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Simons Wii controlled m3pi program
Dependencies: mbed m3pi ID12RFIDIRQ
Diff: main.cpp
- Revision:
- 0:0ab65a1aef12
diff -r 000000000000 -r 0ab65a1aef12 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed May 18 14:50:46 2011 +0000 @@ -0,0 +1,145 @@ +// mbed Robot Racing Wii example +// Connects to Wii Wheel/Remote to get control input to drive m3pi robots +// Also has RFID reader to trigger different powerups/slowdowns +// Robot has a simple inertial model to give it a more natural car-like driving acceleration and deceleration + +#include "mbed.h" + +#include "USBHost.h" // Peter Barratt's USB Bluetooth Dongle code +#include "m3pi.h" // m3pi robot controls +#include "Wiimote.h" // Wii Remote message decoding +#include "ID12RFID.h" // RFID reader + +Serial pc(USBTX, USBRX); +m3pi m3pi; + +ID12RFID rfid(p14); + +#define ACCELERATE 0.02 +#define DECAY 0.01 + +static float clamp(float v, float mn, float mx) { + return (v < mn) ? mn : (v > mx) ? mx : v; +} + +Timer banana; + +// indicate a banana has been hit +void banana_hit() { + banana.reset(); + banana.start(); +} + +// see if there is any impact from bananas! +// returns 1.0 for full pain, decaying to 0.0 over time +float banana_impact() { + if(banana > 2.0) { + banana.stop(); + banana.reset(); + } + if(banana > 0) { + return clamp(2.0 - banana, 0.0, 1.0); + } else { + return 0; + } +} + +#define NORMAL_SPEED 0.3 + +volatile float max_speed = NORMAL_SPEED; +volatile float velocity = 0; + +Timer boost; + +void boost_impact() { + if(boost > 2.0) { + boost.stop(); + boost.reset(); + max_speed = NORMAL_SPEED; + } +} + +void boost_hit() { + max_speed = .7; + velocity = .7; + boost.reset(); + boost.start(); +} + +void slowmo_hit() { + max_speed = 0.15; + velocity = 0.0; + boost.reset(); + boost.start(); +} + +// this is called by the USB infrastructure when a wii message comes in +void wii_data(char * data) { + + Wiimote wii; + wii.decode(data); + + // temporary action triggers + if(wii.up) { banana_hit(); } + if(wii.down) { boost_hit(); } + if(wii.left) { slowmo_hit(); } + + if(wii.two) { // active acceleration + velocity += ACCELERATE; + if(velocity > max_speed) { velocity = max_speed; } + } else if(wii.one) { // active deceleration/reverse + velocity -= ACCELERATE; + if(velocity < -max_speed) { velocity = -max_speed; } + } else { // decay to zero + if(velocity < 0) { + velocity += DECAY; + if(velocity > 0) { velocity = 0; } + } else { + velocity -= DECAY; + if(velocity < 0) { velocity = 0; } + } + } + + float factor = wii.wheel / 190.0f; + + float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor); + float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor; + + boost_impact(); + float impact = banana_impact(); + + if(impact > 0.0) { + m3pi.left_motor(1 * impact); + m3pi.right_motor(-1 * impact); + velocity = 0; + } else { + m3pi.left_motor(velocity * right_factor); + m3pi.right_motor(velocity * left_factor); + } +} + +DigitalOut led_active(LED4); + +int main() { + + m3pi.locate(0,1); + m3pi.printf("WiiWheel"); + + + pc.baud(38400); + + printf("Hello Wii Racing...\n"); + + USBInit(); + + + while (1) { + USBLoop(); + led_active = !led_active; + if(rfid.readable()) { + int id = rfid.read(); + // ignore id for now + banana_hit(); + } + } +}