James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.h@28:63ff8290964a, 2020-04-10 (annotated)

Committer:
jamesheavey
Date:
Fri Apr 10 15:14:51 2020 +0000
Revision:
28:63ff8290964a
Parent:
27:0a3f028f9365
Child:
29:ecf497c3fdc0
save before back track

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jamesheavey 0:df5216b20861 1 #ifndef MAIN_H
jamesheavey 0:df5216b20861 2 #define MAIN_H
jamesheavey 0:df5216b20861 3
jamesheavey 0:df5216b20861 4 #include "m3pi.h"
jamesheavey 0:df5216b20861 5 #include "mbed.h"
jamesheavey 20:5cf6a378801d 6
jamesheavey 20:5cf6a378801d 7 // Constants
jamesheavey 20:5cf6a378801d 8 #define A 0.5 // 20
jamesheavey 20:5cf6a378801d 9 #define B 1/10000 // 10000
jamesheavey 20:5cf6a378801d 10 #define C 1.5 // 2/3
jamesheavey 20:5cf6a378801d 11
jamesheavey 20:5cf6a378801d 12 #define SENS_THRESH 500 // >500 = black
jamesheavey 20:5cf6a378801d 13 #define TURN_SPEED 0.2
jamesheavey 0:df5216b20861 14
jamesheavey 0:df5216b20861 15 // API
jamesheavey 0:df5216b20861 16 extern m3pi robot;
jamesheavey 0:df5216b20861 17
jamesheavey 0:df5216b20861 18 // LEDs
jamesheavey 0:df5216b20861 19 extern BusOut leds;
jamesheavey 0:df5216b20861 20
jamesheavey 0:df5216b20861 21 // Buttons
jamesheavey 0:df5216b20861 22 extern DigitalIn button_A;
jamesheavey 0:df5216b20861 23 extern DigitalIn button_B;
jamesheavey 0:df5216b20861 24 extern DigitalIn button_X;
jamesheavey 0:df5216b20861 25 extern DigitalIn button_Y;
jamesheavey 0:df5216b20861 26 extern DigitalIn button_enter;
jamesheavey 0:df5216b20861 27 extern DigitalIn button_back;
jamesheavey 0:df5216b20861 28
jamesheavey 0:df5216b20861 29 // Potentiometers
jamesheavey 0:df5216b20861 30 extern AnalogIn pot_P;
jamesheavey 0:df5216b20861 31 extern AnalogIn pot_I;
jamesheavey 0:df5216b20861 32 extern AnalogIn pot_D;
jamesheavey 0:df5216b20861 33 extern AnalogIn pot_S;
jamesheavey 0:df5216b20861 34
jamesheavey 18:991658b628fc 35 // Sensors
jamesheavey 18:991658b628fc 36 extern DigitalInOut QTRA; //connected to digital P26
jamesheavey 18:991658b628fc 37 extern DigitalInOut QTRB; //connected to digital P25
jamesheavey 18:991658b628fc 38
jamesheavey 20:5cf6a378801d 39 // Timers
jamesheavey 21:54ea75f7984f 40 Timer t_L; // left encoder
jamesheavey 21:54ea75f7984f 41 Timer t_R; // right encoder
jamesheavey 21:54ea75f7984f 42 Timer t_coord; // coordinate timer
jamesheavey 0:df5216b20861 43
jamesheavey 0:df5216b20861 44 // Prototypes
jamesheavey 21:54ea75f7984f 45
jamesheavey 20:5cf6a378801d 46 void read_encoders();
jamesheavey 20:5cf6a378801d 47 void init();
jamesheavey 20:5cf6a378801d 48 void calibrate();
jamesheavey 20:5cf6a378801d 49 void follow_line();
jamesheavey 20:5cf6a378801d 50 bool junction_detect();
jamesheavey 20:5cf6a378801d 51 char junction_logic();
jamesheavey 20:5cf6a378801d 52 void turn_select( char turn );
jamesheavey 20:5cf6a378801d 53 void left();
jamesheavey 20:5cf6a378801d 54 void right();
jamesheavey 20:5cf6a378801d 55 void back();
jamesheavey 20:5cf6a378801d 56 void goal();
jamesheavey 20:5cf6a378801d 57 void simplify();
jamesheavey 20:5cf6a378801d 58 void invert_path();
jamesheavey 20:5cf6a378801d 59 void non_looped();
jamesheavey 20:5cf6a378801d 60 void looped();
jamesheavey 21:54ea75f7984f 61 void node_logic();
jamesheavey 24:adb946be4ce5 62 bool coord_check();
jamesheavey 25:7523239a2fc1 63 void update_index();
jamesheavey 28:63ff8290964a 64 void choose_turn();
jamesheavey 28:63ff8290964a 65 void back_track();
jamesheavey 24:adb946be4ce5 66 //check_explored(); to be added
jamesheavey 0:df5216b20861 67
jamesheavey 20:5cf6a378801d 68 // Global Variables
jamesheavey 20:5cf6a378801d 69 char path[100];
jamesheavey 20:5cf6a378801d 70 char inv_path[100];
jamesheavey 20:5cf6a378801d 71 int path_length = 0;
jamesheavey 20:5cf6a378801d 72 unsigned int *sensor;
jamesheavey 20:5cf6a378801d 73 float speed;
jamesheavey 20:5cf6a378801d 74 float proportional = 0.0;
jamesheavey 20:5cf6a378801d 75 float prev_proportional = 0.0;
jamesheavey 20:5cf6a378801d 76 float integral = 0.0;
jamesheavey 20:5cf6a378801d 77 float derivative = 0.0;
jamesheavey 20:5cf6a378801d 78 int encoder[2];
jamesheavey 20:5cf6a378801d 79 int dist_est_1 = 0;
jamesheavey 20:5cf6a378801d 80 int dist_est_2 = 0;
jamesheavey 0:df5216b20861 81
jamesheavey 23:71e84953b3f3 82 bool first = true;
jamesheavey 27:0a3f028f9365 83 bool complete = false;
jamesheavey 27:0a3f028f9365 84 bool retrace = false;
jamesheavey 27:0a3f028f9365 85 bool goal_node = false;
jamesheavey 21:54ea75f7984f 86 bool t_restart = true;
jamesheavey 23:71e84953b3f3 87 char dir;
jamesheavey 25:7523239a2fc1 88 int curr_index;
jamesheavey 21:54ea75f7984f 89 int curr_coords[2];
jamesheavey 23:71e84953b3f3 90 int total_points;
jamesheavey 24:adb946be4ce5 91 unsigned int looped_path[100];
jamesheavey 27:0a3f028f9365 92 unsigned int point[100]; // use a struct
jamesheavey 22:02dda79d50b4 93 unsigned int type[100];
jamesheavey 22:02dda79d50b4 94 unsigned int explored[100];
jamesheavey 21:54ea75f7984f 95 int coords_x[100];
jamesheavey 21:54ea75f7984f 96 int coords_y[100];
jamesheavey 22:02dda79d50b4 97 char turn_priority[4] = { 'S' , 'E' , 'N', 'W' }; // reversed
jamesheavey 0:df5216b20861 98 #endif