File content as of revision 0:269589d8d2c2:

/*
Copyright (c) 2012 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 "Wiimote.h"
#include "HighSpeedAnalogIn.h"
#include "EthernetPowerControl.h"
#include "TB6612.h"

#if 0
#define DBG(x)    x
#else
#define DBG(x)
#endif

// PID terms
#define P_TERM 1
#define I_TERM 0
#define D_TERM 20

#define MAX 1.0
#define MIN -1.0

#define MAX_SPEED 100

Serial pc(USBTX, USBRX);
BusOut myleds(LED1, LED2, LED3, LED4);
BusOut myleds2(p7,p8,p9,p10);

// ----- Wallbot I/O Setting ----- 
// Motor
TB6612 right(p21,p12,p11);
TB6612 left(p22,p14,p13);

HighSpeedAnalogIn ain(p15, p16, p17, p18, p19, p20);

Ticker flipper;
int com_time_out = 0;
int com_stat = 0;
int move_time = 0;
int lmp = 0,kind = 0;

extern "C" void mbed_reset();

//      p20 p19 p18 p17
// LEFT  o   o   o   o  RIGHT
float GetSensor(int sh)
{
    float ret = 0.0;
    int bit = 0;
    int value[4];
    
    value[0] = ain.read_u16(p17);
    value[1] = ain.read_u16(p18);
    value[2] = ain.read_u16(p19);
    value[3] = ain.read_u16(p20);
    
    if( value[0] > sh ) bit |= 0x01;
    if( value[1] > sh ) bit |= 0x02;
    if( value[2] > sh ) bit |= 0x04;
    if( value[3] > sh ) bit |= 0x08;
    
    myleds = bit;
    
    switch(bit)
    {
    case 0x01:    ret = 1.0;        break;
    case 0x03:    ret = 0.66;        break;
    case 0x02:    ret = 0.33;        break;
    case 0x04:    ret = -0.33;    break;
    case 0x0C:    ret = -0.66;    break;
    case 0x08:    ret = -1.0;        break;
    default:    ret = 0.0;        break;
    }
    
  //  DBG(printf("[SENSOR] %d\t %d\t %d\t %d\t [%02X] : %f\n",value[0],value[1],value[2],value[3],bit,ret);)
    
    return(ret);
}

float GetSensor(int sh, int *stat)
{
    float ret = 0.0;
    int bit = 0;
    int value[4];
    
    value[0] = ain.read_u16(p17);
    value[1] = ain.read_u16(p18);
    value[2] = ain.read_u16(p19);
    value[3] = ain.read_u16(p20);
    
    if( value[0] > sh ) bit |= 0x01;
    if( value[1] > sh ) bit |= 0x02;
    if( value[2] > sh ) bit |= 0x04;
    if( value[3] > sh ) bit |= 0x08;
    
    myleds = bit;
    *stat = bit;
    
    switch(bit)
    {
    case 0x01:    ret = 1.0;        break;
    case 0x03:    ret = 0.66;        break;
    case 0x02:    ret = 0.33;        break;
    case 0x04:    ret = -0.33;    break;
    case 0x0C:    ret = -0.66;    break;
    case 0x08:    ret = -1.0;        break;
    default:    ret = 0.0;        break;
    }
    
  //  DBG(printf("[SENSOR] %d\t %d\t %d\t %d\t [%02X] : %f\n",value[0],value[1],value[2],value[3],bit,ret);)
    
    return(ret);
}

void flip() {
    com_time_out++;
    static int led_count = 0;
    
    if(com_stat == 1)
    {
        if(com_time_out > 2)
        {
            right = 0.0;
            left = 0.0;
            mbed_reset();
        }
    }
    else
    {
        myleds = !myleds;
    }
    if(com_time_out > 150)
    {
        right = 0.0;
        left = 0.0;
        mbed_reset();
    }
    if(move_time != 0)
    {
        move_time--;
    }
    
    switch(led_count)
    {
    case 0:
        myleds2 = 1;
        led_count++;
        break;
    case 1:
        myleds2 = 2;
        led_count++;
        break;
    case 2:
        myleds2 = 4;
        led_count++;
        break;
    case 3:
        myleds2 = 8;
        led_count++;
        break;
    case 4:
        myleds2 = 4;
        led_count++;
        break;
    case 5:
        myleds2 = 2;
        led_count=0;
        break;
    }

}

int LineFollowMode()
{
    float line_pos;
    float derivative,proportional,power;
    float speed =0.7;

    float right_v;
    float left_v;

    static float old_line_pos = 0.0;
    static float integral = 0.0;

    
    line_pos = GetSensor(2500);
    
    proportional = line_pos;
    integral += line_pos;
    derivative = line_pos - old_line_pos;
    old_line_pos = line_pos;
    
    power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
    
    right_v = speed-power;
    left_v  = speed+power;
    
    // limit checks
    if (right_v < MIN)
        right_v = MIN;
    else if (right_v > MAX)
        right_v = MAX;
        
    if (left_v < MIN)
        left_v = MIN;
    else if (left_v > MAX)
        left_v = MAX;
    
    left = left_v;
    right = right_v;
    
    return(0);
}

// Direct control mode
int DirectMode( Wiimote* wii, int stat )
{
    float line_pos;
    int ret = stat;
    
    if( move_time == 0 )
    {
        if( wii->left )
        {
            right = -MAX_SPEED;
            left = MAX_SPEED;
        }
        else if( wii->right )
        {
            right = MAX_SPEED;
            left = -MAX_SPEED;
        }    
        else if( wii->up )
        {
            right = MAX_SPEED;
            left = MAX_SPEED;
        }
        else if( wii->down )
        {
            right = -MAX_SPEED;
            left = -MAX_SPEED;
        }
        else
        {
            right = 0;
            left = 0;
        }
    
        float factor = wii->wheel * 1.5f;
        
        if(factor > 100.0f )    factor = 100.0f; 
        if(factor < -100.0f )    factor = -100.0f;
        
        printf("%f\t%f\r\n",wii->wheel,factor);
        
        int left_factor = (int)((factor <= 0.0) ? 100.0 : 100.0 - factor);
        int right_factor = (int)((factor >= 0.0) ? 100.0 : 100.0 - (-factor));
        
        if( wii->one )
        {
            right = right_factor;
            left = left_factor;
        }
        if( wii->two )
        {
            right = -left_factor;
            left = -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 );
    
    return(ret);
}

int GetConsoleChar()
{
    return(0);
}

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

int main()
{
    
    PHY_PowerDown();
    pc.baud(460800);
//    pc.baud(9600);
    right = 0.0;
    left = 0.0;
    flipper.attach(&flip, 0.2);
   
    // USB Init is done for Bluetooth
    USBInit();
    
    while(1)
    {
        // USB Processing is done for Bluetooth
        USBLoop();
        
    }
}