James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.h@23:71e84953b3f3, 2020-04-08 (annotated)

Committer:
jamesheavey
Date:
Wed Apr 08 21:57:10 2020 +0000
Revision:
23:71e84953b3f3
Parent:
22:02dda79d50b4
Child:
24:adb946be4ce5
checkpoint;

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