Revision 29:459ff10d2a07, committed 2014-12-08

Comitter:

lsaristo

Date:

Mon Dec 08 22:43:09 2014 +0000

Parent:

28:9976a94efa83

Child:

30:3211e2962441

Commit message:

Small cleanup and removed unused functions

Changed in this revision

--- a/control.c	Mon Dec 08 10:52:42 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-/**
- * @file    control.c
- * @brief   Implemention of robot control algorithms.
- *
- * This file should also contain the logic needed to parse
- * any drawing file and issue motor commands through functions
- * defined in main.h
- *
- * @author  John Wilkey
- */
-#include "control.h"
-#include "main.h"
-extern m3pi pi;
-extern DigitalIn start_button;
-extern DigitalOut oled_2;
-
-void get_ps_file(char* moves)
-{
-    LocalFileSystem local("local");
-    FILE* fp = fopen(_CANVAS_FILE, "r");
-    fseek(fp, 0L, SEEK_END);
-    int size = ftell(fp);
-    fseek(fp, 0L, SEEK_SET);
-    fread(moves, size, 1, fp);
-    fclose(fp);
-}
-
-void robot_loop()
-{    
-    start:
-    pi.cls();
-    pi.locate(0,0);
-    pi.printf("PiCO");
-    pi.locate(0,1);
-    pi.printf("%f mV", pi.battery());
-    wait(.5);
-    while(start_button) {
-        oled_2 = 1;
-        wait(.5);
-        pi.locate(0,0);
-        pi.printf("Ready");
-        oled_2 = 0;
-    }
-    pi.cls();
-    pi.locate(0,0);
-    pi.printf("GO!");
-    wait(.5);
-
-    while(1) {
-        if(!start_button) {
-            pi.stop();
-            goto start;
-        }
-        forward(10);
-        right(90);    
-        
-        //
-        // Right now the robot controller is clearly a very basic
-        // 'hello world' loop that must be changed.      
-    }
-}
\ No newline at end of file

--- a/control.h	Mon Dec 08 10:52:42 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-/**
- * @file    control.h
- * @brief   Header file specific to control algorithms.
- * @author  John Wilkey
- */
- 
-#ifndef _CONTROL_H
-#define _CONTROL_H
-
-#include <vector>
-#define _CANVAS_FILE "/local/control.out"     // Should be on local file system. 
-
-/**
- * @brief               Get the formatted file contents from local file.
- * @param[out]  moves   A pointer to the character array of moves
- */
-void get_ps_file(char* moves);
- 
-/** 
- * @brief   A main loop for robot control. Main algorithm for control
- *          should start here
- */
-void robot_loop(); 
-
-#endif
\ No newline at end of file

--- a/main.c	Mon Dec 08 10:52:42 2014 +0000
+++ b/main.c	Mon Dec 08 22:43:09 2014 +0000
@@ -1,72 +1,48 @@
 /**
  * @file    driver.c
- * @brief   Basic driver program for our robot's controller logic. 
+ * @brief   Primary control logic for robot.
  *
- * Maybe add lots of stuff here or maybe split it off into
- * multiple subfiles?
- *
- * @author  John Wilkey - aw hells no! you ain't takin' credit for all this!
+ * @author  John Wilkey
+ * @author  Alec Guertin
+ * @author  Chester Chu
  */
 #include "main.h"
-#include "control.h"
 
-/* These are global data Used externally in all other files */
-m3pi        pi;
-Timer       timer;
-
-/* Digital inputs to the mBed */
-DigitalIn   start_button(p21);
+m3pi        pi;                 /**< m3pi Object for all control operations. */
+Timer       timer;              /**< Timer used to wait in timerWait. */
+DigitalIn   start_button(p21);  /**< Pi start button input on mBed pin 32 */
+int         draw;               /**< Boolean for drawing/moving. */
 
-/*
- * Digital outputs from the mBed. Note that by default these are
- * used to drive the 8 LED's on the top board. 
- */
-DigitalOut  pin13(p13);
-DigitalOut  pin14(p14);
-DigitalOut  pin15(p15);
-DigitalOut  pin16(p16);
-DigitalOut  pin17(p17);
-DigitalOut  pin18(p18);
-DigitalOut  pin19(p19);
-DigitalOut  pin20(p20);
+/* 4 mBed onboard LEDs */
+DigitalOut  oled_1(LED1), oled_2(LED2), oled_3(LED3), oled_4(LED4);
 
-/* mBed onboard LEDs */
-DigitalOut  oled_1(LED1);
-DigitalOut  oled_2(LED2);
-DigitalOut  oled_3(LED3);
-DigitalOut  oled_4(LED4);
+/* 8 LEDs driven from mBed digital outs. */
+DigitalOut  pin13(p13), pin14(p14), pin15(p15), pin16(p16),
+            pin17(p17), pin18(p18), pin19(p19), pin20(p20);         
 
 /* Local File System */
 LocalFileSystem local("local");
 
-/* Boolean for drawing/moving. */
-int draw;
-
-/**
- * @brief Entry point. Main loop.
- */
+/** @brief Entry point. Main loop. */
 int main()
 {
-    FILE *ps_file;
-    int instbuflen = 250;
-    char instbuf[instbuflen];
-    
-    // Basic setup information
+    FILE    *ps_file;
+    float   cal_time;
+    float   pos         = 0;
+    float   over_thresh = 0.05;
+    float   correction  = 0.2*DRIVE_SPEED;
+    int     instbuflen  = 250;
+    char    instbuf[instbuflen];
+ 
     start_button.mode(PullUp);
-        
     pi.cls();
     pi.locate(0,0);
-    pi.printf("PiCO");
+    pi.printf("Ready");
     pi.locate(0,1);
     pi.printf("%f mV", pi.battery());
     wait(.5);
-        
-    // Drawing environment calibration.
     pi.sensor_auto_calibrate();
-    float   pos         = 0;
-    float   over_thresh = 0.05;
-    float   correction  = 0.2*DRIVE_SPEED;
-    float   cal_time;
+    
     wait(1);
 
     do {
@@ -256,9 +232,8 @@
     }
     pi.cls();
     pi.locate(0,0);
-    pi.printf("done");
+    pi.printf("Done");
     while (1);
-    return 0;
 }
 
 int retrieve_inst(char *buf, int *x, int *y, int *draw)
@@ -289,7 +264,7 @@
     return 1;
 }
 
-int forward(int amt)
+void forward(int amt)
 {
     Timer t;
     pi.locate(0,0);
@@ -302,10 +277,9 @@
     pi.right_motor(.7*DRIVE_SPEED);
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
-int backward(int amt)
+void backward(int amt)
 {
     Timer t;
     t.start();
@@ -315,10 +289,9 @@
     while(t.read_ms() < amt);
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
-int right(float deg)
+void right(float deg)
 {
     if(deg < 0) {
         return left(-1*deg);
@@ -329,7 +302,6 @@
     while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
 void timerWait(float seconds)
@@ -340,7 +312,7 @@
     t.stop();
 }
 
-int left(float deg)
+void left(float deg)
 {
     if(deg < 0) {
         return right(-1*deg);
@@ -351,7 +323,6 @@
     while(t.read_ms() < ((float)(deg/360)*TIME_FACT));
     t.stop();
     pi.stop();
-    return EXIT_SUCCESS;
 }
 
 void pen_down()

--- a/main.c.orig	Mon Dec 08 10:52:42 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,192 +0,0 @@
-/**
- * @file    driver.c
- * @brief   Basic driver program for our robot's controller logic. 
- *
- * Maybe add lots of stuff here or maybe split it off into
- * multiple subfiles?
- *
- * @author  John Wilkey
- */
-#include "main.h"
-#include "control.h"
-
-/** 
- * These are global data Used externally in all other files 
- */
-m3pi        pi;
-Timer       timer;
-
-//
-// Digital inputs to the mBed
-DigitalIn   start_button(p21);
-
-//
-// Digital outputs from the mBed. Note that by default these are
-// used to drive the 8 LED's on the top board. 
-DigitalOut  pin15(p15);
-DigitalOut  pin16(p16);
-DigitalOut  pin17(p17);
-DigitalOut  pin18(p18);
-DigitalOut  pin19(p19);
-DigitalOut  pin20(p20);
-
-// 
-// mBed onboard LEDs
-DigitalOut  oled_1(LED1);
-DigitalOut  oled_2(LED2);
-DigitalOut  oled_3(LED3);
-DigitalOut  oled_4(LED4);
-
-
-/**
- * @brief Entry point. Main loop.
- */
-int main()
-{
-    //
-    // Basic setup information
-    start_button.mode(PullUp);
-        
-    //
-    // Drawing environment calibration.
-    pi.sensor_auto_calibrate();
-    pi.backward(DRIVE_SPEED);
-    float   pos;
-    float   over_thresh = 0.5;
-    float   correction  = 0.1;
-    
-    do {
-        pos = pi.line_position();
-        if(pos > over_thresh) {
-            pi.right_motor(DRIVE_SPEED);
-            pi.left_motor(DRIVE_SPEED - correction);
-        } else if(pos < -over_thresh) {
-            pi.left_motor(DRIVE_SPEED);
-            pi.right_motor(DRIVE_SPEED - correction);
-        } else {
-            pi.forward(DRIVE_SPEED);
-        }
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("P: %f", pos);
-    } while(pos != -1 && pos != 1);
-    if(pos == 1) {
-        timer.start();
-        pi.forward(DRIVE_SPEED);
-    } else {
-        pi.stop();
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("LP: %f",pos);
-        while(1);
-    }
-
-    while(pi.line_position() == 1);
-    do {
-        pos = pi.line_position();
-        if(pos > over_thresh) {
-            pi.right_motor(DRIVE_SPEED);
-            pi.left_motor(DRIVE_SPEED - correction);
-        } else if(pos < -over_thresh) {
-            pi.left_motor(DRIVE_SPEED);
-            pi.right_motor(DRIVE_SPEED - correction);
-        } else {
-            pi.forward(DRIVE_SPEED);
-        }
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("Pos: %f", pos);
-    } while(pos != -1 && pos != 1);
-    if(pos == 1) {
-        oled_1 = 1;
-        timer.stop();
-        pi.stop();           
-    } else {
-        pi.stop();
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("LP:%f", pos);
-        while(1);
-    }
-    // If we got here, calibration is complete.
-    
-    //
-    // Main program loop.
-    // robot_loop();
-    
-    //
-    // We should never reach this point!
-    while(1);
-}
-
-int forward(int amt)
-{
-    Timer t;
-    t.start();
-    oled_2 = 1;
-    pi.locate(0,0);
-    pi.printf("Fwd %d", amt);
-    pi.forward(DRIVE_SPEED);
-    while(t.read_ms() < amt*DRIVE_RATE*1000);
-    t.stop();
-    oled_2 = 0;
-    pi.stop();
-    return EXIT_SUCCESS;
-}
-
-int backward(int amt)
-{
-    Timer t;
-    oled_3 = 1;
-    pi.locate(0,0);
-    pi.printf("Back %d", amt);
-    pi.backward(DRIVE_SPEED);
-    t.start();
-    while(t.read_ms() < amt*DRIVE_RATE*1000);
-    t.stop();
-    oled_3 = 0;
-    pi.stop();
-    return EXIT_SUCCESS;
-}
-
-int right(float deg)
-{
-    Timer t;
-    oled_4 = 1;
-    pi.locate(0,0);
-    pi.printf("Right %f", deg);
-    pi.right(TURN_SPEED);
-    t.start();
-    while(t.read_ms() < (deg/360)*1000);
-    t.stop();
-    oled_4 = 0;
-    pi.stop();
-    return EXIT_SUCCESS;
-}
-
-int left(float deg)
-{
-    Timer t;
-    oled_4 = 1;
-    oled_2 = 1;
-    pi.locate(0,0);
-    pi.printf("Left %f", deg);
-    pi.left(TURN_SPEED);
-    t.start();
-    while(t.read_ms() < (deg/360)*1000);
-    t.stop();
-    oled_4 = 0;
-    oled_2 = 0;
-    pi.stop();
-    return EXIT_SUCCESS;
-}
-
-void pen_down()
-{
-    oled_1 = 1;
-}
-
-void pen_up()
-{
-    oled_1 = 0;
-}
\ No newline at end of file

--- a/main.h	Mon Dec 08 10:52:42 2014 +0000
+++ b/main.h	Mon Dec 08 22:43:09 2014 +0000
@@ -3,6 +3,8 @@
  * @brief   Main header file for includes and whatnot 
  *          for the other project files.
  * @author  John Wilkey
+ * @author  Alec Guertin
+ * @author  Chester Chu
  */
  
 #ifndef _MAIN_H
@@ -24,10 +26,7 @@
 #define CLOSE_ENOUGH .0008
 
 
-/**
- * @brief   move the robot from its current position to (x,y)
- *
- */
+/** @brief Move the robot from its current position to (x,y) */
 void move(int x, int y, int draw);
 
 /**
@@ -43,52 +42,42 @@
 int retrieve_inst(char *buf, int *x, int *y, int *draw);
 
 /**
- * @brief Driver forward.
+ * @brief Driver forward for a time.
  *
- * @param[in]   amt     Amount to drive forward. In centimeters.
- * @return              Success or failure. 
+ * @param[in]   amt     Amount to drive forward. In milliseconds.
  */
-int forward(int amt);
+void forward(int amt);
 
 /**
- * @brief Drive backward.
+ * @brief Drive backward for a time.
  *
- * @param[in]   amt     Amount to drive backward. In centimeters.
- * @return              Success or failure. 
+ * @param[in]   amt     Amount to drive backward. In milliseconds.
  */
-int backward(int amt);
+void backward(int amt);
 
 /**
- * @brief Turn right.
+ * @brief Turn right by some angle.
  *
- * @param[in]   deg     Desired final turn angle from starting position.
- * @param[in]   spd     Desired turning speed.
- * @return              Success or failure. 
+ * @param[in]   deg     Desired final turn angle in degrees from start.
+ *                      Note that a negative angle will turn in the opposite
+ *                      direction.
  */
-int right(float deg);
+void right(float deg);
 
 /**
- * @brief Turn left.
+ * @brief Turn left by some angle.
  *
- * @param[in]   deg     Desired final turn angle from starting position.
- * @param[in]   spd     Desired turning speed.
- * @return              Success or failure. 
+ * @param[in]   deg     Desired final turn angle in degrees from start.
+ *                      Note that a negative angle will turn in the opposite
+ *                      direction.
  */
-int left (float deg);
+void left (float deg);
 
-/**
- * @brief Enable pen motion. 
- *
- * Note that at the moment, for simplicity, this method just activates an LED
- * on the expansion board to indicate that the pen should be in DOWN mode. 
- */
+/** @brief Lower pen intro drawing position */
 void pen_down();
  
- /**
-  * @brief Raise pen
-  */
-void pen_up();
-  
+/** @brief Raise pen into moveto position */
+void pen_up();  
 
 /**
  * @brief Controller decision logic.
@@ -98,10 +87,12 @@
 void next_action();
 
 /**
- * @brief Wait for a number of seconds, possibly fractional.
+ * @brief   Wait for a number of seconds, possibly fractional.
+ * 
+ * Timer resolution is on the order of microseconds. A negative wait
+ * time does nothing. 
  *
- * This is because mBed wait() function SUCKS
+ * @param[in]   amt     Time to wait, in seconds.
  */
-void timerWait(float);
-
-#endif
+void timerWait(float amt);
+#endif
\ No newline at end of file

--- a/user-gui.py	Mon Dec 08 10:52:42 2014 +0000
+++ b/user-gui.py	Mon Dec 08 22:43:09 2014 +0000
@@ -38,7 +38,7 @@
 """paint.py: not exactly a paint program. just a smooth line drawing demo."""
 
 TEMP_FILE = "canvas-temp.ps"
-OUTPUT_FILE = "control.out"
+OUTPUT_FILE = "test.ps"
 b1 = "up"
 xold, yold = None, None
 height = 600