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@9:aff48e331147, 2014-02-03 (annotated)

Committer:
soonerbot
Date:
Mon Feb 03 20:37:35 2014 +0000
Revision:
9:aff48e331147
Parent:
7:3b2cf7efe5d1
Child:
10:926f142f16a3
First working absolute motor control "W" (moves reverse 100 counts)

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 0:3a3dd78038a6 4
soonerbot 1:c28fac16a109 5 BusOut leds(LED_RED,LED_GREEN,LED_BLUE);
soonerbot 1:c28fac16a109 6 Serial pc(USBTX, USBRX);
soonerbot 0:3a3dd78038a6 7
soonerbot 1:c28fac16a109 8 robot bot;
soonerbot 0:3a3dd78038a6 9 int main() {
soonerbot 1:c28fac16a109 10 DBGPRINT("AA\n\r",1);
soonerbot 1:c28fac16a109 11 char tmpchar = 0;
soonerbot 1:c28fac16a109 12 leds = 0x2;
soonerbot 1:c28fac16a109 13 const int* constbuf;
soonerbot 4:adc885f4ab75 14 double targetAngle=0.0;
soonerbot 0:3a3dd78038a6 15 while(1) {
soonerbot 1:c28fac16a109 16 DBGPRINT("BB\n\r",1);
soonerbot 7:3b2cf7efe5d1 17 leds = leds^0x7; // toggle the LEDs for each loop
soonerbot 1:c28fac16a109 18 tmpchar = pc.getc();
soonerbot 1:c28fac16a109 19
soonerbot 7:3b2cf7efe5d1 20 // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
soonerbot 1:c28fac16a109 21 switch(tmpchar){
soonerbot 7:3b2cf7efe5d1 22 case 'e': //drive in a smallish square
soonerbot 7:3b2cf7efe5d1 23 bot.driveForward(0,3000);
soonerbot 7:3b2cf7efe5d1 24 bot.driveForward(-90,0);
soonerbot 7:3b2cf7efe5d1 25 bot.driveForward(-90,3000);
soonerbot 7:3b2cf7efe5d1 26 bot.driveForward(-180,0);
soonerbot 7:3b2cf7efe5d1 27 bot.driveForward(-180,3000);
soonerbot 7:3b2cf7efe5d1 28 bot.driveForward(-270,0);
soonerbot 7:3b2cf7efe5d1 29 bot.driveForward(-270,3000);
soonerbot 7:3b2cf7efe5d1 30 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 31 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 32 break;
soonerbot 7:3b2cf7efe5d1 33 case 'q': //poll the encoders
soonerbot 1:c28fac16a109 34 constbuf = bot.bigenc.getVals();
soonerbot 1:c28fac16a109 35 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
soonerbot 1:c28fac16a109 36 break;
soonerbot 7:3b2cf7efe5d1 37 case 'z': //set the current direction to "forward" for the following "go forward/reverse" commands
soonerbot 4:adc885f4ab75 38 targetAngle = bot.gyro.getZDegrees();
soonerbot 4:adc885f4ab75 39 break;
soonerbot 7:3b2cf7efe5d1 40 case 'w': // turn 90 degrees counter clockwise from the starting rotation
soonerbot 7:3b2cf7efe5d1 41 bot.driveForward(90,0);
soonerbot 7:3b2cf7efe5d1 42 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 43 break;
soonerbot 7:3b2cf7efe5d1 44 case 'x': // turn 90 degrees clockwise from the starting rotation
soonerbot 6:62d498ee97cf 45 bot.driveForward(-90,0);
soonerbot 6:62d498ee97cf 46 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 6:62d498ee97cf 47 break;
soonerbot 7:3b2cf7efe5d1 48 case 'a': // turn the opposite direction from the starting one
soonerbot 7:3b2cf7efe5d1 49 bot.driveForward(180,0);
soonerbot 6:62d498ee97cf 50 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 1:c28fac16a109 51 break;
soonerbot 7:3b2cf7efe5d1 52 case 'd': // turn back to starting rotation
soonerbot 7:3b2cf7efe5d1 53 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 54 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 55 break;
soonerbot 7:3b2cf7efe5d1 56 case 'W': // drive forward a small bit
soonerbot 9:aff48e331147 57 //bot.driveForward(targetAngle,1000);
soonerbot 9:aff48e331147 58 bot.motors.moveForward(100);
soonerbot 4:adc885f4ab75 59 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 60 break;
soonerbot 7:3b2cf7efe5d1 61 case 'E': //drive forward five times as much
soonerbot 4:adc885f4ab75 62 bot.driveForward(targetAngle,5000);
soonerbot 4:adc885f4ab75 63 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 64 break;
soonerbot 7:3b2cf7efe5d1 65 case 'X': // small reverse
soonerbot 4:adc885f4ab75 66 bot.driveForward(targetAngle,-1000);
soonerbot 4:adc885f4ab75 67 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 68 break;
soonerbot 7:3b2cf7efe5d1 69 case 'C': // big reverse
soonerbot 4:adc885f4ab75 70 bot.driveForward(targetAngle,-5000);
soonerbot 4:adc885f4ab75 71 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 72 break;
soonerbot 7:3b2cf7efe5d1 73 case 'p': // poll the gyro
soonerbot 3:a223b0bf8256 74 DBGPRINT("%d\r\n",bot.gyro.getZ());
soonerbot 3:a223b0bf8256 75 break;
soonerbot 7:3b2cf7efe5d1 76 case 'l': //calibrate the gyro ( caution, only use after resetting and before moving, otherwise will break any calibration)
soonerbot 3:a223b0bf8256 77 bot.gyro.calibrate();
soonerbot 3:a223b0bf8256 78 break;
soonerbot 7:3b2cf7efe5d1 79
soonerbot 7:3b2cf7efe5d1 80 // these are all control system modifications which should be fairly well locked down at this point
soonerbot 4:adc885f4ab75 81 case 't':
soonerbot 4:adc885f4ab75 82 bot.pfac*=2;
soonerbot 4:adc885f4ab75 83 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 84 break;
soonerbot 4:adc885f4ab75 85 case 'g':
soonerbot 4:adc885f4ab75 86 bot.pfac/=2;
soonerbot 4:adc885f4ab75 87 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 88 break;
soonerbot 4:adc885f4ab75 89 case 'y':
soonerbot 4:adc885f4ab75 90 bot.ifac*=2;
soonerbot 4:adc885f4ab75 91 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 92 break;
soonerbot 4:adc885f4ab75 93 case 'h':
soonerbot 4:adc885f4ab75 94 bot.ifac/=2;
soonerbot 4:adc885f4ab75 95 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 96 break;
soonerbot 4:adc885f4ab75 97 case 'u':
soonerbot 4:adc885f4ab75 98 bot.dfac*=2;
soonerbot 4:adc885f4ab75 99 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 100 break;
soonerbot 4:adc885f4ab75 101 case 'j':
soonerbot 4:adc885f4ab75 102 bot.dfac/=2;
soonerbot 4:adc885f4ab75 103 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 104 break;
soonerbot 4:adc885f4ab75 105 case 'i':
soonerbot 4:adc885f4ab75 106 bot.angfac*=2;
soonerbot 4:adc885f4ab75 107 DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 108 break;
soonerbot 4:adc885f4ab75 109 case 'k':
soonerbot 4:adc885f4ab75 110 bot.angfac/=2;
soonerbot 4:adc885f4ab75 111 DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 112 break;
soonerbot 4:adc885f4ab75 113 case 'T':
soonerbot 4:adc885f4ab75 114 bot.pfac*=1.05;
soonerbot 4:adc885f4ab75 115 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 116 break;
soonerbot 4:adc885f4ab75 117 case 'G':
soonerbot 4:adc885f4ab75 118 bot.pfac/=1.05;
soonerbot 4:adc885f4ab75 119 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 120 break;
soonerbot 4:adc885f4ab75 121 case 'Y':
soonerbot 4:adc885f4ab75 122 bot.ifac*=1.05;
soonerbot 4:adc885f4ab75 123 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 124 break;
soonerbot 4:adc885f4ab75 125 case 'H':
soonerbot 4:adc885f4ab75 126 bot.ifac/=1.05;
soonerbot 4:adc885f4ab75 127 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 128 break;
soonerbot 4:adc885f4ab75 129 case 'U':
soonerbot 4:adc885f4ab75 130 bot.dfac*=1.05;
soonerbot 4:adc885f4ab75 131 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 132 break;
soonerbot 4:adc885f4ab75 133 case 'J':
soonerbot 4:adc885f4ab75 134 bot.dfac/=1.05;
soonerbot 4:adc885f4ab75 135 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 136 break;
soonerbot 7:3b2cf7efe5d1 137
soonerbot 7:3b2cf7efe5d1 138 // poll the compass ( currently gives bad values )
soonerbot 4:adc885f4ab75 139 case 'Q':
soonerbot 4:adc885f4ab75 140 DBGPRINT("Compass vector = %d\t%d\t%d\r\n",bot.gyro.xmag,bot.gyro.ymag,bot.gyro.zmag);
soonerbot 4:adc885f4ab75 141 break;
soonerbot 7:3b2cf7efe5d1 142
soonerbot 7:3b2cf7efe5d1 143 // brake if we get an unknown command
soonerbot 1:c28fac16a109 144 default:
soonerbot 1:c28fac16a109 145 bot.left.brake();
soonerbot 1:c28fac16a109 146 bot.right.brake();
soonerbot 1:c28fac16a109 147 break;
soonerbot 1:c28fac16a109 148
soonerbot 1:c28fac16a109 149 }
soonerbot 0:3a3dd78038a6 150 }
soonerbot 0:3a3dd78038a6 151 }