Jared Wilkins / Mbed 2 deprecated Capstone

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Dependencies:   Motordriver mbed

Video of everything working: https://drive.google.com/a/usna.edu/file/d/0B6gx9qlkekGOSXVlQkN1RWpVcDg/view?usp=sharing

Updated Schematic /media/uploads/jared152/capstone_schematic.png

main.cpp@12:008016f03ca1, 2015-02-05 (annotated)

Committer:
jared152
Date:
Thu Feb 05 01:45:09 2015 +0000
Revision:
12:008016f03ca1
Parent:
11:3953288dc1bd
Child:
13:7e7c97f73ace
balls

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jared152 0:e3a927f789f0 1 // Jared Wilkins, Katie MacVarish, Grant LaTerza //
jared152 0:e3a927f789f0 2 // Capstone Project Code //
jared152 0:e3a927f789f0 3 ///////////////////////////////////////////////////
jared152 0:e3a927f789f0 4
jared152 0:e3a927f789f0 5 #include "mbed.h"
jared152 9:fe3a1e9b08b7 6 #include "motordriver.h" //additional library to expand capabilities of PWMOut for use with motor drivers written by
jared152 0:e3a927f789f0 7
jared152 9:fe3a1e9b08b7 8 //Initialization/////////////////////////////
jared152 12:008016f03ca1 9 Motor wheel(p26, p25, p24, 1); //flywheel (PWM, fwd, rev, brake)
jared152 12:008016f03ca1 10 Motor drive(p23, p22, p21, 1); //drive motor (PWM, fwd, rev, brake]
jared152 12:008016f03ca1 11
jared152 2:72f9b88d0e7c 12
jared152 0:e3a927f789f0 13 InterruptIn forward(p15); //remote signal to drive car forward
jared152 0:e3a927f789f0 14 InterruptIn reverse(p16); //signal to drive car in reverse
jared152 2:72f9b88d0e7c 15 InterruptIn echo(p29); //interrupt for range echo pulse
jared152 5:77b574b21fcc 16
jared152 2:72f9b88d0e7c 17 DigitalOut trigger(p30); //Dout fo the trigger
jared152 2:72f9b88d0e7c 18
jared152 3:935aebd40f8a 19 Timer t; //initializes timer
jared152 2:72f9b88d0e7c 20
jared152 1:f102ace95c79 21 DigitalOut fwdled(LED1); //for testing interrupts, etc
jared152 1:f102ace95c79 22 DigitalOut revled(LED2); // ""
jared152 5:77b574b21fcc 23 DigitalOut jumpled(LED3); // ""
jared152 9:fe3a1e9b08b7 24 DigitalOut testled(LED4); // ""
jared152 0:e3a927f789f0 25
jared152 1:f102ace95c79 26
jared152 2:72f9b88d0e7c 27 int rev = 0, fwd = 0; //flag for fwd and rev
jared152 9:fe3a1e9b08b7 28 int t1, t2, //global variables for the echo pulse. c
jared152 9:fe3a1e9b08b7 29 t3, t4; //timer within flip
jared152 9:fe3a1e9b08b7 30 int jump = 0; //flag for wether or not car is jumping
jared152 10:0ee2d6d8d965 31
jared152 9:fe3a1e9b08b7 32 //Interrupt Service Routines////////////////
jared152 0:e3a927f789f0 33 void driveforward()
jared152 0:e3a927f789f0 34 {
jared152 0:e3a927f789f0 35 fwd = 1;
jared152 1:f102ace95c79 36 rev = 0;
jared152 0:e3a927f789f0 37 }
jared152 0:e3a927f789f0 38 void drivereverse()
jared152 0:e3a927f789f0 39 {
jared152 0:e3a927f789f0 40 rev=1;
jared152 1:f102ace95c79 41 fwd = 0;
jared152 0:e3a927f789f0 42 }
jared152 0:e3a927f789f0 43 void stop()
jared152 0:e3a927f789f0 44 {
jared152 0:e3a927f789f0 45 fwd = rev = 0;
jared152 0:e3a927f789f0 46 }
jared152 2:72f9b88d0e7c 47 void startechotimer()
jared152 7:2bcff72b450b 48 {
jared152 4:335d5a21f9f7 49 t1 = t.read_us();
jared152 2:72f9b88d0e7c 50 }
jared152 4:335d5a21f9f7 51 void endechotimer()
jared152 2:72f9b88d0e7c 52 {
jared152 7:2bcff72b450b 53 t2 = t.read_us();
jared152 2:72f9b88d0e7c 54 }
jared152 2:72f9b88d0e7c 55
jared152 9:fe3a1e9b08b7 56 //Functions//////////////////////////
jared152 7:2bcff72b450b 57
jared152 7:2bcff72b450b 58 float read_ultrasonic(int number_of_samples) //function that takes returns an average of multiple distance samples
jared152 2:72f9b88d0e7c 59 {
jared152 7:2bcff72b450b 60
jared152 7:2bcff72b450b 61 float dist = 0.0;
jared152 7:2bcff72b450b 62
jared152 7:2bcff72b450b 63 for (int i = 0; i< number_of_samples; i++) {
jared152 7:2bcff72b450b 64 trigger = 1; // begin pulse
jared152 7:2bcff72b450b 65 wait(.000015); // 15 us
jared152 7:2bcff72b450b 66 trigger = 0; // end pulse
jared152 10:0ee2d6d8d965 67 //wait(.001); //wait for return pulse
jared152 7:2bcff72b450b 68 dist+= (t2-t1)/58.0; //converts time to distance in cm
jared152 7:2bcff72b450b 69 }
jared152 7:2bcff72b450b 70
jared152 7:2bcff72b450b 71 dist = dist/number_of_samples; //take average
jared152 2:72f9b88d0e7c 72
jared152 7:2bcff72b450b 73 return dist;
jared152 7:2bcff72b450b 74 } //end distance() function
jared152 7:2bcff72b450b 75
jared152 7:2bcff72b450b 76 void flip() //all flip function stuff in here
jared152 2:72f9b88d0e7c 77 {
jared152 12:008016f03ca1 78 float PWM_wheel = 0.0; //initialize PWM speed for reactionwheel
jared152 7:2bcff72b450b 79 t3 = t.read();
jared152 12:008016f03ca1 80 if (t3 - t4 >= 5) { //ensures that this can only run once every six seconds
jared152 10:0ee2d6d8d965 81 t3 = t.read();
jared152 10:0ee2d6d8d965 82 testled = 1;
jared152 12:008016f03ca1 83
jared152 12:008016f03ca1 84 PWM_wheel = 1.0; //***control law here***
jared152 7:2bcff72b450b 85 wheel.speed(PWM_wheel); //sets PWM for flywheel
jared152 12:008016f03ca1 86 wait(3);
jared152 12:008016f03ca1 87 wheel.stop(1.0);
jared152 12:008016f03ca1 88
jared152 7:2bcff72b450b 89 t4 = t.read();
jared152 10:0ee2d6d8d965 90 testled = 0;
jared152 10:0ee2d6d8d965 91 } else
jared152 10:0ee2d6d8d965 92 testled = 0;
jared152 10:0ee2d6d8d965 93
jared152 10:0ee2d6d8d965 94
jared152 7:2bcff72b450b 95 } //end flip function
jared152 2:72f9b88d0e7c 96
jared152 2:72f9b88d0e7c 97
jared152 2:72f9b88d0e7c 98
jared152 2:72f9b88d0e7c 99 //Main Program///////////////////////////
jared152 0:e3a927f789f0 100
jared152 0:e3a927f789f0 101 int main()
jared152 0:e3a927f789f0 102 {
jared152 7:2bcff72b450b 103
jared152 2:72f9b88d0e7c 104
jared152 1:f102ace95c79 105 float PWM_drive = 0.0; //initialize PWM speed for drive wheels
jared152 7:2bcff72b450b 106 float range = 0.0; // variable to hold the range sensor value
jared152 10:0ee2d6d8d965 107
jared152 8:78f190f3a5aa 108 fwdled = 0; //intializes all LEDS to off
jared152 10:0ee2d6d8d965 109 revled = 0; //
jared152 8:78f190f3a5aa 110 testled = 0; //
jared152 8:78f190f3a5aa 111 jumpled = 0; //
jared152 0:e3a927f789f0 112
jared152 1:f102ace95c79 113 forward.rise(&driveforward); // rising edge on p15 triggers interrupt to go forward
jared152 1:f102ace95c79 114 forward.fall(&stop); // falling edge p15 triggers a stop
jared152 0:e3a927f789f0 115
jared152 1:f102ace95c79 116 reverse.rise(&drivereverse); // rising edge p16 triggers go in reverse
jared152 1:f102ace95c79 117 reverse.fall(&stop); // falling edge p16 triggers stop
jared152 1:f102ace95c79 118
jared152 2:72f9b88d0e7c 119 echo.rise(&startechotimer); //rising edge of echo
jared152 2:72f9b88d0e7c 120 echo.fall(&endechotimer); //falling edge of echo
jared152 2:72f9b88d0e7c 121
jared152 2:72f9b88d0e7c 122 wheel.speed(0.0); // reaction wheel is initially off
jared152 7:2bcff72b450b 123 drive.speed(0.0); //drive motor initially off
jared152 2:72f9b88d0e7c 124
jared152 10:0ee2d6d8d965 125 t1 = t2 = t4 = 0; //initialize all timers variables to 0
jared152 10:0ee2d6d8d965 126 t3 = 10;
jared152 7:2bcff72b450b 127 t.start(); //start timer
jared152 2:72f9b88d0e7c 128
jared152 1:f102ace95c79 129 while(1) {
jared152 12:008016f03ca1 130 PWM_drive = 1.0; //****control law here for drive speed****
jared152 2:72f9b88d0e7c 131
jared152 11:3953288dc1bd 132 range = read_ultrasonic(20); //read distance for average of 10 samples
jared152 7:2bcff72b450b 133
jared152 10:0ee2d6d8d965 134 if (range > 6.0) { //when distance is greater than 6.0 cm it will do the flip function
jared152 10:0ee2d6d8d965 135 jumpled = 1; // lights LED 3 when in jump flag is true
jared152 10:0ee2d6d8d965 136 flip();
jared152 7:2bcff72b450b 137 } else {
jared152 3:935aebd40f8a 138 jumpled = 0; // if not in jump mode led is off
jared152 3:935aebd40f8a 139 }
jared152 7:2bcff72b450b 140
jared152 1:f102ace95c79 141 if(fwd) { //reads flags for drive/rev
jared152 1:f102ace95c79 142 drive.speed(PWM_drive);
jared152 1:f102ace95c79 143 fwdled = 1; //led1 on
jared152 1:f102ace95c79 144 revled = 0; //led2 off
jared152 2:72f9b88d0e7c 145 } else if(rev) {
jared152 0:e3a927f789f0 146 drive.speed(-PWM_drive);
jared152 1:f102ace95c79 147 fwdled = 0; //led1 off
jared152 1:f102ace95c79 148 revled = 1; //led2 on
jared152 1:f102ace95c79 149 } else {
jared152 0:e3a927f789f0 150 drive.coast();
jared152 1:f102ace95c79 151 fwdled = revled = 0;
jared152 1:f102ace95c79 152 }
jared152 0:e3a927f789f0 153 }
jared152 0:e3a927f789f0 154 }