Revision 2:fae63e87900e, committed 2016-02-08

Comitter:

torstenwylegala

Date:

Mon Feb 08 11:40:03 2016 +0000

Parent:

1:719ac5a42c19

Commit message:

foo

Changed in this revision

--- a/Periphery/SupportSystem.cpp	Mon Feb 08 11:13:44 2016 +0000
+++ b/Periphery/SupportSystem.cpp	Mon Feb 08 11:40:03 2016 +0000
@@ -152,14 +152,14 @@
     uint8_t tries = 0;
     uint16_t checksum;
 
-    //do{
+    do{
 
         readData(SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET,(void*)&IMU_registerDataBuffer,sizeof(IMU_RegisterDataBuffer_t));
-     //   checksum = generateChecksum(&IMU_registerDataBuffer,(sizeof(IMU_RegisterDataBuffer_t) - sizeof(uint16_t)));
+        checksum = generateChecksum(&IMU_registerDataBuffer,(sizeof(IMU_RegisterDataBuffer_t) - sizeof(uint16_t)));
 
-   // }while(tries++ < 5 && checksum != IMU_registerDataBuffer.completeChecksum);
+    }while(tries++ < 5 && checksum != IMU_registerDataBuffer.completeChecksum);
 
-    //transmissionErrorCount += tries-1;
+    transmissionErrorCount += tries-1;
 
     return &IMU_registerDataBuffer;
 

--- a/main.cpp	Mon Feb 08 11:13:44 2016 +0000
+++ b/main.cpp	Mon Feb 08 11:40:03 2016 +0000
@@ -3,166 +3,55 @@
 #include "Periphery/SupportSystem.h"
 #include "Misc/SystemTimer.h"
 
-Serial serialXbee(p28,p27), serialMinnow(p13, p14);
-PwmOut drivePWM(p22), steerPWM(p21);
-
-
-DigitalOut serialLED(LED1), ledTwo(LED2), ledThree(LED3), heartbeatLED(LED4);
+Serial serialXbee(p28,p27);
+Serial serialMinnow(p13, p14);
+PwmOut drivePWM(p22);
+PwmOut steerPWM(p21);
 
-DigitalIn buttonOne(p25), buttonTwo(p26), buttonThree(p29), buttonFour(p30);
-DigitalIn redlight(p16);
+DigitalOut heartbeatLED(LED4);
+DigitalOut ledTwo(LED1);
 
 
-IMU_RegisterDataBuffer_t *IMU_registerDataBuffer;
-Timer timer;
-
 void hearbeat_thread(void const *args);
 
 int main() {
+    
     serialMinnow.baud(115200);
+    
+    SystemTimer *millis = new SystemTimer();
     I2C *i2c = new I2C(p9, p10);
     
+    SupportSystem *supportSystem = new SupportSystem(0x80, i2c);
+    
     drivePWM.period_ms(20);
     steerPWM.period_ms(20);
-
-    SystemTimer *millis = new SystemTimer();
-    SupportSystem *supportSystem = new SupportSystem(0x80, i2c);
     
-    Thread hearbeatThread(hearbeat_thread);
+    Thread hearbeatThread(&hearbeat_thread);
 
-    steerPWM.pulsewidth_us(1500);
-    float strecke_anfang, strecke_ende, size_parking_space, zeit_anfang, zeit_ende, zeit_parking_space;
-    timer.start();
-    
-    // Konfiguration AMF-IMU
-    // [0]: Conversation Factor
-    // [1]: Sensor Position X
-    // [2]: Sensor Position Y
-    // [3]: Sensor Position Angle
-    //float configData[4] = {0.002751114f, 167.0f, 0.0f, 271.5f};
-    //supportSystem->writeImuConfig(configData);
+    IMU_RegisterDataBuffer_t *imuRegisterDataBuffer;
 
-/*    while(true){
+    while(true){
     
         ledTwo = !ledTwo;
-        IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
+        imuRegisterDataBuffer = supportSystem->getImuRegisterDataBuffer();
         
         
-        serialMinnow.printf("X %f\n\r", IMU_registerDataBuffer->distanceXRegister); 
-        serialMinnow.printf("S %f\n\r", IMU_registerDataBuffer->squal);     
+        serialMinnow.printf("Distance X: %f\n\r", imuRegisterDataBuffer->distanceXRegister); 
+        serialMinnow.printf("Squal: %d\n\r", imuRegisterDataBuffer->squal);     
         serialMinnow.printf("Uptime %d\n\r", supportSystem->readMaintenanceUptimeMillis());
         serialMinnow.printf("Error: %d\n\r", supportSystem->getTransmissionErrorCount());
+        serialMinnow.printf("\n\r");
         
         wait(0.100);
     }
-*/
-
-    while(true){
-        ledTwo = !ledTwo;
-        IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
-        
-        if(buttonFour == 1){
-            
-            drivePWM.pulsewidth_us(1700);
-            while(true){
-                if(redlight == 1){
-                    ledThree = 1;
-                
-                    /*do{
-                    
-                    }while(redlight == 1);
-                    strecke_anfang = IMU_registerDataBuffer->distanceXRegister;
-                    ledThree = 1;
-                    do{
-
-                    }while(redlight == 0);*/
-                    
-                    /*strecke_anfang = IMU_registerDataBuffer->distanceXRegister;
-                    wait_ms(2000);
-                    strecke_ende = IMU_registerDataBuffer->distanceXRegister;
-                    size_parking_space = strecke_ende - strecke_anfang;
-                    serialMinnow.printf("%f, ", IMU_registerDataBuffer->distanceXRegister); 
-                    serialMinnow.printf("%f\r\n", size_parking_space);*/ 
-                    
-                    do{
-                    
-                    }while(redlight == 1);
-                    zeit_anfang = timer.read_ms();
-                    do{
-
-                    }while(redlight == 0);
-                    zeit_ende = timer.read_ms();
-                    zeit_parking_space = zeit_ende - zeit_anfang;
-                    serialMinnow.printf("Differenz: %f\r\n", zeit_parking_space);
-                }
-                if(zeit_parking_space < 1350 && zeit_parking_space > 1100){
-                    
-                    drivePWM.pulsewidth_us(1700);   //Stück nach vorne fahren
-                    wait_ms(200);
-                    drivePWM.pulsewidth_us(1500);   //Stehen
-                    wait_ms(200);
-                    drivePWM.pulsewidth_us(1325);   //1. Einschlag
-                    steerPWM.pulsewidth_us(2000);
-                    wait_ms(970);
-                    steerPWM.pulsewidth_us(1000);   //2. Einschlag
-                    wait_ms(950);
-                    drivePWM.pulsewidth_us(1700);   //Korrektur nach vorne
-                    steerPWM.pulsewidth_us(1700);
-                    wait_ms(420);
-                    drivePWM.pulsewidth_us(1500);   //Ende
-                    steerPWM.pulsewidth_us(1500);
-                    break;
-                }
-            }
-        }
-        if(buttonOne == 1){
-            ledTwo = 0;
-            ledThree = 0;
-            drivePWM.pulsewidth_us(1500);
-        }
-        wait_ms(100);
-    }
+    
 }
 
 
 void hearbeat_thread(void const *args) {
     while(true) {
         heartbeatLED = !heartbeatLED;
-        Thread::wait(100);
+        Thread::wait(200);
     }
 }
 
-
-        
-//-------   1   ----------------
-  /*      drivePWM.pulsewidth_us(1700); //Vorwärts
-        wait_ms(2500);
-        drivePWM.pulsewidth_us(1500);   //Stehen
-        wait_ms(200);
-        drivePWM.pulsewidth_us(1325);   //1. Einschlag
-        steerPWM.pulsewidth_us(2000);
-        wait_ms(970);
-        steerPWM.pulsewidth_us(1000);   //2. Einschlag
-        wait_ms(950);
-        drivePWM.pulsewidth_us(1700);   //Korrektur nach vorne
-        steerPWM.pulsewidth_us(1700);
-        wait_ms(420);
-        drivePWM.pulsewidth_us(1500);   //Ende
-        steerPWM.pulsewidth_us(1500);
-        ledTwo = 1;
-//-------   2   ----------------        
-        drivePWM.pulsewidth_us(1800); //Vorwärts
-        wait_ms(825);
-        drivePWM.pulsewidth_us(1500);   //Stehen
-        wait_ms(200);
-        drivePWM.pulsewidth_us(1300);   //1. Einschlag
-        steerPWM.pulsewidth_us(2000);
-        wait_ms(680);
-        steerPWM.pulsewidth_us(1000);   //2. Einschlag
-        wait_ms(630);
-        drivePWM.pulsewidth_us(1700);   //Korrektur nach vorne
-        steerPWM.pulsewidth_us(1700);
-        wait_ms(420);
-        drivePWM.pulsewidth_us(1500);   //Ende
-        steerPWM.pulsewidth_us(1500);       
-        */
\ No newline at end of file