Luke Cantero / Mbed 2 deprecated Assignment_5

Updated

Dependencies:   Adafruit_GFX GPS QEI mbed

main.cpp@0:d200f455dbd4, 2014-11-18 (annotated)

Committer:
canterol
Date:
Tue Nov 18 03:04:58 2014 +0000
Revision:
0:d200f455dbd4
Updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
canterol 0:d200f455dbd4 1 /*
canterol 0:d200f455dbd4 2 ME503 Unmanned Autonomous Vehicle Systems
canterol 0:d200f455dbd4 3 Dr. E. Coyle
canterol 0:d200f455dbd4 4 Wall Following Assignment
canterol 0:d200f455dbd4 5 L. Cantero, B. Wallace
canterol 0:d200f455dbd4 6 */
canterol 0:d200f455dbd4 7
canterol 0:d200f455dbd4 8 #include "mbed.h"
canterol 0:d200f455dbd4 9 #include "Adafruit_SSD1306.h"
canterol 0:d200f455dbd4 10 #include "LSM303D.h"
canterol 0:d200f455dbd4 11 #include "QEI.h"
canterol 0:d200f455dbd4 12 #include "MSCFileSystem.h"
canterol 0:d200f455dbd4 13 #include "SDHCFileSystem.h"
canterol 0:d200f455dbd4 14 #include "GPS.h"
canterol 0:d200f455dbd4 15 #include "PololuQik2.h"
canterol 0:d200f455dbd4 16 #include <math.h>
canterol 0:d200f455dbd4 17
canterol 0:d200f455dbd4 18 // an SPI sub-class that provides a constructed default format and frequency
canterol 0:d200f455dbd4 19 class SPI2 : public SPI
canterol 0:d200f455dbd4 20 {
canterol 0:d200f455dbd4 21 public:
canterol 0:d200f455dbd4 22 SPI2(PinName mosi, PinName miso, PinName clk) : SPI(mosi,miso,clk)
canterol 0:d200f455dbd4 23 {
canterol 0:d200f455dbd4 24 format(8,3);
canterol 0:d200f455dbd4 25 frequency(2000000);
canterol 0:d200f455dbd4 26 };
canterol 0:d200f455dbd4 27 };
canterol 0:d200f455dbd4 28
canterol 0:d200f455dbd4 29 Serial pc(USBTX,USBRX);
canterol 0:d200f455dbd4 30 SPI2 gSpi(p5,p6,p7);
canterol 0:d200f455dbd4 31 Adafruit_SSD1306 gOled(gSpi,p8,p11,p12);
canterol 0:d200f455dbd4 32 LSM303D comp(gSpi,p15);
canterol 0:d200f455dbd4 33 QEI Left(p30,p29,NC,48,QEI::X4_ENCODING); // encoder object for Left wheel
canterol 0:d200f455dbd4 34 QEI Right(p17,p16,NC,48,QEI::X4_ENCODING); // encoder object for Left wheel
canterol 0:d200f455dbd4 35 SDFileSystem sd(p5, p6, p7, p26, "sd"); // mosi, miso, sclk, cs
canterol 0:d200f455dbd4 36 PololuQik2 motors(p13,NC);
canterol 0:d200f455dbd4 37 Serial computer(p28, p27); // tx, rx read from bluetooth module
canterol 0:d200f455dbd4 38 //GPS gpsAda(NC,p14,9600);
canterol 0:d200f455dbd4 39
canterol 0:d200f455dbd4 40 // Function prototypes
canterol 0:d200f455dbd4 41 void splash();
canterol 0:d200f455dbd4 42 void move(int speed0, int speed1);
canterol 0:d200f455dbd4 43
canterol 0:d200f455dbd4 44 int main()
canterol 0:d200f455dbd4 45 {
canterol 0:d200f455dbd4 46 computer.baud(230400);
canterol 0:d200f455dbd4 47 int i=0, speed0 = 60, speed1 = 60, read;
canterol 0:d200f455dbd4 48 double percent0 = 1.00, percent1 = 1.00;
canterol 0:d200f455dbd4 49
canterol 0:d200f455dbd4 50 motors.begin(); // Initiate motor control
canterol 0:d200f455dbd4 51 splash(); // Display splash screen
canterol 0:d200f455dbd4 52
canterol 0:d200f455dbd4 53 move(speed0, speed1);
canterol 0:d200f455dbd4 54
canterol 0:d200f455dbd4 55 while(1)
canterol 0:d200f455dbd4 56 {
canterol 0:d200f455dbd4 57 if(computer.readable())
canterol 0:d200f455dbd4 58 {
canterol 0:d200f455dbd4 59 read=computer.getc();
canterol 0:d200f455dbd4 60
canterol 0:d200f455dbd4 61 if(read != 255)
canterol 0:d200f455dbd4 62 {
canterol 0:d200f455dbd4 63
canterol 0:d200f455dbd4 64 percent0 = (read / 100.00);
canterol 0:d200f455dbd4 65 percent1 = (2 - percent0);
canterol 0:d200f455dbd4 66
canterol 0:d200f455dbd4 67 move(floor(percent0*speed0), floor(percent1*speed1));
canterol 0:d200f455dbd4 68 }
canterol 0:d200f455dbd4 69
canterol 0:d200f455dbd4 70 else
canterol 0:d200f455dbd4 71 {
canterol 0:d200f455dbd4 72 move(0,0);
canterol 0:d200f455dbd4 73 }
canterol 0:d200f455dbd4 74 }
canterol 0:d200f455dbd4 75
canterol 0:d200f455dbd4 76 gOled.clearDisplay();
canterol 0:d200f455dbd4 77 gOled.setCursor(0,0);
canterol 0:d200f455dbd4 78 gOled.printf("Left Motor: %.2f%%\nRight Motor: %.2f%%\nTime: %d",percent0*100, percent1*100,i);
canterol 0:d200f455dbd4 79 gOled.display();
canterol 0:d200f455dbd4 80 i++;
canterol 0:d200f455dbd4 81 }
canterol 0:d200f455dbd4 82 }
canterol 0:d200f455dbd4 83
canterol 0:d200f455dbd4 84
canterol 0:d200f455dbd4 85 // FUNCTIONS______________________________________________________
canterol 0:d200f455dbd4 86
canterol 0:d200f455dbd4 87 void splash() // Displays splash screen for 3 seconds, then clears buffer and resets cursor
canterol 0:d200f455dbd4 88 {
canterol 0:d200f455dbd4 89 gOled.display();
canterol 0:d200f455dbd4 90 wait(3.0);
canterol 0:d200f455dbd4 91 gOled.clearDisplay();
canterol 0:d200f455dbd4 92 gOled.setCursor(0,0); // Splash screen stays until next display call
canterol 0:d200f455dbd4 93 }
canterol 0:d200f455dbd4 94
canterol 0:d200f455dbd4 95 void move(int speed0, int speed1) // Move robot using defined wheel speeds (corrects for wiring-polarity issue and mirroring of right motor)
canterol 0:d200f455dbd4 96 {
canterol 0:d200f455dbd4 97 motors.setMotor0Speed(speed0);
canterol 0:d200f455dbd4 98 motors.setMotor1Speed(-speed1);
canterol 0:d200f455dbd4 99 }