richard choy / Mbed 2 deprecated FollowMeBot

turning

Dependencies:   Rectangle Servo TextLCD mbed

Fork of FollowMeBot by Daniel Hamilton

main.cpp@1:6c399fc35deb, 2013-11-18 (annotated)

Committer:
dhamilton31
Date:
Mon Nov 18 21:09:13 2013 +0000
Revision:
1:6c399fc35deb
Parent:
0:3ed56271dd2d
Child:
2:0b362c662997
how many things must I commit?!?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dhamilton31 0:3ed56271dd2d 1 #include "mbed.h"
dhamilton31 0:3ed56271dd2d 2 #include "iRobot.h"
dhamilton31 0:3ed56271dd2d 3 #include "Servo.h"
dhamilton31 1:6c399fc35deb 4 #include "Rectangle.h"
dhamilton31 0:3ed56271dd2d 5
dhamilton31 1:6c399fc35deb 6 // Macros/Constants
dhamilton31 1:6c399fc35deb 7 #define MAX_VIEW_X 1024 // maximum X value input from camera
dhamilton31 1:6c399fc35deb 8 #define MAX_VIEW_Y 1024 // maximum Y value input from camera
dhamilton31 1:6c399fc35deb 9 #define CENTER_BOX_TOLLERANCE 15 // Size of our box
dhamilton31 1:6c399fc35deb 10 #define TO_SERVO_DIVISOR 100.0 // Value to divide by to get the amount to move the servo by
dhamilton31 0:3ed56271dd2d 11
dhamilton31 1:6c399fc35deb 12 // Hardware sensors and devices
dhamilton31 1:6c399fc35deb 13 DigitalOut myled(LED1);
dhamilton31 1:6c399fc35deb 14 iRobot followMeBot(p9, p10);
dhamilton31 1:6c399fc35deb 15 Servo servoHor(p22);
dhamilton31 1:6c399fc35deb 16 Servo servoVer(p21);
dhamilton31 1:6c399fc35deb 17 AnalogIn irSensorFront(p20);
dhamilton31 1:6c399fc35deb 18 AnalogIn irSensorLeft(p19);
dhamilton31 1:6c399fc35deb 19 AnalogIn irSensorRight(p18);
dhamilton31 1:6c399fc35deb 20 Serial pc(USBTX, USBRX); // tx, rx
dhamilton31 1:6c399fc35deb 21
dhamilton31 1:6c399fc35deb 22 // Software variables
dhamilton31 1:6c399fc35deb 23 char serial_rx_buffer[128]; // Input buffer for data from the PC
dhamilton31 1:6c399fc35deb 24 int xpos, ypos; // x and y positions read from matlab
dhamilton31 1:6c399fc35deb 25 Rectangle centerBox((MAX_VIEW_X/2)+CENTER_BOX_TOLLERANCE, (MAX_VIEW_Y/2)+CENTER_BOX_TOLLERANCE,
dhamilton31 1:6c399fc35deb 26 (MAX_VIEW_X/2)-CENTER_BOX_TOLLERANCE,(MAX_VIEW_Y/2)-CENTER_BOX_TOLLERANCE); // Creates a box to examine if the camera is well enough centered
dhamilton31 1:6c399fc35deb 27
dhamilton31 1:6c399fc35deb 28 int main()
dhamilton31 1:6c399fc35deb 29 {
dhamilton31 1:6c399fc35deb 30 followMeBot.start();
dhamilton31 1:6c399fc35deb 31
dhamilton31 0:3ed56271dd2d 32 while(1) {
dhamilton31 0:3ed56271dd2d 33 }
dhamilton31 0:3ed56271dd2d 34 }
dhamilton31 1:6c399fc35deb 35
dhamilton31 1:6c399fc35deb 36 void moveCamera()
dhamilton31 1:6c399fc35deb 37 {
dhamilton31 1:6c399fc35deb 38 if(!centerBox.is_touch(xpos, ypos)) {
dhamilton31 1:6c399fc35deb 39 float temp;
dhamilton31 1:6c399fc35deb 40 temp = servoHor.read() + ((float)centerBox.getCenterX() - (float)xpos)/TO_SERVO_DIVISOR;
dhamilton31 1:6c399fc35deb 41 if(temp > 0 && temp <= 1) {
dhamilton31 1:6c399fc35deb 42 servoHor = temp;
dhamilton31 1:6c399fc35deb 43 }
dhamilton31 1:6c399fc35deb 44 temp = servoVer.read() + ((float)centerBox.getCenterY() - (float)ypos)/TO_SERVO_DIVISOR;
dhamilton31 1:6c399fc35deb 45 if(temp > 0 && temp <= 1) {
dhamilton31 1:6c399fc35deb 46 servoVer = temp;
dhamilton31 1:6c399fc35deb 47 }
dhamilton31 1:6c399fc35deb 48 }
dhamilton31 1:6c399fc35deb 49 }
dhamilton31 1:6c399fc35deb 50
dhamilton31 1:6c399fc35deb 51