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Fork of Boboobooov5 by
main.cpp@21:9b00595af99a, 2014-07-06 (annotated)
- Committer:
- fhcrcmars
- Date:
- Sun Jul 06 12:37:48 2014 +0000
- Revision:
- 21:9b00595af99a
- Parent:
- 20:30799cbda86b
- Child:
- 22:25602957d6bf
v6
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
backman | 0:68c173249c01 | 1 | #include "mbed.h" |
backman | 11:418e39749f48 | 2 | #include "rtos.h" |
fhcrcmars | 21:9b00595af99a | 3 | //#include "controller.h" |
fhcrcmars | 21:9b00595af99a | 4 | //#include "servo_api.h" |
backman | 1:82bc25a7b68b | 5 | #include "camera_api.h" |
fhcrcmars | 21:9b00595af99a | 6 | //#include "motor_api.h" |
fhcrcmars | 21:9b00595af99a | 7 | //#include "pot.h" |
fhcrcmars | 21:9b00595af99a | 8 | //#include "TSISensor.h" |
fhcrcmars | 21:9b00595af99a | 9 | //#include "Stack.h" |
backman | 3:c5f2281b3ed2 | 10 | |
backman | 3:c5f2281b3ed2 | 11 | #define Debug_cam_uart |
fhcrcmars | 21:9b00595af99a | 12 | #define L_eye |
fhcrcmars | 21:9b00595af99a | 13 | #define R_eye |
fhcrcmars | 21:9b00595af99a | 14 | //#define motor_on |
fhcrcmars | 21:9b00595af99a | 15 | //#define Pcontroller |
backman | 19:4869b10a962e | 16 | //#define task_ma_time |
backman | 11:418e39749f48 | 17 | |
fhcrcmars | 21:9b00595af99a | 18 | //#define R_target 64 |
fhcrcmars | 21:9b00595af99a | 19 | //#define L_target 64 |
backman | 14:2d90b0066fc6 | 20 | |
fhcrcmars | 21:9b00595af99a | 21 | #define t_cam 6 |
fhcrcmars | 21:9b00595af99a | 22 | |
fhcrcmars | 21:9b00595af99a | 23 | //#define black_center 64 |
fhcrcmars | 21:9b00595af99a | 24 | |
fhcrcmars | 21:9b00595af99a | 25 | |
fhcrcmars | 21:9b00595af99a | 26 | Serial pc(USBTX, USBRX); // tx, rx |
backman | 14:2d90b0066fc6 | 27 | |
backman | 14:2d90b0066fc6 | 28 | |
backman | 14:2d90b0066fc6 | 29 | |
fhcrcmars | 21:9b00595af99a | 30 | //BX_servo servo; |
backman | 6:5a39bde2e016 | 31 | |
backman | 14:2d90b0066fc6 | 32 | BX_camera cam(0); |
backman | 0:68c173249c01 | 33 | |
fhcrcmars | 21:9b00595af99a | 34 | //BX_motor MotorA('A'); |
fhcrcmars | 21:9b00595af99a | 35 | //BX_motor MotorB('B'); |
backman | 3:c5f2281b3ed2 | 36 | |
fhcrcmars | 21:9b00595af99a | 37 | //BX_pot pot1('1'); |
fhcrcmars | 21:9b00595af99a | 38 | //BX_pot pot2('2'); |
backman | 7:fd976e1ced33 | 39 | |
backman | 9:33b99cb45e99 | 40 | // 90/30=3 |
fhcrcmars | 21:9b00595af99a | 41 | //PID cam_to_M_ctrlr(10.0,118.0,0.046,0.083,0.083-0.046,0.00,0.00,10); |
backman | 7:fd976e1ced33 | 42 | |
fhcrcmars | 21:9b00595af99a | 43 | /*#ifdef task_ma_time |
backman | 19:4869b10a962e | 44 | DigitalOut cam_p(PTE5); //cam black |
backman | 19:4869b10a962e | 45 | DigitalOut servo_p(PTE4); //servo coffee |
backman | 19:4869b10a962e | 46 | DigitalOut idle_p (PTE3); |
backman | 19:4869b10a962e | 47 | //DigitalOut de_p(PTD3); // red |
backman | 18:eb675df59c7f | 48 | #endif |
backman | 9:33b99cb45e99 | 49 | TSISensor tsi; |
fhcrcmars | 21:9b00595af99a | 50 | */ |
backman | 11:418e39749f48 | 51 | //os |
backman | 11:418e39749f48 | 52 | Mutex stdio_mutex; |
backman | 11:418e39749f48 | 53 | |
backman | 11:418e39749f48 | 54 | |
backman | 14:2d90b0066fc6 | 55 | |
backman | 18:eb675df59c7f | 56 | //global resource |
backman | 18:eb675df59c7f | 57 | |
fhcrcmars | 21:9b00595af99a | 58 | //static int pre_b_r_c; |
backman | 15:585df3979be8 | 59 | |
backman | 11:418e39749f48 | 60 | void cam_thread(void const *args){ |
backman | 9:33b99cb45e99 | 61 | |
backman | 11:418e39749f48 | 62 | while(true){ |
fhcrcmars | 21:9b00595af99a | 63 | cam.read(); |
backman | 19:4869b10a962e | 64 | |
backman | 19:4869b10a962e | 65 | int b_r_c,b_l_c; |
backman | 19:4869b10a962e | 66 | b_r_c=cam.black_centerR(); |
fhcrcmars | 21:9b00595af99a | 67 | b_l_c=cam.black_centerL(); |
fhcrcmars | 21:9b00595af99a | 68 | |
fhcrcmars | 21:9b00595af99a | 69 | Thread::wait(t_cam); |
fhcrcmars | 21:9b00595af99a | 70 | } |
backman | 11:418e39749f48 | 71 | } |
backman | 19:4869b10a962e | 72 | |
backman | 11:418e39749f48 | 73 | void de_thread(void const *args){ |
backman | 9:33b99cb45e99 | 74 | |
backman | 11:418e39749f48 | 75 | while(1){ |
backman | 11:418e39749f48 | 76 | |
backman | 18:eb675df59c7f | 77 | |
fhcrcmars | 21:9b00595af99a | 78 | cam.read(); |
backman | 11:418e39749f48 | 79 | stdio_mutex.lock(); |
backman | 11:418e39749f48 | 80 | #ifdef Debug_cam_uart |
backman | 11:418e39749f48 | 81 | #ifdef L_eye |
backman | 17:3dac99cf2b89 | 82 | pc.printf("L: "); |
fhcrcmars | 21:9b00595af99a | 83 | for(int i=127;i>=0;i--){ |
fhcrcmars | 21:9b00595af99a | 84 | if(i==64||i==0||i==127) |
backman | 12:fdada4af384a | 85 | pc.printf("X"); |
backman | 11:418e39749f48 | 86 | else |
backman | 13:63f9a5101205 | 87 | pc.printf("%c", cam.sign_line_imageL[i]); |
backman | 11:418e39749f48 | 88 | } |
backman | 13:63f9a5101205 | 89 | |
fhcrcmars | 21:9b00595af99a | 90 | pc.printf(" || "); |
backman | 11:418e39749f48 | 91 | #endif |
backman | 11:418e39749f48 | 92 | #ifdef R_eye |
backman | 12:fdada4af384a | 93 | pc.printf("R: "); |
fhcrcmars | 21:9b00595af99a | 94 | for(int i=127;i>=0;i--){ |
fhcrcmars | 21:9b00595af99a | 95 | if(i==64||i==0||i==127) |
backman | 12:fdada4af384a | 96 | pc.printf("X"); |
backman | 11:418e39749f48 | 97 | else |
backman | 12:fdada4af384a | 98 | pc.printf("%c", cam.sign_line_imageR[i]); |
backman | 11:418e39749f48 | 99 | } |
backman | 17:3dac99cf2b89 | 100 | #endif |
fhcrcmars | 21:9b00595af99a | 101 | //pc.printf("\r\n"); |
fhcrcmars | 21:9b00595af99a | 102 | pc.printf(" \r\n Lcenter :%d Rcenter :%d \r\n",cam.black_centerL(),cam.black_centerR()); |
backman | 17:3dac99cf2b89 | 103 | |
backman | 15:585df3979be8 | 104 | |
backman | 19:4869b10a962e | 105 | |
backman | 11:418e39749f48 | 106 | stdio_mutex.unlock(); |
backman | 1:82bc25a7b68b | 107 | |
backman | 1:82bc25a7b68b | 108 | |
backman | 18:eb675df59c7f | 109 | |
backman | 18:eb675df59c7f | 110 | #ifdef task_ma_time |
backman | 19:4869b10a962e | 111 | //de_p=1; |
backman | 18:eb675df59c7f | 112 | #endif |
backman | 11:418e39749f48 | 113 | |
backman | 7:fd976e1ced33 | 114 | |
backman | 7:fd976e1ced33 | 115 | |
backman | 11:418e39749f48 | 116 | #endif |
backman | 19:4869b10a962e | 117 | Thread::wait(10); |
backman | 7:fd976e1ced33 | 118 | |
backman | 11:418e39749f48 | 119 | |
backman | 11:418e39749f48 | 120 | } |
backman | 11:418e39749f48 | 121 | |
backman | 11:418e39749f48 | 122 | } |
backman | 11:418e39749f48 | 123 | |
backman | 11:418e39749f48 | 124 | |
backman | 11:418e39749f48 | 125 | int main() { |
backman | 11:418e39749f48 | 126 | |
backman | 11:418e39749f48 | 127 | // baud rate init --- no function |
backman | 12:fdada4af384a | 128 | |
fhcrcmars | 21:9b00595af99a | 129 | //servo.set_angle(0.055); |
backman | 12:fdada4af384a | 130 | pc.baud(115200); |
backman | 20:30799cbda86b | 131 | |
fhcrcmars | 21:9b00595af99a | 132 | // Thread th_c(cam_thread); |
fhcrcmars | 21:9b00595af99a | 133 | Thread th_de(de_thread); |
backman | 12:fdada4af384a | 134 | |
fhcrcmars | 21:9b00595af99a | 135 | while(1){ |
fhcrcmars | 21:9b00595af99a | 136 | Thread::wait(500); |
fhcrcmars | 21:9b00595af99a | 137 | } |
backman | 1:82bc25a7b68b | 138 | return 0; |
backman | 0:68c173249c01 | 139 | |
backman | 0:68c173249c01 | 140 | |
backman | 0:68c173249c01 | 141 | } |