Dependencies: HCSR04v2 Servo mbed
Fork of STM_read by
main.cpp@3:1a391dd91a35, 2016-06-24 (annotated)
- Committer:
- jguzik
- Date:
- Fri Jun 24 13:43:08 2016 +0000
- Revision:
- 3:1a391dd91a35
- Parent:
- 2:26a9f90142a0
- Child:
- 4:84f836aaf390
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yruiewyrui3 | 0:5919ea7b3b90 | 1 | #include "mbed.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 2 | #include "Engine.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 3 | #include "Servo.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 4 | #include "hcsr04.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 5 | |
yruiewyrui3 | 0:5919ea7b3b90 | 6 | //*************** Deklaracja wszystkich portów potrzebnych do obsługi************** |
yruiewyrui3 | 0:5919ea7b3b90 | 7 | Serial stm(PA_2, PA_3); |
yruiewyrui3 | 0:5919ea7b3b90 | 8 | Servo cam_poziom(PB_6); |
yruiewyrui3 | 0:5919ea7b3b90 | 9 | Servo cam_pion(PC_7); |
yruiewyrui3 | 0:5919ea7b3b90 | 10 | Engine eng_left = Engine(PB_13, PB_4, PB_10); |
yruiewyrui3 | 0:5919ea7b3b90 | 11 | Engine eng_right = Engine(PB_14, PB_5, PB_3); |
yruiewyrui3 | 0:5919ea7b3b90 | 12 | |
yruiewyrui3 | 0:5919ea7b3b90 | 13 | //*************** Deklaracja zmiennych globalnych, tablic, bufora na ramke znaków ************** |
yruiewyrui3 | 0:5919ea7b3b90 | 14 | HCSR04 sensor(PB_9, PB_8, 11770); |
yruiewyrui3 | 0:5919ea7b3b90 | 15 | const int BufferSize=10; |
yruiewyrui3 | 0:5919ea7b3b90 | 16 | char bufor[BufferSize]; |
yruiewyrui3 | 0:5919ea7b3b90 | 17 | char prawa[3]; |
yruiewyrui3 | 0:5919ea7b3b90 | 18 | char lewa[3]; |
jguzik | 3:1a391dd91a35 | 19 | char dodaj_poziom[2]; |
jguzik | 3:1a391dd91a35 | 20 | char dodaj_pion[2]; |
jguzik | 3:1a391dd91a35 | 21 | int akt_pion=0, akt_poziom=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 22 | int l=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 23 | int p=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 24 | int po=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 25 | int pi=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 26 | Timer t, t_sonar; |
yruiewyrui3 | 2:26a9f90142a0 | 27 | long distance; |
yruiewyrui3 | 0:5919ea7b3b90 | 28 | |
yruiewyrui3 | 0:5919ea7b3b90 | 29 | //*************** Funkcja czyszczaca bufor ***************** |
yruiewyrui3 | 0:5919ea7b3b90 | 30 | void cleanBuffer(char *buffor) |
yruiewyrui3 | 0:5919ea7b3b90 | 31 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 32 | for(int i=0; i<BufferSize; i++) |
yruiewyrui3 | 0:5919ea7b3b90 | 33 | buffor[i]=NULL; |
yruiewyrui3 | 0:5919ea7b3b90 | 34 | buffor[BufferSize]=NULL; |
yruiewyrui3 | 0:5919ea7b3b90 | 35 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 36 | |
jguzik | 3:1a391dd91a35 | 37 | char* intToChar(int value, char tab[3]) |
jguzik | 3:1a391dd91a35 | 38 | { |
jguzik | 3:1a391dd91a35 | 39 | tab[0]= (char)(value/100 + 48); |
jguzik | 3:1a391dd91a35 | 40 | tab[1]= (char)((value-(100*(value/100)))/10 + 48); |
jguzik | 3:1a391dd91a35 | 41 | tab[2]= (char)(value-(100*(value/100))-(10*((value-(100*(value/100)))/10)) + 48); |
jguzik | 3:1a391dd91a35 | 42 | /*stm.printf("Tablica z distance to: "); |
jguzik | 3:1a391dd91a35 | 43 | for (int i=0; i<3; ++i) |
jguzik | 3:1a391dd91a35 | 44 | stm.printf("%c",tab[i]); |
jguzik | 3:1a391dd91a35 | 45 | stm.printf("\n");*/ |
jguzik | 3:1a391dd91a35 | 46 | return tab; |
jguzik | 3:1a391dd91a35 | 47 | } |
jguzik | 3:1a391dd91a35 | 48 | |
jguzik | 3:1a391dd91a35 | 49 | void send2rpi(char tag, int wartosc){ |
jguzik | 3:1a391dd91a35 | 50 | char tablicaf[3]; |
jguzik | 3:1a391dd91a35 | 51 | stm.putc(tag); |
jguzik | 3:1a391dd91a35 | 52 | intToChar(wartosc, tablicaf); |
jguzik | 3:1a391dd91a35 | 53 | for (int f=0; f<3; f++){ |
jguzik | 3:1a391dd91a35 | 54 | stm.putc(tablicaf[f]); |
jguzik | 3:1a391dd91a35 | 55 | } |
jguzik | 3:1a391dd91a35 | 56 | } |
jguzik | 3:1a391dd91a35 | 57 | |
yruiewyrui3 | 0:5919ea7b3b90 | 58 | //***************OPIS FUNKCJI isCorrectPacket******************************************************// |
yruiewyrui3 | 0:5919ea7b3b90 | 59 | // funkcja sprawdza czy ramka spelnia wymagania protokolu: @ZCCCZCCC$ lub &ZCCCZCCC$ gdzie Z={+/-} C={0,1,...9} // |
yruiewyrui3 | 0:5919ea7b3b90 | 60 | //*******************KONIEC OPISU******************************************************************// |
yruiewyrui3 | 0:5919ea7b3b90 | 61 | |
yruiewyrui3 | 0:5919ea7b3b90 | 62 | bool isCorrectPacket(char *buffor){ |
yruiewyrui3 | 0:5919ea7b3b90 | 63 | if (bufor[0]!='@') |
yruiewyrui3 | 0:5919ea7b3b90 | 64 | { |
jguzik | 3:1a391dd91a35 | 65 | // stm.printf("ZLY ZNAK POCZATKU\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 66 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 67 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 68 | if((buffor[1] != '+') && (buffor[1] != '-')) |
yruiewyrui3 | 0:5919ea7b3b90 | 69 | { |
jguzik | 3:1a391dd91a35 | 70 | // stm.printf("ZLY ZNAK +/- LEWY\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 71 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 72 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 73 | if((buffor[5] != '+') && (buffor[5] != '-')) |
yruiewyrui3 | 0:5919ea7b3b90 | 74 | { |
jguzik | 3:1a391dd91a35 | 75 | // stm.printf("ZLY ZNAK +/- PRAWY\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 76 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 77 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 78 | if((bufor[9]!='$')&&(bufor[9]!='&')) |
yruiewyrui3 | 0:5919ea7b3b90 | 79 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 80 | // stm.printf("ZLY ZNAK KONCA\n"); |
jguzik | 3:1a391dd91a35 | 81 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 82 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 83 | for(int i=2; i< 5; i++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 84 | if(((int)buffor[i]) < 48 || ((int)buffor[i]) > 57) |
yruiewyrui3 | 0:5919ea7b3b90 | 85 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 86 | // stm.printf("NA LEWE KOLO: NIE LICZBA\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 87 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 88 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 89 | if(((int)buffor[i+4]) < 48 || ((int)buffor[i+4]) > 57) |
yruiewyrui3 | 0:5919ea7b3b90 | 90 | { |
jguzik | 3:1a391dd91a35 | 91 | // stm.printf("NA PRAWE KOLO: NIE LICZBA\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 92 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 93 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 94 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 95 | //stm.printf("pakiet poprawny\n");] |
yruiewyrui3 | 0:5919ea7b3b90 | 96 | return true; |
yruiewyrui3 | 0:5919ea7b3b90 | 97 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 98 | |
jguzik | 3:1a391dd91a35 | 99 | void actualize_speed() |
yruiewyrui3 | 0:5919ea7b3b90 | 100 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 101 | //*******PRZYPISANIE DO TABLICY LEWEJ LICZBY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 102 | for(int j=0; j<=2; j++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 103 | lewa[j]=bufor[j+2]; |
yruiewyrui3 | 0:5919ea7b3b90 | 104 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 105 | //*******PRZYPISANIE DO TABLICY PRAWEJ LICZBY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 106 | for(int k=0; k<=2; k++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 107 | prawa[k]=bufor[k+6]; |
yruiewyrui3 | 0:5919ea7b3b90 | 108 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 109 | //*******KONWERSJA CHAROW NA INTY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 110 | sscanf(lewa, "%3d", &l); |
yruiewyrui3 | 0:5919ea7b3b90 | 111 | sscanf(prawa, "%3d", &p); |
yruiewyrui3 | 0:5919ea7b3b90 | 112 | //********KOREKCJA***************// |
yruiewyrui3 | 0:5919ea7b3b90 | 113 | if(abs(l)>100){ |
yruiewyrui3 | 0:5919ea7b3b90 | 114 | l=100; |
yruiewyrui3 | 0:5919ea7b3b90 | 115 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 116 | if(abs(p)>100){ |
yruiewyrui3 | 0:5919ea7b3b90 | 117 | p=100; |
jguzik | 3:1a391dd91a35 | 118 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 119 | //******KOREKCJA ZNAKU***********// |
yruiewyrui3 | 0:5919ea7b3b90 | 120 | if(bufor[1]=='-') l=-l; |
jguzik | 3:1a391dd91a35 | 121 | if(bufor[5]=='-') p=-p; |
jguzik | 3:1a391dd91a35 | 122 | |
jguzik | 3:1a391dd91a35 | 123 | } |
jguzik | 3:1a391dd91a35 | 124 | |
jguzik | 3:1a391dd91a35 | 125 | |
jguzik | 3:1a391dd91a35 | 126 | void move_wheels() |
jguzik | 3:1a391dd91a35 | 127 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 128 | eng_left.move(l); |
yruiewyrui3 | 0:5919ea7b3b90 | 129 | eng_right.move(p); |
yruiewyrui3 | 0:5919ea7b3b90 | 130 | } |
jguzik | 3:1a391dd91a35 | 131 | |
jguzik | 3:1a391dd91a35 | 132 | void actualize_servo_values() |
jguzik | 3:1a391dd91a35 | 133 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 134 | //*******PRZYPISANIE DO KAMERY POZIOM*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 135 | for(int m=0; m<2; m++){ |
jguzik | 3:1a391dd91a35 | 136 | dodaj_poziom[m]=bufor[m+3]; |
yruiewyrui3 | 0:5919ea7b3b90 | 137 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 138 | //*******PRZYPISANIE DO KAMERY PION*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 139 | for(int n=0; n<2; n++){ |
jguzik | 3:1a391dd91a35 | 140 | dodaj_pion[n]=bufor[n+7]; |
yruiewyrui3 | 0:5919ea7b3b90 | 141 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 142 | //*******KONWERSJA CHAROW NA INTY*********// |
jguzik | 3:1a391dd91a35 | 143 | sscanf(dodaj_poziom, "%2d", &po); |
jguzik | 3:1a391dd91a35 | 144 | sscanf(dodaj_pion, "%2d", &pi); |
jguzik | 3:1a391dd91a35 | 145 | //********KOREKCJA***************// |
yruiewyrui3 | 0:5919ea7b3b90 | 146 | if(bufor[1]=='-') po=-po; |
yruiewyrui3 | 0:5919ea7b3b90 | 147 | if(bufor[5]=='-') pi=-pi; |
jguzik | 3:1a391dd91a35 | 148 | |
jguzik | 3:1a391dd91a35 | 149 | akt_poziom = akt_poziom + po; |
jguzik | 3:1a391dd91a35 | 150 | akt_pion = akt_pion + pi; |
jguzik | 3:1a391dd91a35 | 151 | |
jguzik | 3:1a391dd91a35 | 152 | if(akt_poziom>90) |
jguzik | 3:1a391dd91a35 | 153 | akt_poziom=90; |
jguzik | 3:1a391dd91a35 | 154 | else if (akt_poziom<-90) |
jguzik | 3:1a391dd91a35 | 155 | akt_poziom=-90; |
jguzik | 3:1a391dd91a35 | 156 | |
jguzik | 3:1a391dd91a35 | 157 | if(akt_pion>90) |
jguzik | 3:1a391dd91a35 | 158 | akt_pion=90; |
jguzik | 3:1a391dd91a35 | 159 | else if (akt_pion<-90) |
jguzik | 3:1a391dd91a35 | 160 | akt_poziom=-90; |
yruiewyrui3 | 0:5919ea7b3b90 | 161 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 162 | |
jguzik | 3:1a391dd91a35 | 163 | |
jguzik | 3:1a391dd91a35 | 164 | void move_camera() |
jguzik | 3:1a391dd91a35 | 165 | { |
jguzik | 3:1a391dd91a35 | 166 | cam_poziom.position(akt_poziom); |
jguzik | 3:1a391dd91a35 | 167 | cam_pion.position(akt_pion); |
jguzik | 3:1a391dd91a35 | 168 | } |
jguzik | 3:1a391dd91a35 | 169 | |
jguzik | 3:1a391dd91a35 | 170 | |
jguzik | 3:1a391dd91a35 | 171 | |
yruiewyrui3 | 0:5919ea7b3b90 | 172 | int main(){ |
yruiewyrui3 | 0:5919ea7b3b90 | 173 | int i = 0; |
yruiewyrui3 | 0:5919ea7b3b90 | 174 | cleanBuffer(bufor); |
yruiewyrui3 | 0:5919ea7b3b90 | 175 | stm.baud(115200); |
yruiewyrui3 | 2:26a9f90142a0 | 176 | t_sonar.start(); |
jguzik | 3:1a391dd91a35 | 177 | distance = 0; |
jguzik | 3:1a391dd91a35 | 178 | move_camera(); |
jguzik | 3:1a391dd91a35 | 179 | |
jguzik | 3:1a391dd91a35 | 180 | while(true) |
jguzik | 3:1a391dd91a35 | 181 | { |
jguzik | 3:1a391dd91a35 | 182 | |
jguzik | 3:1a391dd91a35 | 183 | if(t.read_ms()>500){ //jesli przez ponad 200ms nie ma nowej ramki, zatrzymujemy robota |
yruiewyrui3 | 0:5919ea7b3b90 | 184 | eng_left.move(0); |
yruiewyrui3 | 0:5919ea7b3b90 | 185 | eng_right.move(0); |
yruiewyrui3 | 0:5919ea7b3b90 | 186 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 187 | if(t_sonar.read_ms()>1200){ |
yruiewyrui3 | 2:26a9f90142a0 | 188 | distance = sensor.distance(); |
yruiewyrui3 | 0:5919ea7b3b90 | 189 | t_sonar.stop(); |
yruiewyrui3 | 0:5919ea7b3b90 | 190 | t_sonar.reset(); |
yruiewyrui3 | 0:5919ea7b3b90 | 191 | t_sonar.start(); |
yruiewyrui3 | 0:5919ea7b3b90 | 192 | } |
jguzik | 3:1a391dd91a35 | 193 | if(bufor[9] == NULL) |
jguzik | 3:1a391dd91a35 | 194 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 195 | bufor[i] = stm.getc(); |
jguzik | 3:1a391dd91a35 | 196 | if(i==0) |
jguzik | 3:1a391dd91a35 | 197 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 198 | if(bufor[i]=='@') //zaczynamy zapelniac bufor jak dostaniemy @ |
yruiewyrui3 | 0:5919ea7b3b90 | 199 | ++i; |
yruiewyrui3 | 0:5919ea7b3b90 | 200 | } |
jguzik | 3:1a391dd91a35 | 201 | else if(bufor[i]=='@') |
jguzik | 3:1a391dd91a35 | 202 | { // i != 0 //interpretujemy jakby potencjalny poczatek ramki |
yruiewyrui3 | 0:5919ea7b3b90 | 203 | cleanBuffer(bufor); |
yruiewyrui3 | 0:5919ea7b3b90 | 204 | bufor[0]='@'; |
yruiewyrui3 | 0:5919ea7b3b90 | 205 | i=1; //bo zerowy znak '@' juz zczytal |
jguzik | 3:1a391dd91a35 | 206 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 207 | else i++; |
jguzik | 3:1a391dd91a35 | 208 | |
jguzik | 3:1a391dd91a35 | 209 | continue; |
yruiewyrui3 | 0:5919ea7b3b90 | 210 | } |
jguzik | 3:1a391dd91a35 | 211 | if(isCorrectPacket(bufor)) |
jguzik | 3:1a391dd91a35 | 212 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 213 | t.stop(); |
yruiewyrui3 | 0:5919ea7b3b90 | 214 | t.reset(); |
jguzik | 3:1a391dd91a35 | 215 | t.start(); |
yruiewyrui3 | 0:5919ea7b3b90 | 216 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 217 | if(bufor[9]=='$'){ |
jguzik | 3:1a391dd91a35 | 218 | actualize_speed(); |
jguzik | 3:1a391dd91a35 | 219 | if(distance>25){ |
jguzik | 3:1a391dd91a35 | 220 | move_wheels(); |
jguzik | 3:1a391dd91a35 | 221 | } |
jguzik | 3:1a391dd91a35 | 222 | else if (distance<=25){ |
jguzik | 3:1a391dd91a35 | 223 | if(l<=0 && p<=0 || l*p<0){ |
jguzik | 3:1a391dd91a35 | 224 | move_wheels(); |
jguzik | 3:1a391dd91a35 | 225 | } |
jguzik | 3:1a391dd91a35 | 226 | else{ |
jguzik | 3:1a391dd91a35 | 227 | eng_left.move(0); |
jguzik | 3:1a391dd91a35 | 228 | eng_right.move(0); |
jguzik | 3:1a391dd91a35 | 229 | } |
jguzik | 3:1a391dd91a35 | 230 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 231 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 232 | else if(bufor[9]=='&'){ |
jguzik | 3:1a391dd91a35 | 233 | actualize_servo_values(); |
jguzik | 3:1a391dd91a35 | 234 | move_camera(); |
yruiewyrui3 | 0:5919ea7b3b90 | 235 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 236 | i=0; |
jguzik | 3:1a391dd91a35 | 237 | //send2rpi('s', distance); |
yruiewyrui3 | 0:5919ea7b3b90 | 238 | cleanBuffer(bufor); |
jguzik | 3:1a391dd91a35 | 239 | |
yruiewyrui3 | 0:5919ea7b3b90 | 240 | } |
jguzik | 3:1a391dd91a35 | 241 | } |