main.cpp

00001 #include "main.h"
00002 
00003 // API objects
00004 m3pi robot;
00005 
00006 // LEDs on the Mbed board
00007 BusOut leds(LED4,LED3,LED2,LED1);
00008 
00009 // Buttons on the 3pi shield
00010 DigitalIn button_A(p18);
00011 DigitalIn button_B(p17);
00012 DigitalIn button_X(p21);
00013 DigitalIn button_Y(p22);
00014 DigitalIn button_enter(p24);
00015 DigitalIn button_back(p23);
00016 
00017 // Blue potentiometers on the 3pi shield
00018 AnalogIn pot_P(p15);
00019 AnalogIn pot_I(p16);
00020 AnalogIn pot_D(p19);
00021 AnalogIn pot_S(p20);
00022 
00023 
00024 // This bit is the main function and is the code that is run when the buggies are powered up
00025 int main()
00026 {
00027     init();
00028     welcome();
00029     calibrate();
00030 
00031     float dt = 1.0/50.0;
00032     
00033     wait_for_enter();
00034     
00035     // keep looping until back is pressed
00036     while(button_back.read() == 1) {
00037         repeat();
00038         wait(dt);
00039     }
00040 
00041     robot.stop();
00042     robot.lcd_clear();
00043     leds = 0b0000;
00044 }
00045 
00046 // Functions
00047 void init()
00048 {
00049     robot.init();
00050 
00051     button_A.mode(PullUp);
00052     button_B.mode(PullUp);
00053     button_X.mode(PullUp);
00054     button_Y.mode(PullUp);
00055     button_enter.mode(PullUp);
00056     button_back.mode(PullUp);
00057 
00058     leds = 0b0000;
00059 }
00060 
00061 void welcome()
00062 {
00063     robot.lcd_clear();
00064     const char g_song2[]= "L16 cdegreg4";
00065     robot.play_music(g_song2,sizeof(g_song2));
00066     robot.display_battery_voltage(0,0);
00067     robot.display_signature(0,1);
00068     wait(3.0);
00069 
00070 }
00071 
00072 // this makes the buggy rotate left and right
00073 // should be placed over a black line so the difference
00074 // between white and black can be determined
00075 void calibrate()
00076 {
00077     leds = 0b1111;
00078     robot.reset_calibration();
00079 
00080     wait_for_enter();
00081 
00082 
00083     wait(2.0);  // leave a bit of delay so hands can be moved out of the way
00084     robot.auto_calibrate();  // run calibration routine
00085     leds = 0b0000;
00086 }
00087 
00088 void wait_for_enter()
00089 {
00090     // display message on LCD
00091     robot.lcd_clear();
00092     robot.lcd_goto_xy(0,0);
00093     robot.lcd_print("Place on",8);
00094     robot.lcd_goto_xy(0,1);
00095     robot.lcd_print("  line  ",8);
00096     wait(1.0);
00097     // display message on LCD
00098     robot.lcd_clear();
00099     robot.lcd_goto_xy(0,0);
00100     robot.lcd_print(" Press  ",8);
00101     robot.lcd_goto_xy(0,1);
00102     robot.lcd_print(" ENTER  ",8);
00103 
00104     while (button_enter.read() == 1) {  // wait for button press
00105 
00106     }
00107 
00108     robot.lcd_clear();
00109 
00110 }