Antoine Laurens / Mbed 2 deprecated STRAIGHT_DRIVE_NO_SEP

drive down

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of TEAM_G_FLOW_RIDA by Edwin Cho

main.cpp@9:4fc5d70c3bab, 2016-03-23 (annotated)

Committer:
12104404
Date:
Wed Mar 23 07:53:32 2016 +0000
Revision:
9:4fc5d70c3bab
Parent:
8:b36be08c44f8
Child:
10:cf44f4387bc7
GOOD WORKING

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 0:96d6eb224379 1 #include "LOCALIZE.h"
12104404 6:0602a9e8118b 2 #include "LOCOMOTION.h"
12104404 6:0602a9e8118b 3 #include "WATCHDOG.h"
12104404 0:96d6eb224379 4
12104404 6:0602a9e8118b 5 #define SPEED_TURN_MIN 0.15
12104404 6:0602a9e8118b 6 #define SPEED_TURN_MAX 0.35
12104404 6:0602a9e8118b 7 #define SPEED_FB_MIN 0.15
12104404 6:0602a9e8118b 8 #define SPEED_FB_MAX 0.50
12104404 6:0602a9e8118b 9
12104404 8:b36be08c44f8 10 Serial pc(p13, p14);
12104404 8:b36be08c44f8 11 //Serial pc(USBTX, USBRX);
12104404 6:0602a9e8118b 12
12104404 6:0602a9e8118b 13 Watchdog wdt;
12104404 0:96d6eb224379 14
12104404 0:96d6eb224379 15 I2C i2c1(p28, p27);
12104404 0:96d6eb224379 16 I2C i2c2(p9, p10);
12104404 0:96d6eb224379 17 LOCALIZE loc(i2c1, i2c2, p26);
12104404 0:96d6eb224379 18 LOCALIZE_xya xya;
12104404 0:96d6eb224379 19
12104404 6:0602a9e8118b 20 DigitalIn sw1(p20);
12104404 6:0602a9e8118b 21 DigitalIn sw2(p19);
12104404 6:0602a9e8118b 22 DigitalIn sw3(p18);
12104404 6:0602a9e8118b 23 DigitalIn sw4(p17);
12104404 6:0602a9e8118b 24 DigitalOut dir1(p15);
12104404 6:0602a9e8118b 25 DigitalOut dir2(p16);
12104404 6:0602a9e8118b 26
12104404 6:0602a9e8118b 27 PwmOut motor1F(p21);
12104404 6:0602a9e8118b 28 PwmOut motor1B(p22);
12104404 6:0602a9e8118b 29 PwmOut motor2F(p23);
12104404 6:0602a9e8118b 30 PwmOut motor2B(p24);
12104404 6:0602a9e8118b 31
12104404 0:96d6eb224379 32 DigitalOut led1(LED1);
12104404 0:96d6eb224379 33 DigitalOut led2(LED2);
12104404 0:96d6eb224379 34 DigitalOut led3(LED3);
12104404 0:96d6eb224379 35 DigitalOut led4(LED4);
12104404 0:96d6eb224379 36
12104404 6:0602a9e8118b 37 Ticker t;
12104404 6:0602a9e8118b 38 bool flag=false;
12104404 6:0602a9e8118b 39
12104404 6:0602a9e8118b 40 void send();
12104404 6:0602a9e8118b 41 void turn(int angle);
12104404 6:0602a9e8118b 42
12104404 0:96d6eb224379 43 int main()
12104404 0:96d6eb224379 44 {
12104404 6:0602a9e8118b 45 wdt.kick(5);
12104404 0:96d6eb224379 46 pc.baud(9600);
12104404 6:0602a9e8118b 47 dir1=0;
12104404 6:0602a9e8118b 48 dir2=0;
12104404 6:0602a9e8118b 49 motor1F=0;
12104404 6:0602a9e8118b 50 motor1B=0;
12104404 6:0602a9e8118b 51 motor2F=0;
12104404 6:0602a9e8118b 52 motor2B=0;
12104404 6:0602a9e8118b 53 //pc.printf("Initialized Localization: %d\n",loc.init());
12104404 8:b36be08c44f8 54 t.attach(&send,1);
12104404 6:0602a9e8118b 55 sw1.mode(PullUp);
12104404 6:0602a9e8118b 56 sw2.mode(PullUp);
12104404 6:0602a9e8118b 57 sw3.mode(PullUp);
12104404 6:0602a9e8118b 58 sw4.mode(PullUp);
12104404 0:96d6eb224379 59 while(1) {
12104404 6:0602a9e8118b 60 led1=!sw1;
12104404 6:0602a9e8118b 61 led2=!sw2;
12104404 6:0602a9e8118b 62 led3=!sw3;
12104404 6:0602a9e8118b 63 led4=!sw4;
12104404 7:d6dca30f7959 64 //loc.get_angle(&xya);
12104404 8:b36be08c44f8 65 loc.get_xy(&xya);
12104404 8:b36be08c44f8 66 //loc.get_raw_xy();
12104404 8:b36be08c44f8 67 //pc.printf("X: %3d\tY: %3d\tP: %3d\n",xya.x,xya.y,xya.a);
12104404 6:0602a9e8118b 68 wdt.kick();
12104404 0:96d6eb224379 69 }
12104404 0:96d6eb224379 70 }
12104404 6:0602a9e8118b 71
12104404 6:0602a9e8118b 72 void send()
12104404 6:0602a9e8118b 73 {
12104404 8:b36be08c44f8 74 pc.printf("%c%c%c%c\n",(char)xya.x,(char)xya.y,xya.a/10,xya.a%10);
12104404 6:0602a9e8118b 75 }
12104404 6:0602a9e8118b 76
12104404 6:0602a9e8118b 77 void turn(int angle)
12104404 6:0602a9e8118b 78 {
12104404 6:0602a9e8118b 79 float s = 0;
12104404 6:0602a9e8118b 80 if(angle==180) {
12104404 6:0602a9e8118b 81 if(abs(xya.a-angle)<=5)
12104404 6:0602a9e8118b 82 s=SPEED_TURN_MIN;
12104404 6:0602a9e8118b 83 else
12104404 6:0602a9e8118b 84 s=(SPEED_TURN_MAX*abs(xya.a-angle)/180)+SPEED_TURN_MIN;
12104404 6:0602a9e8118b 85 motor1F=s;
12104404 6:0602a9e8118b 86 motor1B=s;
12104404 6:0602a9e8118b 87 motor2F=s;
12104404 6:0602a9e8118b 88 motor2B=s;
12104404 6:0602a9e8118b 89 if(xya.a>angle+5) {
12104404 6:0602a9e8118b 90 dir1=1;
12104404 6:0602a9e8118b 91 dir2=0;
12104404 6:0602a9e8118b 92 } else if(xya.a<angle-5) {
12104404 6:0602a9e8118b 93 dir1=0;
12104404 6:0602a9e8118b 94 dir2=1;
12104404 6:0602a9e8118b 95 } else {
12104404 6:0602a9e8118b 96 motor1F=0;
12104404 6:0602a9e8118b 97 motor1B=0;
12104404 6:0602a9e8118b 98 motor2F=0;
12104404 6:0602a9e8118b 99 motor2B=0;
12104404 6:0602a9e8118b 100 }
12104404 6:0602a9e8118b 101 } else if(angle==0) {
12104404 6:0602a9e8118b 102 if(xya.a>angle+5 && xya.a<180) {
12104404 6:0602a9e8118b 103 s=(SPEED_TURN_MAX*abs(xya.a-angle)/180)+SPEED_TURN_MIN;
12104404 6:0602a9e8118b 104 motor1F=s;
12104404 6:0602a9e8118b 105 motor1B=s;
12104404 6:0602a9e8118b 106 motor2F=s;
12104404 6:0602a9e8118b 107 motor2B=s;
12104404 6:0602a9e8118b 108 dir1=1;
12104404 6:0602a9e8118b 109 dir2=0;
12104404 6:0602a9e8118b 110 } else if(xya.a>180 && xya.a<355) {
12104404 6:0602a9e8118b 111 s=(SPEED_TURN_MAX*abs(xya.a-359)/180)+SPEED_TURN_MIN;
12104404 6:0602a9e8118b 112 motor1F=s;
12104404 6:0602a9e8118b 113 motor1B=s;
12104404 6:0602a9e8118b 114 motor2F=s;
12104404 6:0602a9e8118b 115 motor2B=s;
12104404 6:0602a9e8118b 116 dir1=0;
12104404 6:0602a9e8118b 117 dir2=1;
12104404 6:0602a9e8118b 118 } else {
12104404 6:0602a9e8118b 119 motor1F=0;
12104404 6:0602a9e8118b 120 motor1B=0;
12104404 6:0602a9e8118b 121 motor2F=0;
12104404 6:0602a9e8118b 122 motor2B=0;
12104404 6:0602a9e8118b 123 }
12104404 6:0602a9e8118b 124 }
12104404 6:0602a9e8118b 125 }