Silvan Li / Mbed OS mbedKart_sp

Dependencies:   Motor

(notes)

main.cpp@42:d7e8f7331a65, 2018-12-13 (annotated)

Committer:
DerekW2015
Date:
Thu Dec 13 03:30:33 2018 +0000
Revision:
42:d7e8f7331a65
Parent:
40:5f44e4081eb8
Child:
43:6fb9461e9aa3
We have a filesystem

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 42:d7e8f7331a65 6 #include "FATFileSystem.h"
DerekW2015 42:d7e8f7331a65 7 #include "SDBlockDevice.h"
DerekW2015 21:f8f6c1f5743c 8 #include "universal.h"
sli425 31:0d925d69cbe2 9 #include <ctime>
DerekW2015 28:0187a2d494a2 10
DerekW2015 11:8d4b7702ac06 11 // Define threads and mutexes
DerekW2015 11:8d4b7702ac06 12 Thread thread1;
DerekW2015 11:8d4b7702ac06 13 Thread thread2;
sli425 31:0d925d69cbe2 14 Thread thread3;
DerekW2015 11:8d4b7702ac06 15
DerekW2015 0:a9a4c0fd5f8a 16 // Global game actions
DerekW2015 8:92bf0cc337b5 17 bool paused = false;
DerekW2015 8:92bf0cc337b5 18 void check_unpause() {
DerekW2015 8:92bf0cc337b5 19 char bnum=0;
DerekW2015 8:92bf0cc337b5 20 char bhit=0;
DerekW2015 37:44d2cbbd8507 21 while (paused) {
DerekW2015 8:92bf0cc337b5 22 if (blue.getc()=='B') { //button data packet
DerekW2015 8:92bf0cc337b5 23 bnum = blue.getc(); //button number
DerekW2015 8:92bf0cc337b5 24 bhit = blue.getc(); //1=hit, 0=release
DerekW2015 8:92bf0cc337b5 25 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
DerekW2015 8:92bf0cc337b5 26 if (bnum == '1') { //number button 1, pause
DerekW2015 8:92bf0cc337b5 27 if (bhit=='1') paused = false;
DerekW2015 8:92bf0cc337b5 28 }
DerekW2015 8:92bf0cc337b5 29 }
DerekW2015 8:92bf0cc337b5 30 }
DerekW2015 8:92bf0cc337b5 31 }
DerekW2015 8:92bf0cc337b5 32 }
sli425 12:4fec6ed886ab 33
DerekW2015 8:92bf0cc337b5 34 void game_paused() {
DerekW2015 8:92bf0cc337b5 35 // Cycle through LEDs
DerekW2015 38:db41ff8c0e00 36 sstate = pause;
DerekW2015 8:92bf0cc337b5 37 Thread pause_thread;
DerekW2015 8:92bf0cc337b5 38 pause_thread.start(check_unpause);
DerekW2015 8:92bf0cc337b5 39 while (paused) {
DerekW2015 8:92bf0cc337b5 40 int num = 1;
DerekW2015 8:92bf0cc337b5 41 for (int i = 0; i < 3; i++) {
DerekW2015 8:92bf0cc337b5 42 num *= 2;
DerekW2015 8:92bf0cc337b5 43 myled = num;
DerekW2015 8:92bf0cc337b5 44 ThisThread::sleep_for(100);
DerekW2015 8:92bf0cc337b5 45 }
DerekW2015 8:92bf0cc337b5 46 ThisThread::sleep_for(500);
DerekW2015 8:92bf0cc337b5 47 for (int i = 3; i > 0; i--) {
DerekW2015 8:92bf0cc337b5 48 num /= 2;
DerekW2015 8:92bf0cc337b5 49 myled = num;
DerekW2015 8:92bf0cc337b5 50 ThisThread::sleep_for(100);
DerekW2015 8:92bf0cc337b5 51 }
DerekW2015 8:92bf0cc337b5 52 ThisThread::sleep_for(500);
DerekW2015 8:92bf0cc337b5 53 }
DerekW2015 37:44d2cbbd8507 54 pause_thread.terminate();
DerekW2015 37:44d2cbbd8507 55 }
DerekW2015 37:44d2cbbd8507 56
DerekW2015 37:44d2cbbd8507 57 void win() {
DerekW2015 38:db41ff8c0e00 58 while(1) {
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 11:8d4b7702ac06 80 }
DerekW2015 11:8d4b7702ac06 81
DerekW2015 11:8d4b7702ac06 82 // Thread to control speed
DerekW2015 11:8d4b7702ac06 83 void speed_control() {
DerekW2015 11:8d4b7702ac06 84 // The kart has to be in one of three states at all times
DerekW2015 11:8d4b7702ac06 85 while(1) {
DerekW2015 11:8d4b7702ac06 86 while(sstate == coasting) {
DerekW2015 15:350b9128a602 87 if (speed_cmd > 0.0) speed_cmd -= coast_rate;
DerekW2015 15:350b9128a602 88 else speed_cmd = 0.0;
DerekW2015 28:0187a2d494a2 89 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 90 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 91 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 92 }
DerekW2015 11:8d4b7702ac06 93 while(sstate == accelerating) {
DerekW2015 15:350b9128a602 94 if (speed_cmd < max_speed) speed_cmd += acceleration_rate;
DerekW2015 15:350b9128a602 95 else speed_cmd = max_speed;
DerekW2015 28:0187a2d494a2 96 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 97 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 98 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 99 }
DerekW2015 11:8d4b7702ac06 100 while(sstate == braking) {
DerekW2015 28:0187a2d494a2 101 if (speed_cmd > -1.0) speed_cmd -= brake_rate;
DerekW2015 28:0187a2d494a2 102 else speed_cmd = -1.0;
DerekW2015 28:0187a2d494a2 103 left.speed(speed_cmd * left_multiplier);
DerekW2015 28:0187a2d494a2 104 right.speed(speed_cmd * right_multiplier);
DerekW2015 11:8d4b7702ac06 105 ThisThread::sleep_for(200);
DerekW2015 11:8d4b7702ac06 106 }
DerekW2015 38:db41ff8c0e00 107 while(sstate == pause) {
DerekW2015 38:db41ff8c0e00 108 left.speed(0.0);
DerekW2015 38:db41ff8c0e00 109 right.speed(0.0);
DerekW2015 38:db41ff8c0e00 110 }
DerekW2015 11:8d4b7702ac06 111 }
DerekW2015 11:8d4b7702ac06 112 }
DerekW2015 11:8d4b7702ac06 113
sli425 31:0d925d69cbe2 114 void powerupthread() {
sli425 31:0d925d69cbe2 115 while(1){
sli425 31:0d925d69cbe2 116 if(powerup){
sli425 31:0d925d69cbe2 117 max_speed = 1.0;
sli425 31:0d925d69cbe2 118 ThisThread::sleep_for(5000);
sli425 31:0d925d69cbe2 119 max_speed = 0.8;
DerekW2015 38:db41ff8c0e00 120 powerup = false;
sli425 31:0d925d69cbe2 121 }
sli425 31:0d925d69cbe2 122 ThisThread::sleep_for(300);
sli425 31:0d925d69cbe2 123 }
sli425 31:0d925d69cbe2 124 }
sli425 31:0d925d69cbe2 125
sli425 3:6c749bff51aa 126 // Thread for checking rgb sensor values and updating game variables
sli425 3:6c749bff51aa 127 // Change later depending on behavior of RGB sensor and colors used
sli425 31:0d925d69cbe2 128 int t = 8000; //change this depending on RGB values
sli425 3:6c749bff51aa 129 void check_RGB() {
sli425 12:4fec6ed886ab 130 while(true){
sli425 12:4fec6ed886ab 131 rgbsensor.update();
sli425 12:4fec6ed886ab 132 int C_value = rgbsensor.get_C();
sli425 12:4fec6ed886ab 133 int R_value = rgbsensor.get_R();
sli425 12:4fec6ed886ab 134 int G_value = rgbsensor.get_G();
sli425 12:4fec6ed886ab 135 int B_value = rgbsensor.get_B();
DerekW2015 35:b0c68a76acc9 136 if(R_value < 3000 && B_value > 6500) { //Check for if cart runs over a speed boost panel
DerekW2015 35:b0c68a76acc9 137 pc.printf("Found blue");
sli425 31:0d925d69cbe2 138 powerup = true; //change this depending on speed up panel algs
sli425 12:4fec6ed886ab 139 cstate = 0;
sli425 12:4fec6ed886ab 140 }
DerekW2015 35:b0c68a76acc9 141 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 142 pc.printf("Found red");
DerekW2015 37:44d2cbbd8507 143 paused = true;
DerekW2015 37:44d2cbbd8507 144 win();
sli425 12:4fec6ed886ab 145 }
DerekW2015 33:820a1510cf2e 146 pc.printf("[C: %d, R: %d, G: %d, B: %d]\r\n", C_value, R_value, G_value, B_value);
sli425 32:8a7a72c360ed 147 ThisThread::sleep_for(500);
sli425 3:6c749bff51aa 148 }
sli425 3:6c749bff51aa 149 }
sli425 3:6c749bff51aa 150
DerekW2015 0:a9a4c0fd5f8a 151 int main() {
sli425 23:b0fe1c1046dc 152 pc.printf("Initializing ");
DerekW2015 30:889aff39caa8 153
DerekW2015 26:708fb66f0b6a 154 // Start threads
DerekW2015 26:708fb66f0b6a 155 thread1.start(check_RGB);
DerekW2015 26:708fb66f0b6a 156 thread2.start(speed_control); // Since we're stopped, this won't do anything
sli425 31:0d925d69cbe2 157 thread3.start(powerupthread);
sli425 31:0d925d69cbe2 158
sli425 31:0d925d69cbe2 159 std::clock_t start;
sli425 31:0d925d69cbe2 160 double duration;
sli425 31:0d925d69cbe2 161 start = std::clock();
DerekW2015 26:708fb66f0b6a 162
DerekW2015 0:a9a4c0fd5f8a 163 // Bluetooth controller code
DerekW2015 0:a9a4c0fd5f8a 164 char bnum=0;
DerekW2015 0:a9a4c0fd5f8a 165 char bhit=0;
sli425 31:0d925d69cbe2 166 pc.printf("running");
DerekW2015 30:889aff39caa8 167 while(running) {
DerekW2015 0:a9a4c0fd5f8a 168 if (blue.getc()=='!') {
DerekW2015 0:a9a4c0fd5f8a 169 if (blue.getc()=='B') { //button data packet
DerekW2015 0:a9a4c0fd5f8a 170 bnum = blue.getc(); //button number
DerekW2015 0:a9a4c0fd5f8a 171 bhit = blue.getc(); //1=hit, 0=release
DerekW2015 0:a9a4c0fd5f8a 172 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
DerekW2015 0:a9a4c0fd5f8a 173 switch (bnum) {
DerekW2015 0:a9a4c0fd5f8a 174 case '1': //number button 1, pause
DerekW2015 0:a9a4c0fd5f8a 175 if (bhit=='1') {
DerekW2015 8:92bf0cc337b5 176 paused = true;
DerekW2015 8:92bf0cc337b5 177 game_paused();
DerekW2015 0:a9a4c0fd5f8a 178 }
DerekW2015 0:a9a4c0fd5f8a 179 break;
DerekW2015 0:a9a4c0fd5f8a 180 case '2': //number button 2, accelerate
DerekW2015 0:a9a4c0fd5f8a 181 if (bhit=='1') {
DerekW2015 11:8d4b7702ac06 182 sstate = accelerating;
sli425 31:0d925d69cbe2 183 pc.printf("accelerating");
DerekW2015 0:a9a4c0fd5f8a 184 } else {
DerekW2015 11:8d4b7702ac06 185 sstate = coasting;
DerekW2015 0:a9a4c0fd5f8a 186 }
DerekW2015 0:a9a4c0fd5f8a 187 break;
DerekW2015 0:a9a4c0fd5f8a 188 case '3': //number button 3
DerekW2015 0:a9a4c0fd5f8a 189 if (bhit=='1') {
DerekW2015 0:a9a4c0fd5f8a 190 } else {
DerekW2015 0:a9a4c0fd5f8a 191 }
DerekW2015 0:a9a4c0fd5f8a 192 break;
DerekW2015 0:a9a4c0fd5f8a 193 case '4': //number button 4, brakes
DerekW2015 0:a9a4c0fd5f8a 194 if (bhit=='1') {
DerekW2015 11:8d4b7702ac06 195 sstate = braking;
DerekW2015 0:a9a4c0fd5f8a 196 } else {
DerekW2015 11:8d4b7702ac06 197 sstate = coasting;
DerekW2015 0:a9a4c0fd5f8a 198 }
DerekW2015 0:a9a4c0fd5f8a 199 break;
DerekW2015 0:a9a4c0fd5f8a 200 case '5': //button 5 up arrow
DerekW2015 0:a9a4c0fd5f8a 201 if (bhit=='1') {
sli425 31:0d925d69cbe2 202 pc.printf("up");
DerekW2015 0:a9a4c0fd5f8a 203 } else {
DerekW2015 0:a9a4c0fd5f8a 204 }
DerekW2015 0:a9a4c0fd5f8a 205 break;
DerekW2015 0:a9a4c0fd5f8a 206 case '6': //button 6 down arrow
DerekW2015 0:a9a4c0fd5f8a 207 if (bhit=='1') {
DerekW2015 0:a9a4c0fd5f8a 208 } else {
DerekW2015 0:a9a4c0fd5f8a 209 }
DerekW2015 0:a9a4c0fd5f8a 210 break;
DerekW2015 0:a9a4c0fd5f8a 211 case '7': //button 7 left arrow
DerekW2015 0:a9a4c0fd5f8a 212 if (bhit=='1') {
sli425 31:0d925d69cbe2 213 pc.printf("left");
DerekW2015 28:0187a2d494a2 214 left_multiplier = 0.5;
DerekW2015 28:0187a2d494a2 215 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 216 } else {
DerekW2015 28:0187a2d494a2 217 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 218 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 219 }
DerekW2015 0:a9a4c0fd5f8a 220 break;
DerekW2015 0:a9a4c0fd5f8a 221 case '8': //button 8 right arrow
DerekW2015 0:a9a4c0fd5f8a 222 if (bhit=='1') {
sli425 31:0d925d69cbe2 223 pc.printf("right");
DerekW2015 28:0187a2d494a2 224 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 225 right_multiplier = 0.5;
DerekW2015 0:a9a4c0fd5f8a 226 } else {
DerekW2015 28:0187a2d494a2 227 left_multiplier = 1.0;
DerekW2015 28:0187a2d494a2 228 right_multiplier = 1.0;
DerekW2015 0:a9a4c0fd5f8a 229 }
DerekW2015 0:a9a4c0fd5f8a 230 break;
DerekW2015 0:a9a4c0fd5f8a 231 default:
DerekW2015 0:a9a4c0fd5f8a 232 break;
DerekW2015 0:a9a4c0fd5f8a 233 }
DerekW2015 0:a9a4c0fd5f8a 234 }
DerekW2015 0:a9a4c0fd5f8a 235 }
DerekW2015 0:a9a4c0fd5f8a 236 }
DerekW2015 0:a9a4c0fd5f8a 237 }
DerekW2015 35:b0c68a76acc9 238 // Clean up
DerekW2015 35:b0c68a76acc9 239 duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC;
DerekW2015 35:b0c68a76acc9 240 pc.printf("%d",duration);
DerekW2015 35:b0c68a76acc9 241 thread1.terminate();
DerekW2015 35:b0c68a76acc9 242 thread2.terminate();
DerekW2015 35:b0c68a76acc9 243 thread3.terminate();
DerekW2015 0:a9a4c0fd5f8a 244 }