Martijn Grootens / Mbed 2 deprecated mbr_2017_robot_gr20

Code to let Gr20's BioRobotics2017 robot come to live.

Dependencies:   FastPWM MODSERIAL QEI mbed

main.cpp@9:4bf2034d37a3, 2017-11-13 (annotated)

Committer:
megrootens
Date:
Mon Nov 13 18:23:41 2017 +0000
Revision:
9:4bf2034d37a3
Parent:
7:b9a209f889f5 
check on robot: code runs without any problems.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 6:cddc73091ab5 1 /**
megrootens 7:b9a209f889f5 2 * Code to bring BioRobotics2017 group 20's robot to life.
megrootens 7:b9a209f889f5 3 *
megrootens 7:b9a209f889f5 4 * M.E. Grootens, UTwente, v0.2 11-12-2017
megrootens 7:b9a209f889f5 5 *
megrootens 7:b9a209f889f5 6 * DISCLAIMER:
megrootens 7:b9a209f889f5 7 * Just a quick-and-dirty working-example. I do NOT claim this to be an
megrootens 7:b9a209f889f5 8 * example of good coding practice... as it is not.
megrootens 7:b9a209f889f5 9 * Motors and Controllers are implemented as C++ classes. Reference, UI and
megrootens 7:b9a209f889f5 10 * Robot are kept in different namespaces, so as to avoid too many global
megrootens 7:b9a209f889f5 11 * variables.
megrootens 7:b9a209f889f5 12 *
megrootens 7:b9a209f889f5 13 * THE PROGRAM:
megrootens 7:b9a209f889f5 14 * The robot starts to calibrate when SW3 is pressed and will then cycle
megrootens 7:b9a209f889f5 15 * through the following states:
megrootens 9:4bf2034d37a3 16 *
megrootens 7:b9a209f889f5 17 * [OFF->CALIBRATION->HOMING->DEMO->OFF->CALIBRATION->etc.]
megrootens 9:4bf2034d37a3 18 *
megrootens 7:b9a209f889f5 19 * The robot will move continuously; MANUAL mode is not implemented.
megrootens 2:df0c6af898ac 20 */
megrootens 7:b9a209f889f5 21 #include "mbed.h"
megrootens 0:caa8ee3bd882 22
megrootens 7:b9a209f889f5 23 #include "tools.h"
megrootens 7:b9a209f889f5 24 #include "ui.h"
megrootens 7:b9a209f889f5 25 #include "robot.h"
megrootens 7:b9a209f889f5 26 #include "ref.h"
megrootens 0:caa8ee3bd882 27
megrootens 0:caa8ee3bd882 28
megrootens 0:caa8ee3bd882 29
megrootens 6:cddc73091ab5 30 /**
megrootens 7:b9a209f889f5 31 * Main
megrootens 2:df0c6af898ac 32 */
megrootens 7:b9a209f889f5 33 int main()
megrootens 0:caa8ee3bd882 34 {
megrootens 7:b9a209f889f5 35 // Start with only red LED
megrootens 7:b9a209f889f5 36 ui::rgb_led[0] = LED_ON;
megrootens 7:b9a209f889f5 37 ui::rgb_led[1] = !LED_ON;
megrootens 7:b9a209f889f5 38 ui::rgb_led[2] = !LED_ON;
megrootens 0:caa8ee3bd882 39
megrootens 7:b9a209f889f5 40 // Setup serial comm
megrootens 7:b9a209f889f5 41 ui::serial.baud(115200);
megrootens 7:b9a209f889f5 42 ui::serial.printf("\r\n\r\n! STARTING MAIN LOOP.\r\n");
megrootens 7:b9a209f889f5 43 ui::serial.printf(" - Initializing...\r\n");
megrootens 0:caa8ee3bd882 44
megrootens 7:b9a209f889f5 45 // Ignore user interface while setup, ensure robot is off
megrootens 7:b9a209f889f5 46 ui::SwitchState(ui::IGNORE);
megrootens 7:b9a209f889f5 47 robot::SwitchState(robot::OFF);
megrootens 0:caa8ee3bd882 48
megrootens 7:b9a209f889f5 49 // Tickers: status, control and reference signal
megrootens 7:b9a209f889f5 50 Ticker tick_status;
megrootens 7:b9a209f889f5 51 Ticker tick_control_loop;
megrootens 7:b9a209f889f5 52 Ticker tick_reference;
megrootens 2:df0c6af898ac 53
megrootens 7:b9a209f889f5 54 tick_status.attach( &ui::StatusDisplay, ui::kSampleTime);
megrootens 7:b9a209f889f5 55 tick_control_loop.attach(&robot::ControlLoop, robot::kSampleTime);
megrootens 7:b9a209f889f5 56 tick_reference.attach( &ref::UpdateReference, ref::kSampleTime);
megrootens 2:df0c6af898ac 57
megrootens 7:b9a209f889f5 58 // User input interrupt switches, pass to ui
megrootens 7:b9a209f889f5 59 InterruptIn sw2(SW2);
megrootens 7:b9a209f889f5 60 InterruptIn sw3(SW3);
megrootens 2:df0c6af898ac 61
megrootens 7:b9a209f889f5 62 sw2.rise(ui::InterruptSwitch2);
megrootens 7:b9a209f889f5 63 sw3.rise(ui::InterruptSwitch3);
megrootens 2:df0c6af898ac 64
megrootens 7:b9a209f889f5 65 ui::serial.printf(" - Robot ready.\r\n");
megrootens 7:b9a209f889f5 66 ui::SwitchState(ui::STATE_SWITCHING);
megrootens 2:df0c6af898ac 67
megrootens 7:b9a209f889f5 68 // inf loop
megrootens 7:b9a209f889f5 69 while (true);
megrootens 7:b9a209f889f5 70 }