Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

main.cpp@92:4a1225fbb146, 2013-10-15 (annotated)

Committer:
rsavitski
Date:
Tue Oct 15 12:19:32 2013 +0000
Revision:
92:4a1225fbb146
Parent:
91:fdadfd883825 
touch: ripped out 2013-specific bits. Need to address "2014" comments. Rewrite AI layer and other deleted parts.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 20:70d651156779 1 #include "globals.h"
madcowswe 20:70d651156779 2 #include "Kalman.h"
twighk 0:200635fa1b08 3 #include "mbed.h"
twighk 13:d4b5851742a3 4 #include "rtos.h"
madcowswe 21:167dacfe0b14 5 #include "MainMotor.h"
madcowswe 21:167dacfe0b14 6 #include "Encoder.h"
madcowswe 21:167dacfe0b14 7 #include "Printing.h"
madcowswe 20:70d651156779 8 #include "coprocserial.h"
madcowswe 12:76c9915db820 9 #include <algorithm>
rsavitski 24:50805ef8c499 10 #include "motion.h"
madcowswe 25:b16f1045108f 11 #include "MotorControl.h"
madcowswe 28:4e20b44251c6 12 #include "system.h"
rsavitski 30:791739422122 13 #include "ai.h"
madcowswe 20:70d651156779 14
twighk 0:200635fa1b08 15 void motortest();
twighk 0:200635fa1b08 16 void encodertest();
twighk 0:200635fa1b08 17 void motorencodetest();
twighk 0:200635fa1b08 18 void motorencodetestline();
twighk 0:200635fa1b08 19 void motorsandservostest();
twighk 1:8119211eae14 20 void armtest();
twighk 2:45da48fab346 21 void motortestline();
twighk 3:717de74f6ebd 22 void colourtest();
twighk 8:69bdf20cb525 23 void cakesensortest();
twighk 13:d4b5851742a3 24 void printingtestthread(void const*);
twighk 13:d4b5851742a3 25 void printingtestthread2(void const*);
madcowswe 12:76c9915db820 26 void feedbacktest();
twighk 0:200635fa1b08 27
madcowswe 84:00c799fd10a7 28 DigitalOut *balloon_ptr;
madcowswe 84:00c799fd10a7 29
madcowswe 84:00c799fd10a7 30 void timeisup_isr(){
madcowswe 84:00c799fd10a7 31 MotorControl::motorsenabled = 0;
madcowswe 84:00c799fd10a7 32 *balloon_ptr = 0;
madcowswe 84:00c799fd10a7 33 }
madcowswe 84:00c799fd10a7 34
xiaxia686 43:c592bf6a6a2d 35 int main()
xiaxia686 43:c592bf6a6a2d 36 {
xiaxia686 43:c592bf6a6a2d 37
xiaxia686 43:c592bf6a6a2d 38 /*****************
xiaxia686 43:c592bf6a6a2d 39 * Test Code *
xiaxia686 43:c592bf6a6a2d 40 *****************/
twighk 0:200635fa1b08 41 //motortest();
twighk 0:200635fa1b08 42 //encodertest();
twighk 8:69bdf20cb525 43 //motorencodetest();
twighk 1:8119211eae14 44 //motorencodetestline();
twighk 0:200635fa1b08 45 //motorsandservostest();
rsavitski 65:4709ff6c753c 46 //armtest();
rsavitski 65:4709ff6c753c 47 //while(1);
twighk 2:45da48fab346 48 //motortestline();
twighk 11:bbddc908c78c 49 //ledtest();
twighk 3:717de74f6ebd 50 //phototransistortest();
madcowswe 12:76c9915db820 51 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 52 //colourtest(); // Red SnR too low
madcowswe 12:76c9915db820 53 //cakesensortest();
madcowswe 20:70d651156779 54 //feedbacktest();
xiaxia686 43:c592bf6a6a2d 55
xiaxia686 43:c592bf6a6a2d 56 /*
twighk 13:d4b5851742a3 57 DigitalOut l1(LED1);
madcowswe 21:167dacfe0b14 58 Thread p(Printing::printingloop, NULL, osPriorityNormal, 2048);
twighk 13:d4b5851742a3 59 l1=1;
twighk 13:d4b5851742a3 60 Thread a(printingtestthread, NULL, osPriorityNormal, 1024);
twighk 13:d4b5851742a3 61 Thread b(printingtestthread2, NULL, osPriorityNormal, 1024);
twighk 13:d4b5851742a3 62 Thread::wait(osWaitForever);
madcowswe 15:9c5aaeda36dc 63 */
madcowswe 16:52250d8d8fce 64
madcowswe 22:6e3218cf75f8 65 SystemTime.start();
madcowswe 20:70d651156779 66
madcowswe 51:bc261eae004b 67 Serial pc(USBTX, USBRX);
madcowswe 25:b16f1045108f 68 pc.baud(115200);
xiaxia686 46:adcd57a5e402 69 InitSerial();
xiaxia686 46:adcd57a5e402 70 wait(3);
xiaxia686 46:adcd57a5e402 71 Kalman::KalmanInit();
madcowswe 20:70d651156779 72
xiaxia686 46:adcd57a5e402 73 Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k
xiaxia686 46:adcd57a5e402 74 Kalman::start_predict_ticker(&predictthread);
madcowswe 20:70d651156779 75
xiaxia686 46:adcd57a5e402 76 Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084);
rsavitski 24:50805ef8c499 77
xiaxia686 46:adcd57a5e402 78 Ticker motorcontroltestticker;
xiaxia686 46:adcd57a5e402 79 motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
rsavitski 30:791739422122 80 // ai layer thread
rsavitski 91:fdadfd883825 81 //Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048); //2014: add new ai layer
madcowswe 22:6e3218cf75f8 82
rsavitski 24:50805ef8c499 83 // motion layer periodic callback
xiaxia686 46:adcd57a5e402 84 RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);
xiaxia686 46:adcd57a5e402 85 motion_timer.start(50);
xiaxia686 43:c592bf6a6a2d 86
xiaxia686 46:adcd57a5e402 87 Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
madcowswe 71:eb1956c2d316 88
madcowswe 84:00c799fd10a7 89 //worry about starting
madcowswe 71:eb1956c2d316 90 DigitalIn startcord(P_START_CORD);
madcowswe 71:eb1956c2d316 91 startcord.mode(PullUp);
madcowswe 71:eb1956c2d316 92 while(!startcord)
madcowswe 71:eb1956c2d316 93 Thread::wait(50);
madcowswe 84:00c799fd10a7 94
madcowswe 84:00c799fd10a7 95 //worry about stopping
madcowswe 84:00c799fd10a7 96 DigitalOut balloon(P_BALLOON);
madcowswe 84:00c799fd10a7 97 balloon = 1;
madcowswe 84:00c799fd10a7 98 balloon_ptr = &balloon;
madcowswe 84:00c799fd10a7 99 Timeout timeout_90s;
madcowswe 84:00c799fd10a7 100 timeout_90s.attach(timeisup_isr, 90);
madcowswe 84:00c799fd10a7 101
rsavitski 91:fdadfd883825 102 //aithread.signal_set(0x2); //Tell AI thread that its time to go //2014
madcowswe 71:eb1956c2d316 103
madcowswe 84:00c799fd10a7 104
xiaxia686 46:adcd57a5e402 105 measureCPUidle(); //repurpose thread for idle measurement
madcowswe 64:c979fb1cd3b5 106 /*
madcowswe 62:78d99b781f02 107 MotorControl::set_omegacmd(0);
madcowswe 62:78d99b781f02 108 for(float spd = 0.02; spd <= 0.5; spd *= 1.4){
madcowswe 62:78d99b781f02 109
madcowswe 62:78d99b781f02 110 MotorControl::set_fwdcmd(spd);
madcowswe 62:78d99b781f02 111
madcowswe 62:78d99b781f02 112 Thread::wait(3000);
madcowswe 62:78d99b781f02 113
madcowswe 62:78d99b781f02 114 float f = MotorControl::mfwdpowdbg;
madcowswe 62:78d99b781f02 115 float r = MotorControl::mrotpowdbg;
madcowswe 62:78d99b781f02 116 MotorControl::set_fwdcmd(0);
madcowswe 62:78d99b781f02 117 printf("targetspd:%f, fwd:%f, rot:%f\r\n", spd, f, r);
madcowswe 62:78d99b781f02 118 Thread::wait(5000);
madcowswe 62:78d99b781f02 119 }
madcowswe 62:78d99b781f02 120
madcowswe 63:c2c6269767b8 121 MotorControl::set_fwdcmd(0);
madcowswe 63:c2c6269767b8 122 for(float spd = 0.05; spd <= 2; spd *= 1.4){
madcowswe 63:c2c6269767b8 123
madcowswe 63:c2c6269767b8 124 MotorControl::set_omegacmd(spd);
madcowswe 63:c2c6269767b8 125
madcowswe 63:c2c6269767b8 126 Thread::wait(3000);
madcowswe 63:c2c6269767b8 127
madcowswe 63:c2c6269767b8 128 float f = MotorControl::mfwdpowdbg;
madcowswe 63:c2c6269767b8 129 float r = MotorControl::mrotpowdbg;
madcowswe 63:c2c6269767b8 130 MotorControl::set_omegacmd(0);
madcowswe 63:c2c6269767b8 131 printf("targetspd:%f, fwd:%f, rot:%f\r\n", spd, f, r);
madcowswe 63:c2c6269767b8 132 Thread::wait(5000);
madcowswe 63:c2c6269767b8 133 }
madcowswe 64:c979fb1cd3b5 134 */
madcowswe 21:167dacfe0b14 135 Thread::wait(osWaitForever);
madcowswe 51:bc261eae004b 136
madcowswe 12:76c9915db820 137 }
madcowswe 12:76c9915db820 138
twighk 13:d4b5851742a3 139 #include <cstdlib>
twighk 13:d4b5851742a3 140 using namespace std;
twighk 13:d4b5851742a3 141
xiaxia686 43:c592bf6a6a2d 142 void printingtestthread(void const*)
xiaxia686 43:c592bf6a6a2d 143 {
twighk 13:d4b5851742a3 144 const char ID = 1;
twighk 13:d4b5851742a3 145 float buffer[3] = {ID};
madcowswe 21:167dacfe0b14 146 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 147 while (true){
twighk 13:d4b5851742a3 148 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
madcowswe 20:70d651156779 149 buffer[i] = ID ;
twighk 13:d4b5851742a3 150 }
madcowswe 21:167dacfe0b14 151 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 152 Thread::wait(200);
twighk 13:d4b5851742a3 153 }
twighk 13:d4b5851742a3 154 }
madcowswe 14:c638d4b9ee94 155
xiaxia686 43:c592bf6a6a2d 156 void printingtestthread2(void const*)
xiaxia686 43:c592bf6a6a2d 157 {
twighk 13:d4b5851742a3 158 const char ID = 2;
twighk 13:d4b5851742a3 159 float buffer[5] = {ID};
madcowswe 21:167dacfe0b14 160 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 161 while (true){
twighk 13:d4b5851742a3 162 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 13:d4b5851742a3 163 buffer[i] = ID;
twighk 13:d4b5851742a3 164 }
madcowswe 21:167dacfe0b14 165 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 166 Thread::wait(500);
twighk 13:d4b5851742a3 167 }
twighk 8:69bdf20cb525 168 }
twighk 8:69bdf20cb525 169
madcowswe 14:c638d4b9ee94 170
rsavitski 24:50805ef8c499 171 /*
madcowswe 12:76c9915db820 172 void feedbacktest(){
madcowswe 20:70d651156779 173 //Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 12:76c9915db820 174 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
xiaxia686 43:c592bf6a6a2d 175
madcowswe 20:70d651156779 176 Kalman::State state;
xiaxia686 43:c592bf6a6a2d 177
madcowswe 20:70d651156779 178 float Pgain = -0.01;
madcowswe 15:9c5aaeda36dc 179 float fwdspeed = -400/3.0f;
madcowswe 12:76c9915db820 180 Timer timer;
madcowswe 12:76c9915db820 181 timer.start();
xiaxia686 43:c592bf6a6a2d 182
xiaxia686 43:c592bf6a6a2d 183 while(true) {
madcowswe 12:76c9915db820 184 float expecdist = fwdspeed * timer.read();
madcowswe 20:70d651156779 185 state = Kalman::getState();
madcowswe 20:70d651156779 186 float errleft = left_encoder.getTicks() - (expecdist);
madcowswe 20:70d651156779 187 float errright = right_encoder.getTicks() - expecdist;
xiaxia686 43:c592bf6a6a2d 188
madcowswe 12:76c9915db820 189 mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
madcowswe 12:76c9915db820 190 mright(max(min(errright*Pgain, 0.4f), -0.4f));
madcowswe 12:76c9915db820 191 }
twighk 8:69bdf20cb525 192 }
rsavitski 24:50805ef8c499 193 */
rsavitski 91:fdadfd883825 194 /*
xiaxia686 43:c592bf6a6a2d 195 void cakesensortest()
xiaxia686 43:c592bf6a6a2d 196 {
twighk 8:69bdf20cb525 197 wait(1);
madcowswe 20:70d651156779 198 printf("cakesensortest");
xiaxia686 43:c592bf6a6a2d 199
xiaxia686 43:c592bf6a6a2d 200 CakeSensor cs(P_DISTANCE_SENSOR);
xiaxia686 43:c592bf6a6a2d 201 while(true) {
twighk 8:69bdf20cb525 202 wait(0.1);
madcowswe 20:70d651156779 203 printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
xiaxia686 43:c592bf6a6a2d 204 }
twighk 3:717de74f6ebd 205 }
twighk 3:717de74f6ebd 206
xiaxia686 43:c592bf6a6a2d 207 void colourtest()
xiaxia686 43:c592bf6a6a2d 208 {
xiaxia686 45:77cf6375348a 209 Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER,UPPER);
xiaxia686 45:77cf6375348a 210 Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER,LOWER);
xiaxia686 43:c592bf6a6a2d 211
xiaxia686 43:c592bf6a6a2d 212 while(true) {
twighk 3:717de74f6ebd 213 wait(0.1);
xiaxia686 43:c592bf6a6a2d 214
xiaxia686 45:77cf6375348a 215 switch(c_lower.getColour()) {
twighk 3:717de74f6ebd 216 case BLUE :
xiaxia686 43:c592bf6a6a2d 217 printf("BLUE\n");
twighk 3:717de74f6ebd 218 break;
twighk 3:717de74f6ebd 219 case RED:
xiaxia686 43:c592bf6a6a2d 220 printf("RED\n");
twighk 3:717de74f6ebd 221 break;
twighk 3:717de74f6ebd 222 case WHITE:
xiaxia686 43:c592bf6a6a2d 223 printf("WHITE\n");
twighk 3:717de74f6ebd 224 break;
xiaxia686 43:c592bf6a6a2d 225 case BLACK:
xiaxia686 43:c592bf6a6a2d 226 printf("BLACK\n");
twighk 3:717de74f6ebd 227 break;
twighk 3:717de74f6ebd 228 default:
xiaxia686 43:c592bf6a6a2d 229 printf("BUG\n");
twighk 3:717de74f6ebd 230 }
xiaxia686 43:c592bf6a6a2d 231
twighk 2:45da48fab346 232 }
twighk 0:200635fa1b08 233
twighk 3:717de74f6ebd 234 }
rsavitski 91:fdadfd883825 235 */
madcowswe 51:bc261eae004b 236 /*
madcowswe 51:bc261eae004b 237
xiaxia686 43:c592bf6a6a2d 238 void pt_test()
xiaxia686 43:c592bf6a6a2d 239 {
xiaxia686 43:c592bf6a6a2d 240 DigitalOut _blue_led(p10);
xiaxia686 43:c592bf6a6a2d 241 DigitalOut _red_led(p11);
xiaxia686 45:77cf6375348a 242 AnalogIn _pt(p18);
xiaxia686 43:c592bf6a6a2d 243
xiaxia686 43:c592bf6a6a2d 244 bytepack_t datapackage;
xiaxia686 43:c592bf6a6a2d 245 // first 3 bytes of header is used for alignment
xiaxia686 43:c592bf6a6a2d 246 datapackage.data.header[0] = 0xFF;
xiaxia686 43:c592bf6a6a2d 247 datapackage.data.header[1] = 0xFF;
xiaxia686 43:c592bf6a6a2d 248 datapackage.data.header[2] = 0xFF;
xiaxia686 43:c592bf6a6a2d 249 while(true) {
xiaxia686 43:c592bf6a6a2d 250 //toggles leds for the next state
xiaxia686 43:c592bf6a6a2d 251 _blue_led = 1;
xiaxia686 43:c592bf6a6a2d 252 _red_led = 0;
xiaxia686 43:c592bf6a6a2d 253 wait(0.01);
xiaxia686 43:c592bf6a6a2d 254 volatile float blue_temp = _pt.read();
twighk 3:717de74f6ebd 255
xiaxia686 43:c592bf6a6a2d 256
xiaxia686 43:c592bf6a6a2d 257 datapackage.data.ID = (unsigned char)0;
xiaxia686 43:c592bf6a6a2d 258 datapackage.data.value = blue_temp;
xiaxia686 43:c592bf6a6a2d 259 datapackage.data.aux = 0;
xiaxia686 43:c592bf6a6a2d 260 for (int i = 0; i < sizeof(datapackage); i++) {
xiaxia686 43:c592bf6a6a2d 261 //mbed_serial.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 262 pc.putc(datapackage.type_char[i]);
twighk 3:717de74f6ebd 263 }
xiaxia686 43:c592bf6a6a2d 264
xiaxia686 43:c592bf6a6a2d 265 _blue_led = 0;
xiaxia686 43:c592bf6a6a2d 266 _red_led = 1;
xiaxia686 43:c592bf6a6a2d 267 wait(0.01);
xiaxia686 43:c592bf6a6a2d 268 volatile float red_temp = _pt.read();
xiaxia686 43:c592bf6a6a2d 269
xiaxia686 43:c592bf6a6a2d 270
xiaxia686 43:c592bf6a6a2d 271 datapackage.data.ID = (unsigned char)1;
xiaxia686 43:c592bf6a6a2d 272 datapackage.data.value = red_temp;
xiaxia686 43:c592bf6a6a2d 273 datapackage.data.aux = 0;
xiaxia686 43:c592bf6a6a2d 274 for (int i = 0; i < sizeof(datapackage); i++) {
xiaxia686 43:c592bf6a6a2d 275 //mbed_serial.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 276 pc.putc(datapackage.type_char[i]);
twighk 11:bbddc908c78c 277 }
twighk 3:717de74f6ebd 278
xiaxia686 43:c592bf6a6a2d 279 _blue_led = 0;
xiaxia686 43:c592bf6a6a2d 280 _red_led = 0;
xiaxia686 43:c592bf6a6a2d 281 wait(0.01);
xiaxia686 43:c592bf6a6a2d 282 volatile float noise_temp = _pt.read();
twighk 3:717de74f6ebd 283
twighk 3:717de74f6ebd 284
xiaxia686 43:c592bf6a6a2d 285 datapackage.data.ID = (unsigned char)2;
xiaxia686 43:c592bf6a6a2d 286 datapackage.data.value = noise_temp;
xiaxia686 43:c592bf6a6a2d 287 datapackage.data.aux = 0;
xiaxia686 43:c592bf6a6a2d 288 for (int i = 0; i < sizeof(datapackage); i++) {
xiaxia686 43:c592bf6a6a2d 289 //mbed_serial.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 290 pc.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 291 }
xiaxia686 43:c592bf6a6a2d 292
twighk 3:717de74f6ebd 293 }
twighk 3:717de74f6ebd 294 }
madcowswe 51:bc261eae004b 295 */
rsavitski 65:4709ff6c753c 296 #ifdef AGDHGADSYIGYJDGA
rsavitski 65:4709ff6c753c 297 PwmOut white(p26);
rsavitski 65:4709ff6c753c 298 PwmOut black(p25);
xiaxia686 43:c592bf6a6a2d 299
rsavitski 65:4709ff6c753c 300 void armtest()
rsavitski 65:4709ff6c753c 301 {
rsavitski 65:4709ff6c753c 302
rsavitski 65:4709ff6c753c 303 white.period(0.05);
rsavitski 65:4709ff6c753c 304 black.period(0.05);
rsavitski 65:4709ff6c753c 305
rsavitski 65:4709ff6c753c 306 /* float f=1;
rsavitski 65:4709ff6c753c 307 for (f=1; f<3; f+=0.1)
rsavitski 65:4709ff6c753c 308 {
rsavitski 65:4709ff6c753c 309 black.pulsewidth_us(f*1000);
rsavitski 65:4709ff6c753c 310 wait(1);
rsavitski 65:4709ff6c753c 311 printf("%f\r\n", f);
rsavitski 65:4709ff6c753c 312 }
rsavitski 65:4709ff6c753c 313 for (f=2; f>0; f-=0.1)
rsavitski 65:4709ff6c753c 314 {
rsavitski 65:4709ff6c753c 315 black.pulsewidth_us(f*1000);
rsavitski 65:4709ff6c753c 316 wait(1);
rsavitski 65:4709ff6c753c 317 printf("%f\r\n", f);
rsavitski 65:4709ff6c753c 318 }*/
rsavitski 65:4709ff6c753c 319
rsavitski 65:4709ff6c753c 320
rsavitski 65:4709ff6c753c 321 for(;;)
rsavitski 65:4709ff6c753c 322 {
rsavitski 65:4709ff6c753c 323 black.pulsewidth_us(2.0*1000);
rsavitski 65:4709ff6c753c 324 wait(2);
rsavitski 65:4709ff6c753c 325 black.pulsewidth_us(0.9*1000);//1.2
rsavitski 65:4709ff6c753c 326 wait(2);
rsavitski 65:4709ff6c753c 327 }
rsavitski 65:4709ff6c753c 328
rsavitski 65:4709ff6c753c 329 // white works
rsavitski 65:4709ff6c753c 330 /*for(;;)
rsavitski 65:4709ff6c753c 331 {
rsavitski 65:4709ff6c753c 332 white.pulsewidth_us(0.6*1000);
rsavitski 65:4709ff6c753c 333 wait(2);
rsavitski 65:4709ff6c753c 334 white.pulsewidth_us(2.5*1000);
rsavitski 65:4709ff6c753c 335 wait(2);
rsavitski 65:4709ff6c753c 336 }*/
rsavitski 65:4709ff6c753c 337
rsavitski 65:4709ff6c753c 338 /* while(1) //2.5 -> //0.6
rsavitski 65:4709ff6c753c 339 {
rsavitski 65:4709ff6c753c 340 white.pulsewidth_us(int(f*1000));
rsavitski 65:4709ff6c753c 341 printf("%f\r\n", f);
rsavitski 65:4709ff6c753c 342 f-=0.1;
rsavitski 65:4709ff6c753c 343 wait(1);
rsavitski 65:4709ff6c753c 344 }*/
rsavitski 65:4709ff6c753c 345 }
rsavitski 65:4709ff6c753c 346 #endif
rsavitski 65:4709ff6c753c 347 #ifdef FSDHGFSJDF
xiaxia686 43:c592bf6a6a2d 348 void armtest()
xiaxia686 43:c592bf6a6a2d 349 {
rsavitski 65:4709ff6c753c 350 Arm lower_arm(p25, 0.05, 0.9, 2.0);
rsavitski 65:4709ff6c753c 351 Arm upper_arm(p26, 0.05, 0.6, 2.5);
rsavitski 65:4709ff6c753c 352
rsavitski 65:4709ff6c753c 353 while(1)
rsavitski 65:4709ff6c753c 354 {
rsavitski 65:4709ff6c753c 355 upper_arm.go_up();
rsavitski 65:4709ff6c753c 356 wait(2);
rsavitski 65:4709ff6c753c 357 upper_arm.go_down();
rsavitski 65:4709ff6c753c 358 wait(2);
twighk 1:8119211eae14 359 }
twighk 1:8119211eae14 360 }
rsavitski 65:4709ff6c753c 361 #endif
rsavitski 65:4709ff6c753c 362 void armtest(){}
rsavitski 65:4709ff6c753c 363 /*
xiaxia686 43:c592bf6a6a2d 364 void motorsandservostest()
xiaxia686 43:c592bf6a6a2d 365 {
twighk 0:200635fa1b08 366 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 367 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 368 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 369 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 370 const float speed = 0.0;
twighk 0:200635fa1b08 371 const float dspeed = 0.0;
xiaxia686 43:c592bf6a6a2d 372
twighk 0:200635fa1b08 373 Timer servoTimer;
xiaxia686 43:c592bf6a6a2d 374 mleft(speed);
xiaxia686 43:c592bf6a6a2d 375 mright(speed);
twighk 0:200635fa1b08 376 servoTimer.start();
xiaxia686 43:c592bf6a6a2d 377 while (true) {
madcowswe 20:70d651156779 378 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
xiaxia686 43:c592bf6a6a2d 379 if (Eleft.getTicks() < Eright.getTicks()) {
twighk 0:200635fa1b08 380 mleft(speed);
twighk 0:200635fa1b08 381 mright(speed - dspeed);
twighk 0:200635fa1b08 382 } else {
twighk 0:200635fa1b08 383 mright(speed);
twighk 0:200635fa1b08 384 mleft(speed - dspeed);
twighk 0:200635fa1b08 385 }
xiaxia686 43:c592bf6a6a2d 386 if (servoTimer.read() < 1) {
twighk 0:200635fa1b08 387 sTop.clockwise();
twighk 0:200635fa1b08 388 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 389 sTop.halt();
twighk 0:200635fa1b08 390 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 391 sBottom.anticlockwise();
twighk 0:200635fa1b08 392 //Led=1;
twighk 0:200635fa1b08 393 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 394 sBottom.clockwise();
twighk 0:200635fa1b08 395 //Led=0;
twighk 0:200635fa1b08 396 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 397 sBottom.halt();
xiaxia686 43:c592bf6a6a2d 398 } else {
twighk 0:200635fa1b08 399 sTop.anticlockwise();
twighk 0:200635fa1b08 400 }
twighk 0:200635fa1b08 401 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 402 }
twighk 0:200635fa1b08 403 }
rsavitski 65:4709ff6c753c 404 */
xiaxia686 43:c592bf6a6a2d 405 void motortestline()
xiaxia686 43:c592bf6a6a2d 406 {
twighk 2:45da48fab346 407 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 408 const float speed = 0.2;
xiaxia686 43:c592bf6a6a2d 409 mleft(speed);
xiaxia686 43:c592bf6a6a2d 410 mright(speed);
twighk 2:45da48fab346 411 while(true) wait(1);
twighk 2:45da48fab346 412 }
twighk 2:45da48fab346 413
xiaxia686 43:c592bf6a6a2d 414 void motorencodetestline()
xiaxia686 43:c592bf6a6a2d 415 {
madcowswe 12:76c9915db820 416 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 12:76c9915db820 417 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 4:1be0f6c6ceae 418 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 419 const float speed = 0.2;
twighk 0:200635fa1b08 420 const float dspeed = 0.1;
twighk 0:200635fa1b08 421
xiaxia686 43:c592bf6a6a2d 422 mleft(speed);
xiaxia686 43:c592bf6a6a2d 423 mright(speed);
xiaxia686 43:c592bf6a6a2d 424 while (true) {
xiaxia686 43:c592bf6a6a2d 425 //left 27 cm = 113 -> 0.239 cm/pulse
xiaxia686 43:c592bf6a6a2d 426 //right 27 cm = 72 -> 0.375 cm/pulse
madcowswe 20:70d651156779 427 printf("Position is: %i \t %i \n\r", (int)(Eleft.getTicks()*0.239), (int)(Eright.getTicks()*0.375));
xiaxia686 43:c592bf6a6a2d 428 if (Eleft.getTicks()*0.239 < Eright.getTicks()*0.375) {
twighk 0:200635fa1b08 429 mright(speed - dspeed);
twighk 0:200635fa1b08 430 } else {
twighk 0:200635fa1b08 431 mright(speed + dspeed);
twighk 0:200635fa1b08 432 }
twighk 0:200635fa1b08 433 }
twighk 0:200635fa1b08 434
twighk 0:200635fa1b08 435 }
twighk 0:200635fa1b08 436
xiaxia686 43:c592bf6a6a2d 437 void motorencodetest()
xiaxia686 43:c592bf6a6a2d 438 {
madcowswe 7:4340355261f9 439 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 440 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 441 Serial pc(USBTX, USBRX);
xiaxia686 43:c592bf6a6a2d 442
twighk 0:200635fa1b08 443 const float speed = -0.3;
twighk 0:200635fa1b08 444 const int enc = -38;
xiaxia686 43:c592bf6a6a2d 445 while(true) {
xiaxia686 43:c592bf6a6a2d 446 mleft(speed);
xiaxia686 43:c592bf6a6a2d 447 mright(0);
xiaxia686 43:c592bf6a6a2d 448 while(Eleft.getTicks()>enc) {
madcowswe 20:70d651156779 449 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 450 }
xiaxia686 43:c592bf6a6a2d 451 Eleft.reset();
xiaxia686 43:c592bf6a6a2d 452 Eright.reset();
xiaxia686 43:c592bf6a6a2d 453 mleft(0);
xiaxia686 43:c592bf6a6a2d 454 mright(speed);
xiaxia686 43:c592bf6a6a2d 455 while(Eright.getTicks()>enc) {
madcowswe 20:70d651156779 456 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 457 }
xiaxia686 43:c592bf6a6a2d 458 Eleft.reset();
xiaxia686 43:c592bf6a6a2d 459 Eright.reset();
twighk 0:200635fa1b08 460 }
twighk 0:200635fa1b08 461 }
twighk 0:200635fa1b08 462
xiaxia686 43:c592bf6a6a2d 463 void encodertest()
xiaxia686 43:c592bf6a6a2d 464 {
madcowswe 15:9c5aaeda36dc 465 Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 15:9c5aaeda36dc 466 //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B);
twighk 0:200635fa1b08 467 Serial pc(USBTX, USBRX);
xiaxia686 43:c592bf6a6a2d 468 while(true) {
twighk 0:200635fa1b08 469 wait(0.1);
madcowswe 20:70d651156779 470 printf("Position is: %i \t %i \n\r", E1.getTicks(), 0);//E2.getTicks());
twighk 0:200635fa1b08 471 }
twighk 0:200635fa1b08 472
twighk 0:200635fa1b08 473 }
xiaxia686 43:c592bf6a6a2d 474 void motortest()
xiaxia686 43:c592bf6a6a2d 475 {
twighk 0:200635fa1b08 476 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 477 while(true) {
twighk 0:200635fa1b08 478 wait(1);
xiaxia686 43:c592bf6a6a2d 479 mleft(0.8);
xiaxia686 43:c592bf6a6a2d 480 mright(0.8);
twighk 0:200635fa1b08 481 wait(1);
xiaxia686 43:c592bf6a6a2d 482 mleft(-0.2);
xiaxia686 43:c592bf6a6a2d 483 mright(0.2);
twighk 0:200635fa1b08 484 wait(1);
xiaxia686 43:c592bf6a6a2d 485 mleft(0);
xiaxia686 43:c592bf6a6a2d 486 mright(0);
twighk 0:200635fa1b08 487 }
twighk 0:200635fa1b08 488 }