This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
main.cpp@2:45da48fab346, 2013-03-29 (annotated)
- Committer:
- twighk
- Date:
- Fri Mar 29 20:09:21 2013 +0000
- Revision:
- 2:45da48fab346
- Parent:
- 1:8119211eae14
- Child:
- 3:717de74f6ebd
Emergency Stop Button, Derive all actuator classes from the base class, and implement a virtual halt function that releases power from them
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 0:200635fa1b08 | 1 | |
twighk | 0:200635fa1b08 | 2 | // Eurobot13 main.cpp |
twighk | 0:200635fa1b08 | 3 | |
twighk | 0:200635fa1b08 | 4 | #include "mbed.h" |
twighk | 0:200635fa1b08 | 5 | |
twighk | 1:8119211eae14 | 6 | #include "Actuators/MainMotors/MainMotor.h" |
twighk | 1:8119211eae14 | 7 | #include "Sensors/Encoders/Encoder.h" |
twighk | 1:8119211eae14 | 8 | #include "Actuators/Arms/Arm.h" |
twighk | 2:45da48fab346 | 9 | #include "Others/EmergencyStop/EmergencyStop.h" |
twighk | 0:200635fa1b08 | 10 | |
twighk | 2:45da48fab346 | 11 | |
twighk | 0:200635fa1b08 | 12 | |
twighk | 0:200635fa1b08 | 13 | void motortest(); |
twighk | 0:200635fa1b08 | 14 | void encodertest(); |
twighk | 0:200635fa1b08 | 15 | void motorencodetest(); |
twighk | 0:200635fa1b08 | 16 | void motorencodetestline(); |
twighk | 0:200635fa1b08 | 17 | void motorsandservostest(); |
twighk | 1:8119211eae14 | 18 | void armtest(); |
twighk | 2:45da48fab346 | 19 | void motortestline(); |
twighk | 0:200635fa1b08 | 20 | |
twighk | 0:200635fa1b08 | 21 | int main() { |
twighk | 2:45da48fab346 | 22 | /* Setup Emergency stop for actuators, |
twighk | 2:45da48fab346 | 23 | Derive all actuators from the pure virtual actuator class |
twighk | 2:45da48fab346 | 24 | */ EmergencyStop EStop(p8); |
twighk | 2:45da48fab346 | 25 | |
twighk | 0:200635fa1b08 | 26 | //motortest(); |
twighk | 0:200635fa1b08 | 27 | //encodertest(); |
twighk | 0:200635fa1b08 | 28 | //motorencodetest(); |
twighk | 1:8119211eae14 | 29 | //motorencodetestline(); |
twighk | 0:200635fa1b08 | 30 | //motorsandservostest(); |
twighk | 1:8119211eae14 | 31 | armtest(); |
twighk | 2:45da48fab346 | 32 | //motortestline(); |
twighk | 2:45da48fab346 | 33 | } |
twighk | 0:200635fa1b08 | 34 | |
twighk | 1:8119211eae14 | 35 | void armtest(){ |
twighk | 1:8119211eae14 | 36 | Arm white(p26), black(p25, false,0.0005, 180); |
twighk | 1:8119211eae14 | 37 | while(1){ |
twighk | 1:8119211eae14 | 38 | white(0); |
twighk | 1:8119211eae14 | 39 | black(0); |
twighk | 1:8119211eae14 | 40 | wait(1); |
twighk | 1:8119211eae14 | 41 | white(1); |
twighk | 1:8119211eae14 | 42 | black(1); |
twighk | 1:8119211eae14 | 43 | wait(1); |
twighk | 1:8119211eae14 | 44 | } |
twighk | 1:8119211eae14 | 45 | } |
twighk | 1:8119211eae14 | 46 | |
twighk | 1:8119211eae14 | 47 | |
twighk | 0:200635fa1b08 | 48 | void motorsandservostest(){ |
twighk | 0:200635fa1b08 | 49 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 50 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 1:8119211eae14 | 51 | Arm sTop(p25), sBottom(p26); |
twighk | 0:200635fa1b08 | 52 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 53 | const float speed = 0.0; |
twighk | 0:200635fa1b08 | 54 | const float dspeed = 0.0; |
twighk | 0:200635fa1b08 | 55 | |
twighk | 0:200635fa1b08 | 56 | Timer servoTimer; |
twighk | 0:200635fa1b08 | 57 | mleft(speed); mright(speed); |
twighk | 0:200635fa1b08 | 58 | servoTimer.start(); |
twighk | 0:200635fa1b08 | 59 | while (true){ |
twighk | 0:200635fa1b08 | 60 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 61 | if (Eleft.getPoint() < Eright.getPoint()){ |
twighk | 0:200635fa1b08 | 62 | mleft(speed); |
twighk | 0:200635fa1b08 | 63 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 64 | } else { |
twighk | 0:200635fa1b08 | 65 | mright(speed); |
twighk | 0:200635fa1b08 | 66 | mleft(speed - dspeed); |
twighk | 0:200635fa1b08 | 67 | } |
twighk | 0:200635fa1b08 | 68 | if (servoTimer.read() < 1){ |
twighk | 0:200635fa1b08 | 69 | sTop.clockwise(); |
twighk | 0:200635fa1b08 | 70 | } else if (servoTimer.read() < 4) { |
twighk | 2:45da48fab346 | 71 | sTop.halt(); |
twighk | 0:200635fa1b08 | 72 | } else if (servoTimer.read() < 5) { |
twighk | 0:200635fa1b08 | 73 | sBottom.anticlockwise(); |
twighk | 0:200635fa1b08 | 74 | //Led=1; |
twighk | 0:200635fa1b08 | 75 | } else if (servoTimer.read() < 6) { |
twighk | 0:200635fa1b08 | 76 | sBottom.clockwise(); |
twighk | 0:200635fa1b08 | 77 | //Led=0; |
twighk | 0:200635fa1b08 | 78 | } else if (servoTimer.read() < 7) { |
twighk | 2:45da48fab346 | 79 | sBottom.halt(); |
twighk | 0:200635fa1b08 | 80 | }else { |
twighk | 0:200635fa1b08 | 81 | sTop.anticlockwise(); |
twighk | 0:200635fa1b08 | 82 | } |
twighk | 0:200635fa1b08 | 83 | if (servoTimer.read() >= 9) servoTimer.reset(); |
twighk | 0:200635fa1b08 | 84 | } |
twighk | 0:200635fa1b08 | 85 | } |
twighk | 0:200635fa1b08 | 86 | |
twighk | 2:45da48fab346 | 87 | void motortestline(){ |
twighk | 2:45da48fab346 | 88 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 2:45da48fab346 | 89 | const float speed = 0.2; |
twighk | 2:45da48fab346 | 90 | mleft(speed); mright(speed); |
twighk | 2:45da48fab346 | 91 | while(true) wait(1); |
twighk | 2:45da48fab346 | 92 | } |
twighk | 2:45da48fab346 | 93 | |
twighk | 0:200635fa1b08 | 94 | void motorencodetestline(){ |
twighk | 0:200635fa1b08 | 95 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 96 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 0:200635fa1b08 | 97 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 98 | const float speed = 0.2; |
twighk | 0:200635fa1b08 | 99 | const float dspeed = 0.1; |
twighk | 0:200635fa1b08 | 100 | |
twighk | 0:200635fa1b08 | 101 | mleft(speed); mright(speed); |
twighk | 0:200635fa1b08 | 102 | while (true){ |
twighk | 0:200635fa1b08 | 103 | //left 27 cm = 113 -> 0.239 cm/pulse |
twighk | 0:200635fa1b08 | 104 | //right 27 cm = 72 -> 0.375 cm/pulse |
twighk | 0:200635fa1b08 | 105 | pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375)); |
twighk | 0:200635fa1b08 | 106 | if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){ |
twighk | 0:200635fa1b08 | 107 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 108 | } else { |
twighk | 0:200635fa1b08 | 109 | mright(speed + dspeed); |
twighk | 0:200635fa1b08 | 110 | } |
twighk | 0:200635fa1b08 | 111 | } |
twighk | 0:200635fa1b08 | 112 | |
twighk | 0:200635fa1b08 | 113 | } |
twighk | 0:200635fa1b08 | 114 | |
twighk | 0:200635fa1b08 | 115 | void motorencodetest(){ |
twighk | 0:200635fa1b08 | 116 | Encoder Eleft(p28, p27), Eright(p29, p30); |
twighk | 0:200635fa1b08 | 117 | MainMotor mleft(p23,p24), mright(p22,p21); |
twighk | 0:200635fa1b08 | 118 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 119 | |
twighk | 0:200635fa1b08 | 120 | const float speed = -0.3; |
twighk | 0:200635fa1b08 | 121 | const int enc = -38; |
twighk | 0:200635fa1b08 | 122 | while(true){ |
twighk | 0:200635fa1b08 | 123 | mleft(speed); mright(0); |
twighk | 0:200635fa1b08 | 124 | while(Eleft.getPoint()>enc){ |
twighk | 0:200635fa1b08 | 125 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 126 | } |
twighk | 0:200635fa1b08 | 127 | Eleft.reset(); Eright.reset(); |
twighk | 0:200635fa1b08 | 128 | mleft(0); mright(speed); |
twighk | 0:200635fa1b08 | 129 | while(Eright.getPoint()>enc){ |
twighk | 0:200635fa1b08 | 130 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 131 | } |
twighk | 0:200635fa1b08 | 132 | Eleft.reset(); Eright.reset(); |
twighk | 0:200635fa1b08 | 133 | } |
twighk | 0:200635fa1b08 | 134 | } |
twighk | 0:200635fa1b08 | 135 | |
twighk | 0:200635fa1b08 | 136 | void encodertest(){ |
twighk | 0:200635fa1b08 | 137 | Encoder E1(p28, p27); |
twighk | 0:200635fa1b08 | 138 | Encoder E2(p29, p30); |
twighk | 0:200635fa1b08 | 139 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 140 | while(1){ |
twighk | 0:200635fa1b08 | 141 | wait(0.1); |
twighk | 0:200635fa1b08 | 142 | pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint()); |
twighk | 0:200635fa1b08 | 143 | } |
twighk | 0:200635fa1b08 | 144 | |
twighk | 0:200635fa1b08 | 145 | } |
twighk | 0:200635fa1b08 | 146 | void motortest(){ |
twighk | 0:200635fa1b08 | 147 | MainMotor mright(p22,p21), mleft(p23,p24); |
twighk | 0:200635fa1b08 | 148 | while(1) { |
twighk | 0:200635fa1b08 | 149 | wait(1); |
twighk | 0:200635fa1b08 | 150 | mleft(0.8); mright(0.8); |
twighk | 0:200635fa1b08 | 151 | wait(1); |
twighk | 0:200635fa1b08 | 152 | mleft(-0.2); mright(0.2); |
twighk | 0:200635fa1b08 | 153 | wait(1); |
twighk | 0:200635fa1b08 | 154 | mleft(0); mright(0); |
twighk | 0:200635fa1b08 | 155 | } |
twighk | 0:200635fa1b08 | 156 | } |