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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
main.cpp
- Committer:
- twighk
- Date:
- 2013-04-03
- Revision:
- 4:1be0f6c6ceae
- Parent:
- 3:717de74f6ebd
- Child:
- 5:56a5fdd373c9
File content as of revision 4:1be0f6c6ceae:
#pragma Otime // Compiler Optimisations // Eurobot13 main.cpp #include "mbed.h" Serial pc(USBTX, USBRX); #include "Actuators/Arms/Arm.h" #include "Actuators/MainMotors/MainMotor.h" #include "Others/EmergencyStop/EmergencyStop.h" #include "Sensors/Encoders/Encoder.h" #include "Sensors/Colour/Colour.h" #include "Sensors/Colour/Led.h" #include "Sensors/Colour/Phototransistor.h" void motortest(); void encodertest(); void motorencodetest(); void motorencodetestline(); void motorsandservostest(); void armtest(); void motortestline(); void ledtest(); void phototransistortest(); void ledphototransistortest(); void colourtest(); int main() { /* Setup EmergencyStop button for actuators. Derive all actuators from the pure virtual actuator class! */ EmergencyStop EStop(p8); /***************** * Test Code * *****************/ //motortest(); //encodertest(); //motorencodetest(); //motorencodetestline(); //motorsandservostest(); //armtest(); //motortestline(); //ledtest(); //phototransistortest(); //ledphototransistortest(); colourtest(); // Red SnR too low } void colourtest(){ Colour c(p9,p10,p20); c.Calibrate(); while(true){ wait(0.1); ColourEnum ce = c.getColour(); switch(ce){ case BLUE : pc.printf("BLUE\n\r"); break; case RED: pc.printf("RED\n\r"); break; case WHITE: pc.printf("WHITE\n\r"); break; case INCONCLUSIVE: pc.printf("INCONCLUSIVE\n\r"); break; default: pc.printf("BUG\n\r"); } } } void ledphototransistortest(){ Led blue(p9), red(p10); Phototransistor pt(p20); Serial pc(USBTX, USBRX); while(true){ blue.on();red.off(); for(int i = 0; i != 5; i++){ wait(0.1); pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read()); } blue.off();red.on(); for(int i = 0; i != 5; i++){ wait(0.1); pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read()); } } } void phototransistortest(){ Phototransistor pt(p20); while(true){ wait(0.1); pc.printf("Phototransistor Analog is: %f \n\r", pt.read()); } } void ledtest(){ Led blue(p9), red(p10); while(true){ blue.on();red.off(); wait(0.2); blue.off();red.on(); wait(0.2); } } void armtest(){ Arm white(p26), black(p25, false, 0.0005, 180); while(true){ white(0); black(0); wait(1); white(1); black(1); wait(1); } } void motorsandservostest(){ Encoder Eleft(p27, p28), Eright(p30, p29); MainMotor mleft(p24,p23), mright(p21,p22); Arm sTop(p25), sBottom(p26); //Serial pc(USBTX, USBRX); const float speed = 0.0; const float dspeed = 0.0; Timer servoTimer; mleft(speed); mright(speed); servoTimer.start(); while (true){ pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); if (Eleft.getPoint() < Eright.getPoint()){ mleft(speed); mright(speed - dspeed); } else { mright(speed); mleft(speed - dspeed); } if (servoTimer.read() < 1){ sTop.clockwise(); } else if (servoTimer.read() < 4) { sTop.halt(); } else if (servoTimer.read() < 5) { sBottom.anticlockwise(); //Led=1; } else if (servoTimer.read() < 6) { sBottom.clockwise(); //Led=0; } else if (servoTimer.read() < 7) { sBottom.halt(); }else { sTop.anticlockwise(); } if (servoTimer.read() >= 9) servoTimer.reset(); } } void motortestline(){ MainMotor mleft(p24,p23), mright(p21,p22); const float speed = 0.2; mleft(speed); mright(speed); while(true) wait(1); } void motorencodetestline(){ Encoder Eleft(p27, p28), Eright(p30, p29); MainMotor mleft(p24,p23), mright(p21,p22); //Serial pc(USBTX, USBRX); const float speed = 0.2; const float dspeed = 0.1; mleft(speed); mright(speed); while (true){ //left 27 cm = 113 -> 0.239 cm/pulse //right 27 cm = 72 -> 0.375 cm/pulse pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375)); if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){ mright(speed - dspeed); } else { mright(speed + dspeed); } } } void motorencodetest(){ Encoder Eleft(p28, p27), Eright(p29, p30); MainMotor mleft(p23,p24), mright(p22,p21); Serial pc(USBTX, USBRX); const float speed = -0.3; const int enc = -38; while(true){ mleft(speed); mright(0); while(Eleft.getPoint()>enc){ pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); } Eleft.reset(); Eright.reset(); mleft(0); mright(speed); while(Eright.getPoint()>enc){ pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); } Eleft.reset(); Eright.reset(); } } void encodertest(){ Encoder E1(p28, p27); Encoder E2(p29, p30); Serial pc(USBTX, USBRX); while(true){ wait(0.1); pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint()); } } void motortest(){ MainMotor mright(p22,p21), mleft(p23,p24); while(true) { wait(1); mleft(0.8); mright(0.8); wait(1); mleft(-0.2); mright(0.2); wait(1); mleft(0); mright(0); } }