Revision 21:15da49f18c63, committed 2012-05-01

Comitter:

narshu

Date:

Tue May 01 16:54:44 2012 +0000

Parent:

20:0c3f320e477a

Child:

22:7ba09c0af0d0

Commit message:

Added support for both starting locs (except AI target mirroring)

Changed in this revision

--- a/Eurobot_shared.lib	Mon Apr 30 20:22:06 2012 +0000
+++ b/Eurobot_shared.lib	Tue May 01 16:54:44 2012 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/narshu/libraries/Eurobot_shared/m9b1ne
\ No newline at end of file
+http://mbed.org/users/narshu/libraries/Eurobot_shared/m9cjn5
\ No newline at end of file

--- a/front_arms.h	Mon Apr 30 20:22:06 2012 +0000
+++ b/front_arms.h	Tue May 01 16:54:44 2012 +0000
@@ -1,22 +1,22 @@
-#ifndef _FRONT_ARMS_H
-#define _FRONT_ARMS_H
-
-#include "mbed.h"
-
-#define LEFT_ARM_PIN p21
-#define RIGHT_ARM_PIN p24
-
-Servo leftServo(LEFT_ARM_PIN);
-Servo rightServo(RIGHT_ARM_PIN);
-
-void setLeftArmPosition(float degrees) {
-    if(degrees < 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint
-    leftServo.position(degrees);
-}
-
-void setRightArmPosition(float degrees) {
-    if(degrees > 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint
-    rightServo.position(degrees);
-}
-
+#ifndef _FRONT_ARMS_H
+#define _FRONT_ARMS_H
+
+#include "mbed.h"
+
+#define LEFT_ARM_PIN p21
+#define RIGHT_ARM_PIN p24
+
+Servo leftServo(LEFT_ARM_PIN);
+Servo rightServo(RIGHT_ARM_PIN);
+
+void setLeftArmPosition(float degrees) {
+    if(degrees < 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint
+    leftServo.position(degrees);
+}
+
+void setRightArmPosition(float degrees) {
+    if(degrees > 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint
+    rightServo.position(degrees);
+}
+
 #endif // _FRONT_ARMS_H
\ No newline at end of file

--- a/globals.h	Mon Apr 30 20:22:06 2012 +0000
+++ b/globals.h	Tue May 01 16:54:44 2012 +0000
@@ -4,11 +4,14 @@
 #include "mbed.h"
 #define PI 3.14159265
 
+
+//#define ROBOT_SECONDARY
+#define STARTLOC_RED
+//#define STARTLOC_BLUE
+
 //enables ui
 #define UION
 
-//#define ROBOT_SECONDARY
-
 #ifdef ROBOT_SECONDARY
 //Secondary Robot constants in mm
 const int robot_width = 260;
@@ -47,7 +50,11 @@
     int x;
     int y;
 };
+#ifdef STARTLOC_RED
 const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
+#elif STARTLOC_BLUE
+const pos beaconpos[] = {{0, 1000},{3000,2000}, {3000,0}};
+#endif
 
 //System constants
 const int PREDICTPERIOD = 20; //ms

--- a/main.cpp	Mon Apr 30 20:22:06 2012 +0000
+++ b/main.cpp	Tue May 01 16:54:44 2012 +0000
@@ -23,36 +23,29 @@
 Motion motion(motors, ai, kalman);
 
 //TODO mutex on kalman state, and on motor commands (i.e. on the i2c bus)
-//NOTE! Recieving data with RF12B now DISABLED due to interferance with rtos!
 
 
 void vMotorThread(void const *argument);
 void vPrintState(void const *argument);
 void motion_thread(void const *argument);
 
-//bool flag_terminate = false;
-
-float temp = 0;
-
 //Main loop
 int main() {
     pc.baud(115200);
-    //Init kalman
+    // 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);
-    
-    //Thread thr_motion(motion_thread,NULL,osPriorityNormal,1024);
-    //Motion_Thread_Ptr = &thr_motion;
-
-    //measure cpu usage. output updated once per second to symbol cpupercent
-    //Thread mCPUthread(measureCPUidle, NULL, osPriorityIdle, 1024); //check if stack overflow with such a small staack
+   
     
     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);
         
@@ -90,6 +83,15 @@
     flag_terminate = true;
     */
     
+    
+    //
+    // Put some code here so it's started by the pull trigger
+    // start a 90s timer here as well
+    //
+    //while (!Tiggered);
+    
+    // starts motors
+    ai.flag_motorStop = false;
     // strat 1 ==================================
     // goto middle x
     settarget(1500, 250, PI/2, true);
@@ -111,90 +113,14 @@
     Thread::signal_wait(0x01);
     Thread::wait(2000);
     
-    flag_terminate = true;
+    // terminate thread, stopps motors permanently
+    ai.flag_terminate = true;
     while(true){
         Thread::wait(osWaitForever);
     }
     
     
     // end of strat 1 ===========================
-    
-    
-   
-    
-    while (1) {
-    
-    
-            // goes to the mid
-        settarget(500, 1000, 0, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-        settarget(2500, 1000, PI, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-        }
-
-
-        
-                    // goes to the mid
-        settarget(700, 1500, 0, false);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-//////////////////////////////////////////////////////
-        // goes to the mid
-        settarget(1500, 1000, PI/2, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-
-        // left roll
-        settarget(500, 1500, PI/2, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-        // mid
-        settarget(1500, 1000, PI/2, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-
-        // map
-        settarget(1500, 1500, PI/2, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-
-        // mid
-        settarget(1500, 1000, -PI/2, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-
-        // home
-        settarget(500, 500, 0, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-        // oponents base
-        settarget(2500, 500, 0, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-        // oponents ship
-        settarget(2500, 1500, 0, true);
-        Thread::signal_wait(0x01);
-        Thread::wait(2000);
-        
-        
-    //}
-
-    Thread::signal_wait(0x01);
-    flag_terminate = true;
-    //OLED3 = true;
-
-    while (true) {
-        Thread::wait(osWaitForever);
-    }
 }