Silvan Li / Mbed OS mbedKart_sp

Dependencies:   Motor

(notes)

main.cpp@37:44d2cbbd8507, 2018-12-13 (annotated)

Committer:
DerekW2015
Date:
Thu Dec 13 02:29:12 2018 +0000
Revision:
37:44d2cbbd8507
Parent:
36:a844c1388408
Child:
38:db41ff8c0e00
Fixed acceleration not working at the beginning. Made game win like a pause, which you can get out of.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DerekW2015 0:a9a4c0fd5f8a 1 #include "mbed.h"
DerekW2015 0:a9a4c0fd5f8a 2 #include "Motor.h"
DerekW2015 0:a9a4c0fd5f8a 3 #include "rgbled.h"
DerekW2015 0:a9a4c0fd5f8a 4 #include "rgbSensor.h"
DerekW2015 21:f8f6c1f5743c 5 #include "universal.h"
sli425 31:0d925d69cbe2 6 #include <ctime>
DerekW2015 28:0187a2d494a2 7
DerekW2015 11:8d4b7702ac06 8 // Define threads and mutexes
DerekW2015 11:8d4b7702ac06 9 Thread thread1;
DerekW2015 11:8d4b7702ac06 10 Thread thread2;
sli425 31:0d925d69cbe2 11 Thread thread3;
DerekW2015 11:8d4b7702ac06 12
DerekW2015 0:a9a4c0fd5f8a 13 // Global game actions
DerekW2015 8:92bf0cc337b5 14 bool paused = false;
DerekW2015 8:92bf0cc337b5 15 void check_unpause() {
DerekW2015 8:92bf0cc337b5 16 char bnum=0;
DerekW2015 8:92bf0cc337b5 17 char bhit=0;
DerekW2015 37:44d2cbbd8507 18 while (paused) {
DerekW2015 8:92bf0cc337b5 19 if (blue.getc()=='B') { //button data packet
DerekW2015 8:92bf0cc337b5 20 bnum = blue.getc(); //button number
DerekW2015 8:92bf0cc337b5 21 bhit = blue.getc(); //1=hit, 0=release
DerekW2015 8:92bf0cc337b5 22 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
DerekW2015 8:92bf0cc337b5 23 if (bnum == '1') { //number button 1, pause
DerekW2015 8:92bf0cc337b5 24 if (bhit=='1') paused = false;
DerekW2015 8:92bf0cc337b5 25 }
DerekW2015 8:92bf0cc337b5 26 }
DerekW2015 8:92bf0cc337b5 27 }
DerekW2015 8:92bf0cc337b5 28 }
DerekW2015 8:92bf0cc337b5 29 }
sli425 12:4fec6ed886ab 30
DerekW2015 8:92bf0cc337b5 31 void game_paused() {
DerekW2015 8:92bf0cc337b5 32 // Cycle through LEDs
DerekW2015 37:44d2cbbd8507 33 left.speed(0.0);
DerekW2015 37:44d2cbbd8507 34 right.speed(0.0);
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 37:44d2cbbd8507 56 Thread pause_thread2;
DerekW2015 37:44d2cbbd8507 57 pause_thread2.start(game_paused);
DerekW2015 37:44d2cbbd8507 58 while(paused) {
DerekW2015 37:44d2cbbd8507 59 unsigned int rgbColor[3];
DerekW2015 37:44d2cbbd8507 60
DerekW2015 37:44d2cbbd8507 61 // Start off with red.
DerekW2015 37:44d2cbbd8507 62 rgbColor[0] = 255;
DerekW2015 37:44d2cbbd8507 63 rgbColor[1] = 0;
DerekW2015 37:44d2cbbd8507 64 rgbColor[2] = 0;
DerekW2015 37:44d2cbbd8507 65
DerekW2015 37:44d2cbbd8507 66 // Choose the colors to increment and decrement.
DerekW2015 37:44d2cbbd8507 67 for (int decColor = 0; decColor < 3; decColor += 1) {
DerekW2015 37:44d2cbbd8507 68 int incColor = decColor == 2 ? 0 : decColor + 1;
DerekW2015 37:44d2cbbd8507 69
DerekW2015 37:44d2cbbd8507 70 // cross-fade the two colors.
DerekW2015 37:44d2cbbd8507 71 for(int i = 0; i < 255; i += 1) {
DerekW2015 37:44d2cbbd8507 72 rgbColor[decColor] -= 1;
DerekW2015 37:44d2cbbd8507 73 rgbColor[incColor] += 1;
DerekW2015 37:44d2cbbd8507 74
DerekW2015 37:44d2cbbd8507 75 myRGBled.write(rgbColor[0]/255.0, rgbColor[1]/255.0, rgbColor[2]/255.0);
DerekW2015 37:44d2cbbd8507 76 ThisThread::sleep_for(1);
DerekW2015 37:44d2cbbd8507 77 }
DerekW2015 37:44d2cbbd8507 78 }
DerekW2015 37:44d2cbbd8507 79 }
DerekW2015 37:44d2cbbd8507 80 pause_thread2.terminate();
DerekW2015 11:8d4b7702ac06 81 }
DerekW2015 11:8d4b7702ac06 82
DerekW2015 11:8d4b7702ac06 83 // Thread to control speed
DerekW2015 11:8d4b7702ac06 84 void speed_control() {
DerekW2015 11:8d4b7702ac06 85 // The kart has to be in one of three states at all times
DerekW2015 11:8d4b7702ac06 86 while(1) {
DerekW2015 11:8d4b7702ac06 87 while(sstate == coasting) {
DerekW2015 15:350b9128a602 88 if (speed_cmd > 0.0) speed_cmd -= coast_rate;
DerekW2015 15:350b9128a602 89 else speed_cmd = 0.0;
DerekW2015 28:0187a2d494a2 90 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 91 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 92 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 93 }
DerekW2015 11:8d4b7702ac06 94 while(sstate == accelerating) {
DerekW2015 15:350b9128a602 95 if (speed_cmd < max_speed) speed_cmd += acceleration_rate;
DerekW2015 15:350b9128a602 96 else speed_cmd = max_speed;
DerekW2015 28:0187a2d494a2 97 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 98 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 99 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 100 }
DerekW2015 11:8d4b7702ac06 101 while(sstate == braking) {
DerekW2015 28:0187a2d494a2 102 if (speed_cmd > -1.0) speed_cmd -= brake_rate;
DerekW2015 28:0187a2d494a2 103 else speed_cmd = -1.0;
DerekW2015 28:0187a2d494a2 104 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 105 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 106 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 107 }
DerekW2015 11:8d4b7702ac06 108 }
DerekW2015 11:8d4b7702ac06 109 }
DerekW2015 11:8d4b7702ac06 110
sli425 31:0d925d69cbe2 111 void powerupthread() {
sli425 31:0d925d69cbe2 112 while(1){
sli425 31:0d925d69cbe2 113 if(powerup){
sli425 31:0d925d69cbe2 114 max_speed = 1.0;
sli425 31:0d925d69cbe2 115 ThisThread::sleep_for(5000);
sli425 31:0d925d69cbe2 116 max_speed = 0.8;
sli425 31:0d925d69cbe2 117 }
sli425 31:0d925d69cbe2 118 ThisThread::sleep_for(300);
sli425 31:0d925d69cbe2 119 }
sli425 31:0d925d69cbe2 120 }
sli425 31:0d925d69cbe2 121
sli425 3:6c749bff51aa 122 // Thread for checking rgb sensor values and updating game variables
sli425 3:6c749bff51aa 123 // Change later depending on behavior of RGB sensor and colors used
sli425 31:0d925d69cbe2 124 int t = 8000; //change this depending on RGB values
sli425 3:6c749bff51aa 125 void check_RGB() {
sli425 12:4fec6ed886ab 126 while(true){
sli425 12:4fec6ed886ab 127 rgbsensor.update();
sli425 12:4fec6ed886ab 128 int C_value = rgbsensor.get_C();
sli425 12:4fec6ed886ab 129 int R_value = rgbsensor.get_R();
sli425 12:4fec6ed886ab 130 int G_value = rgbsensor.get_G();
sli425 12:4fec6ed886ab 131 int B_value = rgbsensor.get_B();
DerekW2015 35:b0c68a76acc9 132 if(R_value < 3000 && B_value > 6500) { //Check for if cart runs over a speed boost panel
DerekW2015 35:b0c68a76acc9 133 pc.printf("Found blue");
sli425 31:0d925d69cbe2 134 powerup = true; //change this depending on speed up panel algs
sli425 12:4fec6ed886ab 135 cstate = 0;
sli425 12:4fec6ed886ab 136 }
DerekW2015 35:b0c68a76acc9 137 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 138 pc.printf("Found red");
DerekW2015 37:44d2cbbd8507 139 paused = true;
DerekW2015 37:44d2cbbd8507 140 win();
sli425 12:4fec6ed886ab 141 }
DerekW2015 33:820a1510cf2e 142 pc.printf("[C: %d, R: %d, G: %d, B: %d]\r\n", C_value, R_value, G_value, B_value);
sli425 32:8a7a72c360ed 143 ThisThread::sleep_for(500);
sli425 3:6c749bff51aa 144 }
sli425 3:6c749bff51aa 145 }
sli425 3:6c749bff51aa 146
DerekW2015 0:a9a4c0fd5f8a 147 int main() {
sli425 23:b0fe1c1046dc 148 pc.printf("Initializing ");
DerekW2015 30:889aff39caa8 149
DerekW2015 26:708fb66f0b6a 150 // Start threads
DerekW2015 26:708fb66f0b6a 151 thread1.start(check_RGB);
DerekW2015 26:708fb66f0b6a 152 thread2.start(speed_control); // Since we're stopped, this won't do anything
sli425 31:0d925d69cbe2 153 thread3.start(powerupthread);
sli425 31:0d925d69cbe2 154
sli425 31:0d925d69cbe2 155
sli425 31:0d925d69cbe2 156 std::clock_t start;
sli425 31:0d925d69cbe2 157 double duration;
sli425 31:0d925d69cbe2 158 start = std::clock();
DerekW2015 26:708fb66f0b6a 159
DerekW2015 0:a9a4c0fd5f8a 160 // Bluetooth controller code
DerekW2015 0:a9a4c0fd5f8a 161 char bnum=0;
DerekW2015 0:a9a4c0fd5f8a 162 char bhit=0;
sli425 31:0d925d69cbe2 163 pc.printf("running");
DerekW2015 30:889aff39caa8 164 while(running) {
DerekW2015 0:a9a4c0fd5f8a 165 if (blue.getc()=='!') {
DerekW2015 0:a9a4c0fd5f8a 166 if (blue.getc()=='B') { //button data packet
DerekW2015 0:a9a4c0fd5f8a 167 bnum = blue.getc(); //button number
DerekW2015 0:a9a4c0fd5f8a 168 bhit = blue.getc(); //1=hit, 0=release
DerekW2015 0:a9a4c0fd5f8a 169 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
DerekW2015 0:a9a4c0fd5f8a 170 switch (bnum) {
DerekW2015 0:a9a4c0fd5f8a 171 case '1': //number button 1, pause
DerekW2015 0:a9a4c0fd5f8a 172 if (bhit=='1') {
DerekW2015 8:92bf0cc337b5 173 paused = true;
DerekW2015 8:92bf0cc337b5 174 game_paused();
DerekW2015 0:a9a4c0fd5f8a 175 }
DerekW2015 0:a9a4c0fd5f8a 176 break;
DerekW2015 0:a9a4c0fd5f8a 177 case '2': //number button 2, accelerate
DerekW2015 0:a9a4c0fd5f8a 178 if (bhit=='1') {
DerekW2015 11:8d4b7702ac06 179 sstate = accelerating;
sli425 31:0d925d69cbe2 180 pc.printf("accelerating");
DerekW2015 0:a9a4c0fd5f8a 181 } else {
DerekW2015 11:8d4b7702ac06 182 sstate = coasting;
DerekW2015 0:a9a4c0fd5f8a 183 }
DerekW2015 0:a9a4c0fd5f8a 184 break;
DerekW2015 0:a9a4c0fd5f8a 185 case '3': //number button 3
DerekW2015 0:a9a4c0fd5f8a 186 if (bhit=='1') {
DerekW2015 0:a9a4c0fd5f8a 187 } else {
DerekW2015 0:a9a4c0fd5f8a 188 }
DerekW2015 0:a9a4c0fd5f8a 189 break;
DerekW2015 0:a9a4c0fd5f8a 190 case '4': //number button 4, brakes
DerekW2015 0:a9a4c0fd5f8a 191 if (bhit=='1') {
DerekW2015 11:8d4b7702ac06 192 sstate = braking;
DerekW2015 0:a9a4c0fd5f8a 193 } else {
DerekW2015 11:8d4b7702ac06 194 sstate = coasting;
DerekW2015 0:a9a4c0fd5f8a 195 }
DerekW2015 0:a9a4c0fd5f8a 196 break;
DerekW2015 0:a9a4c0fd5f8a 197 case '5': //button 5 up arrow
DerekW2015 0:a9a4c0fd5f8a 198 if (bhit=='1') {
sli425 31:0d925d69cbe2 199 pc.printf("up");
DerekW2015 0:a9a4c0fd5f8a 200 } else {
DerekW2015 0:a9a4c0fd5f8a 201 }
DerekW2015 0:a9a4c0fd5f8a 202 break;
DerekW2015 0:a9a4c0fd5f8a 203 case '6': //button 6 down arrow
DerekW2015 0:a9a4c0fd5f8a 204 if (bhit=='1') {
DerekW2015 0:a9a4c0fd5f8a 205 } else {
DerekW2015 0:a9a4c0fd5f8a 206 }
DerekW2015 0:a9a4c0fd5f8a 207 break;
DerekW2015 0:a9a4c0fd5f8a 208 case '7': //button 7 left arrow
DerekW2015 0:a9a4c0fd5f8a 209 if (bhit=='1') {
sli425 31:0d925d69cbe2 210 pc.printf("left");
DerekW2015 28:0187a2d494a2 211 left_multiplier = 0.5;
DerekW2015 28:0187a2d494a2 212 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 213 } else {
DerekW2015 28:0187a2d494a2 214 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 215 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 216 }
DerekW2015 0:a9a4c0fd5f8a 217 break;
DerekW2015 0:a9a4c0fd5f8a 218 case '8': //button 8 right arrow
DerekW2015 0:a9a4c0fd5f8a 219 if (bhit=='1') {
sli425 31:0d925d69cbe2 220 pc.printf("right");
DerekW2015 28:0187a2d494a2 221 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 222 right_multiplier = 0.5;
DerekW2015 0:a9a4c0fd5f8a 223 } else {
DerekW2015 28:0187a2d494a2 224 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 225 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 226 }
DerekW2015 0:a9a4c0fd5f8a 227 break;
DerekW2015 0:a9a4c0fd5f8a 228 default:
DerekW2015 0:a9a4c0fd5f8a 229 break;
DerekW2015 0:a9a4c0fd5f8a 230 }
DerekW2015 0:a9a4c0fd5f8a 231 }
DerekW2015 0:a9a4c0fd5f8a 232 }
DerekW2015 0:a9a4c0fd5f8a 233 }
DerekW2015 0:a9a4c0fd5f8a 234 }
DerekW2015 35:b0c68a76acc9 235 // Clean up
DerekW2015 35:b0c68a76acc9 236 duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC;
DerekW2015 35:b0c68a76acc9 237 pc.printf("%d",duration);
DerekW2015 35:b0c68a76acc9 238 thread1.terminate();
DerekW2015 35:b0c68a76acc9 239 thread2.terminate();
DerekW2015 35:b0c68a76acc9 240 thread3.terminate();
DerekW2015 0:a9a4c0fd5f8a 241 }