James Heavey / Mbed 2 deprecated 3875_DISSERTATION

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Dependencies:   mbed 3875_Individualproject

main/main.h@67:f307ff6ec083, 2020-06-01 (annotated)

Committer:
jamesheavey
Date:
Mon Jun 01 14:30:56 2020 +0000
Revision:
67:f307ff6ec083
Parent:
65:2103a02d72bc
Child:
68:14f2a5315d88
pre-optimise

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 29:ecf497c3fdc0 6 #include <stdlib.h>
jamesheavey 20:5cf6a378801d 7
jamesheavey 20:5cf6a378801d 8 // Constants
jamesheavey 20:5cf6a378801d 9 #define A 0.5 // 20
jamesheavey 20:5cf6a378801d 10 #define B 1/10000 // 10000
jamesheavey 20:5cf6a378801d 11 #define C 1.5 // 2/3
jamesheavey 20:5cf6a378801d 12
jamesheavey 20:5cf6a378801d 13 #define SENS_THRESH 500 // >500 = black
jamesheavey 20:5cf6a378801d 14 #define TURN_SPEED 0.2
jamesheavey 0:df5216b20861 15
jamesheavey 0:df5216b20861 16 // API
jamesheavey 0:df5216b20861 17 extern m3pi robot;
jamesheavey 0:df5216b20861 18
jamesheavey 0:df5216b20861 19 // LEDs
jamesheavey 0:df5216b20861 20 extern BusOut leds;
jamesheavey 0:df5216b20861 21
jamesheavey 0:df5216b20861 22 // Buttons
jamesheavey 0:df5216b20861 23 extern DigitalIn button_A;
jamesheavey 0:df5216b20861 24 extern DigitalIn button_B;
jamesheavey 0:df5216b20861 25 extern DigitalIn button_X;
jamesheavey 0:df5216b20861 26 extern DigitalIn button_Y;
jamesheavey 0:df5216b20861 27 extern DigitalIn button_enter;
jamesheavey 0:df5216b20861 28 extern DigitalIn button_back;
jamesheavey 0:df5216b20861 29
jamesheavey 0:df5216b20861 30 // Potentiometers
jamesheavey 0:df5216b20861 31 extern AnalogIn pot_P;
jamesheavey 0:df5216b20861 32 extern AnalogIn pot_I;
jamesheavey 0:df5216b20861 33 extern AnalogIn pot_D;
jamesheavey 0:df5216b20861 34 extern AnalogIn pot_S;
jamesheavey 0:df5216b20861 35
jamesheavey 18:991658b628fc 36 // Sensors
jamesheavey 18:991658b628fc 37 extern DigitalInOut QTRA; //connected to digital P26
jamesheavey 18:991658b628fc 38 extern DigitalInOut QTRB; //connected to digital P25
jamesheavey 18:991658b628fc 39
jamesheavey 20:5cf6a378801d 40 // Timers
jamesheavey 21:54ea75f7984f 41 Timer t_L; // left encoder
jamesheavey 21:54ea75f7984f 42 Timer t_R; // right encoder
jamesheavey 21:54ea75f7984f 43 Timer t_coord; // coordinate timer
jamesheavey 0:df5216b20861 44
jamesheavey 0:df5216b20861 45 // Prototypes
jamesheavey 21:54ea75f7984f 46
jamesheavey 20:5cf6a378801d 47 void read_encoders();
jamesheavey 20:5cf6a378801d 48 void init();
jamesheavey 20:5cf6a378801d 49 void calibrate();
jamesheavey 20:5cf6a378801d 50 void follow_line();
jamesheavey 20:5cf6a378801d 51 bool junction_detect();
jamesheavey 20:5cf6a378801d 52 char junction_logic();
jamesheavey 20:5cf6a378801d 53 void turn_select( char turn );
jamesheavey 20:5cf6a378801d 54 void left();
jamesheavey 20:5cf6a378801d 55 void right();
jamesheavey 20:5cf6a378801d 56 void back();
jamesheavey 20:5cf6a378801d 57 void goal();
jamesheavey 29:ecf497c3fdc0 58 void looped_goal();
jamesheavey 20:5cf6a378801d 59 void simplify();
jamesheavey 20:5cf6a378801d 60 void invert_path();
jamesheavey 20:5cf6a378801d 61 void non_looped();
jamesheavey 20:5cf6a378801d 62 void looped();
jamesheavey 21:54ea75f7984f 63 void node_logic();
jamesheavey 24:adb946be4ce5 64 bool coord_check();
jamesheavey 25:7523239a2fc1 65 void update_index();
jamesheavey 28:63ff8290964a 66 void choose_turn();
jamesheavey 28:63ff8290964a 67 void back_track();
jamesheavey 29:ecf497c3fdc0 68 int path_to_point_index( int path_point );
jamesheavey 37:2967f3f9c936 69 void print_data( char *word );
jamesheavey 55:18ea9529afb2 70 bool dead_end_removal(int index1, int index2);
jamesheavey 58:cb32aa0f4116 71 void looped_goal_simplification();
jamesheavey 58:cb32aa0f4116 72 void goal_path_explored( bool inverse );
jamesheavey 0:df5216b20861 73
jamesheavey 20:5cf6a378801d 74 // Global Variables
jamesheavey 20:5cf6a378801d 75 char path[100];
jamesheavey 20:5cf6a378801d 76 char inv_path[100];
jamesheavey 20:5cf6a378801d 77 int path_length = 0;
jamesheavey 20:5cf6a378801d 78 unsigned int *sensor;
jamesheavey 20:5cf6a378801d 79 float speed;
jamesheavey 20:5cf6a378801d 80 float proportional = 0.0;
jamesheavey 20:5cf6a378801d 81 float prev_proportional = 0.0;
jamesheavey 20:5cf6a378801d 82 float integral = 0.0;
jamesheavey 20:5cf6a378801d 83 float derivative = 0.0;
jamesheavey 20:5cf6a378801d 84 int encoder[2];
jamesheavey 20:5cf6a378801d 85 int dist_est_1 = 0;
jamesheavey 20:5cf6a378801d 86 int dist_est_2 = 0;
jamesheavey 0:df5216b20861 87
jamesheavey 41:2b6b73dd897c 88 bool loop_check;
jamesheavey 60:ea69bd1a9889 89 //bool completed = false;
jamesheavey 60:ea69bd1a9889 90 bool _switch = false;
jamesheavey 38:b5b06625d06e 91 int dist = 0;
jamesheavey 23:71e84953b3f3 92 bool first = true;
jamesheavey 65:2103a02d72bc 93 bool first_g = true;
jamesheavey 27:0a3f028f9365 94 bool goal_node = false;
jamesheavey 21:54ea75f7984f 95 bool t_restart = true;
jamesheavey 23:71e84953b3f3 96 char dir;
jamesheavey 25:7523239a2fc1 97 int curr_index;
jamesheavey 21:54ea75f7984f 98 int curr_coords[2];
jamesheavey 23:71e84953b3f3 99 int total_points;
jamesheavey 24:adb946be4ce5 100 unsigned int looped_path[100];
jamesheavey 27:0a3f028f9365 101 unsigned int point[100]; // use a struct
jamesheavey 22:02dda79d50b4 102 unsigned int type[100];
jamesheavey 22:02dda79d50b4 103 unsigned int explored[100];
jamesheavey 21:54ea75f7984f 104 int coords_x[100];
jamesheavey 21:54ea75f7984f 105 int coords_y[100];
jamesheavey 48:76cf4521d342 106 int shortest[100];
jamesheavey 55:18ea9529afb2 107 int short_length;
jamesheavey 58:cb32aa0f4116 108 int goal_path1[100];
jamesheavey 58:cb32aa0f4116 109 int goal_length1;
jamesheavey 58:cb32aa0f4116 110 int goal_path2[100];
jamesheavey 58:cb32aa0f4116 111 int goal_length2;
jamesheavey 64:a58d8538132a 112 int goal_path3[100];
jamesheavey 64:a58d8538132a 113 int goal_path4[100];
jamesheavey 65:2103a02d72bc 114 int temp_path[100];
jamesheavey 65:2103a02d72bc 115 int temp_length;
jamesheavey 67:f307ff6ec083 116 char* go = "L16 cdegreg4";
jamesheavey 0:df5216b20861 117 #endif