Jason Wessel / Mbed OS verBOT-repo

Repository for verBOT robot project, hopefully featuring two branches: Dev/Test and Prod.

Dependencies:   PM2_Libary Eigen

main.cpp@45:efab79252438, 2022-05-18 (annotated)

Committer:
wesse162
Date:
Wed May 18 06:53:47 2022 +0000
Revision:
45:efab79252438
Parent:
44:a65bc3e11481
Child:
46:e9d929bae82d
Adding arbitrary change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 36:8c75783c1eca 1 #include <mbed.h>
pmic 36:8c75783c1eca 2
pmic 17:c19b471f05cb 3 #include "PM2_Libary.h"
pmic 36:8c75783c1eca 4 #include "Eigen/Dense.h"
pmic 36:8c75783c1eca 5
pmic 36:8c75783c1eca 6 # define M_PI 3.14159265358979323846 // number pi
pmic 6:e1fa1a2d7483 7
wesse162 45:efab79252438 8 // adding the first comment of the semester
wesse162 45:efab79252438 9
pmic 24:86f1a63e35a0 10 // logical variable main task
pmic 24:86f1a63e35a0 11 bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 17:c19b471f05cb 12
pmic 24:86f1a63e35a0 13 // user button on nucleo board
pmic 24:86f1a63e35a0 14 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 24:86f1a63e35a0 15 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 16 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 17 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 18
pmic 1:93d997d6b232 19 int main()
pmic 23:26b3a25fc637 20 {
pmic 36:8c75783c1eca 21 // while loop gets executed every main_task_period_ms milliseconds
pmic 41:8a63b01edd7e 22 const int main_task_period_ms = 10; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 36:8c75783c1eca 23 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 36:8c75783c1eca 24
pmic 40:7e6b7aec3947 25 // a coutner
pmic 40:7e6b7aec3947 26 uint32_t main_task_cntr = 0;
pmic 40:7e6b7aec3947 27
pmic 36:8c75783c1eca 28 // led on nucleo board
pmic 36:8c75783c1eca 29 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 36:8c75783c1eca 30
pmic 24:86f1a63e35a0 31 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 32 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 33 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 34
pmic 29:d6f1ccf42a31 35 // start timer
pmic 24:86f1a63e35a0 36 main_task_timer.start();
pmic 6:e1fa1a2d7483 37
pmic 24:86f1a63e35a0 38 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 39
pmic 24:86f1a63e35a0 40 main_task_timer.reset();
pmic 40:7e6b7aec3947 41
pmic 44:a65bc3e11481 42
pmic 24:86f1a63e35a0 43 if (do_execute_main_task) {
pmic 17:c19b471f05cb 44
pmic 1:93d997d6b232 45 } else {
pmic 40:7e6b7aec3947 46
pmic 1:93d997d6b232 47 }
pmic 6:e1fa1a2d7483 48
pmic 41:8a63b01edd7e 49 // user_led is switching its state every second
pmic 41:8a63b01edd7e 50 if ( (main_task_cntr%(1000 / main_task_period_ms) == 0) && (main_task_cntr!=0) ) {
pmic 40:7e6b7aec3947 51 user_led = !user_led;
pmic 40:7e6b7aec3947 52 }
pmic 40:7e6b7aec3947 53 main_task_cntr++;
pmic 40:7e6b7aec3947 54
pmic 24:86f1a63e35a0 55 // do only output via serial what's really necessary (this makes your code slow)
pmic 41:8a63b01edd7e 56 /*
pmic 41:8a63b01edd7e 57 printf("IR sensor (mV): %3.3f, IR sensor (cm): %3.3f, SensorBar angle (rad): %3.3f, Speed M1 (rps) %3.3f, Position M2 (rot): %3.3f\r\n",
pmic 24:86f1a63e35a0 58 ir_distance_mV,
pmic 41:8a63b01edd7e 59 ir_distance_cm,
pmic 40:7e6b7aec3947 60 sensor_bar_avgAngleRad,
pmic 40:7e6b7aec3947 61 speedController_M1.getSpeedRPS(),
pmic 40:7e6b7aec3947 62 positionController_M2.getRotation());
pmic 41:8a63b01edd7e 63 */
pmic 17:c19b471f05cb 64
pmic 24:86f1a63e35a0 65 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 66 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 67 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 68 }
pmic 1:93d997d6b232 69 }
pmic 6:e1fa1a2d7483 70
pmic 24:86f1a63e35a0 71 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 72 {
pmic 26:28693b369945 73 user_button_timer.start();
pmic 6:e1fa1a2d7483 74 user_button_timer.reset();
pmic 6:e1fa1a2d7483 75 }
pmic 6:e1fa1a2d7483 76
pmic 24:86f1a63e35a0 77 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 78 {
pmic 24:86f1a63e35a0 79 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 80 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 81 user_button_timer.stop();
pmic 24:86f1a63e35a0 82 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 83 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 84 }
pmic 6:e1fa1a2d7483 85 }