EE149
Final Project files for mBed development.
Revision 16:f1beef7beeb9, committed 2014-11-30
- Comitter:
- alecguertin
- Date:
- Sun Nov 30 21:52:58 2014 +0000
- Parent:
- 14:41fa8b95a9ab
- Parent:
- 15:14d4e7021125
- Child:
- 17:c72c092fcdf7
- Commit message:
- fixed merge conflicts
Changed in this revision
| main.c | Show annotated file Show diff for this revision Revisions of this file |
| main.c.orig | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.c Fri Nov 28 21:08:55 2014 +0000
+++ b/main.c Sun Nov 30 21:52:58 2014 +0000
@@ -37,6 +37,8 @@
DigitalOut oled_3(LED3);
DigitalOut oled_4(LED4);
+/* Local File System */
+LocalFileSystem local("local");
/**
* @brief Entry point. Main loop.
@@ -50,35 +52,101 @@
//
// Drawing environment calibration.
pi.sensor_auto_calibrate();
- pi.backward(DRIVE_SPEED);
- float pos;
- float over_thresh = 0.5;
- float correction = 0.1;
+ //pi.backward(DRIVE_SPEED);
+ float pos = 0;
+ float over_thresh = 0.05;
+ float correction = 0.2*DRIVE_SPEED;
+
+ wait(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.right_motor(-DRIVE_SPEED);
+ pi.left_motor(-DRIVE_SPEED);
+ }
+ /*
+ pi.cls();
+ pi.locate(0,0);
+ pi.printf("P: %f", pos);
+ */
+ } while (pos != -1 && pos < 0.2);
+ pi.stop();
+ wait(1);
+ if (pos != -1) {
+ timer.start();
+ pi.forward(DRIVE_SPEED);
+ } else {
+ pi.cls();
+ pi.locate(0,0);
+ pi.printf("LP: %f",pos);
+ return 1;
+ }
+
+ wait(1);
do {
pos = pi.line_position();
if(pos > over_thresh) {
pi.right_motor(DRIVE_SPEED);
- pi.left_motor(DRIVE_SPEED - correction);
+ pi.left_motor(DRIVE_SPEED-correction);
} else if(pos < -over_thresh) {
pi.left_motor(DRIVE_SPEED);
- pi.right_motor(DRIVE_SPEED - correction);
+ pi.right_motor(DRIVE_SPEED-correction);
} else {
- pi.forward(DRIVE_SPEED);
+ pi.right_motor(DRIVE_SPEED);
+ pi.left_motor(DRIVE_SPEED);
+ }
+ pi.cls();
+ pi.locate(0,0);
+ pi.printf("Pos: %f", pos);
+ } while(pos != -1 && pos <= 0.3);
+ pi.stop();
+ if(pos != -1) {
+ oled_1 = 1;
+ timer.stop();
+ pi.printf("T: %d", timer.read_ms());
+ } else {
+ pi.cls();
+ pi.locate(0,0);
+ pi.printf("lP:%f", pos);
+ return 1;
+ }
+ pi.right(TURN_SPEED);
+ wait(0.5);
+ pi.stop();
+ 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.right_motor(-DRIVE_SPEED);
+ pi.left_motor(-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);
+ } while (pos != -1 && pos > -0.3);
+ pi.stop();
+ if(pos != -1) {
+ oled_1 = 1;
+ timer.stop();
+ pi.printf("T: %d", timer.read_ms());
} else {
- pi.stop();
pi.cls();
pi.locate(0,0);
- pi.printf("LP: %f",pos);
- while(1);
+ pi.printf("lP:%f", pos);
+ return 1;
}
while(pi.line_position() == 1);
@@ -114,9 +182,14 @@
// Main program loop.
// robot_loop();
+ ps_file = fopen("/local/test.ps", "r");
+ while () {
+ memset(instbuf, 0, instbuflen);
+ fread(instbuf, sizeof(char), instbuflen, ps_file);
+ }
//
// We should never reach this point!
- while(1);
+ return 0;
}
int forward(int amt)
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.c.orig Sun Nov 30 21:52:58 2014 +0000
@@ -0,0 +1,192 @@
+/**
+ * @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 Fri Nov 28 21:08:55 2014 +0000 +++ b/main.h Sun Nov 30 21:52:58 2014 +0000 @@ -14,7 +14,7 @@ #include <stdarg.h> #include <stdio.h> #define TURN_SPEED 0.25 -#define DRIVE_SPEED 0.15 +#define DRIVE_SPEED 0.1 #define ERR_SUCCESS 0 #define ERR_FAILURE 1 #define DRIVE_RATE 1/50