File content as of revision 0:4f749f62c6d7:

/*
Copyright (c) 2011 JKSOFT

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/

#include "mbed.h"
#include "USBHost.h"
#include "Utils.h"
#include "BD6211F.h"
#include "Wiimote.h"
#include "EthernetPowerControl.h"
#include "SimpleFilter.h"

// #define _SENSOR_6

#define SENSOR_CYCLE        0.005f  // 5ms
#define SENSOR_SAMPLING     0.020f  // 20ms
#ifndef _SENSOR_6
#define SENSOR_NUM          4
#else
#define SENSOR_NUM          6
#endif

#define USB_INIT_CNT_MAX    40 // 0.5s X 40 = 20s

// ----- Wallbot I/O Setting ----- 

// Motor
BD6211F      RightMotor(p21,p22);
BD6211F      LeftMotor(p23,p24);

// Floor Sensor
AnalogIn     RightSideSensor(p15);
AnalogIn     RightCenterSensor(p16);
AnalogIn     LeftCenterSensor(p17);
AnalogIn     LeftSideSensor(p18);
#ifdef _SENSOR_6
AnalogIn    RightBackSensor(p19);
AnalogIn    LeftBackSensor(p20);
#endif

#ifndef _SENSOR_6
AnalogIn    _FloorSensor[] = {
    RightSideSensor ,
    RightCenterSensor ,
    LeftCenterSensor ,
    LeftSideSensor
};
#else
AnalogIn    _FloorSensor[] = {
    RightSideSensor ,
    RightCenterSensor ,
    LeftCenterSensor ,
    LeftSideSensor ,
    RightBackSensor ,
    LeftBackSensor
};
#endif
// Setting Sw
// It is a Pull-Up
DigitalIn    sw1(p29);
DigitalIn    sw2(p30);

// LED
DigitalOut    chk_led(LED4);

// ------------------------------- 

// Input processing (Sensor & Sw)
Ticker sensor;
int sampling = (int)(SENSOR_SAMPLING / SENSOR_CYCLE);
int        sw[2][10];

SimpleFilter fl1(4);
SimpleFilter fl2(4);
SimpleFilter fl3(4);
SimpleFilter fl4(4);
SimpleFilter fl5(4);
SimpleFilter fl6(4);
SimpleFilter FloorSensor_fl[] = { fl1, fl2, fl3, fl4, fl5, fl6 };

// Wii remote chk
int wd_timer = 0;
int usb_init_count = 0;

// Timer tick(SENSOR_CYCLE[ms])
void cycle_proc()
{
    static int counter = 0;
    int i;
    
    if( counter >= sampling )
    {
        counter = 0;
    }
    
    // Sw
    sw[0][counter] = sw1;
    sw[1][counter] = sw2;

    
    // FloorSensor
    for( i = 0 ; i < SENSOR_NUM ; i++ )
    {
        FloorSensor_fl[i].filter(_FloorSensor[i].read_u16() >> 1);
    }
    
    
    counter ++;
    wd_timer ++;
}

// 
int GetFloorSensor(int num)
{
    int ret;
    
    if( num >= SENSOR_NUM )    return( 0 );
    
    ret = (int)FloorSensor_fl[num].value();
    
    return(ret);
}

// Sw ON:true OFF:false
bool GetSw(int num)
{
    int i,sum = 0;
    bool ret = false;
    
    for( i = 0 ; i < sampling ; i++ )
    {
        sum += sw[num][i];
    }
    if( sum == 0 )
    {
        ret = true;
    }
    
    return( ret );
}

// Direct control mode
int DirectMode( Wiimote* wii, int stat )
{
    int ret = stat;
    
    if( wii->left )
    {
        RightMotor = 1.0;
        LeftMotor = -1.0;
    }
    else if( wii->right )
    {
        RightMotor = -1.0;
        LeftMotor = 1.0;
    }    
    else if( wii->up )
    {
        RightMotor = 1.0;
        LeftMotor = 1.0;
    }
    else if( wii->down )
    {
        RightMotor = -1.0;
        LeftMotor = -1.0;
    }
    else
    {
        RightMotor = 0.0;
        LeftMotor = 0.0;
    }

    float factor = wii->wheel / 150.0f; 
    
    float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor);
    float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor;
    
    if( wii->one )
    {
        RightMotor = right_factor;
        LeftMotor = left_factor;
    }
    if( wii->two )
    {
        RightMotor = -left_factor;
        LeftMotor = -right_factor;
    }
    
    return(ret);
}

// Processing when receiving it from Wiiremote
int wall_bot_remote(char *c,int stat)
{
    Wiimote wii;
    int ret = stat;
    
    wii.decode(c);
    
    ret = DirectMode( &wii ,ret );
    
    wd_timer = 0;
    chk_led = 0;
    usb_init_count = USB_INIT_CNT_MAX; 
    
    return(ret);
}

void input_chk(void)
{
    short fl[4];
    int i;
    bool sw[2];
    
    for(i=0;i<4;i++)
    {
        fl[i] = GetFloorSensor(i);
    }
    sw[0] = GetSw(0);
    sw[1] = GetSw(1);
    
    printf("%d\t%d\t%d\t%d\t%d\t%d\t\r\n",fl[0],fl[1],fl[2],fl[3],sw[0],sw[1]);
    
}

void output_chk(void)
{
    static int step = 0;
    
    switch(step)
    {
    case 0:
        RightMotor = 1.0;
        LeftMotor = 1.0;
        break;
    case 1:
        RightMotor = -1.0;
        LeftMotor = -1.0;
        break;
    case 2:
        RightMotor = -1.0;
        LeftMotor = 1.0;
        break;
    case 3:
        RightMotor = 1.0;
        LeftMotor = -1.0;
        break;
    }
    step = (step+1)%4;
}

// Wii Time Out chk
void wd_wii_chk(void)
{
    if( wd_timer > (0.5/SENSOR_CYCLE) )
    {
        chk_led = !chk_led;
        
        wd_timer = 0;
        
        RightMotor.speed(0.0);
        LeftMotor.speed(0.0);
        
        usb_init_count++;
        
        if(usb_init_count > USB_INIT_CNT_MAX)
        {
            USBInit();
            usb_init_count = 0;
        }
    }
}

int GetConsoleChar()
{
    return(0);
}

int OnDiskInsert(int device)
{
    return(0);
}

int main()
{
    // Init
    
    // Ether PHY Stop
    PHY_PowerDown();
    
    // Sw Pull up
    sw1.mode(PullUp);
    sw2.mode(PullUp);
    
    // Motor stop
    RightMotor.speed(0.0);
    LeftMotor.speed(0.0);
    
    // USB Init is done for Bluetooth
    USBInit();
    usb_init_count = 0;
    
    // Sensing Processing
    sensor.attach(&cycle_proc, SENSOR_CYCLE);

    while(1)
    {
        
       // USB Processing is done for Bluetooth
       USBLoop();
       wd_wii_chk();
       
       // input_chk();
       // output_chk();
       // wait(0.1);
    }
}