Aaron Berk / Mbed 2 deprecated RS-EDP-RDS-Rover

Roving robot using the RS-EDP.

Dependencies:   mbed RSEDP_AM_MC1_lib SDFileSystem

main.cpp@0:8d15dc761944, 2010-08-16 (annotated)

Committer:
aberk
Date:
Mon Aug 16 09:46:28 2010 +0000
Revision:
0:8d15dc761944
Child:
1:ffef6386027b
Version 1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:8d15dc761944 1 /**
aberk 0:8d15dc761944 2 * @author Aaron Berk
aberk 0:8d15dc761944 3 *
aberk 0:8d15dc761944 4 * @section LICENSE
aberk 0:8d15dc761944 5 *
aberk 0:8d15dc761944 6 * Copyright (c) 2010 ARM Limited
aberk 0:8d15dc761944 7 *
aberk 0:8d15dc761944 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
aberk 0:8d15dc761944 9 * of this software and associated documentation files (the "Software"), to deal
aberk 0:8d15dc761944 10 * in the Software without restriction, including without limitation the rights
aberk 0:8d15dc761944 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
aberk 0:8d15dc761944 12 * copies of the Software, and to permit persons to whom the Software is
aberk 0:8d15dc761944 13 * furnished to do so, subject to the following conditions:
aberk 0:8d15dc761944 14 *
aberk 0:8d15dc761944 15 * The above copyright notice and this permission notice shall be included in
aberk 0:8d15dc761944 16 * all copies or substantial portions of the Software.
aberk 0:8d15dc761944 17 *
aberk 0:8d15dc761944 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
aberk 0:8d15dc761944 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
aberk 0:8d15dc761944 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
aberk 0:8d15dc761944 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
aberk 0:8d15dc761944 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
aberk 0:8d15dc761944 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
aberk 0:8d15dc761944 24 * THE SOFTWARE.
aberk 0:8d15dc761944 25 *
aberk 0:8d15dc761944 26 * @section DESCRIPTION
aberk 0:8d15dc761944 27 *
aberk 0:8d15dc761944 28 * Rover example.
aberk 0:8d15dc761944 29 *
aberk 0:8d15dc761944 30 * Reads and executes a set of commands from a simple command script.
aberk 0:8d15dc761944 31 */
aberk 0:8d15dc761944 32
aberk 0:8d15dc761944 33 /**
aberk 0:8d15dc761944 34 * Includes
aberk 0:8d15dc761944 35 */
aberk 0:8d15dc761944 36 #include "Rover.h"
aberk 0:8d15dc761944 37
aberk 0:8d15dc761944 38 //Debugging.
aberk 0:8d15dc761944 39 Serial pc(USBTX, USBRX);
aberk 0:8d15dc761944 40
aberk 0:8d15dc761944 41 //Globals.
aberk 0:8d15dc761944 42 LocalFileSystem local("local");
aberk 0:8d15dc761944 43 SDFileSystem sd(p11, p12, p13, p14, "sd");
aberk 0:8d15dc761944 44
aberk 0:8d15dc761944 45 int main() {
aberk 0:8d15dc761944 46
aberk 0:8d15dc761944 47 //left motor pwm, left motor brake, left motor direction,
aberk 0:8d15dc761944 48 //right motor pwm, right motor brake, right motor direction,
aberk 0:8d15dc761944 49 //left qei A, left qei B, left qei index, left pulses per rev,
aberk 0:8d15dc761944 50 //right qei A, right qei B, right qei index, right pulses per rev.
aberk 0:8d15dc761944 51 Rover myRover(p23, p19, p28, p26, p22, p24,
aberk 0:8d15dc761944 52 p29, p30, NC, 624,
aberk 0:8d15dc761944 53 p18, p21, NC, 624);
aberk 0:8d15dc761944 54
aberk 0:8d15dc761944 55 //-----------------------
aberk 0:8d15dc761944 56 // Simple command parser
aberk 0:8d15dc761944 57 //-----------------------
aberk 0:8d15dc761944 58 char cmd0[16]; //{"move", "turn"}
aberk 0:8d15dc761944 59 char cmd1[16]; //{{"forward", "backward"}, {"left", "right"}}
aberk 0:8d15dc761944 60 int cmd2 = 0; //{distance, angle}
aberk 0:8d15dc761944 61
aberk 0:8d15dc761944 62 pc.printf("Starting...\n");
aberk 0:8d15dc761944 63
aberk 0:8d15dc761944 64 wait(3);
aberk 0:8d15dc761944 65
aberk 0:8d15dc761944 66 FILE *fp = fopen("/local/commands.txt", "r");
aberk 0:8d15dc761944 67
aberk 0:8d15dc761944 68 if (fp == NULL) {
aberk 0:8d15dc761944 69 pc.printf("Opening file failed...\n");
aberk 0:8d15dc761944 70 } else {
aberk 0:8d15dc761944 71 pc.printf("Opening file succeeded!\n");
aberk 0:8d15dc761944 72 }
aberk 0:8d15dc761944 73
aberk 0:8d15dc761944 74 while (fscanf(fp, "%s%s%d", cmd0, cmd1, &cmd2) >= 0) {
aberk 0:8d15dc761944 75
aberk 0:8d15dc761944 76 wait(1);
aberk 0:8d15dc761944 77
aberk 0:8d15dc761944 78 pc.printf("%s %s %d\n", cmd0, cmd1, cmd2);
aberk 0:8d15dc761944 79
aberk 0:8d15dc761944 80 //move command.
aberk 0:8d15dc761944 81 if (strcmp(cmd0, "move") == 0) {
aberk 0:8d15dc761944 82 if (strcmp(cmd1, "forward") == 0) {
aberk 0:8d15dc761944 83 myRover.move(cmd2);
aberk 0:8d15dc761944 84 while (myRover.getState() != Rover::STATE_STATIONARY) {
aberk 0:8d15dc761944 85 }
aberk 0:8d15dc761944 86 } else if (strcmp(cmd1, "backward") == 0) {
aberk 0:8d15dc761944 87 myRover.move(-cmd2);
aberk 0:8d15dc761944 88 while (myRover.getState() != Rover::STATE_STATIONARY) {
aberk 0:8d15dc761944 89 }
aberk 0:8d15dc761944 90 }
aberk 0:8d15dc761944 91 }
aberk 0:8d15dc761944 92 //turn command.
aberk 0:8d15dc761944 93 else if (strcmp(cmd0, "turn") == 0) {
aberk 0:8d15dc761944 94 if (strcmp(cmd1, "left") == 0) {
aberk 0:8d15dc761944 95 myRover.turn(-cmd2);
aberk 0:8d15dc761944 96 while (myRover.getState() != Rover::STATE_STATIONARY) {
aberk 0:8d15dc761944 97 }
aberk 0:8d15dc761944 98 } else if (strcmp(cmd1, "right") == 0) {
aberk 0:8d15dc761944 99 myRover.turn(cmd2);
aberk 0:8d15dc761944 100 while (myRover.getState() != Rover::STATE_STATIONARY) {
aberk 0:8d15dc761944 101 }
aberk 0:8d15dc761944 102 }
aberk 0:8d15dc761944 103 }
aberk 0:8d15dc761944 104
aberk 0:8d15dc761944 105 }
aberk 0:8d15dc761944 106
aberk 0:8d15dc761944 107 wait(1);
aberk 0:8d15dc761944 108
aberk 0:8d15dc761944 109 myRover.stopLogging();
aberk 0:8d15dc761944 110 fclose(fp);
aberk 0:8d15dc761944 111
aberk 0:8d15dc761944 112 }