File content as of revision 1:87b28e8b9941:

#include "mbed.h"
#include "TFC.h"

#include "common.h"
#include "Spices.h"

// Exercises designed for Mentoring Matters Car Summer Camp
//   for Summer 2014
//   at Freescale, Inc.
//   in Austin, Texas
//
// 5 MODES OR EXERCISES THAT WILL ALIGN WITH DIP SWITCH SETTINGS IN BINARY FASHION
//  e.g. Mode 1 = 001 = switch 1 is on, switch 2 is off, switch 3 is off
//
// Modes:
//  0 = 000 = Garage Mode, button light test to see if car alive!!
//             PUSHBUTTON A - Light LEDs 0 and 1
//             PUSHBUTTON B - Light LEDs 2 and 3
//            -switch 4 does nothing-
//
//  1 = 001 = Garage Mode, forward/reverse adjust, no auto steer, terminal output
//            -switch 4 does nothing-
//
//  2 = 010 = Garage Mode, steering adjust, no auto steer, terminal output
//             POT 1 - Controls Servo:
//                CCW = turn left
//                CW = turn right
//            -switch 4 does nothing-
//
//  3 = 011 = Garage Mode, Camera test, some auto steer, terminal output
//            switch 4:
//               OFF = normal dec data
//                ON = o-scope mode
//
//  4 = 100 = Track Mode, Auto Steer, safe settings
//            switch 4 = terminal output on/off
//
//  5 = 101 = Track Mode, Auto Steer, fast settings
//            switch 4 = terminal output on/off
//
//  6 = 110 = future upgrades
//
//  7 = 111 = future upgrades

/* NOTES
Camera unmounted
motors unhooked
only servo / steering hooked up 

exercise 1 - garage drive
- manual motors forward / reverse
- ensure motors hooked up properly - forward/reverse/left/right
- show terminal value

exercise 2 - garage steer
- manual steering - left /right 
- calibrate steering
- show terminal to get feedback

exercise 3 - garage see
- focus camera
- mount camera
- camera + servo line tracking (race mode)
garage mode use paper show following
- bad Kp value
- min speed = 0.5

exercise 4 - track - slow
- fine tuning max speed
- fine tune proportional control - Kp

exercise 5 - track - fast
- ratio of differential motor speed on curves
- dead zone with high speed on straights

*/

void TFC_TickerUpdate()
{
    int i;
 
    for(i=0; i<NUM_TFC_TICKERS; i++)
     {
        if(TFC_Ticker[i]<0xFFFFFFFF) 
        {
            TFC_Ticker[i]++;
        }
    }
}

// Garage Mode
//   Car not meant to run on track
//   Use this to test out car features
//   and calibrate car
//
void GarageMode()
{
  uint32_t i,j = 0;
  float ReadPot0, ReadPot1;


  //This Demo program will look at the first 2 switches to select one of 4 demo / garage modes
  switch(TFC_GetDIP_Switch()&0x03)
  {
  default:
  case 0 : // Mode 0
      TFC_HBRIDGE_DISABLE;

      TERMINAL_PRINTF("MODE 0\r\n");  
      
      if(TFC_PUSH_BUTTON_0_PRESSED)
      {
          TFC_BAT_LED0_ON;
          TFC_BAT_LED1_ON;
      } else {
          TFC_BAT_LED0_OFF;
          TFC_BAT_LED1_OFF;
      }
      
      if(TFC_PUSH_BUTTON_1_PRESSED)
      {
          TFC_BAT_LED2_ON;
          TFC_BAT_LED3_ON;
      } else {
          TFC_BAT_LED2_OFF;
          TFC_BAT_LED3_OFF;
      }     
      break;
          
  case 1 : // Mode 1
      TFC_HBRIDGE_ENABLE;
     
      ReadPot0 = TFC_ReadPot(0);
      ReadPot1 = TFC_ReadPot(1);
      TERMINAL_PRINTF("MODE 1: ");   
      TERMINAL_PRINTF("Left drive setting = %1.2f\t\t", ReadPot1);
      TERMINAL_PRINTF("Right drive setting = %1.2f\r\n", ReadPot0);
      TFC_SetMotorPWM(ReadPot0,ReadPot1);
              
      break;
  
   case 2:                  
      //Make sure motors are off 
      TFC_SetMotorPWM(0,0);
      TFC_HBRIDGE_DISABLE;

      if(TFC_Ticker[0]>=20) // every 40mS output data to terminal
      {
          TFC_Ticker[0] = 0; //reset the Ticker
          //update the Servos
          TERMINAL_PRINTF("MODE 2: ");   
          ReadPot0 = TFC_ReadPot(0);
//          ReadPot1 = TFC_ReadPot(1);
          TFC_SetServo(0,ReadPot0);
//          TFC_SetServo(1,ReadPot1);
          TERMINAL_PRINTF("Steer1 setting = %1.2f\r\n", ReadPot0);
//          TERMINAL_PRINTF("Steer2 setting = %1.2f\r\n", ReadPot0);
      }    
      break;
      
   case 3 :
      TFC_HBRIDGE_DISABLE;

      if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0) // every 1000 ticks (1s if 10ms)
          {
           // TERMINAL_PRINTF("MODE 3:\r\n");
           TFC_Ticker[0] = 0;
           TFC_LineScanImageReady=0; // must reset to 0 after detecting non-zero

           if (terminalMode()) {
             // print values to terminal as if were o-scope...
             
             for(j=20;j>0;j--) {
               for(i=0;i<128;i++) {
                 if ((TFC_LineScanImage0[i]<=(4096*j/20)) && (TFC_LineScanImage0[i]>=(4096*(j-1)/20)))
                   TERMINAL_PRINTF("*");
                 else
                   TERMINAL_PRINTF(" ");
               }
               TERMINAL_PRINTF("\r\n");
             }
   
           } else { 
             for(i=0;i<128;i++) // print one line worth of data (128) from Camera 0
             {
               TERMINAL_PRINTF("%d",TFC_LineScanImage0[i]);
              
               if(i==127)  // when last data reached put in line return
                 TERMINAL_PRINTF("\r\n",TFC_LineScanImage0[i]);
               else
                 TERMINAL_PRINTF(",",TFC_LineScanImage0[i]);               
             }
             TERMINAL_PRINTF("============================================================================================\r\n");
             wait_ms(10);
           }
              
                               
                  
          }
          


      break;
  } // end case

}

 
int main()
{
    // TERMINAL TYPE  
    PC.baud(115200); // works with Excel and TeraTerm 
    //PC.baud(9600); // works with USB Serial Monitor Lite: https://play.google.com/store/apps/details?id=jp.ksksue.app.terminal; doesn't work > 9600
    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000); // update ticker array every 2mS (2000 uS)
   
    TFC_Init();
    
    for(;;)
    {   
        if(getMode() < 4)
          // Run Garage Mode
          GarageMode();
        else      
          // Run Track Mode
          TrackMode();
 
    } // end of infinite for loop
    
 
}