Tyler Weaver / Mbed 2 deprecated HARP_simple

simple (non RTOS) version of the harp parogram

Dependencies:   Servo mbed

main.cpp@0:d4c44f8b93ea, 2012-09-20 (annotated)

Committer:
tylerjw
Date:
Thu Sep 20 23:51:21 2012 +0000
Revision:
0:d4c44f8b93ea
0.1

;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 0:d4c44f8b93ea 1 /**
tylerjw 0:d4c44f8b93ea 2 * @author Tyler Weaver
tylerjw 0:d4c44f8b93ea 3 *
tylerjw 0:d4c44f8b93ea 4 * @section LICENSE
tylerjw 0:d4c44f8b93ea 5 *
tylerjw 0:d4c44f8b93ea 6 * Copyright (c) 2012 Tyler Weaver, MIT License
tylerjw 0:d4c44f8b93ea 7 *
tylerjw 0:d4c44f8b93ea 8 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
tylerjw 0:d4c44f8b93ea 9 * and associated documentation files (the "Software"), to deal in the Software without restriction,
tylerjw 0:d4c44f8b93ea 10 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
tylerjw 0:d4c44f8b93ea 11 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
tylerjw 0:d4c44f8b93ea 12 * furnished to do so, subject to the following conditions:
tylerjw 0:d4c44f8b93ea 13 *
tylerjw 0:d4c44f8b93ea 14 * The above copyright notice and this permission notice shall be included in all copies or
tylerjw 0:d4c44f8b93ea 15 * substantial portions of the Software.
tylerjw 0:d4c44f8b93ea 16 *
tylerjw 0:d4c44f8b93ea 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
tylerjw 0:d4c44f8b93ea 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
tylerjw 0:d4c44f8b93ea 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
tylerjw 0:d4c44f8b93ea 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
tylerjw 0:d4c44f8b93ea 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
tylerjw 0:d4c44f8b93ea 22 *
tylerjw 0:d4c44f8b93ea 23 * @section DESCRIPTION
tylerjw 0:d4c44f8b93ea 24 *
tylerjw 0:d4c44f8b93ea 25 * This is a simplified version of the Generation 1 HARP project.
tylerjw 0:d4c44f8b93ea 26 */
tylerjw 0:d4c44f8b93ea 27
tylerjw 0:d4c44f8b93ea 28 #include "mbed.h"
tylerjw 0:d4c44f8b93ea 29 #include "Servo.h"
tylerjw 0:d4c44f8b93ea 30
tylerjw 0:d4c44f8b93ea 31 #define CENTER 100
tylerjw 0:d4c44f8b93ea 32 #define LEFT 101
tylerjw 0:d4c44f8b93ea 33 #define RIGHT 102
tylerjw 0:d4c44f8b93ea 34
tylerjw 0:d4c44f8b93ea 35 // servos
tylerjw 0:d4c44f8b93ea 36 Servo left_s(p21);
tylerjw 0:d4c44f8b93ea 37 Servo right_s(p22);
tylerjw 0:d4c44f8b93ea 38 Servo release(p23);
tylerjw 0:d4c44f8b93ea 39
tylerjw 0:d4c44f8b93ea 40 // pc serial
tylerjw 0:d4c44f8b93ea 41 Serial pc(USBTX, USBRX);
tylerjw 0:d4c44f8b93ea 42
tylerjw 0:d4c44f8b93ea 43 // xbee serial connection
tylerjw 0:d4c44f8b93ea 44 Serial xbee(p9,p10);
tylerjw 0:d4c44f8b93ea 45
tylerjw 0:d4c44f8b93ea 46 // status leds
tylerjw 0:d4c44f8b93ea 47 BusOut status_led(LED4, LED3, LED2, LED1);
tylerjw 0:d4c44f8b93ea 48
tylerjw 0:d4c44f8b93ea 49 void init(); // initalize all components
tylerjw 0:d4c44f8b93ea 50 void parachute(int);
tylerjw 0:d4c44f8b93ea 51
tylerjw 0:d4c44f8b93ea 52 int main()
tylerjw 0:d4c44f8b93ea 53 {
tylerjw 0:d4c44f8b93ea 54 init();
tylerjw 0:d4c44f8b93ea 55
tylerjw 0:d4c44f8b93ea 56 char xbee_input_character;
tylerjw 0:d4c44f8b93ea 57 int control_state = CENTER;
tylerjw 0:d4c44f8b93ea 58 bool is_released = false;
tylerjw 0:d4c44f8b93ea 59
tylerjw 0:d4c44f8b93ea 60 while(1) {
tylerjw 0:d4c44f8b93ea 61 if(xbee.readable()) {
tylerjw 0:d4c44f8b93ea 62 xbee_input_character = xbee.getc();
tylerjw 0:d4c44f8b93ea 63
tylerjw 0:d4c44f8b93ea 64 // switch input
tylerjw 0:d4c44f8b93ea 65 switch(xbee_input_character) {
tylerjw 0:d4c44f8b93ea 66 case 'L': // turn left
tylerjw 0:d4c44f8b93ea 67 status_led = 0x3;
tylerjw 0:d4c44f8b93ea 68 control_state = LEFT;
tylerjw 0:d4c44f8b93ea 69 break;
tylerjw 0:d4c44f8b93ea 70 case 'C': // center
tylerjw 0:d4c44f8b93ea 71 status_led = 0x6;
tylerjw 0:d4c44f8b93ea 72 control_state = CENTER;
tylerjw 0:d4c44f8b93ea 73 break;
tylerjw 0:d4c44f8b93ea 74 case 'R': // turn right
tylerjw 0:d4c44f8b93ea 75 status_led = 0xC;
tylerjw 0:d4c44f8b93ea 76 control_state = RIGHT;
tylerjw 0:d4c44f8b93ea 77 break;
tylerjw 0:d4c44f8b93ea 78 case 'X': // release
tylerjw 0:d4c44f8b93ea 79 status_led = 0xF;
tylerjw 0:d4c44f8b93ea 80 release = 1;
tylerjw 0:d4c44f8b93ea 81 control_state = CENTER; // just in case something stupid happened
tylerjw 0:d4c44f8b93ea 82 is_released = true;
tylerjw 0:d4c44f8b93ea 83 break;
tylerjw 0:d4c44f8b93ea 84 }
tylerjw 0:d4c44f8b93ea 85 }
tylerjw 0:d4c44f8b93ea 86 if(is_released) // dont move the parachute controlls unless released
tylerjw 0:d4c44f8b93ea 87 parachute(control_state); // run parachute controls
tylerjw 0:d4c44f8b93ea 88 }
tylerjw 0:d4c44f8b93ea 89 }
tylerjw 0:d4c44f8b93ea 90
tylerjw 0:d4c44f8b93ea 91 /**************************************/
tylerjw 0:d4c44f8b93ea 92 void init()
tylerjw 0:d4c44f8b93ea 93 {
tylerjw 0:d4c44f8b93ea 94 status_led = 0;
tylerjw 0:d4c44f8b93ea 95 // pc serial baud
tylerjw 0:d4c44f8b93ea 96 pc.baud(9600);
tylerjw 0:d4c44f8b93ea 97 status_led = 0x1;
tylerjw 0:d4c44f8b93ea 98
tylerjw 0:d4c44f8b93ea 99 // xbee serial baud
tylerjw 0:d4c44f8b93ea 100 xbee.baud(9600);
tylerjw 0:d4c44f8b93ea 101 status_led = 0x2;
tylerjw 0:d4c44f8b93ea 102
tylerjw 0:d4c44f8b93ea 103 // calibrate servos
tylerjw 0:d4c44f8b93ea 104 pc.puts("Calibrating servos...\t");
tylerjw 0:d4c44f8b93ea 105 left_s.calibrate_max(0.0014);
tylerjw 0:d4c44f8b93ea 106 left_s.calibrate_min(-0.0008);
tylerjw 0:d4c44f8b93ea 107 right_s.calibrate_max(0.0016);
tylerjw 0:d4c44f8b93ea 108 right_s.calibrate_min(-0.0008);
tylerjw 0:d4c44f8b93ea 109 release.calibrate(0.0004);
tylerjw 0:d4c44f8b93ea 110 pc.puts("OK!\n");
tylerjw 0:d4c44f8b93ea 111 status_led = 0x3;
tylerjw 0:d4c44f8b93ea 112
tylerjw 0:d4c44f8b93ea 113 // test servos
tylerjw 0:d4c44f8b93ea 114 pc.puts("Testing servos...\t");
tylerjw 0:d4c44f8b93ea 115 for(float i = 0.0; i <= 1.0; i+=0.1) {
tylerjw 0:d4c44f8b93ea 116 left_s = i;
tylerjw 0:d4c44f8b93ea 117 right_s = i;
tylerjw 0:d4c44f8b93ea 118 release = i;
tylerjw 0:d4c44f8b93ea 119 wait(0.5);
tylerjw 0:d4c44f8b93ea 120 }
tylerjw 0:d4c44f8b93ea 121 right_s = release = 0;
tylerjw 0:d4c44f8b93ea 122 left_s = 0;
tylerjw 0:d4c44f8b93ea 123 pc.puts("OK!\n");
tylerjw 0:d4c44f8b93ea 124 status_led = 0x4;
tylerjw 0:d4c44f8b93ea 125 }
tylerjw 0:d4c44f8b93ea 126
tylerjw 0:d4c44f8b93ea 127 /**************************************/
tylerjw 0:d4c44f8b93ea 128 void parachute(int state)
tylerjw 0:d4c44f8b93ea 129 {
tylerjw 0:d4c44f8b93ea 130 switch(state) {
tylerjw 0:d4c44f8b93ea 131 case CENTER:
tylerjw 0:d4c44f8b93ea 132 right_s = 0;
tylerjw 0:d4c44f8b93ea 133 left_s = 0;
tylerjw 0:d4c44f8b93ea 134 break;
tylerjw 0:d4c44f8b93ea 135 case RIGHT:
tylerjw 0:d4c44f8b93ea 136 right_s = 1;
tylerjw 0:d4c44f8b93ea 137 left_s = 0;
tylerjw 0:d4c44f8b93ea 138 break;
tylerjw 0:d4c44f8b93ea 139 case LEFT:
tylerjw 0:d4c44f8b93ea 140 right_s = 0;
tylerjw 0:d4c44f8b93ea 141 left_s = 1;
tylerjw 0:d4c44f8b93ea 142 break;
tylerjw 0:d4c44f8b93ea 143 }
tylerjw 0:d4c44f8b93ea 144 }