Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
main.cpp
- Committer:
- narshu
- Date:
- 2012-10-17
- Revision:
- 26:0995f61cb7b8
- Parent:
- 25:143b19c1fb05
File content as of revision 26:0995f61cb7b8:
#include "mbed.h" #include "rtos.h" #include "TSH.h" #include "Kalman.h" #include "globals.h" #include "motors.h" #include "math.h" #include "system.h" #include "geometryfuncs.h" #include "motion.h" #include "ai.h" #include "ui.h" #include "front_arms.h" #include "motion.h" //#include <iostream> //Interface declaration Serial pc(USBTX, USBRX); // tx, rx bool Colour = 1; // 1 for red, 0 for blue pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; //predefined red start DigitalIn StartTrig(p12); DigitalIn ColourToggle(p22); //high for red, low for blue(purple) Ticker StopTicker; Motors motors; UI ui; Kalman kalman(motors,ui,p23,p14,p14,p14,p15,p15,p15,p5,p6,p7,p8,p11); AI ai; Motion motion(motors, ai, kalman); void vMotorThread(void const *argument); void vPrintState(void const *argument); void motion_thread(void const *argument); void vStop (void); //Main loop int main() { AnalogIn ObsAvoidPin(p20); // no motor motions till we pull the trig ai.flag_motorStop = true; Colour = !(ObsAvoidPin > 0.5); OLED3 = Colour; //nopwait(1000); //Colour = ColourToggle; // re-defines beacon positions by the toggle switch kalman.statelock.lock(); if (true) { beaconpos[0].x = 3000; beaconpos[0].y = 1000; beaconpos[1].x = 0; beaconpos[1].y = 0; beaconpos[2].x = 0; beaconpos[2].y = 2000; //beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; } else { beaconpos[0].x = 0; beaconpos[0].y = 1000; beaconpos[1].x = 3000; beaconpos[1].y = 0; beaconpos[2].x = 3000; beaconpos[2].y = 2000; //beaconpos[] = {{0, 1000},{3000,0}, {3000,2000}}; } kalman.statelock.unlock(); pc.baud(115200); ArmsEnable(); ArmsClose(); //Init kalman, this should be done in the mid of the arena before the game starts kalman.KalmanInit(); //Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256); Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); pc.printf("We got to main! ;D\r\n"); if (Colour) printf("I'm in Red \n\r"); else printf("I'm in Blue \n\r"); //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!! while (1) { // we use main loop to estimate the cpu usage osThreadSetPriority (osThreadGetId(), osPriorityIdle); Timer timer; ui.regid(10, 1); while (1) { timer.reset(); timer.start(); nopwait(1000); ui.updateval(10, timer.read_us()); } // do nothing //Thread::wait(osWaitForever); } } void AI::ai_thread () { motors.accelerationRegister = 1; /* //printf("aithreadstart\r\n"); Thread::signal_wait(0x01); settarget(660, 400, PI/2, true); Thread::signal_wait(0x01); settarget(660, 570, PI, true); Thread::signal_wait(0x01); settarget(400, 870, PI, true); Thread::signal_wait(0x01); settarget(660, 870, PI, false); flag_terminate = true; */ printf("Waiting for the trigger pull ....\r\n"); // wait for the start triger while (!StartTrig) { Thread::wait(10); }; printf("GO! \r\n"); kalman.KalmanReset(); Thread::wait(100); // attach a 87 seconds stop timer //REPLACE TICKER!!!! StopTicker.attach(&vStop, 87); // starts motors ai.flag_motorStop = false; // no override ai.flag_manOverride = false; //if (Colour){ // strat 1 RED ================================== ArmsOpen(); //Thread::wait(500); // goto middle x settarget(1500, 250, PI/2, true,Colour, 35); Thread::signal_wait(0x01); Thread::wait(2000); // to palm tree settarget(1500, 1000, PI, true,Colour, 35); Thread::signal_wait(0x01); Thread::wait(4000); // run over totem settarget(840,1000,PI, true,Colour, 80); motors.accelerationRegister = 0; Thread::wait(5000); //Thread::signal_wait(0x01); while (hypot(kalman.X(0) - 1.1f, kalman.X(1) - 1.0f) < 0.10) { // to palm tree settarget(1500, 1000, PI, false,Colour, 35); Thread::signal_wait(0x01); Thread::wait(4000); // run over totem settarget(840,1000,PI, true,Colour, 80); motors.accelerationRegister = 0; Thread::wait(5000); } Thread::signal_wait(0x01); motors.accelerationRegister = 1; // back to ship settarget(220,1000,0,true,Colour, 50); Thread::signal_wait(0x01); ArmsClose(); settarget(840,1000,PI, true,Colour, 40); Thread::signal_wait(0x01); settarget(220,1000,PI,true,Colour, 40); Thread::signal_wait(0x01); settarget(840,1000,PI,false,Colour, 40); Thread::signal_wait(0x01); //} /*else{ // strat 1 BLUE ================================== // goto middle x settarget(3000-1500, 250, PI/2, true); Thread::signal_wait(0x01); Thread::wait(2000); // to palm tree settarget(3000-1500, 1000, 0, true); Thread::signal_wait(0x01); Thread::wait(2000); // run over totem settarget(3000-640,1000,0, true); Thread::signal_wait(0x01); Thread::wait(2000); // back to ship settarget(3000-220,780,0,true); Thread::signal_wait(0x01); Thread::wait(2000); } */ /* // going from ship to ship for the remaining secs while (true){ // back to home, RED settarget(500,400,PI,true); Thread::signal_wait(0x01); Thread::wait(2000); // back to ship, BLUE settarget(500,1600,0,true); Thread::signal_wait(0x01); Thread::wait(2000); } */ // terminate thread, stopps motors permanently ai.flag_terminate = true; while (true) { Thread::wait(osWaitForever); } // end of strat 1 =========================== } void vMotorThread(void const *argument) { motors.resetEncoders(); while (1) { motors.setSpeed(20,20); Thread::wait(2000); motors.stop(); Thread::wait(5000); motors.setSpeed(-20,-20); Thread::wait(2000); motors.stop(); Thread::wait(5000); motors.setSpeed(-20,20); Thread::wait(2000); motors.stop(); Thread::wait(5000); motors.setSpeed(20,-20); Thread::wait(2000); motors.stop(); Thread::wait(5000); } } void vPrintState(void const *argument) { float state[3]; float SonarMeasures[3]; float IRMeasures[3]; Thread::wait(5000); while (1) { kalman.statelock.lock(); state[0] = kalman.X(0); state[1] = kalman.X(1); state[2] = kalman.X(2); SonarMeasures[0] = kalman.SonarMeasures[0]; SonarMeasures[1] = kalman.SonarMeasures[1]; SonarMeasures[2] = kalman.SonarMeasures[2]; IRMeasures[0] = kalman.IRMeasures[0]; IRMeasures[1] = kalman.IRMeasures[1]; IRMeasures[2] = kalman.IRMeasures[2]; kalman.statelock.unlock(); pc.printf("\r\n"); pc.printf("current: %0.4f %0.4f %0.4f \r\n", state[0]*1000, state[1]*1000,state[2]*180/PI); pc.printf("Sonar: %0.4f %0.4f %0.4f \r\n",SonarMeasures[0]*1000,SonarMeasures[1]*1000,SonarMeasures[2]*1000); pc.printf("IR : %0.4f %0.4f %0.4f \r\n",IRMeasures[0]*180/PI,IRMeasures[1]*180/PI,IRMeasures[2]*180/PI); Thread::wait(100); } } void vStop (void) { // while (true) { motors.coastStop(); ai.flag_motorStop = true; // terminate thread, stopps motors permanently ai.flag_terminate = true; // }; }