James Plager / Mbed 2 deprecated Roomba_Project

Robot that currently does nothing

Dependencies:   4DGL-uLCD-SE SDFileSystem ShiftBrite mbed-rtos mbed wave_player Motor

main.cpp@10:059154e51621, 2017-03-16 (annotated)

Committer:
jplager3
Date:
Thu Mar 16 06:48:56 2017 +0000
Revision:
10:059154e51621
Parent:
9:37bb5f0e2975
Child:
11:9d9ab1dfa28a
Robot navigates. Added working LCD support for GOOD state and COLLISION IMMINENT state.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jplager3 0:ada50658d850 1 #include "mbed.h"
jplager3 0:ada50658d850 2 #include "rtos.h"
jplager3 0:ada50658d850 3 #include "uLCD_4DGL.h"
jplager3 0:ada50658d850 4 //#include "ShiftBrite.h"
jplager3 0:ada50658d850 5 #include "SDFileSystem.h"
jplager3 0:ada50658d850 6 #include "wave_player.h"
jplager3 8:cde09ae38be7 7 #include "Motor.h"
jplager3 0:ada50658d850 8
jplager3 10:059154e51621 9 Mutex mutex; // make sure only one thread trying to write to uLCD at a time
jplager3 0:ada50658d850 10 Mutex mutex2; //
jplager3 0:ada50658d850 11 DigitalOut led1(LED1);
jplager3 0:ada50658d850 12 DigitalOut led2(LED2);
jplager3 0:ada50658d850 13 DigitalOut led3(LED3);
jplager3 0:ada50658d850 14 DigitalOut led4(LED4);
jplager3 0:ada50658d850 15 Thread thread1;
jplager3 0:ada50658d850 16 Thread thread2;
jplager3 0:ada50658d850 17 Thread thread3;
jplager3 0:ada50658d850 18 Thread thread4;
jplager3 0:ada50658d850 19 SPI spi(p11, p12, p13);
jplager3 0:ada50658d850 20 uLCD_4DGL uLCD(p28, p27, p30);
jplager3 0:ada50658d850 21 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
jplager3 0:ada50658d850 22 AnalogOut DACout(p18); //must be p18
CRaslawski 5:6ca141fc6c4e 23 AnalogIn IR(p20);
jplager3 0:ada50658d850 24 FILE *wave_file = NULL; //global bc its gotta be changed by Main while running in child thread
CRaslawski 6:21c5a7cf63de 25 FILE *wave_file2 = NULL;
jplager3 0:ada50658d850 26 wave_player waver(&DACout); //create wave_player object for speaker
jplager3 8:cde09ae38be7 27 //create objects for Motor Control
jplager3 8:cde09ae38be7 28 //PwmOut motorL(p21); // doesnt seem to work
jplager3 8:cde09ae38be7 29 //Motor Left(p21, p12, p11); //, p6, p5, 1); // pwm, fwd, rev, can brake
jplager3 8:cde09ae38be7 30 Motor Left(p21, p14, p13); // green wires. pwm, fwd, rev, add ", 1" for braking
jplager3 8:cde09ae38be7 31 Motor Right(p22, p12, p11); // red wires
jplager3 0:ada50658d850 32 void LCD_thread1() {
jplager3 0:ada50658d850 33 while(1){
jplager3 0:ada50658d850 34 mutex.lock();
jplager3 0:ada50658d850 35 uLCD.filled_circle(64, 64, 12, 0xFF0000);
jplager3 0:ada50658d850 36 mutex.unlock();
jplager3 0:ada50658d850 37 wait(.5);
jplager3 0:ada50658d850 38 mutex.lock();
jplager3 0:ada50658d850 39 uLCD.filled_circle(64, 64, 12, 0x0000FF);
jplager3 0:ada50658d850 40 mutex.unlock();
jplager3 0:ada50658d850 41 wait(.5);
jplager3 0:ada50658d850 42 }
jplager3 10:059154e51621 43 }
jplager3 10:059154e51621 44 //LCD fucntions to display status
jplager3 10:059154e51621 45 void LCD_GRN(){
jplager3 10:059154e51621 46 //mutex.lock();
jplager3 10:059154e51621 47 uLCD.cls(); // clear scrn
jplager3 10:059154e51621 48 uLCD.background_color(GREEN);
jplager3 10:059154e51621 49 uLCD.locate(7,7); // place cursor middle of screen
jplager3 10:059154e51621 50 uLCD.printf("GOOD");
jplager3 10:059154e51621 51
jplager3 10:059154e51621 52 //mutex.unlock(); //free mutex
jplager3 0:ada50658d850 53 }
jplager3 10:059154e51621 54 void LCD_YEL(){
jplager3 10:059154e51621 55 //mutex.lock();
jplager3 10:059154e51621 56 uLCD.cls();
jplager3 10:059154e51621 57 uLCD.background_color(YELLOW);
jplager3 10:059154e51621 58 uLCD.locate(4, 8); // place cursor middle of screen
jplager3 10:059154e51621 59 uLCD.printf("Collision");
jplager3 10:059154e51621 60 uLCD.locate(4,9);
jplager3 10:059154e51621 61 uLCD.printf("Imminent");
jplager3 10:059154e51621 62 //mutex.unlock();
jplager3 10:059154e51621 63 }
jplager3 10:059154e51621 64 void LCD_RED(){
jplager3 10:059154e51621 65 //mutex.lock();
jplager3 10:059154e51621 66 uLCD.cls();
jplager3 10:059154e51621 67 uLCD.background_color(RED);
jplager3 10:059154e51621 68 uLCD.textbackground_color(BLACK);
jplager3 10:059154e51621 69 uLCD.locate(2, 8); // place cursor middle of screen
jplager3 10:059154e51621 70 uLCD.printf("REVERSING");
jplager3 10:059154e51621 71 //mutex.unlock();
jplager3 10:059154e51621 72 }
jplager3 0:ada50658d850 73 void sound_thread(){
CRaslawski 4:589e4a2028a7 74 while(1) {
CRaslawski 4:589e4a2028a7 75 //FILE *wave_file;
CRaslawski 4:589e4a2028a7 76 wave_file=fopen("/sd/vacuum.wav","r");
CRaslawski 4:589e4a2028a7 77 if (wave_file == NULL){
CRaslawski 6:21c5a7cf63de 78 led1=led4 = 1; // if file read error, outside LEDs are on
CRaslawski 6:21c5a7cf63de 79 led2=led3 = 0;
CRaslawski 4:589e4a2028a7 80 }
CRaslawski 4:589e4a2028a7 81 waver.play(wave_file);
CRaslawski 4:589e4a2028a7 82 fclose(wave_file);
jplager3 0:ada50658d850 83 }
jplager3 0:ada50658d850 84 }
CRaslawski 5:6ca141fc6c4e 85
CRaslawski 6:21c5a7cf63de 86 void beep(){
CRaslawski 6:21c5a7cf63de 87 wave_file2=fopen("/sd/beep.wav","r");
CRaslawski 6:21c5a7cf63de 88 if(wave_file2 == NULL) {
CRaslawski 6:21c5a7cf63de 89 led1=led4 = 0; // if file read error, inside LEDs are on
CRaslawski 6:21c5a7cf63de 90 led2=led3 = 0;
CRaslawski 6:21c5a7cf63de 91 }
CRaslawski 6:21c5a7cf63de 92 waver.play(wave_file2);
CRaslawski 6:21c5a7cf63de 93 fclose(wave_file2);
CRaslawski 6:21c5a7cf63de 94 }
jplager3 9:37bb5f0e2975 95 void drive(float speed){
jplager3 9:37bb5f0e2975 96 Left.speed(speed);
jplager3 9:37bb5f0e2975 97 Right.speed(speed);
jplager3 9:37bb5f0e2975 98 }
jplager3 9:37bb5f0e2975 99 void reverse(float speed){
jplager3 9:37bb5f0e2975 100 Left.speed(-speed);
jplager3 9:37bb5f0e2975 101 Right.speed(-speed);
jplager3 9:37bb5f0e2975 102 }
jplager3 9:37bb5f0e2975 103 void turnRight(float speed){
jplager3 9:37bb5f0e2975 104 Left.speed(speed);
jplager3 9:37bb5f0e2975 105 Right.speed(-speed);
jplager3 9:37bb5f0e2975 106 //wait(0.7);
jplager3 9:37bb5f0e2975 107 }
jplager3 9:37bb5f0e2975 108 void turnLeft(float speed){
jplager3 9:37bb5f0e2975 109 Left.speed(-speed);
jplager3 9:37bb5f0e2975 110 Right.speed(speed);
jplager3 9:37bb5f0e2975 111 //wait(0.7);
jplager3 9:37bb5f0e2975 112 }
jplager3 9:37bb5f0e2975 113 void stop(){
jplager3 9:37bb5f0e2975 114 Left.speed(0.0);
jplager3 9:37bb5f0e2975 115 Right.speed(0.0);
jplager3 9:37bb5f0e2975 116 }
jplager3 9:37bb5f0e2975 117
jplager3 0:ada50658d850 118 int main() {
jplager3 9:37bb5f0e2975 119 Left.speed(0.0); //attempt at forcing Left to chill on startup. ineffective.
jplager3 9:37bb5f0e2975 120 Right.speed(0.0); //Right does not have the issue. Is chill on startup
jplager3 0:ada50658d850 121 //thread1.start(IR_thread); // read in IR data
jplager3 10:059154e51621 122 //thread2.start(LCD_thread1);
jplager3 0:ada50658d850 123 //thread3.start(Motor_thread);
jplager3 0:ada50658d850 124 thread4.start(sound_thread);
jplager3 0:ada50658d850 125
jplager3 9:37bb5f0e2975 126 float turnDirectionSelector = 0.3;
jplager3 9:37bb5f0e2975 127 drive(0.3); // begin driving fwd
jplager3 10:059154e51621 128 //thread1.start(LCD_GRN); // I think when thread closes, LCD reverts to black.
jplager3 10:059154e51621 129 LCD_GRN();
jplager3 10:059154e51621 130 //bool screenNotWritten = false;
jplager3 9:37bb5f0e2975 131 while(1){
CRaslawski 5:6ca141fc6c4e 132 //IR testing
jplager3 10:059154e51621 133 if(IR>0.3 && IR<0.5) {
jplager3 10:059154e51621 134 LCD_GRN(); // scan for object
CRaslawski 5:6ca141fc6c4e 135 led1=1;
CRaslawski 5:6ca141fc6c4e 136 led2=led3=led4=0;
CRaslawski 5:6ca141fc6c4e 137 } else if (IR>0.5 && IR< 0.7) {
jplager3 10:059154e51621 138 //thread2.start(LCD_YEL);
jplager3 10:059154e51621 139 LCD_GRN();
CRaslawski 5:6ca141fc6c4e 140 led1=led2=1;
CRaslawski 5:6ca141fc6c4e 141 led3=led4=0;
CRaslawski 5:6ca141fc6c4e 142 } else if (IR>0.7 && IR<0.9) {
jplager3 10:059154e51621 143 LCD_YEL();
CRaslawski 5:6ca141fc6c4e 144 led1=led2=led3=1;
CRaslawski 5:6ca141fc6c4e 145 led4=0;
CRaslawski 6:21c5a7cf63de 146 } else if(IR>0.9){ //collision threshold seems to be the same from IR=0.8 to IR=0.95
jplager3 9:37bb5f0e2975 147 // in this block, "collision" detected. Back up, execute turn, and proceed driving fwd.
jplager3 10:059154e51621 148 //thread3.start(LCD_RED);
jplager3 10:059154e51621 149
jplager3 10:059154e51621 150 //LCD_RED();
CRaslawski 6:21c5a7cf63de 151 led1=led2=led3=led4=1;
CRaslawski 6:21c5a7cf63de 152 fclose(wave_file);
CRaslawski 6:21c5a7cf63de 153 thread4.terminate();
CRaslawski 6:21c5a7cf63de 154 thread4.start(beep);
jplager3 9:37bb5f0e2975 155 // reverse motors and turn Roomba here
jplager3 9:37bb5f0e2975 156 stop();
jplager3 9:37bb5f0e2975 157 wait(0.4);
jplager3 9:37bb5f0e2975 158 reverse(0.3);
jplager3 9:37bb5f0e2975 159 wait(2);
jplager3 9:37bb5f0e2975 160 turnDirectionSelector*=-1; // will alternate turning left/right upon collision
jplager3 9:37bb5f0e2975 161 turnRight(turnDirectionSelector);
jplager3 9:37bb5f0e2975 162 wait(1); //2s is a bit more than 180deg @ 0.3 speed
jplager3 9:37bb5f0e2975 163 stop();
jplager3 9:37bb5f0e2975 164
jplager3 10:059154e51621 165 wait(0.7); //wait for beeping to finish
jplager3 10:059154e51621 166
CRaslawski 6:21c5a7cf63de 167 fclose(wave_file2);
CRaslawski 6:21c5a7cf63de 168 thread4.terminate();
CRaslawski 6:21c5a7cf63de 169 thread4.start(sound_thread);
jplager3 9:37bb5f0e2975 170 drive(0.4);
jplager3 10:059154e51621 171 //thread1.start(LCD_GRN);
CRaslawski 5:6ca141fc6c4e 172 } else led1=led2=led3=led4=0;
jplager3 0:ada50658d850 173 }
jplager3 0:ada50658d850 174 }