Ian Krase / Mbed 2 deprecated Quadrapod

Code for a quadrapod robot.

Dependencies:   ArthropodIK MMA8451Q MODSERIAL TSI TextLCD mbed-rtos mbed PolyServo

main.cpp@10:11176c9c42fc, 2015-07-07 (annotated)

Committer:
ikrase
Date:
Tue Jul 07 07:01:53 2015 +0000
Revision:
10:11176c9c42fc
Parent:
7:68e488d28f67 
Probably EOL. .This got too complicated too fast.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikrase 0:838403674a8f 1 #include "mbed.h"
ikrase 0:838403674a8f 2 #include "rtos.h"
ikrase 0:838403674a8f 3 #include "MODSERIAL.h"
ikrase 7:68e488d28f67 4 #include <vector>
ikrase 10:11176c9c42fc 5 #include "mbed_rpc.h"
ikrase 0:838403674a8f 6
ikrase 0:838403674a8f 7 #include "quadrapod_defs.h" //Includes pins and stuff
ikrase 2:1f7ee9f3276b 8 #include "ArthropodIK.h" // IK solver based on Oscar Liang.
ikrase 7:68e488d28f67 9 #include "PolyServo.h"
ikrase 0:838403674a8f 10
ikrase 0:838403674a8f 11 /**************************************************************************
ikrase 0:838403674a8f 12 This is the Quadrupod control software.
ikrase 0:838403674a8f 13 ***************************************************************************/
ikrase 0:838403674a8f 14
ikrase 0:838403674a8f 15
ikrase 10:11176c9c42fc 16 MODSERIAL pc(USBTX, USBRX);
ikrase 0:838403674a8f 17
ikrase 0:838403674a8f 18 DigitalOut led_green(LED_GREEN);
ikrase 0:838403674a8f 19 DigitalOut led_red(LED_RED);
ikrase 10:11176c9c42fc 20 DigitalOut led_blue(LED_BLUE);
ikrase 10:11176c9c42fc 21
ikrase 10:11176c9c42fc 22 PwmOut LCD_red(LED_BL_RED);
ikrase 10:11176c9c42fc 23 PwmOut LCD_grn(LED_BL_GRN);
ikrase 10:11176c9c42fc 24 PwmOut LCD_blu(LED_BL_BLU);
ikrase 10:11176c9c42fc 25
ikrase 10:11176c9c42fc 26 float red_intensity, green_intensity, blue_intensity;
ikrase 10:11176c9c42fc 27 RPCVariable<float> rpc_bl_red(&red_intensity, "red_lvl");
ikrase 10:11176c9c42fc 28 RPCVariable<float> rpc_bl_grn(&green_intensity, "green_lvl");
ikrase 10:11176c9c42fc 29 RPCVariable<float> rpc_bl_blu(&blue_intensity, "blue_lvl");
ikrase 0:838403674a8f 30
ikrase 3:9916f013d978 31 ArthropodSolver IKsolver();
ikrase 3:9916f013d978 32
ikrase 7:68e488d28f67 33 std::vector<DigitalOut * > digivec;
ikrase 7:68e488d28f67 34
ikrase 0:838403674a8f 35 void led_fade_thread(void const *args) {
ikrase 0:838403674a8f 36 // Note that this function doesn't terminate, which is fine since it runs in
ikrase 0:838403674a8f 37 // a thread.
ikrase 0:838403674a8f 38 while (1) {
ikrase 0:838403674a8f 39 // Since the internal LED is active low, inert the duty cycle.
ikrase 0:838403674a8f 40 led_blue.write(1 - 0);
ikrase 0:838403674a8f 41 Thread::wait(250);
ikrase 0:838403674a8f 42 led_blue.write(1 - 0.25);
ikrase 0:838403674a8f 43 Thread::wait(250);
ikrase 0:838403674a8f 44 led_blue.write(1 - 0.5);
ikrase 0:838403674a8f 45 Thread::wait(250);
ikrase 0:838403674a8f 46 led_blue.write(1 - 0.75);
ikrase 0:838403674a8f 47 Thread::wait(250);
ikrase 7:68e488d28f67 48
ikrase 0:838403674a8f 49 }
ikrase 0:838403674a8f 50 }
ikrase 0:838403674a8f 51
ikrase 0:838403674a8f 52 void led_blink_periodic(void const *args) {
ikrase 0:838403674a8f 53 // Toggle the red LED when this function is called.
ikrase 0:838403674a8f 54 led_red = !led_red;
ikrase 0:838403674a8f 55 }
ikrase 0:838403674a8f 56
ikrase 0:838403674a8f 57 int main() {
ikrase 0:838403674a8f 58 // It's always nice to know what version is deployed.
ikrase 10:11176c9c42fc 59 //serial.printf("Built " __DATE__ " " __TIME__ "\r\n");
ikrase 0:838403674a8f 60
ikrase 0:838403674a8f 61 // Quick blink on startup.
ikrase 0:838403674a8f 62 led_green = 0; // Note that the internal LED is active low.
ikrase 0:838403674a8f 63 wait(0.25);
ikrase 0:838403674a8f 64 led_green = 1;
ikrase 0:838403674a8f 65 wait(0.25);
ikrase 0:838403674a8f 66
ikrase 0:838403674a8f 67 // Mandatory "Hello, world!".
ikrase 0:838403674a8f 68 serial.printf("Hello, world!\r\n");
ikrase 0:838403674a8f 69
ikrase 0:838403674a8f 70 // Start a thread running led_fade_thread().
ikrase 0:838403674a8f 71 Thread ledFadeThread(led_fade_thread);
ikrase 0:838403674a8f 72
ikrase 0:838403674a8f 73 // Set a timer to periodically call led_blink_periodic().
ikrase 0:838403674a8f 74 RtosTimer ledBlinkTimer(led_blink_periodic);
ikrase 0:838403674a8f 75 ledBlinkTimer.start(1000);
ikrase 10:11176c9c42fc 76 char buf[256], outbuf[256];
ikrase 0:838403674a8f 77
ikrase 0:838403674a8f 78 // Work is done in the threads, so main() can sleep.
ikrase 10:11176c9c42fc 79 while (1) {
ikrase 10:11176c9c42fc 80 Thread::wait(100);
ikrase 10:11176c9c42fc 81 LCD_red = red_intensity;
ikrase 10:11176c9c42fc 82 LCD_grn = green_intensity;
ikrase 10:11176c9c42fc 83 LCD_blu = blue_intensity;
ikrase 10:11176c9c42fc 84
ikrase 10:11176c9c42fc 85
ikrase 10:11176c9c42fc 86 pc.gets(buf, 256);
ikrase 10:11176c9c42fc 87 //Call the static call method on the RPC class
ikrase 10:11176c9c42fc 88 RPC::call(buf, outbuf);
ikrase 10:11176c9c42fc 89 pc.printf("%s\n", outbuf);
ikrase 10:11176c9c42fc 90
ikrase 10:11176c9c42fc 91
ikrase 10:11176c9c42fc 92 }
ikrase 10:11176c9c42fc 93
ikrase 10:11176c9c42fc 94
ikrase 10:11176c9c42fc 95
ikrase 0:838403674a8f 96 Thread::wait(osWaitForever);
ikrase 0:838403674a8f 97 }