2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
main.cpp
- Committer:
- madcowswe
- Date:
- 2013-04-10
- Revision:
- 31:ada943ecaceb
- Parent:
- 28:4e20b44251c6
- Child:
- 32:e3f633620816
File content as of revision 31:ada943ecaceb:
#include "globals.h" #include "Kalman.h" #include "mbed.h" #include "rtos.h" #include "Arm.h" #include "MainMotor.h" #include "Encoder.h" #include "Colour.h" #include "CakeSensor.h" #include "Printing.h" #include "coprocserial.h" #include <algorithm> #include "motion.h" #include "MotorControl.h" #include "system.h" void motortest(); void encodertest(); void motorencodetest(); void motorencodetestline(); void motorsandservostest(); void armtest(); void motortestline(); void ledtest(); void phototransistortest(); void ledphototransistortest(); void colourtest(); void cakesensortest(); void printingtestthread(void const*); void printingtestthread2(void const*); void feedbacktest(); int main() { /***************** * Test Code * *****************/ //motortest(); //encodertest(); //motorencodetest(); //motorencodetestline(); //motorsandservostest(); //armtest(); //motortestline(); //ledtest(); //phototransistortest(); //ledphototransistortest(); //colourtest(); // Red SnR too low //cakesensortest(); //feedbacktest(); /* DigitalOut l1(LED1); Thread p(Printing::printingloop, NULL, osPriorityNormal, 2048); l1=1; Thread a(printingtestthread, NULL, osPriorityNormal, 1024); Thread b(printingtestthread2, NULL, osPriorityNormal, 1024); Thread::wait(osWaitForever); */ SystemTime.start(); Serial pc(USBTX, USBRX); pc.baud(115200); using AI::current_waypoint; current_waypoint = new Waypoint; current_waypoint->x = 0.5; current_waypoint->y = 0.7; current_waypoint->theta = 0.0; current_waypoint->pos_threshold = 0.02; current_waypoint->angle_threshold = 0.09; InitSerial(); //while(1) // printbuff(); wait(1); Kalman::KalmanInit(); Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k Kalman::start_predict_ticker(&predictthread); Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084); //Ticker motorcontroltestticker; //motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05); // motion layer periodic callback RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic); motion_timer.start(50); Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048); //measureCPUidle(); //repurpose thread for idle measurement Thread::wait(osWaitForever); } #include <cstdlib> using namespace std; void printingtestthread(void const*){ const char ID = 1; float buffer[3] = {ID}; Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0])); while (true){ for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){ buffer[i] = ID ; } Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0])); Thread::wait(200); } } void printingtestthread2(void const*){ const char ID = 2; float buffer[5] = {ID}; Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0])); while (true){ for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){ buffer[i] = ID; } Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0])); Thread::wait(500); } } /* void feedbacktest(){ //Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B); Kalman::State state; float Pgain = -0.01; float fwdspeed = -400/3.0f; Timer timer; timer.start(); while(true){ float expecdist = fwdspeed * timer.read(); state = Kalman::getState(); float errleft = left_encoder.getTicks() - (expecdist); float errright = right_encoder.getTicks() - expecdist; mleft(max(min(errleft*Pgain, 0.4f), -0.4f)); mright(max(min(errright*Pgain, 0.4f), -0.4f)); } } */ void cakesensortest(){ wait(1); printf("cakesensortest"); CakeSensor cs(P_COLOR_SENSOR_IN); while(true){ wait(0.1); printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm()); } } void colourtest(){ Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN); c.Calibrate(); while(true){ wait(0.1); ColourEnum ce = c.getColour(); switch(ce){ case BLUE : printf("BLUE\n\r"); break; case RED: printf("RED\n\r"); break; case WHITE: printf("WHITE\n\r"); break; case INCONCLUSIVE: printf("INCONCLUSIVE\n\r"); break; default: printf("BUG\n\r"); } } } void ledphototransistortest(){ DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED); AnalogIn pt(P_COLOR_SENSOR_IN); Serial pc(USBTX, USBRX); while(true){ blue = 0; red = 0; for(int i = 0; i != 5; i++){ wait(0.1); printf("Phototransistor Analog is (none): %f \n\r", pt.read()); } blue = 1; red = 0; for(int i = 0; i != 5; i++){ wait(0.1); printf("Phototransistor Analog is (blue): %f \n\r", pt.read()); } blue = 0; red = 1; for(int i = 0; i != 5; i++){ wait(0.1); printf("Phototransistor Analog is (red ): %f \n\r", pt.read()); } blue = 1; red = 1; for(int i = 0; i != 5; i++){ wait(0.1); printf("Phototransistor Analog is (both): %f \n\r", pt.read()); } } } void phototransistortest(){ AnalogIn pt(P_COLOR_SENSOR_IN); while(true){ wait(0.1); printf("Phototransistor Analog is: %f \n\r", pt.read()); } } void ledtest(){ DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED); while(true){ blue = 1; red = 0; wait(0.2); blue = 0; red = 1; wait(0.2); } } void armtest(){ Arm white(p26), black(p25, false, 0.0005, 180); while(true){ white(0); black(0); wait(1); white(1); black(1); wait(1); } } void motorsandservostest(){ Encoder Eleft(p27, p28), Eright(p30, p29); MainMotor mleft(p24,p23), mright(p21,p22); Arm sTop(p25), sBottom(p26); //Serial pc(USBTX, USBRX); const float speed = 0.0; const float dspeed = 0.0; Timer servoTimer; mleft(speed); mright(speed); servoTimer.start(); while (true){ printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks()); if (Eleft.getTicks() < Eright.getTicks()){ mleft(speed); mright(speed - dspeed); } else { mright(speed); mleft(speed - dspeed); } if (servoTimer.read() < 1){ sTop.clockwise(); } else if (servoTimer.read() < 4) { sTop.halt(); } else if (servoTimer.read() < 5) { sBottom.anticlockwise(); //Led=1; } else if (servoTimer.read() < 6) { sBottom.clockwise(); //Led=0; } else if (servoTimer.read() < 7) { sBottom.halt(); }else { sTop.anticlockwise(); } if (servoTimer.read() >= 9) servoTimer.reset(); } } void motortestline(){ MainMotor mleft(p24,p23), mright(p21,p22); const float speed = 0.2; mleft(speed); mright(speed); while(true) wait(1); } void motorencodetestline(){ Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B); //Serial pc(USBTX, USBRX); const float speed = 0.2; const float dspeed = 0.1; mleft(speed); mright(speed); while (true){ //left 27 cm = 113 -> 0.239 cm/pulse //right 27 cm = 72 -> 0.375 cm/pulse printf("Position is: %i \t %i \n\r", (int)(Eleft.getTicks()*0.239), (int)(Eright.getTicks()*0.375)); if (Eleft.getTicks()*0.239 < Eright.getTicks()*0.375){ mright(speed - dspeed); } else { mright(speed + dspeed); } } } void motorencodetest(){ Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B); Serial pc(USBTX, USBRX); const float speed = -0.3; const int enc = -38; while(true){ mleft(speed); mright(0); while(Eleft.getTicks()>enc){ printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks()); } Eleft.reset(); Eright.reset(); mleft(0); mright(speed); while(Eright.getTicks()>enc){ printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks()); } Eleft.reset(); Eright.reset(); } } void encodertest(){ Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B); //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B); Serial pc(USBTX, USBRX); while(true){ wait(0.1); printf("Position is: %i \t %i \n\r", E1.getTicks(), 0);//E2.getTicks()); } } void motortest(){ MainMotor mright(p22,p21), mleft(p23,p24); while(true) { wait(1); mleft(0.8); mright(0.8); wait(1); mleft(-0.2); mright(0.2); wait(1); mleft(0); mright(0); } }