File content as of revision 26:5ae5ef623b72:

#include "LOCALIZE.h"
#include "LOCOMOTION.h"
#include "SAFETY.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 i2c1(p28, p27);
I2C i2c2(p9, p10);
LOCALIZE loc(i2c1, i2c2, p29, p8, p7, p6, p5, led1, led2, led3, led4);
LOCALIZE_xya xya;
LOCOMOTION motion(p11, p21, p22, p23, p24, p15, p16, led1, led2, led3, led4);

void BrownOut();

int xTarget=20;
int angle_error=2;
bool xGood=false;
bool yGood=false;
bool angleGood=false;
int xState=X_INCREASE;
int angleTarget=0;
int yTarget=30;

//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);
    //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);
    //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);
    while(1) {
        if (yTarget>120){
        motion.mStop();
        safe.kick();
        continue;
        }
        //suction.pulsewidth_us(1900);
        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);
        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);

        }
        /*if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) {
            xGood = motion.setXPos(target,xya.x,2,angleTarget);
            if(motion.setYBias(130,xya.y,2,angleTarget)) {
                angle_error=2;
            } else if(xGood) {
                target=target==20?80:20;
                angleTarget=angleTarget==0?180:0;
                angle_error=2;
            } else
                angle_error=10;
        }*/


#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)xya.y,xya.a/10,xya.a%10);
}

void BrownOut()
{
    //Stop Motors and Driver
    motion.eStop();
    //Ensure suction on
    suction.pulsewidth_us(2000);
    //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();
}