main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  Julien Tiron, FIP Télécom Bretagne
00005  * @version V1.0.0
00006  * @date    March 23th, 2016
00007  * @brief   DoorCloser robot main code
00008  ******************************************************************************
00009  **/
00010 
00011 /* Includes ------------------------------------------------------------------*/
00012 
00013 #include "mbed.h"
00014 #include "DevSPI.h"
00015 #include "l6474_class.h"
00016 #include "DevI2C.h"
00017 #include "vl6180x_class.h"
00018 #include "VL6180x.h"
00019 
00020 /* Definitions ---------------------------------------------------------------*/
00021 
00022 #define VL6180X_ADDRESS 0x29
00023 
00024 /* Variables -----------------------------------------------------------------*/
00025 
00026 /* Start and  Stop Component */
00027 InterruptIn startup(PC_1);
00028 Ticker game_length;
00029 volatile bool start = 1;
00030 volatile bool end = 1;
00031 char data = 0x08 | (char)64;
00032 bool tag = true;
00033 int i2cAddres=0x70;                // Address of DS1307 is 0x68 (7 bit address)
00034 int i2c8BitAddres= i2cAddres <<1;  // Convert to 8bit addressing used by mbed
00035 
00036 /* Motor Control Component */
00037 L6474 *motor1;
00038 L6474 *motor2;
00039 
00040 /* Distance Sensors Component */
00041 /*DevI2C *i2c =new DevI2C(D14, D15);
00042 VL6180X sensor1(i2c);
00043 VL6180X sensor2(i2c);
00044 VL6180X sensor3(i2c);*/
00045 I2C i2c(D14, D15);
00046 VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1);
00047 
00048 /* Functions -----------------------------------------------------------------*/
00049 
00050 void go()
00051 {
00052     start = 0;
00053 }
00054 
00055 void stop()
00056 {
00057     end = 0;
00058 }
00059 
00060 void init_sensor()
00061 {
00062 
00063 }
00064 
00065 void switch_sensor(int number)
00066 {
00067 
00068 }
00069 
00070 /* Main ----------------------------------------------------------------------*/
00071 
00072 int main()
00073 {
00074     /*----- Initialization. -----*/
00075 
00076     /* Initializing SPI bus. */
00077     DevSPI dev_spi(D11, D12, D13);
00078 
00079     /* Initializing Motor Control Components. */
00080     motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
00081     motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
00082     if (motor1->Init() != COMPONENT_OK)
00083         exit(EXIT_FAILURE);
00084     if (motor2->Init() != COMPONENT_OK)
00085         exit(EXIT_FAILURE);
00086     int result = i2c.write(i2c8BitAddres, &data, 1 );
00087     sensor.VL6180xDefautSettings();
00088 
00089     /* Interrupt to start the robot */
00090     startup.fall(&go);
00091 
00092     while(start) {
00093         /* Waiting code */
00094     }
00095 
00096     while(end) {
00097         /* In-game code */
00098 
00099         /* Interrupt to stop the robot */
00100         game_length.attach(&stop, 10); //1 minutes 30 secondes pour la Coupe
00101 
00102         if(sensor.getDistance()<100) {
00103             printf("1");
00104             if(tag == false) {
00105                 motor1->Run(StepperMotor::FWD);
00106                 motor2->Run(StepperMotor::FWD);
00107 
00108                 tag = true;
00109             }
00110         } else {
00111             printf("0");
00112             if(tag == true) {
00113                 motor1->Run(StepperMotor::FWD);
00114                 motor2->Run(StepperMotor::BWD);
00115 
00116                 tag = false;
00117             }
00118         }
00119         wait_ms(100);
00120         /* Waiting until delay has expired. */
00121     }
00122 
00123     motor1->HardStop();
00124     motor2->HardStop();
00125 
00126     motor1->WaitWhileActive();
00127     motor2->WaitWhileActive();
00128 }