Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
main.cpp
- Committer:
- narshu
- Date:
- 2012-04-29
- Revision:
- 17:bafcef1c3579
- Parent:
- 13:57ea4e520dbd
- Child:
- 19:06610e1c0895
File content as of revision 17:bafcef1c3579:
#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 <iostream> //Interface declaration Serial pc(USBTX, USBRX); // tx, rx 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); //TODO mutex on kalman state, and on motor commands (i.e. on the i2c bus) //NOTE! Recieving data with RF12B now DISABLED due to interferance with rtos! void vMotorThread(void const *argument); void vPrintState(void const *argument); void motion_thread(void const *argument); //bool flag_terminate = false; float temp = 0; //Main loop int main() { pc.baud(115200); //Init kalman kalman.KalmanInit(); //Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256); //Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); //Thread thr_motion(motion_thread,NULL,osPriorityNormal,1024); //Motion_Thread_Ptr = &thr_motion; //measure cpu usage. output updated once per second to symbol cpupercent //Thread mCPUthread(measureCPUidle, NULL, osPriorityIdle, 1024); //check if stack overflow with such a small staack pc.printf("We got to main! ;D\r\n"); //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!! while (1) { 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 () { /* //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; */ while (1) { // goes to the mid settarget(500, 1000, 0, true); Thread::signal_wait(0x01); Thread::wait(2000); settarget(2500, 1000, PI, true); Thread::signal_wait(0x01); Thread::wait(2000); } // goes to the mid settarget(700, 1500, 0, false); Thread::signal_wait(0x01); Thread::wait(2000); ////////////////////////////////////////////////////// // goes to the mid settarget(1500, 1000, PI/2, true); Thread::signal_wait(0x01); Thread::wait(2000); // left roll settarget(500, 1500, PI/2, true); Thread::signal_wait(0x01); Thread::wait(2000); // mid settarget(1500, 1000, PI/2, true); Thread::signal_wait(0x01); Thread::wait(2000); // map settarget(1500, 1500, PI/2, true); Thread::signal_wait(0x01); Thread::wait(2000); // mid settarget(1500, 1000, -PI/2, true); Thread::signal_wait(0x01); Thread::wait(2000); // home settarget(500, 500, 0, true); Thread::signal_wait(0x01); Thread::wait(2000); // oponents base settarget(2500, 500, 0, true); Thread::signal_wait(0x01); Thread::wait(2000); // oponents ship settarget(2500, 1500, 0, true); Thread::signal_wait(0x01); Thread::wait(2000); //} Thread::signal_wait(0x01); flag_terminate = true; //OLED3 = true; while (true) { Thread::wait(osWaitForever); } } 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]; 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], state[1],state[2]); pc.printf("Sonar: %0.4f %0.4f %0.4f \r\n",SonarMeasures[0],SonarMeasures[1],SonarMeasures[2]); 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); } }