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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
main.cpp@59:63609922579c, 2013-04-13 (annotated)
- Committer:
- rsavitski
- Date:
- Sat Apr 13 22:42:01 2013 +0000
- Revision:
- 59:63609922579c
- Parent:
- 51:bc261eae004b
- Child:
- 65:4709ff6c753c
tmp
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
madcowswe | 20:70d651156779 | 1 | #include "globals.h" |
madcowswe | 20:70d651156779 | 2 | #include "Kalman.h" |
twighk | 0:200635fa1b08 | 3 | #include "mbed.h" |
twighk | 13:d4b5851742a3 | 4 | #include "rtos.h" |
madcowswe | 21:167dacfe0b14 | 5 | #include "Arm.h" |
madcowswe | 21:167dacfe0b14 | 6 | #include "MainMotor.h" |
madcowswe | 21:167dacfe0b14 | 7 | #include "Encoder.h" |
madcowswe | 21:167dacfe0b14 | 8 | #include "Colour.h" |
madcowswe | 21:167dacfe0b14 | 9 | #include "CakeSensor.h" |
madcowswe | 21:167dacfe0b14 | 10 | #include "Printing.h" |
madcowswe | 20:70d651156779 | 11 | #include "coprocserial.h" |
madcowswe | 12:76c9915db820 | 12 | #include <algorithm> |
rsavitski | 24:50805ef8c499 | 13 | #include "motion.h" |
madcowswe | 25:b16f1045108f | 14 | #include "MotorControl.h" |
madcowswe | 28:4e20b44251c6 | 15 | #include "system.h" |
rsavitski | 30:791739422122 | 16 | #include "ai.h" |
madcowswe | 20:70d651156779 | 17 | |
twighk | 0:200635fa1b08 | 18 | void motortest(); |
twighk | 0:200635fa1b08 | 19 | void encodertest(); |
twighk | 0:200635fa1b08 | 20 | void motorencodetest(); |
twighk | 0:200635fa1b08 | 21 | void motorencodetestline(); |
twighk | 0:200635fa1b08 | 22 | void motorsandservostest(); |
twighk | 1:8119211eae14 | 23 | void armtest(); |
twighk | 2:45da48fab346 | 24 | void motortestline(); |
twighk | 3:717de74f6ebd | 25 | void colourtest(); |
twighk | 8:69bdf20cb525 | 26 | void cakesensortest(); |
twighk | 13:d4b5851742a3 | 27 | void printingtestthread(void const*); |
twighk | 13:d4b5851742a3 | 28 | void printingtestthread2(void const*); |
madcowswe | 12:76c9915db820 | 29 | void feedbacktest(); |
twighk | 0:200635fa1b08 | 30 | |
xiaxia686 | 43:c592bf6a6a2d | 31 | int main() |
xiaxia686 | 43:c592bf6a6a2d | 32 | { |
xiaxia686 | 43:c592bf6a6a2d | 33 | |
xiaxia686 | 43:c592bf6a6a2d | 34 | /***************** |
xiaxia686 | 43:c592bf6a6a2d | 35 | * Test Code * |
xiaxia686 | 43:c592bf6a6a2d | 36 | *****************/ |
twighk | 0:200635fa1b08 | 37 | //motortest(); |
twighk | 0:200635fa1b08 | 38 | //encodertest(); |
twighk | 8:69bdf20cb525 | 39 | //motorencodetest(); |
twighk | 1:8119211eae14 | 40 | //motorencodetestline(); |
twighk | 0:200635fa1b08 | 41 | //motorsandservostest(); |
rsavitski | 59:63609922579c | 42 | armtest(); |
rsavitski | 59:63609922579c | 43 | while(1); |
twighk | 2:45da48fab346 | 44 | //motortestline(); |
twighk | 11:bbddc908c78c | 45 | //ledtest(); |
twighk | 3:717de74f6ebd | 46 | //phototransistortest(); |
madcowswe | 12:76c9915db820 | 47 | //ledphototransistortest(); |
madcowswe | 5:56a5fdd373c9 | 48 | //colourtest(); // Red SnR too low |
madcowswe | 12:76c9915db820 | 49 | //cakesensortest(); |
madcowswe | 20:70d651156779 | 50 | //feedbacktest(); |
xiaxia686 | 43:c592bf6a6a2d | 51 | |
xiaxia686 | 43:c592bf6a6a2d | 52 | /* |
twighk | 13:d4b5851742a3 | 53 | DigitalOut l1(LED1); |
madcowswe | 21:167dacfe0b14 | 54 | Thread p(Printing::printingloop, NULL, osPriorityNormal, 2048); |
twighk | 13:d4b5851742a3 | 55 | l1=1; |
twighk | 13:d4b5851742a3 | 56 | Thread a(printingtestthread, NULL, osPriorityNormal, 1024); |
twighk | 13:d4b5851742a3 | 57 | Thread b(printingtestthread2, NULL, osPriorityNormal, 1024); |
twighk | 13:d4b5851742a3 | 58 | Thread::wait(osWaitForever); |
madcowswe | 15:9c5aaeda36dc | 59 | */ |
madcowswe | 16:52250d8d8fce | 60 | |
madcowswe | 22:6e3218cf75f8 | 61 | SystemTime.start(); |
madcowswe | 20:70d651156779 | 62 | |
madcowswe | 51:bc261eae004b | 63 | Serial pc(USBTX, USBRX); |
madcowswe | 25:b16f1045108f | 64 | pc.baud(115200); |
xiaxia686 | 46:adcd57a5e402 | 65 | wait(2); |
xiaxia686 | 46:adcd57a5e402 | 66 | InitSerial(); |
xiaxia686 | 46:adcd57a5e402 | 67 | wait(3); |
xiaxia686 | 46:adcd57a5e402 | 68 | Kalman::KalmanInit(); |
madcowswe | 20:70d651156779 | 69 | |
xiaxia686 | 46:adcd57a5e402 | 70 | Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k |
xiaxia686 | 46:adcd57a5e402 | 71 | Kalman::start_predict_ticker(&predictthread); |
madcowswe | 20:70d651156779 | 72 | |
xiaxia686 | 46:adcd57a5e402 | 73 | Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084); |
rsavitski | 24:50805ef8c499 | 74 | |
xiaxia686 | 46:adcd57a5e402 | 75 | Ticker motorcontroltestticker; |
xiaxia686 | 46:adcd57a5e402 | 76 | motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05); |
rsavitski | 30:791739422122 | 77 | // ai layer thread |
xiaxia686 | 46:adcd57a5e402 | 78 | Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048); |
madcowswe | 22:6e3218cf75f8 | 79 | |
rsavitski | 24:50805ef8c499 | 80 | // motion layer periodic callback |
xiaxia686 | 46:adcd57a5e402 | 81 | RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic); |
xiaxia686 | 46:adcd57a5e402 | 82 | motion_timer.start(50); |
xiaxia686 | 43:c592bf6a6a2d | 83 | |
xiaxia686 | 46:adcd57a5e402 | 84 | Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048); |
xiaxia686 | 43:c592bf6a6a2d | 85 | |
xiaxia686 | 46:adcd57a5e402 | 86 | measureCPUidle(); //repurpose thread for idle measurement |
madcowswe | 21:167dacfe0b14 | 87 | Thread::wait(osWaitForever); |
madcowswe | 51:bc261eae004b | 88 | |
madcowswe | 12:76c9915db820 | 89 | } |
madcowswe | 12:76c9915db820 | 90 | |
twighk | 13:d4b5851742a3 | 91 | #include <cstdlib> |
twighk | 13:d4b5851742a3 | 92 | using namespace std; |
twighk | 13:d4b5851742a3 | 93 | |
xiaxia686 | 43:c592bf6a6a2d | 94 | void printingtestthread(void const*) |
xiaxia686 | 43:c592bf6a6a2d | 95 | { |
twighk | 13:d4b5851742a3 | 96 | const char ID = 1; |
twighk | 13:d4b5851742a3 | 97 | float buffer[3] = {ID}; |
madcowswe | 21:167dacfe0b14 | 98 | Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0])); |
twighk | 13:d4b5851742a3 | 99 | while (true){ |
twighk | 13:d4b5851742a3 | 100 | for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){ |
madcowswe | 20:70d651156779 | 101 | buffer[i] = ID ; |
twighk | 13:d4b5851742a3 | 102 | } |
madcowswe | 21:167dacfe0b14 | 103 | Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0])); |
twighk | 13:d4b5851742a3 | 104 | Thread::wait(200); |
twighk | 13:d4b5851742a3 | 105 | } |
twighk | 13:d4b5851742a3 | 106 | } |
madcowswe | 14:c638d4b9ee94 | 107 | |
xiaxia686 | 43:c592bf6a6a2d | 108 | void printingtestthread2(void const*) |
xiaxia686 | 43:c592bf6a6a2d | 109 | { |
twighk | 13:d4b5851742a3 | 110 | const char ID = 2; |
twighk | 13:d4b5851742a3 | 111 | float buffer[5] = {ID}; |
madcowswe | 21:167dacfe0b14 | 112 | Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0])); |
twighk | 13:d4b5851742a3 | 113 | while (true){ |
twighk | 13:d4b5851742a3 | 114 | for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){ |
twighk | 13:d4b5851742a3 | 115 | buffer[i] = ID; |
twighk | 13:d4b5851742a3 | 116 | } |
madcowswe | 21:167dacfe0b14 | 117 | Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0])); |
twighk | 13:d4b5851742a3 | 118 | Thread::wait(500); |
twighk | 13:d4b5851742a3 | 119 | } |
twighk | 8:69bdf20cb525 | 120 | } |
twighk | 8:69bdf20cb525 | 121 | |
madcowswe | 14:c638d4b9ee94 | 122 | |
rsavitski | 24:50805ef8c499 | 123 | /* |
madcowswe | 12:76c9915db820 | 124 | void feedbacktest(){ |
madcowswe | 20:70d651156779 | 125 | //Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); |
madcowswe | 12:76c9915db820 | 126 | MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B); |
xiaxia686 | 43:c592bf6a6a2d | 127 | |
madcowswe | 20:70d651156779 | 128 | Kalman::State state; |
xiaxia686 | 43:c592bf6a6a2d | 129 | |
madcowswe | 20:70d651156779 | 130 | float Pgain = -0.01; |
madcowswe | 15:9c5aaeda36dc | 131 | float fwdspeed = -400/3.0f; |
madcowswe | 12:76c9915db820 | 132 | Timer timer; |
madcowswe | 12:76c9915db820 | 133 | timer.start(); |
xiaxia686 | 43:c592bf6a6a2d | 134 | |
xiaxia686 | 43:c592bf6a6a2d | 135 | while(true) { |
madcowswe | 12:76c9915db820 | 136 | float expecdist = fwdspeed * timer.read(); |
madcowswe | 20:70d651156779 | 137 | state = Kalman::getState(); |
madcowswe | 20:70d651156779 | 138 | float errleft = left_encoder.getTicks() - (expecdist); |
madcowswe | 20:70d651156779 | 139 | float errright = right_encoder.getTicks() - expecdist; |
xiaxia686 | 43:c592bf6a6a2d | 140 | |
madcowswe | 12:76c9915db820 | 141 | mleft(max(min(errleft*Pgain, 0.4f), -0.4f)); |
madcowswe | 12:76c9915db820 | 142 | mright(max(min(errright*Pgain, 0.4f), -0.4f)); |
madcowswe | 12:76c9915db820 | 143 | } |
twighk | 8:69bdf20cb525 | 144 | } |
rsavitski | 24:50805ef8c499 | 145 | */ |
twighk | 8:69bdf20cb525 | 146 | |
xiaxia686 | 43:c592bf6a6a2d | 147 | void cakesensortest() |
xiaxia686 | 43:c592bf6a6a2d | 148 | { |
twighk | 8:69bdf20cb525 | 149 | wait(1); |
madcowswe | 20:70d651156779 | 150 | printf("cakesensortest"); |
xiaxia686 | 43:c592bf6a6a2d | 151 | |
xiaxia686 | 43:c592bf6a6a2d | 152 | CakeSensor cs(P_DISTANCE_SENSOR); |
xiaxia686 | 43:c592bf6a6a2d | 153 | while(true) { |
twighk | 8:69bdf20cb525 | 154 | wait(0.1); |
madcowswe | 20:70d651156779 | 155 | printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm()); |
xiaxia686 | 43:c592bf6a6a2d | 156 | } |
twighk | 3:717de74f6ebd | 157 | } |
twighk | 3:717de74f6ebd | 158 | |
xiaxia686 | 43:c592bf6a6a2d | 159 | void colourtest() |
xiaxia686 | 43:c592bf6a6a2d | 160 | { |
xiaxia686 | 45:77cf6375348a | 161 | Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER,UPPER); |
xiaxia686 | 45:77cf6375348a | 162 | Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER,LOWER); |
xiaxia686 | 43:c592bf6a6a2d | 163 | |
xiaxia686 | 43:c592bf6a6a2d | 164 | while(true) { |
twighk | 3:717de74f6ebd | 165 | wait(0.1); |
xiaxia686 | 43:c592bf6a6a2d | 166 | |
xiaxia686 | 45:77cf6375348a | 167 | switch(c_lower.getColour()) { |
twighk | 3:717de74f6ebd | 168 | case BLUE : |
xiaxia686 | 43:c592bf6a6a2d | 169 | printf("BLUE\n"); |
twighk | 3:717de74f6ebd | 170 | break; |
twighk | 3:717de74f6ebd | 171 | case RED: |
xiaxia686 | 43:c592bf6a6a2d | 172 | printf("RED\n"); |
twighk | 3:717de74f6ebd | 173 | break; |
twighk | 3:717de74f6ebd | 174 | case WHITE: |
xiaxia686 | 43:c592bf6a6a2d | 175 | printf("WHITE\n"); |
twighk | 3:717de74f6ebd | 176 | break; |
xiaxia686 | 43:c592bf6a6a2d | 177 | case BLACK: |
xiaxia686 | 43:c592bf6a6a2d | 178 | printf("BLACK\n"); |
twighk | 3:717de74f6ebd | 179 | break; |
twighk | 3:717de74f6ebd | 180 | default: |
xiaxia686 | 43:c592bf6a6a2d | 181 | printf("BUG\n"); |
twighk | 3:717de74f6ebd | 182 | } |
xiaxia686 | 43:c592bf6a6a2d | 183 | |
twighk | 2:45da48fab346 | 184 | } |
twighk | 0:200635fa1b08 | 185 | |
twighk | 3:717de74f6ebd | 186 | } |
twighk | 3:717de74f6ebd | 187 | |
madcowswe | 51:bc261eae004b | 188 | /* |
madcowswe | 51:bc261eae004b | 189 | |
xiaxia686 | 43:c592bf6a6a2d | 190 | void pt_test() |
xiaxia686 | 43:c592bf6a6a2d | 191 | { |
xiaxia686 | 43:c592bf6a6a2d | 192 | DigitalOut _blue_led(p10); |
xiaxia686 | 43:c592bf6a6a2d | 193 | DigitalOut _red_led(p11); |
xiaxia686 | 45:77cf6375348a | 194 | AnalogIn _pt(p18); |
xiaxia686 | 43:c592bf6a6a2d | 195 | |
xiaxia686 | 43:c592bf6a6a2d | 196 | bytepack_t datapackage; |
xiaxia686 | 43:c592bf6a6a2d | 197 | // first 3 bytes of header is used for alignment |
xiaxia686 | 43:c592bf6a6a2d | 198 | datapackage.data.header[0] = 0xFF; |
xiaxia686 | 43:c592bf6a6a2d | 199 | datapackage.data.header[1] = 0xFF; |
xiaxia686 | 43:c592bf6a6a2d | 200 | datapackage.data.header[2] = 0xFF; |
xiaxia686 | 43:c592bf6a6a2d | 201 | while(true) { |
xiaxia686 | 43:c592bf6a6a2d | 202 | //toggles leds for the next state |
xiaxia686 | 43:c592bf6a6a2d | 203 | _blue_led = 1; |
xiaxia686 | 43:c592bf6a6a2d | 204 | _red_led = 0; |
xiaxia686 | 43:c592bf6a6a2d | 205 | wait(0.01); |
xiaxia686 | 43:c592bf6a6a2d | 206 | volatile float blue_temp = _pt.read(); |
twighk | 3:717de74f6ebd | 207 | |
xiaxia686 | 43:c592bf6a6a2d | 208 | |
xiaxia686 | 43:c592bf6a6a2d | 209 | datapackage.data.ID = (unsigned char)0; |
xiaxia686 | 43:c592bf6a6a2d | 210 | datapackage.data.value = blue_temp; |
xiaxia686 | 43:c592bf6a6a2d | 211 | datapackage.data.aux = 0; |
xiaxia686 | 43:c592bf6a6a2d | 212 | for (int i = 0; i < sizeof(datapackage); i++) { |
xiaxia686 | 43:c592bf6a6a2d | 213 | //mbed_serial.putc(datapackage.type_char[i]); |
xiaxia686 | 43:c592bf6a6a2d | 214 | pc.putc(datapackage.type_char[i]); |
twighk | 3:717de74f6ebd | 215 | } |
xiaxia686 | 43:c592bf6a6a2d | 216 | |
xiaxia686 | 43:c592bf6a6a2d | 217 | _blue_led = 0; |
xiaxia686 | 43:c592bf6a6a2d | 218 | _red_led = 1; |
xiaxia686 | 43:c592bf6a6a2d | 219 | wait(0.01); |
xiaxia686 | 43:c592bf6a6a2d | 220 | volatile float red_temp = _pt.read(); |
xiaxia686 | 43:c592bf6a6a2d | 221 | |
xiaxia686 | 43:c592bf6a6a2d | 222 | |
xiaxia686 | 43:c592bf6a6a2d | 223 | datapackage.data.ID = (unsigned char)1; |
xiaxia686 | 43:c592bf6a6a2d | 224 | datapackage.data.value = red_temp; |
xiaxia686 | 43:c592bf6a6a2d | 225 | datapackage.data.aux = 0; |
xiaxia686 | 43:c592bf6a6a2d | 226 | for (int i = 0; i < sizeof(datapackage); i++) { |
xiaxia686 | 43:c592bf6a6a2d | 227 | //mbed_serial.putc(datapackage.type_char[i]); |
xiaxia686 | 43:c592bf6a6a2d | 228 | pc.putc(datapackage.type_char[i]); |
twighk | 11:bbddc908c78c | 229 | } |
twighk | 3:717de74f6ebd | 230 | |
xiaxia686 | 43:c592bf6a6a2d | 231 | _blue_led = 0; |
xiaxia686 | 43:c592bf6a6a2d | 232 | _red_led = 0; |
xiaxia686 | 43:c592bf6a6a2d | 233 | wait(0.01); |
xiaxia686 | 43:c592bf6a6a2d | 234 | volatile float noise_temp = _pt.read(); |
twighk | 3:717de74f6ebd | 235 | |
twighk | 3:717de74f6ebd | 236 | |
xiaxia686 | 43:c592bf6a6a2d | 237 | datapackage.data.ID = (unsigned char)2; |
xiaxia686 | 43:c592bf6a6a2d | 238 | datapackage.data.value = noise_temp; |
xiaxia686 | 43:c592bf6a6a2d | 239 | datapackage.data.aux = 0; |
xiaxia686 | 43:c592bf6a6a2d | 240 | for (int i = 0; i < sizeof(datapackage); i++) { |
xiaxia686 | 43:c592bf6a6a2d | 241 | //mbed_serial.putc(datapackage.type_char[i]); |
xiaxia686 | 43:c592bf6a6a2d | 242 | pc.putc(datapackage.type_char[i]); |
xiaxia686 | 43:c592bf6a6a2d | 243 | } |
xiaxia686 | 43:c592bf6a6a2d | 244 | |
twighk | 3:717de74f6ebd | 245 | } |
twighk | 3:717de74f6ebd | 246 | } |
madcowswe | 51:bc261eae004b | 247 | */ |
xiaxia686 | 43:c592bf6a6a2d | 248 | |
xiaxia686 | 43:c592bf6a6a2d | 249 | |
xiaxia686 | 43:c592bf6a6a2d | 250 | void armtest() |
xiaxia686 | 43:c592bf6a6a2d | 251 | { |
twighk | 3:717de74f6ebd | 252 | Arm white(p26), black(p25, false, 0.0005, 180); |
xiaxia686 | 43:c592bf6a6a2d | 253 | while(true) { |
twighk | 1:8119211eae14 | 254 | white(0); |
rsavitski | 59:63609922579c | 255 | black(0.2); |
twighk | 1:8119211eae14 | 256 | wait(1); |
twighk | 1:8119211eae14 | 257 | white(1); |
rsavitski | 59:63609922579c | 258 | black(0.8); |
twighk | 1:8119211eae14 | 259 | wait(1); |
twighk | 1:8119211eae14 | 260 | } |
twighk | 1:8119211eae14 | 261 | } |
twighk | 1:8119211eae14 | 262 | |
twighk | 1:8119211eae14 | 263 | |
xiaxia686 | 43:c592bf6a6a2d | 264 | void motorsandservostest() |
xiaxia686 | 43:c592bf6a6a2d | 265 | { |
twighk | 0:200635fa1b08 | 266 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 267 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 1:8119211eae14 | 268 | Arm sTop(p25), sBottom(p26); |
twighk | 4:1be0f6c6ceae | 269 | //Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 270 | const float speed = 0.0; |
twighk | 0:200635fa1b08 | 271 | const float dspeed = 0.0; |
xiaxia686 | 43:c592bf6a6a2d | 272 | |
twighk | 0:200635fa1b08 | 273 | Timer servoTimer; |
xiaxia686 | 43:c592bf6a6a2d | 274 | mleft(speed); |
xiaxia686 | 43:c592bf6a6a2d | 275 | mright(speed); |
twighk | 0:200635fa1b08 | 276 | servoTimer.start(); |
xiaxia686 | 43:c592bf6a6a2d | 277 | while (true) { |
madcowswe | 20:70d651156779 | 278 | printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks()); |
xiaxia686 | 43:c592bf6a6a2d | 279 | if (Eleft.getTicks() < Eright.getTicks()) { |
twighk | 0:200635fa1b08 | 280 | mleft(speed); |
twighk | 0:200635fa1b08 | 281 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 282 | } else { |
twighk | 0:200635fa1b08 | 283 | mright(speed); |
twighk | 0:200635fa1b08 | 284 | mleft(speed - dspeed); |
twighk | 0:200635fa1b08 | 285 | } |
xiaxia686 | 43:c592bf6a6a2d | 286 | if (servoTimer.read() < 1) { |
twighk | 0:200635fa1b08 | 287 | sTop.clockwise(); |
twighk | 0:200635fa1b08 | 288 | } else if (servoTimer.read() < 4) { |
twighk | 2:45da48fab346 | 289 | sTop.halt(); |
twighk | 0:200635fa1b08 | 290 | } else if (servoTimer.read() < 5) { |
twighk | 0:200635fa1b08 | 291 | sBottom.anticlockwise(); |
twighk | 0:200635fa1b08 | 292 | //Led=1; |
twighk | 0:200635fa1b08 | 293 | } else if (servoTimer.read() < 6) { |
twighk | 0:200635fa1b08 | 294 | sBottom.clockwise(); |
twighk | 0:200635fa1b08 | 295 | //Led=0; |
twighk | 0:200635fa1b08 | 296 | } else if (servoTimer.read() < 7) { |
twighk | 2:45da48fab346 | 297 | sBottom.halt(); |
xiaxia686 | 43:c592bf6a6a2d | 298 | } else { |
twighk | 0:200635fa1b08 | 299 | sTop.anticlockwise(); |
twighk | 0:200635fa1b08 | 300 | } |
twighk | 0:200635fa1b08 | 301 | if (servoTimer.read() >= 9) servoTimer.reset(); |
twighk | 0:200635fa1b08 | 302 | } |
twighk | 0:200635fa1b08 | 303 | } |
twighk | 0:200635fa1b08 | 304 | |
xiaxia686 | 43:c592bf6a6a2d | 305 | void motortestline() |
xiaxia686 | 43:c592bf6a6a2d | 306 | { |
twighk | 2:45da48fab346 | 307 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 2:45da48fab346 | 308 | const float speed = 0.2; |
xiaxia686 | 43:c592bf6a6a2d | 309 | mleft(speed); |
xiaxia686 | 43:c592bf6a6a2d | 310 | mright(speed); |
twighk | 2:45da48fab346 | 311 | while(true) wait(1); |
twighk | 2:45da48fab346 | 312 | } |
twighk | 2:45da48fab346 | 313 | |
xiaxia686 | 43:c592bf6a6a2d | 314 | void motorencodetestline() |
xiaxia686 | 43:c592bf6a6a2d | 315 | { |
madcowswe | 12:76c9915db820 | 316 | Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); |
madcowswe | 12:76c9915db820 | 317 | MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B); |
twighk | 4:1be0f6c6ceae | 318 | //Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 319 | const float speed = 0.2; |
twighk | 0:200635fa1b08 | 320 | const float dspeed = 0.1; |
twighk | 0:200635fa1b08 | 321 | |
xiaxia686 | 43:c592bf6a6a2d | 322 | mleft(speed); |
xiaxia686 | 43:c592bf6a6a2d | 323 | mright(speed); |
xiaxia686 | 43:c592bf6a6a2d | 324 | while (true) { |
xiaxia686 | 43:c592bf6a6a2d | 325 | //left 27 cm = 113 -> 0.239 cm/pulse |
xiaxia686 | 43:c592bf6a6a2d | 326 | //right 27 cm = 72 -> 0.375 cm/pulse |
madcowswe | 20:70d651156779 | 327 | printf("Position is: %i \t %i \n\r", (int)(Eleft.getTicks()*0.239), (int)(Eright.getTicks()*0.375)); |
xiaxia686 | 43:c592bf6a6a2d | 328 | if (Eleft.getTicks()*0.239 < Eright.getTicks()*0.375) { |
twighk | 0:200635fa1b08 | 329 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 330 | } else { |
twighk | 0:200635fa1b08 | 331 | mright(speed + dspeed); |
twighk | 0:200635fa1b08 | 332 | } |
twighk | 0:200635fa1b08 | 333 | } |
twighk | 0:200635fa1b08 | 334 | |
twighk | 0:200635fa1b08 | 335 | } |
twighk | 0:200635fa1b08 | 336 | |
xiaxia686 | 43:c592bf6a6a2d | 337 | void motorencodetest() |
xiaxia686 | 43:c592bf6a6a2d | 338 | { |
madcowswe | 7:4340355261f9 | 339 | Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); |
madcowswe | 7:4340355261f9 | 340 | MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B); |
twighk | 0:200635fa1b08 | 341 | Serial pc(USBTX, USBRX); |
xiaxia686 | 43:c592bf6a6a2d | 342 | |
twighk | 0:200635fa1b08 | 343 | const float speed = -0.3; |
twighk | 0:200635fa1b08 | 344 | const int enc = -38; |
xiaxia686 | 43:c592bf6a6a2d | 345 | while(true) { |
xiaxia686 | 43:c592bf6a6a2d | 346 | mleft(speed); |
xiaxia686 | 43:c592bf6a6a2d | 347 | mright(0); |
xiaxia686 | 43:c592bf6a6a2d | 348 | while(Eleft.getTicks()>enc) { |
madcowswe | 20:70d651156779 | 349 | printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks()); |
twighk | 0:200635fa1b08 | 350 | } |
xiaxia686 | 43:c592bf6a6a2d | 351 | Eleft.reset(); |
xiaxia686 | 43:c592bf6a6a2d | 352 | Eright.reset(); |
xiaxia686 | 43:c592bf6a6a2d | 353 | mleft(0); |
xiaxia686 | 43:c592bf6a6a2d | 354 | mright(speed); |
xiaxia686 | 43:c592bf6a6a2d | 355 | while(Eright.getTicks()>enc) { |
madcowswe | 20:70d651156779 | 356 | printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks()); |
twighk | 0:200635fa1b08 | 357 | } |
xiaxia686 | 43:c592bf6a6a2d | 358 | Eleft.reset(); |
xiaxia686 | 43:c592bf6a6a2d | 359 | Eright.reset(); |
twighk | 0:200635fa1b08 | 360 | } |
twighk | 0:200635fa1b08 | 361 | } |
twighk | 0:200635fa1b08 | 362 | |
xiaxia686 | 43:c592bf6a6a2d | 363 | void encodertest() |
xiaxia686 | 43:c592bf6a6a2d | 364 | { |
madcowswe | 15:9c5aaeda36dc | 365 | Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B); |
madcowswe | 15:9c5aaeda36dc | 366 | //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B); |
twighk | 0:200635fa1b08 | 367 | Serial pc(USBTX, USBRX); |
xiaxia686 | 43:c592bf6a6a2d | 368 | while(true) { |
twighk | 0:200635fa1b08 | 369 | wait(0.1); |
madcowswe | 20:70d651156779 | 370 | printf("Position is: %i \t %i \n\r", E1.getTicks(), 0);//E2.getTicks()); |
twighk | 0:200635fa1b08 | 371 | } |
twighk | 0:200635fa1b08 | 372 | |
twighk | 0:200635fa1b08 | 373 | } |
xiaxia686 | 43:c592bf6a6a2d | 374 | void motortest() |
xiaxia686 | 43:c592bf6a6a2d | 375 | { |
twighk | 0:200635fa1b08 | 376 | MainMotor mright(p22,p21), mleft(p23,p24); |
twighk | 3:717de74f6ebd | 377 | while(true) { |
twighk | 0:200635fa1b08 | 378 | wait(1); |
xiaxia686 | 43:c592bf6a6a2d | 379 | mleft(0.8); |
xiaxia686 | 43:c592bf6a6a2d | 380 | mright(0.8); |
twighk | 0:200635fa1b08 | 381 | wait(1); |
xiaxia686 | 43:c592bf6a6a2d | 382 | mleft(-0.2); |
xiaxia686 | 43:c592bf6a6a2d | 383 | mright(0.2); |
twighk | 0:200635fa1b08 | 384 | wait(1); |
xiaxia686 | 43:c592bf6a6a2d | 385 | mleft(0); |
xiaxia686 | 43:c592bf6a6a2d | 386 | mright(0); |
twighk | 0:200635fa1b08 | 387 | } |
twighk | 0:200635fa1b08 | 388 | } |