Revision 10:94b068b2ce1d, committed 2014-11-15

Comitter:

lsaristo

Date:

Sat Nov 15 23:03:06 2014 +0000

Parent:

9:3a0433c391cb

Child:

11:a30f30d3066e

Commit message:

Started working on control files for robot movement control.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.c	Sat Nov 15 23:03:06 2014 +0000
@@ -0,0 +1,48 @@
+/**
+ * @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;
+
+void get_ps_file(char* moves)
+{
+    char* contents;
+    FILE* fp = fopen(_CANVAS_FILE, "r");
+    fseek(fp, 0L, SEEK_END);
+    int size = ftell(fp);
+    fseek(fp, 0L, SEEK_SET);
+    contents = (char*)malloc(size);
+    fread(contents, size, 1, fp);
+    fclose(fp);
+}
+
+void robot_loop()
+{    
+    start:
+    while(1) {
+        if(start_button) {
+            pi.stop();
+            goto start;
+        }
+        
+        //
+        // Right now the robot controller is clearly a very basic
+        // 'hello world' loop that must be changed.
+        forward(10);
+        right(90);
+        forward(10);
+        right(90);
+        forward(10);
+        wait(2);
+        left(180);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.h	Sat Nov 15 23:03:06 2014 +0000
@@ -0,0 +1,25 @@
+/**
+ * @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/canvas.ps"
+
+/**
+ * @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	Sat Nov 15 05:07:24 2014 +0000
+++ b/main.c	Sat Nov 15 23:03:06 2014 +0000
@@ -8,6 +8,7 @@
  * @author  John Wilkey
  */
 #include "main.h"
+#include "control.h"
 
 /** 
  * These are global data Used externally in all other files 
@@ -16,7 +17,7 @@
 
 //
 // Digital inputs to the mBed
-DigitalIn   btn_b(p21);
+DigitalIn   start_button(p21);
 
 //
 // Digital outputs from the mBed. Note that by default these are
@@ -43,23 +44,27 @@
 {
     //
     // Basic setup information
-    DigitalOut olen_1(LED1);
+    start_button.mode(PullUp);
+    
     pi.locate(0,0);
     pi.printf("PiCO");
     pi.locate(0,1);
     pi.printf("%f mV", pi.battery());
+    wait(.2);
+    while(!start_button) {
+        oled_2 = 1;
+        wait(.2);
+        pi.locate(0,0);
+        pi.printf("Ready");
+        oled_2 = 0;
+    }
+    pi.locate(0,0);
+    pi.printf("GO!");
+    wait(.2);
 
     //
     // Main program loop.
-    while(1) {
-        forward(10);
-        right(90);
-        forward(10);
-        right(90);
-        forward(10);
-        wait(2);
-        left(180);
-    }
+    robot_loop();
     
     //
     // We should never reach this point!
@@ -67,36 +72,56 @@
 
 int forward(int amt)
 {
+    oled_2 = 1;
     pi.locate(0,0);
     pi.printf("Fwd %d", amt);
     pi.forward(DRIVE_SPEED);
     wait(amt*DRIVE_RATE);
+    oled_2 = 0;
     return EXIT_SUCCESS;
 }
 
 int backward(int amt)
 {
+    oled_3 = 1;
     pi.locate(0,0);
     pi.printf("Back %d", amt);
     pi.backward(DRIVE_SPEED);
     wait(amt*DRIVE_RATE);
+    oled_3 = 0;
     return EXIT_SUCCESS;
 }
 
 int right(float deg)
 {
+    oled_4 = 1;
     pi.locate(0,0);
     pi.printf("Right %f", deg);
     pi.right(TURN_SPEED);
     wait(deg/360);
+    oled_4 = 0;
     return EXIT_SUCCESS;
 }
 
 int left(float deg)
 {
+    oled_4 = 1;
+    oled_2 = 1;
     pi.locate(0,0);
     pi.printf("Left %f", deg);
     pi.left(TURN_SPEED);
     wait(deg/360);
+    oled_4 = 0;
+    oled_2 = 0;
     return EXIT_SUCCESS;
+}
+
+void pen_down()
+{
+    oled_1 = 1;
+}
+
+void pen_up()
+{
+    oled_1 = 0;
 }
\ No newline at end of file

--- a/main.h	Sat Nov 15 05:07:24 2014 +0000
+++ b/main.h	Sat Nov 15 23:03:06 2014 +0000
@@ -1,12 +1,12 @@
 /**
- * @file    project.h
+ * @file    main.h
  * @brief   Main header file for includes and whatnot 
  *          for the other project files.
  * @author  John Wilkey
  */
  
-#ifndef _PROJECT_H
-#define _PROJECT_H
+#ifndef _MAIN_H
+#define _MAIN_H
 
 #include "mbed.h"
 #include "m3pi.h"
@@ -54,6 +54,20 @@
 int 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. 
+ */
+void pen_down();
+ 
+ /**
+  * @brief Raise pen
+  */
+void pen_up();
+  
+
+/**
  * @brief Controller decision logic.
  *
  * Decide what to do next based on the status of the drawing so far.