Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
main.cpp@22:7ba09c0af0d0, 2012-05-03 (annotated)
- Committer:
- narshu
- Date:
- Thu May 03 14:20:04 2012 +0000
- Revision:
- 22:7ba09c0af0d0
- Parent:
- 21:15da49f18c63
- Child:
- 23:1901cb6d0d95
added 90sec timer and tigger
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 0:f3bf6c7e2283 | 1 | #include "mbed.h" |
narshu | 0:f3bf6c7e2283 | 2 | #include "rtos.h" |
narshu | 0:f3bf6c7e2283 | 3 | #include "TSH.h" |
narshu | 0:f3bf6c7e2283 | 4 | #include "Kalman.h" |
narshu | 0:f3bf6c7e2283 | 5 | #include "globals.h" |
narshu | 0:f3bf6c7e2283 | 6 | #include "motors.h" |
narshu | 0:f3bf6c7e2283 | 7 | #include "math.h" |
narshu | 0:f3bf6c7e2283 | 8 | #include "system.h" |
narshu | 1:bbabbd997d21 | 9 | #include "geometryfuncs.h" |
narshu | 10:294b9adbc9d3 | 10 | #include "motion.h" |
narshu | 2:cffa347bb943 | 11 | #include "ai.h" |
narshu | 2:cffa347bb943 | 12 | #include "ui.h" |
narshu | 0:f3bf6c7e2283 | 13 | |
narshu | 0:f3bf6c7e2283 | 14 | //#include <iostream> |
narshu | 0:f3bf6c7e2283 | 15 | |
narshu | 0:f3bf6c7e2283 | 16 | //Interface declaration |
narshu | 0:f3bf6c7e2283 | 17 | Serial pc(USBTX, USBRX); // tx, rx |
narshu | 0:f3bf6c7e2283 | 18 | |
narshu | 22:7ba09c0af0d0 | 19 | DigitalIn StartTrig(p12); |
narshu | 22:7ba09c0af0d0 | 20 | Ticker StopTicker; |
narshu | 22:7ba09c0af0d0 | 21 | |
narshu | 0:f3bf6c7e2283 | 22 | Motors motors; |
narshu | 2:cffa347bb943 | 23 | UI ui; |
narshu | 4:7b7334441da9 | 24 | Kalman kalman(motors,ui,p23,p14,p14,p14,p15,p15,p15,p5,p6,p7,p8,p11); |
narshu | 2:cffa347bb943 | 25 | AI ai; |
narshu | 10:294b9adbc9d3 | 26 | Motion motion(motors, ai, kalman); |
narshu | 1:bbabbd997d21 | 27 | |
narshu | 0:f3bf6c7e2283 | 28 | void vMotorThread(void const *argument); |
narshu | 0:f3bf6c7e2283 | 29 | void vPrintState(void const *argument); |
narshu | 0:f3bf6c7e2283 | 30 | void motion_thread(void const *argument); |
narshu | 22:7ba09c0af0d0 | 31 | void vStop (void); |
narshu | 1:bbabbd997d21 | 32 | |
narshu | 0:f3bf6c7e2283 | 33 | //Main loop |
narshu | 0:f3bf6c7e2283 | 34 | int main() { |
narshu | 0:f3bf6c7e2283 | 35 | pc.baud(115200); |
narshu | 21:15da49f18c63 | 36 | // no motor motions till we pull the trig |
narshu | 21:15da49f18c63 | 37 | ai.flag_motorStop = true; |
narshu | 21:15da49f18c63 | 38 | //Init kalman, this should be done in the mid of the arena before the game starts |
narshu | 2:cffa347bb943 | 39 | kalman.KalmanInit(); |
narshu | 1:bbabbd997d21 | 40 | |
narshu | 9:377560539b74 | 41 | //Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256); |
narshu | 22:7ba09c0af0d0 | 42 | Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); |
narshu | 22:7ba09c0af0d0 | 43 | |
narshu | 22:7ba09c0af0d0 | 44 | |
narshu | 0:f3bf6c7e2283 | 45 | pc.printf("We got to main! ;D\r\n"); |
narshu | 0:f3bf6c7e2283 | 46 | |
narshu | 0:f3bf6c7e2283 | 47 | //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!! |
narshu | 0:f3bf6c7e2283 | 48 | while (1) { |
narshu | 22:7ba09c0af0d0 | 49 | // we use main loop to estimate the cpu usage |
narshu | 22:7ba09c0af0d0 | 50 | |
narshu | 9:377560539b74 | 51 | osThreadSetPriority (osThreadGetId(), osPriorityIdle); |
narshu | 22:7ba09c0af0d0 | 52 | |
narshu | 9:377560539b74 | 53 | Timer timer; |
narshu | 9:377560539b74 | 54 | ui.regid(10, 1); |
narshu | 22:7ba09c0af0d0 | 55 | |
narshu | 22:7ba09c0af0d0 | 56 | while (1) { |
narshu | 9:377560539b74 | 57 | timer.reset(); |
narshu | 9:377560539b74 | 58 | timer.start(); |
narshu | 9:377560539b74 | 59 | nopwait(1000); |
narshu | 22:7ba09c0af0d0 | 60 | |
narshu | 9:377560539b74 | 61 | ui.updateval(10, timer.read_us()); |
narshu | 9:377560539b74 | 62 | } |
narshu | 22:7ba09c0af0d0 | 63 | |
narshu | 0:f3bf6c7e2283 | 64 | // do nothing |
narshu | 10:294b9adbc9d3 | 65 | //Thread::wait(osWaitForever); |
narshu | 0:f3bf6c7e2283 | 66 | } |
narshu | 0:f3bf6c7e2283 | 67 | } |
narshu | 0:f3bf6c7e2283 | 68 | |
narshu | 9:377560539b74 | 69 | void AI::ai_thread () { |
narshu | 9:377560539b74 | 70 | /* |
narshu | 9:377560539b74 | 71 | //printf("aithreadstart\r\n"); |
narshu | 9:377560539b74 | 72 | Thread::signal_wait(0x01); |
narshu | 9:377560539b74 | 73 | settarget(660, 400, PI/2, true); |
narshu | 9:377560539b74 | 74 | |
narshu | 9:377560539b74 | 75 | Thread::signal_wait(0x01); |
narshu | 9:377560539b74 | 76 | settarget(660, 570, PI, true); |
narshu | 9:377560539b74 | 77 | |
narshu | 9:377560539b74 | 78 | Thread::signal_wait(0x01); |
narshu | 9:377560539b74 | 79 | settarget(400, 870, PI, true); |
narshu | 9:377560539b74 | 80 | |
narshu | 9:377560539b74 | 81 | Thread::signal_wait(0x01); |
narshu | 9:377560539b74 | 82 | settarget(660, 870, PI, false); |
narshu | 9:377560539b74 | 83 | |
narshu | 9:377560539b74 | 84 | flag_terminate = true; |
narshu | 9:377560539b74 | 85 | */ |
narshu | 22:7ba09c0af0d0 | 86 | |
narshu | 22:7ba09c0af0d0 | 87 | printf("Waiting for the trigger pull ....\r\n"); |
narshu | 22:7ba09c0af0d0 | 88 | |
narshu | 22:7ba09c0af0d0 | 89 | // wait for the start triger |
narshu | 22:7ba09c0af0d0 | 90 | while (StartTrig) { |
narshu | 22:7ba09c0af0d0 | 91 | Thread::wait(10); |
narshu | 22:7ba09c0af0d0 | 92 | }; |
narshu | 22:7ba09c0af0d0 | 93 | |
narshu | 22:7ba09c0af0d0 | 94 | // attach a 90 seconds stop timer |
narshu | 22:7ba09c0af0d0 | 95 | StopTicker.attach(&vStop, 90); |
narshu | 22:7ba09c0af0d0 | 96 | |
narshu | 22:7ba09c0af0d0 | 97 | |
narshu | 21:15da49f18c63 | 98 | // starts motors |
narshu | 21:15da49f18c63 | 99 | ai.flag_motorStop = false; |
narshu | 22:7ba09c0af0d0 | 100 | #ifdef STARTLOC_RED |
narshu | 22:7ba09c0af0d0 | 101 | // strat 1 RED ================================== |
narshu | 19:06610e1c0895 | 102 | // goto middle x |
narshu | 19:06610e1c0895 | 103 | settarget(1500, 250, PI/2, true); |
narshu | 19:06610e1c0895 | 104 | Thread::signal_wait(0x01); |
narshu | 19:06610e1c0895 | 105 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 106 | |
narshu | 19:06610e1c0895 | 107 | // to palm tree |
narshu | 19:06610e1c0895 | 108 | settarget(1500, 1000, PI, true); |
narshu | 19:06610e1c0895 | 109 | Thread::signal_wait(0x01); |
narshu | 19:06610e1c0895 | 110 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 111 | |
narshu | 19:06610e1c0895 | 112 | // run over totem |
narshu | 19:06610e1c0895 | 113 | settarget(640,1000,PI, true); |
narshu | 19:06610e1c0895 | 114 | Thread::signal_wait(0x01); |
narshu | 19:06610e1c0895 | 115 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 116 | |
narshu | 19:06610e1c0895 | 117 | // back to ship |
narshu | 19:06610e1c0895 | 118 | settarget(220,780,PI,true); |
narshu | 19:06610e1c0895 | 119 | Thread::signal_wait(0x01); |
narshu | 19:06610e1c0895 | 120 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 121 | |
narshu | 22:7ba09c0af0d0 | 122 | #else |
narshu | 22:7ba09c0af0d0 | 123 | // strat 1 BLUE ================================== |
narshu | 22:7ba09c0af0d0 | 124 | // goto middle x |
narshu | 22:7ba09c0af0d0 | 125 | settarget(3000-1500, 250, PI/2, true); |
narshu | 22:7ba09c0af0d0 | 126 | Thread::signal_wait(0x01); |
narshu | 22:7ba09c0af0d0 | 127 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 128 | |
narshu | 22:7ba09c0af0d0 | 129 | // to palm tree |
narshu | 22:7ba09c0af0d0 | 130 | settarget(3000-1500, 1000, 0, true); |
narshu | 22:7ba09c0af0d0 | 131 | Thread::signal_wait(0x01); |
narshu | 22:7ba09c0af0d0 | 132 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 133 | |
narshu | 22:7ba09c0af0d0 | 134 | // run over totem |
narshu | 22:7ba09c0af0d0 | 135 | settarget(3000-640,1000,0, true); |
narshu | 22:7ba09c0af0d0 | 136 | Thread::signal_wait(0x01); |
narshu | 22:7ba09c0af0d0 | 137 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 138 | |
narshu | 22:7ba09c0af0d0 | 139 | // back to ship |
narshu | 22:7ba09c0af0d0 | 140 | settarget(3000-220,780,0,true); |
narshu | 22:7ba09c0af0d0 | 141 | Thread::signal_wait(0x01); |
narshu | 22:7ba09c0af0d0 | 142 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 143 | #endif |
narshu | 22:7ba09c0af0d0 | 144 | |
narshu | 22:7ba09c0af0d0 | 145 | // going from ship to ship for the remaining secs |
narshu | 22:7ba09c0af0d0 | 146 | while (true){ |
narshu | 22:7ba09c0af0d0 | 147 | // back to ship, RED |
narshu | 22:7ba09c0af0d0 | 148 | settarget(220,780,PI,true); |
narshu | 22:7ba09c0af0d0 | 149 | Thread::signal_wait(0x01); |
narshu | 22:7ba09c0af0d0 | 150 | Thread::wait(2000); |
narshu | 19:06610e1c0895 | 151 | |
narshu | 22:7ba09c0af0d0 | 152 | // back to ship, BLUE |
narshu | 22:7ba09c0af0d0 | 153 | settarget(3000-220,780,0,true); |
narshu | 22:7ba09c0af0d0 | 154 | Thread::signal_wait(0x01); |
narshu | 22:7ba09c0af0d0 | 155 | Thread::wait(2000); |
narshu | 22:7ba09c0af0d0 | 156 | } |
narshu | 22:7ba09c0af0d0 | 157 | |
narshu | 21:15da49f18c63 | 158 | // terminate thread, stopps motors permanently |
narshu | 21:15da49f18c63 | 159 | ai.flag_terminate = true; |
narshu | 22:7ba09c0af0d0 | 160 | while (true) { |
narshu | 19:06610e1c0895 | 161 | Thread::wait(osWaitForever); |
narshu | 19:06610e1c0895 | 162 | } |
narshu | 22:7ba09c0af0d0 | 163 | |
narshu | 22:7ba09c0af0d0 | 164 | |
narshu | 19:06610e1c0895 | 165 | // end of strat 1 =========================== |
narshu | 9:377560539b74 | 166 | } |
narshu | 9:377560539b74 | 167 | |
narshu | 0:f3bf6c7e2283 | 168 | |
narshu | 0:f3bf6c7e2283 | 169 | void vMotorThread(void const *argument) { |
narshu | 0:f3bf6c7e2283 | 170 | motors.resetEncoders(); |
narshu | 0:f3bf6c7e2283 | 171 | while (1) { |
narshu | 1:bbabbd997d21 | 172 | motors.setSpeed(20,20); |
narshu | 1:bbabbd997d21 | 173 | Thread::wait(2000); |
narshu | 1:bbabbd997d21 | 174 | motors.stop(); |
narshu | 1:bbabbd997d21 | 175 | Thread::wait(5000); |
narshu | 1:bbabbd997d21 | 176 | motors.setSpeed(-20,-20); |
narshu | 0:f3bf6c7e2283 | 177 | Thread::wait(2000); |
narshu | 0:f3bf6c7e2283 | 178 | motors.stop(); |
narshu | 0:f3bf6c7e2283 | 179 | Thread::wait(5000); |
narshu | 0:f3bf6c7e2283 | 180 | motors.setSpeed(-20,20); |
narshu | 0:f3bf6c7e2283 | 181 | Thread::wait(2000); |
narshu | 0:f3bf6c7e2283 | 182 | motors.stop(); |
narshu | 0:f3bf6c7e2283 | 183 | Thread::wait(5000); |
narshu | 1:bbabbd997d21 | 184 | motors.setSpeed(20,-20); |
narshu | 1:bbabbd997d21 | 185 | Thread::wait(2000); |
narshu | 1:bbabbd997d21 | 186 | motors.stop(); |
narshu | 1:bbabbd997d21 | 187 | Thread::wait(5000); |
narshu | 0:f3bf6c7e2283 | 188 | } |
narshu | 0:f3bf6c7e2283 | 189 | } |
narshu | 0:f3bf6c7e2283 | 190 | |
narshu | 0:f3bf6c7e2283 | 191 | |
narshu | 0:f3bf6c7e2283 | 192 | void vPrintState(void const *argument) { |
narshu | 0:f3bf6c7e2283 | 193 | float state[3]; |
narshu | 1:bbabbd997d21 | 194 | float SonarMeasures[3]; |
narshu | 1:bbabbd997d21 | 195 | float IRMeasures[3]; |
narshu | 1:bbabbd997d21 | 196 | |
narshu | 22:7ba09c0af0d0 | 197 | Thread::wait(5000); |
narshu | 0:f3bf6c7e2283 | 198 | while (1) { |
narshu | 0:f3bf6c7e2283 | 199 | kalman.statelock.lock(); |
narshu | 0:f3bf6c7e2283 | 200 | state[0] = kalman.X(0); |
narshu | 0:f3bf6c7e2283 | 201 | state[1] = kalman.X(1); |
narshu | 0:f3bf6c7e2283 | 202 | state[2] = kalman.X(2); |
narshu | 1:bbabbd997d21 | 203 | SonarMeasures[0] = kalman.SonarMeasures[0]; |
narshu | 1:bbabbd997d21 | 204 | SonarMeasures[1] = kalman.SonarMeasures[1]; |
narshu | 1:bbabbd997d21 | 205 | SonarMeasures[2] = kalman.SonarMeasures[2]; |
narshu | 1:bbabbd997d21 | 206 | IRMeasures[0] = kalman.IRMeasures[0]; |
narshu | 1:bbabbd997d21 | 207 | IRMeasures[1] = kalman.IRMeasures[1]; |
narshu | 1:bbabbd997d21 | 208 | IRMeasures[2] = kalman.IRMeasures[2]; |
narshu | 0:f3bf6c7e2283 | 209 | kalman.statelock.unlock(); |
narshu | 0:f3bf6c7e2283 | 210 | pc.printf("\r\n"); |
narshu | 22:7ba09c0af0d0 | 211 | pc.printf("current: %0.4f %0.4f %0.4f \r\n", state[0]*1000, state[1]*1000,state[2]*180/PI); |
narshu | 22:7ba09c0af0d0 | 212 | pc.printf("Sonar: %0.4f %0.4f %0.4f \r\n",SonarMeasures[0]*1000,SonarMeasures[1]*1000,SonarMeasures[2]*1000); |
narshu | 1:bbabbd997d21 | 213 | pc.printf("IR : %0.4f %0.4f %0.4f \r\n",IRMeasures[0]*180/PI,IRMeasures[1]*180/PI,IRMeasures[2]*180/PI); |
narshu | 1:bbabbd997d21 | 214 | Thread::wait(100); |
narshu | 0:f3bf6c7e2283 | 215 | } |
narshu | 0:f3bf6c7e2283 | 216 | } |
narshu | 22:7ba09c0af0d0 | 217 | |
narshu | 22:7ba09c0af0d0 | 218 | void vStop (void) { |
narshu | 22:7ba09c0af0d0 | 219 | // while (true) { |
narshu | 22:7ba09c0af0d0 | 220 | motors.stop(); |
narshu | 22:7ba09c0af0d0 | 221 | ai.flag_motorStop = true; |
narshu | 22:7ba09c0af0d0 | 222 | // terminate thread, stopps motors permanently |
narshu | 22:7ba09c0af0d0 | 223 | ai.flag_terminate = true; |
narshu | 22:7ba09c0af0d0 | 224 | // }; |
narshu | 22:7ba09c0af0d0 | 225 | } |