Diff: main.cpp

Revision:

0:d200f455dbd4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 18 03:04:58 2014 +0000
@@ -0,0 +1,99 @@
+/*
+ME503 Unmanned Autonomous Vehicle Systems
+Dr. E. Coyle
+Wall Following Assignment
+L. Cantero, B. Wallace
+*/
+
+#include "mbed.h"
+#include "Adafruit_SSD1306.h"
+#include "LSM303D.h"
+#include "QEI.h"
+#include "MSCFileSystem.h"
+#include "SDHCFileSystem.h"
+#include "GPS.h"
+#include "PololuQik2.h"
+#include <math.h>
+
+// an SPI sub-class that provides a constructed default format and frequency
+class SPI2 : public SPI
+{
+public:
+    SPI2(PinName mosi, PinName miso, PinName clk) : SPI(mosi,miso,clk)
+    {
+        format(8,3);
+        frequency(2000000);
+    };
+};
+
+Serial pc(USBTX,USBRX);
+SPI2 gSpi(p5,p6,p7);
+Adafruit_SSD1306 gOled(gSpi,p8,p11,p12);
+LSM303D comp(gSpi,p15);
+QEI Left(p30,p29,NC,48,QEI::X4_ENCODING);  // encoder object for Left wheel
+QEI Right(p17,p16,NC,48,QEI::X4_ENCODING);  // encoder object for Left wheel
+SDFileSystem sd(p5, p6, p7, p26, "sd"); // mosi, miso, sclk, cs
+PololuQik2 motors(p13,NC);
+Serial computer(p28, p27); // tx, rx read from bluetooth module
+//GPS gpsAda(NC,p14,9600);
+
+// Function prototypes
+void splash(); 
+void move(int speed0, int speed1);
+        
+int main()
+{   
+    computer.baud(230400);
+    int i=0, speed0 = 60, speed1 = 60, read;
+    double percent0 = 1.00, percent1 = 1.00;
+    
+    motors.begin();                // Initiate motor control
+    splash();                      // Display splash screen
+    
+    move(speed0, speed1);
+            
+    while(1)
+    {
+        if(computer.readable())
+        {
+            read=computer.getc();
+            
+            if(read != 255)
+            {
+                
+                percent0 = (read / 100.00);
+                percent1 = (2 - percent0);
+                
+                move(floor(percent0*speed0), floor(percent1*speed1));
+            }
+            
+            else
+            {
+                move(0,0);
+            }
+        }
+        
+        gOled.clearDisplay();
+        gOled.setCursor(0,0);   
+        gOled.printf("Left Motor: %.2f%%\nRight Motor: %.2f%%\nTime: %d",percent0*100, percent1*100,i);
+        gOled.display();  
+        i++;
+    } 
+}
+
+
+// FUNCTIONS______________________________________________________
+
+void splash() // Displays splash screen for 3 seconds, then clears buffer and resets cursor
+{
+    gOled.display();
+    wait(3.0);
+    gOled.clearDisplay();
+    gOled.setCursor(0,0); // Splash screen stays until next display call
+}
+
+void move(int speed0, int speed1) // Move robot using defined wheel speeds (corrects for wiring-polarity issue and mirroring of right motor)
+{
+    motors.setMotor0Speed(speed0);
+    motors.setMotor1Speed(-speed1);
+}
\ No newline at end of file