Kurt Nalty
Austin Community College initial line follower program for Freescale car. This is based upon the FRDM-TFC code at mbed.org.
Fork of
FRDM-TFC
by 
Eli Hughes
Austin Community College - Initial Specs for FRDM-TFC line following car.
This uses the fine library by ELI HUGHES.
Our goal here is to provide the simplest line-follower as a quick car checkout.
First, we limit the run duration for the car, so that you can catch it, if necessary. Right DIP switch (4) sets run time. 0 => 5 sec, 1 => 10 sec.
We provide simple speed selection with the other three DIP switches. I recommend 001 as the slowest real speed, (000 is stop, of course). DIP switches 1 2 3 make a 3 bit speed. 1 is msb, 3 is lsb
The car won't start until you press and release the driver's side PB. Left PB (TFC_PUSH_BUTTON_1) is permissive GO on release using left 3 DIPs for speed 0-7.
The car will stop when the passenger side PB is pressed. Right PB is STOP - TFC_PUSH_BUTTON_0
TFC_Ticker[3] is our run time counter. Like the Code Warrior edition, we use msec tickers.
Left (Driver side) trim pot 1 can be used to trim static steering servo Right trim pot 0 can be used to offset line camera
Back LED reflects drive motor status. The top three are not currently used.
Diff: main.cpp
- Revision:
- 3:23cce037011f
- Parent:
- 2:ce4a273be708
- Child:
- 4:8a4a3fc59e57
--- a/main.cpp Wed Jul 17 19:31:32 2013 +0000
+++ b/main.cpp Thu Aug 15 23:26:19 2013 +0000
@@ -1,79 +1,183 @@
-#include "mbed.h"
-#include "TFC.h"
-
-DigitalOut myled(LED1);
-Ticker TFC_TickerObj;
-Serial PC(USBTX,USBRX);
-
-#define NUM_TFC_TICKERS 4
-
-volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
-
-void TFC_TickerUpdate()
-{
- int i;
-
- for(i=0; i<NUM_TFC_TICKERS; i++) {
- if(TFC_Ticker[i]<0xFFFFFFFF) {
- TFC_Ticker[0]++;
- }
- }
-}
-
-
-
-
-int main()
-{
- // int i;
-
-
- PC.baud(9600);
- TFC_TickerObj.attach_us(&TFC_TickerUpdate,1000);
- __disable_irq();
-
- TFC_Init();
- __enable_irq();
-// TFC_Init();
- while(1)
- {
-
- if(TFC_ServoTicker >0)
- {
- TFC_ServoTicker = 0;
-
- TFC_SetBatteryLED(TFC_GetDIP_Switch());
-
- if(TFC_DIP_SWITCH_0_ON) {
- if(TFC_PUSH_BUTTON_0_PRESSED)
- TFC_SetServo(0,0.2);
- else if(TFC_PUSH_BUTTON_1_PRESSED)
- TFC_SetServo(0,-0.2);
- else
- TFC_SetServo(0,TFC_ReadPot(0));
- }
-
-
- if(TFC_DIP_SWITCH_1_ON) {
- TFC_HBRIDGE_ENABLE;
- TFC_SetMotorPWM(TFC_ReadPot(1) ,TFC_ReadPot(1));
- } else {
- TFC_HBRIDGE_DISABLE;
- }
-
-
- }
-
-
- if(TFC_Ticker[0]>500)
- {
- TFC_Ticker[0] = 0;
- PC.printf("Servo Ticker %i",TFC_ServoTicker);
- }
-
-
-
- }
-
-}
-
\ No newline at end of file
+#include "mbed.h"
+#include "TFC.h"
+
+
+//This macro is to maintain compatibility with Codewarrior version of the sample. This version uses the MBED libraries for serial port access
+Serial PC(USBTX,USBRX);
+
+#define TERMINAL_PRINTF PC.printf
+
+
+ //This ticker code is used to maintain compability with the Codewarrior version of the sample. This code uses an MBED Ticker for background timing.
+
+#define NUM_TFC_TICKERS 4
+
+Ticker TFC_TickerObj;
+
+volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
+
+void TFC_TickerUpdate()
+{
+ int i;
+
+ for(i=0; i<NUM_TFC_TICKERS; i++)
+ {
+ if(TFC_Ticker[i]<0xFFFFFFFF)
+ {
+ TFC_Ticker[i]++;
+ }
+ }
+}
+
+
+
+
+int main()
+{
+ uint32_t i,j,t = 0;
+
+ PC.baud(115200);
+ TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
+
+ TFC_Init();
+
+ for(;;)
+ {
+ //TFC_Task must be called in your main loop. This keeps certain processing happy (I.E. Serial port queue check)
+ // TFC_Task();
+
+ //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
+ //Let's look at the middle 2 switches
+ switch((TFC_GetDIP_Switch()>>1)&0x03)
+ {
+ default:
+ case 0 :
+ //Demo mode 0 just tests the switches and LED's
+ if(TFC_PUSH_BUTTON_0_PRESSED)
+ TFC_BAT_LED0_ON;
+ else
+ TFC_BAT_LED0_OFF;
+
+ if(TFC_PUSH_BUTTON_1_PRESSED)
+ TFC_BAT_LED3_ON;
+ else
+ TFC_BAT_LED3_OFF;
+
+
+ if(TFC_GetDIP_Switch()&0x01)
+ TFC_BAT_LED1_ON;
+ else
+ TFC_BAT_LED1_OFF;
+
+ if(TFC_GetDIP_Switch()&0x08)
+ TFC_BAT_LED2_ON;
+ else
+ TFC_BAT_LED2_OFF;
+
+ break;
+
+ case 1:
+
+ //Demo mode 1 will just move the servos with the on-board potentiometers
+ if(TFC_Ticker[0]>=20)
+ {
+ TFC_Ticker[0] = 0; //reset the Ticker
+ //Every 20 mSeconds, update the Servos
+ TFC_SetServo(0,TFC_ReadPot(0));
+ TFC_SetServo(1,TFC_ReadPot(1));
+ }
+ //Let's put a pattern on the LEDs
+ if(TFC_Ticker[1] >= 125)
+ {
+ TFC_Ticker[1] = 0;
+ t++;
+ if(t>4)
+ {
+ t=0;
+ }
+ TFC_SetBatteryLED_Level(t);
+ }
+
+ TFC_SetMotorPWM(0,0); //Make sure motors are off
+ TFC_HBRIDGE_DISABLE;
+
+
+ break;
+
+ case 2 :
+
+ //Demo Mode 2 will use the Pots to make the motors move
+ TFC_HBRIDGE_ENABLE;
+
+ TFC_SetMotorPWM(TFC_ReadPot(0),TFC_ReadPot(1));
+
+
+ //Let's put a pattern on the LEDs
+ if(TFC_Ticker[1] >= 125)
+ {
+ TFC_Ticker[1] = 0;
+ t++;
+ if(t>4)
+ {
+ t=0;
+ }
+ TFC_SetBatteryLED_Level(t);
+ }
+ break;
+
+ case 3 :
+
+ //Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
+ //Labview Application
+
+ //note that there are some issues
+ if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0)
+ {
+ TFC_Ticker[0] = 0;
+ TFC_LineScanImageReady=0;
+ TERMINAL_PRINTF("\r\n");
+ TERMINAL_PRINTF("L:");
+
+ if(t==0)
+ t=4;
+ else
+ t--;
+
+ TFC_SetBatteryLED_Level(t);
+
+ for(i=0;i<8;i++)
+ {
+ for(j=0;j<16;j++)
+ {
+ TERMINAL_PRINTF("%X,",TFC_LineScanImage0[(i*8)+j]);
+
+ }
+ wait_ms(10);
+ }
+
+ for(i=0;i<8;i++)
+ {
+ for(j=0;j<16;j++)
+ {
+ TERMINAL_PRINTF("%X",TFC_LineScanImage1[(i*8)+j]);
+
+ if((i*8)+j==127)
+ TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*8)+j]);
+ else
+ TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*8)+j]);
+ }
+
+ wait_ms(10);
+ }
+
+ }
+
+
+
+ break;
+ }
+ }
+
+
+}
+