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@31:4ef53fbd6759, 2014-03-22 (annotated)

Committer:
sswatek
Date:
Sat Mar 22 00:38:12 2014 +0000
Revision:
31:4ef53fbd6759
Parent:
30:4158120cf801
Child:
33:03b0b66038e1
Added stable distance finding function for the ultrasonic that disregards extreme values

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 30:4158120cf801 55 //int responseData[17];
sswatek 23:53cafcd67828 56 int response;
sswatek 23:53cafcd67828 57 int gotAck=0;
soonerbot 14:a30aa3b29a2e 58 // Loop
soonerbot 0:3a3dd78038a6 59 while(1) {
soonerbot 1:c28fac16a109 60 DBGPRINT("BB\n\r",1);
soonerbot 7:3b2cf7efe5d1 61 leds = leds^0x7; // toggle the LEDs for each loop
soonerbot 1:c28fac16a109 62 tmpchar = pc.getc();
sswatek 23:53cafcd67828 63 bot.BTLink.procBuf(0x02);
soonerbot 7:3b2cf7efe5d1 64 // all of these movement commands are blocking, so they can't be easily stopped short of resetting the microcontroller
soonerbot 1:c28fac16a109 65 switch(tmpchar){
soonerbot 15:b10859606504 66 /*case 'e': //drive in a smallish square
soonerbot 7:3b2cf7efe5d1 67 bot.driveForward(0,3000);
soonerbot 7:3b2cf7efe5d1 68 bot.driveForward(-90,0);
soonerbot 7:3b2cf7efe5d1 69 bot.driveForward(-90,3000);
soonerbot 7:3b2cf7efe5d1 70 bot.driveForward(-180,0);
soonerbot 7:3b2cf7efe5d1 71 bot.driveForward(-180,3000);
soonerbot 7:3b2cf7efe5d1 72 bot.driveForward(-270,0);
soonerbot 7:3b2cf7efe5d1 73 bot.driveForward(-270,3000);
soonerbot 7:3b2cf7efe5d1 74 bot.driveForward(0,0);
soonerbot 7:3b2cf7efe5d1 75 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 15:b10859606504 76 break;*/
soonerbot 7:3b2cf7efe5d1 77 case 'q': //poll the encoders
soonerbot 1:c28fac16a109 78 constbuf = bot.bigenc.getVals();
soonerbot 1:c28fac16a109 79 DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
soonerbot 1:c28fac16a109 80 break;
soonerbot 7:3b2cf7efe5d1 81 case 'z': //set the current direction to "forward" for the following "go forward/reverse" commands
soonerbot 4:adc885f4ab75 82 targetAngle = bot.gyro.getZDegrees();
soonerbot 4:adc885f4ab75 83 break;
soonerbot 7:3b2cf7efe5d1 84 case 'w': // turn 90 degrees counter clockwise from the starting rotation
soonerbot 15:b10859606504 85
soonerbot 15:b10859606504 86 s.toPosition(0);
soonerbot 15:b10859606504 87 //bot.driveForward(90,0);
soonerbot 7:3b2cf7efe5d1 88 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 7:3b2cf7efe5d1 89 break;
soonerbot 7:3b2cf7efe5d1 90 case 'x': // turn 90 degrees clockwise from the starting rotation
soonerbot 15:b10859606504 91 s.toPosition(180);
soonerbot 15:b10859606504 92 //bot.driveForward(-90,0);
soonerbot 6:62d498ee97cf 93 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 6:62d498ee97cf 94 break;
soonerbot 7:3b2cf7efe5d1 95 case 'a': // turn the opposite direction from the starting one
soonerbot 15:b10859606504 96 s.toPosition(90);
soonerbot 15:b10859606504 97 //bot.driveForward(180,0);
soonerbot 6:62d498ee97cf 98 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 1:c28fac16a109 99 break;
soonerbot 7:3b2cf7efe5d1 100 case 'd': // turn back to starting rotation
soonerbot 15:b10859606504 101 //bot.driveForward(0,0);
sswatek 18:c834bd26869e 102 response=bot.BTLink.sendCmd(0x02,testdata,5);
sswatek 17:e247d58d9f42 103 DBGPRINT("=%d\n\r",response);
soonerbot 7:3b2cf7efe5d1 104 break;
soonerbot 7:3b2cf7efe5d1 105 case 'W': // drive forward a small bit
soonerbot 9:aff48e331147 106 //bot.driveForward(targetAngle,1000);
soonerbot 10:926f142f16a3 107 //bot.motors.moveForward(100);
soonerbot 11:967469d7e01c 108 tmpOut = bot.absDriveForward(targetAngle,3000);
soonerbot 10:926f142f16a3 109 DBGPRINT("W -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 110 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 111 break;
soonerbot 7:3b2cf7efe5d1 112 case 'E': //drive forward five times as much
soonerbot 15:b10859606504 113 //bot.driveForward(targetAngle,5000);
sswatek 31:4ef53fbd6759 114 bot.absDriveForward(0,290*16);
soonerbot 4:adc885f4ab75 115 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 116 break;
soonerbot 7:3b2cf7efe5d1 117 case 'X': // small reverse
soonerbot 10:926f142f16a3 118 //bot.driveForward(targetAngle,-1000);
soonerbot 10:926f142f16a3 119
soonerbot 11:967469d7e01c 120 tmpOut = bot.absDriveForward(targetAngle,-3000);
soonerbot 10:926f142f16a3 121 DBGPRINT("X -> %d\n\r",tmpOut);
soonerbot 12:925f52da3ba9 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 'C': // big reverse
soonerbot 15:b10859606504 125 //bot.driveForward(targetAngle,-5000);
sswatek 31:4ef53fbd6759 126 bot.absDriveForward(0,-290*16);
soonerbot 4:adc885f4ab75 127 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
soonerbot 4:adc885f4ab75 128 break;
soonerbot 7:3b2cf7efe5d1 129 case 'p': // poll the gyro
soonerbot 3:a223b0bf8256 130 DBGPRINT("%d\r\n",bot.gyro.getZ());
soonerbot 3:a223b0bf8256 131 break;
soonerbot 7:3b2cf7efe5d1 132 case 'l': //calibrate the gyro ( caution, only use after resetting and before moving, otherwise will break any calibration)
soonerbot 3:a223b0bf8256 133 bot.gyro.calibrate();
soonerbot 3:a223b0bf8256 134 break;
soonerbot 7:3b2cf7efe5d1 135
soonerbot 7:3b2cf7efe5d1 136 // these are all control system modifications which should be fairly well locked down at this point
soonerbot 4:adc885f4ab75 137 case 't':
sswatek 18:c834bd26869e 138 response=bot.BTLink.sendCmd(0x00,testdata,5);
sswatek 23:53cafcd67828 139 //bot.gyro.stop();
sswatek 23:53cafcd67828 140 dataTimer.start();
sswatek 23:53cafcd67828 141 dataTimer.reset();
sswatek 30:4158120cf801 142 while(1){
sswatek 30:4158120cf801 143 gotAck=bot.BTLink.getAck(response);
sswatek 30:4158120cf801 144 if(gotAck || dataTimer.read_ms()>=500)
sswatek 30:4158120cf801 145 break;
sswatek 30:4158120cf801 146 }
sswatek 23:53cafcd67828 147 dataTimer.stop();
sswatek 23:53cafcd67828 148 //bot.gyro.start();
sswatek 18:c834bd26869e 149 //bot.pfac*=2;
sswatek 18:c834bd26869e 150 //DBGPRINT("pfac = %f\r\n",bot.pfac);
sswatek 23:53cafcd67828 151 DBGPRINT("Mode0=%d, %d, %d [%d]\n\r",response,bot.BTLink.bufSize(), gotAck, dataTimer.read_ms());
soonerbot 4:adc885f4ab75 152 break;
soonerbot 4:adc885f4ab75 153 case 'g':
sswatek 29:1132155bc7da 154 DBGPRINT("full rotation %d,%f -> ",bot.gyro.getZ(),bot.gyro.getZDegrees());
sswatek 29:1132155bc7da 155 bot.smoothMove(8000, 1, 40);
sswatek 29:1132155bc7da 156 DBGPRINT(" %d,%f\r\n",bot.gyro.getZ(),bot.gyro.getZDegrees());
soonerbot 4:adc885f4ab75 157 break;
soonerbot 4:adc885f4ab75 158 case 'y':
sswatek 26:ade7c813538f 159 bot.pollForShapes();
soonerbot 4:adc885f4ab75 160 break;
soonerbot 4:adc885f4ab75 161 case 'h':
sswatek 29:1132155bc7da 162 DBGPRINT("full rotation %d,%f -> ",bot.gyro.getZ(),bot.gyro.getZDegrees());
sswatek 29:1132155bc7da 163 bot.smoothMove(-8000, 1, 40);
sswatek 29:1132155bc7da 164 DBGPRINT(" %d,%f\r\n",bot.gyro.getZ(),bot.gyro.getZDegrees());
soonerbot 4:adc885f4ab75 165 break;
soonerbot 4:adc885f4ab75 166 case 'u':
sswatek 27:688409727452 167 bot.pollForRigs();
soonerbot 4:adc885f4ab75 168 break;
soonerbot 4:adc885f4ab75 169 case 'j':
sswatek 31:4ef53fbd6759 170 DBGPRINT("LeftStable (15,8) = %f\r\n",bot.pingLeft.getStablePoll());
soonerbot 4:adc885f4ab75 171 break;
soonerbot 4:adc885f4ab75 172 case 'i':
soonerbot 14:a30aa3b29a2e 173 //put distance ping here
soonerbot 14:a30aa3b29a2e 174 bot.pingLeft.trigger();
sswatek 30:4158120cf801 175 dataTimer.start();
sswatek 30:4158120cf801 176 dataTimer.reset();
sswatek 30:4158120cf801 177 while(bot.pingLeft.measuring && dataTimer.read_ms()<300);
sswatek 30:4158120cf801 178 dataTimer.stop();
sswatek 30:4158120cf801 179 DBGPRINT("Distance = %f\r\n",bot.pingLeft.inches());
soonerbot 4:adc885f4ab75 180 break;
soonerbot 4:adc885f4ab75 181 case 'k':
sswatek 30:4158120cf801 182 dataTimer.start();
sswatek 30:4158120cf801 183 for(int i=0;i<100;i++){
sswatek 30:4158120cf801 184 bot.pingLeft.trigger();
sswatek 30:4158120cf801 185 dataTimer.reset();
sswatek 30:4158120cf801 186 while(bot.pingLeft.measuring && dataTimer.read_ms()<300);
sswatek 30:4158120cf801 187 DBGPRINT("Distance %d = %f\r\n",i,bot.pingLeft.inches());
sswatek 30:4158120cf801 188 }
sswatek 30:4158120cf801 189 dataTimer.stop();
sswatek 26:ade7c813538f 190 //bot.angfac/=2;
sswatek 26:ade7c813538f 191 //DBGPRINT("angfac = %f\r\n",bot.angfac);
soonerbot 4:adc885f4ab75 192 break;
soonerbot 4:adc885f4ab75 193 case 'T':
sswatek 26:ade7c813538f 194 //bot.pfac*=1.05;
sswatek 26:ade7c813538f 195 //DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 196 break;
soonerbot 4:adc885f4ab75 197 case 'G':
sswatek 26:ade7c813538f 198 //bot.pfac/=1.05;
sswatek 26:ade7c813538f 199 //DBGPRINT("pfac = %f\r\n",bot.pfac);
soonerbot 4:adc885f4ab75 200 break;
soonerbot 4:adc885f4ab75 201 case 'Y':
sswatek 26:ade7c813538f 202 //bot.ifac*=1.05;
sswatek 26:ade7c813538f 203 //DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 204 break;
soonerbot 4:adc885f4ab75 205 case 'H':
sswatek 26:ade7c813538f 206 //bot.ifac/=1.05;
sswatek 26:ade7c813538f 207 //DBGPRINT("ifac = %f\r\n",bot.ifac);
soonerbot 4:adc885f4ab75 208 break;
soonerbot 4:adc885f4ab75 209 case 'U':
sswatek 26:ade7c813538f 210 //bot.dfac*=1.05;
sswatek 26:ade7c813538f 211 //DBGPRINT("dfac = %f\r\n",bot.dfac);
soonerbot 4:adc885f4ab75 212 break;
soonerbot 4:adc885f4ab75 213 case 'J':
sswatek 26:ade7c813538f 214 //bot.dfac/=1.05;
sswatek 26:ade7c813538f 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':
sswatek 28:c7e8d2db03f5 220 //bot.gyro.checkCompass();
sswatek 28:c7e8d2db03f5 221 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 222 break;
soonerbot 7:3b2cf7efe5d1 223
soonerbot 7:3b2cf7efe5d1 224 // brake if we get an unknown command
soonerbot 1:c28fac16a109 225 default:
soonerbot 15:b10859606504 226 //bot.left.brake();
soonerbot 15:b10859606504 227 //bot.right.brake();
soonerbot 1:c28fac16a109 228 break;
soonerbot 1:c28fac16a109 229
soonerbot 1:c28fac16a109 230 }
soonerbot 0:3a3dd78038a6 231 }
soonerbot 0:3a3dd78038a6 232 }