Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

main.cpp@10:1f0cf0182067, 2013-04-05 (annotated)

Committer:
twighk
Date:
Fri Apr 05 16:40:52 2013 +0000
Revision:
10:1f0cf0182067
Parent:
7:4340355261f9
Parent:
8:69bdf20cb525
Child:
11:bbddc908c78c
merge fix;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
twighk 8:69bdf20cb525 1 //#pragma Otime // Compiler Optimisations
twighk 0:200635fa1b08 2
twighk 0:200635fa1b08 3 // Eurobot13 main.cpp
twighk 0:200635fa1b08 4
madcowswe 6:995b3679155f 5
madcowswe 6:995b3679155f 6
madcowswe 6:995b3679155f 7 /*
madcowswe 6:995b3679155f 8 PINOUT Sensors
madcowswe 6:995b3679155f 9 5: RF:SDI
madcowswe 6:995b3679155f 10 6 SDO
madcowswe 6:995b3679155f 11 7 SCK
madcowswe 6:995b3679155f 12 8 NCS
madcowswe 6:995b3679155f 13 9 NIRQ
madcowswe 6:995b3679155f 14 10-15 6 echo pins
madcowswe 6:995b3679155f 15 16 trig
madcowswe 6:995b3679155f 16 17 IRin
madcowswe 6:995b3679155f 17 18-20 unused
madcowswe 6:995b3679155f 18 21 stepper step
madcowswe 6:995b3679155f 19 22-27 unused
madcowswe 6:995b3679155f 20 28 Serial TX
madcowswe 6:995b3679155f 21 29-30 unused
madcowswe 6:995b3679155f 22
madcowswe 6:995b3679155f 23
madcowswe 6:995b3679155f 24 PINOUT Main
madcowswe 6:995b3679155f 25 5: Lower arm servo
madcowswe 6:995b3679155f 26 6: Upper arm servo
madcowswe 6:995b3679155f 27
madcowswe 6:995b3679155f 28 14: Serial RX
madcowswe 6:995b3679155f 29 15: Distance sensor
madcowswe 6:995b3679155f 30
madcowswe 6:995b3679155f 31 20: color sensor in
madcowswe 6:995b3679155f 32 21-24: Motors PWM IN 1-4
madcowswe 6:995b3679155f 33 25-26: Encoders
madcowswe 6:995b3679155f 34 27-28: Encoders
madcowswe 6:995b3679155f 35 29: Color sensor RED LED
madcowswe 6:995b3679155f 36 30: Color sensor BLUE LED
madcowswe 6:995b3679155f 37
madcowswe 6:995b3679155f 38 */
madcowswe 6:995b3679155f 39
madcowswe 6:995b3679155f 40 #define P_SERVO_LOWER_ARM p5
madcowswe 6:995b3679155f 41 #define P_SERVO_UPPER_ARM p6
madcowswe 6:995b3679155f 42
madcowswe 6:995b3679155f 43 #define P_SERIAL_RX p14
madcowswe 6:995b3679155f 44 #define P_DISTANCE_SENSOR p15
madcowswe 6:995b3679155f 45
madcowswe 6:995b3679155f 46 #define P_COLOR_SENSOR_IN p20
madcowswe 6:995b3679155f 47
madcowswe 6:995b3679155f 48 #define P_MOT_RIGHT_A p21
madcowswe 6:995b3679155f 49 #define P_MOT_RIGHT_B p22
madcowswe 6:995b3679155f 50 #define P_MOT_LEFT_A p23
madcowswe 6:995b3679155f 51 #define P_MOT_LEFT_B p24
madcowswe 6:995b3679155f 52
madcowswe 6:995b3679155f 53 #define P_ENC_RIGHT_A p28
madcowswe 6:995b3679155f 54 #define P_ENC_RIGHT_B p27
madcowswe 6:995b3679155f 55 #define P_ENC_LEFT_A p25
madcowswe 6:995b3679155f 56 #define P_ENC_LEFT_B p26
madcowswe 6:995b3679155f 57
madcowswe 6:995b3679155f 58 #define P_COLOR_SENSOR_RED p29
madcowswe 6:995b3679155f 59 #define P_COLOR_SENSOR_BLUE p30
madcowswe 6:995b3679155f 60
madcowswe 6:995b3679155f 61
madcowswe 6:995b3679155f 62
twighk 0:200635fa1b08 63 #include "mbed.h"
twighk 3:717de74f6ebd 64 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 65
twighk 4:1be0f6c6ceae 66 #include "Actuators/Arms/Arm.h"
twighk 1:8119211eae14 67 #include "Actuators/MainMotors/MainMotor.h"
twighk 1:8119211eae14 68 #include "Sensors/Encoders/Encoder.h"
twighk 4:1be0f6c6ceae 69 #include "Sensors/Colour/Colour.h"
twighk 8:69bdf20cb525 70 #include "Sensors/CakeSensor/CakeSensor.h"
twighk 0:200635fa1b08 71
twighk 2:45da48fab346 72
twighk 0:200635fa1b08 73
twighk 0:200635fa1b08 74 void motortest();
twighk 0:200635fa1b08 75 void encodertest();
twighk 0:200635fa1b08 76 void motorencodetest();
twighk 0:200635fa1b08 77 void motorencodetestline();
twighk 0:200635fa1b08 78 void motorsandservostest();
twighk 1:8119211eae14 79 void armtest();
twighk 2:45da48fab346 80 void motortestline();
twighk 3:717de74f6ebd 81 void ledtest();
twighk 3:717de74f6ebd 82 void phototransistortest();
twighk 3:717de74f6ebd 83 void ledphototransistortest();
twighk 3:717de74f6ebd 84 void colourtest();
twighk 8:69bdf20cb525 85 void cakesensortest();
twighk 0:200635fa1b08 86
twighk 0:200635fa1b08 87 int main() {
twighk 2:45da48fab346 88
twighk 3:717de74f6ebd 89 /*****************
twighk 3:717de74f6ebd 90 * Test Code *
twighk 3:717de74f6ebd 91 *****************/
twighk 0:200635fa1b08 92 //motortest();
twighk 0:200635fa1b08 93 //encodertest();
twighk 8:69bdf20cb525 94 //motorencodetest();
twighk 1:8119211eae14 95 //motorencodetestline();
twighk 0:200635fa1b08 96 //motorsandservostest();
twighk 3:717de74f6ebd 97 //armtest();
twighk 2:45da48fab346 98 //motortestline();
madcowswe 7:4340355261f9 99 ledtest();
twighk 3:717de74f6ebd 100 //phototransistortest();
twighk 3:717de74f6ebd 101 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 102 //colourtest(); // Red SnR too low
twighk 8:69bdf20cb525 103 cakesensortest();
twighk 8:69bdf20cb525 104 }
twighk 8:69bdf20cb525 105
twighk 8:69bdf20cb525 106 void cakesensortest(){
twighk 8:69bdf20cb525 107 wait(1);
twighk 8:69bdf20cb525 108 pc.printf("cakesensortest");
twighk 8:69bdf20cb525 109
twighk 8:69bdf20cb525 110 CakeSensor cs(p20);
twighk 8:69bdf20cb525 111 while(true){
twighk 8:69bdf20cb525 112 wait(0.1);
twighk 8:69bdf20cb525 113 pc.printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
twighk 8:69bdf20cb525 114 }
twighk 3:717de74f6ebd 115 }
twighk 3:717de74f6ebd 116
twighk 3:717de74f6ebd 117 void colourtest(){
madcowswe 7:4340355261f9 118 Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 119 c.Calibrate();
twighk 3:717de74f6ebd 120 while(true){
twighk 3:717de74f6ebd 121 wait(0.1);
twighk 3:717de74f6ebd 122 ColourEnum ce = c.getColour();
twighk 3:717de74f6ebd 123 switch(ce){
twighk 3:717de74f6ebd 124 case BLUE :
twighk 3:717de74f6ebd 125 pc.printf("BLUE\n\r");
twighk 3:717de74f6ebd 126 break;
twighk 3:717de74f6ebd 127 case RED:
twighk 3:717de74f6ebd 128 pc.printf("RED\n\r");
twighk 3:717de74f6ebd 129 break;
twighk 3:717de74f6ebd 130 case WHITE:
twighk 3:717de74f6ebd 131 pc.printf("WHITE\n\r");
twighk 3:717de74f6ebd 132 break;
twighk 3:717de74f6ebd 133 case INCONCLUSIVE:
twighk 3:717de74f6ebd 134 pc.printf("INCONCLUSIVE\n\r");
twighk 3:717de74f6ebd 135 break;
twighk 3:717de74f6ebd 136 default:
twighk 3:717de74f6ebd 137 pc.printf("BUG\n\r");
twighk 3:717de74f6ebd 138 }
twighk 2:45da48fab346 139 }
twighk 0:200635fa1b08 140
twighk 3:717de74f6ebd 141 }
twighk 3:717de74f6ebd 142
twighk 3:717de74f6ebd 143
twighk 3:717de74f6ebd 144 void ledphototransistortest(){
madcowswe 7:4340355261f9 145 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
madcowswe 7:4340355261f9 146 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 147 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 148
twighk 3:717de74f6ebd 149 while(true){
madcowswe 7:4340355261f9 150 blue = 1; red = 0;
twighk 3:717de74f6ebd 151 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 152 wait(0.1);
twighk 3:717de74f6ebd 153 pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
twighk 3:717de74f6ebd 154 }
madcowswe 7:4340355261f9 155 blue = 0; red = 1;
twighk 3:717de74f6ebd 156 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 157 wait(0.1);
twighk 3:717de74f6ebd 158 pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
twighk 3:717de74f6ebd 159 }
twighk 3:717de74f6ebd 160 }
twighk 3:717de74f6ebd 161 }
twighk 3:717de74f6ebd 162
twighk 3:717de74f6ebd 163 void phototransistortest(){
madcowswe 7:4340355261f9 164 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 165 while(true){
twighk 3:717de74f6ebd 166 wait(0.1);
twighk 3:717de74f6ebd 167 pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
twighk 3:717de74f6ebd 168 }
twighk 3:717de74f6ebd 169
twighk 3:717de74f6ebd 170 }
twighk 3:717de74f6ebd 171
twighk 3:717de74f6ebd 172 void ledtest(){
madcowswe 7:4340355261f9 173 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
twighk 3:717de74f6ebd 174 while(true){
madcowswe 7:4340355261f9 175 blue = 1; red = 0;
twighk 3:717de74f6ebd 176 wait(0.2);
madcowswe 7:4340355261f9 177 blue = 0; red = 1;
twighk 3:717de74f6ebd 178 wait(0.2);
twighk 3:717de74f6ebd 179
twighk 3:717de74f6ebd 180 }
twighk 3:717de74f6ebd 181 }
twighk 3:717de74f6ebd 182
twighk 1:8119211eae14 183 void armtest(){
twighk 3:717de74f6ebd 184 Arm white(p26), black(p25, false, 0.0005, 180);
twighk 3:717de74f6ebd 185 while(true){
twighk 1:8119211eae14 186 white(0);
twighk 1:8119211eae14 187 black(0);
twighk 1:8119211eae14 188 wait(1);
twighk 1:8119211eae14 189 white(1);
twighk 1:8119211eae14 190 black(1);
twighk 1:8119211eae14 191 wait(1);
twighk 1:8119211eae14 192 }
twighk 1:8119211eae14 193 }
twighk 1:8119211eae14 194
twighk 1:8119211eae14 195
twighk 0:200635fa1b08 196 void motorsandservostest(){
twighk 0:200635fa1b08 197 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 198 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 199 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 200 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 201 const float speed = 0.0;
twighk 0:200635fa1b08 202 const float dspeed = 0.0;
twighk 0:200635fa1b08 203
twighk 0:200635fa1b08 204 Timer servoTimer;
twighk 0:200635fa1b08 205 mleft(speed); mright(speed);
twighk 0:200635fa1b08 206 servoTimer.start();
twighk 0:200635fa1b08 207 while (true){
twighk 0:200635fa1b08 208 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 209 if (Eleft.getPoint() < Eright.getPoint()){
twighk 0:200635fa1b08 210 mleft(speed);
twighk 0:200635fa1b08 211 mright(speed - dspeed);
twighk 0:200635fa1b08 212 } else {
twighk 0:200635fa1b08 213 mright(speed);
twighk 0:200635fa1b08 214 mleft(speed - dspeed);
twighk 0:200635fa1b08 215 }
twighk 0:200635fa1b08 216 if (servoTimer.read() < 1){
twighk 0:200635fa1b08 217 sTop.clockwise();
twighk 0:200635fa1b08 218 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 219 sTop.halt();
twighk 0:200635fa1b08 220 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 221 sBottom.anticlockwise();
twighk 0:200635fa1b08 222 //Led=1;
twighk 0:200635fa1b08 223 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 224 sBottom.clockwise();
twighk 0:200635fa1b08 225 //Led=0;
twighk 0:200635fa1b08 226 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 227 sBottom.halt();
twighk 0:200635fa1b08 228 }else {
twighk 0:200635fa1b08 229 sTop.anticlockwise();
twighk 0:200635fa1b08 230 }
twighk 0:200635fa1b08 231 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 232 }
twighk 0:200635fa1b08 233 }
twighk 0:200635fa1b08 234
twighk 2:45da48fab346 235 void motortestline(){
twighk 2:45da48fab346 236 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 237 const float speed = 0.2;
twighk 2:45da48fab346 238 mleft(speed); mright(speed);
twighk 2:45da48fab346 239 while(true) wait(1);
twighk 2:45da48fab346 240 }
twighk 2:45da48fab346 241
twighk 0:200635fa1b08 242 void motorencodetestline(){
twighk 0:200635fa1b08 243 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 244 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 4:1be0f6c6ceae 245 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 246 const float speed = 0.2;
twighk 0:200635fa1b08 247 const float dspeed = 0.1;
twighk 0:200635fa1b08 248
twighk 0:200635fa1b08 249 mleft(speed); mright(speed);
twighk 0:200635fa1b08 250 while (true){
twighk 0:200635fa1b08 251 //left 27 cm = 113 -> 0.239 cm/pulse
twighk 0:200635fa1b08 252 //right 27 cm = 72 -> 0.375 cm/pulse
twighk 0:200635fa1b08 253 pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375));
twighk 0:200635fa1b08 254 if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){
twighk 0:200635fa1b08 255 mright(speed - dspeed);
twighk 0:200635fa1b08 256 } else {
twighk 0:200635fa1b08 257 mright(speed + dspeed);
twighk 0:200635fa1b08 258 }
twighk 0:200635fa1b08 259 }
twighk 0:200635fa1b08 260
twighk 0:200635fa1b08 261 }
twighk 0:200635fa1b08 262
twighk 0:200635fa1b08 263 void motorencodetest(){
madcowswe 7:4340355261f9 264 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 265 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 266 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 267
twighk 0:200635fa1b08 268 const float speed = -0.3;
twighk 0:200635fa1b08 269 const int enc = -38;
twighk 0:200635fa1b08 270 while(true){
twighk 0:200635fa1b08 271 mleft(speed); mright(0);
twighk 0:200635fa1b08 272 while(Eleft.getPoint()>enc){
twighk 0:200635fa1b08 273 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 274 }
twighk 0:200635fa1b08 275 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 276 mleft(0); mright(speed);
twighk 0:200635fa1b08 277 while(Eright.getPoint()>enc){
twighk 0:200635fa1b08 278 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 279 }
twighk 0:200635fa1b08 280 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 281 }
twighk 0:200635fa1b08 282 }
twighk 0:200635fa1b08 283
twighk 0:200635fa1b08 284 void encodertest(){
twighk 0:200635fa1b08 285 Encoder E1(p28, p27);
twighk 0:200635fa1b08 286 Encoder E2(p29, p30);
twighk 0:200635fa1b08 287 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 288 while(true){
twighk 0:200635fa1b08 289 wait(0.1);
twighk 0:200635fa1b08 290 pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
twighk 0:200635fa1b08 291 }
twighk 0:200635fa1b08 292
twighk 0:200635fa1b08 293 }
twighk 0:200635fa1b08 294 void motortest(){
twighk 0:200635fa1b08 295 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 296 while(true) {
twighk 0:200635fa1b08 297 wait(1);
twighk 0:200635fa1b08 298 mleft(0.8); mright(0.8);
twighk 0:200635fa1b08 299 wait(1);
twighk 0:200635fa1b08 300 mleft(-0.2); mright(0.2);
twighk 0:200635fa1b08 301 wait(1);
twighk 0:200635fa1b08 302 mleft(0); mright(0);
twighk 0:200635fa1b08 303 }
twighk 0:200635fa1b08 304 }