File content as of revision 11:8d4b7702ac06:

#include "mbed.h"
#include "Motor.h"
#include "rgbled.h"
#include "rgbSensor.h"

// Define threads and mutexes
Thread thread1;
Thread thread2;
Mutex motors_lock;

// Define devices
Motor left(p22, p16, p15); // pwm, fwd, rev
Motor right(p23, p19, p20); // pwm, fwd, rev
BusOut myled(LED1,LED2,LED3,LED4);
RGBLed myRGBled(p26, p25, p24); // red, green, blue
rgbSensor rgbsensor(p28, p27);
Serial blue(p13, p14); // serial tx, serial rx
enum speed_state { accelerating, braking, coasting };

//Game state variables
int progress = 0;
int current_item = 0;
float speed_cmd = 0.0;
float max_speed = 1.0;
float acceleration_rate = 0.04;
float brake_rate = 0.1;
float coast_rate = 0.02;
int cstate;
speed_state sstate = coasting;
bool collide = false;

// Global game actions
bool paused = false;
void check_unpause() {
    char bnum=0;
    char bhit=0;
    while (true) {
        if (blue.getc()=='B') { //button data packet
            bnum = blue.getc(); //button number
            bhit = blue.getc(); //1=hit, 0=release
            if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
                if (bnum == '1') { //number button 1, pause
                    if (bhit=='1') paused = false;
                }
            }
        }
    }
}
void game_paused() {
    // Cycle through LEDs
    Thread pause_thread;
    pause_thread.start(check_unpause);
    while (paused) {
        int num = 1;
        for (int i = 0; i < 3; i++) {
            num *= 2;
            myled = num;
            ThisThread::sleep_for(100);
        }
        ThisThread::sleep_for(500);
        for (int i = 3; i > 0; i--) {
            num /= 2;
            myled = num;
            ThisThread::sleep_for(100);
        }
        ThisThread::sleep_for(500);
    }
}

// Thread to control speed
void speed_control() {
    // The kart has to be in one of three states at all times
    while(1) {
        while(sstate == coasting) {
            if (speed_cmd > 0.0) {
                speed_cmd -= coast_rate;
                left.speed(speed_cmd);
                right.speed(speed_cmd);
            }
            ThisThread::sleep_for(200);
        }
        while(sstate == accelerating) {
            if (speed_cmd < 1.0) {
                speed_cmd += acceleration_rate;
                left.speed(speed_cmd);
                right.speed(speed_cmd);
            }
            ThisThread::sleep_for(200);
        }
        while(sstate == braking) {
            if (speed_cmd > 0.0) {
                speed_cmd -= brake_rate;
                left.speed(speed_cmd);
                right.speed(speed_cmd);
            }
            ThisThread::sleep_for(200);
        }
    }
}

// Thread to brake
void brake() {
    motors_lock.lock();
    myled = 8;
    while(1) {
        if (speed_cmd > 0.0) {
            speed_cmd -= brake_rate;
            left.speed(speed_cmd);
            right.speed(speed_cmd);
        }
        ThisThread::sleep_for(200);
    }
}

// Thread for checking rgb sensor values and updating game variables
// Change later depending on behavior of RGB sensor and colors used
int thresh = 150;   //change this depending on RGB values
void check_RGB() {
    rgbsensor.update();
    int C_value = rgbsensor.get_C();
    int R_value = rgbsensor.get_R();
    int G_value = rgbsensor.get_G();
    int B_value = rgbsensor.get_B();
    if(C_value > thresh && R_value > thresh && G_value > thresh && B_value > thresh && current_item == 0) { //Check for if cart runs over an item box
        current_item = rand() % 4 + 1;      //change this depending on items implemented and random item alg
        cstate = 0;
    }
    else if(C_value > thresh && R_value > thresh && G_value > thresh && B_value > thresh) {     //Check for if cart runs over a speed boost panel
        max_speed = 1;      //change this depending on speed up panel algs
        cstate = 0;
    }
    else if(C_value > thresh && R_value > thresh && G_value > thresh && B_value > thresh) {     //Check if cart collides with wall
        collide = true;
    }
    else if(C_value > thresh && R_value > thresh && G_value > thresh && B_value > thresh) {     //Check if cart reaches next checkpoint. cstate is set to 1 upon seeing first color of checkpoint
        cstate = 1;
    }
    else if(C_value > thresh && R_value > thresh && G_value > thresh && B_value > thresh && cstate == 1) {   
    //Second part of checking if cart reaches next checkpoint. If the previous color was passed through previously, updates checkpoint progress
        cstate = 0;
        progress++;
    }
    else {
        cstate = 0;
    }
}

int main() {
    // Start threads
    thread1.start(check_RGB);
    thread2.start(speed_control); // Since we're stopped, this won't do anything
    
    // Bluetooth controller code
    char bnum=0;
    char bhit=0;
    while(1) {
        if (blue.getc()=='!') {
            if (blue.getc()=='B') { //button data packet
                bnum = blue.getc(); //button number
                bhit = blue.getc(); //1=hit, 0=release
                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
                    switch (bnum) {
                        case '1': //number button 1, pause
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                paused = true;
                                game_paused();
                            }
                            break;
                        case '2': //number button 2, accelerate
                            if (bhit=='1') {
                                sstate = accelerating;
                            } else {
                                sstate = coasting;
                            }
                            break;
                        case '3': //number button 3
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                //add hit code here
                            } else {
                                //add release code here
                            }
                            break;
                        case '4': //number button 4, brakes
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                sstate = braking;
                            } else {
                                sstate = coasting;
                            }
                            break;
                        case '5': //button 5 up arrow
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                //throw_item();
                                //item_box();
                            } else {
                                
                            }
                            break;
                        case '6': //button 6 down arrow
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                left.speed(-1.0);
                                right.speed(-1.0);
                            } else {
                                left.speed(0.0);
                                right.speed(0.0);
                            }
                            break;
                        case '7': //button 7 left arrow
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                left.speed(0.3);
                                right.speed(1.0);
                            } else {
                                left.speed(0.0);
                                right.speed(0.0);
                            }
                            break;
                        case '8': //button 8 right arrow
                            if (bhit=='1') {
                                //myled = bnum - '0'; //current button number will appear on LEDs
                                left.speed(1.0);
                                right.speed(0.3);
                            } else {
                                left.speed(0.0);
                                right.speed(0.0);
                            }
                            break;
                        default:
                            break;
                    }
                }
            }
        }
    }
}