Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

main.cpp@6:995b3679155f, 2013-04-05 (annotated)

Committer:
madcowswe
Date:
Fri Apr 05 15:45:00 2013 +0000
Revision:
6:995b3679155f
Parent:
5:56a5fdd373c9
Child:
7:4340355261f9
Added pinouts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
twighk 3:717de74f6ebd 1 #pragma Otime // Compiler Optimisations
twighk 0:200635fa1b08 2
twighk 0:200635fa1b08 3 // Eurobot13 main.cpp
twighk 0:200635fa1b08 4
madcowswe 6:995b3679155f 5
madcowswe 6:995b3679155f 6
madcowswe 6:995b3679155f 7 /*
madcowswe 6:995b3679155f 8 PINOUT Sensors
madcowswe 6:995b3679155f 9 5: RF:SDI
madcowswe 6:995b3679155f 10 6 SDO
madcowswe 6:995b3679155f 11 7 SCK
madcowswe 6:995b3679155f 12 8 NCS
madcowswe 6:995b3679155f 13 9 NIRQ
madcowswe 6:995b3679155f 14 10-15 6 echo pins
madcowswe 6:995b3679155f 15 16 trig
madcowswe 6:995b3679155f 16 17 IRin
madcowswe 6:995b3679155f 17 18-20 unused
madcowswe 6:995b3679155f 18 21 stepper step
madcowswe 6:995b3679155f 19 22-27 unused
madcowswe 6:995b3679155f 20 28 Serial TX
madcowswe 6:995b3679155f 21 29-30 unused
madcowswe 6:995b3679155f 22
madcowswe 6:995b3679155f 23
madcowswe 6:995b3679155f 24 PINOUT Main
madcowswe 6:995b3679155f 25 5: Lower arm servo
madcowswe 6:995b3679155f 26 6: Upper arm servo
madcowswe 6:995b3679155f 27
madcowswe 6:995b3679155f 28 14: Serial RX
madcowswe 6:995b3679155f 29 15: Distance sensor
madcowswe 6:995b3679155f 30
madcowswe 6:995b3679155f 31 20: color sensor in
madcowswe 6:995b3679155f 32 21-24: Motors PWM IN 1-4
madcowswe 6:995b3679155f 33 25-26: Encoders
madcowswe 6:995b3679155f 34 27-28: Encoders
madcowswe 6:995b3679155f 35 29: Color sensor RED LED
madcowswe 6:995b3679155f 36 30: Color sensor BLUE LED
madcowswe 6:995b3679155f 37
madcowswe 6:995b3679155f 38 */
madcowswe 6:995b3679155f 39
madcowswe 6:995b3679155f 40 #define P_SERVO_LOWER_ARM p5
madcowswe 6:995b3679155f 41 #define P_SERVO_UPPER_ARM p6
madcowswe 6:995b3679155f 42
madcowswe 6:995b3679155f 43 #define P_SERIAL_RX p14
madcowswe 6:995b3679155f 44 #define P_DISTANCE_SENSOR p15
madcowswe 6:995b3679155f 45
madcowswe 6:995b3679155f 46 #define P_COLOR_SENSOR_IN p20
madcowswe 6:995b3679155f 47
madcowswe 6:995b3679155f 48 #define P_MOT_RIGHT_A p21
madcowswe 6:995b3679155f 49 #define P_MOT_RIGHT_B p22
madcowswe 6:995b3679155f 50 #define P_MOT_LEFT_A p23
madcowswe 6:995b3679155f 51 #define P_MOT_LEFT_B p24
madcowswe 6:995b3679155f 52
madcowswe 6:995b3679155f 53 #define P_ENC_RIGHT_A p28
madcowswe 6:995b3679155f 54 #define P_ENC_RIGHT_B p27
madcowswe 6:995b3679155f 55 #define P_ENC_LEFT_A p25
madcowswe 6:995b3679155f 56 #define P_ENC_LEFT_B p26
madcowswe 6:995b3679155f 57
madcowswe 6:995b3679155f 58 #define P_COLOR_SENSOR_RED p29
madcowswe 6:995b3679155f 59 #define P_COLOR_SENSOR_BLUE p30
madcowswe 6:995b3679155f 60
madcowswe 6:995b3679155f 61
madcowswe 6:995b3679155f 62
twighk 0:200635fa1b08 63 #include "mbed.h"
twighk 3:717de74f6ebd 64 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 65
twighk 4:1be0f6c6ceae 66 #include "Actuators/Arms/Arm.h"
twighk 1:8119211eae14 67 #include "Actuators/MainMotors/MainMotor.h"
twighk 1:8119211eae14 68 #include "Sensors/Encoders/Encoder.h"
twighk 4:1be0f6c6ceae 69 #include "Sensors/Colour/Colour.h"
twighk 3:717de74f6ebd 70 #include "Sensors/Colour/Led.h"
twighk 3:717de74f6ebd 71 #include "Sensors/Colour/Phototransistor.h"
twighk 0:200635fa1b08 72
twighk 2:45da48fab346 73
twighk 0:200635fa1b08 74
twighk 0:200635fa1b08 75 void motortest();
twighk 0:200635fa1b08 76 void encodertest();
twighk 0:200635fa1b08 77 void motorencodetest();
twighk 0:200635fa1b08 78 void motorencodetestline();
twighk 0:200635fa1b08 79 void motorsandservostest();
twighk 1:8119211eae14 80 void armtest();
twighk 2:45da48fab346 81 void motortestline();
twighk 3:717de74f6ebd 82 void ledtest();
twighk 3:717de74f6ebd 83 void phototransistortest();
twighk 3:717de74f6ebd 84 void ledphototransistortest();
twighk 3:717de74f6ebd 85 void colourtest();
twighk 0:200635fa1b08 86
twighk 0:200635fa1b08 87 int main() {
twighk 2:45da48fab346 88
twighk 3:717de74f6ebd 89 /*****************
twighk 3:717de74f6ebd 90 * Test Code *
twighk 3:717de74f6ebd 91 *****************/
twighk 0:200635fa1b08 92 //motortest();
twighk 0:200635fa1b08 93 //encodertest();
madcowswe 5:56a5fdd373c9 94 motorencodetest();
twighk 1:8119211eae14 95 //motorencodetestline();
twighk 0:200635fa1b08 96 //motorsandservostest();
twighk 3:717de74f6ebd 97 //armtest();
twighk 2:45da48fab346 98 //motortestline();
twighk 3:717de74f6ebd 99 //ledtest();
twighk 3:717de74f6ebd 100 //phototransistortest();
twighk 3:717de74f6ebd 101 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 102 //colourtest(); // Red SnR too low
twighk 3:717de74f6ebd 103 }
twighk 3:717de74f6ebd 104
twighk 3:717de74f6ebd 105 void colourtest(){
twighk 3:717de74f6ebd 106 Colour c(p9,p10,p20);
twighk 3:717de74f6ebd 107 c.Calibrate();
twighk 3:717de74f6ebd 108 while(true){
twighk 3:717de74f6ebd 109 wait(0.1);
twighk 3:717de74f6ebd 110 ColourEnum ce = c.getColour();
twighk 3:717de74f6ebd 111 switch(ce){
twighk 3:717de74f6ebd 112 case BLUE :
twighk 3:717de74f6ebd 113 pc.printf("BLUE\n\r");
twighk 3:717de74f6ebd 114 break;
twighk 3:717de74f6ebd 115 case RED:
twighk 3:717de74f6ebd 116 pc.printf("RED\n\r");
twighk 3:717de74f6ebd 117 break;
twighk 3:717de74f6ebd 118 case WHITE:
twighk 3:717de74f6ebd 119 pc.printf("WHITE\n\r");
twighk 3:717de74f6ebd 120 break;
twighk 3:717de74f6ebd 121 case INCONCLUSIVE:
twighk 3:717de74f6ebd 122 pc.printf("INCONCLUSIVE\n\r");
twighk 3:717de74f6ebd 123 break;
twighk 3:717de74f6ebd 124 default:
twighk 3:717de74f6ebd 125 pc.printf("BUG\n\r");
twighk 3:717de74f6ebd 126 }
twighk 2:45da48fab346 127 }
twighk 0:200635fa1b08 128
twighk 3:717de74f6ebd 129 }
twighk 3:717de74f6ebd 130
twighk 3:717de74f6ebd 131
twighk 3:717de74f6ebd 132 void ledphototransistortest(){
twighk 3:717de74f6ebd 133 Led blue(p9), red(p10);
twighk 3:717de74f6ebd 134 Phototransistor pt(p20);
twighk 3:717de74f6ebd 135 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 136
twighk 3:717de74f6ebd 137 while(true){
twighk 3:717de74f6ebd 138 blue.on();red.off();
twighk 3:717de74f6ebd 139 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 140 wait(0.1);
twighk 3:717de74f6ebd 141 pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
twighk 3:717de74f6ebd 142 }
twighk 3:717de74f6ebd 143 blue.off();red.on();
twighk 3:717de74f6ebd 144 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 145 wait(0.1);
twighk 3:717de74f6ebd 146 pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
twighk 3:717de74f6ebd 147 }
twighk 3:717de74f6ebd 148 }
twighk 3:717de74f6ebd 149 }
twighk 3:717de74f6ebd 150
twighk 3:717de74f6ebd 151 void phototransistortest(){
twighk 3:717de74f6ebd 152 Phototransistor pt(p20);
twighk 3:717de74f6ebd 153 while(true){
twighk 3:717de74f6ebd 154 wait(0.1);
twighk 3:717de74f6ebd 155 pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
twighk 3:717de74f6ebd 156 }
twighk 3:717de74f6ebd 157
twighk 3:717de74f6ebd 158 }
twighk 3:717de74f6ebd 159
twighk 3:717de74f6ebd 160 void ledtest(){
twighk 3:717de74f6ebd 161 Led blue(p9), red(p10);
twighk 3:717de74f6ebd 162 while(true){
twighk 3:717de74f6ebd 163 blue.on();red.off();
twighk 3:717de74f6ebd 164 wait(0.2);
twighk 3:717de74f6ebd 165 blue.off();red.on();
twighk 3:717de74f6ebd 166 wait(0.2);
twighk 3:717de74f6ebd 167
twighk 3:717de74f6ebd 168 }
twighk 3:717de74f6ebd 169 }
twighk 3:717de74f6ebd 170
twighk 1:8119211eae14 171 void armtest(){
twighk 3:717de74f6ebd 172 Arm white(p26), black(p25, false, 0.0005, 180);
twighk 3:717de74f6ebd 173 while(true){
twighk 1:8119211eae14 174 white(0);
twighk 1:8119211eae14 175 black(0);
twighk 1:8119211eae14 176 wait(1);
twighk 1:8119211eae14 177 white(1);
twighk 1:8119211eae14 178 black(1);
twighk 1:8119211eae14 179 wait(1);
twighk 1:8119211eae14 180 }
twighk 1:8119211eae14 181 }
twighk 1:8119211eae14 182
twighk 1:8119211eae14 183
twighk 0:200635fa1b08 184 void motorsandservostest(){
twighk 0:200635fa1b08 185 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 186 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 187 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 188 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 189 const float speed = 0.0;
twighk 0:200635fa1b08 190 const float dspeed = 0.0;
twighk 0:200635fa1b08 191
twighk 0:200635fa1b08 192 Timer servoTimer;
twighk 0:200635fa1b08 193 mleft(speed); mright(speed);
twighk 0:200635fa1b08 194 servoTimer.start();
twighk 0:200635fa1b08 195 while (true){
twighk 0:200635fa1b08 196 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 197 if (Eleft.getPoint() < Eright.getPoint()){
twighk 0:200635fa1b08 198 mleft(speed);
twighk 0:200635fa1b08 199 mright(speed - dspeed);
twighk 0:200635fa1b08 200 } else {
twighk 0:200635fa1b08 201 mright(speed);
twighk 0:200635fa1b08 202 mleft(speed - dspeed);
twighk 0:200635fa1b08 203 }
twighk 0:200635fa1b08 204 if (servoTimer.read() < 1){
twighk 0:200635fa1b08 205 sTop.clockwise();
twighk 0:200635fa1b08 206 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 207 sTop.halt();
twighk 0:200635fa1b08 208 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 209 sBottom.anticlockwise();
twighk 0:200635fa1b08 210 //Led=1;
twighk 0:200635fa1b08 211 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 212 sBottom.clockwise();
twighk 0:200635fa1b08 213 //Led=0;
twighk 0:200635fa1b08 214 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 215 sBottom.halt();
twighk 0:200635fa1b08 216 }else {
twighk 0:200635fa1b08 217 sTop.anticlockwise();
twighk 0:200635fa1b08 218 }
twighk 0:200635fa1b08 219 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 220 }
twighk 0:200635fa1b08 221 }
twighk 0:200635fa1b08 222
twighk 2:45da48fab346 223 void motortestline(){
twighk 2:45da48fab346 224 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 225 const float speed = 0.2;
twighk 2:45da48fab346 226 mleft(speed); mright(speed);
twighk 2:45da48fab346 227 while(true) wait(1);
twighk 2:45da48fab346 228 }
twighk 2:45da48fab346 229
twighk 0:200635fa1b08 230 void motorencodetestline(){
twighk 0:200635fa1b08 231 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 232 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 4:1be0f6c6ceae 233 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 234 const float speed = 0.2;
twighk 0:200635fa1b08 235 const float dspeed = 0.1;
twighk 0:200635fa1b08 236
twighk 0:200635fa1b08 237 mleft(speed); mright(speed);
twighk 0:200635fa1b08 238 while (true){
twighk 0:200635fa1b08 239 //left 27 cm = 113 -> 0.239 cm/pulse
twighk 0:200635fa1b08 240 //right 27 cm = 72 -> 0.375 cm/pulse
twighk 0:200635fa1b08 241 pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375));
twighk 0:200635fa1b08 242 if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){
twighk 0:200635fa1b08 243 mright(speed - dspeed);
twighk 0:200635fa1b08 244 } else {
twighk 0:200635fa1b08 245 mright(speed + dspeed);
twighk 0:200635fa1b08 246 }
twighk 0:200635fa1b08 247 }
twighk 0:200635fa1b08 248
twighk 0:200635fa1b08 249 }
twighk 0:200635fa1b08 250
twighk 0:200635fa1b08 251 void motorencodetest(){
madcowswe 6:995b3679155f 252 Encoder Eright(ENC_RIGHT_A, ENC_RIGHT_B), Eleft(ENC_LEFT_A, ENC_LEFT_B);
madcowswe 6:995b3679155f 253 MainMotor mright(MOT_RIGHT_A, MOT_RIGHT_B), mleft(MOT_LEFT_A, MOT_LEFT_B);
twighk 0:200635fa1b08 254 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 255
twighk 0:200635fa1b08 256 const float speed = -0.3;
twighk 0:200635fa1b08 257 const int enc = -38;
twighk 0:200635fa1b08 258 while(true){
twighk 0:200635fa1b08 259 mleft(speed); mright(0);
twighk 0:200635fa1b08 260 while(Eleft.getPoint()>enc){
twighk 0:200635fa1b08 261 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 262 }
twighk 0:200635fa1b08 263 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 264 mleft(0); mright(speed);
twighk 0:200635fa1b08 265 while(Eright.getPoint()>enc){
twighk 0:200635fa1b08 266 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 267 }
twighk 0:200635fa1b08 268 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 269 }
twighk 0:200635fa1b08 270 }
twighk 0:200635fa1b08 271
twighk 0:200635fa1b08 272 void encodertest(){
twighk 0:200635fa1b08 273 Encoder E1(p28, p27);
twighk 0:200635fa1b08 274 Encoder E2(p29, p30);
twighk 0:200635fa1b08 275 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 276 while(true){
twighk 0:200635fa1b08 277 wait(0.1);
twighk 0:200635fa1b08 278 pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
twighk 0:200635fa1b08 279 }
twighk 0:200635fa1b08 280
twighk 0:200635fa1b08 281 }
twighk 0:200635fa1b08 282 void motortest(){
twighk 0:200635fa1b08 283 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 284 while(true) {
twighk 0:200635fa1b08 285 wait(1);
twighk 0:200635fa1b08 286 mleft(0.8); mright(0.8);
twighk 0:200635fa1b08 287 wait(1);
twighk 0:200635fa1b08 288 mleft(-0.2); mright(0.2);
twighk 0:200635fa1b08 289 wait(1);
twighk 0:200635fa1b08 290 mleft(0); mright(0);
twighk 0:200635fa1b08 291 }
twighk 0:200635fa1b08 292 }