main.cpp

00001 /* 3pi Lab 1 Example 2
00002 
00003 (c) Dr Craig A. Evans, University of Leeds
00004 
00005 June 2017
00006 
00007 */
00008 
00009 #include "mbed.h"
00010 #include "m3pi.h"
00011 
00012 // API objects
00013 m3pi robot;
00014 
00015 // Function Prototypes
00016 void init();
00017 
00018 // Main Function
00019 int main()
00020 {
00021     init();
00022 
00023     // move cursor to position (0,0) - top-left
00024     robot.lcd_goto_xy(0,0);
00025     robot.lcd_print("Lab 1",5); // 5 is number of characters in message (max 8)
00026     robot.lcd_goto_xy(0,1);
00027     robot.lcd_print("Task 3",6);
00028 
00029     wait(2.0);
00030 
00031     // reset previous calibration values and run auto-calibrate routine
00032     robot.reset_calibration();
00033     // robot must be placed over a black line
00034     robot.auto_calibrate();
00035 
00036     // an array to store each of the sensor values
00037     unsigned int values[5]= {0};
00038     
00039     float dt = 1.0/10.0;  // we'll read the sensors 10 times a second
00040 
00041     // main loop - this runs forever
00042     while(1) {
00043         
00044         // clear the LCD so we can draw new information on every loop
00045         robot.lcd_clear();
00046 
00047         // read the sensor values and store in array
00048         // these values are 0 to 1000 (0 is white/1000 is black)
00049         robot.get_calibrated_values(values);
00050         
00051         // Can see the values using CoolTerm - select correct COM port
00052         for (int i=0; i< 5 ; i++) {
00053             printf("[%i] = %i | ",i,values[i]);    
00054         }
00055         printf("\n");
00056         
00057         // display a bar graph on the LCD
00058         robot.display_sensor_values(values,1);
00059         
00060         // in range -1 to 1, no error when line is at 0.0
00061         // number is negative when the line is to the left
00062         // number is positive when the line is to the right
00063         float line_position = robot.calc_line_position(values);
00064 
00065         // empty buffer to store values
00066         char buffer[6];
00067         sprintf(buffer,"%+.3f",line_position); // create message and store in array .3 means three decimal places
00068         // print line position on LCD
00069         robot.lcd_goto_xy(1,0);
00070         robot.lcd_print(buffer,6);
00071 
00072         // wait for a short time before repeating the loop
00073         wait(dt);
00074 
00075     }
00076 }
00077 
00078 // Functions
00079 void init()
00080 {
00081     robot.init();
00082 }