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Dependencies:   mbed

main.cpp@8:f96af1d15e9e, 2015-07-21 (annotated)

Committer:
Zachary Sunberg
Date:
Tue Jul 21 15:41:11 2015 -0700
Revision:
8:f96af1d15e9e
Parent:
7:7f94942cd50d
Child:
13:b4bc02a700bb
online updating of gains

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zsunberg 0:9f058fe8cab5 1 #include "robot.h"
zsunberg 1:a7aab5937375 2 #include <sstream>
zsunberg 1:a7aab5937375 3
Zachary Sunberg 8:f96af1d15e9e 4 int mode = 0;
Zachary Sunberg 4:70fea94b29ae 5 const int MANUAL_MODE = 0;
Zachary Sunberg 4:70fea94b29ae 6 const int LINE_FOLLOW_MODE = 1;
Zachary Sunberg 4:70fea94b29ae 7
zsunberg 1:a7aab5937375 8 volatile double leftspeed;
zsunberg 1:a7aab5937375 9 volatile double rightspeed;
zsunberg 1:a7aab5937375 10
zsunberg 1:a7aab5937375 11 char received[80];
zsunberg 1:a7aab5937375 12 int r_index;
Zachary Sunberg 4:70fea94b29ae 13 int sensors[5];
zsunberg 1:a7aab5937375 14
Zachary Sunberg 8:f96af1d15e9e 15 // GAINS
Zachary Sunberg 4:70fea94b29ae 16 //////////////////////////////
Zachary Sunberg 8:f96af1d15e9e 17 float k_p = 0.0;
Zachary Sunberg 8:f96af1d15e9e 18 float k_i = 0.0;
Zachary Sunberg 8:f96af1d15e9e 19 float k_d = 0.0;
Zachary Sunberg 4:70fea94b29ae 20 //////////////////////////////
zsunberg 0:9f058fe8cab5 21
zsunberg 1:a7aab5937375 22 /*
Zachary Sunberg 4:70fea94b29ae 23 * This function will be called at approximately 20 Hz when the control mode is LINE_FOLLOW_MODE
Zachary Sunberg 4:70fea94b29ae 24 */
Zachary Sunberg 5:70c86dbc8832 25 void line_follow_loop(){
Zachary Sunberg 4:70fea94b29ae 26 led4 = 1;
Zachary Sunberg 4:70fea94b29ae 27
Zachary Sunberg 4:70fea94b29ae 28 // set these variables to control the robot
Zachary Sunberg 4:70fea94b29ae 29 leftspeed = 0.0;
Zachary Sunberg 4:70fea94b29ae 30 rightspeed = 0.0;
Zachary Sunberg 4:70fea94b29ae 31
Zachary Sunberg 4:70fea94b29ae 32 // set mode to MANUAL_MODE when the end is detected
Zachary Sunberg 4:70fea94b29ae 33 // mode = MANUAL_MODE
Zachary Sunberg 4:70fea94b29ae 34
Zachary Sunberg 4:70fea94b29ae 35 led4 = 0;
Zachary Sunberg 4:70fea94b29ae 36 }
Zachary Sunberg 4:70fea94b29ae 37
Zachary Sunberg 4:70fea94b29ae 38
Zachary Sunberg 4:70fea94b29ae 39 // INPUT COMMANDS
Zachary Sunberg 4:70fea94b29ae 40 // l:<float> set left wheel speed (only effective in MANUAL_MODE)
Zachary Sunberg 4:70fea94b29ae 41 // r:<float> set right wheel speed (only effective in MANUAL_MODE)
Zachary Sunberg 4:70fea94b29ae 42 // c:<int> change mode
Zachary Sunberg 8:f96af1d15e9e 43 // g:<p|i|d>:<float>
Zachary Sunberg 8:f96af1d15e9e 44 // change gains
Zachary Sunberg 4:70fea94b29ae 45
Zachary Sunberg 4:70fea94b29ae 46 // OUTPUT MESSAGES
Zachary Sunberg 4:70fea94b29ae 47 // p:<float> line position
Zachary Sunberg 4:70fea94b29ae 48 // s:<int>,<int>,<int>,<int>,<int>
Zachary Sunberg 4:70fea94b29ae 49 // light sensor values
Zachary Sunberg 4:70fea94b29ae 50 // m:<int> mode
Zachary Sunberg 4:70fea94b29ae 51
zsunberg 1:a7aab5937375 52 int parse_command(const char* cmd)
zsunberg 1:a7aab5937375 53 {
zsunberg 1:a7aab5937375 54 if(cmd[1]==':'){
Zachary Sunberg 8:f96af1d15e9e 55 // left motor
Zachary Sunberg 7:7f94942cd50d 56 if(cmd[0]=='l'){
Zachary Sunberg 7:7f94942cd50d 57 if(mode==MANUAL_MODE){
Zachary Sunberg 7:7f94942cd50d 58 leftspeed = atof(&cmd[2]);
Zachary Sunberg 7:7f94942cd50d 59 }
Zachary Sunberg 8:f96af1d15e9e 60 // right motor
Zachary Sunberg 7:7f94942cd50d 61 }else if(cmd[0]=='r'){
Zachary Sunberg 7:7f94942cd50d 62 if(mode==MANUAL_MODE){
Zachary Sunberg 7:7f94942cd50d 63 rightspeed = atof(&cmd[2]);
Zachary Sunberg 7:7f94942cd50d 64 }
Zachary Sunberg 8:f96af1d15e9e 65 // mode
Zachary Sunberg 4:70fea94b29ae 66 }else if(cmd[0]=='c'){
Zachary Sunberg 4:70fea94b29ae 67 mode = atoi(&cmd[2]);
Zachary Sunberg 8:f96af1d15e9e 68 // gains
Zachary Sunberg 8:f96af1d15e9e 69 }else if(cmd[0]=='g'){
Zachary Sunberg 8:f96af1d15e9e 70 if(cmd[2]=='p'){
Zachary Sunberg 8:f96af1d15e9e 71 k_p = atof(&cmd[4]);
Zachary Sunberg 8:f96af1d15e9e 72 }else if(cmd[2]=='i'){
Zachary Sunberg 8:f96af1d15e9e 73 k_i = atof(&cmd[4]);
Zachary Sunberg 8:f96af1d15e9e 74 }else if(cmd[2]=='d'){
Zachary Sunberg 8:f96af1d15e9e 75 k_d = atof(&cmd[4]);
Zachary Sunberg 8:f96af1d15e9e 76 }
zsunberg 1:a7aab5937375 77 }else{
zsunberg 1:a7aab5937375 78 xbee.printf("%s\n",cmd);
zsunberg 1:a7aab5937375 79 }
zsunberg 1:a7aab5937375 80 }else{
zsunberg 1:a7aab5937375 81 xbee.printf("%s\n",cmd);
zsunberg 1:a7aab5937375 82 }
zsunberg 1:a7aab5937375 83 return 0;
zsunberg 1:a7aab5937375 84 }
zsunberg 0:9f058fe8cab5 85
zsunberg 0:9f058fe8cab5 86 void Rx_interrupt()
zsunberg 0:9f058fe8cab5 87 {
zsunberg 1:a7aab5937375 88 // assume recursive interrupt is not possible
zsunberg 0:9f058fe8cab5 89 led2 = 1;
zsunberg 1:a7aab5937375 90 char read;
zsunberg 0:9f058fe8cab5 91
zsunberg 0:9f058fe8cab5 92 while(xbee.readable()){
zsunberg 1:a7aab5937375 93 read = xbee.getc();
zsunberg 1:a7aab5937375 94 if(read=='\n'){
zsunberg 1:a7aab5937375 95 received[r_index]='\0'; // put a null character at the end
zsunberg 1:a7aab5937375 96 parse_command(received);
zsunberg 1:a7aab5937375 97 r_index=0;
zsunberg 0:9f058fe8cab5 98 } else {
zsunberg 1:a7aab5937375 99 if(r_index >= 80){
zsunberg 1:a7aab5937375 100 r_index=0;
zsunberg 1:a7aab5937375 101 }
zsunberg 1:a7aab5937375 102 received[r_index]=read;
zsunberg 1:a7aab5937375 103 r_index++;
zsunberg 0:9f058fe8cab5 104 }
zsunberg 0:9f058fe8cab5 105 }
zsunberg 0:9f058fe8cab5 106
zsunberg 1:a7aab5937375 107 led2=0;
zsunberg 1:a7aab5937375 108
zsunberg 0:9f058fe8cab5 109 return;
zsunberg 0:9f058fe8cab5 110 }
zsunberg 0:9f058fe8cab5 111
zsunberg 0:9f058fe8cab5 112 int main() {
zsunberg 0:9f058fe8cab5 113
zsunberg 0:9f058fe8cab5 114 xbee.attach(&Rx_interrupt, Serial::RxIrq);
zsunberg 0:9f058fe8cab5 115 xbeeReset = 0;
zsunberg 0:9f058fe8cab5 116 wait(2);
zsunberg 0:9f058fe8cab5 117 xbeeReset = 1;
zsunberg 1:a7aab5937375 118 pi.sensor_auto_calibrate();
zsunberg 1:a7aab5937375 119 r_index = 0;
zsunberg 1:a7aab5937375 120 received[0] = '\0';
zsunberg 0:9f058fe8cab5 121
zsunberg 0:9f058fe8cab5 122 while(1){
Zachary Sunberg 4:70fea94b29ae 123
zsunberg 0:9f058fe8cab5 124 led1 = 1;
Zachary Sunberg 3:47cd6b9e4dbb 125 wait_ms(25);
Zachary Sunberg 4:70fea94b29ae 126 if(mode==LINE_FOLLOW_MODE){
Zachary Sunberg 4:70fea94b29ae 127 line_follow_loop()
Zachary Sunberg 4:70fea94b29ae 128 }
Zachary Sunberg 6:9792935abfc3 129
Zachary Sunberg 6:9792935abfc3 130 // reversing these is more intuitive
Zachary Sunberg 6:9792935abfc3 131 // pi.left_motor(leftspeed);
Zachary Sunberg 6:9792935abfc3 132 // pi.right_motor(rightspeed);
Zachary Sunberg 7:7f94942cd50d 133 __disable_irq();
Zachary Sunberg 6:9792935abfc3 134 pi.left_motor(rightspeed);
Zachary Sunberg 6:9792935abfc3 135 pi.right_motor(leftspeed);
Zachary Sunberg 7:7f94942cd50d 136 __enable_irq();
Zachary Sunberg 4:70fea94b29ae 137
zsunberg 0:9f058fe8cab5 138 led1 = 0;
Zachary Sunberg 3:47cd6b9e4dbb 139 wait_ms(25);
zsunberg 1:a7aab5937375 140 pi.sensor_reading(sensors);
zsunberg 1:a7aab5937375 141 int* s = sensors;
zsunberg 1:a7aab5937375 142 __disable_irq();
zsunberg 1:a7aab5937375 143 xbee.printf("s:%i,%i,%i,%i,%i\n", s[0], s[1], s[2], s[3], s[4]);
zsunberg 1:a7aab5937375 144 __enable_irq();
zsunberg 1:a7aab5937375 145 __disable_irq();
zsunberg 1:a7aab5937375 146 xbee.printf("p:%f\n", pi.line_position());
zsunberg 1:a7aab5937375 147 __enable_irq();
Zachary Sunberg 4:70fea94b29ae 148 __disable_irq();
Zachary Sunberg 4:70fea94b29ae 149 xbee.printf("m:%d\n", mode);
Zachary Sunberg 4:70fea94b29ae 150 __enable_irq();
zsunberg 0:9f058fe8cab5 151 }
zsunberg 0:9f058fe8cab5 152
zsunberg 0:9f058fe8cab5 153 return 0;
zsunberg 0:9f058fe8cab5 154 }