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Fork of BeaconDemo_RobotCode by
PsiSwarm/psiswarm.cpp@1:f6356cf1cefc, 2015-10-03 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 03 23:09:10 2015 +0000
- Revision:
- 1:f6356cf1cefc
- Parent:
- 0:8a5497a2e366
- Child:
- 2:a6214fd156ff
Added software version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:8a5497a2e366 | 1 | /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Source File |
jah128 | 0:8a5497a2e366 | 2 | * |
jah128 | 0:8a5497a2e366 | 3 | * File: psiswarm.cpp |
jah128 | 0:8a5497a2e366 | 4 | * |
jah128 | 0:8a5497a2e366 | 5 | * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York |
jah128 | 0:8a5497a2e366 | 6 | * |
jah128 | 0:8a5497a2e366 | 7 | * PsiSwarm Library Version: 0.2 |
jah128 | 0:8a5497a2e366 | 8 | * |
jah128 | 0:8a5497a2e366 | 9 | * September 2015 |
jah128 | 0:8a5497a2e366 | 10 | * |
jah128 | 0:8a5497a2e366 | 11 | */ |
jah128 | 0:8a5497a2e366 | 12 | |
jah128 | 0:8a5497a2e366 | 13 | #include "psiswarm.h" |
jah128 | 0:8a5497a2e366 | 14 | |
jah128 | 0:8a5497a2e366 | 15 | Display display; |
jah128 | 0:8a5497a2e366 | 16 | Serial pc(USBTX,USBRX); |
jah128 | 0:8a5497a2e366 | 17 | Serial bt(p13, p14); |
jah128 | 0:8a5497a2e366 | 18 | |
jah128 | 0:8a5497a2e366 | 19 | DigitalOut mbed_led1(LED1); |
jah128 | 0:8a5497a2e366 | 20 | DigitalOut mbed_led2(LED2); |
jah128 | 0:8a5497a2e366 | 21 | DigitalOut mbed_led3(LED3); |
jah128 | 0:8a5497a2e366 | 22 | DigitalOut mbed_led4(LED4); |
jah128 | 0:8a5497a2e366 | 23 | AnalogIn vin_current(p15); |
jah128 | 0:8a5497a2e366 | 24 | AnalogIn vin_battery(p16); |
jah128 | 0:8a5497a2e366 | 25 | AnalogIn vin_dc(p17); |
jah128 | 0:8a5497a2e366 | 26 | I2C primary_i2c (p9, p10); |
jah128 | 0:8a5497a2e366 | 27 | InterruptIn gpio_interrupt (p12); |
jah128 | 0:8a5497a2e366 | 28 | PwmOut motor_left_f (p21); |
jah128 | 0:8a5497a2e366 | 29 | PwmOut motor_left_r (p22); |
jah128 | 0:8a5497a2e366 | 30 | PwmOut motor_right_f(p23); |
jah128 | 0:8a5497a2e366 | 31 | PwmOut motor_right_r(p24); |
jah128 | 0:8a5497a2e366 | 32 | PwmOut center_led_red(p25); |
jah128 | 0:8a5497a2e366 | 33 | PwmOut center_led_green(p26); |
jah128 | 0:8a5497a2e366 | 34 | float center_led_brightness; |
jah128 | 0:8a5497a2e366 | 35 | float backlight_brightness; |
jah128 | 0:8a5497a2e366 | 36 | |
jah128 | 0:8a5497a2e366 | 37 | Ticker event_handler; |
jah128 | 0:8a5497a2e366 | 38 | Timer uptime; |
jah128 | 0:8a5497a2e366 | 39 | Timeout pause_usercode_timeout; |
jah128 | 0:8a5497a2e366 | 40 | Ticker ultrasonic_ticker; |
jah128 | 0:8a5497a2e366 | 41 | Timeout ultrasonic_timeout; |
jah128 | 0:8a5497a2e366 | 42 | int timer_minute_count; |
jah128 | 0:8a5497a2e366 | 43 | Ticker timer_ticker; |
jah128 | 0:8a5497a2e366 | 44 | |
jah128 | 0:8a5497a2e366 | 45 | float firmware_version; |
jah128 | 0:8a5497a2e366 | 46 | char robot_id; |
jah128 | 0:8a5497a2e366 | 47 | char previous_robot_id; |
jah128 | 0:8a5497a2e366 | 48 | |
jah128 | 0:8a5497a2e366 | 49 | char wheel_encoder_byte; |
jah128 | 0:8a5497a2e366 | 50 | char previous_wheel_encoder_byte; |
jah128 | 0:8a5497a2e366 | 51 | signed int left_encoder; |
jah128 | 0:8a5497a2e366 | 52 | signed int right_encoder; |
jah128 | 0:8a5497a2e366 | 53 | |
jah128 | 0:8a5497a2e366 | 54 | char switch_byte; |
jah128 | 0:8a5497a2e366 | 55 | char previous_switch_byte; |
jah128 | 0:8a5497a2e366 | 56 | |
jah128 | 0:8a5497a2e366 | 57 | char debug_mode = DEBUG_MODE; |
jah128 | 0:8a5497a2e366 | 58 | char debug_output = DEBUG_OUTPUT_STREAM; |
jah128 | 0:8a5497a2e366 | 59 | |
jah128 | 0:8a5497a2e366 | 60 | char firmware_bytes[20]; |
jah128 | 0:8a5497a2e366 | 61 | |
jah128 | 0:8a5497a2e366 | 62 | int base_colour_sensor_raw_values [4]; |
jah128 | 0:8a5497a2e366 | 63 | int top_colour_sensor_raw_values [4]; |
jah128 | 0:8a5497a2e366 | 64 | |
jah128 | 0:8a5497a2e366 | 65 | char waiting_for_ultrasonic = 0; |
jah128 | 0:8a5497a2e366 | 66 | int ultrasonic_distance = 0; |
jah128 | 0:8a5497a2e366 | 67 | char ultrasonic_distance_updated = 0; |
jah128 | 0:8a5497a2e366 | 68 | |
jah128 | 0:8a5497a2e366 | 69 | unsigned short background_ir_values [8]; |
jah128 | 0:8a5497a2e366 | 70 | unsigned short illuminated_ir_values [8]; |
jah128 | 0:8a5497a2e366 | 71 | float reflected_ir_distances [8]; |
jah128 | 0:8a5497a2e366 | 72 | char ir_values_stored = 0; |
jah128 | 0:8a5497a2e366 | 73 | unsigned short background_base_ir_values [5]; |
jah128 | 0:8a5497a2e366 | 74 | unsigned short illuminated_base_ir_values [5]; |
jah128 | 0:8a5497a2e366 | 75 | char base_ir_values_stored = 0; |
jah128 | 0:8a5497a2e366 | 76 | |
jah128 | 0:8a5497a2e366 | 77 | float motor_left_speed; |
jah128 | 0:8a5497a2e366 | 78 | float motor_right_speed; |
jah128 | 0:8a5497a2e366 | 79 | char motor_left_brake; |
jah128 | 0:8a5497a2e366 | 80 | char motor_right_brake; |
jah128 | 0:8a5497a2e366 | 81 | |
jah128 | 0:8a5497a2e366 | 82 | char demo_on = 0; |
jah128 | 0:8a5497a2e366 | 83 | char event = 0; |
jah128 | 0:8a5497a2e366 | 84 | char change_id_event = 0; |
jah128 | 0:8a5497a2e366 | 85 | char encoder_event = 0; |
jah128 | 0:8a5497a2e366 | 86 | char switch_event = 0; |
jah128 | 0:8a5497a2e366 | 87 | char user_code_running = 0; |
jah128 | 0:8a5497a2e366 | 88 | char user_code_restore_mode = 0; |
jah128 | 0:8a5497a2e366 | 89 | char system_warnings = 0; |
jah128 | 0:8a5497a2e366 | 90 | |
jah128 | 0:8a5497a2e366 | 91 | int ir_pulse_delay = DEFAULT_IR_PULSE_DELAY; |
jah128 | 0:8a5497a2e366 | 92 | int base_ir_pulse_delay = DEFAULT_BASE_IR_PULSE_DELAY; |
jah128 | 0:8a5497a2e366 | 93 | |
jah128 | 0:8a5497a2e366 | 94 | /** |
jah128 | 0:8a5497a2e366 | 95 | * init() |
jah128 | 0:8a5497a2e366 | 96 | * |
jah128 | 0:8a5497a2e366 | 97 | * Main initialisation routine for the PsiSwarm robot |
jah128 | 0:8a5497a2e366 | 98 | * |
jah128 | 0:8a5497a2e366 | 99 | * Set up the GPIO expansion ICs, launch demo mode if button is held |
jah128 | 0:8a5497a2e366 | 100 | */ |
jah128 | 0:8a5497a2e366 | 101 | void init() |
jah128 | 0:8a5497a2e366 | 102 | { |
jah128 | 0:8a5497a2e366 | 103 | firmware_version=0; |
jah128 | 0:8a5497a2e366 | 104 | timer_minute_count = 0; |
jah128 | 0:8a5497a2e366 | 105 | timer_ticker.attach(&IF_update_minutes, 300); |
jah128 | 0:8a5497a2e366 | 106 | uptime.start(); |
jah128 | 0:8a5497a2e366 | 107 | primary_i2c.frequency(400000); |
jah128 | 0:8a5497a2e366 | 108 | IF_setup_serial_interfaces(); |
jah128 | 0:8a5497a2e366 | 109 | debug("PsiSwarm Robot Library %1.2f\n\n",SOFTWARE_VERSION_CODE); |
jah128 | 0:8a5497a2e366 | 110 | debug("- Setting up serial interface\n"); |
jah128 | 0:8a5497a2e366 | 111 | debug("- Reading firmware: "); |
jah128 | 0:8a5497a2e366 | 112 | if(read_firmware() == 1){ |
jah128 | 1:f6356cf1cefc | 113 | debug("Version %3.2f\n",firmware_version); |
jah128 | 0:8a5497a2e366 | 114 | }else debug("INVALID\n"); |
jah128 | 0:8a5497a2e366 | 115 | debug("- Setting up LED drivers\n"); |
jah128 | 0:8a5497a2e366 | 116 | IF_init_leds(); |
jah128 | 0:8a5497a2e366 | 117 | if(IF_setup_led_expansion_ic() != 0) { |
jah128 | 0:8a5497a2e366 | 118 | debug("- WARNING: No I2C acknowledge for LED driver\n"); |
jah128 | 0:8a5497a2e366 | 119 | system_warnings += 1; |
jah128 | 0:8a5497a2e366 | 120 | } |
jah128 | 0:8a5497a2e366 | 121 | debug("- Setting up motor drivers\n"); |
jah128 | 0:8a5497a2e366 | 122 | IF_init_motors(); |
jah128 | 0:8a5497a2e366 | 123 | debug("- Setting up GPIO expansion\n"); |
jah128 | 0:8a5497a2e366 | 124 | reset_encoders(); |
jah128 | 0:8a5497a2e366 | 125 | IF_setup_gpio_expansion_ic(); |
jah128 | 0:8a5497a2e366 | 126 | debug("- Setting up temperature sensor\n"); |
jah128 | 0:8a5497a2e366 | 127 | IF_setup_temperature_sensor(); |
jah128 | 0:8a5497a2e366 | 128 | debug("- Setting up base colour sensor\n"); |
jah128 | 0:8a5497a2e366 | 129 | IF_check_base_colour_sensor(); |
jah128 | 0:8a5497a2e366 | 130 | debug("- Setting up ultrasonic sensor\n"); |
jah128 | 0:8a5497a2e366 | 131 | //enable_ultrasonic_ticker(); |
jah128 | 0:8a5497a2e366 | 132 | debug("- Robot ID: %d\n",robot_id); |
jah128 | 0:8a5497a2e366 | 133 | char switchstate = IF_get_switch_state(); |
jah128 | 0:8a5497a2e366 | 134 | debug("- Switch State : %d\n",switchstate); |
jah128 | 0:8a5497a2e366 | 135 | debug("- Battery Voltage: %1.3fV\n",get_battery_voltage()); |
jah128 | 0:8a5497a2e366 | 136 | debug("- DC Voltage : %1.3fV\n",get_dc_voltage()); |
jah128 | 0:8a5497a2e366 | 137 | debug("- Current Draw : %1.3fA\n",get_current()); |
jah128 | 0:8a5497a2e366 | 138 | debug("- Temperature : %1.3fC\n",get_temperature()); |
jah128 | 0:8a5497a2e366 | 139 | char demo = 0; |
jah128 | 0:8a5497a2e366 | 140 | if(ENABLE_DEMO == 1 && switchstate > 0) demo=1; |
jah128 | 0:8a5497a2e366 | 141 | display.init_display(demo); |
jah128 | 0:8a5497a2e366 | 142 | event_handler.attach_us(&IF_handle_events, 1000); |
jah128 | 0:8a5497a2e366 | 143 | if(demo > 0){ |
jah128 | 0:8a5497a2e366 | 144 | debug("- Demo mode button is pressed\n"); |
jah128 | 0:8a5497a2e366 | 145 | wait(1.0); |
jah128 | 0:8a5497a2e366 | 146 | demo = IF_get_switch_state(); |
jah128 | 0:8a5497a2e366 | 147 | if(demo > 0) demo_mode(); |
jah128 | 0:8a5497a2e366 | 148 | display.init_display(0); |
jah128 | 0:8a5497a2e366 | 149 | } |
jah128 | 0:8a5497a2e366 | 150 | } |
jah128 | 0:8a5497a2e366 | 151 | |
jah128 | 0:8a5497a2e366 | 152 | void IF_update_minutes(){ |
jah128 | 0:8a5497a2e366 | 153 | uptime.reset(); |
jah128 | 0:8a5497a2e366 | 154 | timer_minute_count += 5; |
jah128 | 0:8a5497a2e366 | 155 | } |
jah128 | 0:8a5497a2e366 | 156 | |
jah128 | 0:8a5497a2e366 | 157 | void IF_handle_events() |
jah128 | 0:8a5497a2e366 | 158 | { |
jah128 | 0:8a5497a2e366 | 159 | // This is the main 'operating system' thread that handles events from robot stimuli |
jah128 | 0:8a5497a2e366 | 160 | // By default it is run every 1ms and checks if there are events to handle |
jah128 | 0:8a5497a2e366 | 161 | if(event > 0){ |
jah128 | 0:8a5497a2e366 | 162 | // There are some events to handle. We don't handle all events in every loop to keep the system responsive, instead they are priorised. |
jah128 | 0:8a5497a2e366 | 163 | if(encoder_event == 1){ |
jah128 | 0:8a5497a2e366 | 164 | // The encoders have changed; update the encoder values |
jah128 | 0:8a5497a2e366 | 165 | IF_update_encoders(); |
jah128 | 0:8a5497a2e366 | 166 | encoder_event = 0; |
jah128 | 0:8a5497a2e366 | 167 | event--; |
jah128 | 0:8a5497a2e366 | 168 | } else { |
jah128 | 0:8a5497a2e366 | 169 | if(switch_event == 1){ |
jah128 | 0:8a5497a2e366 | 170 | IF_update_switch(); |
jah128 | 0:8a5497a2e366 | 171 | switch_event = 0; |
jah128 | 0:8a5497a2e366 | 172 | event--; |
jah128 | 0:8a5497a2e366 | 173 | } |
jah128 | 0:8a5497a2e366 | 174 | if(change_id_event == 1){ |
jah128 | 0:8a5497a2e366 | 175 | // The user ID for the robot has been changed |
jah128 | 0:8a5497a2e366 | 176 | IF_update_user_id(); |
jah128 | 0:8a5497a2e366 | 177 | change_id_event = 0; |
jah128 | 0:8a5497a2e366 | 178 | event--; |
jah128 | 0:8a5497a2e366 | 179 | } |
jah128 | 0:8a5497a2e366 | 180 | } |
jah128 | 0:8a5497a2e366 | 181 | } |
jah128 | 0:8a5497a2e366 | 182 | } |
jah128 | 0:8a5497a2e366 | 183 | |
jah128 | 0:8a5497a2e366 | 184 | void IF_update_encoders() |
jah128 | 0:8a5497a2e366 | 185 | { |
jah128 | 0:8a5497a2e366 | 186 | char rwep = previous_wheel_encoder_byte >> 2; |
jah128 | 0:8a5497a2e366 | 187 | char rwe = wheel_encoder_byte >> 2; |
jah128 | 0:8a5497a2e366 | 188 | char lwep = previous_wheel_encoder_byte % 4; |
jah128 | 0:8a5497a2e366 | 189 | char lwe = wheel_encoder_byte % 4; |
jah128 | 0:8a5497a2e366 | 190 | //pc.printf("L:%d P:%d R:%d P:%d \n",lwe,lwep,rwe,rwep); |
jah128 | 0:8a5497a2e366 | 191 | if(lwe == 0 && lwep==1) left_encoder++; |
jah128 | 0:8a5497a2e366 | 192 | if(lwe == 0 && lwep==2) left_encoder--; |
jah128 | 0:8a5497a2e366 | 193 | if(rwe == 0 && rwep==1) right_encoder++; |
jah128 | 0:8a5497a2e366 | 194 | if(rwe == 0 && rwep==2) right_encoder--; |
jah128 | 0:8a5497a2e366 | 195 | } |
jah128 | 0:8a5497a2e366 | 196 | |
jah128 | 0:8a5497a2e366 | 197 | void IF_update_user_id() |
jah128 | 0:8a5497a2e366 | 198 | { |
jah128 | 0:8a5497a2e366 | 199 | } |
jah128 | 0:8a5497a2e366 | 200 | |
jah128 | 0:8a5497a2e366 | 201 | void IF_update_switch() |
jah128 | 0:8a5497a2e366 | 202 | { |
jah128 | 0:8a5497a2e366 | 203 | // The user switch has changed state |
jah128 | 0:8a5497a2e366 | 204 | // In this implementation we will only act on positive changes (rising edges) |
jah128 | 0:8a5497a2e366 | 205 | // Subtracting new_state from (new_state & old_state) gives the positive changes |
jah128 | 0:8a5497a2e366 | 206 | char positive_change = switch_byte - (switch_byte & previous_switch_byte); |
jah128 | 0:8a5497a2e366 | 207 | if(demo_on) demo_handle_switch_event(positive_change); |
jah128 | 0:8a5497a2e366 | 208 | else handle_switch_event(positive_change); |
jah128 | 0:8a5497a2e366 | 209 | } |
jah128 | 0:8a5497a2e366 | 210 | |
jah128 | 0:8a5497a2e366 | 211 | void reset_encoders() |
jah128 | 0:8a5497a2e366 | 212 | { |
jah128 | 0:8a5497a2e366 | 213 | left_encoder = 0; |
jah128 | 0:8a5497a2e366 | 214 | right_encoder = 0; |
jah128 | 0:8a5497a2e366 | 215 | } |
jah128 | 0:8a5497a2e366 | 216 | |
jah128 | 0:8a5497a2e366 | 217 | void debug(const char* format, ...) |
jah128 | 0:8a5497a2e366 | 218 | { |
jah128 | 0:8a5497a2e366 | 219 | char buffer[256]; |
jah128 | 0:8a5497a2e366 | 220 | if (debug_mode){ |
jah128 | 0:8a5497a2e366 | 221 | va_list vl; |
jah128 | 0:8a5497a2e366 | 222 | va_start(vl, format); |
jah128 | 0:8a5497a2e366 | 223 | vsprintf(buffer,format,vl); |
jah128 | 0:8a5497a2e366 | 224 | if(debug_output & 2) bt.printf("%s", buffer); |
jah128 | 0:8a5497a2e366 | 225 | if(debug_output & 1) pc.printf("%s", buffer); |
jah128 | 0:8a5497a2e366 | 226 | if(debug_output & 4) display.debug_page(buffer,strlen(buffer)); |
jah128 | 0:8a5497a2e366 | 227 | va_end(vl); |
jah128 | 0:8a5497a2e366 | 228 | } |
jah128 | 0:8a5497a2e366 | 229 | } |
jah128 | 0:8a5497a2e366 | 230 | |
jah128 | 0:8a5497a2e366 | 231 | float get_uptime(void) |
jah128 | 0:8a5497a2e366 | 232 | { |
jah128 | 0:8a5497a2e366 | 233 | return uptime.read() + (timer_minute_count * 60); |
jah128 | 0:8a5497a2e366 | 234 | } |
jah128 | 0:8a5497a2e366 | 235 | |
jah128 | 0:8a5497a2e366 | 236 | void pause_user_code(float period){ |
jah128 | 0:8a5497a2e366 | 237 | user_code_restore_mode = user_code_running; |
jah128 | 0:8a5497a2e366 | 238 | user_code_running = 0; |
jah128 | 0:8a5497a2e366 | 239 | pause_usercode_timeout.attach(&IF_end_pause_user_code, period); |
jah128 | 0:8a5497a2e366 | 240 | } |
jah128 | 0:8a5497a2e366 | 241 | |
jah128 | 0:8a5497a2e366 | 242 | void IF_end_pause_user_code(){ |
jah128 | 0:8a5497a2e366 | 243 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 244 | } |