Diff: Includes/CarBaseAPI.h

Revision:

6:4b101f051a1f

Parent:

4:4233d072b5af

Child:

7:2901515f14c2

diff -r 8dde418f0d1e -r 4b101f051a1f Includes/CarBaseAPI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Includes/CarBaseAPI.h	Fri Aug 23 00:43:43 2013 +0000
@@ -0,0 +1,167 @@
+#ifndef CAR_BASE_API_046o73i4277823
+#define CAR_BASE_API_046o73i4277823
+
+#include <stdarg.h>
+#include <MMA8451Q.h>
+#include "TFC.h"
+
+Ticker TFC_TickerObj;
+Serial pc(USBTX,USBRX);
+// AnalogIn pot (p15);
+
+#define NUM_TFC_TICKERS 4
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+// Define serial ports
+volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
+
+
+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);
+
+void TFC_TickerUpdate()
+{
+    int i;
+    for(i=0; i<NUM_TFC_TICKERS; i++)
+    {
+        if(TFC_Ticker[i]<0xFFFFFFFF)
+        {
+           TFC_Ticker[0]++;
+        }
+    }
+}
+
+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_LED1_TOGGLE;
+        if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED2_TOGGLE;
+        wait(w);
+        TFC_BAT_LED2_TOGGLE;
+        if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED3_TOGGLE;    
+        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_LED2_TOGGLE;
+        if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED1_TOGGLE;
+        wait(w);
+        TFC_BAT_LED1_TOGGLE;
+        if (TFC_PUSH_BUTTON_0_PRESSED) return;
+        TFC_BAT_LED0_TOGGLE;
+        wait(w);            
+        TFC_BAT_LED0_TOGGLE;
+    }
+}
+
+void blinkSequence(){
+    _blinkSequence(false);
+    _blinkSequence(true);
+}
+
+void blinkSequence2(){
+    float w = 0.125;
+    TFC_BAT_LED0_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED1_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED2_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED3_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED3_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED2_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED1_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);
+    TFC_BAT_LED0_TOGGLE;
+    if (TFC_PUSH_BUTTON_0_PRESSED) return;
+    wait(w);    
+}
+/* turn the car */
+void turn(float d, float 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) utrace("initialize()\r\n");
+    //TFC_TickerObj.attach_us(&TFC_TickerUpdate,1000);   //Things go to heck if this is enabled
+    TFC_Init();
+
+    // Initialize Baud Rate for PC Console
+    pc.baud(38400);
+
+    //flash startup
+    while(!TFC_PUSH_BUTTON_0_PRESSED){
+        blinkSequence();
+    }
+    wait(0.75);
+    //starts power to back motor - hear high frequency pitch
+    TFC_HBRIDGE_ENABLE;    
+}
+
+void _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)
+    //press button 0 to stop parking brake and turn off motor - goes into wait period w/ LED1 blinking
+    while (!TFC_PUSH_BUTTON_0_PRESSED){
+        /// sharon's parking break code
+        TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
+        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;
+    if(debug) utrace("finish()\r\n");
+}
+
+
+#endif
\ No newline at end of file