drive down
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of TEAM_G_FLOW_RIDA by
main.cpp
- Committer:
- alaurens
- Date:
- 2016-04-20
- Revision:
- 33:baf24c59affc
- Parent:
- 31:69caabc10879
- Child:
- 34:083073e54dbd
File content as of revision 33:baf24c59affc:
#include "LOCALIZE.h" #include "LOCOMOTION.h" #include "SAFETY.h" #include "BMP280.h" #define WATCHDOG_TIME 10 //#define PC_MODE 1 #if defined (PC_MODE) Serial pc(USBTX, USBRX); #else Serial pc(p13, p14); Ticker t; void send(); #endif DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); SAFETY safe; PwmOut suction(p26); I2C i2c2(p28, p27); I2C i2c1(p9, p10); BMP280 pres(i2c2); LOCALIZE loc(i2c1, i2c2, p29, p8, p7, p6, p5, led1, led2, led3, led4); LOCALIZE_xya xya; LOCOMOTION motion(p11, p23, p24, p21, p22, p16, p15, led1, led2, led3, led4); //LOCOMOTION motion(p11, p21, p22, p23, p24, p15, p16, led1, led2, led3, led4); void BrownOut(); int xTarget=120; int angle_error=2; bool xGood=false; bool yGood=false; bool angleGood=false; int xState=X_INCREASE; int angleTarget=0; int yTarget=+10+ROB_SIZE/2; int pressure; //bool flag=false; //int target=20; //int angle_error=2; //bool xGood=false; //int angleTarget=0; int main() { //Set ESC Period suction.period_ms(2); //Initialize to 0 suction.pulsewidth_us(1000); wait(2); /*suction.pulsewidth_us(1000); wait(2);*/ //Watchdog Reset Indicator if ((LPC_WDT->WDMOD>>2)&1) led4=1; else led3=1; //Start Watchdog safe.kick(WATCHDOG_TIME); //Power Down Ethernet and USB and Enable Brown Out Interrupt safe.init((unsigned)BrownOut); //Serial Baudrate pc.baud(9600); //Initialize Locomotion loc.init(); //pres.initialize(); //Attach Periodic Wireless Printing #if not defined(PC_MODE) t.attach(&send,1); #endif led1=0; led2=0; led3=0; led4=0; suction.pulsewidth_us(1000); wait(0.5); suction.pulsewidth_us(1050); wait(0.5); suction.pulsewidth_us(1100); wait(0.5); suction.pulsewidth_us(1150); wait(0.5); suction.pulsewidth_us(1200); wait(0.5); suction.pulsewidth_us(1250); wait(0.5); while(1) { suction.pulsewidth_us(1300); /*pressure=(int)read[0];//(int)pres.getTemperature(); if(pressure==88) led1=1; else led1=0;*/ //uncomment this part if you want the robot to just drive down the window with no separtor if (xState==0) { motion.mStop(); safe.kick(); continue; } loc.get_xy(&xya); motion.check_xya(&xGood,&yGood,&angleGood,xTarget,angleTarget,yTarget,xya,3,3,angle_error); motion.setXstate(&xState,&xTarget,xGood,angleGood,&angleTarget,&angle_error,yTarget); motion.setAngleTol(&angle_error,yGood,xGood); motion.setYgoal(xGood,angleGood,yGood,&yTarget); if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) { motion.setXPos(xTarget,xya.x,2,angleTarget); motion.setYBias(yTarget,xya.y,2,angleTarget); } //loc.get_xy(&xya); #if defined(PC_MODE) pc.printf("X: %3d\tY: %3d\tP: %3d\txGood: %d\tAngleGood: %d\tState: %d \n",xya.y,yTarget,xya.a,xGood,angleGood,xState); #endif //Feed the dog safe.kick(); } } void send() { //Print over serial port to WiFi MCU pc.printf("%c%c%c%c\n",(char)xya.x,(char)xGood,xya.a/10,xya.a%10); } void BrownOut() { //Stop Motors and Driver motion.eStop(); //Ensure suction on suction.pulsewidth_us(1250); //Light Up Error Light Pattern led1=1; led2=0; led3=1; led4=0; //Power Down Non Essential Peripheral_PowerDown(~(LPC1768_PCONP_PCPWM1 | LPC1768_PCONP_PCGPIO)); //Sleep wake by interrupt //Sleep(); }