Fabio Faria
Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.
Fork of
ISR_Mini-explorer
by 
ISR UC
Diff: robot.h
- Revision:
- 0:15a30802e719
- Child:
- 1:8569ac717e68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h Thu Feb 02 12:21:11 2017 +0000
@@ -0,0 +1,1027 @@
+/** @file */
+//AUTOR: Fernando Pais
+//MAIL: ferpais2508@gmail.com
+//DATA: 6/6/2016
+// VERSÃO 6.4.0
+//
+//Alterações: Problema de compatibilidade entre encoder e infravermelho resolvido
+// Odometria actualizada automaticamente
+// Valor da bateria verificado na inicialização
+// Motores movem-se de 0 a 1000 para melhor difrenciação
+//
+
+//#include "mbed.h"
+//#include "init.h"
+//#define _USE_MATH_DEFINES
+# define M_PI 3.14159265358979323846 /* pi */
+#include <math.h>
+#include <string.h>
+#include "VCNL40x0.h"
+#include "nRF24L01P.h"
+
+void Odometria();
+
+// classes adicionais
+nRF24L01P my_nrf24l01p(PTD2, PTD3, PTD1, PTC13, PTC12, PTA13);
+VCNL40x0 VCNL40x0_Device (PTC9, PTC8, VCNL40x0_ADDRESS);
+Timeout timeout;
+
+Serial pc(PTE0,PTE1);
+I2C i2c(PTC9,PTC8);
+I2C i2c1(PTC11,PTC10);
+
+// Variables needed by the lib
+unsigned int ProxiValue=0;
+short int prev_R=0;
+short int prev_L=0;
+long int total_R=0;
+long int total_L=0;
+long int ticks2d=0;
+long int ticks2e=0;
+float X=20;
+float Y=20;
+float AtractX = 0;
+float AtractY = 0;
+float theta=0;
+int sensor_left=0;
+int sensor_front=0;
+int sensor_right=0;
+short int flag=0;
+int IRobot=0;
+int JRobot=0;
+
+//SAIDAS DIGITAIS (normal)
+DigitalOut q_pha_mot_rig (PTE4,0); //Phase Motor Right
+DigitalOut q_sleep_mot_rig (PTE3,0); //Nano Sleep Motor Right
+DigitalOut q_pha_mot_lef (PTA17,0); //Phase Motor Left
+DigitalOut q_sleep_mot_lef (PTB11,0); //Nano Sleep Motor Left
+DigitalOut q_pow_ena_i2c_p (PTE2,0); //Power Enable i2c FET P (0- enable 1-disable)
+DigitalOut q_pow_ena_mic_p (PTA14,0); //Power enable Micro FET P (0- enable 1-disable)
+DigitalOut q_pow_as5600_n (PTC6,1); //AS5600 Power MOSFET N (1- enable 0-disable)
+DigitalOut q_pow_as5600_p (PTC5,0); //AS5600 Power MOSFET P (0- enable 1-disable)
+DigitalOut q_pow_spi (PTC4,0); //SPI Power MOSFET P (0- enable 1-disable)
+DigitalOut q_ena_mppt (PTC0,0); //Enable MPPT Control (0- enable 1-disable)
+DigitalOut q_boost_ps (PTC7,1); //Boost Power Save (1- enable 0-disable)
+DigitalOut q_tca9548_reset (PTC3,1); //Reset TCA9548 (1- enable 0-disable)
+DigitalOut power_36khz (PTD0,0); //Power enable pic12f - 36khz (0- enable 1-disable)
+
+
+// ********************************************************************
+// ********************************************************************
+//DEFINIÇÃO DE ENTRADAS E SAIDAS DO ROBOT
+//ENTRADAS DIGITAIS (normal input)
+DigitalIn i_enc_dir_rig (PTB8); //Encoder Right Direction
+DigitalIn i_enc_dir_lef (PTB9); //Encoder Left Direction
+DigitalIn i_micro_sd_det (PTC16); //MICRO SD Card Detect
+DigitalIn i_mppt_fail (PTE5); //Fail MPPT Signal
+DigitalIn i_usb_volt (PTB10); //USB Voltage detect
+DigitalIn i_sup_cap_est (PTB19); //Supercap State Charger
+DigitalIn i_li_ion_est (PTB18); //Li-ion State Charger
+
+
+// ********************************************************************
+//ENTRADAS DIGITAIS (external interrupt)
+InterruptIn i_int_mpu9250 (PTA15); //Interrupt MPU9250
+InterruptIn i_int_isl29125 (PTA16); //Interrupt ISL29125 Color S.
+InterruptIn i_mic_f_l (PTD7); //Interrupt Comp Micro F L
+InterruptIn i_mic_f_r (PTD6); //Interrupt Comp Micro F R
+InterruptIn i_mic_r_c (PTD5); //Interrupt Comp Micro R C
+
+
+// ********************************************************************
+//ENTRADAS ANALOGICAS
+AnalogIn a_enc_rig (PTC2); //Encoder Left Output_AS_MR
+AnalogIn a_enc_lef (PTC1); //Encoder Right Output_AS_ML
+AnalogIn a_mic_f_l (PTB0); //Analog microphone F L
+AnalogIn a_mic_f_r (PTB1); //Analog microphone F R
+AnalogIn a_mic_r_c (PTB2); //Analog microphone R C
+AnalogIn a_temp_bat (PTB3); //Temperature Battery
+
+
+// ********************************************************************
+
+//PWM OR DIGITAL OUTPUT NORMAL
+//DigitalOut q_led_whi (PTE29); //Led white pwm
+DigitalOut q_led_red_fro (PTA4); //Led Red Front
+DigitalOut q_led_gre_fro (PTA5); //Led Green Front
+DigitalOut q_led_blu_fro (PTA12); //Led Blue Front
+DigitalOut q_led_red_rea (PTD4); //Led Red Rear
+DigitalOut q_led_gre_rea (PTA1); //Led Green Rear
+DigitalOut q_led_blu_rea (PTA2); //Led Blue Rear
+
+
+//SAIDAS DIGITAIS (pwm)
+PwmOut pwm_mot_rig (PTE20); //PWM Enable Motor Right
+PwmOut pwm_mot_lef (PTE31); //PWM Enable Motor Left
+PwmOut pwm_buzzer (PTE21); //Buzzer PWM
+PwmOut pwm_led_whi (PTE29); //Led white pwm
+
+// ********************************************************************
+//SAIDAS ANALOGICAS
+AnalogOut dac_comp_mic (PTE30); //Dac_Comparator MIC
+
+
+/* Powers up all the VCNL4020. */
+void init_Infrared()
+{
+ VCNL40x0_Device.SetCurrent (20); // Set current to 200mA
+}
+
+/**
+ * Selects the wich infrared to comunicate.
+ *
+ * @param ch - Infrared to read (1..5)
+ */
+void tca9548_select_ch(char ch)
+{
+ char ch_f[1];
+ char addr=0xE0;
+
+ if(ch==0)
+ ch_f[0]=1;
+
+ if(ch>=1)
+ ch_f[0]=1<<ch;
+
+ i2c.start();
+ i2c.write(addr,ch_f,1);
+ i2c.stop();
+}
+
+
+/**
+ * Get ADC value of the chosen infrared.
+ *
+ * @param ch - Infrared to read (1..5)
+ *
+ * Note: for the values of ch it reads (0-right, ... ,4-left, 5-back)
+ */
+long int read_Infrared(char ch) // 0-direita 4-esquerda 5-tras
+{
+ tca9548_select_ch(ch);
+ VCNL40x0_Device.ReadProxiOnDemand (&ProxiValue); // read prox value on demand
+
+ return ProxiValue;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////// MOTOR ///////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+
+// Calculo do Duty tem de ser revisto, o motor aguenta 6 V e o max definido aqui ronda os 4.2 V
+// consultar pag 39 e 95
+
+/**
+ * Sets speed and direction of the left motor.
+ *
+ * @param Dir - Direction of movement, 0 for back, or 1 for fron
+ * @param Speed - Percentage of speed of the motor (1..100)
+ *
+ * Note: Because of differences in the motors they need to be calibrated, test the robot going front and back
+ * at different speeds and see if it makes a straigth line
+ */
+void leftMotor(short int Dir,short int Speed)
+{
+ float Duty;
+
+ if(Dir==1) {
+ q_pha_mot_lef=0; //Andar em frente
+ if(Speed>1000) //limite de segurança
+ Speed=1000;
+ if(Speed>0) {
+ Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
+ q_sleep_mot_lef=1; //Nano Sleep Motor Left
+ pwm_mot_lef.pulsewidth_us(Duty*5);
+ } else {
+ q_sleep_mot_lef=0;
+ }
+ }
+ if(Dir==0) {
+ q_pha_mot_lef=1; //Andar para tras
+
+ if(Speed>1000) //limite de segurança
+ Speed=1000;
+ if(Speed>0) {
+ Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
+ q_sleep_mot_lef=1; //Nano Sleep Motor Left
+ pwm_mot_lef.pulsewidth_us(Duty*5);
+ } else {
+ q_sleep_mot_lef=0;
+ }
+ }
+}
+
+
+/**
+ * Sets speed and direction of the right motor.
+ *
+ * @param Dir - Direction of movement, 0 for back, or 1 for fron
+ * @param Speed - Percentage of speed of the motor (1..100)
+ *
+ * Note: Because of differences in the motors they need to be calibrated, test the robot going front and back
+ * at different speeds and see if it makes a straigth line
+ */
+void rightMotor(short int Dir,short int Speed)
+{
+ float Duty;
+
+ if(Dir==1) {
+ q_pha_mot_rig=0; //Andar em frente
+
+ if(Speed>1000) //limite de segurança
+ Speed=1000;
+ if(Speed>0) {
+ Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
+ q_sleep_mot_rig=1; //Nano Sleep Motor Right
+ pwm_mot_rig.pulsewidth_us(Duty*5);
+ } else {
+ q_sleep_mot_rig=0;
+ }
+ }
+ if(Dir==0) {
+ q_pha_mot_rig=1; //Andar para tras
+
+
+ if(Speed>1000) //limite de segurança
+ Speed=1000;
+ if(Speed>0) {
+ Duty=Speed*.082 +35; // 35 = minimo para o motor rodar
+ q_sleep_mot_rig=1; //Nano Sleep Motor Right
+ pwm_mot_rig.pulsewidth_us(Duty*5);
+ } else {
+ q_sleep_mot_rig=0;
+ }
+ }
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////// ENCODER ///////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Reads Position of left magnetic encoder.
+ *
+ * @return The absolute position of the left wheel encoder (0..4095)
+ */
+long int read_L_encoder()
+{
+
+ char data_r_2[5];
+
+ i2c.start();
+ i2c.write(0x6C);
+ i2c.write(0x0C);
+ i2c.read(0x6D,data_r_2,4,0);
+ i2c.stop();
+
+ short int val1=data_r_2[0];
+ short int val2=data_r_2[1];
+ val1=(val1&0xf)*256;
+ long int final=(val2+val1);
+
+ return final;
+}
+
+
+/**
+ * Reads Position of right magnetic encoder.
+ *
+ * @return The absolute position of the right wheel encoder (0..4095)
+ */
+long int read_R_encoder()
+{
+
+ char data_r_2[5];
+
+ i2c1.start();
+ i2c1.write(0x6C);
+ i2c1.write(0x0C);
+ i2c1.read(0x6D,data_r_2,4,0);
+ i2c1.stop();
+
+ short int val1=data_r_2[0];
+ short int val2=data_r_2[1];
+ val1=(val1&0xf)*256;
+ long int final=(val2+val1);
+
+ return final;
+}
+
+
+/**
+ * Calculates and returns the value of the right "incremental" encoder.
+ *
+ * @return The value of "tics" of the right encoder since it was initialized
+ */
+long int incremental_R_encoder()
+{
+ short int next_R=read_R_encoder(); // Reads curent value of the encoder
+ short int dif=next_R-prev_R; // Calculates the diference from last reading
+
+ if(dif>3000) { // Going back and pass zero
+ total_R=total_R-4096+dif;
+ }
+ if(dif<3000&&dif>0) { // Going front
+ total_R=total_R+dif;
+ }
+ if(dif<-3000) { // Going front and pass zero
+ total_R=total_R+4096+dif;
+ }
+ if(dif>-3000&&dif<0) { // going back
+ total_R=total_R+dif;
+ }
+ prev_R=next_R; // Sets last reading for next iteration
+
+ return total_R;
+}
+
+
+/**
+ * Calculates and returns the value of the left "incremental" encoder.
+ *
+ * @return The value of "tics" of the left encoder since it was initialized
+ */
+long int incremental_L_encoder()
+{
+ short int next_L=read_L_encoder(); // Reads curent value of the encoder
+ short int dif=-next_L+prev_L; // Calculates the diference from last reading
+
+ if(dif>3000) { // Going back and pass zero
+ total_L=total_L-4096+dif;
+ }
+ if(dif<3000&&dif>0) { // Going front
+ total_L=total_L+dif;
+ }
+ if(dif<-3000) { // Going front and pass zero
+ total_L=total_L+4096+dif;
+ }
+ if(dif>-3000&&dif<0) { // going back
+ total_L=total_L+dif;
+ }
+ prev_L=next_L; // Sets last reading for next iteration
+
+ return total_L;
+}
+
+
+/**
+ * Calculate the value of both encoder "incremental" every 10 ms.
+ */
+void timer_event() //10ms interrupt
+{
+ timeout.attach(&timer_event,0.01);
+ if(flag==0) {
+ incremental_R_encoder();
+ incremental_L_encoder();
+ }
+ Odometria();
+
+ return;
+}
+
+
+/**
+ * Set the initial position for the "incremental" enconder and "starts" them.
+ */
+void initEncoders()
+{
+ prev_R=read_R_encoder();
+ prev_L=read_L_encoder();
+ timeout.attach(&timer_event,0.01);
+}
+
+
+/**
+ * Returns to the user the value of the right "incremental" encoder.
+ *
+ * @return The value of "tics" of the right encoder since it was initialized
+ */
+long int R_encoder()
+{
+ wait(0.0001);
+
+ return total_R;
+}
+
+/**
+ * Returns to the user the value of the right "incremental" encoder.
+ *
+ * @return The value of "tics" of the right encoder since it was initialized
+ */
+long int L_encoder()
+{
+ wait(0.0001);
+
+ return total_L;
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////// BATTERY ///////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Reads adc of the battery.
+ *
+ * @param addr - Address to read
+ * @return The voltage of the batery
+ */
+long int read16_mcp3424(char addr)
+{
+ char data[4];
+ i2c1.start();
+ i2c1.read(addr,data,3);
+ i2c1.stop();
+
+ return(((data[0]&127)*256)+data[1]);
+}
+
+/**
+ * Reads adc of the battery.
+ *
+ * @param n_bits - Resolution of measure
+ * @param ch - Chose value to read, if voltage or current of solar or batery
+ * @param gain -
+ * @param addr - Address to write to
+ */
+void write_mcp3424(int n_bits, int ch, int gain, char addr) //chanel 1-4 write -> 0xD0
+{
+
+ int chanel_end=(ch-1)<<5; //shift left
+ char n_bits_end=0;
+
+ if(n_bits==12) {
+ n_bits_end=0;
+ } else if(n_bits==14) {
+ n_bits_end=1;
+ } else if(n_bits==16) {
+ n_bits_end=2;
+ } else {
+ n_bits_end=3;
+ }
+ n_bits_end=n_bits_end<<2; //shift left
+
+ char data[1];
+ data[0]= (char)chanel_end | (char)n_bits_end | (char)(gain-1) | 128;
+ i2c1.start();
+ i2c1.write(addr,data,1);
+ i2c1.stop();
+}
+
+
+/**
+ * Reads adc of the battery.
+ *
+ * @return The voltage of the batery
+ */
+float value_of_Batery()
+{
+ float R1=75000.0;
+ float R2=39200.0;
+ float R3=178000.0;
+ float Gain=1.0;
+ write_mcp3424(16,3,1,0xd8);
+ float cha3_v2=read16_mcp3424(0xd9); //read voltage
+ float Vin_v_battery=(((cha3_v2*2.048)/32767))/Gain;
+ float Vin_b_v_battery=(-((-Vin_v_battery)*(R1*R2 + R1*R3 + R2*R3))/(R1*R2));
+ Vin_b_v_battery=(Vin_b_v_battery-0.0)*1.00268;
+
+ return Vin_b_v_battery;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////// RF COMUNICATION ///////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+
+
+/**
+ * Initializes the NRF24 module for comunication.
+ *
+ * Note: if the module is broken or badly connected this init will cause the code to stop,
+ * if all these messages don't appear thats the case
+ */
+void config_init_nrf()
+{
+ my_nrf24l01p.powerUp(); // powers module
+ my_nrf24l01p.setRfFrequency (2400); // channel 0 (2400-0 ... 2516-116)
+ my_nrf24l01p.setTransferSize(10); // number of bytes to be transfer
+ my_nrf24l01p.setCrcWidth(8);
+ my_nrf24l01p.enableAutoAcknowledge(NRF24L01P_PIPE_P0); // pipe where data transfer occurs (0..6)
+ pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", my_nrf24l01p.getRfFrequency() );
+ pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
+ pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
+ pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
+ pc.printf( "nRF24L01+ CrC Width : %d CrC\r\n", my_nrf24l01p.getCrcWidth() );
+ pc.printf( "nRF24L01+ TransferSize : %d Paket Size\r\n", my_nrf24l01p.getTransferSize () );
+ my_nrf24l01p.setReceiveMode();
+ my_nrf24l01p.enable();
+ pc.printf( "Setup complete, Starting While loop\r\n");
+}
+
+
+/**
+ * Receives a number from the Arduino.
+ *
+ * @return The value send by the arduino
+ */
+double receiveValue(void)
+{
+ char temp[4];
+ double Val;
+ bool ok=0;
+ my_nrf24l01p.setTransferSize(4);
+ my_nrf24l01p.setReceiveMode();
+ my_nrf24l01p.enable();
+ do {
+ if(my_nrf24l01p.readable(NRF24L01P_PIPE_P0)) {
+ ok = my_nrf24l01p.read( NRF24L01P_PIPE_P0,temp, 4);
+ }
+ } while(ok==0);
+
+ //transformation of temp to convert to original value
+ if(temp[0]==0) // if first elemente is 0 then its negative
+ Val = double(-(int(temp[1])+int(temp[2])*255+int(temp[3])*255*255));
+ else // else its positive
+ Val = double(int(temp[1])+int(temp[2])*255+int(temp[3])*255*255);
+
+ return Val;
+}
+
+
+/**
+ * Sends a number to the Arduino
+ *
+ * @param Value - number to be sent to the Arduino
+ */
+void sendValue(long int Value)
+{
+ bool ok=0; // comunication sucess, o if failed 1 if sucessfull
+ // double math=Value/65025; // temporary variable save results
+ int zero=1; // 1 byte, ( - ) if 0 ( + ) if 1
+ int one=0; // 2 byte (0..255), multiplied by 1
+ int two=0; // 3 byte (0..255), multiplied by 255
+ int three=0; // 4 byte (0..255), multiplied by 255*255
+
+//transformation of Value to send correctly through pipe
+ if (Value<0) {
+ zero=0;
+ Value=abs(Value);
+ }
+ // Value=abs(Value);
+
+ double math=Value/65025; // temporary variable save results
+
+ if(math<1) {
+ math=Value/255;
+ if(math<1) {
+ two=0;
+ one=Value;
+ } else {
+ two=(int)math;
+ one=Value % 255;
+ }
+ } else {
+ three=(int)math;
+ math=Value/255;
+ if(math<1) {
+ two=0;
+ one=Value;
+ } else {
+ two=(int)math;
+ one=Value % 255;
+ }
+ }
+ char temp[4]= {(int)zero,(int)one,(int)two,(int)three};
+
+ // Apagar depois de testar mais vezes
+ // pc.printf("1 inidice...%i...\r", temp[0]);
+ // pc.printf("2 inidice...%i...\r", temp[1]);
+ // pc.printf("3 inidice...%i...\r", temp[2]);
+ // pc.printf("4 inidice...%i...\r", temp[3]);
+
+ my_nrf24l01p.setTransferSize(4);
+ my_nrf24l01p.setTransmitMode();
+ my_nrf24l01p.enable();
+ do {
+ ok = my_nrf24l01p.write( NRF24L01P_PIPE_P0,temp, 4);
+ if(ok==1)
+ pc.printf("Done.....%i...\r", Value);
+ else {
+ pc.printf("Failed\r");
+ wait(1);
+ }
+ } while(ok==0);
+}
+
+/**
+ * Sends matrix to arduino.
+ *
+ * @param matrix - Matrix of numbers to send [0..255]
+ * @param row - Number of rows
+ * @param column - Number of columns
+ */
+void sendMatrix(int (*matrix)[18],int row , int column)
+{
+ short ok=0;
+ short int i =0;
+ short int j=0;
+ short int byte=0;
+ int members=column*row;
+ char message[32]= {0};
+ pc.printf("J ...%d... \r",members);
+
+ my_nrf24l01p.setTransferSize(32);
+ my_nrf24l01p.setTransmitMode();
+ my_nrf24l01p.enable();
+
+ do {
+ int* point = matrix[j];
+
+ do {
+ message[byte]= point[i];
+ if (byte==31 || (i+1)*(j+1)==members) {
+
+ do {
+ ok = my_nrf24l01p.write( NRF24L01P_PIPE_P0,message, 32);
+ if(ok==0)
+ wait(1);
+
+ } while(ok==0);
+
+ byte=-1;
+ }
+
+ byte++;
+ i++;
+
+ } while(i<column);
+
+ i=0;
+ j++;
+ } while(j<row);
+
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////// Sonar ////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+// Commands of operation with ultrasonic module
+
+// WRITE OPTION:
+// ENABLE DC DC CONVERTER - 0x0C;
+// DISABLE DC DC CONVERTER - 0x0B;
+// START MEASURE LEFT SENSOR - 0x0A;
+// START MEASURE FRONT SENSOR - 0x09;
+// START MEASURE RIGHT SENSOR - 0x08;
+// SENSORS ALWAYS MEASURE ON - 0x07;
+// SENSORS ALWAYS MEASURE OFF - 0x06;
+
+// READ OPTION:
+// GET MEASURE OF LEFT SENSOR - 0x05;
+// GET MEASURE OF FRONT SENSOR - 0x04;
+// GET MEASURE OF IGHT SENSOR - 0x03;
+// GET STATUS SENSORS ALWAYS MEASURE - 0x02;
+// GET STATUS DC DC CONVERTER - 0x01;
+
+void enable_dc_dc_boost()
+{
+ char data[1];
+ data[0]= 0x0C;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+
+void disable_dc_dc_boost()
+{
+ char data[1];
+ data[0]= 0x0B;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+
+void start_read_left_sensor()
+{
+ char data[1];
+ data[0]= 0x0A;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+
+void start_read_front_sensor()
+{
+ char data[1];
+ data[0]= 0x09;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+
+void start_read_right_sensor()
+{
+ char data[1];
+ data[0]= 0x08;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+
+void measure_always_on() // left, front, right
+{
+ char data[1];
+ data[0]= 0x07;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+
+void measure_always_off()
+{
+ char data[1];
+ data[0]= 0x06;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data,1);
+ i2c1.stop();
+}
+
+/**
+ * Returns left sensor value
+ */
+static unsigned int get_distance_left_sensor()
+{
+
+ static char data_r[3];
+ static unsigned int aux;
+ flag=1;
+
+ data_r[0]= 0x05;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data_r,1);
+ i2c1.stop();
+ wait_ms(10);
+ i2c1.start();
+ i2c1.read(0x31,data_r,2,0);
+ i2c1.stop();
+
+ aux=(data_r[0]*256)+data_r[1];
+ flag=0;
+ return aux;
+ // sensor_left=aux;
+ // pc.printf("\nDistance Left Sensor: %u mm",aux); //0 - 2500mm
+
+}
+
+
+/**
+ * Returns front sensor value
+ */
+static unsigned int get_distance_front_sensor()
+{
+
+ static char data_r[3];
+ static unsigned int aux;
+ flag=1;
+ data_r[0]= 0x04;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data_r,1);
+ i2c1.stop();
+ wait_ms(10);
+ i2c1.start();
+ i2c1.read(0x31,data_r,2,0);
+ i2c1.stop();
+
+ aux=(data_r[0]*256)+data_r[1];
+ flag=0;
+ return aux;
+ // sensor_front=aux;
+ // pc.printf("\nDistance Front Sensor: %u mm",aux); //0 - 2500mm
+
+}
+
+
+/**
+ * Returns right sensor value
+ */
+static unsigned int get_distance_right_sensor()
+{
+
+ static char data_r[3];
+ static unsigned int aux;
+ flag=1;
+
+ data_r[0]= 0x03;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data_r,1);
+ i2c1.stop();
+ wait_ms(10);
+ i2c1.start();
+ i2c1.read(0x31,data_r,2,0);
+ i2c1.stop();
+
+ aux=(data_r[0]*256)+data_r[1];
+ flag=0;
+ return aux;
+ // sensor_right=aux;
+ // pc.printf("\nDistance Right Sensor: %u \r",aux); //0 - 2500mm
+
+}
+
+
+void get_status_always_measure()
+{
+
+ static char data_r[3];
+ static unsigned int aux;
+
+ data_r[0]= 0x02;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data_r,1);
+ i2c1.stop();
+ wait_ms(10);
+ i2c1.start();
+ i2c1.read(0x31,data_r,2,0);
+ i2c1.stop();
+
+ aux=data_r[0];
+ pc.printf("\nStatus of read always on/off: %u ",aux); //0 (off) - 1 (on)
+
+}
+
+
+void get_status_dcdc_converter()
+{
+
+ static char data_r[3];
+ static unsigned int aux;
+
+ data_r[0]= 0x01;
+ wait_ms(1);
+ i2c1.start();
+ i2c1.write(0x30,data_r,1);
+ i2c1.stop();
+ wait_ms(10);
+ i2c1.start();
+ i2c1.read(0x31,data_r,2,0);
+ i2c1.stop();
+
+ aux=data_r[0];
+ pc.printf("\nStatus of DC/DC Converter: %u ",aux); //0 (off) - 1 (on)
+
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////// MISC. ////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+
+
+/**
+ * Initializes the necessary robot pins
+ */
+void init_robot_pins()
+{
+
+ //SAIDAS DIGITAIS (normal)
+ //q_pha_mot_rig=0; //Phase Motor Right
+ //q_sleep_mot_rig=0; //Nano Sleep Motor Right
+ //q_pha_mot_lef=0; //Phase Motor Left
+ //q_sleep_mot_lef=0; //Nano Sleep Motor Left
+ //q_pow_ena_i2c_p=0; //Power Enable i2c FET P
+ //q_pow_ena_mic_p=0; //Power enable Micro FET P
+ //q_pow_as5600_n=1; //AS5600 Power MOSFET N
+ //q_pow_as5600_p=0; //AS5600 Power MOSFET P
+ //q_pow_spi=0; //SPI Power MOSFET P
+ //q_ena_mppt=0; //Enable MPPT Control
+ //q_boost_ps=1; //Boost Power Save
+ //q_tca9548_reset=1; //Reset TCA9548
+
+ //SAIDAS DIGITAIS (normal)
+ q_pha_mot_rig=0; //Phase Motor Right
+ q_sleep_mot_rig=0; //Nano Sleep Motor Right
+ q_pha_mot_lef=0; //Phase Motor Left
+ q_sleep_mot_lef=0; //Nano Sleep Motor Left
+
+ q_pow_ena_i2c_p=0; //Power Enable i2c FET P
+ q_pow_ena_mic_p=0; //Power enable Micro FET P
+ q_pow_as5600_p=0; //AS5600 Power MOSFET P
+ // q_pow_spi=0; //SPI Power MOSFET P
+ q_pow_as5600_n=1; //AS5600 Power MOSFET N
+
+
+ q_ena_mppt=0; //Enable MPPT Control
+ q_boost_ps=1; //Boost Power Save
+ q_tca9548_reset=1; //Reset TCA9548
+
+ //Leds caso seja saida digital:
+ q_led_red_fro=1; //Led Red Front (led off)
+ q_led_gre_fro=1; //Led Green Front (led off)
+ q_led_blu_fro=1; //Led Blue Front (led off)
+ q_led_red_rea=1; //Led Red Rear (led off)
+ q_led_gre_rea=1; //Led Green Rear (led off)
+ q_led_blu_rea=1; //Led Blue Rear (led off)r
+
+
+//********************************************************************
+ //SAIDAS DIGITAIS (pwm)
+ //PWM Enable Motor Right
+ pwm_mot_rig.period_us(500);
+ pwm_mot_rig.pulsewidth_us(0);
+
+ //PWM Enable Motor Left
+ pwm_mot_lef.period_us(500);
+ pwm_mot_lef.pulsewidth_us(0);
+
+ //Buzzer PWM
+ pwm_buzzer.period_us(500);
+ pwm_buzzer.pulsewidth_us(0);
+
+ //LED white
+ pwm_led_whi.period_us(500);
+ pwm_led_whi.pulsewidth_us(0);
+
+}
+
+
+/**
+ * Initializes all the pins and all the modules necessary
+ */
+void initRobot(void)
+{
+ init_robot_pins();
+ enable_dc_dc_boost();
+ init_Infrared();
+ initEncoders();
+ config_init_nrf();
+ enable_dc_dc_boost();
+ wait_ms(100); //wait for read wait(>=150ms);
+ measure_always_on();
+ float value = value_of_Batery();
+ pc.printf("Initialization Successful \n\r");
+ pc.printf("Battery level: %f \n\r",value);
+ if(value < 3.0) {
+ pc.printf(" WARNING: BATTERY NEEDS CHARGING ");
+ }
+
+ // float level = value_of_Batery();
+ // sendValue(int(level*100));
+
+}
+
+
+////////////////////////////////////////////////////
+
+/**
+ * Updates the position and orientation of the robot based on the data from the encoders
+ *
+ * Note: Needs to be calibrated for each robot, in this case the radius of the whells is 3.55
+ * and the distance between them is 7.4
+ */
+void Odometria()
+{
+ long int ticks1d=R_encoder();
+ long int ticks1e=L_encoder();
+
+ long int D_ticks=ticks1d - ticks2d;
+ long int E_ticks=ticks1e - ticks2e;
+
+ ticks2d=ticks1d;
+ ticks2e=ticks1e;
+
+ float D_cm= (float)D_ticks*((3.25*3.1415)/4096);
+ float L_cm= (float)E_ticks*((3.25*3.1415)/4096);
+
+ float CM=(D_cm + L_cm)/2;
+
+ theta +=(D_cm - L_cm)/7.18;
+
+ theta = atan2(sin(theta), cos(theta));
+
+ // meter entre 0
+
+ X += CM*cos(theta);
+ Y += CM*sin(theta);
+
+}
\ No newline at end of file