Kurt Nalty / Mbed 2 deprecated ACC-FRDM-TFC

Austin Community College initial line follower program for Freescale car. This is based upon the FRDM-TFC code at mbed.org.

Dependencies:   mbed

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:
2:ce4a273be708
Parent:
0:cd9427630ad1
Child:
3:23cce037011f
--- a/main.cpp	Wed Jul 17 19:30:14 2013 +0000
+++ b/main.cpp	Wed Jul 17 19:31:32 2013 +0000
@@ -1,12 +1,79 @@
 #include "mbed.h"
-
+#include "TFC.h"
+ 
 DigitalOut myled(LED1);
-
-int main() {
-    while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+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