Dennis Evangelista / Mbed OS crabrace_upgrade

DE upgrade of Crabrace code. Note you still need to add switches and (external) LEDs.

Dependencies:   Motor Servo

main.cpp@1:6370f10e13db, 2018-10-22 (annotated)

Committer:
evangeli
Date:
Mon Oct 22 15:51:44 2018 +0000
Revision:
1:6370f10e13db
Parent:
0:4d82538f5640 
Switched to teams Motor.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
evangeli 0:4d82538f5640 1 /*
evangeli 0:4d82538f5640 2 ES200 3321 Project 2 Team Crab Race
evangeli 0:4d82538f5640 3 MIDN 3/c Pak, Tamas, etc
evangeli 0:4d82538f5640 4 */
evangeli 0:4d82538f5640 5 #include "mbed.h"
evangeli 0:4d82538f5640 6 #include "stdio.h"
evangeli 0:4d82538f5640 7 #include "Motor.h"
evangeli 0:4d82538f5640 8 #include "Servo.h"
evangeli 0:4d82538f5640 9
evangeli 0:4d82538f5640 10 // declare global hardware objects
evangeli 0:4d82538f5640 11 Serial pc(USBTX,USBRX); // for printing out stuff during debugging
evangeli 0:4d82538f5640 12 Motor knife_motor(p26, p30, p29);
evangeli 0:4d82538f5640 13 Servo finish_servo(p22);
evangeli 0:4d82538f5640 14 Servo start_servo(p21);
evangeli 0:4d82538f5640 15
evangeli 0:4d82538f5640 16 // where are your switches? you need a few
evangeli 0:4d82538f5640 17 DigitalIn start_sw(p19);
evangeli 0:4d82538f5640 18
evangeli 0:4d82538f5640 19 // need LEDs (they're supposed to be external LEDs!)
evangeli 0:4d82538f5640 20 DigitalOut led[4]= {LED1, LED2, LED3, LED4};
evangeli 0:4d82538f5640 21
evangeli 0:4d82538f5640 22
evangeli 0:4d82538f5640 23
evangeli 0:4d82538f5640 24
evangeli 0:4d82538f5640 25
evangeli 0:4d82538f5640 26 int main(void)
evangeli 0:4d82538f5640 27 {
evangeli 0:4d82538f5640 28 int x; // for random outcome of race
evangeli 0:4d82538f5640 29 int i; // a counter variable
evangeli 0:4d82538f5640 30
evangeli 0:4d82538f5640 31 // setup
evangeli 0:4d82538f5640 32 pc.printf("ES200 3321 Project 2 Team Crab Race\r\n");
evangeli 0:4d82538f5640 33 pc.printf("main() thread running\r\n");
evangeli 0:4d82538f5640 34 pc.printf("main() thread calibrating servos\r\n");
evangeli 0:4d82538f5640 35 start_servo.calibrate(0.0009, 90.0); // HiTec HS422 servos for ES200/202
evangeli 0:4d82538f5640 36 finish_servo.calibrate(0.0009, 90.0);
evangeli 0:4d82538f5640 37 start_servo.write(0.0); // set start gate initial position
evangeli 0:4d82538f5640 38 finish_servo.write(0.5); // set finish gate initial position
evangeli 0:4d82538f5640 39 knife_motor.speed(0.0); // stop knife motor
evangeli 0:4d82538f5640 40
evangeli 0:4d82538f5640 41 // main loop
evangeli 0:4d82538f5640 42 while(1) {
evangeli 0:4d82538f5640 43
evangeli 0:4d82538f5640 44 // STATE: IDLE
evangeli 0:4d82538f5640 45 pc.printf("main() thread idle state\r\n");
evangeli 0:4d82538f5640 46 start_servo.write(0.0);
evangeli 0:4d82538f5640 47 finish_servo.write(0.5);
evangeli 0:4d82538f5640 48 while (!start_sw.read()) {
evangeli 0:4d82538f5640 49 ThisThread::sleep_for(200); // works like wait()
evangeli 0:4d82538f5640 50 }
evangeli 0:4d82538f5640 51
evangeli 0:4d82538f5640 52
evangeli 0:4d82538f5640 53 // STATE: START RACE
evangeli 0:4d82538f5640 54 x = (rand()%10)+1;
evangeli 0:4d82538f5640 55 pc.printf("main() thread starting a race, x = %d\r\n",x);
evangeli 0:4d82538f5640 56 start_servo.write(0.25); // lower start gate to begin race
evangeli 0:4d82538f5640 57 ThisThread::sleep_for(1000); //gives time for crab to get down track
evangeli 0:4d82538f5640 58
evangeli 0:4d82538f5640 59
evangeli 0:4d82538f5640 60 // STATE: END RACE depending on value of x
evangeli 0:4d82538f5640 61 pc.printf("main() thread preparing to end race\r\n");
evangeli 0:4d82538f5640 62 start_servo.write(0.0); //set initial start gate position
evangeli 0:4d82538f5640 63 if (x <= 7) {
evangeli 0:4d82538f5640 64 pc.printf("main() thread for x = %d, victory display\r\n",x);
evangeli 0:4d82538f5640 65 finish_servo = 1.0; //gate has a 70% chance to go one way
evangeli 0:4d82538f5640 66 pc.printf("main() thread waiting for start_sw to stop display\r\n");
evangeli 0:4d82538f5640 67 while (start_sw.read()) {
evangeli 0:4d82538f5640 68 for (i=0; i<5; i++) {
evangeli 0:4d82538f5640 69 // blink lights for victory display
evangeli 0:4d82538f5640 70 led[i] = 1;
evangeli 0:4d82538f5640 71 ThisThread::sleep_for(150);
evangeli 0:4d82538f5640 72 led[i]=0;
evangeli 0:4d82538f5640 73 } // for
evangeli 0:4d82538f5640 74 } // while(start_sw.read())
evangeli 0:4d82538f5640 75 } // if (x<=7)
evangeli 0:4d82538f5640 76 else { //30% chance the gate will go the other way
evangeli 0:4d82538f5640 77 pc.printf("main() thread for x = %d, fatality display\r\n",x);
evangeli 0:4d82538f5640 78 finish_servo.write(0.0);
evangeli 0:4d82538f5640 79 pc.printf("main() thread waiting for start_sw to stop display\r\n");
evangeli 0:4d82538f5640 80 while (start_sw.read()) {
evangeli 0:4d82538f5640 81 knife_motor.speed (0.5);
evangeli 0:4d82538f5640 82 ThisThread::sleep_for(500);
evangeli 0:4d82538f5640 83 knife_motor.speed (-0.5);
evangeli 0:4d82538f5640 84 ThisThread::sleep_for(500);
evangeli 0:4d82538f5640 85 } // while(start_sw.read())
evangeli 0:4d82538f5640 86 knife_motor.speed(0); // stop knife
evangeli 0:4d82538f5640 87 }
evangeli 0:4d82538f5640 88 pc.printf("main() thread returning to idle state, reset the racer positions\r\n");
evangeli 0:4d82538f5640 89 finish_servo.write(0.5); //set finish gate to halfway point
evangeli 0:4d82538f5640 90
evangeli 0:4d82538f5640 91
evangeli 0:4d82538f5640 92 } // while(1)
evangeli 0:4d82538f5640 93 } // main()