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Dependencies: HCSR04v2 Servo mbed
Fork of CZOSINHO by
main.cpp@2:26a9f90142a0, 2016-06-21 (annotated)
- Committer:
- yruiewyrui3
- Date:
- Tue Jun 21 09:19:17 2016 +0000
- Revision:
- 2:26a9f90142a0
- Parent:
- 0:5919ea7b3b90
.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yruiewyrui3 | 0:5919ea7b3b90 | 1 | #include "mbed.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 2 | #include "Engine.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 3 | #include "Servo.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 4 | #include "hcsr04.h" |
yruiewyrui3 | 0:5919ea7b3b90 | 5 | |
yruiewyrui3 | 0:5919ea7b3b90 | 6 | //*************** Deklaracja wszystkich portów potrzebnych do obsługi************** |
yruiewyrui3 | 0:5919ea7b3b90 | 7 | Serial stm(PA_2, PA_3); |
yruiewyrui3 | 0:5919ea7b3b90 | 8 | Servo cam_poziom(PB_6); |
yruiewyrui3 | 0:5919ea7b3b90 | 9 | Servo cam_pion(PC_7); |
yruiewyrui3 | 0:5919ea7b3b90 | 10 | Engine eng_left = Engine(PB_13, PB_4, PB_10); |
yruiewyrui3 | 0:5919ea7b3b90 | 11 | Engine eng_right = Engine(PB_14, PB_5, PB_3); |
yruiewyrui3 | 0:5919ea7b3b90 | 12 | |
yruiewyrui3 | 0:5919ea7b3b90 | 13 | //*************** Deklaracja zmiennych globalnych, tablic, bufora na ramke znaków ************** |
yruiewyrui3 | 0:5919ea7b3b90 | 14 | HCSR04 sensor(PB_9, PB_8, 11770); |
yruiewyrui3 | 0:5919ea7b3b90 | 15 | const int BufferSize=10; |
yruiewyrui3 | 0:5919ea7b3b90 | 16 | char bufor[BufferSize]; |
yruiewyrui3 | 0:5919ea7b3b90 | 17 | char prawa[3]; |
yruiewyrui3 | 0:5919ea7b3b90 | 18 | char lewa[3]; |
yruiewyrui3 | 0:5919ea7b3b90 | 19 | char poziom[2]; |
yruiewyrui3 | 0:5919ea7b3b90 | 20 | char pion[2]; |
yruiewyrui3 | 0:5919ea7b3b90 | 21 | int l=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 22 | int p=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 23 | int po=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 24 | int pi=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 25 | Timer t, t_sonar; |
yruiewyrui3 | 2:26a9f90142a0 | 26 | long distance; |
yruiewyrui3 | 2:26a9f90142a0 | 27 | |
yruiewyrui3 | 0:5919ea7b3b90 | 28 | |
yruiewyrui3 | 0:5919ea7b3b90 | 29 | //*************** Funkcja czyszczaca bufor ***************** |
yruiewyrui3 | 0:5919ea7b3b90 | 30 | void cleanBuffer(char *buffor) |
yruiewyrui3 | 0:5919ea7b3b90 | 31 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 32 | for(int i=0; i<BufferSize; i++) |
yruiewyrui3 | 0:5919ea7b3b90 | 33 | buffor[i]=NULL; |
yruiewyrui3 | 0:5919ea7b3b90 | 34 | buffor[BufferSize]=NULL; |
yruiewyrui3 | 0:5919ea7b3b90 | 35 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 36 | |
yruiewyrui3 | 0:5919ea7b3b90 | 37 | //***************OPIS FUNKCJI isCorrectPacket******************************************************// |
yruiewyrui3 | 0:5919ea7b3b90 | 38 | // funkcja sprawdza czy ramka spelnia wymagania protokolu: @ZCCCZCCC$ lub &ZCCCZCCC$ gdzie Z={+/-} C={0,1,...9} // |
yruiewyrui3 | 0:5919ea7b3b90 | 39 | //*******************KONIEC OPISU******************************************************************// |
yruiewyrui3 | 0:5919ea7b3b90 | 40 | |
yruiewyrui3 | 0:5919ea7b3b90 | 41 | bool isCorrectPacket(char *buffor){ |
yruiewyrui3 | 0:5919ea7b3b90 | 42 | if (bufor[0]!='@') |
yruiewyrui3 | 0:5919ea7b3b90 | 43 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 44 | // stm.printf("ZLY ZNAK POCZATKU\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 45 | stm.printf("blad\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 46 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 47 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 48 | if((buffor[1] != '+') && (buffor[1] != '-')) |
yruiewyrui3 | 0:5919ea7b3b90 | 49 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 50 | // stm.printf("ZLY ZNAK +/- LEWY\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 51 | stm.printf("blad\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 52 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 53 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 54 | if((buffor[5] != '+') && (buffor[5] != '-')) |
yruiewyrui3 | 0:5919ea7b3b90 | 55 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 56 | // stm.printf("ZLY ZNAK +/- PRAWY\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 57 | stm.printf("blad\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 58 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 59 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 60 | if((bufor[9]!='$')&&(bufor[9]!='&')) |
yruiewyrui3 | 0:5919ea7b3b90 | 61 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 62 | // stm.printf("ZLY ZNAK KONCA\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 63 | stm.printf("blad\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 64 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 65 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 66 | for(int i=2; i< 5; i++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 67 | if(((int)buffor[i]) < 48 || ((int)buffor[i]) > 57) |
yruiewyrui3 | 0:5919ea7b3b90 | 68 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 69 | // stm.printf("NA LEWE KOLO: NIE LICZBA\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 70 | stm.printf("blad\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 71 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 72 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 73 | if(((int)buffor[i+4]) < 48 || ((int)buffor[i+4]) > 57) |
yruiewyrui3 | 0:5919ea7b3b90 | 74 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 75 | // stm.printf("NA PRAWE KOLO: NIE LICZBA\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 76 | stm.printf("blad\n"); |
yruiewyrui3 | 0:5919ea7b3b90 | 77 | return false; |
yruiewyrui3 | 0:5919ea7b3b90 | 78 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 79 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 80 | //stm.printf("pakiet poprawny\n");] |
yruiewyrui3 | 0:5919ea7b3b90 | 81 | return true; |
yruiewyrui3 | 0:5919ea7b3b90 | 82 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 83 | |
yruiewyrui3 | 0:5919ea7b3b90 | 84 | void move_wheels() |
yruiewyrui3 | 0:5919ea7b3b90 | 85 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 86 | //*******PRZYPISANIE DO TABLICY LEWEJ LICZBY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 87 | for(int j=0; j<=2; j++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 88 | lewa[j]=bufor[j+2]; |
yruiewyrui3 | 0:5919ea7b3b90 | 89 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 90 | //*******PRZYPISANIE DO TABLICY PRAWEJ LICZBY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 91 | for(int k=0; k<=2; k++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 92 | prawa[k]=bufor[k+6]; |
yruiewyrui3 | 0:5919ea7b3b90 | 93 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 94 | //*******KONWERSJA CHAROW NA INTY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 95 | sscanf(lewa, "%3d", &l); |
yruiewyrui3 | 0:5919ea7b3b90 | 96 | sscanf(prawa, "%3d", &p); |
yruiewyrui3 | 0:5919ea7b3b90 | 97 | //********KOREKCJA***************// |
yruiewyrui3 | 0:5919ea7b3b90 | 98 | if(abs(l)>100){ |
yruiewyrui3 | 0:5919ea7b3b90 | 99 | l=100; |
yruiewyrui3 | 0:5919ea7b3b90 | 100 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 101 | if(abs(p)>100){ |
yruiewyrui3 | 0:5919ea7b3b90 | 102 | p=100; |
yruiewyrui3 | 0:5919ea7b3b90 | 103 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 104 | //************WYPISYWANIE*******************// |
yruiewyrui3 | 0:5919ea7b3b90 | 105 | for(int j=0; j<=BufferSize; j++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 106 | stm.putc(bufor[j]); |
yruiewyrui3 | 0:5919ea7b3b90 | 107 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 108 | //******KOREKCJA ZNAKU***********// |
yruiewyrui3 | 0:5919ea7b3b90 | 109 | if(bufor[1]=='-') l=-l; |
yruiewyrui3 | 0:5919ea7b3b90 | 110 | if(bufor[5]=='-') p=-p; |
yruiewyrui3 | 0:5919ea7b3b90 | 111 | //**********ODPALANIE SILNIKOW******// |
yruiewyrui3 | 0:5919ea7b3b90 | 112 | eng_left.move(l); |
yruiewyrui3 | 0:5919ea7b3b90 | 113 | eng_right.move(p); |
yruiewyrui3 | 0:5919ea7b3b90 | 114 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 115 | void move_camera() |
yruiewyrui3 | 0:5919ea7b3b90 | 116 | { |
yruiewyrui3 | 0:5919ea7b3b90 | 117 | //*******PRZYPISANIE DO KAMERY POZIOM*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 118 | for(int m=0; m<2; m++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 119 | poziom[m]=bufor[m+3]; |
yruiewyrui3 | 0:5919ea7b3b90 | 120 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 121 | //*******PRZYPISANIE DO KAMERY PION*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 122 | for(int n=0; n<2; n++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 123 | pion[n]=bufor[n+7]; |
yruiewyrui3 | 0:5919ea7b3b90 | 124 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 125 | //*******KONWERSJA CHAROW NA INTY*********// |
yruiewyrui3 | 0:5919ea7b3b90 | 126 | sscanf(poziom, "%2d", &po); |
yruiewyrui3 | 0:5919ea7b3b90 | 127 | sscanf(pion, "%2d", &pi); |
yruiewyrui3 | 0:5919ea7b3b90 | 128 | //********KOREKCJA***************// |
yruiewyrui3 | 0:5919ea7b3b90 | 129 | if(abs(po)>90){ |
yruiewyrui3 | 0:5919ea7b3b90 | 130 | po=90; |
yruiewyrui3 | 0:5919ea7b3b90 | 131 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 132 | if(abs(pi)>90){ |
yruiewyrui3 | 0:5919ea7b3b90 | 133 | pi=90; |
yruiewyrui3 | 0:5919ea7b3b90 | 134 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 135 | //************WYPISYWANIE*******************// |
yruiewyrui3 | 0:5919ea7b3b90 | 136 | for(int j=0; j<=BufferSize; j++){ |
yruiewyrui3 | 0:5919ea7b3b90 | 137 | stm.putc(bufor[j]); |
yruiewyrui3 | 0:5919ea7b3b90 | 138 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 139 | if(bufor[1]=='-') po=-po; |
yruiewyrui3 | 0:5919ea7b3b90 | 140 | if(bufor[5]=='-') pi=-pi; |
yruiewyrui3 | 0:5919ea7b3b90 | 141 | //**********RUCH KAMERĄ******// |
yruiewyrui3 | 0:5919ea7b3b90 | 142 | cam_poziom.position(po); |
yruiewyrui3 | 0:5919ea7b3b90 | 143 | cam_pion.position(pi); |
yruiewyrui3 | 0:5919ea7b3b90 | 144 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 145 | |
yruiewyrui3 | 0:5919ea7b3b90 | 146 | int main(){ |
yruiewyrui3 | 0:5919ea7b3b90 | 147 | int i = 0; |
yruiewyrui3 | 0:5919ea7b3b90 | 148 | cleanBuffer(bufor); |
yruiewyrui3 | 0:5919ea7b3b90 | 149 | stm.baud(115200); |
yruiewyrui3 | 2:26a9f90142a0 | 150 | t_sonar.start(); |
yruiewyrui3 | 0:5919ea7b3b90 | 151 | while(true){ |
yruiewyrui3 | 0:5919ea7b3b90 | 152 | if(t.read_ms()>200){ //jesli przez ponad 200ms nie ma nowej ramki, zatrzymujemy robota |
yruiewyrui3 | 0:5919ea7b3b90 | 153 | eng_left.move(0); |
yruiewyrui3 | 0:5919ea7b3b90 | 154 | eng_right.move(0); |
yruiewyrui3 | 0:5919ea7b3b90 | 155 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 156 | if(t_sonar.read_ms()>1200){ |
yruiewyrui3 | 2:26a9f90142a0 | 157 | distance = sensor.distance(); |
yruiewyrui3 | 2:26a9f90142a0 | 158 | stm.printf("dystans %d \n",distance); |
yruiewyrui3 | 0:5919ea7b3b90 | 159 | t_sonar.stop(); |
yruiewyrui3 | 0:5919ea7b3b90 | 160 | t_sonar.reset(); |
yruiewyrui3 | 0:5919ea7b3b90 | 161 | t_sonar.start(); |
yruiewyrui3 | 0:5919ea7b3b90 | 162 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 163 | if(bufor[9] == NULL){ |
yruiewyrui3 | 0:5919ea7b3b90 | 164 | bufor[i] = stm.getc(); |
yruiewyrui3 | 0:5919ea7b3b90 | 165 | if(i==0){ |
yruiewyrui3 | 0:5919ea7b3b90 | 166 | if(bufor[i]=='@') //zaczynamy zapelniac bufor jak dostaniemy @ |
yruiewyrui3 | 0:5919ea7b3b90 | 167 | ++i; |
yruiewyrui3 | 0:5919ea7b3b90 | 168 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 169 | else if(bufor[i]=='@'){ // i != 0 //interpretujemy jakby potencjalny poczatek ramki |
yruiewyrui3 | 0:5919ea7b3b90 | 170 | cleanBuffer(bufor); |
yruiewyrui3 | 0:5919ea7b3b90 | 171 | bufor[0]='@'; |
yruiewyrui3 | 0:5919ea7b3b90 | 172 | i=1; //bo zerowy znak '@' juz zczytal |
yruiewyrui3 | 0:5919ea7b3b90 | 173 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 174 | else i++; |
yruiewyrui3 | 0:5919ea7b3b90 | 175 | continue; |
yruiewyrui3 | 0:5919ea7b3b90 | 176 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 177 | if(isCorrectPacket(bufor)){ |
yruiewyrui3 | 0:5919ea7b3b90 | 178 | t.stop(); |
yruiewyrui3 | 0:5919ea7b3b90 | 179 | t.reset(); |
yruiewyrui3 | 0:5919ea7b3b90 | 180 | t.start(); |
yruiewyrui3 | 0:5919ea7b3b90 | 181 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 182 | if(bufor[9]=='$'){ |
yruiewyrui3 | 0:5919ea7b3b90 | 183 | move_wheels(); |
yruiewyrui3 | 0:5919ea7b3b90 | 184 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 185 | else if(bufor[9]=='&'){ |
yruiewyrui3 | 0:5919ea7b3b90 | 186 | move_camera(); |
yruiewyrui3 | 0:5919ea7b3b90 | 187 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 188 | i=0; |
yruiewyrui3 | 0:5919ea7b3b90 | 189 | cleanBuffer(bufor); |
yruiewyrui3 | 0:5919ea7b3b90 | 190 | } |
yruiewyrui3 | 0:5919ea7b3b90 | 191 | } |