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@45:9c520ebc38e0, 2014-04-03 (annotated)

Committer:
soonerbot
Date:
Thu Apr 03 02:44:36 2014 +0000
Revision:
45:9c520ebc38e0
Parent:
44:4b933e7409e7
Child:
48:519deb1d4dff
added code to approach rig

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
sswatek 44:4b933e7409e7 43 s.toPosition(-45);
sswatek 44:4b933e7409e7 44 s2.toPosition(60);
sswatek 41:fa498d6e7538 45 s3.toPosition(45);
sswatek 41:fa498d6e7538 46 s4.toPosition(45);
soonerbot 15:b10859606504 47
sswatek 42:28d73a7c624e 48 int s1pos = 45;
sswatek 42:28d73a7c624e 49 int s2pos = 45;
soonerbot 15:b10859606504 50
soonerbot 15:b10859606504 51 //timer issue navigation test
soonerbot 15:b10859606504 52 bot.absDriveForward(0,50);//assuming the bot stops in this function
sswatek 44:4b933e7409e7 53
sswatek 44:4b933e7409e7 54 bot.gyro.stop();//stopping the gyro timer
soonerbot 15:b10859606504 55 /*
soonerbot 15:b10859606504 56 DBGPRINT("%f",bot.gyro.getZDegrees());
soonerbot 15:b10859606504 57 bot.gyro.stop();//stopping the gyro timer
soonerbot 15:b10859606504 58 //bot.gyro.gyroUpkeepTicker.detach();//stopping the gyro timer
soonerbot 15:b10859606504 59 //use sensor to find distance
soonerbot 15:b10859606504 60 bot.pingLeft.trigger();
soonerbot 15:b10859606504 61 wait(0.1);
soonerbot 15:b10859606504 62 float pingresult = bot.pingLeft.inches();
soonerbot 15:b10859606504 63 DBGPRINT("Distance = %f\r\n",pingresult);
soonerbot 15:b10859606504 64 bot.gyro.start();//stopping the gyro timer
soonerbot 15:b10859606504 65 DBGPRINT("%f",bot.gyro.getZDegrees());
soonerbot 15:b10859606504 66 */
sswatek 23:53cafcd67828 67 Timer dataTimer;
sswatek 23:53cafcd67828 68 int testdata[]={'H','e','l','l','o'};
sswatek 30:4158120cf801 69 //int responseData[17];
sswatek 23:53cafcd67828 70 int response;
sswatek 23:53cafcd67828 71 int gotAck=0;
soonerbot 14:a30aa3b29a2e 72 // Loop
soonerbot 0:3a3dd78038a6 73 while(1) {
soonerbot 1:c28fac16a109 74 DBGPRINT("BB\n\r",1);
soonerbot 7:3b2cf7efe5d1 75 leds = leds^0x7; // toggle the LEDs for each loop
soonerbot 1:c28fac16a109 76 tmpchar = pc.getc();
sswatek 23:53cafcd67828 77 bot.BTLink.procBuf(0x02);
soonerbot 7:3b2cf7efe5d1 78 // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
soonerbot 1:c28fac16a109 79 switch(tmpchar){
soonerbot 15:b10859606504 80 /*case 'e': //drive in a smallish square
soonerbot 7:3b2cf7efe5d1 81 bot.driveForward(0,3000);
soonerbot 7:3b2cf7efe5d1 82 bot.driveForward(-90,0);
soonerbot 7:3b2cf7efe5d1 83 bot.driveForward(-90,3000);
soonerbot 7:3b2cf7efe5d1 84 bot.driveForward(-180,0);
soonerbot 7:3b2cf7efe5d1 85 bot.driveForward(-180,3000);
soonerbot 7:3b2cf7efe5d1 86 bot.driveForward(-270,0);
soonerbot 7:3b2cf7efe5d1 87 bot.driveForward(-270,3000);
soonerbot 7:3b2cf7efe5d1 88 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 89 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 15:b10859606504 90 break;*/
soonerbot 7:3b2cf7efe5d1 91 case 'q': //poll the encoders
soonerbot 1:c28fac16a109 92 constbuf = bot.bigenc.getVals();
soonerbot 1:c28fac16a109 93 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
soonerbot 1:c28fac16a109 94 break;
soonerbot 7:3b2cf7efe5d1 95 case 'z': //set the current direction to "forward" for the following "go forward/reverse" commands
soonerbot 4:adc885f4ab75 96 targetAngle = bot.gyro.getZDegrees();
soonerbot 4:adc885f4ab75 97 break;
soonerbot 7:3b2cf7efe5d1 98 case 'w': // turn 90 degrees counter clockwise from the starting rotation
soonerbot 15:b10859606504 99
sswatek 42:28d73a7c624e 100 s.toPosition(-40);
soonerbot 15:b10859606504 101 //bot.driveForward(90,0);
soonerbot 7:3b2cf7efe5d1 102 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 103 break;
soonerbot 7:3b2cf7efe5d1 104 case 'x': // turn 90 degrees clockwise from the starting rotation
sswatek 42:28d73a7c624e 105 s.toPosition(220);
soonerbot 15:b10859606504 106 //bot.driveForward(-90,0);
soonerbot 6:62d498ee97cf 107 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 6:62d498ee97cf 108 break;
soonerbot 7:3b2cf7efe5d1 109 case 'a': // turn the opposite direction from the starting one
soonerbot 15:b10859606504 110 s.toPosition(90);
soonerbot 15:b10859606504 111 //bot.driveForward(180,0);
soonerbot 6:62d498ee97cf 112 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 1:c28fac16a109 113 break;
soonerbot 7:3b2cf7efe5d1 114 case 'd': // turn back to starting rotation
soonerbot 15:b10859606504 115 //bot.driveForward(0,0);
sswatek 18:c834bd26869e 116 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 17:e247d58d9f42 117 DBGPRINT("=%d\n\r",response);
soonerbot 7:3b2cf7efe5d1 118 break;
soonerbot 7:3b2cf7efe5d1 119 case 'W': // drive forward a small bit
soonerbot 9:aff48e331147 120 //bot.driveForward(targetAngle,1000);
soonerbot 10:926f142f16a3 121 //bot.motors.moveForward(100);
soonerbot 11:967469d7e01c 122 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 10:926f142f16a3 123 DBGPRINT("W -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 124 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 125 break;
soonerbot 7:3b2cf7efe5d1 126 case 'E': //drive forward five times as much
soonerbot 15:b10859606504 127 //bot.driveForward(targetAngle,5000);
sswatek 31:4ef53fbd6759 128 bot.absDriveForward(0,290*16);
soonerbot 4:adc885f4ab75 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 'X': // small reverse
soonerbot 10:926f142f16a3 132 //bot.driveForward(targetAngle,-1000);
soonerbot 10:926f142f16a3 133
soonerbot 11:967469d7e01c 134 tmpOut = bot.absDriveForward(targetAngle,-3000);
soonerbot 10:926f142f16a3 135 DBGPRINT("X -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 136 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 137 break;
soonerbot 7:3b2cf7efe5d1 138 case 'C': // big reverse
soonerbot 15:b10859606504 139 //bot.driveForward(targetAngle,-5000);
sswatek 31:4ef53fbd6759 140 bot.absDriveForward(0,-290*16);
soonerbot 4:adc885f4ab75 141 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 142 break;
soonerbot 7:3b2cf7efe5d1 143 case 'p': // poll the gyro
soonerbot 3:a223b0bf8256 144 DBGPRINT("%d\r\n",bot.gyro.getZ());
soonerbot 3:a223b0bf8256 145 break;
soonerbot 7:3b2cf7efe5d1 146 case 'l': //calibrate the gyro ( caution, only use after resetting and before moving, otherwise will break any calibration)
soonerbot 3:a223b0bf8256 147 bot.gyro.calibrate();
soonerbot 3:a223b0bf8256 148 break;
soonerbot 7:3b2cf7efe5d1 149
soonerbot 7:3b2cf7efe5d1 150 // these are all control system modifications which should be fairly well locked down at this point
soonerbot 4:adc885f4ab75 151 case 't':
sswatek 18:c834bd26869e 152 response=bot.BTLink.sendCmd(0x00,testdata,5);
sswatek 23:53cafcd67828 153 //bot.gyro.stop();
sswatek 23:53cafcd67828 154 dataTimer.start();
sswatek 23:53cafcd67828 155 dataTimer.reset();
sswatek 30:4158120cf801 156 while(1){
sswatek 30:4158120cf801 157 gotAck=bot.BTLink.getAck(response);
sswatek 30:4158120cf801 158 if(gotAck || dataTimer.read_ms()>=500)
sswatek 30:4158120cf801 159 break;
sswatek 30:4158120cf801 160 }
sswatek 23:53cafcd67828 161 dataTimer.stop();
sswatek 23:53cafcd67828 162 //bot.gyro.start();
sswatek 18:c834bd26869e 163 //bot.pfac*=2;
sswatek 18:c834bd26869e 164 //DBGPRINT("pfac = %f\r\n",bot.pfac);
sswatek 23:53cafcd67828 165 DBGPRINT("Mode0=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
soonerbot 4:adc885f4ab75 166 break;
soonerbot 4:adc885f4ab75 167 case 'g':
sswatek 29:1132155bc7da 168 DBGPRINT("full rotation %d,%f -> ",bot.gyro.getZ(),bot.gyro.getZDegrees());
sswatek 33:03b0b66038e1 169 for(int i=0;i<36;i++){
sswatek 33:03b0b66038e1 170 bot.smoothMove((8000.0/360.0)*(10.0), 1, 40);
sswatek 33:03b0b66038e1 171 }
sswatek 29:1132155bc7da 172 DBGPRINT(" %d,%f\r\n",bot.gyro.getZ(),bot.gyro.getZDegrees());
soonerbot 4:adc885f4ab75 173 break;
soonerbot 4:adc885f4ab75 174 case 'y':
sswatek 26:ade7c813538f 175 bot.pollForShapes();
soonerbot 4:adc885f4ab75 176 break;
soonerbot 4:adc885f4ab75 177 case 'h':
sswatek 29:1132155bc7da 178 DBGPRINT("full rotation %d,%f -> ",bot.gyro.getZ(),bot.gyro.getZDegrees());
sswatek 29:1132155bc7da 179 bot.smoothMove(-8000, 1, 40);
sswatek 29:1132155bc7da 180 DBGPRINT(" %d,%f\r\n",bot.gyro.getZ(),bot.gyro.getZDegrees());
soonerbot 4:adc885f4ab75 181 break;
soonerbot 4:adc885f4ab75 182 case 'u':
sswatek 27:688409727452 183 bot.pollForRigs();
soonerbot 4:adc885f4ab75 184 break;
soonerbot 4:adc885f4ab75 185 case 'j':
sswatek 31:4ef53fbd6759 186 DBGPRINT("LeftStable (15,8) = %f\r\n",bot.pingLeft.getStablePoll());
soonerbot 4:adc885f4ab75 187 break;
soonerbot 4:adc885f4ab75 188 case 'i':
soonerbot 14:a30aa3b29a2e 189 //put distance ping here
soonerbot 14:a30aa3b29a2e 190 bot.pingLeft.trigger();
sswatek 30:4158120cf801 191 dataTimer.start();
sswatek 30:4158120cf801 192 dataTimer.reset();
sswatek 30:4158120cf801 193 while(bot.pingLeft.measuring && dataTimer.read_ms()<300);
sswatek 30:4158120cf801 194 dataTimer.stop();
sswatek 30:4158120cf801 195 DBGPRINT("Distance = %f\r\n",bot.pingLeft.inches());
soonerbot 4:adc885f4ab75 196 break;
soonerbot 4:adc885f4ab75 197 case 'k':
sswatek 30:4158120cf801 198 dataTimer.start();
sswatek 30:4158120cf801 199 for(int i=0;i<100;i++){
sswatek 30:4158120cf801 200 bot.pingLeft.trigger();
sswatek 30:4158120cf801 201 dataTimer.reset();
sswatek 30:4158120cf801 202 while(bot.pingLeft.measuring && dataTimer.read_ms()<300);
sswatek 30:4158120cf801 203 DBGPRINT("Distance %d = %f\r\n",i,bot.pingLeft.inches());
sswatek 30:4158120cf801 204 }
sswatek 30:4158120cf801 205 dataTimer.stop();
sswatek 26:ade7c813538f 206 //bot.angfac/=2;
sswatek 26:ade7c813538f 207 //DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 208 break;
soonerbot 4:adc885f4ab75 209 case 'T':
sswatek 33:03b0b66038e1 210 DBGPRINT("Finding Gap\r\n",1);
sswatek 44:4b933e7409e7 211 s.toPosition(-45);
sswatek 44:4b933e7409e7 212 s2.toPosition(60);
sswatek 44:4b933e7409e7 213 wait(0.5);
sswatek 44:4b933e7409e7 214 s2.toPosition(-10);
sswatek 44:4b933e7409e7 215 wait(0.5);
sswatek 44:4b933e7409e7 216 //bot.cont.start();
sswatek 44:4b933e7409e7 217 bot.cont.resetTicks();
sswatek 44:4b933e7409e7 218 bot.cont.rampSpeed(-20,-20);
sswatek 44:4b933e7409e7 219 //s.toPosition(0);
sswatek 44:4b933e7409e7 220 //wait(.5);
sswatek 44:4b933e7409e7 221 while(bot.cont.avgTicks()>-900){
sswatek 44:4b933e7409e7 222 s.toPosition((-45)+((35+45)*(-bot.cont.avgTicks()))/900);
sswatek 44:4b933e7409e7 223 wait_ms(20);
sswatek 44:4b933e7409e7 224 }
sswatek 44:4b933e7409e7 225 bot.cont.rampSpeed(0,0);
sswatek 44:4b933e7409e7 226 s.toPosition(130);
sswatek 44:4b933e7409e7 227 while(!bot.cont.stopped());
sswatek 44:4b933e7409e7 228 //bot.cont.stop();
sswatek 44:4b933e7409e7 229 //game.checkWaves();
soonerbot 4:adc885f4ab75 230 break;
soonerbot 4:adc885f4ab75 231 case 'G':
soonerbot 38:3062838df0ce 232 DBGPRINT("Running First and Second Row\r\n",1);
sswatek 34:4ad11cda1eca 233 game.runFirstRow();
soonerbot 38:3062838df0ce 234 game.runSecondRow();
soonerbot 45:9c520ebc38e0 235 game.runSecondRow();
soonerbot 45:9c520ebc38e0 236 game.approachRig();
sswatek 26:ade7c813538f 237 //bot.pfac/=1.05;
sswatek 26:ade7c813538f 238 //DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 239 break;
soonerbot 45:9c520ebc38e0 240 case 's':
soonerbot 45:9c520ebc38e0 241 game.runSecondRow(); //testing second and third row
soonerbot 45:9c520ebc38e0 242 game.runSecondRow();
soonerbot 45:9c520ebc38e0 243 break;
soonerbot 4:adc885f4ab75 244 case 'Y':
sswatek 44:4b933e7409e7 245 /*bot.cont.start();
sswatek 43:f7ef0f5f980c 246 bot.cont.rampSpeed(40,40);
sswatek 44:4b933e7409e7 247 while(!bot.cont.steady());
sswatek 43:f7ef0f5f980c 248 bot.cont.rampSpeed(0,0);
sswatek 44:4b933e7409e7 249 while(!bot.cont.stopped());
sswatek 44:4b933e7409e7 250 bot.cont.stop();*/
sswatek 43:f7ef0f5f980c 251 //s.toPosition(s1pos+=5);
sswatek 44:4b933e7409e7 252 bot.alignWithRig();
sswatek 42:28d73a7c624e 253 DBGPRINT("1 pos = %d\r\n",s1pos);
soonerbot 4:adc885f4ab75 254 break;
soonerbot 4:adc885f4ab75 255 case 'H':
sswatek 42:28d73a7c624e 256 s.toPosition(s1pos-=5);
sswatek 42:28d73a7c624e 257 DBGPRINT("1 pos = %d\r\n",s1pos);
soonerbot 4:adc885f4ab75 258 break;
soonerbot 4:adc885f4ab75 259 case 'U':
sswatek 42:28d73a7c624e 260 s2.toPosition(s2pos+=5);
sswatek 42:28d73a7c624e 261 DBGPRINT("2 pos = %d\r\n",s2pos);
soonerbot 4:adc885f4ab75 262 break;
soonerbot 4:adc885f4ab75 263 case 'J':
sswatek 42:28d73a7c624e 264 s2.toPosition(s2pos-=5);
sswatek 42:28d73a7c624e 265 DBGPRINT("2 pos = %d\r\n",s2pos);
soonerbot 4:adc885f4ab75 266 break;
soonerbot 7:3b2cf7efe5d1 267
soonerbot 7:3b2cf7efe5d1 268 // poll the compass ( currently gives bad values )
soonerbot 4:adc885f4ab75 269 case 'Q':
sswatek 28:c7e8d2db03f5 270 //bot.gyro.checkCompass();
sswatek 28:c7e8d2db03f5 271 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 272 break;
soonerbot 7:3b2cf7efe5d1 273
soonerbot 7:3b2cf7efe5d1 274 // brake if we get an unknown command
soonerbot 1:c28fac16a109 275 default:
soonerbot 15:b10859606504 276 //bot.left.brake();
soonerbot 15:b10859606504 277 //bot.right.brake();
soonerbot 1:c28fac16a109 278 break;
soonerbot 1:c28fac16a109 279
soonerbot 1:c28fac16a109 280 }
soonerbot 0:3a3dd78038a6 281 }
soonerbot 0:3a3dd78038a6 282 }