Diff: CarBaseAPI.h

Revision:

4:4233d072b5af

Parent:

0:2010bcffbae0

--- a/CarBaseAPI.h	Thu Aug 22 21:52:21 2013 +0000
+++ b/CarBaseAPI.h	Fri Aug 23 00:38:23 2013 +0000
@@ -1,10 +1,9 @@
 #ifndef CAR_BASE_API_046o73i4277823
 #define CAR_BASE_API_046o73i4277823
 
-#include "mbed.h"
+#include <stdarg.h>
+#include <MMA8451Q.h>
 #include "TFC.h"
-#include <MMA8451Q.h>
-
 
 Ticker TFC_TickerObj;
 Serial pc(USBTX,USBRX);
@@ -16,8 +15,9 @@
 volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
 
 
-float turnOffset = 0.002;// the turn turnOffset
+float turnOffset = 0.0;// the turn turnOffset
 float crashSensitivity = 0.5; // crash sensitivity
+float stopSensitivity = 0.2; // stop sensitivity
 bool debug = false;
 
 MMA8451Q accelerometer(PTE25,PTE24, MMA8451_I2C_ADDRESS);
@@ -34,43 +34,51 @@
     }
 }
 
+void utrace(const char* msg, ...){
+    char buffer[256];
+    va_list args;
+    va_start (args, msg);
+    vsprintf (buffer,msg, args);
+    va_end (args);
+    pc.printf(buffer);
+}
 
 void flushSerialBuffer(void) { while (pc.readable()) { pc.getc(); } return; } 
 
 void _blinkSequence(bool left){
     static float w = 0.125;
     if (left) {
+        if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED0_TOGGLE;
+        wait(w);
         TFC_BAT_LED0_TOGGLE;
         if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED1_TOGGLE;
         wait(w);
-        TFC_BAT_LED0_TOGGLE;
         TFC_BAT_LED1_TOGGLE;
         if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED2_TOGGLE;
         wait(w);
-        TFC_BAT_LED1_TOGGLE;
         TFC_BAT_LED2_TOGGLE;
         if (TFC_PUSH_BUTTON_0_PRESSED) return;
-        wait(w);
-        TFC_BAT_LED2_TOGGLE;
         TFC_BAT_LED3_TOGGLE;    
-        if (TFC_PUSH_BUTTON_0_PRESSED) return;
         wait(w);
         TFC_BAT_LED3_TOGGLE;    
     } else {
+        if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED3_TOGGLE;
+        wait(w);
         TFC_BAT_LED3_TOGGLE;
         if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED2_TOGGLE;
         wait(w);
-        TFC_BAT_LED3_TOGGLE;
         TFC_BAT_LED2_TOGGLE;
         if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED1_TOGGLE;
         wait(w);
-        TFC_BAT_LED2_TOGGLE;
         TFC_BAT_LED1_TOGGLE;
         if (TFC_PUSH_BUTTON_0_PRESSED) return;
-        wait(w);
-        TFC_BAT_LED1_TOGGLE;
         TFC_BAT_LED0_TOGGLE;
-        if (TFC_PUSH_BUTTON_0_PRESSED) return;
         wait(w);            
         TFC_BAT_LED0_TOGGLE;
     }
@@ -110,12 +118,16 @@
 }
 /* turn the car */
 void turn(float d, float turnAngle){
-    if(debug) pc.printf("turn(%f)",turnAngle);
+    if (turnAngle >0.7)
+        turnAngle = 0.7;
+    else if (turnAngle < -0.7)
+        turnAngle = -0.7;
+    if(debug) utrace("turn(%f)\r\n",turnAngle);
     TFC_SetServo(d,turnAngle + turnOffset);
 }
 
 void _initialize(){
-    if(debug) pc.printf("initialize()");
+    if(debug) utrace("initialize()\r\n");
     //TFC_TickerObj.attach_us(&TFC_TickerUpdate,1000);   //Things go to heck if this is enabled
     TFC_Init();
 
@@ -124,15 +136,14 @@
 
     //flash startup
     while(!TFC_PUSH_BUTTON_0_PRESSED){
-    blinkSequence();
+        blinkSequence();
     }
-    wait(2);
+    wait(0.75);
     //starts power to back motor - hear high frequency pitch
     TFC_HBRIDGE_ENABLE;    
 }
 
 void _finish(){
-    if(debug) pc.printf("finish()");
     //parking brake
     //need to keep spinning wheel slightly or the car will come crashing down backwards the ramp b/c of gravity
     //slight spin is not enough to move the car (even on flat surface)
@@ -140,18 +151,16 @@
     while (!TFC_PUSH_BUTTON_0_PRESSED){
         /// sharon's parking break code
         TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
-        wait(0.1);
+        blinkSequence2();
     }
+    turn(0,0);
 
     //reset to straight direction and stop spinning motor
     TFC_SetMotorPWM(0,0);
     
     //stops the power to back motor - stop hearing the high pitch frequency
     TFC_HBRIDGE_DISABLE;
-    
-    while(1){
-        blinkSequence2();
-    }
+    if(debug) utrace("finish()\r\n");
 }