Feb 21 11:55:29 2018 +0000
+++ b/pwm.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -20,46 +20,10 @@
     driveBoard.write(1); //enables the buggy to drive
 }
 
-if(joystickDown == 1){
-void buggyGoF(){ //drives forward
-    motorRight.write(NORMAL_PWM*potRight.read());
-    motorLeft.write(NORMAL_PWM*potLeft.read());
-}
 
-void buggyGoLeft(){// drives left
-    motorRight.write(FAST_PWM*potRight.read());
-    motorLeft.write(SLOW_PWM*potLeft.read());
-}
-void buggyGoRight(){ //drives right
-    motorRight.write(SLOW_PWM*potRight.read());
-    motorLeft.write(FAST_PWM*potLeft.read());
-}
-}
-
-else{
-    void buggyGoF(){ //drives forward
-    motorRight.write(NORMAL_PWM);
-    motorLeft.write(NORMAL_PWM);
-}
-
-void buggyGoLeft(){// drives left
-    motorRight.write(FAST_PWM);
-    motorLeft.write(SLOW_PWM);
-}
-void buggyGoRight(){ //drives right
-    motorRight.write(SLOW_PWM);
-    motorLeft.write(FAST_PWM);
-}
+void buggyPWM(float pwmLeft, float pwmRight){ //drives forward
+    motorRight.write(pwmRight);
+    motorLeft.write(pwmLeft);
 }
 
 
-void buggyStop(){// no power
-    motorRight.write(0.0f);
-    motorLeft.write(0.0f);
-}
-
-
-void buggyStop(){// no power
-    motorRight.write(0.0f);
-    motorLeft.write(0.0f);
-}
\ No newline at end of file

--- a/pwm.h	Wed Feb 21 11:55:29 2018 +0000
+++ b/pwm.h	Thu Feb 22 17:01:00 2018 +0000
@@ -1,5 +1,2 @@
 extern void motorSetup();
-extern void buggyGoF();
-extern void buggyGoLeft();
-extern void buggyGoRight();
-extern void buggyStop();
\ No newline at end of file
+extern void buggyPWM(float, float);
\ No newline at end of file