Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

main.cpp@38:3062838df0ce, 2014-03-28 (annotated)

Committer:
soonerbot
Date:
Fri Mar 28 21:53:04 2014 +0000
Revision:
38:3062838df0ce
Parent:
37:38a4ad49343e
Child:
41:fa498d6e7538
Added gap checks

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soonerbot 0:3a3dd78038a6 1 #include "mbed.h"
soonerbot 1:c28fac16a109 2 #include "dbgprint.h"
soonerbot 1:c28fac16a109 3 #include "robot.h"
soonerbot 14:a30aa3b29a2e 4 #include "hcsr04.h"
sswatek 33:03b0b66038e1 5 #include "game.h"
soonerbot 0:3a3dd78038a6 6
soonerbot 1:c28fac16a109 7 BusOut leds(LED_RED,LED_GREEN,LED_BLUE);
soonerbot 1:c28fac16a109 8 Serial pc(USBTX, USBRX);
soonerbot 0:3a3dd78038a6 9
sswatek 35:6ef5fbc45672 10
soonerbot 14:a30aa3b29a2e 11
soonerbot 14:a30aa3b29a2e 12 /*
soonerbot 14:a30aa3b29a2e 13 //actual competition code, kinda
soonerbot 14:a30aa3b29a2e 14 int firstSection(){ // drive forward and measure distance
soonerbot 14:a30aa3b29a2e 15 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 14:a30aa3b29a2e 16 // ping sensor
soonerbot 14:a30aa3b29a2e 17 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 14:a30aa3b29a2e 18 // ping sensor
soonerbot 14:a30aa3b29a2e 19 }
soonerbot 14:a30aa3b29a2e 20 int secondsection(){
soonerbot 14:a30aa3b29a2e 21 // second step
soonerbot 14:a30aa3b29a2e 22 // etc
soonerbot 14:a30aa3b29a2e 23 }
soonerbot 14:a30aa3b29a2e 24 */
soonerbot 14:a30aa3b29a2e 25
soonerbot 0:3a3dd78038a6 26 int main() {
sswatek 35:6ef5fbc45672 27 wait(0.1);
sswatek 35:6ef5fbc45672 28 robot bot;
sswatek 35:6ef5fbc45672 29 gamePlayer game(bot);
sswatek 35:6ef5fbc45672 30 servo s(PTC9);
sswatek 37:38a4ad49343e 31 servo s2(PTC8);
sswatek 37:38a4ad49343e 32 servo s3(PTA5);
sswatek 37:38a4ad49343e 33 servo s4(PTA4);
soonerbot 14:a30aa3b29a2e 34 // Initialize variables
soonerbot 14:a30aa3b29a2e 35 leds = 0x2;
soonerbot 1:c28fac16a109 36 char tmpchar = 0;
soonerbot 14:a30aa3b29a2e 37 const int* constbuf; // displays values
soonerbot 10:926f142f16a3 38 int tmpOut;
soonerbot 4:adc885f4ab75 39 double targetAngle=0.0;
soonerbot 14:a30aa3b29a2e 40 DBGPRINT("AA\n\r",1); // to see if robot powers up at least
soonerbot 14:a30aa3b29a2e 41
soonerbot 15:b10859606504 42 //test servo
soonerbot 15:b10859606504 43 s.toPosition(45);
soonerbot 15:b10859606504 44
soonerbot 15:b10859606504 45
soonerbot 15:b10859606504 46 //timer issue navigation test
soonerbot 15:b10859606504 47 bot.absDriveForward(0,50);//assuming the bot stops in this function
soonerbot 15:b10859606504 48 /*
soonerbot 15:b10859606504 49 DBGPRINT("%f",bot.gyro.getZDegrees());
soonerbot 15:b10859606504 50 bot.gyro.stop();//stopping the gyro timer
soonerbot 15:b10859606504 51 //bot.gyro.gyroUpkeepTicker.detach();//stopping the gyro timer
soonerbot 15:b10859606504 52 //use sensor to find distance
soonerbot 15:b10859606504 53 bot.pingLeft.trigger();
soonerbot 15:b10859606504 54 wait(0.1);
soonerbot 15:b10859606504 55 float pingresult = bot.pingLeft.inches();
soonerbot 15:b10859606504 56 DBGPRINT("Distance = %f\r\n",pingresult);
soonerbot 15:b10859606504 57 bot.gyro.start();//stopping the gyro timer
soonerbot 15:b10859606504 58 DBGPRINT("%f",bot.gyro.getZDegrees());
soonerbot 15:b10859606504 59 */
sswatek 23:53cafcd67828 60 Timer dataTimer;
sswatek 23:53cafcd67828 61 int testdata[]={'H','e','l','l','o'};
sswatek 30:4158120cf801 62 //int responseData[17];
sswatek 23:53cafcd67828 63 int response;
sswatek 23:53cafcd67828 64 int gotAck=0;
soonerbot 14:a30aa3b29a2e 65 // Loop
soonerbot 0:3a3dd78038a6 66 while(1) {
soonerbot 1:c28fac16a109 67 DBGPRINT("BB\n\r",1);
soonerbot 7:3b2cf7efe5d1 68 leds = leds^0x7; // toggle the LEDs for each loop
soonerbot 1:c28fac16a109 69 tmpchar = pc.getc();
sswatek 23:53cafcd67828 70 bot.BTLink.procBuf(0x02);
soonerbot 7:3b2cf7efe5d1 71 // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
soonerbot 1:c28fac16a109 72 switch(tmpchar){
soonerbot 15:b10859606504 73 /*case 'e': //drive in a smallish square
soonerbot 7:3b2cf7efe5d1 74 bot.driveForward(0,3000);
soonerbot 7:3b2cf7efe5d1 75 bot.driveForward(-90,0);
soonerbot 7:3b2cf7efe5d1 76 bot.driveForward(-90,3000);
soonerbot 7:3b2cf7efe5d1 77 bot.driveForward(-180,0);
soonerbot 7:3b2cf7efe5d1 78 bot.driveForward(-180,3000);
soonerbot 7:3b2cf7efe5d1 79 bot.driveForward(-270,0);
soonerbot 7:3b2cf7efe5d1 80 bot.driveForward(-270,3000);
soonerbot 7:3b2cf7efe5d1 81 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 82 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 15:b10859606504 83 break;*/
soonerbot 7:3b2cf7efe5d1 84 case 'q': //poll the encoders
soonerbot 1:c28fac16a109 85 constbuf = bot.bigenc.getVals();
soonerbot 1:c28fac16a109 86 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
soonerbot 1:c28fac16a109 87 break;
soonerbot 7:3b2cf7efe5d1 88 case 'z': //set the current direction to "forward" for the following "go forward/reverse" commands
soonerbot 4:adc885f4ab75 89 targetAngle = bot.gyro.getZDegrees();
soonerbot 4:adc885f4ab75 90 break;
soonerbot 7:3b2cf7efe5d1 91 case 'w': // turn 90 degrees counter clockwise from the starting rotation
soonerbot 15:b10859606504 92
soonerbot 15:b10859606504 93 s.toPosition(0);
soonerbot 15:b10859606504 94 //bot.driveForward(90,0);
soonerbot 7:3b2cf7efe5d1 95 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 96 break;
soonerbot 7:3b2cf7efe5d1 97 case 'x': // turn 90 degrees clockwise from the starting rotation
soonerbot 15:b10859606504 98 s.toPosition(180);
soonerbot 15:b10859606504 99 //bot.driveForward(-90,0);
soonerbot 6:62d498ee97cf 100 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 6:62d498ee97cf 101 break;
soonerbot 7:3b2cf7efe5d1 102 case 'a': // turn the opposite direction from the starting one
soonerbot 15:b10859606504 103 s.toPosition(90);
soonerbot 15:b10859606504 104 //bot.driveForward(180,0);
soonerbot 6:62d498ee97cf 105 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 1:c28fac16a109 106 break;
soonerbot 7:3b2cf7efe5d1 107 case 'd': // turn back to starting rotation
soonerbot 15:b10859606504 108 //bot.driveForward(0,0);
sswatek 18:c834bd26869e 109 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 17:e247d58d9f42 110 DBGPRINT("=%d\n\r",response);
soonerbot 7:3b2cf7efe5d1 111 break;
soonerbot 7:3b2cf7efe5d1 112 case 'W': // drive forward a small bit
soonerbot 9:aff48e331147 113 //bot.driveForward(targetAngle,1000);
soonerbot 10:926f142f16a3 114 //bot.motors.moveForward(100);
soonerbot 11:967469d7e01c 115 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 10:926f142f16a3 116 DBGPRINT("W -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 117 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 118 break;
soonerbot 7:3b2cf7efe5d1 119 case 'E': //drive forward five times as much
soonerbot 15:b10859606504 120 //bot.driveForward(targetAngle,5000);
sswatek 31:4ef53fbd6759 121 bot.absDriveForward(0,290*16);
soonerbot 4:adc885f4ab75 122 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 123 break;
soonerbot 7:3b2cf7efe5d1 124 case 'X': // small reverse
soonerbot 10:926f142f16a3 125 //bot.driveForward(targetAngle,-1000);
soonerbot 10:926f142f16a3 126
soonerbot 11:967469d7e01c 127 tmpOut = bot.absDriveForward(targetAngle,-3000);
soonerbot 10:926f142f16a3 128 DBGPRINT("X -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 129 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 130 break;
soonerbot 7:3b2cf7efe5d1 131 case 'C': // big reverse
soonerbot 15:b10859606504 132 //bot.driveForward(targetAngle,-5000);
sswatek 31:4ef53fbd6759 133 bot.absDriveForward(0,-290*16);
soonerbot 4:adc885f4ab75 134 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 135 break;
soonerbot 7:3b2cf7efe5d1 136 case 'p': // poll the gyro
soonerbot 3:a223b0bf8256 137 DBGPRINT("%d\r\n",bot.gyro.getZ());
soonerbot 3:a223b0bf8256 138 break;
soonerbot 7:3b2cf7efe5d1 139 case 'l': //calibrate the gyro ( caution, only use after resetting and before moving, otherwise will break any calibration)
soonerbot 3:a223b0bf8256 140 bot.gyro.calibrate();
soonerbot 3:a223b0bf8256 141 break;
soonerbot 7:3b2cf7efe5d1 142
soonerbot 7:3b2cf7efe5d1 143 // these are all control system modifications which should be fairly well locked down at this point
soonerbot 4:adc885f4ab75 144 case 't':
sswatek 18:c834bd26869e 145 response=bot.BTLink.sendCmd(0x00,testdata,5);
sswatek 23:53cafcd67828 146 //bot.gyro.stop();
sswatek 23:53cafcd67828 147 dataTimer.start();
sswatek 23:53cafcd67828 148 dataTimer.reset();
sswatek 30:4158120cf801 149 while(1){
sswatek 30:4158120cf801 150 gotAck=bot.BTLink.getAck(response);
sswatek 30:4158120cf801 151 if(gotAck || dataTimer.read_ms()>=500)
sswatek 30:4158120cf801 152 break;
sswatek 30:4158120cf801 153 }
sswatek 23:53cafcd67828 154 dataTimer.stop();
sswatek 23:53cafcd67828 155 //bot.gyro.start();
sswatek 18:c834bd26869e 156 //bot.pfac*=2;
sswatek 18:c834bd26869e 157 //DBGPRINT("pfac = %f\r\n",bot.pfac);
sswatek 23:53cafcd67828 158 DBGPRINT("Mode0=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
soonerbot 4:adc885f4ab75 159 break;
soonerbot 4:adc885f4ab75 160 case 'g':
sswatek 29:1132155bc7da 161 DBGPRINT("full rotation %d,%f -> ",bot.gyro.getZ(),bot.gyro.getZDegrees());
sswatek 33:03b0b66038e1 162 for(int i=0;i<36;i++){
sswatek 33:03b0b66038e1 163 bot.smoothMove((8000.0/360.0)*(10.0), 1, 40);
sswatek 33:03b0b66038e1 164 }
sswatek 29:1132155bc7da 165 DBGPRINT(" %d,%f\r\n",bot.gyro.getZ(),bot.gyro.getZDegrees());
soonerbot 4:adc885f4ab75 166 break;
soonerbot 4:adc885f4ab75 167 case 'y':
sswatek 26:ade7c813538f 168 bot.pollForShapes();
soonerbot 4:adc885f4ab75 169 break;
soonerbot 4:adc885f4ab75 170 case 'h':
sswatek 29:1132155bc7da 171 DBGPRINT("full rotation %d,%f -> ",bot.gyro.getZ(),bot.gyro.getZDegrees());
sswatek 29:1132155bc7da 172 bot.smoothMove(-8000, 1, 40);
sswatek 29:1132155bc7da 173 DBGPRINT(" %d,%f\r\n",bot.gyro.getZ(),bot.gyro.getZDegrees());
soonerbot 4:adc885f4ab75 174 break;
soonerbot 4:adc885f4ab75 175 case 'u':
sswatek 27:688409727452 176 bot.pollForRigs();
soonerbot 4:adc885f4ab75 177 break;
soonerbot 4:adc885f4ab75 178 case 'j':
sswatek 31:4ef53fbd6759 179 DBGPRINT("LeftStable (15,8) = %f\r\n",bot.pingLeft.getStablePoll());
soonerbot 4:adc885f4ab75 180 break;
soonerbot 4:adc885f4ab75 181 case 'i':
soonerbot 14:a30aa3b29a2e 182 //put distance ping here
soonerbot 14:a30aa3b29a2e 183 bot.pingLeft.trigger();
sswatek 30:4158120cf801 184 dataTimer.start();
sswatek 30:4158120cf801 185 dataTimer.reset();
sswatek 30:4158120cf801 186 while(bot.pingLeft.measuring && dataTimer.read_ms()<300);
sswatek 30:4158120cf801 187 dataTimer.stop();
sswatek 30:4158120cf801 188 DBGPRINT("Distance = %f\r\n",bot.pingLeft.inches());
soonerbot 4:adc885f4ab75 189 break;
soonerbot 4:adc885f4ab75 190 case 'k':
sswatek 30:4158120cf801 191 dataTimer.start();
sswatek 30:4158120cf801 192 for(int i=0;i<100;i++){
sswatek 30:4158120cf801 193 bot.pingLeft.trigger();
sswatek 30:4158120cf801 194 dataTimer.reset();
sswatek 30:4158120cf801 195 while(bot.pingLeft.measuring && dataTimer.read_ms()<300);
sswatek 30:4158120cf801 196 DBGPRINT("Distance %d = %f\r\n",i,bot.pingLeft.inches());
sswatek 30:4158120cf801 197 }
sswatek 30:4158120cf801 198 dataTimer.stop();
sswatek 26:ade7c813538f 199 //bot.angfac/=2;
sswatek 26:ade7c813538f 200 //DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 201 break;
soonerbot 4:adc885f4ab75 202 case 'T':
sswatek 33:03b0b66038e1 203 DBGPRINT("Finding Gap\r\n",1);
sswatek 33:03b0b66038e1 204 game.checkWaves();
soonerbot 4:adc885f4ab75 205 break;
soonerbot 4:adc885f4ab75 206 case 'G':
soonerbot 38:3062838df0ce 207 DBGPRINT("Running First and Second Row\r\n",1);
sswatek 34:4ad11cda1eca 208 game.runFirstRow();
soonerbot 38:3062838df0ce 209 game.runSecondRow();
sswatek 26:ade7c813538f 210 //bot.pfac/=1.05;
sswatek 26:ade7c813538f 211 //DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 212 break;
soonerbot 4:adc885f4ab75 213 case 'Y':
sswatek 26:ade7c813538f 214 //bot.ifac*=1.05;
sswatek 26:ade7c813538f 215 //DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 216 break;
soonerbot 4:adc885f4ab75 217 case 'H':
sswatek 26:ade7c813538f 218 //bot.ifac/=1.05;
sswatek 26:ade7c813538f 219 //DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 220 break;
soonerbot 4:adc885f4ab75 221 case 'U':
sswatek 26:ade7c813538f 222 //bot.dfac*=1.05;
sswatek 26:ade7c813538f 223 //DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 224 break;
soonerbot 4:adc885f4ab75 225 case 'J':
sswatek 26:ade7c813538f 226 //bot.dfac/=1.05;
sswatek 26:ade7c813538f 227 //DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 228 break;
soonerbot 7:3b2cf7efe5d1 229
soonerbot 7:3b2cf7efe5d1 230 // poll the compass ( currently gives bad values )
soonerbot 4:adc885f4ab75 231 case 'Q':
sswatek 28:c7e8d2db03f5 232 //bot.gyro.checkCompass();
sswatek 28:c7e8d2db03f5 233 DBGPRINT("Compass vector = %d\t%d\t%d\t%f\r\n",bot.gyro.xmag,bot.gyro.ymag,bot.gyro.zmag,bot.gyro.compDir*180.0/3.14159);
soonerbot 4:adc885f4ab75 234 break;
soonerbot 7:3b2cf7efe5d1 235
soonerbot 7:3b2cf7efe5d1 236 // brake if we get an unknown command
soonerbot 1:c28fac16a109 237 default:
soonerbot 15:b10859606504 238 //bot.left.brake();
soonerbot 15:b10859606504 239 //bot.right.brake();
soonerbot 1:c28fac16a109 240 break;
soonerbot 1:c28fac16a109 241
soonerbot 1:c28fac16a109 242 }
soonerbot 0:3a3dd78038a6 243 }
soonerbot 0:3a3dd78038a6 244 }