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4180 final project slave mbed code
Dependencies: 4DGL-uLCD-SE Motor mbed-rtos mbed
main.cpp
- Committer:
- ihansw
- Date:
- 2016-12-09
- Revision:
- 0:6d4adda58ec2
File content as of revision 0:6d4adda58ec2:
#include "mbed.h" #include "uLCD_4DGL.h" #include "Motor.h" #include "rtos.h" #include "stdio.h" //Motors Motor m_R(p21, p5, p6); // pwm, fwd, rev _ right wheel Motor m_L(p22, p7, p8); // pwm, fwd, rev _ left wheel //Serial communication between 2 mbeds Serial pc(USBTX, USBRX); Serial uart(p9, p10); // Timer and halleffect sensor interrupts Timer t; InterruptIn risingEdge_L(p24); InterruptIn risingEdge_R(p25); // uLCD for testing uLCD_4DGL uLCD(p28,p27,p29); // LEDs for testing DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4); //global variables for the halleffect sensors volatile long int count_L; volatile long int count_nr_L; volatile long int count_R; volatile long int count_nr_R; volatile int count; volatile char ms[1]; volatile char i ; /* volatile int speed_h = 6; volatile int speed_m = 5; volatile int speed_l = 4; */ void pulses_L() { if(myled2 == 1) { myled2 = 0; } else { myled2 = 1; } count_L++; count_nr_L++; } void pulses_R() { if(myled4 == 1) { myled4 = 0; } else { myled4 = 1; } count_R++; count_nr_R++; } int main() { uart.baud(9600); double circumference = 6.5 * 3.1416; // 6 cm wheel diameter * pi long int temp_L; long int temp_R; double sA = 0.52; double sB = 0.55; double dist_L; double dist_R; count = 0; //risingEdge.mode(Pullup); risingEdge_L.rise(&pulses_L); risingEdge_L.fall(&pulses_L); risingEdge_R.rise(&pulses_R); risingEdge_R.fall(&pulses_R); while(1) { myled2 = 1; count++; uLCD.locate(0,1); uLCD.printf("it's Ready, %d",count); if(uart.readable()) { uLCD.locate(5,2); i = uart.getc(); uLCD.printf("%c\n", i); /////////////////////////////////////// Go forward //////////////////////////// if(i == 'f') { //speedA = speed_h; uLCD.locate(0,3); uLCD.printf("Go Forward!"); m_L.speed(sA); m_R.speed(sB); count_L = 0; count_R = 0; while(!(uart.readable())) { temp_L = count_L; temp_R = count_R; uLCD.locate(0,4); uLCD.printf("Count_L: %d", temp_L); uLCD.locate(0,5); uLCD.printf("Count_R: %d", temp_R); dist_L = (circumference/8)*((double)temp_L); dist_R = (circumference/8)*((double)temp_R); uLCD.locate(0,7); uLCD.printf("distance_L: %0.2f cm", dist_L); uLCD.locate(0,8); uLCD.printf("distance_R: %0.2f cm", dist_R); } } /////////////////////////////////////// Go Backward //////////////////////////// if(i == 'b') { //speedA = speed_h; // uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Go Backward!"); m_L.speed(-sA); m_R.speed(-sB); } /////////////////////////////////////// Turn left //////////////////////////// if(i == 'l') { // speedA = speed_m; uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Turn Left!"); m_L.speed(-0.65); m_R.speed(0.67); count_L = 0; count_R = 0; while(!(uart.readable())) { if((count_L < 4) || (count_R <4)) { /* temp_L = count_L; temp_R = count_R; uLCD.locate(0,4); uLCD.printf("Count_L: %d", temp_L); uLCD.locate(0,5); uLCD.printf("Count_R: %d", temp_R); dist_L = (circumference/8)*((double)temp_L); dist_R = (circumference/8)*((double)temp_R); uLCD.locate(0,7); uLCD.printf("distance_L: %0.2f cm", dist_L); uLCD.locate(0,8); uLCD.printf("distance_R: %0.2f cm", dist_R); */ } else { m_L.speed(0); m_R.speed(0); wait(0.5); //m_L.speed(sA); //m_R.speed(sB); //wait(4); } } } /////////////////////////////////////// Turn Right //////////////////////////// if(i == 'r') { //speedA = speed_m; uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Turn Right!"); m_L.speed(0.65); m_R.speed(-0.67); count_L = 0; count_R = 0; while(!(uart.readable())) { if((count_L < 5)||(count_R < 5)) { /* temp_L = count_L; temp_R = count_R; uLCD.locate(0,4); uLCD.printf("Count_L: %d", temp_L); uLCD.locate(0,5); uLCD.printf("Count_R: %d", temp_R); dist_L = (circumference/8)*((double)temp_L); dist_R = (circumference/8)*((double)temp_R); uLCD.locate(0,7); uLCD.printf("distance_L: %0.2f cm", dist_L); uLCD.locate(0,8); uLCD.printf("distance_R: %0.2f cm", dist_R); */ } else { m_L.speed(0); m_R.speed(0); wait(0.5); //m_L.speed(sA); //m_R.speed(sB); //wait(4); } } } ////////////////////////////Tilt to the left ////////////////////////////// if(i == 'a') { //speedB = speedB - 0.1; //uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Tilt to the left!"); myled1 = 0; myled2 = 1; myled3 = 0; myled4 = 0; m_L.speed(sA-0.04); m_R.speed(sB+0.02); count_L = 0; count_R = 0; } ///////////////////////////Tilt to the right/////////////////////////// if(i == 'z') { //speedB = speedB - 0.1; //uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Tilt to the right!"); m_L.speed(sA+0.00); m_R.speed(sB-0.05); myled1 = 0; myled2 = 0; myled3 = 0; myled4 = 1; count_L = 0; count_R = 0; } ////////////////Tilt angle to the left(CCW)/////////////// if(i == 'g') { //uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Turn CCW a bit more!"); m_L.speed(0); m_R.speed(0.8); wait(0.1); m_L.speed(0); m_R.speed(0); } //////////////////Tilt angle to the right (CW)//////////////////////// if(i == 'h') { //uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Turn CW a bit more!"); m_L.speed(0.8); m_R.speed(0); wait(0.1); m_L.speed(0); m_R.speed(0); } ///////////////////////////Parked /////////////////////////// if(i == 'p') { uLCD.cls(); uLCD.locate(0,3); uLCD.printf("stoped"); wait(0.5); m_L.speed(0); m_R.speed(0); count_L = 0; count_R = 0; } /////////////////////////////////////// Parking #1, On the left //////////////////////////// if(i == 'w') { uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Parking on left! Front Park!"); m_L.speed(sA); m_R.speed(sB); wait(0); m_L.speed(0); m_R.speed(0); wait(1); count_L = 0; count_R = 0; m_L.speed(-0.6); m_R.speed(0.65); // Step 1: Turn left 90 degrees while((count_L < 5)||(count_R < 5)) { } m_L.speed(0); m_R.speed(0); wait(.5); count_L = 0; count_R = 0; m_L.speed(0); m_R.speed(0); count_L = 0; count_R = 0; } /////////////////////////////////////// Parking #2, On the right //////////////////////////// if(i == 'x') { uLCD.cls(); uLCD.locate(0,3); uLCD.printf("Parking on Right! Front Park!"); m_L.speed(sA); m_R.speed(sB); wait(0); m_L.speed(0); m_R.speed(0); wait(1); count_L = 0; count_R = 0; m_L.speed(0.6); m_R.speed(-0.65); // Step 1: Turn left 90 degrees while((count_L < 5)||(count_R < 5)) { } m_L.speed(0); m_R.speed(0); wait(.5); count_L = 0; count_R = 0; m_L.speed(0); m_R.speed(0); count_L = 0; count_R = 0; } } else { myled1 = 0; } /* t.reset(); t.start(); count_L = 0; count_R = 0; while(t.read_ms() < 251) { ; } t.stop(); long int temp_L = count_L; long int temp_R = count_R; uLCD.locate(0,1); uLCD.printf("Count_L: %d", temp_L); uLCD.locate(0,8); uLCD.printf("Count_R: %d", temp_R); double circumference = 0.065 * 3.1416; // 6 cm wheel diameter * pi double rev_L = (double)(temp_L/4); double rpm_L = ((double)temp_L)*15; double speed_L = (circumference * ((double)temp_L))/4; double rev_R = (double)(temp_R/4); double rpm_R = ((double)temp_R)*15; double speed_R = (circumference * ((double)temp_R))/4; uLCD.locate(0,3); uLCD.printf("L: %0.2f RPM", rpm_L); uLCD.locate(0,4); uLCD.printf("L: speed: %f m/s", speed_L); uLCD.locate(0,2); uLCD.printf("Ct_nr_L: %d", (count_nr_L/4)); uLCD.locate(0,10); uLCD.printf("R: %0.2f RPM", rpm_R); uLCD.locate(0,11); uLCD.printf("R: speed: %f m/s", speed_R); uLCD.locate(0,9); uLCD.printf("Ct_nr_R: %d", (count_nr_R/4)); */ //pc.putc(0xA); //pc.putc(0xD); } }