EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

main.h@46:a3b9c0fe8f36, 2014-12-19 (annotated)

Committer:
lsaristo
Date:
Fri Dec 19 03:47:18 2014 +0000
Revision:
46:a3b9c0fe8f36
Parent:
40:0199bad6c979 
Changed postscript file name to control.ps instead.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lsaristo 8:12d780f7443e 1 /**
lsaristo 10:94b068b2ce1d 2 * @file main.h
lsaristo 35:a1c14c6d9282 3 * @brief Main header file for includes and defs
lsaristo 8:12d780f7443e 4 * @author John Wilkey
lsaristo 29:459ff10d2a07 5 * @author Alec Guertin
lsaristo 29:459ff10d2a07 6 * @author Chester Chu
lsaristo 8:12d780f7443e 7 */
lsaristo 8:12d780f7443e 8
lsaristo 10:94b068b2ce1d 9 #ifndef _MAIN_H
lsaristo 10:94b068b2ce1d 10 #define _MAIN_H
lsaristo 8:12d780f7443e 11
lsaristo 8:12d780f7443e 12 #include "mbed.h"
lsaristo 8:12d780f7443e 13 #include "m3pi.h"
lsaristo 9:3a0433c391cb 14 #include <string.h>
lsaristo 9:3a0433c391cb 15 #include <stdarg.h>
lsaristo 9:3a0433c391cb 16 #include <stdio.h>
lsaristo 21:0c80a5d89ea3 17 #include <math.h>
lsaristo 35:a1c14c6d9282 18
alecguertin 40:0199bad6c979 19 /* Constants used in main.c */
alecguertin 40:0199bad6c979 20 #define TURN_SPEED 0.15 /**< Motor power for turning */
alecguertin 40:0199bad6c979 21 #define DRIVE_SPEED 0.25 /**< Motor power for drawing/moving */
alecguertin 40:0199bad6c979 22 #define TIME_FACT 1780 /**< Multiplier for forward() and backward() */
alecguertin 40:0199bad6c979 23 #define CAL_SPEED 0.25 /**< Drive speed during calibration */
alecguertin 40:0199bad6c979 24 #define CLOSE_ENOUGH 0.0008 /**< Threshold for calibration line centering */
alecguertin 40:0199bad6c979 25 #define WIGGLE_MAX 30 /**< Max 'wiggles' during calibration */
alecguertin 40:0199bad6c979 26 #define CORNER_THRESHOLD 0.3 /**< Threshold for checking if line position denotes a corner */
alecguertin 40:0199bad6c979 27 #define INST_BUF_SIZE 250 /**< Size of input buffer for instructions */
alecguertin 40:0199bad6c979 28 #define CORRECTION_SPEED 0.2*DRIVE_SPEED /**< Amount to change speed of one wheel when following line */
alecguertin 40:0199bad6c979 29 #define CORRECTION_THRESHOLD 0.05 /**< Maximum tolerable deviation from line when following line */
alecguertin 40:0199bad6c979 30 #define RAD_TO_DEG 57.29 /**< Factor to convert radians to degrees */
alecguertin 40:0199bad6c979 31 #define FULL_TURN 360 /**< Degrees for a full turn */
alecguertin 40:0199bad6c979 32 #define HALF_TURN 180 /**< Degrees for a half turn */
alecguertin 40:0199bad6c979 33 #define QUARTER_TURN 90 /**< Degrees for a quarter (right angle) turn */
alecguertin 40:0199bad6c979 34 #define CAL_FACTOR 1.1 /**< Scaling factor for time to drive */
alecguertin 40:0199bad6c979 35 #define DEGREE_CORRECTION 0 /**< Amount (in degrees) added to the angle for each turn */
alecguertin 40:0199bad6c979 36 #define SEC_TO_MSEC 1000 /**< Scaling factor to convert seconds to milliseconds */
alecguertin 40:0199bad6c979 37 #define SEC_TO_USEC 1000000 /**< Scaling factor to convert seconds to microseconds */
alecguertin 40:0199bad6c979 38 #define MSEC_TO_USEC 1000 /**< Scaling factor to convert milliseconds to microseconds */
alecguertin 18:eab7b0e89398 39
lsaristo 8:12d780f7443e 40 /**
alecguertin 17:c72c092fcdf7 41 * @brief get values of next PostScript instruction.
alecguertin 17:c72c092fcdf7 42 *
alecguertin 17:c72c092fcdf7 43 * @param buf Buffer with PS instructions.
alecguertin 17:c72c092fcdf7 44 * @param x Pointer to storage for x coordinate.
alecguertin 17:c72c092fcdf7 45 * @param y Pointer to storage for y coordinate.
alecguertin 17:c72c092fcdf7 46 * @param draw Pointer to storage for draw/move boolean.
alecguertin 17:c72c092fcdf7 47 *
alecguertin 17:c72c092fcdf7 48 * @return Success or failure code.
alecguertin 17:c72c092fcdf7 49 */
alecguertin 17:c72c092fcdf7 50 int retrieve_inst(char *buf, int *x, int *y, int *draw);
alecguertin 17:c72c092fcdf7 51
alecguertin 17:c72c092fcdf7 52 /**
lsaristo 29:459ff10d2a07 53 * @brief Driver forward for a time.
lsaristo 8:12d780f7443e 54 *
lsaristo 29:459ff10d2a07 55 * @param[in] amt Amount to drive forward. In milliseconds.
lsaristo 8:12d780f7443e 56 */
lsaristo 29:459ff10d2a07 57 void forward(int amt);
lsaristo 8:12d780f7443e 58
lsaristo 8:12d780f7443e 59 /**
lsaristo 29:459ff10d2a07 60 * @brief Drive backward for a time.
lsaristo 8:12d780f7443e 61 *
lsaristo 29:459ff10d2a07 62 * @param[in] amt Amount to drive backward. In milliseconds.
lsaristo 8:12d780f7443e 63 */
lsaristo 29:459ff10d2a07 64 void backward(int amt);
lsaristo 8:12d780f7443e 65
lsaristo 8:12d780f7443e 66 /**
lsaristo 29:459ff10d2a07 67 * @brief Turn right by some angle.
lsaristo 8:12d780f7443e 68 *
lsaristo 29:459ff10d2a07 69 * @param[in] deg Desired final turn angle in degrees from start.
lsaristo 29:459ff10d2a07 70 * Note that a negative angle will turn in the opposite
lsaristo 29:459ff10d2a07 71 * direction.
lsaristo 8:12d780f7443e 72 */
lsaristo 29:459ff10d2a07 73 void right(float deg);
lsaristo 8:12d780f7443e 74
lsaristo 8:12d780f7443e 75 /**
lsaristo 29:459ff10d2a07 76 * @brief Turn left by some angle.
lsaristo 8:12d780f7443e 77 *
lsaristo 29:459ff10d2a07 78 * @param[in] deg Desired final turn angle in degrees from start.
lsaristo 29:459ff10d2a07 79 * Note that a negative angle will turn in the opposite
lsaristo 29:459ff10d2a07 80 * direction.
lsaristo 8:12d780f7443e 81 */
lsaristo 29:459ff10d2a07 82 void left (float deg);
lsaristo 8:12d780f7443e 83
lsaristo 21:0c80a5d89ea3 84 /**
lsaristo 29:459ff10d2a07 85 * @brief Wait for a number of seconds, possibly fractional.
lsaristo 29:459ff10d2a07 86 *
lsaristo 29:459ff10d2a07 87 * Timer resolution is on the order of microseconds. A negative wait
lsaristo 29:459ff10d2a07 88 * time does nothing.
lsaristo 21:0c80a5d89ea3 89 *
lsaristo 29:459ff10d2a07 90 * @param[in] amt Time to wait, in seconds.
lsaristo 21:0c80a5d89ea3 91 */
lsaristo 29:459ff10d2a07 92 void timerWait(float amt);
alecguertin 39:cc8691700d2a 93
alecguertin 40:0199bad6c979 94 /**
alecguertin 40:0199bad6c979 95 * @brief Follows the non-reflective line to a corner
alecguertin 40:0199bad6c979 96 *
alecguertin 40:0199bad6c979 97 * @param[in] left boolean specifying if the corner to look for
alecguertin 40:0199bad6c979 98 * is a left corner
alecguertin 40:0199bad6c979 99 *
alecguertin 40:0199bad6c979 100 * @return returns an error code
alecguertin 40:0199bad6c979 101 */
alecguertin 39:cc8691700d2a 102 int find_corner(int left);
alecguertin 39:cc8691700d2a 103
alecguertin 40:0199bad6c979 104 /**
alecguertin 40:0199bad6c979 105 * @brief Turns towards the base line and moves to reach it
alecguertin 40:0199bad6c979 106 */
alecguertin 39:cc8691700d2a 107 void find_line();
alecguertin 39:cc8691700d2a 108
alecguertin 40:0199bad6c979 109 /**
alecguertin 40:0199bad6c979 110 * @brief Computes the Euclidean distance between two points
alecguertin 40:0199bad6c979 111 *
alecguertin 40:0199bad6c979 112 * @param[in] x1 the x-coordinate of the first point
alecguertin 40:0199bad6c979 113 * @param[in] y1 the y-coordinate of the first point
alecguertin 40:0199bad6c979 114 * @param[in] x2 the x-coordinate of the second point
alecguertin 40:0199bad6c979 115 * @param[in] y2 the y-coordinate of the second point
alecguertin 40:0199bad6c979 116 *
alecguertin 40:0199bad6c979 117 * @return the distance between points (x1,y1) and (x2,y2)
alecguertin 40:0199bad6c979 118 */
alecguertin 39:cc8691700d2a 119 float distance(int x1, int y1, int x2, int y2);
alecguertin 39:cc8691700d2a 120
alecguertin 40:0199bad6c979 121 /**
alecguertin 40:0199bad6c979 122 * @brief prints to the m3pi's screen
alecguertin 40:0199bad6c979 123 *
alecguertin 40:0199bad6c979 124 * @param[in] line the line on the screen to print to, in {0,1}
alecguertin 40:0199bad6c979 125 * @param[in] format the format string to print
alecguertin 40:0199bad6c979 126 * @param[in] ... the arguments to pass into the format string
alecguertin 40:0199bad6c979 127 */
alecguertin 39:cc8691700d2a 128 void robot_printf(int line, const char *format, ...);
alecguertin 39:cc8691700d2a 129
alecguertin 40:0199bad6c979 130 /**
alecguertin 40:0199bad6c979 131 * @brief computes the angle to turn to face towards (x,y)
alecguertin 40:0199bad6c979 132 *
alecguertin 40:0199bad6c979 133 * @param[in] last_x the current x-coordinate
alecguertin 40:0199bad6c979 134 * @param[in] last_y the current y-coordinate
alecguertin 40:0199bad6c979 135 * @param[in] x the desired x-coordinate
alecguertin 40:0199bad6c979 136 * @param[in] y the desired y-coordinate
alecguertin 40:0199bad6c979 137 * @param[in] angle the current angle the m3pi is facing
alecguertin 40:0199bad6c979 138 *
alecguertin 40:0199bad6c979 139 * @return the angle to turn left
alecguertin 40:0199bad6c979 140 */
alecguertin 39:cc8691700d2a 141 float compute_turn_angle(int last_x, int last_y, int x, int y, float angle);
alecguertin 40:0199bad6c979 142
alecguertin 40:0199bad6c979 143 /**
alecguertin 40:0199bad6c979 144 * @brief sends the signal on the output pin for the led
alecguertin 40:0199bad6c979 145 * to turn it on
alecguertin 40:0199bad6c979 146 */
alecguertin 40:0199bad6c979 147 void pen_up();
alecguertin 40:0199bad6c979 148
alecguertin 40:0199bad6c979 149 /**
alecguertin 40:0199bad6c979 150 * @brief turns off the signal to the led
alecguertin 40:0199bad6c979 151 */
alecguertin 40:0199bad6c979 152 void pen_down();
alecguertin 40:0199bad6c979 153
lsaristo 29:459ff10d2a07 154 #endif