Carlos Alberto Nascimento Filho
Program version 1
Dependencies: FatFileSystemSD MSCFileSystem TextLCD mbed-rtos mbed
Fork of
USBFlashDiskTest
by 
Chris Styles
Revision 2:f1f6b33cd7bd, committed 2012-09-16
- Comitter:
- carlos_nascimento08
- Date:
- Sun Sep 16 15:13:32 2012 +0000
- Parent:
- 1:1f7a5d9bf5f7
- Child:
- 3:10da2a723362
- Commit message:
- Test with roboclaw v1
Changed in this revision
--- a/FatFileSystem.lib Mon Jul 23 09:59:38 2012 +0000 +++ b/FatFileSystem.lib Sun Sep 16 15:13:32 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_unsupported/code/FatFileSystem/#333d6e93e58f +http://mbed.org/users/carlos_nascimento08/code/FatFileSystemSD/#6ce49c16703c
--- a/MSCFileSystem.lib Mon Jul 23 09:59:38 2012 +0000 +++ b/MSCFileSystem.lib Sun Sep 16 15:13:32 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/chris/code/MSCFileSystem/#dcc326e4d358 +http://mbed.org/users/carlos_nascimento08/code/MSCFileSystem/#59daf2b48180
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RoboClaw.lib Sun Sep 16 15:13:32 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/carlos_nascimento08/code/TextLCD/#15a805c1202a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Sun Sep 16 15:13:32 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/carlos_nascimento08/code/TextLCD/#8d777e7fe49b
--- a/main.cpp Mon Jul 23 09:59:38 2012 +0000
+++ b/main.cpp Sun Sep 16 15:13:32 2012 +0000
@@ -1,39 +1,151 @@
#include "mbed.h"
+#include "RoboClaw.h"
+#include "TextLCD.h"
#include "MSCFileSystem.h"
+#include "cmsis_os.h"
-MSCFileSystem sd("sd");
+#define tempo_period 50 //Periodo do PWM
+#define diametro_direita 42.74 //mm
+#define diametro_esquerda 42.67 //mm
+#define pi 3.1415926535897
+#define velocidade_max 220.00 //cm/seg
+#define tam_vetor 64
+
+TextLCD lcd(p5, p6, p7, p8, p29, p30, TextLCD::LCD20x4); // rs, e, d4-d7
+RoboClaw Placa(void);
+MSCFileSystem sd("sd");
+//Serial Robo(p28, p27); // tx, rx
+
+AnalogIn sensor1(p15);
+AnalogIn sensor2(p16);
+AnalogIn sensor3(p17);
+AnalogIn sensor4(p19);
+
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
-int main() {
-
- printf("This is version 1.0 of the USB host test\n");
-
- FILE *fp = fopen("/sd/test.txt","w");
- printf("Create filehandle\n");
-
- led1= 1;
- if (fp == NULL) { //make sure it's been opened
- printf("its bad :-(\n");
- led2 = 1;
- exit(1);
- }
- printf("its good :-)\n");
+//Declaracao de variaveis universal RoboClaw:
+char endereco = 128;
+char comando = 0;
+char valor = 0;
+char check8 = 0;
+char buffer = 0;
+unsigned int aceleracao = 0;
+int velocidade = 0;
+int velocidade_e = 0;
+int velocidade_d = 0;
+unsigned int cmd_distancia = 0;
+unsigned int cmd_distancia_e = 0;
+unsigned int cmd_distancia_d = 0;
+unsigned int distancia_e = 0;
+unsigned int distancia_d = 0;
+unsigned int Kp = 65536;
+unsigned int Ki = 32768;
+unsigned int Kd = 16384;
+unsigned int QPPS = 800;
- led3 = 1;
- fprintf(fp,"Hello world!\n");
- printf("Write to the file\n");
+//Funcoes Universais
+double distancia(int y);
+
- fclose(fp);
- printf("Close the handle\n");
+/*
+//Rotina Interrupcao Thread -> Controle de Velocidade
+void thread_interrompe(void const *argument)
+{
+ while (true)
+ {
+
+
+ osDelay(0.001);
+ }
+}
+osThreadDef(thread_interrompe, osPriorityNormal, DEFAULT_STACK_SIZE);
+
+//Rotina Interrupcao Thread -> Atualiza vetor de tempo
+void vetor_atualiza(void const *argument)
+{
+ while (true)
+ {
+
+ osDelay(1);
+ }
+}
+osThreadDef(vetor_atualiza, osPriorityNormal, DEFAULT_STACK_SIZE);
+ */
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+int main()
+{
+ //char resp = 0, string[40], imprimir = 0;
+ //int i = 0;
+ //unsigned int aux = 0, dist = 0;
+ //float valor1 = 0, valor2 = 0, valor3 = 0, valor4 = 0;
+
+ //DIR *d;
+ //struct dirent *p;
+
+ //Robo.baud(38400);
+ //Robo.attach(&callback);
+
+ // Comeca Thread
+ //osThreadCreate(osThread(thread_interrompe), NULL);
+ //osThreadCreate(osThread(vetor_atualiza), NULL);
+
+
- led4 = 1;
- printf("\n");
+ endereco = 128;
+ aceleracao = 0;
+ velocidade_e = 150;
+ velocidade_d = 150;
+ cmd_distancia_e = 140;
+ cmd_distancia_d = 140;
+ buffer = 0;
+
+ Placa.comando46 (endereco, aceleracao, velocidade_d, cmd_distancia_d, velocidade_d, cmd_distancia_e, buffer);
}
+
+
+
+// Funcoes auxiliares:
+double distancia(int y)
+{
+ double resultado = 0, x = 0;
+
+ if(y == 1)
+ x = 3.3*sensor1;
+ else
+ if(y == 2)
+ x = 3.3*sensor2;
+ else
+ if(y == 3)
+ x = 3.3*sensor3;
+ else
+ if(y == 4)
+ x = 3.3*sensor4;
+ else
+ x = 0;
+
+ // Grafico 2: y = 2,266x6 - 25,396x5 + 114,73x4 - 268,77x3 + 349,89x2 - 251,81x + 92,04
+
+ resultado = 2.266*x*x*x*x*x*x;
+ resultado = resultado - 25.396*x*x*x*x*x;
+ resultado = resultado + 114.73*x*x*x*x;
+ resultado = resultado - 268.77*x*x*x;
+ resultado = resultado + 349.89*x*x;
+ resultado = resultado - 251.81*x;
+ resultado = resultado + 92.04;
+
+
+ if( (resultado >= 40) || (resultado < 0))
+ resultado = -1;
+
+ return (resultado);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sun Sep 16 15:13:32 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/carlos_nascimento08/code/mbed-rtos/#48852bcc8e50