Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

main.cpp@20:e73f49ba5001, 2019-03-23 (annotated)

Committer:
dima285
Date:
Sat Mar 23 16:38:44 2019 +0000
Revision:
20:e73f49ba5001
Parent:
19:2fe650d29823
Child:
22:14e85f2068c7
prost

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 0:e9488589a8ee 1 #include "stm32f103c8t6.h"
Stas285 0:e9488589a8ee 2 #include "mbed.h"
dima285 17:bd6b6ac89e0e 3 #include "VL53L1X.h"
Stas285 1:e2a6e523bf1f 4 #include "common.h"
Stas285 4:904b737ef08a 5 #include "gyro.h"
Stas285 0:e9488589a8ee 6 #include "motor.h"
Stas285 0:e9488589a8ee 7 #include "serva.h"
Stas285 0:e9488589a8ee 8 #include "echo.h"
Stas285 0:e9488589a8ee 9 #include "motion.h"
Stas285 1:e2a6e523bf1f 10 #include "wifi.h"
Stas285 0:e9488589a8ee 11 #include "realtime.h"
Stas285 0:e9488589a8ee 12 #include "system.h"
Stas285 6:6e89cdc3db92 13 #include "sound.h"
Stas285 0:e9488589a8ee 14
dima285 17:bd6b6ac89e0e 15
dima285 19:2fe650d29823 16
Stas285 0:e9488589a8ee 17 int main() {
dima285 17:bd6b6ac89e0e 18 //int k,l;
Stas285 15:960b922433d1 19 wait_ms(500);
Stas285 0:e9488589a8ee 20 system_init();
Stas285 15:960b922433d1 21 start_recognizer();
Stas285 15:960b922433d1 22 play(1);
dima285 17:bd6b6ac89e0e 23 delay_counter = 3;
dima285 17:bd6b6ac89e0e 24 motion_flag = 0;
dima285 20:e73f49ba5001 25 motion_mode = STOP;
dima285 17:bd6b6ac89e0e 26 serva(-90);
dima285 17:bd6b6ac89e0e 27 serva_counter = 0;
dima285 19:2fe650d29823 28
dima285 17:bd6b6ac89e0e 29 //wait(20);
dima285 10:5bdd3dfd5f59 30
dima285 12:721a9ea55e91 31 while(1){
Stas285 4:904b737ef08a 32 while(realtime_flag == 0){}
dima285 17:bd6b6ac89e0e 33 //myled = 0; //inverse connection
dima285 12:721a9ea55e91 34 gyro.read(&gx,&gy,&gz,&ax,&ay,&az); //doesn't work in interrupt // reading - 500 uS
Stas285 15:960b922433d1 35 //constant speed motion: distance_to_target = (x_diff/x_prop) * target.speed
dima285 19:2fe650d29823 36 if (fall_flag == 1) vstavai();
dima285 20:e73f49ba5001 37 //balance_coord();
dima285 20:e73f49ba5001 38 balance_motion_PID();
dima285 17:bd6b6ac89e0e 39 if(external_command != 0) command_process();
dima285 19:2fe650d29823 40 if (delay_counter-- == 3) {
dima285 19:2fe650d29823 41 glaz.startContinuous(100);
dima285 19:2fe650d29823 42 echo_start();
dima285 19:2fe650d29823 43 }
dima285 17:bd6b6ac89e0e 44 if (delay_counter == 0) {
dima285 20:e73f49ba5001 45 if(motion_mode > 0) {if(coord_ready) {motion_mode++;if (motion_mode > 2) motion_mode = 0; delay2_counter = 15;}}
dima285 17:bd6b6ac89e0e 46 else{
dima285 20:e73f49ba5001 47 if (delay2_counter > 0) delay2_counter--;//delay before full stop and scan
dima285 19:2fe650d29823 48 else{
dima285 19:2fe650d29823 49 obstacle_glaz[serva_counter] = glaz.read()/10;//cm //Function
dima285 19:2fe650d29823 50 glaz.stopContinuous();
dima285 19:2fe650d29823 51 obstacle_echo[serva_counter] = echo_cm;
dima285 19:2fe650d29823 52 //if (obstacle_glaz[serva_counter] < obstacle_echo[serva_counter]) obstacle[serva_counter] = obstacle_glaz[serva_counter]; else obstacle[serva_counter] = obstacle_echo[serva_counter];
dima285 19:2fe650d29823 53 obstacle[serva_counter] = obstacle_glaz[serva_counter];
dima285 19:2fe650d29823 54 if(serva_counter < 12)serva(-90 + (serva_counter++)*15);
dima285 19:2fe650d29823 55 else{
dima285 19:2fe650d29823 56 serva_counter = 0;
dima285 19:2fe650d29823 57 serva(-90);
dima285 19:2fe650d29823 58 correct_obstacle();
dima285 19:2fe650d29823 59 analyze_obstacle();
dima285 20:e73f49ba5001 60 //echo_transmit(13);
dima285 20:e73f49ba5001 61 //wifi.putc(current.x * 10); wifi.putc(current.y * 10); wifi.putc(current.azimuth * 40); wifi.putc(target.x * 10); wifi.putc(target.y * 10); wifi.putc(target.azimuth * 40);
dima285 20:e73f49ba5001 62 motion_mode = 1;
dima285 20:e73f49ba5001 63 //motion_timeout = 250;
dima285 19:2fe650d29823 64 //wait(2);
dima285 19:2fe650d29823 65 }
dima285 19:2fe650d29823 66 }
dima285 17:bd6b6ac89e0e 67 }
dima285 19:2fe650d29823 68 delay_counter = 7;
dima285 17:bd6b6ac89e0e 69 }
dima285 17:bd6b6ac89e0e 70 //voice_command_process();
dima285 17:bd6b6ac89e0e 71 //if (k++ > 200) {k = 0;/*play(rand()%10+1);*/} else { target.x = trajectory[int(k/100)][0];target.y = trajectory[int(k/100)][1]; target.azimuth = trajectory[int(k/100)][2];}
dima285 17:bd6b6ac89e0e 72 //if (l++ > 25) {l = 0; wifi.printf("%u", glaz.read());}
dima285 17:bd6b6ac89e0e 73 realtime_flag = 0;// myled = 1;
Stas285 4:904b737ef08a 74 }
Stas285 0:e9488589a8ee 75 //while(1){proc_counter++;}
Stas285 0:e9488589a8ee 76 }
Stas285 15:960b922433d1 77