Diff: main.cpp

Revision:

0:d4c44f8b93ea

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Sep 20 23:51:21 2012 +0000
@@ -0,0 +1,144 @@
+/**
+ * @author Tyler Weaver
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2012 Tyler Weaver, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * This is a simplified version of the Generation 1 HARP project.
+ */
+
+#include "mbed.h"
+#include "Servo.h"
+
+#define CENTER  100
+#define LEFT    101
+#define RIGHT   102
+
+// servos
+Servo left_s(p21);
+Servo right_s(p22);
+Servo release(p23);
+
+// pc serial
+Serial pc(USBTX, USBRX);
+
+// xbee serial connection
+Serial xbee(p9,p10);
+
+// status leds
+BusOut status_led(LED4, LED3, LED2, LED1);
+
+void init(); // initalize all components
+void parachute(int);
+
+int main()
+{
+    init();
+
+    char xbee_input_character;
+    int control_state = CENTER;
+    bool is_released = false;
+
+    while(1) {
+        if(xbee.readable()) {
+            xbee_input_character = xbee.getc();
+
+            // switch input
+            switch(xbee_input_character) {
+                case 'L': // turn left
+                    status_led = 0x3;
+                    control_state = LEFT;
+                    break;
+                case 'C': // center
+                    status_led = 0x6;
+                    control_state = CENTER;
+                    break;
+                case 'R': // turn right
+                    status_led = 0xC;
+                    control_state = RIGHT;
+                    break;
+                case 'X': // release
+                    status_led = 0xF;
+                    release = 1;
+                    control_state = CENTER; // just in case something stupid happened
+                    is_released = true;
+                    break;
+            }
+        }
+        if(is_released) // dont move the parachute controlls unless released
+            parachute(control_state); // run parachute controls
+    }
+}
+
+/**************************************/
+void init()
+{
+    status_led = 0;
+    // pc serial baud
+    pc.baud(9600);
+    status_led = 0x1;
+
+    // xbee serial baud
+    xbee.baud(9600);
+    status_led = 0x2;
+
+    // calibrate servos
+    pc.puts("Calibrating servos...\t");
+    left_s.calibrate_max(0.0014);
+    left_s.calibrate_min(-0.0008);
+    right_s.calibrate_max(0.0016);
+    right_s.calibrate_min(-0.0008);
+    release.calibrate(0.0004);
+    pc.puts("OK!\n");
+    status_led = 0x3;
+
+    // test servos
+    pc.puts("Testing servos...\t");
+    for(float i = 0.0; i <= 1.0; i+=0.1) {
+        left_s = i;
+        right_s = i;
+        release = i;
+        wait(0.5);
+    }
+    right_s = release = 0;
+    left_s = 0;
+    pc.puts("OK!\n");
+    status_led = 0x4;
+}
+
+/**************************************/
+void parachute(int state)
+{
+    switch(state) {
+        case CENTER:
+            right_s = 0;
+            left_s = 0;
+            break;
+        case RIGHT:
+            right_s = 1;
+            left_s = 0;
+            break;
+        case LEFT:
+            right_s = 0;
+            left_s = 1;
+            break;
+    }
+}
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