James O'Keeffe / Mbed 2 deprecated BeaconDemo_RobotCodeNew

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Dependencies:   mbed

Fork of BeaconDemo_RobotCode by Science Memeseum

main.cpp@17:f26a5805cde3, 2016-01-15 (annotated)

Committer:
jah128
Date:
Fri Jan 15 18:27:53 2016 +0000
Revision:
17:f26a5805cde3
Parent:
16:976a1d0ea897
Child:
18:3fa5cd53ed45
A fork from the BMeme project code for Alex

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 6:ff3c66f7372b 1 /***********************************************************************
jah128 0:8a5497a2e366 2 ** ██████╗ ███████╗██╗███████╗██╗ ██╗ █████╗ ██████╗ ███╗ ███╗ **
jah128 0:8a5497a2e366 3 ** ██╔══██╗██╔════╝██║██╔════╝██║ ██║██╔══██╗██╔══██╗████╗ ████║ **
jah128 0:8a5497a2e366 4 ** ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║ **
jah128 0:8a5497a2e366 5 ** ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║ **
jah128 0:8a5497a2e366 6 ** ██║ ███████║██║███████║╚███╔███╔╝██║ ██║██║ ██║██║ ╚═╝ ██║ **
jah128 0:8a5497a2e366 7 ** ╚═╝ ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝ **
jah128 0:8a5497a2e366 8 ************************************************************************
jah128 0:8a5497a2e366 9 **(C) Dr James Hilder - York Robotics Laboratory - University of York **
jah128 0:8a5497a2e366 10 ***********************************************************************/
jah128 0:8a5497a2e366 11
jah128 6:ff3c66f7372b 12 /// PsiSwarm Beautiful Meme Project Source Code
jah128 16:976a1d0ea897 13 /// Version 0.21
jah128 6:ff3c66f7372b 14 /// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 6:ff3c66f7372b 15 /// University of York
jah128 0:8a5497a2e366 16
jah128 10:1b09d4bb847b 17 /// Include main.h - this includes psiswarm.h all the other necessary core files
jah128 10:1b09d4bb847b 18 #include "main.h"
jah128 9:085e090e1ec1 19
jah128 10:1b09d4bb847b 20 char * program_name = "B-Meme";
jah128 10:1b09d4bb847b 21 char * author_name = "YRL";
jah128 16:976a1d0ea897 22 char * version_name = "0.21";
jah128 0:8a5497a2e366 23
jah128 6:ff3c66f7372b 24 // IMPORTANT!!!
jah128 6:ff3c66f7372b 25 // Do not call the IR functions at all as they will interfere with the correct operation of this program
jah128 6:ff3c66f7372b 26 // Instead, use the values held in the variables below; they are updated every 500ms
jah128 6:ff3c66f7372b 27
jah128 6:ff3c66f7372b 28 char beacon_found = 0; // This will be a 1 when a beacon was detected during the previous 500ms window
jah128 6:ff3c66f7372b 29 int beacon_heading = 0; // This is the heading from the last time a beacon was detected
jah128 6:ff3c66f7372b 30 char robots_found[8]; // These will be a 1 when the respective robot [excluding self] was detected during the previous 500ms window
jah128 7:ef9ab01b9e26 31 int robots_heading[8]; // These are the headings from the last time the respective robots were detected
jah128 6:ff3c66f7372b 32 unsigned short robots_distance[8]; // This is the maximum sensor value from the last time the respective robot was detected
jah128 6:ff3c66f7372b 33 unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on
jah128 6:ff3c66f7372b 34 unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on
jah128 6:ff3c66f7372b 35
jah128 17:f26a5805cde3 36
jah128 17:f26a5805cde3 37 char toggle_program_stage = 0;
jah128 17:f26a5805cde3 38 char default_normal_program = 5; // The program to run on turn on (after 'face beacon' program)
jah128 17:f26a5805cde3 39 char use_recharging_program = 0; // Set to 1 to force robot to run recharging program when battery voltage drops below a threshold
jah128 6:ff3c66f7372b 40 char user_code_debug = 1; // Set to 1 to show terminal messages from "out" function [specific to this code]
jah128 10:1b09d4bb847b 41 char display_debug_inf = 0; // Set to 1 to show debug info about beacon\robots on display [instead of running program info]
jah128 10:1b09d4bb847b 42 char main_program_state; // Index of the currently running program
jah128 13:f5994956b1ba 43 char previous_program; // Used to hold previous running program when it is paused for switch press etc
jah128 10:1b09d4bb847b 44 char program_changed = 0; // Flag to update display when program is changed
jah128 12:daa53285b6e4 45 char program_run_init = 0; // Flag to tell program to run its initialisation on first loop, if neccessary
jah128 10:1b09d4bb847b 46 char success_count = 0; // Flag to indicate the success of a program
jah128 10:1b09d4bb847b 47 char step_cycle = 0; // Alternates between 0 and 1 in successive time-steps
jah128 10:1b09d4bb847b 48 char target_reached = 0; // Flag to indicate if a program target has been reached
jah128 10:1b09d4bb847b 49 char prog_name [17]; // Stores the name of the running program [line 0 on the display]
jah128 10:1b09d4bb847b 50 char prog_info [17]; // Stores information about the current state of the program [line 1 on the display]
jah128 10:1b09d4bb847b 51 char disable_ir_emitters = 0; // Used to disable IR emission during charging etc [use with caution!]
jah128 10:1b09d4bb847b 52 char recharging_state = 0; // Stores the state of the recharging program (0 is not currently running)
jah128 13:f5994956b1ba 53 char switch_held = 0; // Used for detected when the cursor switch is held to override program choice
jah128 13:f5994956b1ba 54 char choose_program_mode = 0;
jah128 16:976a1d0ea897 55 char program_count = 8;
jah128 13:f5994956b1ba 56 char program_selection;
jah128 17:f26a5805cde3 57 Ticker toggle_program_ticker;
jah128 11:7b3ee540ba56 58
jah128 14:f623db1e6184 59 float battery_low_threshold = 3.60; // Threshold at which to interrupt program and start recharging routine: suggest 3.55
jah128 14:f623db1e6184 60 float battery_high_threshold = 3.95; // Threshold at which to end battery recharging routine and resume normal program: suggest 4.0
jah128 11:7b3ee540ba56 61
jah128 9:085e090e1ec1 62 Ticker main_loop_ticker;
jah128 9:085e090e1ec1 63
jah128 10:1b09d4bb847b 64 ///This is the main loop for the Beautiful Meme code. The code block is run once every 250mS* [with 4Hz beacon] once all the IR samples have been collected.
jah128 9:085e090e1ec1 65 void main_loop()
jah128 9:085e090e1ec1 66 {
jah128 13:f5994956b1ba 67 if(switch_held == 1)switch_held=2;
jah128 14:f623db1e6184 68 if(switch_held == 3 && choose_program_mode == 0) {
jah128 13:f5994956b1ba 69 //The switch has been held right and then released: stop the current program
jah128 13:f5994956b1ba 70 previous_program = main_program_state;
jah128 13:f5994956b1ba 71 program_selection = previous_program;
jah128 13:f5994956b1ba 72 choose_program_mode = 1;
jah128 13:f5994956b1ba 73 set_program(255);
jah128 14:f623db1e6184 74 set_program_info(get_program_name(program_selection));
jah128 13:f5994956b1ba 75 }
jah128 10:1b09d4bb847b 76 if(use_recharging_program == 1)recharging_program();
jah128 9:085e090e1ec1 77 update_display();
jah128 10:1b09d4bb847b 78 if(recharging_state == 0) {
jah128 10:1b09d4bb847b 79 switch(main_program_state) {
jah128 10:1b09d4bb847b 80 case 0: //Case 0 is the initial program: turn to face beacon
jah128 10:1b09d4bb847b 81 if(step_cycle == 0) {
jah128 10:1b09d4bb847b 82 char turn_status = turn_to_bearing(0);
jah128 10:1b09d4bb847b 83 if(turn_status == 0) {
jah128 10:1b09d4bb847b 84 success_count ++;
jah128 10:1b09d4bb847b 85 if(success_count > 1) set_program(default_normal_program);
jah128 10:1b09d4bb847b 86 } else success_count = 0;
jah128 10:1b09d4bb847b 87 }
jah128 10:1b09d4bb847b 88 break;
jah128 10:1b09d4bb847b 89 case 1:
jah128 10:1b09d4bb847b 90 target_reached = 0;
jah128 10:1b09d4bb847b 91 head_to_bearing_program(0);
jah128 10:1b09d4bb847b 92 if(target_reached == 1) set_program(2);
jah128 10:1b09d4bb847b 93 break;
jah128 10:1b09d4bb847b 94 case 2:
jah128 10:1b09d4bb847b 95 target_reached = 0;
jah128 10:1b09d4bb847b 96 head_to_bearing_program(180);
jah128 10:1b09d4bb847b 97 if(target_reached == 1) set_program(1);
jah128 10:1b09d4bb847b 98 break;
jah128 10:1b09d4bb847b 99 case 3:
jah128 10:1b09d4bb847b 100 curved_random_walk_with_interaction_program();
jah128 10:1b09d4bb847b 101 break;
jah128 10:1b09d4bb847b 102 case 4:
jah128 10:1b09d4bb847b 103 straight_random_walk_with_interaction_program();
jah128 10:1b09d4bb847b 104 break;
jah128 10:1b09d4bb847b 105 case 5:
jah128 13:f5994956b1ba 106 find_space_program(1);
jah128 10:1b09d4bb847b 107 break;
jah128 12:daa53285b6e4 108 case 6:
jah128 13:f5994956b1ba 109 clustering_program(0,1);
jah128 12:daa53285b6e4 110 break;
jah128 16:976a1d0ea897 111 case 7:
jah128 16:976a1d0ea897 112 tag_game_program();
jah128 16:976a1d0ea897 113 break;
jah128 13:f5994956b1ba 114 case 255:
jah128 13:f5994956b1ba 115 stop_program();
jah128 14:f623db1e6184 116 break;
jah128 10:1b09d4bb847b 117 }
jah128 9:085e090e1ec1 118 }
jah128 9:085e090e1ec1 119 step_cycle=1-step_cycle;
jah128 9:085e090e1ec1 120 }
jah128 9:085e090e1ec1 121
jah128 1:f6356cf1cefc 122 ///Place user code here that should be run after initialisation but before the main loop
jah128 6:ff3c66f7372b 123 void user_code_setup()
jah128 13:f5994956b1ba 124 {
jah128 17:f26a5805cde3 125 // Note for Alex:
jah128 17:f26a5805cde3 126 //
jah128 17:f26a5805cde3 127 // This is the code we have been working on for the beautiful meme project
jah128 17:f26a5805cde3 128 //
jah128 17:f26a5805cde3 129 // If you were to comment out (or delete...) all the code here, the robot will just
jah128 17:f26a5805cde3 130 // sit in an 'idle' loop when you turn it on - but should respond to any command codes
jah128 17:f26a5805cde3 131 // that are sent.
jah128 17:f26a5805cde3 132
jah128 9:085e090e1ec1 133 wait(0.8);
jah128 9:085e090e1ec1 134 display.clear_display();
jah128 9:085e090e1ec1 135 display.set_position(0,0);
jah128 9:085e090e1ec1 136 display.write_string("BEAUTIFUL MEME");
jah128 9:085e090e1ec1 137 display.set_position(1,0);
jah128 9:085e090e1ec1 138 display.write_string(" PROJECT");
jah128 9:085e090e1ec1 139 wait(0.2);
jah128 6:ff3c66f7372b 140 out("------------------------------------------------------\n");
jah128 6:ff3c66f7372b 141 out("Beautiful Meme Project Demo Code \n");
jah128 6:ff3c66f7372b 142 out("------------------------------------------------------\n");
jah128 6:ff3c66f7372b 143 locate_beacon();
jah128 6:ff3c66f7372b 144 while(beacon_found == 0) {
jah128 9:085e090e1ec1 145 wait(0.5);
jah128 6:ff3c66f7372b 146 locate_beacon();
jah128 6:ff3c66f7372b 147 }
jah128 17:f26a5805cde3 148 toggle_program_ticker.attach(toggle_program,20);
jah128 6:ff3c66f7372b 149 start_infrared_timers();
jah128 9:085e090e1ec1 150 main_loop_ticker.attach_us(&main_loop,BEACON_PERIOD * 10);
jah128 16:976a1d0ea897 151 set_program(0);
jah128 9:085e090e1ec1 152 set_leds(0x00,0x00);
jah128 10:1b09d4bb847b 153 set_center_led(3,0.5);
jah128 9:085e090e1ec1 154 display.clear_display();
jah128 9:085e090e1ec1 155 display.set_position(0,0);
jah128 9:085e090e1ec1 156 display.write_string("BEACON FOUND AT");
jah128 9:085e090e1ec1 157 display.set_position(1,0);
jah128 9:085e090e1ec1 158 char degrees_string[16];
jah128 9:085e090e1ec1 159 sprintf(degrees_string,"%d DEGREES",beacon_heading);
jah128 9:085e090e1ec1 160 display.write_string(degrees_string);
jah128 0:8a5497a2e366 161 }
jah128 0:8a5497a2e366 162
jah128 17:f26a5805cde3 163 void toggle_program(){
jah128 17:f26a5805cde3 164 toggle_program_stage ++;
jah128 17:f26a5805cde3 165 if(toggle_program_stage == 3) toggle_program_stage = 0;
jah128 17:f26a5805cde3 166 switch(toggle_program_stage){
jah128 17:f26a5805cde3 167 case 0: set_program(5); break;
jah128 17:f26a5805cde3 168 case 1: set_program(6); break;
jah128 17:f26a5805cde3 169 case 2: set_program(7);break;
jah128 17:f26a5805cde3 170 case 3: set_program(7); break;
jah128 17:f26a5805cde3 171 }
jah128 17:f26a5805cde3 172 }
jah128 17:f26a5805cde3 173
jah128 1:f6356cf1cefc 174 /// Code goes here to handle what should happen when the user switch is pressed
jah128 0:8a5497a2e366 175 void handle_switch_event(char switch_state)
jah128 0:8a5497a2e366 176 {
jah128 6:ff3c66f7372b 177 /// Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed
jah128 1:f6356cf1cefc 178 /// NB For maximum compatability it is recommended to minimise reliance on center button press
jah128 13:f5994956b1ba 179 if(choose_program_mode == 0) {
jah128 13:f5994956b1ba 180 if(switch_state == 8) switch_held = 1;
jah128 13:f5994956b1ba 181 else if(switch_state == 0 && switch_held == 2) switch_held = 3;
jah128 13:f5994956b1ba 182 else switch_held = 0;
jah128 13:f5994956b1ba 183 } else {
jah128 13:f5994956b1ba 184 // We are in choose program mode
jah128 13:f5994956b1ba 185 if(switch_state == 8) {
jah128 13:f5994956b1ba 186 program_selection ++;
jah128 13:f5994956b1ba 187 if(program_selection > program_count) program_selection = 0;
jah128 13:f5994956b1ba 188 if(program_selection == program_count) set_program_info("RECHARGE");
jah128 13:f5994956b1ba 189 else set_program_info(get_program_name(program_selection));
jah128 13:f5994956b1ba 190 }
jah128 13:f5994956b1ba 191 if(switch_state == 4) {
jah128 14:f623db1e6184 192 if(program_selection == 0) program_selection = program_count;
jah128 14:f623db1e6184 193 else program_selection --;
jah128 13:f5994956b1ba 194 if(program_selection == program_count) set_program_info("RECHARGE");
jah128 13:f5994956b1ba 195 else set_program_info(get_program_name(program_selection));
jah128 13:f5994956b1ba 196 }
jah128 13:f5994956b1ba 197 if(switch_state == 1 || switch_state == 2){
jah128 13:f5994956b1ba 198 if(program_selection == program_count){
jah128 13:f5994956b1ba 199 recharging_state = 1;
jah128 13:f5994956b1ba 200 set_program(previous_program);
jah128 13:f5994956b1ba 201 strcpy(prog_name,"CHARGING PROGRAM");
jah128 13:f5994956b1ba 202 set_program_info("HEAD TO BEACON");
jah128 13:f5994956b1ba 203
jah128 13:f5994956b1ba 204 }
jah128 13:f5994956b1ba 205 else set_program(program_selection);
jah128 13:f5994956b1ba 206 choose_program_mode = 0;
jah128 13:f5994956b1ba 207 switch_held = 0;
jah128 13:f5994956b1ba 208 }
jah128 13:f5994956b1ba 209 }
jah128 14:f623db1e6184 210 //out("Switch:%d Switch_held:%d Program_Selection:%d Program_count:%d Prog_Info:%s\n",switch_state,switch_held,program_selection,program_count,prog_info);
jah128 0:8a5497a2e366 211 }
jah128 0:8a5497a2e366 212
jah128 1:f6356cf1cefc 213 /// The main routine: it is recommended to leave this function alone and add user code to the above functions
jah128 6:ff3c66f7372b 214 int main()
jah128 6:ff3c66f7372b 215 {
jah128 1:f6356cf1cefc 216 ///init() in psiswarm.cpp sets up the robot
jah128 0:8a5497a2e366 217 init();
jah128 0:8a5497a2e366 218 user_code_setup();
jah128 0:8a5497a2e366 219 user_code_running = 1;
jah128 0:8a5497a2e366 220 while(1) {
jah128 9:085e090e1ec1 221 wait(1);
jah128 6:ff3c66f7372b 222 }
jah128 6:ff3c66f7372b 223 }
jah128 6:ff3c66f7372b 224
jah128 10:1b09d4bb847b 225 char * get_program_name(int index)
jah128 13:f5994956b1ba 226 {
jah128 10:1b09d4bb847b 227 char * ret_name = new char[17];
jah128 13:f5994956b1ba 228 switch(index) {
jah128 10:1b09d4bb847b 229 case 0:
jah128 10:1b09d4bb847b 230 strcpy(ret_name,"FACE BEACON");
jah128 10:1b09d4bb847b 231 break;
jah128 10:1b09d4bb847b 232 case 1:
jah128 10:1b09d4bb847b 233 strcpy(ret_name,"HEAD TO BEACON");
jah128 10:1b09d4bb847b 234 break;
jah128 10:1b09d4bb847b 235 case 2:
jah128 10:1b09d4bb847b 236 strcpy(ret_name,"HEAD TO SOUTH");
jah128 10:1b09d4bb847b 237 break;
jah128 10:1b09d4bb847b 238 case 3:
jah128 10:1b09d4bb847b 239 strcpy(ret_name,"RANDOM WALK 1");
jah128 10:1b09d4bb847b 240 break;
jah128 10:1b09d4bb847b 241 case 4:
jah128 10:1b09d4bb847b 242 strcpy(ret_name,"RANDOM WALK 2");
jah128 10:1b09d4bb847b 243 break;
jah128 10:1b09d4bb847b 244 case 5:
jah128 10:1b09d4bb847b 245 strcpy(ret_name,"FIND SPACE");
jah128 10:1b09d4bb847b 246 break;
jah128 12:daa53285b6e4 247 case 6:
jah128 12:daa53285b6e4 248 strcpy(ret_name,"CLUSTERING");
jah128 12:daa53285b6e4 249 break;
jah128 16:976a1d0ea897 250 case 7:
jah128 16:976a1d0ea897 251 strcpy(ret_name,"TAG GAME");
jah128 16:976a1d0ea897 252 break;
jah128 13:f5994956b1ba 253 case 255:
jah128 13:f5994956b1ba 254 strcpy(ret_name,"PROGRAM:");
jah128 14:f623db1e6184 255 break;
jah128 10:1b09d4bb847b 256 }
jah128 10:1b09d4bb847b 257 return ret_name;
jah128 10:1b09d4bb847b 258 }
jah128 10:1b09d4bb847b 259
jah128 10:1b09d4bb847b 260 void set_program(int index)
jah128 10:1b09d4bb847b 261 {
jah128 10:1b09d4bb847b 262 main_program_state = index;
jah128 10:1b09d4bb847b 263 program_changed = 1;
jah128 12:daa53285b6e4 264 program_run_init = 1;
jah128 10:1b09d4bb847b 265 strcpy(prog_info,"");
jah128 13:f5994956b1ba 266 strcpy(prog_name,get_program_name(index));
jah128 10:1b09d4bb847b 267 }
jah128 10:1b09d4bb847b 268
jah128 10:1b09d4bb847b 269 void set_program_info(char * info)
jah128 10:1b09d4bb847b 270 {
jah128 10:1b09d4bb847b 271 strcpy(prog_info,info);
jah128 10:1b09d4bb847b 272 program_changed = 1;
jah128 10:1b09d4bb847b 273 }
jah128 9:085e090e1ec1 274
jah128 9:085e090e1ec1 275 void update_display()
jah128 9:085e090e1ec1 276 {
jah128 10:1b09d4bb847b 277 if(program_changed == 1) {
jah128 10:1b09d4bb847b 278 program_changed = 0;
jah128 9:085e090e1ec1 279 display.clear_display();
jah128 13:f5994956b1ba 280
jah128 10:1b09d4bb847b 281 if(display_debug_inf==1) display_debug_info();
jah128 13:f5994956b1ba 282 else {
jah128 10:1b09d4bb847b 283 display.set_position(0,0);
jah128 10:1b09d4bb847b 284 display.write_string(prog_name);
jah128 9:085e090e1ec1 285 }
jah128 10:1b09d4bb847b 286 display.set_position(1,0);
jah128 10:1b09d4bb847b 287 display.write_string(prog_info);
jah128 9:085e090e1ec1 288 }
jah128 9:085e090e1ec1 289 }
jah128 9:085e090e1ec1 290
jah128 9:085e090e1ec1 291 void display_debug_info()
jah128 9:085e090e1ec1 292 {
jah128 9:085e090e1ec1 293 char disp_line[16] = "- - - - - - - -";
jah128 9:085e090e1ec1 294 if(beacon_found==1)disp_line[0]='B';
jah128 10:1b09d4bb847b 295 for(int i=1; i<8; i++) {
jah128 10:1b09d4bb847b 296 if(robots_found[i])disp_line[((i)*2)]=48+i;
jah128 9:085e090e1ec1 297 }
jah128 10:1b09d4bb847b 298 display.set_position(0,0);
jah128 9:085e090e1ec1 299 display.write_string(disp_line);
jah128 9:085e090e1ec1 300 }
jah128 9:085e090e1ec1 301
jah128 6:ff3c66f7372b 302 /// Verbose output
jah128 6:ff3c66f7372b 303 void out(const char* format, ...)
jah128 6:ff3c66f7372b 304 {
jah128 6:ff3c66f7372b 305 char buffer[256];
jah128 6:ff3c66f7372b 306 if (debug_mode) {
jah128 6:ff3c66f7372b 307 va_list vl;
jah128 6:ff3c66f7372b 308 va_start(vl, format);
jah128 6:ff3c66f7372b 309 vsprintf(buffer,format,vl);
jah128 6:ff3c66f7372b 310 if(user_code_debug == 1) pc.printf("%s", buffer);
jah128 6:ff3c66f7372b 311 va_end(vl);
jah128 0:8a5497a2e366 312 }
jah128 0:8a5497a2e366 313 }