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@23:53cafcd67828, 2014-03-13 (annotated)

Committer:
sswatek
Date:
Thu Mar 13 04:30:24 2014 +0000
Revision:
23:53cafcd67828
Parent:
18:c834bd26869e
Child:
24:46eeab7cebc6
Reliably send messages to the phone

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"
soonerbot 0:3a3dd78038a6 5
soonerbot 1:c28fac16a109 6 BusOut leds(LED_RED,LED_GREEN,LED_BLUE);
soonerbot 1:c28fac16a109 7 Serial pc(USBTX, USBRX);
soonerbot 0:3a3dd78038a6 8
soonerbot 1:c28fac16a109 9 robot bot;
soonerbot 15:b10859606504 10 servo s(PTC9);
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() {
soonerbot 14:a30aa3b29a2e 27 // Initialize variables
soonerbot 14:a30aa3b29a2e 28 leds = 0x2;
soonerbot 1:c28fac16a109 29 char tmpchar = 0;
soonerbot 14:a30aa3b29a2e 30 const int* constbuf; // displays values
soonerbot 10:926f142f16a3 31 int tmpOut;
soonerbot 4:adc885f4ab75 32 double targetAngle=0.0;
soonerbot 14:a30aa3b29a2e 33 DBGPRINT("AA\n\r",1); // to see if robot powers up at least
soonerbot 14:a30aa3b29a2e 34
soonerbot 15:b10859606504 35 //test servo
soonerbot 15:b10859606504 36 s.toPosition(45);
soonerbot 15:b10859606504 37
soonerbot 15:b10859606504 38
soonerbot 15:b10859606504 39 //timer issue navigation test
soonerbot 15:b10859606504 40 bot.absDriveForward(0,50);//assuming the bot stops in this function
soonerbot 15:b10859606504 41 /*
soonerbot 15:b10859606504 42 DBGPRINT("%f",bot.gyro.getZDegrees());
soonerbot 15:b10859606504 43 bot.gyro.stop();//stopping the gyro timer
soonerbot 15:b10859606504 44 //bot.gyro.gyroUpkeepTicker.detach();//stopping the gyro timer
soonerbot 15:b10859606504 45 //use sensor to find distance
soonerbot 15:b10859606504 46 bot.pingLeft.trigger();
soonerbot 15:b10859606504 47 wait(0.1);
soonerbot 15:b10859606504 48 float pingresult = bot.pingLeft.inches();
soonerbot 15:b10859606504 49 DBGPRINT("Distance = %f\r\n",pingresult);
soonerbot 15:b10859606504 50 bot.gyro.start();//stopping the gyro timer
soonerbot 15:b10859606504 51 DBGPRINT("%f",bot.gyro.getZDegrees());
soonerbot 15:b10859606504 52 */
sswatek 23:53cafcd67828 53 Timer dataTimer;
sswatek 23:53cafcd67828 54 int testdata[]={'H','e','l','l','o'};
sswatek 23:53cafcd67828 55 int response;
sswatek 23:53cafcd67828 56 int gotAck=0;
soonerbot 14:a30aa3b29a2e 57 // Loop
soonerbot 0:3a3dd78038a6 58 while(1) {
soonerbot 1:c28fac16a109 59 DBGPRINT("BB\n\r",1);
soonerbot 7:3b2cf7efe5d1 60 leds = leds^0x7; // toggle the LEDs for each loop
soonerbot 1:c28fac16a109 61 tmpchar = pc.getc();
sswatek 23:53cafcd67828 62 bot.BTLink.procBuf(0x02);
soonerbot 7:3b2cf7efe5d1 63 // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
soonerbot 1:c28fac16a109 64 switch(tmpchar){
soonerbot 15:b10859606504 65 /*case 'e': //drive in a smallish square
soonerbot 7:3b2cf7efe5d1 66 bot.driveForward(0,3000);
soonerbot 7:3b2cf7efe5d1 67 bot.driveForward(-90,0);
soonerbot 7:3b2cf7efe5d1 68 bot.driveForward(-90,3000);
soonerbot 7:3b2cf7efe5d1 69 bot.driveForward(-180,0);
soonerbot 7:3b2cf7efe5d1 70 bot.driveForward(-180,3000);
soonerbot 7:3b2cf7efe5d1 71 bot.driveForward(-270,0);
soonerbot 7:3b2cf7efe5d1 72 bot.driveForward(-270,3000);
soonerbot 7:3b2cf7efe5d1 73 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 74 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 15:b10859606504 75 break;*/
soonerbot 7:3b2cf7efe5d1 76 case 'q': //poll the encoders
soonerbot 1:c28fac16a109 77 constbuf = bot.bigenc.getVals();
soonerbot 1:c28fac16a109 78 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
soonerbot 1:c28fac16a109 79 break;
soonerbot 7:3b2cf7efe5d1 80 case 'z': //set the current direction to "forward" for the following "go forward/reverse" commands
soonerbot 4:adc885f4ab75 81 targetAngle = bot.gyro.getZDegrees();
soonerbot 4:adc885f4ab75 82 break;
soonerbot 7:3b2cf7efe5d1 83 case 'w': // turn 90 degrees counter clockwise from the starting rotation
soonerbot 15:b10859606504 84
soonerbot 15:b10859606504 85 s.toPosition(0);
soonerbot 15:b10859606504 86 //bot.driveForward(90,0);
soonerbot 7:3b2cf7efe5d1 87 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 88 break;
soonerbot 7:3b2cf7efe5d1 89 case 'x': // turn 90 degrees clockwise from the starting rotation
soonerbot 15:b10859606504 90 s.toPosition(180);
soonerbot 15:b10859606504 91 //bot.driveForward(-90,0);
soonerbot 6:62d498ee97cf 92 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 6:62d498ee97cf 93 break;
soonerbot 7:3b2cf7efe5d1 94 case 'a': // turn the opposite direction from the starting one
soonerbot 15:b10859606504 95 s.toPosition(90);
soonerbot 15:b10859606504 96 //bot.driveForward(180,0);
soonerbot 6:62d498ee97cf 97 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 1:c28fac16a109 98 break;
soonerbot 7:3b2cf7efe5d1 99 case 'd': // turn back to starting rotation
soonerbot 15:b10859606504 100 //bot.driveForward(0,0);
sswatek 18:c834bd26869e 101 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 17:e247d58d9f42 102 DBGPRINT("=%d\n\r",response);
soonerbot 7:3b2cf7efe5d1 103 break;
soonerbot 7:3b2cf7efe5d1 104 case 'W': // drive forward a small bit
soonerbot 9:aff48e331147 105 //bot.driveForward(targetAngle,1000);
soonerbot 10:926f142f16a3 106 //bot.motors.moveForward(100);
soonerbot 11:967469d7e01c 107 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 10:926f142f16a3 108 DBGPRINT("W -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 109 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 110 break;
soonerbot 7:3b2cf7efe5d1 111 case 'E': //drive forward five times as much
soonerbot 15:b10859606504 112 //bot.driveForward(targetAngle,5000);
soonerbot 15:b10859606504 113 bot.absDriveForward(0,5000);
soonerbot 4:adc885f4ab75 114 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 115 break;
soonerbot 7:3b2cf7efe5d1 116 case 'X': // small reverse
soonerbot 10:926f142f16a3 117 //bot.driveForward(targetAngle,-1000);
soonerbot 10:926f142f16a3 118
soonerbot 11:967469d7e01c 119 tmpOut = bot.absDriveForward(targetAngle,-3000);
soonerbot 10:926f142f16a3 120 DBGPRINT("X -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 121 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 122 break;
soonerbot 7:3b2cf7efe5d1 123 case 'C': // big reverse
soonerbot 15:b10859606504 124 //bot.driveForward(targetAngle,-5000);
soonerbot 15:b10859606504 125 bot.absDriveForward(0,-5000);
soonerbot 4:adc885f4ab75 126 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 127 break;
soonerbot 7:3b2cf7efe5d1 128 case 'p': // poll the gyro
soonerbot 3:a223b0bf8256 129 DBGPRINT("%d\r\n",bot.gyro.getZ());
soonerbot 3:a223b0bf8256 130 break;
soonerbot 7:3b2cf7efe5d1 131 case 'l': //calibrate the gyro ( caution, only use after resetting and before moving, otherwise will break any calibration)
soonerbot 3:a223b0bf8256 132 bot.gyro.calibrate();
soonerbot 3:a223b0bf8256 133 break;
soonerbot 7:3b2cf7efe5d1 134
soonerbot 7:3b2cf7efe5d1 135 // these are all control system modifications which should be fairly well locked down at this point
soonerbot 4:adc885f4ab75 136 case 't':
sswatek 18:c834bd26869e 137 response=bot.BTLink.sendCmd(0x00,testdata,5);
sswatek 23:53cafcd67828 138 //bot.gyro.stop();
sswatek 23:53cafcd67828 139 dataTimer.start();
sswatek 23:53cafcd67828 140 dataTimer.reset();
sswatek 23:53cafcd67828 141 while(!(gotAck=bot.BTLink.getAck(response)) && dataTimer.read_ms()<500);
sswatek 23:53cafcd67828 142 dataTimer.stop();
sswatek 23:53cafcd67828 143 //bot.gyro.start();
sswatek 18:c834bd26869e 144 //bot.pfac*=2;
sswatek 18:c834bd26869e 145 //DBGPRINT("pfac = %f\r\n",bot.pfac);
sswatek 23:53cafcd67828 146 DBGPRINT("Mode0=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
soonerbot 4:adc885f4ab75 147 break;
soonerbot 4:adc885f4ab75 148 case 'g':
soonerbot 4:adc885f4ab75 149 bot.pfac/=2;
soonerbot 4:adc885f4ab75 150 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 151 break;
soonerbot 4:adc885f4ab75 152 case 'y':
sswatek 18:c834bd26869e 153 response=bot.BTLink.sendCmd(0x01,testdata,5);
sswatek 23:53cafcd67828 154 dataTimer.start();
sswatek 23:53cafcd67828 155 dataTimer.reset();
sswatek 23:53cafcd67828 156 while(!(gotAck=bot.BTLink.getAck(response)) && dataTimer.read_ms()<500);
sswatek 23:53cafcd67828 157 dataTimer.stop();
sswatek 23:53cafcd67828 158 //while(!bot.BTLink.getAck(response));
sswatek 18:c834bd26869e 159 //bot.ifac*=2;
sswatek 18:c834bd26869e 160 //DBGPRINT("ifac = %f\r\n",bot.ifac);
sswatek 23:53cafcd67828 161 DBGPRINT("Mode1=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
soonerbot 4:adc885f4ab75 162 break;
soonerbot 4:adc885f4ab75 163 case 'h':
soonerbot 4:adc885f4ab75 164 bot.ifac/=2;
soonerbot 4:adc885f4ab75 165 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 166 break;
soonerbot 4:adc885f4ab75 167 case 'u':
sswatek 18:c834bd26869e 168 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 23:53cafcd67828 169 dataTimer.start();
sswatek 23:53cafcd67828 170 dataTimer.reset();
sswatek 23:53cafcd67828 171 while(!(gotAck=bot.BTLink.getAck(response)) && dataTimer.read_ms()<500);
sswatek 23:53cafcd67828 172 dataTimer.stop();
sswatek 23:53cafcd67828 173 //while(!bot.BTLink.getAck(response));
sswatek 18:c834bd26869e 174 //bot.dfac*=2;
sswatek 18:c834bd26869e 175 //DBGPRINT("dfac = %f\r\n",bot.dfac);
sswatek 23:53cafcd67828 176 DBGPRINT("Mode2=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
soonerbot 4:adc885f4ab75 177 break;
soonerbot 4:adc885f4ab75 178 case 'j':
soonerbot 4:adc885f4ab75 179 bot.dfac/=2;
soonerbot 4:adc885f4ab75 180 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 181 break;
soonerbot 4:adc885f4ab75 182 case 'i':
soonerbot 14:a30aa3b29a2e 183 //put distance ping here
soonerbot 14:a30aa3b29a2e 184 bot.pingLeft.trigger();
soonerbot 15:b10859606504 185 wait(0.1);
soonerbot 14:a30aa3b29a2e 186 float pingresult = bot.pingLeft.inches();
soonerbot 14:a30aa3b29a2e 187 DBGPRINT("Distance = %f\r\n",pingresult);
soonerbot 4:adc885f4ab75 188 break;
soonerbot 4:adc885f4ab75 189 case 'k':
soonerbot 4:adc885f4ab75 190 bot.angfac/=2;
soonerbot 4:adc885f4ab75 191 DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 192 break;
soonerbot 4:adc885f4ab75 193 case 'T':
soonerbot 4:adc885f4ab75 194 bot.pfac*=1.05;
soonerbot 4:adc885f4ab75 195 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 196 break;
soonerbot 4:adc885f4ab75 197 case 'G':
soonerbot 4:adc885f4ab75 198 bot.pfac/=1.05;
soonerbot 4:adc885f4ab75 199 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 200 break;
soonerbot 4:adc885f4ab75 201 case 'Y':
soonerbot 4:adc885f4ab75 202 bot.ifac*=1.05;
soonerbot 4:adc885f4ab75 203 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 204 break;
soonerbot 4:adc885f4ab75 205 case 'H':
soonerbot 4:adc885f4ab75 206 bot.ifac/=1.05;
soonerbot 4:adc885f4ab75 207 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 208 break;
soonerbot 4:adc885f4ab75 209 case 'U':
soonerbot 4:adc885f4ab75 210 bot.dfac*=1.05;
soonerbot 4:adc885f4ab75 211 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 212 break;
soonerbot 4:adc885f4ab75 213 case 'J':
soonerbot 4:adc885f4ab75 214 bot.dfac/=1.05;
soonerbot 4:adc885f4ab75 215 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 216 break;
soonerbot 7:3b2cf7efe5d1 217
soonerbot 7:3b2cf7efe5d1 218 // poll the compass ( currently gives bad values )
soonerbot 4:adc885f4ab75 219 case 'Q':
soonerbot 4:adc885f4ab75 220 DBGPRINT("Compass vector = %d\t%d\t%d\r\n",bot.gyro.xmag,bot.gyro.ymag,bot.gyro.zmag);
soonerbot 4:adc885f4ab75 221 break;
soonerbot 7:3b2cf7efe5d1 222
soonerbot 7:3b2cf7efe5d1 223 // brake if we get an unknown command
soonerbot 1:c28fac16a109 224 default:
soonerbot 15:b10859606504 225 //bot.left.brake();
soonerbot 15:b10859606504 226 //bot.right.brake();
soonerbot 1:c28fac16a109 227 break;
soonerbot 1:c28fac16a109 228
soonerbot 1:c28fac16a109 229 }
soonerbot 0:3a3dd78038a6 230 }
soonerbot 0:3a3dd78038a6 231 }