Diff: main.cpp

Revision:

0:1676cb5a5d33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 12 00:10:20 2018 +0000
@@ -0,0 +1,149 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "rtos.h"
+#include "ultrasonic.h"
+
+Serial bluemod(p13,p14); //change blt to this
+PwmOut left_led(LED1);
+PwmOut right_led(LED4);
+PwmOut forward_led(LED2);
+PwmOut reverse_led(LED3);
+
+DigitalOut trig(p6);
+DigitalOut echo(p7);
+
+Serial pc(USBTX, USBRX);
+
+Motor m1(p26, p25, p24); // left motor : pwm, fwd, rev
+Motor m2(p21, p22, p23); // right motor : pwm, fwd, rev
+
+bool lidarFlag1 = 0;
+int flag_distance;
+int g_distance;
+void dist(int distance) {
+    g_distance = distance;
+    if(g_distance < flag_distance) lidarFlag1 = 1;
+    pc.printf("Distance %d mm\r\n", g_distance);
+}
+ultrasonic mu(p6, p7, .1, 1, &dist);
+
+//C union can convert 4 chars to a float - puts them in same location in memory
+//trick to pack the 4 bytes from Bluetooth serial port back into a 32-bit float
+union f_or_char {
+    float f;
+    char  c[4];
+};
+
+void calcSpeed(float x, float y, float th) {
+    float left;
+    float right;
+    if (x > th) { //moving forward
+        left = x;
+        right = x;
+    } else if (x < -th) { //reverse
+        left = x;
+        right = x;
+    } else {
+        left = 0.0;
+        right = 0.0;
+    }
+    
+    flag_distance = left * 400;
+    if (flag_distance < 250) flag_distance = 250;
+    
+    //turning
+    if (y > th) {//turning left
+        if (x > 0.2) {
+            right += y/2;
+            left -= y/2;
+        } else {
+            right -= y/2;
+            left += y/2;
+        }     
+    } else if (y < -th) { //turning right
+        if (x > 0.2) {
+            left -= y/2;
+            right += y/2;
+        } else {
+            left += y/2;
+            right -= y/2;
+        }
+    }
+    
+    //check that speed is within the range [-1,1]
+    if (left > 1.0) {
+        left = 1.0;
+    } else if (left < -1.0) {
+        left = -1.0;
+    }
+    //check that speed is within the range [-1,1]
+    if (right > 1.0) {
+        right = 1.0;
+    } else if (right < -1.0) {
+        right = -1.0;
+    }
+    
+    //set speed
+    m1.speed(left);
+    m2.speed(right);
+}
+
+void speed()
+{   
+    char bchecksum=0;
+    char temp=0;
+    
+    union f_or_char x,y,z;
+    while(1) {
+        bchecksum=0;
+        if (bluemod.getc()=='!') {
+            if (bluemod.getc()=='A') { //Accelerometer data packet
+                for (int i=0; i<4; i++) {
+                    temp = bluemod.getc();
+                    x.c[i] = temp;
+                    bchecksum = bchecksum + temp;
+                }
+                for (int i=0; i<4; i++) {
+                    temp = bluemod.getc();
+                    y.c[i] = temp;
+                    bchecksum = bchecksum + temp;
+                }
+                for (int i=0; i<4; i++) {
+                    temp = bluemod.getc();
+                    z.c[i] = temp;
+                    bchecksum = bchecksum + temp;
+                }
+                if (bluemod.getc()==char(~('!' + 'A' + bchecksum))) { //checksum OK?
+                    //printf("X = %f  Y = %f  Z = %f\n\r",x.f, y.f, z.f);
+                    right_led = left_led = forward_led = reverse_led = 0.0;
+                    if (x.f<=0.0) right_led = -x.f/10.0;//Scale to 0.0 to 1.0 for PWM so /10.0
+                    else left_led = x.f/10.0;
+                    if (y.f<=0.0) forward_led = -y.f/10.0;
+                    else reverse_led = y.f/10.0; 
+                    
+                    if(!lidarFlag1) calcSpeed(x.f, y.f, 0.2f); 
+                } 
+            }
+        } 
+    } 
+}
+
+int main()
+{  
+    Thread thread1;
+    thread1.start(speed);
+    mu.startUpdates();
+    while(1) {
+        mu.checkDistance();
+        if(lidarFlag1==1) {
+            while(g_distance < 250) {
+                mu.checkDistance();
+                m1.speed(-0.2);
+                m2.speed(-0.2);
+            }
+            m1.speed(0.0);
+            m2.speed(0.0);
+            lidarFlag1 = 0;
+        }
+    } 
+}