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@18:c834bd26869e, 2014-03-12 (annotated)

Committer:
sswatek
Date:
Wed Mar 12 21:58:30 2014 +0000
Revision:
18:c834bd26869e
Parent:
17:e247d58d9f42
Child:
23:53cafcd67828
sends debug info to bluetooth

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 */
soonerbot 14:a30aa3b29a2e 53
soonerbot 14:a30aa3b29a2e 54 // Loop
soonerbot 0:3a3dd78038a6 55 while(1) {
soonerbot 1:c28fac16a109 56 DBGPRINT("BB\n\r",1);
soonerbot 7:3b2cf7efe5d1 57 leds = leds^0x7; // toggle the LEDs for each loop
soonerbot 1:c28fac16a109 58 tmpchar = pc.getc();
sswatek 18:c834bd26869e 59 int testdata[]={'H','e','l','l','o'};
sswatek 18:c834bd26869e 60 int response;
soonerbot 7:3b2cf7efe5d1 61 // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
soonerbot 1:c28fac16a109 62 switch(tmpchar){
soonerbot 15:b10859606504 63 /*case 'e': //drive in a smallish square
soonerbot 7:3b2cf7efe5d1 64 bot.driveForward(0,3000);
soonerbot 7:3b2cf7efe5d1 65 bot.driveForward(-90,0);
soonerbot 7:3b2cf7efe5d1 66 bot.driveForward(-90,3000);
soonerbot 7:3b2cf7efe5d1 67 bot.driveForward(-180,0);
soonerbot 7:3b2cf7efe5d1 68 bot.driveForward(-180,3000);
soonerbot 7:3b2cf7efe5d1 69 bot.driveForward(-270,0);
soonerbot 7:3b2cf7efe5d1 70 bot.driveForward(-270,3000);
soonerbot 7:3b2cf7efe5d1 71 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 72 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 15:b10859606504 73 break;*/
soonerbot 7:3b2cf7efe5d1 74 case 'q': //poll the encoders
soonerbot 1:c28fac16a109 75 constbuf = bot.bigenc.getVals();
soonerbot 1:c28fac16a109 76 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
soonerbot 1:c28fac16a109 77 break;
soonerbot 7:3b2cf7efe5d1 78 case 'z': //set the current direction to "forward" for the following "go forward/reverse" commands
soonerbot 4:adc885f4ab75 79 targetAngle = bot.gyro.getZDegrees();
soonerbot 4:adc885f4ab75 80 break;
soonerbot 7:3b2cf7efe5d1 81 case 'w': // turn 90 degrees counter clockwise from the starting rotation
soonerbot 15:b10859606504 82
soonerbot 15:b10859606504 83 s.toPosition(0);
soonerbot 15:b10859606504 84 //bot.driveForward(90,0);
soonerbot 7:3b2cf7efe5d1 85 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 86 break;
soonerbot 7:3b2cf7efe5d1 87 case 'x': // turn 90 degrees clockwise from the starting rotation
soonerbot 15:b10859606504 88 s.toPosition(180);
soonerbot 15:b10859606504 89 //bot.driveForward(-90,0);
soonerbot 6:62d498ee97cf 90 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 6:62d498ee97cf 91 break;
soonerbot 7:3b2cf7efe5d1 92 case 'a': // turn the opposite direction from the starting one
soonerbot 15:b10859606504 93 s.toPosition(90);
soonerbot 15:b10859606504 94 //bot.driveForward(180,0);
soonerbot 6:62d498ee97cf 95 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 1:c28fac16a109 96 break;
soonerbot 7:3b2cf7efe5d1 97 case 'd': // turn back to starting rotation
soonerbot 15:b10859606504 98 //bot.driveForward(0,0);
sswatek 18:c834bd26869e 99 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 17:e247d58d9f42 100 DBGPRINT("=%d\n\r",response);
soonerbot 7:3b2cf7efe5d1 101 break;
soonerbot 7:3b2cf7efe5d1 102 case 'W': // drive forward a small bit
soonerbot 9:aff48e331147 103 //bot.driveForward(targetAngle,1000);
soonerbot 10:926f142f16a3 104 //bot.motors.moveForward(100);
soonerbot 11:967469d7e01c 105 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 10:926f142f16a3 106 DBGPRINT("W -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 107 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 108 break;
soonerbot 7:3b2cf7efe5d1 109 case 'E': //drive forward five times as much
soonerbot 15:b10859606504 110 //bot.driveForward(targetAngle,5000);
soonerbot 15:b10859606504 111 bot.absDriveForward(0,5000);
soonerbot 4:adc885f4ab75 112 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 113 break;
soonerbot 7:3b2cf7efe5d1 114 case 'X': // small reverse
soonerbot 10:926f142f16a3 115 //bot.driveForward(targetAngle,-1000);
soonerbot 10:926f142f16a3 116
soonerbot 11:967469d7e01c 117 tmpOut = bot.absDriveForward(targetAngle,-3000);
soonerbot 10:926f142f16a3 118 DBGPRINT("X -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 119 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 120 break;
soonerbot 7:3b2cf7efe5d1 121 case 'C': // big reverse
soonerbot 15:b10859606504 122 //bot.driveForward(targetAngle,-5000);
soonerbot 15:b10859606504 123 bot.absDriveForward(0,-5000);
soonerbot 4:adc885f4ab75 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 'p': // poll the gyro
soonerbot 3:a223b0bf8256 127 DBGPRINT("%d\r\n",bot.gyro.getZ());
soonerbot 3:a223b0bf8256 128 break;
soonerbot 7:3b2cf7efe5d1 129 case 'l': //calibrate the gyro ( caution, only use after resetting and before moving, otherwise will break any calibration)
soonerbot 3:a223b0bf8256 130 bot.gyro.calibrate();
soonerbot 3:a223b0bf8256 131 break;
soonerbot 7:3b2cf7efe5d1 132
soonerbot 7:3b2cf7efe5d1 133 // these are all control system modifications which should be fairly well locked down at this point
soonerbot 4:adc885f4ab75 134 case 't':
sswatek 18:c834bd26869e 135 response=bot.BTLink.sendCmd(0x00,testdata,5);
sswatek 18:c834bd26869e 136 //bot.pfac*=2;
sswatek 18:c834bd26869e 137 //DBGPRINT("pfac = %f\r\n",bot.pfac);
sswatek 18:c834bd26869e 138 DBGPRINT("=%d, %d\n\r",response,bot.BTLink.bufSize());
soonerbot 4:adc885f4ab75 139 break;
soonerbot 4:adc885f4ab75 140 case 'g':
soonerbot 4:adc885f4ab75 141 bot.pfac/=2;
soonerbot 4:adc885f4ab75 142 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 143 break;
soonerbot 4:adc885f4ab75 144 case 'y':
sswatek 18:c834bd26869e 145 response=bot.BTLink.sendCmd(0x01,testdata,5);
sswatek 18:c834bd26869e 146 //bot.ifac*=2;
sswatek 18:c834bd26869e 147 //DBGPRINT("ifac = %f\r\n",bot.ifac);
sswatek 18:c834bd26869e 148 DBGPRINT("=%d, %d\n\r",response,bot.BTLink.bufSize());
soonerbot 4:adc885f4ab75 149 break;
soonerbot 4:adc885f4ab75 150 case 'h':
soonerbot 4:adc885f4ab75 151 bot.ifac/=2;
soonerbot 4:adc885f4ab75 152 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 153 break;
soonerbot 4:adc885f4ab75 154 case 'u':
sswatek 18:c834bd26869e 155 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 18:c834bd26869e 156 //bot.dfac*=2;
sswatek 18:c834bd26869e 157 //DBGPRINT("dfac = %f\r\n",bot.dfac);
sswatek 18:c834bd26869e 158 DBGPRINT("=%d, %d\n\r",response,bot.BTLink.bufSize());
soonerbot 4:adc885f4ab75 159 break;
soonerbot 4:adc885f4ab75 160 case 'j':
soonerbot 4:adc885f4ab75 161 bot.dfac/=2;
soonerbot 4:adc885f4ab75 162 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 163 break;
soonerbot 4:adc885f4ab75 164 case 'i':
soonerbot 14:a30aa3b29a2e 165 //put distance ping here
soonerbot 14:a30aa3b29a2e 166 bot.pingLeft.trigger();
soonerbot 15:b10859606504 167 wait(0.1);
soonerbot 14:a30aa3b29a2e 168 float pingresult = bot.pingLeft.inches();
soonerbot 14:a30aa3b29a2e 169 DBGPRINT("Distance = %f\r\n",pingresult);
soonerbot 4:adc885f4ab75 170 break;
soonerbot 4:adc885f4ab75 171 case 'k':
soonerbot 4:adc885f4ab75 172 bot.angfac/=2;
soonerbot 4:adc885f4ab75 173 DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 174 break;
soonerbot 4:adc885f4ab75 175 case 'T':
soonerbot 4:adc885f4ab75 176 bot.pfac*=1.05;
soonerbot 4:adc885f4ab75 177 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 178 break;
soonerbot 4:adc885f4ab75 179 case 'G':
soonerbot 4:adc885f4ab75 180 bot.pfac/=1.05;
soonerbot 4:adc885f4ab75 181 DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 182 break;
soonerbot 4:adc885f4ab75 183 case 'Y':
soonerbot 4:adc885f4ab75 184 bot.ifac*=1.05;
soonerbot 4:adc885f4ab75 185 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 186 break;
soonerbot 4:adc885f4ab75 187 case 'H':
soonerbot 4:adc885f4ab75 188 bot.ifac/=1.05;
soonerbot 4:adc885f4ab75 189 DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 190 break;
soonerbot 4:adc885f4ab75 191 case 'U':
soonerbot 4:adc885f4ab75 192 bot.dfac*=1.05;
soonerbot 4:adc885f4ab75 193 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 194 break;
soonerbot 4:adc885f4ab75 195 case 'J':
soonerbot 4:adc885f4ab75 196 bot.dfac/=1.05;
soonerbot 4:adc885f4ab75 197 DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 198 break;
soonerbot 7:3b2cf7efe5d1 199
soonerbot 7:3b2cf7efe5d1 200 // poll the compass ( currently gives bad values )
soonerbot 4:adc885f4ab75 201 case 'Q':
soonerbot 4:adc885f4ab75 202 DBGPRINT("Compass vector = %d\t%d\t%d\r\n",bot.gyro.xmag,bot.gyro.ymag,bot.gyro.zmag);
soonerbot 4:adc885f4ab75 203 break;
soonerbot 7:3b2cf7efe5d1 204
soonerbot 7:3b2cf7efe5d1 205 // brake if we get an unknown command
soonerbot 1:c28fac16a109 206 default:
soonerbot 15:b10859606504 207 //bot.left.brake();
soonerbot 15:b10859606504 208 //bot.right.brake();
soonerbot 1:c28fac16a109 209 break;
soonerbot 1:c28fac16a109 210
soonerbot 1:c28fac16a109 211 }
soonerbot 0:3a3dd78038a6 212 }
soonerbot 0:3a3dd78038a6 213 }