Revision 0:4a30986db2fb, committed 2014-12-19

Comitter:

impguard

Date:

Fri Dec 19 11:49:27 2014 +0000

Commit message:

Final version of the controller for the NERF turret.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPClient.lib	Fri Dec 19 11:49:27 2014 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/nebgnahz/code/HTTPClient/#25e3d3516a03

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TSI.lib	Fri Dec 19 11:49:27 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/TSI/#1a60ef257879

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/camera.h	Fri Dec 19 11:49:27 2014 +0000
@@ -0,0 +1,111 @@
+/**
+*
+*   Code to get data from the camera by connecting to a web server via WiFi (using Adafruit CC3000).
+*
+*   author: Leo Kam
+*
+*
+*   The code to connect to the web via Adafruit is adapted from the code by Ben Zhang and Antonio Iannopollo, found at 
+*   http://developer.mbed.org/users/nebgnahz/code/CC3000_demo/
+*   The following libraries are used:
+*    - cc3000_hostdriver_mbedsocket
+*     (http://developer.mbed.org/users/Kojto/code/cc3000_hostdriver_mbedsocket/)
+*    - HTTPClient (http://developer.mbed.org/users/donatien/code/HTTPClient/)
+*
+**/
+
+
+#include "mbed.h"
+#include "cc3000.h"
+#include "HTTPClient.h"
+
+// KL25Z wifi connection
+// we need to define connection pins for:
+// - IRQ      => (pin D3)
+// - Enable   => (pin D5)
+// - SPI CS   => (pin D10)
+// - SPI MOSI => (pin D11)
+// - SPI MISO => (pin D12)
+// - SPI CLK  => (pin D13)
+// plus wifi network SSID, password, security level and smart-configuration flag.
+mbed_cc3000::cc3000 wifi(D3, D5, D10, SPI(D11, D12, D13),
+                         "EECS-PSK", "Thequickbrown", WPA2, false);
+
+// create an http instance
+HTTPClient http;
+
+// str is used to hold the response data
+char str[512];
+char * p;
+
+// setup the serial connection, and LEDs
+Serial pc(USBTX, USBRX);
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+
+void initializeWiFi() {
+    // by default, it's red
+    led_red = 0;
+    led_green = 1;
+    
+    //print message to indicate the program has started
+    pc.printf("CC3000 Sample Program\r\n");
+    wifi.init();
+    pc.printf("Wifi Initialized\r\n");
+    
+    // check connection status
+    while(wifi.is_connected() == false) {
+        // try to connect
+        if (wifi.connect() == -1) {
+            pc.printf("Failed to connect."
+                      "Please verify connection details and try again.\r\n");
+            led_red = 0;
+            led_green = 1;
+        } else {
+            pc.printf("IP address: %s \r\n", wifi.getIPAddress());
+            
+            //once connected, turn green LED on and red LED off, and exit loop
+            led_red = 1;
+            led_green = 0;
+            break;
+        }
+    }
+}
+
+
+/* Get the x, y-coordinates and depth from camera. Return true if successfuly retrieve data from server, else return false and do not change parameters. */
+bool getCameraData(double &x, double &y, double &z, int timeout=2000) {
+    // check connection status
+    while(wifi.is_connected() == false) {
+        // try to connect
+        if (wifi.connect() == -1) {
+            pc.printf("Failed to connect."
+                      "Please verify connection details and try again.\r\n");
+            led_red = 0;
+            led_green = 1;
+        } else {
+            pc.printf("IP address: %s \r\n", wifi.getIPAddress());
+            
+            //once connected, turn green LED on and red LED off, and exit loop
+            led_red = 1;
+            led_green = 0;
+            break;
+        }
+    }
+    int ret = http.get("https://pew-pew-pew.herokuapp.com/position", str, 512);
+    if (!ret) {
+        p = strtok(str, " ");
+        x = atof(p);
+        p = strtok(NULL, " ");
+        y = atof(p);
+        p = strtok(NULL, " ");
+        z = atof(p);
+        pc.printf("Camera data: %f %f %f\r\n", x, y, z);
+        return true;
+    } else {
+        /*pc.printf("Error - ret = %d - HTTP return code = %d\r\n",
+                  ret,
+                  http.getHTTPResponseCode());*/
+        return false;
+    }
+} 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cc3000_hostdriver_mbedsocket.lib	Fri Dec 19 11:49:27 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Kojto/code/cc3000_hostdriver_mbedsocket/#ca8c234997c0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 19 11:49:27 2014 +0000
@@ -0,0 +1,264 @@
+/**
+*
+*   Controller for the NERF turret, allowing for tracking of target (human face) via visual input.
+*
+*   authors: Leo Kam
+**/
+
+#include "mbed.h"
+#include "camera.h"
+#include "TSISensor.h"
+
+//Relays for firing the NERF gun.
+DigitalOut flywheel(PTE5);
+DigitalOut trigger(PTE4);
+//Relays for turning the turret.
+DigitalOut step1(PTE2);
+DigitalOut step2(PTE3);
+//Relays for tilting the gun up and down.
+DigitalOut h_bridge1(PTB8);
+DigitalOut h_bridge2(PTB9);
+DigitalOut h_bridge3(PTB10);
+DigitalOut h_bridge4(PTB11);
+
+
+double x, y, z;                          //The coordinates of the target, relative to the barrel of the gun.
+double x_offset, y_offset, z_offset;     //The offsets to transform the camera data into a coordinate system relative to barrel of the gun.
+TSISensor tsi;                           //The touch sensor of the mbed.
+double eps = 40;                         //The error margin.
+double interval = 200;                   //The time between each poll of the server, in ms.
+bool safety = true;                      //Whether the safety of the NERF gun is on or off.
+
+void initialize();
+void calibrateCamera();
+bool getCoordinates(double&, double&, double&);
+bool onTarget(double);
+void stepMotorStates(int state);
+void turnLeft(double);
+void turnRight(double);
+void tiltUp(double);
+void tiltDown(double);
+void trackTarget();
+void safetyOn();
+void safetyOff();
+bool fire();
+
+int main() {
+    initialize();
+    double hysteresis = 0;
+    while(1) {
+        getCoordinates(x, y, z);
+        if(!onTarget(eps + hysteresis)) {
+            hysteresis = 0;
+            pc.printf("Tracking target...\r\n");
+            safetyOn();
+            trackTarget();  
+        } else {
+            pc.printf("Target acquired!\r\n");
+            if(safety) {
+                safetyOff();
+            }
+            fire();
+            wait(3);
+            hysteresis = 0.5 * eps;
+        }
+    }
+
+}
+
+/* All the initialization are done here. */
+void initialize() {
+    x = 0;
+    y = 0;
+    z = 0;
+    x_offset = 0;
+    y_offset = 0;
+    z_offset = 0;
+    initializeWiFi();
+    calibrateCamera();
+    
+    wait(3);
+    led_red = 0;
+    led_green = 1;
+    pc.printf("Tap when ready.\r\n");
+    while(1) {
+        if (tsi.readPercentage() > 0.001) {break;}
+    }
+    pc.printf("It's hunting season.\r\n");
+    led_red = 1;
+    led_green = 0;
+}
+
+/* Calibrate the camera to calculate the offsets for transforming the camera coordinates into gun coordinates. */
+void calibrateCamera() {
+    //Put someone's face right in front of the gun barrel.
+    
+    double x0, y0, z0;
+    x0 = 0;
+    y0 = 0;
+    z0 = 0;
+    wait(3);
+    pc.printf("Tap to start calibration of camera.\r\n");
+    while(1) {
+        //Wait for user to tap in order to start the calibration.
+        led_red = 0;
+        led_green = 1;
+        if (tsi.readPercentage() > 0.001) {break;}
+    }
+    led_red = 1;
+    led_green = 0;
+    wait(3);
+    pc.printf("Put face in front of gun barrel and tap when centered.\r\n");
+    while(1) {
+        //Continuously poll data from camera until mbed's slider is tapped.
+        getCameraData(x0, y0, z0);
+        led_red = 0;
+        led_green = 1;
+        if (tsi.readPercentage() > 0.001) {break;}
+    }
+    x_offset = -x0;
+    y_offset = -y0;
+    z_offset = -z0;
+    pc.printf("Offests: %f %f %f\r\n", x_offset, y_offset, z_offset);
+    //Green led on.
+    led_red = 1;
+    led_green = 0;
+}
+
+/* Get the coordinates of the target, relative to gun barrel. Return true if successfully retrieve data, else return false and do not change parameters. */
+bool getCoordinates(double &x, double &y, double &z) {
+    if (getCameraData(x, y, z)) {
+        x += x_offset;
+        y += y_offset;
+        z += z_offset;
+        pc.printf("Offsetted position: %f %f %f\r\n", x, y, z);
+        return true;   
+    } else {
+        //Fail to connect to server. Maybe track to last known target location?
+        return false;    
+    }
+}
+
+/* Check if the gun is aiming at a square area centered on the target, with TOLERANCE as the side length. */
+bool onTarget(double tolerance) {
+    //Ignore depth for now.
+    return abs(x) <= tolerance && abs(y) <= tolerance;
+}
+
+/* Helper function for using the stepper motor. */
+void stepMotorStates(int state) {
+    switch(state) {
+        case 0:
+            step1 = 0;
+            step2 = 0;
+            break;
+        case 1:
+            step1 = 1;
+            step2 = 0;
+            break;
+        case 2:
+            step1 = 1;
+            step2 = 1;
+            break;
+        case 3:
+            step1 = 0;
+            step2 = 1;
+            break;
+        default:
+            break;
+    }
+}
+
+/* Turn the turret left for the given milliseconds. */
+void turnLeft(double ms) {
+    stepMotorStates(3);
+    wait_ms(ms);
+    stepMotorStates(2);
+    wait_ms(ms);
+    stepMotorStates(1);
+    wait_ms(ms);
+    stepMotorStates(0);
+    wait_ms(ms);
+}
+
+/* Turn the turret left for the given milliseconds. */
+void turnRight(double ms) {
+    stepMotorStates(0);
+    wait_ms(ms);
+    stepMotorStates(1);
+    wait_ms(ms);
+    stepMotorStates(2);
+    wait_ms(ms);
+    stepMotorStates(3);
+    wait_ms(ms);
+}
+
+/* Tilt the gun up for the given milliseconds. */
+void tiltUp(double ms) {
+    h_bridge1 = 1;
+    h_bridge2 = 0;
+    h_bridge3 = 0;
+    h_bridge4 = 1;
+    wait_ms(ms);
+    h_bridge1 = 0;
+    h_bridge2 = 0;
+    h_bridge3 = 0;
+    h_bridge4 = 0;
+}
+
+/* Tilt the gun down for the given milliseconds. */
+void tiltDown(double ms) {
+    h_bridge1 = 0;
+    h_bridge2 = 1;
+    h_bridge3 = 1;
+    h_bridge4 = 0;
+    wait_ms(ms);
+    h_bridge1 = 0;
+    h_bridge2 = 0;
+    h_bridge3 = 0;
+    h_bridge4 = 0;
+}
+
+/* Move the turret to aim at the target. */
+void trackTarget() {
+    if (x < -eps) {
+        pc.printf("Turning left.\r\n");
+        turnLeft(200);
+    } else if(x >= eps) {
+        pc.printf("Turning right.\r\n");
+        turnRight(200);    
+    } else
+    if(y < -eps) {
+        pc.printf("Tilting down.\r\n");
+        tiltDown(500);        
+    } else if(y >= eps) {
+        pc.printf("Tilting up.\r\n");
+        tiltUp(1000);
+    }
+    
+    
+}
+
+/* Turn the safety of the NERF gun off (firewheel on). */
+void safetyOff() {
+    flywheel = 1;
+    safety = false;
+    wait(0.3);
+}
+
+/* Turn the safety on (firewheel off). */
+void safetyOn() {
+    flywheel = 0;
+    safety = true;
+}
+
+/* Fire the gun. Return true if successfully pull trigger, else false. */
+bool fire() {
+    if (!safety) {
+        trigger = 1;
+        wait(0.4);
+        trigger = 0;
+        return true;
+    }
+    return false;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 19 11:49:27 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5
\ No newline at end of file