Julien Tiron / Mbed 2 deprecated 1-DoorCloser_jor

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Dependencies:   VL6180x X_NUCLEO_COMMON X_NUCLEO_IHM01A1 mbed

Fork of 1-DoorCloser_jor by Jordan Ml

main.cpp@2:f6f12530dbd9, 2016-04-02 (annotated)

Committer:
mohabendaoud
Date:
Sat Apr 02 14:21:53 2016 +0000
Revision:
2:f6f12530dbd9
Parent:
1:e18e367432bd
Child:
4:a95f90a0410d
16h20

Who changed what in which revision?

UserRevisionLine numberNew contents of line
julientiron 0:1cb50d31c3b5 1 /**
julientiron 0:1cb50d31c3b5 2 ******************************************************************************
julientiron 0:1cb50d31c3b5 3 * @file main.cpp
julientiron 0:1cb50d31c3b5 4 * @author Julien Tiron, FIP Télécom Bretagne
julientiron 0:1cb50d31c3b5 5 * @version V1.0.0
julientiron 0:1cb50d31c3b5 6 * @date March 23th, 2016
julientiron 0:1cb50d31c3b5 7 * @brief DoorCloser robot main code
julientiron 0:1cb50d31c3b5 8 ******************************************************************************
julientiron 0:1cb50d31c3b5 9 **/
julientiron 0:1cb50d31c3b5 10
julientiron 0:1cb50d31c3b5 11 /* Includes ------------------------------------------------------------------*/
julientiron 0:1cb50d31c3b5 12
julientiron 0:1cb50d31c3b5 13 #include "mbed.h"
julientiron 0:1cb50d31c3b5 14 #include "DevSPI.h"
julientiron 0:1cb50d31c3b5 15 #include "l6474_class.h"
julientiron 0:1cb50d31c3b5 16 #include "DevI2C.h"
julientiron 0:1cb50d31c3b5 17 #include "vl6180x_class.h"
mohabendaoud 2:f6f12530dbd9 18 #include "VL6180x.h"
julientiron 0:1cb50d31c3b5 19
julientiron 0:1cb50d31c3b5 20 /* Definitions ---------------------------------------------------------------*/
julientiron 0:1cb50d31c3b5 21
julientiron 0:1cb50d31c3b5 22 #define VL6180X_ADDRESS 0x29
julientiron 0:1cb50d31c3b5 23
julientiron 0:1cb50d31c3b5 24 /* Variables -----------------------------------------------------------------*/
julientiron 0:1cb50d31c3b5 25
julientiron 0:1cb50d31c3b5 26 /* Start and Stop Component */
mohabendaoud 2:f6f12530dbd9 27
julientiron 0:1cb50d31c3b5 28 InterruptIn startup(PC_1);
julientiron 0:1cb50d31c3b5 29 Ticker game_length;
julientiron 0:1cb50d31c3b5 30 volatile bool start = 1;
julientiron 0:1cb50d31c3b5 31 volatile bool end = 1;
mohabendaoud 2:f6f12530dbd9 32 char data = 0x08 | (char)64;
mohabendaoud 2:f6f12530dbd9 33 bool tag = true;
mohabendaoud 2:f6f12530dbd9 34 int i2cAddres=0x70; // Address of DS1307 is 0x68 (7 bit address)
mohabendaoud 2:f6f12530dbd9 35 int i2c8BitAddres= i2cAddres <<1; // Convert to 8bit addressing used by mbed
mohabendaoud 2:f6f12530dbd9 36 volatile unsigned int step = 1;
julientiron 0:1cb50d31c3b5 37 /* Motor Control Component */
julientiron 0:1cb50d31c3b5 38 L6474 *motor1;
julientiron 0:1cb50d31c3b5 39 L6474 *motor2;
julientiron 0:1cb50d31c3b5 40
julientiron 0:1cb50d31c3b5 41 /* Distance Sensors Component */
mohabendaoud 2:f6f12530dbd9 42 //DevI2C *i2c =new DevI2C(D14, D15);
mohabendaoud 1:e18e367432bd 43 /*VL6180X sensor1(i2c);
julientiron 0:1cb50d31c3b5 44 VL6180X sensor2(i2c);
mohabendaoud 1:e18e367432bd 45 VL6180X sensor3(i2c);*/
mohabendaoud 2:f6f12530dbd9 46 I2C i2c(D14, D15);
mohabendaoud 2:f6f12530dbd9 47 VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1);
julientiron 0:1cb50d31c3b5 48
julientiron 0:1cb50d31c3b5 49 /* Functions -----------------------------------------------------------------*/
julientiron 0:1cb50d31c3b5 50
julientiron 0:1cb50d31c3b5 51 void go()
julientiron 0:1cb50d31c3b5 52 {
julientiron 0:1cb50d31c3b5 53 start = 0;
julientiron 0:1cb50d31c3b5 54 }
julientiron 0:1cb50d31c3b5 55
julientiron 0:1cb50d31c3b5 56 void stop()
julientiron 0:1cb50d31c3b5 57 {
julientiron 0:1cb50d31c3b5 58 end = 0;
julientiron 0:1cb50d31c3b5 59 }
julientiron 0:1cb50d31c3b5 60
mohabendaoud 2:f6f12530dbd9 61 void init_sensor()
mohabendaoud 2:f6f12530dbd9 62 {
mohabendaoud 2:f6f12530dbd9 63
julientiron 0:1cb50d31c3b5 64 }
mohabendaoud 2:f6f12530dbd9 65
mohabendaoud 2:f6f12530dbd9 66 void switch_sensor(int number)
mohabendaoud 2:f6f12530dbd9 67 {
mohabendaoud 2:f6f12530dbd9 68
julientiron 0:1cb50d31c3b5 69 }
julientiron 0:1cb50d31c3b5 70
mohabendaoud 2:f6f12530dbd9 71 void deplacement(int distanceEnCm){
mohabendaoud 2:f6f12530dbd9 72 int nbPas = distanceEnCm*160;
mohabendaoud 2:f6f12530dbd9 73 motor1->Move(StepperMotor::FWD,nbPas);
mohabendaoud 2:f6f12530dbd9 74 motor2->Move(StepperMotor::BWD,nbPas);
mohabendaoud 2:f6f12530dbd9 75 motor1->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 76 motor2->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 77 }
mohabendaoud 2:f6f12530dbd9 78
mohabendaoud 2:f6f12530dbd9 79 void rotation(int angleEnDegre, int diametre){
mohabendaoud 2:f6f12530dbd9 80 int deplacementEnCm = (angleEnDegre/360)*(diametre-2)*3.14;
mohabendaoud 2:f6f12530dbd9 81 int nbPas = 160*deplacementEnCm;
mohabendaoud 2:f6f12530dbd9 82 motor1->Move(StepperMotor::FWD,nbPas);
mohabendaoud 2:f6f12530dbd9 83 motor2->Move(StepperMotor::FWD,nbPas);
mohabendaoud 2:f6f12530dbd9 84 motor1->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 85 motor2->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 86 }
mohabendaoud 1:e18e367432bd 87
julientiron 0:1cb50d31c3b5 88 /* Main ----------------------------------------------------------------------*/
julientiron 0:1cb50d31c3b5 89
julientiron 0:1cb50d31c3b5 90 int main()
julientiron 0:1cb50d31c3b5 91 {
julientiron 0:1cb50d31c3b5 92 /*----- Initialization. -----*/
julientiron 0:1cb50d31c3b5 93
julientiron 0:1cb50d31c3b5 94 /* Initializing SPI bus. */
julientiron 0:1cb50d31c3b5 95 DevSPI dev_spi(D11, D12, D13);
julientiron 0:1cb50d31c3b5 96
julientiron 0:1cb50d31c3b5 97 /* Initializing Motor Control Components. */
julientiron 0:1cb50d31c3b5 98 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
julientiron 0:1cb50d31c3b5 99 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
julientiron 0:1cb50d31c3b5 100 if (motor1->Init() != COMPONENT_OK)
julientiron 0:1cb50d31c3b5 101 exit(EXIT_FAILURE);
julientiron 0:1cb50d31c3b5 102 if (motor2->Init() != COMPONENT_OK)
julientiron 0:1cb50d31c3b5 103 exit(EXIT_FAILURE);
mohabendaoud 2:f6f12530dbd9 104 int result = i2c.write(i2c8BitAddres, &data, 1 );
mohabendaoud 2:f6f12530dbd9 105 sensor.VL6180xDefautSettings();
julientiron 0:1cb50d31c3b5 106
julientiron 0:1cb50d31c3b5 107 /* Interrupt to start the robot */
julientiron 0:1cb50d31c3b5 108 startup.fall(&go);
mohabendaoud 2:f6f12530dbd9 109
julientiron 0:1cb50d31c3b5 110 /* Interrupt to stop the robot */
julientiron 0:1cb50d31c3b5 111 game_length.attach(&stop, 90); //1 minutes 30 secondes pour la Coupe
julientiron 0:1cb50d31c3b5 112
julientiron 0:1cb50d31c3b5 113 while(start) {
julientiron 0:1cb50d31c3b5 114 /* Waiting code */
mohabendaoud 2:f6f12530dbd9 115
julientiron 0:1cb50d31c3b5 116 }
mohabendaoud 2:f6f12530dbd9 117
julientiron 0:1cb50d31c3b5 118 while(end) {
julientiron 0:1cb50d31c3b5 119 /* In-game code */
mohabendaoud 2:f6f12530dbd9 120
mohabendaoud 2:f6f12530dbd9 121
mohabendaoud 2:f6f12530dbd9 122 switch (step) {
mohabendaoud 2:f6f12530dbd9 123
mohabendaoud 2:f6f12530dbd9 124 case 0:
mohabendaoud 2:f6f12530dbd9 125 step = 1;
mohabendaoud 2:f6f12530dbd9 126 break;
mohabendaoud 2:f6f12530dbd9 127
mohabendaoud 2:f6f12530dbd9 128 case 1 :
mohabendaoud 2:f6f12530dbd9 129 /* Avancer du tapis judqu'au mur */
mohabendaoud 2:f6f12530dbd9 130 motor1->Run(StepperMotor::FWD);
mohabendaoud 2:f6f12530dbd9 131 motor2->Run(StepperMotor::BWD);
mohabendaoud 2:f6f12530dbd9 132 while(sensor.getDistance()>30) {
mohabendaoud 2:f6f12530dbd9 133 //Tant que la distance est superieure on continue d'avancer
mohabendaoud 2:f6f12530dbd9 134 wait_ms(20);
mohabendaoud 2:f6f12530dbd9 135 }
mohabendaoud 2:f6f12530dbd9 136 motor1->Move(StepperMotor::FWD,1100);
mohabendaoud 2:f6f12530dbd9 137 motor2->Move(StepperMotor::BWD,1100);
mohabendaoud 2:f6f12530dbd9 138 motor1->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 139 motor2->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 140 motor1->HardStop();
mohabendaoud 2:f6f12530dbd9 141 motor2->HardStop();
mohabendaoud 2:f6f12530dbd9 142 step = 2 ;
mohabendaoud 2:f6f12530dbd9 143 break;
mohabendaoud 2:f6f12530dbd9 144
mohabendaoud 2:f6f12530dbd9 145 case 2 : /* Angle 90° */
mohabendaoud 2:f6f12530dbd9 146 motor1->Move(StepperMotor::FWD,2100);
mohabendaoud 2:f6f12530dbd9 147 motor2->Move(StepperMotor::FWD,2100);
mohabendaoud 2:f6f12530dbd9 148 motor1->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 149 motor2->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 150 step = 3 ;
mohabendaoud 2:f6f12530dbd9 151 break;
mohabendaoud 2:f6f12530dbd9 152
mohabendaoud 2:f6f12530dbd9 153 case 3 : /* Fermeture de 2 portes : 60cm avant + arrêt à 3 cm du mur */
mohabendaoud 2:f6f12530dbd9 154 motor1->Move(StepperMotor::FWD,9000); //160pas = 1cm
mohabendaoud 2:f6f12530dbd9 155 motor2->Move(StepperMotor::BWD,9000);
mohabendaoud 2:f6f12530dbd9 156 motor1->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 157 motor2->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 158 motor1->Run(StepperMotor::FWD);
mohabendaoud 2:f6f12530dbd9 159 motor2->Run(StepperMotor::BWD);
mohabendaoud 2:f6f12530dbd9 160 while(sensor.getDistance()>30) {
mohabendaoud 2:f6f12530dbd9 161 //Tant que la distance est superieure on continue d'avancer
mohabendaoud 2:f6f12530dbd9 162 wait_ms(20);
mohabendaoud 2:f6f12530dbd9 163 }
mohabendaoud 2:f6f12530dbd9 164 motor1->HardStop();
mohabendaoud 2:f6f12530dbd9 165 motor2->HardStop();
mohabendaoud 2:f6f12530dbd9 166 step = 4;
mohabendaoud 2:f6f12530dbd9 167 break;
mohabendaoud 2:f6f12530dbd9 168
mohabendaoud 2:f6f12530dbd9 169 case 4 :
mohabendaoud 2:f6f12530dbd9 170 // STOP : robot arrêté
mohabendaoud 2:f6f12530dbd9 171 break;
mohabendaoud 2:f6f12530dbd9 172
mohabendaoud 2:f6f12530dbd9 173 }
mohabendaoud 2:f6f12530dbd9 174
julientiron 0:1cb50d31c3b5 175
julientiron 0:1cb50d31c3b5 176 /* Waiting until delay has expired. */
mohabendaoud 2:f6f12530dbd9 177 /*wait_ms(3000);
mohabendaoud 2:f6f12530dbd9 178
julientiron 0:1cb50d31c3b5 179 motor1->HardStop();
julientiron 0:1cb50d31c3b5 180 motor2->HardStop();
julientiron 0:1cb50d31c3b5 181
julientiron 0:1cb50d31c3b5 182 motor1->WaitWhileActive();
julientiron 0:1cb50d31c3b5 183 motor2->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 184
julientiron 0:1cb50d31c3b5 185 /* Requesting to run backward. */
mohabendaoud 2:f6f12530dbd9 186 /*motor1->Run(StepperMotor::FWD);
julientiron 0:1cb50d31c3b5 187 motor2->Run(StepperMotor::BWD);
julientiron 0:1cb50d31c3b5 188
julientiron 0:1cb50d31c3b5 189 /* Waiting until delay has expired. */
mohabendaoud 2:f6f12530dbd9 190 /*wait_ms(3000);
mohabendaoud 2:f6f12530dbd9 191
julientiron 0:1cb50d31c3b5 192 motor1->HardStop();
julientiron 0:1cb50d31c3b5 193 motor2->HardStop();
julientiron 0:1cb50d31c3b5 194
julientiron 0:1cb50d31c3b5 195 motor1->WaitWhileActive();
mohabendaoud 2:f6f12530dbd9 196 motor2->WaitWhileActive();*/
julientiron 0:1cb50d31c3b5 197 }
mohabendaoud 2:f6f12530dbd9 198
julientiron 0:1cb50d31c3b5 199 motor1->HardStop();
julientiron 0:1cb50d31c3b5 200 motor2->HardStop();
julientiron 0:1cb50d31c3b5 201
julientiron 0:1cb50d31c3b5 202 motor1->WaitWhileActive();
julientiron 0:1cb50d31c3b5 203 motor2->WaitWhileActive();
julientiron 0:1cb50d31c3b5 204 }