Michael Ernst Peter / Mbed OS PM2_Example_Line_Follower

Example project for the Line Follower robot.

Dependencies:   PM2_Libary Eigen

main.cpp@0:f44522e28559, 2021-03-30 (annotated)

Committer:
pmic
Date:
Tue Mar 30 12:50:43 2021 +0000
Revision:
0:f44522e28559
Child:
1:93d997d6b232
First commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:f44522e28559 1 #include "mbed.h"
pmic 0:f44522e28559 2 #include "platform/mbed_thread.h"
pmic 0:f44522e28559 3
pmic 0:f44522e28559 4 using namespace std::chrono;
pmic 0:f44522e28559 5
pmic 0:f44522e28559 6 InterruptIn user_button(USER_BUTTON);
pmic 0:f44522e28559 7 DigitalOut led(LED1);
pmic 0:f44522e28559 8
pmic 0:f44522e28559 9 bool executeMainTask = false;
pmic 0:f44522e28559 10 Timer user_button_timer, loop_timer;
pmic 0:f44522e28559 11 int Ts_ms = 50;
pmic 0:f44522e28559 12
pmic 0:f44522e28559 13 void button_fall();
pmic 0:f44522e28559 14 void button_rise();
pmic 0:f44522e28559 15
pmic 0:f44522e28559 16 /* input your stuff here */
pmic 0:f44522e28559 17 AnalogIn analogIn(PA_0);
pmic 0:f44522e28559 18 float dist = 0.0f;
pmic 0:f44522e28559 19
pmic 0:f44522e28559 20 int main()
pmic 0:f44522e28559 21 {
pmic 0:f44522e28559 22 user_button.fall(&button_fall);
pmic 0:f44522e28559 23 user_button.rise(&button_rise);
pmic 0:f44522e28559 24 loop_timer.start();
pmic 0:f44522e28559 25
pmic 0:f44522e28559 26 while (true) {
pmic 0:f44522e28559 27
pmic 0:f44522e28559 28 loop_timer.reset();
pmic 0:f44522e28559 29
pmic 0:f44522e28559 30 /* ------------- start hacking ------------- -------------*/
pmic 0:f44522e28559 31
pmic 0:f44522e28559 32 if(executeMainTask) {
pmic 0:f44522e28559 33
pmic 0:f44522e28559 34 dist = analogIn.read()*3.3f;
pmic 0:f44522e28559 35
pmic 0:f44522e28559 36 /* do only output what's really necessary, outputting "Measured value in mV: "" within the loop is no good solution */
pmic 0:f44522e28559 37 printf("Measured value in mV: %d\r\n", (static_cast<int>(dist * 1e3)));
pmic 0:f44522e28559 38
pmic 0:f44522e28559 39 /* visual feedback that the main task is executed */
pmic 0:f44522e28559 40 led = !led;
pmic 0:f44522e28559 41
pmic 0:f44522e28559 42 } else {
pmic 0:f44522e28559 43 led = 0;
pmic 0:f44522e28559 44 }
pmic 0:f44522e28559 45
pmic 0:f44522e28559 46 /* ------------- stop hacking ------------- -------------*/
pmic 0:f44522e28559 47
pmic 0:f44522e28559 48 int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
pmic 0:f44522e28559 49 int dT_loop_ms = Ts_ms - T_loop_ms;
pmic 0:f44522e28559 50 thread_sleep_for(dT_loop_ms);
pmic 0:f44522e28559 51 }
pmic 0:f44522e28559 52 }
pmic 0:f44522e28559 53
pmic 0:f44522e28559 54 void button_fall()
pmic 0:f44522e28559 55 {
pmic 0:f44522e28559 56 user_button_timer.reset();
pmic 0:f44522e28559 57 user_button_timer.start();
pmic 0:f44522e28559 58 }
pmic 0:f44522e28559 59
pmic 0:f44522e28559 60 void button_rise()
pmic 0:f44522e28559 61 {
pmic 0:f44522e28559 62 int t_button = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
pmic 0:f44522e28559 63 user_button_timer.stop();
pmic 0:f44522e28559 64 if(t_button > 200) executeMainTask = !executeMainTask;
pmic 0:f44522e28559 65 }