Silvan Li / Mbed OS mbedKart_sp

single player mbedKart

Dependencies:   Motor

(notes)

main.cpp@45:29d1f7734b9b, 2018-12-13 (annotated)

Committer:
DerekW2015
Date:
Thu Dec 13 05:32:22 2018 +0000
Revision:
45:29d1f7734b9b
Parent:
44:40183935dc5f 
Final build. Scrapped sound and SD libraries because nothing works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DerekW2015 0:a9a4c0fd5f8a 1 #include "mbed.h"
DerekW2015 42:d7e8f7331a65 2 #include <stdio.h>
DerekW2015 0:a9a4c0fd5f8a 3 #include "Motor.h"
DerekW2015 0:a9a4c0fd5f8a 4 #include "rgbled.h"
DerekW2015 0:a9a4c0fd5f8a 5 #include "rgbSensor.h"
DerekW2015 21:f8f6c1f5743c 6 #include "universal.h"
sli425 31:0d925d69cbe2 7 #include <ctime>
DerekW2015 28:0187a2d494a2 8
DerekW2015 11:8d4b7702ac06 9 // Define threads and mutexes
DerekW2015 11:8d4b7702ac06 10 Thread thread1;
DerekW2015 11:8d4b7702ac06 11 Thread thread2;
sli425 31:0d925d69cbe2 12 Thread thread3;
DerekW2015 11:8d4b7702ac06 13
DerekW2015 0:a9a4c0fd5f8a 14 // Global game actions
DerekW2015 8:92bf0cc337b5 15 bool paused = false;
DerekW2015 8:92bf0cc337b5 16 void check_unpause() {
DerekW2015 8:92bf0cc337b5 17 char bnum=0;
DerekW2015 8:92bf0cc337b5 18 char bhit=0;
DerekW2015 37:44d2cbbd8507 19 while (paused) {
DerekW2015 8:92bf0cc337b5 20 if (blue.getc()=='B') { //button data packet
DerekW2015 8:92bf0cc337b5 21 bnum = blue.getc(); //button number
DerekW2015 8:92bf0cc337b5 22 bhit = blue.getc(); //1=hit, 0=release
DerekW2015 8:92bf0cc337b5 23 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
DerekW2015 8:92bf0cc337b5 24 if (bnum == '1') { //number button 1, pause
DerekW2015 8:92bf0cc337b5 25 if (bhit=='1') paused = false;
DerekW2015 8:92bf0cc337b5 26 }
DerekW2015 8:92bf0cc337b5 27 }
DerekW2015 8:92bf0cc337b5 28 }
DerekW2015 8:92bf0cc337b5 29 }
DerekW2015 8:92bf0cc337b5 30 }
sli425 12:4fec6ed886ab 31
DerekW2015 8:92bf0cc337b5 32 void game_paused() {
DerekW2015 8:92bf0cc337b5 33 // Cycle through LEDs
DerekW2015 38:db41ff8c0e00 34 sstate = pause;
DerekW2015 8:92bf0cc337b5 35 Thread pause_thread;
DerekW2015 8:92bf0cc337b5 36 pause_thread.start(check_unpause);
DerekW2015 8:92bf0cc337b5 37 while (paused) {
DerekW2015 8:92bf0cc337b5 38 int num = 1;
DerekW2015 8:92bf0cc337b5 39 for (int i = 0; i < 3; i++) {
DerekW2015 8:92bf0cc337b5 40 num *= 2;
DerekW2015 8:92bf0cc337b5 41 myled = num;
DerekW2015 8:92bf0cc337b5 42 ThisThread::sleep_for(100);
DerekW2015 8:92bf0cc337b5 43 }
DerekW2015 8:92bf0cc337b5 44 ThisThread::sleep_for(500);
DerekW2015 8:92bf0cc337b5 45 for (int i = 3; i > 0; i--) {
DerekW2015 8:92bf0cc337b5 46 num /= 2;
DerekW2015 8:92bf0cc337b5 47 myled = num;
DerekW2015 8:92bf0cc337b5 48 ThisThread::sleep_for(100);
DerekW2015 8:92bf0cc337b5 49 }
DerekW2015 8:92bf0cc337b5 50 ThisThread::sleep_for(500);
DerekW2015 8:92bf0cc337b5 51 }
DerekW2015 37:44d2cbbd8507 52 pause_thread.terminate();
DerekW2015 37:44d2cbbd8507 53 }
DerekW2015 37:44d2cbbd8507 54
DerekW2015 37:44d2cbbd8507 55 void win() {
DerekW2015 38:db41ff8c0e00 56 while(1) {
DerekW2015 37:44d2cbbd8507 57 unsigned int rgbColor[3];
DerekW2015 37:44d2cbbd8507 58
DerekW2015 37:44d2cbbd8507 59 // Start off with red.
DerekW2015 37:44d2cbbd8507 60 rgbColor[0] = 255;
DerekW2015 37:44d2cbbd8507 61 rgbColor[1] = 0;
DerekW2015 37:44d2cbbd8507 62 rgbColor[2] = 0;
DerekW2015 37:44d2cbbd8507 63
DerekW2015 37:44d2cbbd8507 64 // Choose the colors to increment and decrement.
DerekW2015 37:44d2cbbd8507 65 for (int decColor = 0; decColor < 3; decColor += 1) {
DerekW2015 37:44d2cbbd8507 66 int incColor = decColor == 2 ? 0 : decColor + 1;
DerekW2015 37:44d2cbbd8507 67
DerekW2015 37:44d2cbbd8507 68 // cross-fade the two colors.
DerekW2015 37:44d2cbbd8507 69 for(int i = 0; i < 255; i += 1) {
DerekW2015 37:44d2cbbd8507 70 rgbColor[decColor] -= 1;
DerekW2015 37:44d2cbbd8507 71 rgbColor[incColor] += 1;
DerekW2015 37:44d2cbbd8507 72
DerekW2015 37:44d2cbbd8507 73 myRGBled.write(rgbColor[0]/255.0, rgbColor[1]/255.0, rgbColor[2]/255.0);
DerekW2015 37:44d2cbbd8507 74 ThisThread::sleep_for(1);
DerekW2015 37:44d2cbbd8507 75 }
DerekW2015 37:44d2cbbd8507 76 }
DerekW2015 37:44d2cbbd8507 77 }
DerekW2015 11:8d4b7702ac06 78 }
DerekW2015 11:8d4b7702ac06 79
DerekW2015 11:8d4b7702ac06 80 // Thread to control speed
DerekW2015 11:8d4b7702ac06 81 void speed_control() {
DerekW2015 11:8d4b7702ac06 82 // The kart has to be in one of three states at all times
DerekW2015 11:8d4b7702ac06 83 while(1) {
DerekW2015 11:8d4b7702ac06 84 while(sstate == coasting) {
DerekW2015 15:350b9128a602 85 if (speed_cmd > 0.0) speed_cmd -= coast_rate;
DerekW2015 15:350b9128a602 86 else speed_cmd = 0.0;
DerekW2015 28:0187a2d494a2 87 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 88 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 89 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 90 }
DerekW2015 11:8d4b7702ac06 91 while(sstate == accelerating) {
DerekW2015 15:350b9128a602 92 if (speed_cmd < max_speed) speed_cmd += acceleration_rate;
DerekW2015 15:350b9128a602 93 else speed_cmd = max_speed;
DerekW2015 28:0187a2d494a2 94 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 95 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 96 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 97 }
DerekW2015 11:8d4b7702ac06 98 while(sstate == braking) {
DerekW2015 28:0187a2d494a2 99 if (speed_cmd > -1.0) speed_cmd -= brake_rate;
DerekW2015 28:0187a2d494a2 100 else speed_cmd = -1.0;
DerekW2015 28:0187a2d494a2 101 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 102 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 103 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 104 }
DerekW2015 38:db41ff8c0e00 105 while(sstate == pause) {
DerekW2015 38:db41ff8c0e00 106 left.speed(0.0);
DerekW2015 38:db41ff8c0e00 107 right.speed(0.0);
DerekW2015 38:db41ff8c0e00 108 }
DerekW2015 11:8d4b7702ac06 109 }
DerekW2015 11:8d4b7702ac06 110 }
DerekW2015 11:8d4b7702ac06 111
sli425 31:0d925d69cbe2 112 void powerupthread() {
sli425 31:0d925d69cbe2 113 while(1){
sli425 31:0d925d69cbe2 114 if(powerup){
sli425 31:0d925d69cbe2 115 max_speed = 1.0;
sli425 31:0d925d69cbe2 116 ThisThread::sleep_for(5000);
sli425 31:0d925d69cbe2 117 max_speed = 0.8;
DerekW2015 38:db41ff8c0e00 118 powerup = false;
sli425 31:0d925d69cbe2 119 }
sli425 31:0d925d69cbe2 120 ThisThread::sleep_for(300);
sli425 31:0d925d69cbe2 121 }
sli425 31:0d925d69cbe2 122 }
sli425 31:0d925d69cbe2 123
sli425 3:6c749bff51aa 124 // Thread for checking rgb sensor values and updating game variables
sli425 3:6c749bff51aa 125 // Change later depending on behavior of RGB sensor and colors used
sli425 31:0d925d69cbe2 126 int t = 8000; //change this depending on RGB values
sli425 3:6c749bff51aa 127 void check_RGB() {
sli425 12:4fec6ed886ab 128 while(true){
sli425 12:4fec6ed886ab 129 rgbsensor.update();
sli425 12:4fec6ed886ab 130 int C_value = rgbsensor.get_C();
sli425 12:4fec6ed886ab 131 int R_value = rgbsensor.get_R();
sli425 12:4fec6ed886ab 132 int G_value = rgbsensor.get_G();
sli425 12:4fec6ed886ab 133 int B_value = rgbsensor.get_B();
DerekW2015 35:b0c68a76acc9 134 if(R_value < 3000 && B_value > 6500) { //Check for if cart runs over a speed boost panel
DerekW2015 35:b0c68a76acc9 135 pc.printf("Found blue");
sli425 31:0d925d69cbe2 136 powerup = true; //change this depending on speed up panel algs
sli425 12:4fec6ed886ab 137 cstate = 0;
sli425 12:4fec6ed886ab 138 }
DerekW2015 35:b0c68a76acc9 139 else if(R_value > 3000 && G_value < 2000 && B_value < 2000) { //Check if cart reaches next checkpoint. cstate is set to 1 upon seeing first color of checkpoint
DerekW2015 35:b0c68a76acc9 140 pc.printf("Found red");
DerekW2015 37:44d2cbbd8507 141 paused = true;
DerekW2015 37:44d2cbbd8507 142 win();
sli425 12:4fec6ed886ab 143 }
DerekW2015 33:820a1510cf2e 144 pc.printf("[C: %d, R: %d, G: %d, B: %d]\r\n", C_value, R_value, G_value, B_value);
sli425 32:8a7a72c360ed 145 ThisThread::sleep_for(500);
sli425 3:6c749bff51aa 146 }
sli425 3:6c749bff51aa 147 }
sli425 3:6c749bff51aa 148
DerekW2015 0:a9a4c0fd5f8a 149 int main() {
sli425 23:b0fe1c1046dc 150 pc.printf("Initializing ");
DerekW2015 30:889aff39caa8 151
DerekW2015 26:708fb66f0b6a 152 // Start threads
DerekW2015 26:708fb66f0b6a 153 thread1.start(check_RGB);
DerekW2015 26:708fb66f0b6a 154 thread2.start(speed_control); // Since we're stopped, this won't do anything
sli425 31:0d925d69cbe2 155 thread3.start(powerupthread);
sli425 31:0d925d69cbe2 156
sli425 31:0d925d69cbe2 157 std::clock_t start;
sli425 31:0d925d69cbe2 158 double duration;
sli425 31:0d925d69cbe2 159 start = std::clock();
DerekW2015 26:708fb66f0b6a 160
DerekW2015 0:a9a4c0fd5f8a 161 // Bluetooth controller code
DerekW2015 0:a9a4c0fd5f8a 162 char bnum=0;
DerekW2015 0:a9a4c0fd5f8a 163 char bhit=0;
sli425 31:0d925d69cbe2 164 pc.printf("running");
DerekW2015 30:889aff39caa8 165 while(running) {
DerekW2015 0:a9a4c0fd5f8a 166 if (blue.getc()=='!') {
DerekW2015 0:a9a4c0fd5f8a 167 if (blue.getc()=='B') { //button data packet
DerekW2015 0:a9a4c0fd5f8a 168 bnum = blue.getc(); //button number
DerekW2015 0:a9a4c0fd5f8a 169 bhit = blue.getc(); //1=hit, 0=release
DerekW2015 0:a9a4c0fd5f8a 170 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
DerekW2015 0:a9a4c0fd5f8a 171 switch (bnum) {
DerekW2015 0:a9a4c0fd5f8a 172 case '1': //number button 1, pause
DerekW2015 0:a9a4c0fd5f8a 173 if (bhit=='1') {
DerekW2015 8:92bf0cc337b5 174 paused = true;
DerekW2015 8:92bf0cc337b5 175 game_paused();
DerekW2015 0:a9a4c0fd5f8a 176 }
DerekW2015 0:a9a4c0fd5f8a 177 break;
DerekW2015 0:a9a4c0fd5f8a 178 case '2': //number button 2, accelerate
DerekW2015 0:a9a4c0fd5f8a 179 if (bhit=='1') {
DerekW2015 11:8d4b7702ac06 180 sstate = accelerating;
sli425 31:0d925d69cbe2 181 pc.printf("accelerating");
DerekW2015 0:a9a4c0fd5f8a 182 } else {
DerekW2015 11:8d4b7702ac06 183 sstate = coasting;
DerekW2015 0:a9a4c0fd5f8a 184 }
DerekW2015 0:a9a4c0fd5f8a 185 break;
DerekW2015 0:a9a4c0fd5f8a 186 case '3': //number button 3
DerekW2015 0:a9a4c0fd5f8a 187 if (bhit=='1') {
DerekW2015 0:a9a4c0fd5f8a 188 } else {
DerekW2015 0:a9a4c0fd5f8a 189 }
DerekW2015 0:a9a4c0fd5f8a 190 break;
DerekW2015 0:a9a4c0fd5f8a 191 case '4': //number button 4, brakes
DerekW2015 0:a9a4c0fd5f8a 192 if (bhit=='1') {
DerekW2015 11:8d4b7702ac06 193 sstate = braking;
DerekW2015 0:a9a4c0fd5f8a 194 } else {
DerekW2015 11:8d4b7702ac06 195 sstate = coasting;
DerekW2015 0:a9a4c0fd5f8a 196 }
DerekW2015 0:a9a4c0fd5f8a 197 break;
DerekW2015 0:a9a4c0fd5f8a 198 case '5': //button 5 up arrow
DerekW2015 0:a9a4c0fd5f8a 199 if (bhit=='1') {
sli425 31:0d925d69cbe2 200 pc.printf("up");
DerekW2015 0:a9a4c0fd5f8a 201 } else {
DerekW2015 0:a9a4c0fd5f8a 202 }
DerekW2015 0:a9a4c0fd5f8a 203 break;
DerekW2015 0:a9a4c0fd5f8a 204 case '6': //button 6 down arrow
DerekW2015 0:a9a4c0fd5f8a 205 if (bhit=='1') {
DerekW2015 0:a9a4c0fd5f8a 206 } else {
DerekW2015 0:a9a4c0fd5f8a 207 }
DerekW2015 0:a9a4c0fd5f8a 208 break;
DerekW2015 0:a9a4c0fd5f8a 209 case '7': //button 7 left arrow
DerekW2015 0:a9a4c0fd5f8a 210 if (bhit=='1') {
sli425 31:0d925d69cbe2 211 pc.printf("left");
DerekW2015 28:0187a2d494a2 212 left_multiplier = 0.5;
DerekW2015 28:0187a2d494a2 213 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 214 } else {
DerekW2015 28:0187a2d494a2 215 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 216 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 217 }
DerekW2015 0:a9a4c0fd5f8a 218 break;
DerekW2015 0:a9a4c0fd5f8a 219 case '8': //button 8 right arrow
DerekW2015 0:a9a4c0fd5f8a 220 if (bhit=='1') {
sli425 31:0d925d69cbe2 221 pc.printf("right");
DerekW2015 28:0187a2d494a2 222 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 223 right_multiplier = 0.5;
DerekW2015 0:a9a4c0fd5f8a 224 } else {
DerekW2015 28:0187a2d494a2 225 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 226 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 227 }
DerekW2015 0:a9a4c0fd5f8a 228 break;
DerekW2015 0:a9a4c0fd5f8a 229 default:
DerekW2015 0:a9a4c0fd5f8a 230 break;
DerekW2015 0:a9a4c0fd5f8a 231 }
DerekW2015 0:a9a4c0fd5f8a 232 }
DerekW2015 0:a9a4c0fd5f8a 233 }
DerekW2015 0:a9a4c0fd5f8a 234 }
DerekW2015 0:a9a4c0fd5f8a 235 }
DerekW2015 35:b0c68a76acc9 236 // Clean up
DerekW2015 35:b0c68a76acc9 237 duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC;
DerekW2015 35:b0c68a76acc9 238 pc.printf("%d",duration);
DerekW2015 35:b0c68a76acc9 239 thread1.terminate();
DerekW2015 35:b0c68a76acc9 240 thread2.terminate();
DerekW2015 35:b0c68a76acc9 241 thread3.terminate();
DerekW2015 0:a9a4c0fd5f8a 242 }