ECE4180 Final Project
Dependencies: LSM9DS1_Library Motor mbed-rtos mbed
Fork of IMURoomba4_ThrowSumMo by
main.cpp@4:63e69557142e, 2017-05-04 (annotated)
- Committer:
- jplager3
- Date:
- Thu May 04 19:45:42 2017 +0000
- Revision:
- 4:63e69557142e
- Parent:
- 3:17113c72186e
Changes to timing and other stuff
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jplager3 | 0:c29fc80c3ca3 | 1 | #include "mbed.h" |
jplager3 | 0:c29fc80c3ca3 | 2 | #include "LSM9DS1.h" |
jplager3 | 0:c29fc80c3ca3 | 3 | #include "rtos.h" |
jplager3 | 0:c29fc80c3ca3 | 4 | //#include "SDFileSystem.h" |
jplager3 | 0:c29fc80c3ca3 | 5 | #include "Motor.h" |
jplager3 | 0:c29fc80c3ca3 | 6 | //#include "wave_player.h" |
jplager3 | 0:c29fc80c3ca3 | 7 | |
jplager3 | 0:c29fc80c3ca3 | 8 | #define PI 3.14159 |
jplager3 | 0:c29fc80c3ca3 | 9 | // Earth's magnetic field varies by location. Add or subtract |
jplager3 | 0:c29fc80c3ca3 | 10 | // a declination to get a more accurate heading. Calculate |
jplager3 | 0:c29fc80c3ca3 | 11 | // your's here: |
jplager3 | 0:c29fc80c3ca3 | 12 | // http://www.ngdc.noaa.gov/geomag-web/#declination |
jplager3 | 0:c29fc80c3ca3 | 13 | #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA. |
jplager3 | 0:c29fc80c3ca3 | 14 | //collab test |
jplager3 | 0:c29fc80c3ca3 | 15 | |
jplager3 | 0:c29fc80c3ca3 | 16 | Serial pc(USBTX, USBRX); |
jplager3 | 0:c29fc80c3ca3 | 17 | //RawSerial pc(USBTX, USBRX); |
jplager3 | 3:17113c72186e | 18 | Serial dev(p28,p27); // |
jplager3 | 0:c29fc80c3ca3 | 19 | //RawSerial dev(p28,p27); //tx, rx |
jplager3 | 0:c29fc80c3ca3 | 20 | DigitalOut myled(LED1); |
jplager3 | 0:c29fc80c3ca3 | 21 | DigitalOut led2(LED2); |
jplager3 | 1:6b8a201f4f90 | 22 | DigitalOut led3(LED3); |
jplager3 | 0:c29fc80c3ca3 | 23 | DigitalOut led4(LED4); |
jplager3 | 0:c29fc80c3ca3 | 24 | //IR sensors on p19(front) & p20 (right) |
jplager3 | 0:c29fc80c3ca3 | 25 | AnalogIn IR1(p19); |
jplager3 | 0:c29fc80c3ca3 | 26 | AnalogIn IR2(p20); |
jplager3 | 0:c29fc80c3ca3 | 27 | //L and R DC motors |
jplager3 | 0:c29fc80c3ca3 | 28 | Motor Left(p21, p14, p13); // green wires. pwm, fwd, rev, add ", 1" for braking |
jplager3 | 0:c29fc80c3ca3 | 29 | Motor Right(p22, p12, p11); // red wires |
jplager3 | 0:c29fc80c3ca3 | 30 | // Speaker out |
jplager3 | 3:17113c72186e | 31 | //AnalogOut DACout(p18); //must(?) be p18 |
jplager3 | 0:c29fc80c3ca3 | 32 | //SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card |
jplager3 | 0:c29fc80c3ca3 | 33 | Thread thread1; |
jplager3 | 3:17113c72186e | 34 | //Thread thread2; |
jplager3 | 3:17113c72186e | 35 | //Mutex BTmutex; //mutex for send/recv data on Bluetooth |
jplager3 | 1:6b8a201f4f90 | 36 | Mutex mutex; //other mutex for global resources |
jplager3 | 0:c29fc80c3ca3 | 37 | |
jplager3 | 1:6b8a201f4f90 | 38 | //Globals |
jplager3 | 3:17113c72186e | 39 | float throttle = 0.5; |
jplager3 | 1:6b8a201f4f90 | 40 | float currIR1; |
jplager3 | 1:6b8a201f4f90 | 41 | float currIR2; |
jplager3 | 3:17113c72186e | 42 | //float origHeading; |
jplager3 | 3:17113c72186e | 43 | //float heading; |
jplager3 | 0:c29fc80c3ca3 | 44 | |
jplager3 | 0:c29fc80c3ca3 | 45 | // Calculate pitch, roll, and heading. |
jplager3 | 0:c29fc80c3ca3 | 46 | // Pitch/roll calculations taken from this app note: |
jplager3 | 0:c29fc80c3ca3 | 47 | // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1 |
jplager3 | 0:c29fc80c3ca3 | 48 | // Heading calculations taken from this app note: |
jplager3 | 0:c29fc80c3ca3 | 49 | // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf |
jplager3 | 0:c29fc80c3ca3 | 50 | void printAttitude(float ax, float ay, float az, float mx, float my, float mz) |
jplager3 | 3:17113c72186e | 51 | { |
jplager3 | 3:17113c72186e | 52 | //entire subroutine is BTmutexed already |
jplager3 | 0:c29fc80c3ca3 | 53 | float roll = atan2(ay, az); |
jplager3 | 0:c29fc80c3ca3 | 54 | float pitch = atan2(-ax, sqrt(ay * ay + az * az)); |
jplager3 | 0:c29fc80c3ca3 | 55 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
jplager3 | 0:c29fc80c3ca3 | 56 | mx = -mx; |
jplager3 | 3:17113c72186e | 57 | float heading; //was global |
jplager3 | 1:6b8a201f4f90 | 58 | if (my == 0.0) { |
jplager3 | 3:17113c72186e | 59 | //mutex.lock(); //heading isn't global mutexes not needed |
jplager3 | 0:c29fc80c3ca3 | 60 | heading = (mx < 0.0) ? 180.0 : 0.0; |
jplager3 | 3:17113c72186e | 61 | //mutex.unlock(); |
jplager3 | 3:17113c72186e | 62 | } else { |
jplager3 | 3:17113c72186e | 63 | //mutex.lock(); |
jplager3 | 0:c29fc80c3ca3 | 64 | heading = atan2(mx, my)*360.0/(2.0*PI); |
jplager3 | 3:17113c72186e | 65 | //mutex.unlock(); |
jplager3 | 1:6b8a201f4f90 | 66 | } |
jplager3 | 0:c29fc80c3ca3 | 67 | //pc.printf("heading atan=%f \n\r",heading); |
jplager3 | 3:17113c72186e | 68 | //mutex.lock(); |
jplager3 | 0:c29fc80c3ca3 | 69 | heading -= DECLINATION; //correct for geo location |
jplager3 | 0:c29fc80c3ca3 | 70 | if(heading>180.0) heading = heading - 360.0; |
jplager3 | 0:c29fc80c3ca3 | 71 | else if(heading<-180.0) heading = 360.0 + heading; |
jplager3 | 0:c29fc80c3ca3 | 72 | else if(heading<0.0) heading = 360.0 + heading; |
jplager3 | 3:17113c72186e | 73 | //mutex.unlock(); |
jplager3 | 0:c29fc80c3ca3 | 74 | // Convert everything from radians to degrees: |
jplager3 | 0:c29fc80c3ca3 | 75 | //heading *= 180.0 / PI; |
jplager3 | 0:c29fc80c3ca3 | 76 | pitch *= 180.0 / PI; |
jplager3 | 0:c29fc80c3ca3 | 77 | roll *= 180.0 / PI; |
jplager3 | 3:17113c72186e | 78 | mutex.lock(); |
jplager3 | 0:c29fc80c3ca3 | 79 | //~pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); |
jplager3 | 0:c29fc80c3ca3 | 80 | //~pc.printf("Magnetic Heading: %f degress\n\r",heading); |
jplager3 | 3:17113c72186e | 81 | //dev.printf("Magnetic Heading: %f degrees\n\r",heading); |
jplager3 | 3:17113c72186e | 82 | mutex.unlock(); |
jplager3 | 0:c29fc80c3ca3 | 83 | } |
jplager3 | 0:c29fc80c3ca3 | 84 | |
jplager3 | 0:c29fc80c3ca3 | 85 | /* |
jplager3 | 0:c29fc80c3ca3 | 86 | void dev_recv() |
jplager3 | 0:c29fc80c3ca3 | 87 | { |
jplager3 | 0:c29fc80c3ca3 | 88 | led2 = !led2; |
jplager3 | 0:c29fc80c3ca3 | 89 | while(dev.readable()) { |
jplager3 | 0:c29fc80c3ca3 | 90 | pc.putc(dev.getc()); |
jplager3 | 0:c29fc80c3ca3 | 91 | } |
jplager3 | 0:c29fc80c3ca3 | 92 | } |
jplager3 | 0:c29fc80c3ca3 | 93 | void pc_recv() |
jplager3 | 0:c29fc80c3ca3 | 94 | { |
jplager3 | 0:c29fc80c3ca3 | 95 | led4 = !led4; |
jplager3 | 0:c29fc80c3ca3 | 96 | while(pc.readable()) { |
jplager3 | 0:c29fc80c3ca3 | 97 | dev.putc(pc.getc()); |
jplager3 | 0:c29fc80c3ca3 | 98 | } |
jplager3 | 0:c29fc80c3ca3 | 99 | }*/ |
jplager3 | 0:c29fc80c3ca3 | 100 | |
jplager3 | 3:17113c72186e | 101 | // Driving Methods |
jplager3 | 3:17113c72186e | 102 | void forward(float speed) |
jplager3 | 3:17113c72186e | 103 | { |
jplager3 | 0:c29fc80c3ca3 | 104 | Left.speed(speed); |
jplager3 | 3:17113c72186e | 105 | Right.speed(speed); |
jplager3 | 0:c29fc80c3ca3 | 106 | } |
jplager3 | 3:17113c72186e | 107 | void reverse(float speed) |
jplager3 | 3:17113c72186e | 108 | { |
jplager3 | 0:c29fc80c3ca3 | 109 | Left.speed(-speed); |
jplager3 | 0:c29fc80c3ca3 | 110 | Right.speed(-speed); |
jplager3 | 0:c29fc80c3ca3 | 111 | } |
jplager3 | 3:17113c72186e | 112 | void turnRight(float speed) |
jplager3 | 3:17113c72186e | 113 | { |
jplager3 | 0:c29fc80c3ca3 | 114 | Left.speed(speed); |
jplager3 | 0:c29fc80c3ca3 | 115 | Right.speed(-speed); |
jplager3 | 0:c29fc80c3ca3 | 116 | //wait(0.7); |
jplager3 | 0:c29fc80c3ca3 | 117 | } |
jplager3 | 3:17113c72186e | 118 | void turnLeft(float speed) |
jplager3 | 3:17113c72186e | 119 | { |
jplager3 | 0:c29fc80c3ca3 | 120 | Left.speed(-speed); |
jplager3 | 0:c29fc80c3ca3 | 121 | Right.speed(speed); |
jplager3 | 0:c29fc80c3ca3 | 122 | //wait(0.7); |
jplager3 | 0:c29fc80c3ca3 | 123 | } |
jplager3 | 3:17113c72186e | 124 | void stop() |
jplager3 | 3:17113c72186e | 125 | { |
jplager3 | 0:c29fc80c3ca3 | 126 | Left.speed(0.0); |
jplager3 | 0:c29fc80c3ca3 | 127 | Right.speed(0.0); |
jplager3 | 0:c29fc80c3ca3 | 128 | } |
jplager3 | 0:c29fc80c3ca3 | 129 | |
jplager3 | 3:17113c72186e | 130 | void IMU() |
jplager3 | 3:17113c72186e | 131 | { |
jplager3 | 0:c29fc80c3ca3 | 132 | //IMU setup |
jplager3 | 0:c29fc80c3ca3 | 133 | LSM9DS1 IMU(p9, p10, 0xD6, 0x3C); // this executes. Pins are correct. Changing them causes fault |
jplager3 | 3:17113c72186e | 134 | IMU.begin(); |
jplager3 | 3:17113c72186e | 135 | if (!IMU.begin()) { |
jplager3 | 0:c29fc80c3ca3 | 136 | led2=1; |
jplager3 | 0:c29fc80c3ca3 | 137 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
jplager3 | 0:c29fc80c3ca3 | 138 | } |
jplager3 | 0:c29fc80c3ca3 | 139 | IMU.calibrate(1); |
jplager3 | 0:c29fc80c3ca3 | 140 | IMU.calibrateMag(0); |
jplager3 | 3:17113c72186e | 141 | |
jplager3 | 0:c29fc80c3ca3 | 142 | while(1) { |
jplager3 | 0:c29fc80c3ca3 | 143 | //myled = 1; |
jplager3 | 0:c29fc80c3ca3 | 144 | while(!IMU.magAvailable(X_AXIS)); |
jplager3 | 0:c29fc80c3ca3 | 145 | IMU.readMag(); |
jplager3 | 0:c29fc80c3ca3 | 146 | //myled = 0; |
jplager3 | 0:c29fc80c3ca3 | 147 | while(!IMU.accelAvailable()); |
jplager3 | 0:c29fc80c3ca3 | 148 | IMU.readAccel(); |
jplager3 | 0:c29fc80c3ca3 | 149 | while(!IMU.gyroAvailable()); |
jplager3 | 0:c29fc80c3ca3 | 150 | IMU.readGyro(); |
jplager3 | 3:17113c72186e | 151 | //mutex.lock(); //changed from BTmutex |
jplager3 | 3:17113c72186e | 152 | //pc.puts(" X axis Y axis Z axis\n\r"); |
jplager3 | 1:6b8a201f4f90 | 153 | //dev.puts(" X axis Y axis Z axis\n\r"); |
jplager3 | 3:17113c72186e | 154 | //pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz)); |
jplager3 | 3:17113c72186e | 155 | //pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az)); |
jplager3 | 3:17113c72186e | 156 | //pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
jplager3 | 1:6b8a201f4f90 | 157 | //dev.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
jplager3 | 0:c29fc80c3ca3 | 158 | printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx), |
jplager3 | 0:c29fc80c3ca3 | 159 | IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
jplager3 | 3:17113c72186e | 160 | //mutex.unlock(); //changed from BTmutex |
jplager3 | 2:8887d13f967a | 161 | //myled = 1; |
jplager3 | 0:c29fc80c3ca3 | 162 | wait(0.5); |
jplager3 | 2:8887d13f967a | 163 | //myled = 0; |
jplager3 | 3:17113c72186e | 164 | wait(0.5); |
jplager3 | 3:17113c72186e | 165 | } |
jplager3 | 0:c29fc80c3ca3 | 166 | } |
jplager3 | 0:c29fc80c3ca3 | 167 | |
jplager3 | 3:17113c72186e | 168 | void avoidObstacle() |
jplager3 | 3:17113c72186e | 169 | { |
jplager3 | 3:17113c72186e | 170 | //currIR1 = IR1; //get IR readings - already received from main thread that initially decided to call avoidObstacle() |
jplager3 | 3:17113c72186e | 171 | //currIR2 = IR2; |
jplager3 | 1:6b8a201f4f90 | 172 | stop(); |
jplager3 | 1:6b8a201f4f90 | 173 | Thread::wait(300); |
jplager3 | 3:17113c72186e | 174 | //BTmutex.lock(); |
jplager3 | 1:6b8a201f4f90 | 175 | //dev.printf("Collision Detected!\n\r"); |
jplager3 | 3:17113c72186e | 176 | //BTmutex.unlock(); |
jplager3 | 1:6b8a201f4f90 | 177 | //dev.printf("Turning Left...\n\r"); |
jplager3 | 1:6b8a201f4f90 | 178 | turnLeft(0.4); //turn 90deg |
jplager3 | 1:6b8a201f4f90 | 179 | Thread::wait(1000); //time to turn estimate |
jplager3 | 1:6b8a201f4f90 | 180 | stop(); |
jplager3 | 3:17113c72186e | 181 | Thread::wait(500); |
jplager3 | 1:6b8a201f4f90 | 182 | // turn should be complete. Drive until obstacle passed on right, then turn right again |
jplager3 | 2:8887d13f967a | 183 | //BTmutex.lock(); |
jplager3 | 1:6b8a201f4f90 | 184 | //dev.printf("Driving past obstacle.\n\r"); |
jplager3 | 2:8887d13f967a | 185 | //BTmutex.unlock(); |
jplager3 | 1:6b8a201f4f90 | 186 | forward(throttle); |
jplager3 | 1:6b8a201f4f90 | 187 | bool objOnRight = true; |
jplager3 | 3:17113c72186e | 188 | while(objOnRight) { |
jplager3 | 3:17113c72186e | 189 | mutex.lock(); |
jplager3 | 3:17113c72186e | 190 | dev.printf("Avoiding Obstacles...\n\r"); |
jplager3 | 3:17113c72186e | 191 | currIR1 = IR1; //must keep scanning IR readers to know when object is cleared |
jplager3 | 1:6b8a201f4f90 | 192 | currIR2 = IR2; |
jplager3 | 3:17113c72186e | 193 | dev.printf(" IR1 Reading IR2 Reading\n\r %f %f\n\r", currIR1, currIR2); |
jplager3 | 3:17113c72186e | 194 | mutex.unlock(); |
jplager3 | 3:17113c72186e | 195 | if(currIR2 < 0.7) { |
jplager3 | 3:17113c72186e | 196 | objOnRight = false; //if IR2 drops below threshold, obstacle passed. Break out of loop |
jplager3 | 3:17113c72186e | 197 | |
jplager3 | 3:17113c72186e | 198 | wait(0.5); //give robot time to drive past object |
jplager3 | 3:17113c72186e | 199 | } |
jplager3 | 3:17113c72186e | 200 | if(currIR1 > 0.8){ // don;t crash to anything in front |
jplager3 | 3:17113c72186e | 201 | stop(); |
jplager3 | 3:17113c72186e | 202 | myled=led2=led3=led4=1; |
jplager3 | 3:17113c72186e | 203 | } |
jplager3 | 4:63e69557142e | 204 | //Thread::wait(1250); // |
jplager3 | 1:6b8a201f4f90 | 205 | } |
jplager3 | 1:6b8a201f4f90 | 206 | stop(); |
jplager3 | 1:6b8a201f4f90 | 207 | Thread::wait(250); |
jplager3 | 3:17113c72186e | 208 | //BTmutex.lock(); |
jplager3 | 1:6b8a201f4f90 | 209 | //dev.printf("Object passed. Turning right...\n\r"); |
jplager3 | 3:17113c72186e | 210 | turnRight(0.5); // turn 90deg |
jplager3 | 1:6b8a201f4f90 | 211 | Thread::wait(1000); //time to turn estimate |
jplager3 | 1:6b8a201f4f90 | 212 | stop(); |
jplager3 | 1:6b8a201f4f90 | 213 | Thread::wait(1000); |
jplager3 | 3:17113c72186e | 214 | forward(throttle); |
jplager3 | 1:6b8a201f4f90 | 215 | } |
jplager3 | 1:6b8a201f4f90 | 216 | |
jplager3 | 3:17113c72186e | 217 | /* |
jplager3 | 3:17113c72186e | 218 | void defaultDrive() //default behavior for robot //moved to main instead of being a thread |
jplager3 | 3:17113c72186e | 219 | { |
jplager3 | 1:6b8a201f4f90 | 220 | //Drive forward until object detected. Stop, turn left, then drive until IR2 says path is clear, then turn right to go around object. |
jplager3 | 1:6b8a201f4f90 | 221 | forward(throttle); |
jplager3 | 3:17113c72186e | 222 | while(1) { |
jplager3 | 3:17113c72186e | 223 | myled=1; |
jplager3 | 1:6b8a201f4f90 | 224 | //update current IR readings |
jplager3 | 1:6b8a201f4f90 | 225 | currIR1 = IR1; |
jplager3 | 1:6b8a201f4f90 | 226 | currIR2 = IR2; |
jplager3 | 1:6b8a201f4f90 | 227 | BTmutex.lock(); //prevent race conditions in BT dataoutput |
jplager3 | 3:17113c72186e | 228 | //dev.puts(" Front IR reading Right IR reading\n\r"); // print IR readings over BT |
jplager3 | 1:6b8a201f4f90 | 229 | //dev.printf(" %2f %2f\n\r", currIR1, currIR2); |
jplager3 | 3:17113c72186e | 230 | pc.puts(" Front IR reading Right IR reading\n\r"); // print IR readings over BT |
jplager3 | 3:17113c72186e | 231 | pc.printf(" %2f %2f\n\r", currIR1, currIR2); |
jplager3 | 3:17113c72186e | 232 | |
jplager3 | 1:6b8a201f4f90 | 233 | BTmutex.unlock(); |
jplager3 | 1:6b8a201f4f90 | 234 | // Forward collision handling code block |
jplager3 | 1:6b8a201f4f90 | 235 | if(currIR1 > 0.8) { // 0.85 is threshold for collision |
jplager3 | 3:17113c72186e | 236 | led3=1; |
jplager3 | 1:6b8a201f4f90 | 237 | avoidObstacle(); // steer around obstacle when detected |
jplager3 | 3:17113c72186e | 238 | led3=0; |
jplager3 | 3:17113c72186e | 239 | } |
jplager3 | 1:6b8a201f4f90 | 240 | Thread::wait(400); // for debug. IR polling too quick and floods output terminal |
jplager3 | 3:17113c72186e | 241 | wait(0.4); |
jplager3 | 3:17113c72186e | 242 | myled=0; |
jplager3 | 0:c29fc80c3ca3 | 243 | } |
jplager3 | 0:c29fc80c3ca3 | 244 | } |
jplager3 | 3:17113c72186e | 245 | */ |
jplager3 | 0:c29fc80c3ca3 | 246 | |
jplager3 | 3:17113c72186e | 247 | /* |
jplager3 | 3:17113c72186e | 248 | void manualMode() // also moved to main |
jplager3 | 3:17113c72186e | 249 | { |
jplager3 | 1:6b8a201f4f90 | 250 | bool on = true; |
jplager3 | 2:8887d13f967a | 251 | char temp; |
jplager3 | 3:17113c72186e | 252 | while(on) { |
jplager3 | 2:8887d13f967a | 253 | temp = dev.getc(); |
jplager3 | 3:17113c72186e | 254 | if(temp == 'A') { // reset command |
jplager3 | 1:6b8a201f4f90 | 255 | on = false; |
jplager3 | 3:17113c72186e | 256 | } else if(temp=='U') { |
jplager3 | 1:6b8a201f4f90 | 257 | led2=led3=1; |
jplager3 | 1:6b8a201f4f90 | 258 | forward(throttle); |
jplager3 | 1:6b8a201f4f90 | 259 | wait(1); |
jplager3 | 1:6b8a201f4f90 | 260 | led2=led3=0; |
jplager3 | 3:17113c72186e | 261 | } else if(temp=='L') { // turn left |
jplager3 | 1:6b8a201f4f90 | 262 | myled=led2=1; //debug |
jplager3 | 1:6b8a201f4f90 | 263 | stop(); |
jplager3 | 1:6b8a201f4f90 | 264 | wait(0.3); |
jplager3 | 1:6b8a201f4f90 | 265 | turnLeft(0.4); |
jplager3 | 1:6b8a201f4f90 | 266 | wait(0.6); |
jplager3 | 1:6b8a201f4f90 | 267 | stop(); |
jplager3 | 1:6b8a201f4f90 | 268 | wait(0.3); |
jplager3 | 1:6b8a201f4f90 | 269 | forward(throttle); |
jplager3 | 1:6b8a201f4f90 | 270 | myled=led2=0; //debug |
jplager3 | 3:17113c72186e | 271 | } else if(temp=='R') { // turn right |
jplager3 | 1:6b8a201f4f90 | 272 | led3=led4=1; |
jplager3 | 1:6b8a201f4f90 | 273 | stop(); |
jplager3 | 1:6b8a201f4f90 | 274 | wait(0.3); |
jplager3 | 1:6b8a201f4f90 | 275 | turnRight(0.4); |
jplager3 | 1:6b8a201f4f90 | 276 | wait(0.6); |
jplager3 | 1:6b8a201f4f90 | 277 | stop(); |
jplager3 | 1:6b8a201f4f90 | 278 | wait(0.3); |
jplager3 | 1:6b8a201f4f90 | 279 | forward(throttle); |
jplager3 | 1:6b8a201f4f90 | 280 | led3=led4=0; |
jplager3 | 3:17113c72186e | 281 | } else if(temp=='X') { // halt/brake command |
jplager3 | 1:6b8a201f4f90 | 282 | stop(); |
jplager3 | 1:6b8a201f4f90 | 283 | } |
jplager3 | 2:8887d13f967a | 284 | //myled=1; |
jplager3 | 2:8887d13f967a | 285 | //wait(0.5); |
jplager3 | 2:8887d13f967a | 286 | //myled=0; |
jplager3 | 2:8887d13f967a | 287 | //wait(0.5); |
jplager3 | 1:6b8a201f4f90 | 288 | } |
jplager3 | 1:6b8a201f4f90 | 289 | } |
jplager3 | 3:17113c72186e | 290 | */ |
jplager3 | 3:17113c72186e | 291 | |
jplager3 | 3:17113c72186e | 292 | /* |
jplager3 | 3:17113c72186e | 293 | void updateIRs() |
jplager3 | 3:17113c72186e | 294 | { |
jplager3 | 3:17113c72186e | 295 | mutex.lock(); |
jplager3 | 3:17113c72186e | 296 | currIR1 = IR1; //must keep scanning IR readers to know when object is cleared |
jplager3 | 3:17113c72186e | 297 | currIR2 = IR2; |
jplager3 | 3:17113c72186e | 298 | mutex.unlock(); |
jplager3 | 3:17113c72186e | 299 | }*/ |
jplager3 | 1:6b8a201f4f90 | 300 | |
jplager3 | 0:c29fc80c3ca3 | 301 | int main() |
jplager3 | 0:c29fc80c3ca3 | 302 | { |
jplager3 | 1:6b8a201f4f90 | 303 | //bluetooth setup |
jplager3 | 1:6b8a201f4f90 | 304 | pc.baud(9600); |
jplager3 | 1:6b8a201f4f90 | 305 | dev.baud(9600); |
jplager3 | 3:17113c72186e | 306 | //wait to recv start command or time delay |
jplager3 | 3:17113c72186e | 307 | for(int i=0; i<3; i++) { //temp delay for a few sec |
jplager3 | 1:6b8a201f4f90 | 308 | myled=led2=led3=led4=1; |
jplager3 | 1:6b8a201f4f90 | 309 | wait(0.5); |
jplager3 | 1:6b8a201f4f90 | 310 | myled=led2=led3=led4=0; |
jplager3 | 1:6b8a201f4f90 | 311 | wait(0.5); |
jplager3 | 3:17113c72186e | 312 | } |
jplager3 | 0:c29fc80c3ca3 | 313 | thread1.start(IMU); // start the IMU thread |
jplager3 | 3:17113c72186e | 314 | char state = 'D'; //Roomba's drive state |
jplager3 | 1:6b8a201f4f90 | 315 | char temp; |
jplager3 | 2:8887d13f967a | 316 | /* |
jplager3 | 1:6b8a201f4f90 | 317 | while(1){ //robot will receive a char from GUI signalling time to start |
jplager3 | 1:6b8a201f4f90 | 318 | temp = dev.getc(); |
jplager3 | 1:6b8a201f4f90 | 319 | led3=1; |
jplager3 | 1:6b8a201f4f90 | 320 | pc.putc(temp); |
jplager3 | 1:6b8a201f4f90 | 321 | if (temp == 'B'){ |
jplager3 | 1:6b8a201f4f90 | 322 | break; |
jplager3 | 1:6b8a201f4f90 | 323 | } |
jplager3 | 1:6b8a201f4f90 | 324 | if(led2 == 0) led2 = 1; |
jplager3 | 1:6b8a201f4f90 | 325 | else {led2 = 0;} |
jplager3 | 1:6b8a201f4f90 | 326 | wait(0.25); |
jplager3 | 3:17113c72186e | 327 | } |
jplager3 | 2:8887d13f967a | 328 | */ |
jplager3 | 1:6b8a201f4f90 | 329 | led3=0; |
jplager3 | 3:17113c72186e | 330 | //thread2.start(defaultDrive); default drive inserted into main while |
jplager3 | 3:17113c72186e | 331 | while(1) { |
jplager3 | 3:17113c72186e | 332 | //Drive forward until object detected. Stop, turn left, then drive until IR2 says path is clear, then turn right to go around object. |
jplager3 | 3:17113c72186e | 333 | forward(throttle); |
jplager3 | 3:17113c72186e | 334 | while(state == 'D') { //default drive |
jplager3 | 3:17113c72186e | 335 | myled=1; |
jplager3 | 3:17113c72186e | 336 | //update current IR readings |
jplager3 | 3:17113c72186e | 337 | //mutex.lock();//IR readings included in mutex since they are shared global variables |
jplager3 | 3:17113c72186e | 338 | currIR1 = IR1; |
jplager3 | 3:17113c72186e | 339 | currIR2 = IR2; |
jplager3 | 3:17113c72186e | 340 | mutex.lock(); //prevent race conditions in BT dataoutput //changed from BTmutex |
jplager3 | 3:17113c72186e | 341 | dev.puts(" Front IR reading Right IR reading\n\r"); // print IR readings over BT |
jplager3 | 3:17113c72186e | 342 | dev.printf(" %2f %2f\n\r", currIR1, currIR2); |
jplager3 | 3:17113c72186e | 343 | //pc.puts(" Front IR reading Right IR reading\n\r"); // print IR readings over serial |
jplager3 | 3:17113c72186e | 344 | //pc.printf(" %2f %2f\n\r", currIR1, currIR2); |
jplager3 | 3:17113c72186e | 345 | mutex.unlock(); // changed from BTmutex |
jplager3 | 3:17113c72186e | 346 | |
jplager3 | 3:17113c72186e | 347 | // Forward collision handling code block |
jplager3 | 3:17113c72186e | 348 | if(currIR1 > 0.8) { // 0.85 is threshold for collision |
jplager3 | 3:17113c72186e | 349 | led3=1; |
jplager3 | 3:17113c72186e | 350 | avoidObstacle(); // steer around obstacle when detected |
jplager3 | 3:17113c72186e | 351 | led3=0; |
jplager3 | 3:17113c72186e | 352 | } |
jplager3 | 3:17113c72186e | 353 | Thread::wait(400); // for debug. IR polling too quick and floods output terminal |
jplager3 | 3:17113c72186e | 354 | wait(0.4); |
jplager3 | 3:17113c72186e | 355 | myled=0; |
jplager3 | 3:17113c72186e | 356 | |
jplager3 | 3:17113c72186e | 357 | //was already ITT |
jplager3 | 3:17113c72186e | 358 | if (dev.readable()) { |
jplager3 | 3:17113c72186e | 359 | mutex.lock(); |
jplager3 | 3:17113c72186e | 360 | temp = dev.getc(); |
jplager3 | 3:17113c72186e | 361 | mutex.unlock(); |
jplager3 | 3:17113c72186e | 362 | } |
jplager3 | 3:17113c72186e | 363 | if(temp == 'M') { |
jplager3 | 3:17113c72186e | 364 | led4=1; |
jplager3 | 3:17113c72186e | 365 | stop(); |
jplager3 | 3:17113c72186e | 366 | //thread2.terminate(); //stop default drive |
jplager3 | 3:17113c72186e | 367 | //manualMode(); //switch to manual control |
jplager3 | 3:17113c72186e | 368 | /* |
jplager3 | 3:17113c72186e | 369 | while(1) { |
jplager3 | 3:17113c72186e | 370 | temp = dev.getc(); |
jplager3 | 3:17113c72186e | 371 | if(temp=='U') { |
jplager3 | 3:17113c72186e | 372 | led2=1; |
jplager3 | 3:17113c72186e | 373 | } |
jplager3 | 3:17113c72186e | 374 | } */ |
jplager3 | 3:17113c72186e | 375 | //once manualMode is exited, return to default |
jplager3 | 3:17113c72186e | 376 | led4=0; |
jplager3 | 3:17113c72186e | 377 | //thread2.start(defaultDrive); |
jplager3 | 3:17113c72186e | 378 | state = 'M'; |
jplager3 | 3:17113c72186e | 379 | } |
jplager3 | 3:17113c72186e | 380 | } |
jplager3 | 3:17113c72186e | 381 | |
jplager3 | 3:17113c72186e | 382 | while(state == 'M') { |
jplager3 | 3:17113c72186e | 383 | if (dev.readable()){ |
jplager3 | 3:17113c72186e | 384 | mutex.lock(); |
jplager3 | 3:17113c72186e | 385 | temp = dev.getc(); |
jplager3 | 3:17113c72186e | 386 | mutex.unlock(); |
jplager3 | 3:17113c72186e | 387 | } |
jplager3 | 3:17113c72186e | 388 | if(temp == 'A') { // reset command |
jplager3 | 3:17113c72186e | 389 | state = 'D'; |
jplager3 | 3:17113c72186e | 390 | } else if(temp=='U') { |
jplager3 | 3:17113c72186e | 391 | led2=led3=1; |
jplager3 | 3:17113c72186e | 392 | forward(throttle); |
jplager3 | 3:17113c72186e | 393 | wait(1); |
jplager3 | 3:17113c72186e | 394 | led2=led3=0; |
jplager3 | 3:17113c72186e | 395 | } else if(temp=='L') { // turn left |
jplager3 | 3:17113c72186e | 396 | myled=led2=1; //debug |
jplager3 | 3:17113c72186e | 397 | stop(); |
jplager3 | 3:17113c72186e | 398 | wait(0.5); |
jplager3 | 3:17113c72186e | 399 | turnLeft(0.4); |
jplager3 | 3:17113c72186e | 400 | wait(1); |
jplager3 | 3:17113c72186e | 401 | stop(); |
jplager3 | 3:17113c72186e | 402 | wait(0.5); |
jplager3 | 3:17113c72186e | 403 | forward(throttle); |
jplager3 | 3:17113c72186e | 404 | myled=led2=0; //debug |
jplager3 | 3:17113c72186e | 405 | } else if(temp=='R') { // turn right |
jplager3 | 3:17113c72186e | 406 | led3=led4=1; |
jplager3 | 3:17113c72186e | 407 | stop(); |
jplager3 | 3:17113c72186e | 408 | wait(0.3); |
jplager3 | 3:17113c72186e | 409 | turnRight(0.5); |
jplager3 | 3:17113c72186e | 410 | wait(0.6); |
jplager3 | 3:17113c72186e | 411 | stop(); |
jplager3 | 3:17113c72186e | 412 | wait(0.3); |
jplager3 | 3:17113c72186e | 413 | forward(throttle); |
jplager3 | 3:17113c72186e | 414 | led3=led4=0; |
jplager3 | 3:17113c72186e | 415 | } else if(temp=='X') { // halt/brake command |
jplager3 | 3:17113c72186e | 416 | stop(); |
jplager3 | 3:17113c72186e | 417 | } |
jplager3 | 3:17113c72186e | 418 | //myled=1; |
jplager3 | 3:17113c72186e | 419 | //wait(0.5); |
jplager3 | 3:17113c72186e | 420 | //myled=0; |
jplager3 | 3:17113c72186e | 421 | //wait(0.5); |
jplager3 | 1:6b8a201f4f90 | 422 | } |
jplager3 | 0:c29fc80c3ca3 | 423 | } |
jplager3 | 3:17113c72186e | 424 | } |