Antoine Laurens / Mbed 2 deprecated TEAM_G_FLOW_RIDA

added

Dependencies:   BNO055_fusion PowerControl mbed

Fork of TEAM_G_FLOW_RIDA by Edwin Cho

main.cpp@26:5ae5ef623b72, 2016-04-06 (annotated)

Committer:
alaurens
Date:
Wed Apr 06 03:54:29 2016 +0000
Revision:
26:5ae5ef623b72
Parent:
25:f3bf8351bbd4 
aa

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 23:455f7da3dd7a 3 #include "SAFETY.h"
12104404 0:96d6eb224379 4
12104404 19:2dd81b864e14 5 #define WATCHDOG_TIME 10
alaurens 26:5ae5ef623b72 6 #define PC_MODE 1
12104404 6:0602a9e8118b 7
12104404 19:2dd81b864e14 8 #if defined (PC_MODE)
12104404 19:2dd81b864e14 9 Serial pc(USBTX, USBRX);
12104404 19:2dd81b864e14 10 #else
12104404 8:b36be08c44f8 11 Serial pc(p13, p14);
12104404 19:2dd81b864e14 12 Ticker t;
12104404 19:2dd81b864e14 13 void send();
12104404 19:2dd81b864e14 14 #endif
12104404 19:2dd81b864e14 15
12104404 23:455f7da3dd7a 16 DigitalOut led1(LED1);
12104404 23:455f7da3dd7a 17 DigitalOut led2(LED2);
12104404 23:455f7da3dd7a 18 DigitalOut led3(LED3);
12104404 23:455f7da3dd7a 19 DigitalOut led4(LED4);
12104404 6:0602a9e8118b 20
12104404 23:455f7da3dd7a 21 SAFETY safe;
12104404 19:2dd81b864e14 22 PwmOut suction(p26);
12104404 0:96d6eb224379 23 I2C i2c1(p28, p27);
12104404 0:96d6eb224379 24 I2C i2c2(p9, p10);
12104404 23:455f7da3dd7a 25 LOCALIZE loc(i2c1, i2c2, p29, p8, p7, p6, p5, led1, led2, led3, led4);
12104404 0:96d6eb224379 26 LOCALIZE_xya xya;
12104404 24:fb1f083ebd62 27 LOCOMOTION motion(p11, p21, p22, p23, p24, p15, p16, led1, led2, led3, led4);
12104404 6:0602a9e8118b 28
12104404 20:10a305298e27 29 void BrownOut();
12104404 6:0602a9e8118b 30
12104404 25:f3bf8351bbd4 31 int xTarget=20;
12104404 25:f3bf8351bbd4 32 int angle_error=2;
12104404 25:f3bf8351bbd4 33 bool xGood=false;
12104404 25:f3bf8351bbd4 34 bool yGood=false;
12104404 25:f3bf8351bbd4 35 bool angleGood=false;
12104404 25:f3bf8351bbd4 36 int xState=X_INCREASE;
12104404 25:f3bf8351bbd4 37 int angleTarget=0;
alaurens 26:5ae5ef623b72 38 int yTarget=30;
12104404 25:f3bf8351bbd4 39
12104404 20:10a305298e27 40 //bool flag=false;
12104404 20:10a305298e27 41 //int target=20;
12104404 20:10a305298e27 42 //int angle_error=2;
12104404 20:10a305298e27 43 //bool xGood=false;
12104404 20:10a305298e27 44 //int angleTarget=0;
12104404 6:0602a9e8118b 45
12104404 0:96d6eb224379 46 int main()
12104404 0:96d6eb224379 47 {
12104404 19:2dd81b864e14 48 //Set ESC Period
12104404 19:2dd81b864e14 49 suction.period_ms(2);
12104404 19:2dd81b864e14 50 //Initialize to 0
12104404 19:2dd81b864e14 51 suction.pulsewidth_us(1000);
12104404 24:fb1f083ebd62 52 //Watchdog Reset Indicator
12104404 24:fb1f083ebd62 53 if ((LPC_WDT->WDMOD>>2)&1)
12104404 24:fb1f083ebd62 54 led4=1;
12104404 24:fb1f083ebd62 55 else
12104404 24:fb1f083ebd62 56 led3=1;
12104404 19:2dd81b864e14 57 //Start Watchdog
12104404 23:455f7da3dd7a 58 safe.kick(WATCHDOG_TIME);
12104404 23:455f7da3dd7a 59 //Power Down Ethernet and USB and Enable Brown Out Interrupt
12104404 23:455f7da3dd7a 60 safe.init((unsigned)BrownOut);
12104404 19:2dd81b864e14 61 //Serial Baudrate
12104404 0:96d6eb224379 62 pc.baud(9600);
12104404 19:2dd81b864e14 63 //Attach Periodic Wireless Printing
12104404 19:2dd81b864e14 64 #if not defined(PC_MODE)
12104404 8:b36be08c44f8 65 t.attach(&send,1);
12104404 19:2dd81b864e14 66 #endif
12104404 24:fb1f083ebd62 67 led1=0;
12104404 24:fb1f083ebd62 68 led2=0;
12104404 24:fb1f083ebd62 69 led3=0;
12104404 24:fb1f083ebd62 70 led4=0;
12104404 25:f3bf8351bbd4 71 suction.pulsewidth_us(1000);
12104404 0:96d6eb224379 72 while(1) {
alaurens 26:5ae5ef623b72 73 if (yTarget>120){
alaurens 26:5ae5ef623b72 74 motion.mStop();
alaurens 26:5ae5ef623b72 75 safe.kick();
alaurens 26:5ae5ef623b72 76 continue;
alaurens 26:5ae5ef623b72 77 }
12104404 25:f3bf8351bbd4 78 //suction.pulsewidth_us(1900);
12104404 25:f3bf8351bbd4 79 loc.get_xy(&xya);
12104404 25:f3bf8351bbd4 80 motion.check_xya(&xGood,&yGood,&angleGood,xTarget,angleTarget,yTarget,xya,3,3,angle_error);
12104404 25:f3bf8351bbd4 81
alaurens 26:5ae5ef623b72 82 motion.setXstate(&xState,&xTarget,xGood,angleGood,&angleTarget,&angle_error);
12104404 25:f3bf8351bbd4 83 motion.setAngleTol(&angle_error,yGood,xGood);
12104404 25:f3bf8351bbd4 84 motion.setYgoal(xGood,angleGood,yGood,&yTarget);
12104404 25:f3bf8351bbd4 85 if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) {
12104404 25:f3bf8351bbd4 86 motion.setXPos(xTarget,xya.x,2,angleTarget);
12104404 25:f3bf8351bbd4 87 motion.setYBias(yTarget,xya.y,2,angleTarget);
12104404 25:f3bf8351bbd4 88
12104404 25:f3bf8351bbd4 89 }
12104404 19:2dd81b864e14 90 /*if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) {
12104404 18:f9012e93edb8 91 xGood = motion.setXPos(target,xya.x,2,angleTarget);
12104404 25:f3bf8351bbd4 92 if(motion.setYBias(130,xya.y,2,angleTarget)) {
12104404 17:2f89826b5679 93 angle_error=2;
12104404 18:f9012e93edb8 94 } else if(xGood) {
12104404 18:f9012e93edb8 95 target=target==20?80:20;
12104404 18:f9012e93edb8 96 angleTarget=angleTarget==0?180:0;
12104404 18:f9012e93edb8 97 angle_error=2;
12104404 18:f9012e93edb8 98 } else
12104404 17:2f89826b5679 99 angle_error=10;
12104404 19:2dd81b864e14 100 }*/
12104404 23:455f7da3dd7a 101
12104404 24:fb1f083ebd62 102
12104404 19:2dd81b864e14 103 #if defined(PC_MODE)
alaurens 26:5ae5ef623b72 104 pc.printf("X: %3d\tY: %3d\tP: %3d\txGood: %d\tAngleGood: %d\tState: %d \n",xya.y,yTarget,xya.a,xGood,angleGood,xState);
12104404 19:2dd81b864e14 105 #endif
12104404 19:2dd81b864e14 106 //Feed the dog
12104404 23:455f7da3dd7a 107 safe.kick();
12104404 0:96d6eb224379 108 }
12104404 0:96d6eb224379 109 }
12104404 6:0602a9e8118b 110
12104404 6:0602a9e8118b 111 void send()
12104404 6:0602a9e8118b 112 {
12104404 19:2dd81b864e14 113 //Print over serial port to WiFi MCU
12104404 8:b36be08c44f8 114 pc.printf("%c%c%c%c\n",(char)xya.x,(char)xya.y,xya.a/10,xya.a%10);
12104404 6:0602a9e8118b 115 }
12104404 17:2f89826b5679 116
12104404 19:2dd81b864e14 117 void BrownOut()
12104404 6:0602a9e8118b 118 {
12104404 24:fb1f083ebd62 119 //Stop Motors and Driver
12104404 23:455f7da3dd7a 120 motion.eStop();
12104404 24:fb1f083ebd62 121 //Ensure suction on
12104404 19:2dd81b864e14 122 suction.pulsewidth_us(2000);
12104404 24:fb1f083ebd62 123 //Light Up Error Light Pattern
12104404 23:455f7da3dd7a 124 led1=1;
12104404 23:455f7da3dd7a 125 led2=0;
12104404 23:455f7da3dd7a 126 led3=1;
12104404 23:455f7da3dd7a 127 led4=0;
12104404 19:2dd81b864e14 128 //Power Down Non Essential
12104404 24:fb1f083ebd62 129 Peripheral_PowerDown(~(LPC1768_PCONP_PCPWM1 | LPC1768_PCONP_PCGPIO));
12104404 19:2dd81b864e14 130 //Sleep wake by interrupt
12104404 23:455f7da3dd7a 131 //Sleep();
12104404 17:2f89826b5679 132 }