Instrumentation
This is the source code used by master vehicle. Modules: CAMCTL SRVCTL MTRCTL still missing i2c readings from accelerometer and rf communication
Dependencies: CAMCTL MTRCTL SRVCTL mbed FXOS8700CQ XBEE
Revision 0:2a825db40e1b, committed 2014-10-14
- Comitter:
- JalilChavez
- Date:
- Tue Oct 14 04:00:40 2014 +0000
- Child:
- 1:a457798861a4
- Commit message:
- Master vehicle system
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CAMCTL.lib Tue Oct 14 04:00:40 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Instrumentation/code/CAMCTL/#6cad676fdc0c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MTRCTL.lib Tue Oct 14 04:00:40 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Instrumentation/code/MTRCTL/#4fc76af15d0e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SRVCTL.lib Tue Oct 14 04:00:40 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Instrumentation/code/SRVCTL/#b0455b6a805a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 14 04:00:40 2014 +0000
@@ -0,0 +1,75 @@
+#include "camctl.h"
+#include "srvctl.h"
+#include "mtrctl.h"
+
+DigitalOut MAIN__xPinAlive( LED_BLUE );
+Serial xComPort1(USBTX,USBRX);
+
+
+/**********************************************************************************
+* CAMCTL-Module
+***********************************************************************************/
+uint16_t au16ThresholdBuffer[BUFFER_LENGTH] = {0};
+uint16_t *pu16DataBuffer;
+uint8_t u8Index = 0;
+uint8_t u8FrameCtr = 0;
+/* Variables to get the line center */
+uint32_t u32Sum = 0;
+uint32_t u32Avg = 0;
+uint32_t u3SampleCtr = 0;
+bool boCalibrationDone = false;
+
+int main()
+{
+ /* Initialization of modules */
+ CAMCTL_vInit();
+ MTRCTL_vInit();
+ SRVCTL_vInit();
+ xComPort1.baud(115200);
+ /* Main loop */
+ while(true)
+ {
+ /* Wait until camera is calibrated */
+ if(boCalibrationDone == false)
+ {
+ boCalibrationDone = CAMCTL_boCalibrateCamera( au16ThresholdBuffer, 4 );
+ }
+ else
+ {
+ /* Get frame */
+ CAMCTL_vTriggerOneShotCapture();
+ pu16DataBuffer = CAMCTL_pu16GetData();
+ while( pu16DataBuffer == NULL )
+ {
+ pu16DataBuffer = CAMCTL_pu16GetData();
+ }
+ /* Detect path center */
+ for( u8Index = 0; u8Index < BUFFER_LENGTH; u8Index++ )
+ {
+ if( pu16DataBuffer[u8Index] < au16ThresholdBuffer[u8Index] )
+ {
+ u32Sum = u32Sum + u8Index;
+ u3SampleCtr++;
+
+ }
+ else
+ {
+
+ }
+ }
+ /*Move servo according to camer readings*/
+ u32Avg = (uint32_t)( u32Sum / u3SampleCtr );
+ SRVCTL_vSetPosition( u32Avg, BUFFER_LENGTH );
+ MTRCTL_vSetSystemSpeed( 400, (uint8_t)(u32Avg) );
+ /* Report data through COM port */
+ xComPort1.printf("u8CenterPos = %f\r\n",(float)(u32Avg/128.0));
+ /* Reinitialize variables */
+ u32Sum = 0;
+ u3SampleCtr = 0;
+ }
+ /* Pin alive message */
+ MAIN__xPinAlive = !MAIN__xPinAlive;
+ wait(0.0001);
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 14 04:00:40 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1 \ No newline at end of file