File content as of revision 22:7ba09c0af0d0:

#include "mbed.h"
#include "rtos.h"
#include "TSH.h"
#include "Kalman.h"
#include "globals.h"
#include "motors.h"
#include "math.h"
#include "system.h"
#include "geometryfuncs.h"
#include "motion.h"
#include "ai.h"
#include "ui.h"

//#include <iostream>

//Interface declaration
Serial pc(USBTX, USBRX); // tx, rx

DigitalIn StartTrig(p12);
Ticker StopTicker;

Motors motors;
UI ui;
Kalman kalman(motors,ui,p23,p14,p14,p14,p15,p15,p15,p5,p6,p7,p8,p11);
AI ai;
Motion motion(motors, ai, kalman);

void vMotorThread(void const *argument);
void vPrintState(void const *argument);
void motion_thread(void const *argument);
void vStop (void);

//Main loop
int main() {
    pc.baud(115200);
    // no motor motions till we pull the trig
    ai.flag_motorStop = true;
    //Init kalman, this should be done in the mid of the arena before the game starts
    kalman.KalmanInit();

    //Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256);
    Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024);


    pc.printf("We got to main! ;D\r\n");

    //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!!
    while (1) {
        // we use main loop to estimate the cpu usage

        osThreadSetPriority (osThreadGetId(), osPriorityIdle);

        Timer timer;
        ui.regid(10, 1);

        while (1) {
            timer.reset();
            timer.start();
            nopwait(1000);

            ui.updateval(10, timer.read_us());
        }

        // do nothing
        //Thread::wait(osWaitForever);
    }
}

void AI::ai_thread () {
    /*
    //printf("aithreadstart\r\n");
    Thread::signal_wait(0x01);
    settarget(660, 400, PI/2, true);

    Thread::signal_wait(0x01);
    settarget(660, 570, PI, true);

    Thread::signal_wait(0x01);
    settarget(400, 870, PI, true);

    Thread::signal_wait(0x01);
    settarget(660, 870, PI, false);

    flag_terminate = true;
    */

    printf("Waiting for the trigger pull ....\r\n");

    // wait for the start triger
    while (StartTrig) {
        Thread::wait(10);
    };

    // attach a 90 seconds stop timer
    StopTicker.attach(&vStop, 90);


    // starts motors
    ai.flag_motorStop = false;
#ifdef STARTLOC_RED
    // strat 1 RED ==================================
    // goto middle x
    settarget(1500, 250, PI/2, true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

    // to palm tree
    settarget(1500, 1000, PI, true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

    // run over totem
    settarget(640,1000,PI, true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

    // back to ship
    settarget(220,780,PI,true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

#else
    // strat 1 BLUE ==================================
    // goto middle x
    settarget(3000-1500, 250, PI/2, true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

    // to palm tree
    settarget(3000-1500, 1000, 0, true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

    // run over totem
    settarget(3000-640,1000,0, true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);

    // back to ship
    settarget(3000-220,780,0,true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);
#endif

// going from ship to ship for the remaining secs
    while (true){
    // back to ship, RED
    settarget(220,780,PI,true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);
    
    // back to ship, BLUE
    settarget(3000-220,780,0,true);
    Thread::signal_wait(0x01);
    Thread::wait(2000);
    }

    // terminate thread, stopps motors permanently
    ai.flag_terminate = true;
    while (true) {
        Thread::wait(osWaitForever);
    }


    // end of strat 1 ===========================
}


void vMotorThread(void const *argument) {
    motors.resetEncoders();
    while (1) {
        motors.setSpeed(20,20);
        Thread::wait(2000);
        motors.stop();
        Thread::wait(5000);
        motors.setSpeed(-20,-20);
        Thread::wait(2000);
        motors.stop();
        Thread::wait(5000);
        motors.setSpeed(-20,20);
        Thread::wait(2000);
        motors.stop();
        Thread::wait(5000);
        motors.setSpeed(20,-20);
        Thread::wait(2000);
        motors.stop();
        Thread::wait(5000);
    }
}


void vPrintState(void const *argument) {
    float state[3];
    float SonarMeasures[3];
    float IRMeasures[3];

    Thread::wait(5000);
    while (1) {
        kalman.statelock.lock();
        state[0] = kalman.X(0);
        state[1] = kalman.X(1);
        state[2] = kalman.X(2);
        SonarMeasures[0] = kalman.SonarMeasures[0];
        SonarMeasures[1] = kalman.SonarMeasures[1];
        SonarMeasures[2] = kalman.SonarMeasures[2];
        IRMeasures[0] = kalman.IRMeasures[0];
        IRMeasures[1] = kalman.IRMeasures[1];
        IRMeasures[2] = kalman.IRMeasures[2];
        kalman.statelock.unlock();
        pc.printf("\r\n");
        pc.printf("current: %0.4f %0.4f %0.4f \r\n", state[0]*1000, state[1]*1000,state[2]*180/PI);
        pc.printf("Sonar: %0.4f %0.4f %0.4f \r\n",SonarMeasures[0]*1000,SonarMeasures[1]*1000,SonarMeasures[2]*1000);
        pc.printf("IR   : %0.4f %0.4f %0.4f \r\n",IRMeasures[0]*180/PI,IRMeasures[1]*180/PI,IRMeasures[2]*180/PI);
        Thread::wait(100);
    }
}

void vStop (void) {
//    while (true) {
        motors.stop();
        ai.flag_motorStop = true;
        // terminate thread, stopps motors permanently
        ai.flag_terminate = true;
//    };
}