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.
main.cpp
- Committer:
- redxeth
- Date:
- 2013-09-04
- Revision:
- 4:8a4a3fc59e57
- Parent:
- 3:23cce037011f
- Child:
- 5:9d36b4c896e1
File content as of revision 4:8a4a3fc59e57:
#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 :
uint32_t NumCameras = 1; // Enter here how many line scan cameras hooked up
//Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
//Labview Application
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);
// camera 1
for(i=0;i<8;i++)
{
for(j=0;j<16;j++)
{
TERMINAL_PRINTF("%X",TFC_LineScanImage0[(i*16)+j]);
if (NumCameras == 1)
{
if((i==7)&&(j==15))
TERMINAL_PRINTF("\r\n",TFC_LineScanImage0[(i*16)+j]);
else
TERMINAL_PRINTF(",",TFC_LineScanImage0[(i*16)+j]);
}
}
wait_ms(10);
}
// camera 2
if (NumCameras == 2)
{
for(i=0;i<8;i++)
{
for(j=0;j<16;j++)
{
TERMINAL_PRINTF("%X",TFC_LineScanImage1[(i*16)+j]);
if((i==7)&&(j==15))
TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*16)+j]);
else
TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*16)+j]);
}
wait_ms(10);
}
}
}
break;
}
}
}