Huseyin Erdem / Mbed 2 deprecated PiSwarmTableController

Table controller for piswarm-office

Dependencies:   mbed

Fork of PiSwarmTableController by piswarm

main.cpp@3:bc7a0f14b28a, 2014-06-10 (annotated)

Committer:
jah128
Date:
Tue Jun 10 11:08:58 2014 +0000
Revision:
3:bc7a0f14b28a
Parent:
2:c81f4ef63132
Child:
4:3cbff30b7b7b
Pi Swarm Table Controller with IR Beacon\RF demo code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d88fd55a27a6 1 /* University of York Robot Lab
jah128 0:d88fd55a27a6 2 *
jah128 1:e4a0d424ac8d 3 * Pi Swarm Table Controller Demo Code
jah128 0:d88fd55a27a6 4 *
jah128 1:e4a0d424ac8d 5 * This file is intended for use exclusively with the Pi Swarm Table Controller (PCB 1.0)
jah128 0:d88fd55a27a6 6 *
jah128 0:d88fd55a27a6 7 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:d88fd55a27a6 8 *
jah128 1:e4a0d424ac8d 9 * May 2014
jah128 0:d88fd55a27a6 10 *
jah128 0:d88fd55a27a6 11 */
jah128 0:d88fd55a27a6 12
jah128 0:d88fd55a27a6 13 #include "mbed.h"
jah128 2:c81f4ef63132 14 #include "main.h"
jah128 2:c81f4ef63132 15 #include "communications.h"
jah128 0:d88fd55a27a6 16 #include "display.h" //Display driver for the Midas 16x2 I2C Display
jah128 0:d88fd55a27a6 17
jah128 2:c81f4ef63132 18
jah128 1:e4a0d424ac8d 19 PwmOut ir_pwm_out(p21); //PWM Output for the IR LED driver
jah128 1:e4a0d424ac8d 20 DigitalOut ir_led(LED1);
jah128 2:c81f4ef63132 21 DigitalOut tx_led(LED3);
jah128 1:e4a0d424ac8d 22 DigitalOut pir_led(LED4);
jah128 1:e4a0d424ac8d 23 AnalogIn input_1(p20);
jah128 1:e4a0d424ac8d 24 AnalogIn input_2(p19);
jah128 1:e4a0d424ac8d 25 DigitalIn input_3(p18);
jah128 1:e4a0d424ac8d 26 DigitalIn input_4(p17);
jah128 1:e4a0d424ac8d 27 DigitalIn input_5(p16);
jah128 1:e4a0d424ac8d 28 DigitalIn input_6(p15);
jah128 2:c81f4ef63132 29 Serial pc (USBTX, USBRX);
jah128 0:d88fd55a27a6 30
jah128 0:d88fd55a27a6 31 Display display;
jah128 2:c81f4ef63132 32 Alpha433 rf;
jah128 3:bc7a0f14b28a 33 Timer ir_led_timer; //System timer is used for timer the on-off periods for the LEDs
jah128 3:bc7a0f14b28a 34 Timer command_timer; //Timer for sending rf messages
jah128 1:e4a0d424ac8d 35 Ticker polling_ticker; //Ticker for polling the input sensors
jah128 0:d88fd55a27a6 36
jah128 3:bc7a0f14b28a 37 int off_period = 975000; //Off-period for the IR LEDs in microseconds
jah128 3:bc7a0f14b28a 38 int on_period = 25000; //On-period for the IR LEDs in microseconds
jah128 2:c81f4ef63132 39 char power = 1; //Output power for the IR LEDs : 0=25%, 1=50%, 2=75%, 3=100% (700mA) [NB The LEDs are rated 20mA and are in parallel runs of 20, so a maximum power of 50% is recommended for long term use]
jah128 2:c81f4ef63132 40 char use_ir_leds = 1; //Set to 0 to disable IR LEDs, 1 to enable
jah128 2:c81f4ef63132 41
jah128 2:c81f4ef63132 42 char input_3_active = 0;
jah128 2:c81f4ef63132 43 char input_4_active = 0;
jah128 2:c81f4ef63132 44 char input_5_active = 0;
jah128 2:c81f4ef63132 45 char input_6_active = 0;
jah128 2:c81f4ef63132 46
jah128 2:c81f4ef63132 47 int input_3_window = 0;
jah128 2:c81f4ef63132 48 int input_4_window = 0;
jah128 2:c81f4ef63132 49 int input_5_window = 0;
jah128 2:c81f4ef63132 50 int input_6_window = 0;
jah128 2:c81f4ef63132 51
jah128 2:c81f4ef63132 52 float polling_rate = 0.1; // Period in seconds to poll sensors
jah128 2:c81f4ef63132 53 int polling_decay = 300; // Number of polls to decrement counters
jah128 2:c81f4ef63132 54 int polling_count = 0;
jah128 0:d88fd55a27a6 55
jah128 3:bc7a0f14b28a 56 void broadcast_user_rf_command(int function, char * message, int length)
jah128 0:d88fd55a27a6 57 {
jah128 3:bc7a0f14b28a 58 //This function augments the communications stack
jah128 3:bc7a0f14b28a 59 //It sends a 'user' RF command to all members (ie target_id = 0)
jah128 3:bc7a0f14b28a 60 //It sends a 'request', not a 'command', meaning it will still be handled if commands are disabled (RF_ALLOW_COMMANDS set to 0, recommended)
jah128 3:bc7a0f14b28a 61 //It takes three inputs:
jah128 3:bc7a0f14b28a 62 // * function (an integer from 0 to 15)
jah128 3:bc7a0f14b28a 63 // * message (a char array)
jah128 3:bc7a0f14b28a 64 // * length (length of message in bytes)
jah128 3:bc7a0f14b28a 65 send_rf_message(0,48+(function % 16),message,length);
jah128 0:d88fd55a27a6 66 }
jah128 3:bc7a0f14b28a 67
jah128 0:d88fd55a27a6 68
jah128 1:e4a0d424ac8d 69 int get_output_power(){
jah128 1:e4a0d424ac8d 70 switch(power){
jah128 1:e4a0d424ac8d 71 case 1: return 500;
jah128 1:e4a0d424ac8d 72 case 2: return 750;
jah128 1:e4a0d424ac8d 73 case 3: return 1000;
jah128 1:e4a0d424ac8d 74 }
jah128 1:e4a0d424ac8d 75 return 250;
jah128 0:d88fd55a27a6 76 }
jah128 0:d88fd55a27a6 77
jah128 1:e4a0d424ac8d 78 void polling(){
jah128 2:c81f4ef63132 79 polling_count ++;
jah128 2:c81f4ef63132 80 char pir_active = 0;
jah128 2:c81f4ef63132 81 char state_changed = 0;
jah128 2:c81f4ef63132 82 if(input_3.read()==1){
jah128 2:c81f4ef63132 83 pir_active = 1;
jah128 2:c81f4ef63132 84 if(input_3_active == 0){
jah128 2:c81f4ef63132 85 state_changed = 1;
jah128 2:c81f4ef63132 86 input_3_active = 1;
jah128 2:c81f4ef63132 87 input_3_window ++;
jah128 2:c81f4ef63132 88 }
jah128 2:c81f4ef63132 89 }else {
jah128 2:c81f4ef63132 90 input_3_active = 0;
jah128 2:c81f4ef63132 91 if(polling_count == polling_decay){
jah128 2:c81f4ef63132 92 input_3_window --;
jah128 2:c81f4ef63132 93 if(input_3_window < 0) input_3_window = 0;
jah128 2:c81f4ef63132 94 }
jah128 2:c81f4ef63132 95 }
jah128 2:c81f4ef63132 96
jah128 2:c81f4ef63132 97 if(input_4.read()==1){
jah128 2:c81f4ef63132 98 pir_active = 1;
jah128 2:c81f4ef63132 99 if(input_4_active == 0){
jah128 2:c81f4ef63132 100 state_changed = 1;
jah128 2:c81f4ef63132 101 input_4_active = 1;
jah128 2:c81f4ef63132 102 input_4_window ++;
jah128 2:c81f4ef63132 103 }
jah128 2:c81f4ef63132 104 }else {
jah128 2:c81f4ef63132 105 input_4_active = 0;
jah128 2:c81f4ef63132 106 if(polling_count == polling_decay){
jah128 2:c81f4ef63132 107 input_4_window --;
jah128 2:c81f4ef63132 108 if(input_4_window < 0) input_4_window = 0;
jah128 2:c81f4ef63132 109 }
jah128 2:c81f4ef63132 110 }
jah128 2:c81f4ef63132 111
jah128 2:c81f4ef63132 112 if(input_5.read()==1){
jah128 2:c81f4ef63132 113 pir_active = 1;
jah128 2:c81f4ef63132 114 if(input_5_active == 0){
jah128 2:c81f4ef63132 115 state_changed = 1;
jah128 2:c81f4ef63132 116 input_5_active = 1;
jah128 2:c81f4ef63132 117 input_5_window ++;
jah128 2:c81f4ef63132 118 }
jah128 2:c81f4ef63132 119 }else {
jah128 2:c81f4ef63132 120 input_5_active = 0;
jah128 2:c81f4ef63132 121 if(polling_count == polling_decay){
jah128 2:c81f4ef63132 122 input_5_window --;
jah128 2:c81f4ef63132 123 if(input_5_window < 0) input_5_window = 0;
jah128 2:c81f4ef63132 124 }
jah128 2:c81f4ef63132 125 }
jah128 2:c81f4ef63132 126
jah128 2:c81f4ef63132 127 if(input_6.read()==1){
jah128 2:c81f4ef63132 128 pir_active = 1;
jah128 2:c81f4ef63132 129 if(input_6_active == 0){
jah128 2:c81f4ef63132 130 state_changed = 1;
jah128 2:c81f4ef63132 131 input_6_active = 1;
jah128 2:c81f4ef63132 132 input_6_window ++;
jah128 2:c81f4ef63132 133 }
jah128 2:c81f4ef63132 134 }else {
jah128 2:c81f4ef63132 135 input_6_active = 0;
jah128 2:c81f4ef63132 136 if(polling_count == polling_decay){
jah128 2:c81f4ef63132 137 input_6_window --;
jah128 2:c81f4ef63132 138 if(input_6_window < 0) input_6_window = 0;
jah128 2:c81f4ef63132 139 }
jah128 2:c81f4ef63132 140 }
jah128 2:c81f4ef63132 141
jah128 2:c81f4ef63132 142 pir_led=pir_active;
jah128 2:c81f4ef63132 143 if(polling_count == polling_decay) {
jah128 2:c81f4ef63132 144 polling_count = 0;
jah128 2:c81f4ef63132 145 state_changed = 1;
jah128 2:c81f4ef63132 146 }
jah128 2:c81f4ef63132 147 if(state_changed == 1){
jah128 2:c81f4ef63132 148 display.clear_display();
jah128 2:c81f4ef63132 149 display.set_position(0,0);
jah128 2:c81f4ef63132 150 char text [17];
jah128 2:c81f4ef63132 151 snprintf(text,17,"3:%i 4:%i 5:%i 6:%i",input_3_window,input_4_window,input_5_window,input_6_window);
jah128 2:c81f4ef63132 152 display.write_string(text,16);
jah128 2:c81f4ef63132 153 }
jah128 0:d88fd55a27a6 154 }
jah128 0:d88fd55a27a6 155
jah128 0:d88fd55a27a6 156 int main()
jah128 0:d88fd55a27a6 157 {
jah128 0:d88fd55a27a6 158 init();
jah128 1:e4a0d424ac8d 159 char phase = 0;
jah128 3:bc7a0f14b28a 160 char motor_step = 0;
jah128 3:bc7a0f14b28a 161 ir_led_timer.start();
jah128 3:bc7a0f14b28a 162 //command_timer.start();
jah128 1:e4a0d424ac8d 163 ir_pwm_out.period_us(1000);
jah128 1:e4a0d424ac8d 164 ir_pwm_out.pulsewidth_us(0);
jah128 1:e4a0d424ac8d 165 polling_ticker.attach(&polling,0.1);
jah128 1:e4a0d424ac8d 166
jah128 0:d88fd55a27a6 167
jah128 0:d88fd55a27a6 168 while(1) {
jah128 3:bc7a0f14b28a 169 if(command_timer.read_us() > 500000){
jah128 3:bc7a0f14b28a 170 command_timer.reset();
jah128 3:bc7a0f14b28a 171 motor_step ++;
jah128 3:bc7a0f14b28a 172 if(motor_step > 4) motor_step = 0;
jah128 3:bc7a0f14b28a 173 switch(motor_step){
jah128 3:bc7a0f14b28a 174 case 0: broadcast_user_rf_command(0,"Hello",5);break;
jah128 3:bc7a0f14b28a 175 case 1: broadcast_user_rf_command(1,"there",5);break;
jah128 3:bc7a0f14b28a 176 case 2: broadcast_user_rf_command(2,"you",3);break;
jah128 3:bc7a0f14b28a 177 case 3: broadcast_user_rf_command(3,"munters",7);break;
jah128 3:bc7a0f14b28a 178 }
jah128 3:bc7a0f14b28a 179 }
jah128 0:d88fd55a27a6 180 if(phase==0){
jah128 3:bc7a0f14b28a 181 if(ir_led_timer.read_us() >= off_period){
jah128 3:bc7a0f14b28a 182 ir_led_timer.reset();
jah128 1:e4a0d424ac8d 183 int pw = get_output_power();
jah128 1:e4a0d424ac8d 184 if(use_ir_leds) ir_pwm_out.pulsewidth_us(pw);
jah128 1:e4a0d424ac8d 185 ir_led=1;
jah128 0:d88fd55a27a6 186 phase = 1;
jah128 0:d88fd55a27a6 187 }
jah128 0:d88fd55a27a6 188 }else{
jah128 3:bc7a0f14b28a 189 if(ir_led_timer.read_us() >= on_period){
jah128 3:bc7a0f14b28a 190 ir_led_timer.reset();
jah128 1:e4a0d424ac8d 191 ir_pwm_out.pulsewidth_us(0);
jah128 1:e4a0d424ac8d 192 ir_led=0;
jah128 0:d88fd55a27a6 193 phase = 0;
jah128 0:d88fd55a27a6 194 }
jah128 0:d88fd55a27a6 195 }
jah128 0:d88fd55a27a6 196 }
jah128 2:c81f4ef63132 197 }
jah128 2:c81f4ef63132 198
jah128 2:c81f4ef63132 199
jah128 2:c81f4ef63132 200 void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length){
jah128 2:c81f4ef63132 201 }
jah128 2:c81f4ef63132 202
jah128 2:c81f4ef63132 203 void handleUserRFResponse(char sender, char broadcast_message, char success, char id, char is_command, char function, char * data, char length){
jah128 2:c81f4ef63132 204 }
jah128 2:c81f4ef63132 205
jah128 2:c81f4ef63132 206 void processRawRFData(char * rstring, char cCount){
jah128 2:c81f4ef63132 207 }
jah128 2:c81f4ef63132 208
jah128 2:c81f4ef63132 209
jah128 2:c81f4ef63132 210 void handleData(char * data, char length)
jah128 2:c81f4ef63132 211 {
jah128 2:c81f4ef63132 212 display.set_position(1,1);
jah128 2:c81f4ef63132 213 display.write_string(data,length);
jah128 2:c81f4ef63132 214 }
jah128 3:bc7a0f14b28a 215
jah128 3:bc7a0f14b28a 216
jah128 3:bc7a0f14b28a 217 void init()
jah128 3:bc7a0f14b28a 218 {
jah128 3:bc7a0f14b28a 219 display.init_display();
jah128 3:bc7a0f14b28a 220 display.set_position(0,2);
jah128 3:bc7a0f14b28a 221 display.write_string("YORK ROBOTICS",13);
jah128 3:bc7a0f14b28a 222 display.set_position(1,3);
jah128 3:bc7a0f14b28a 223 display.write_string("LABORATORY",10);
jah128 3:bc7a0f14b28a 224 wait(0.45);
jah128 3:bc7a0f14b28a 225 display.clear_display();
jah128 3:bc7a0f14b28a 226 display.set_position(0,1);
jah128 3:bc7a0f14b28a 227 display.write_string("Pi Swarm Table",14);
jah128 3:bc7a0f14b28a 228 display.set_position(1,3);
jah128 3:bc7a0f14b28a 229 display.write_string("Controller",10);
jah128 3:bc7a0f14b28a 230 wait(0.45);
jah128 3:bc7a0f14b28a 231 rf.rf_init();
jah128 3:bc7a0f14b28a 232 rf.setFrequency(435000000);
jah128 3:bc7a0f14b28a 233 rf.setDatarate(57600);
jah128 3:bc7a0f14b28a 234 }