Revision 3:bd16e43ad7be, committed 2014-10-17

Comitter:

gerardo_carmona

Date:

Fri Oct 17 06:21:52 2014 +0000

Parent:

2:94059cb643be

Child:

4:c60636c95b80

Commit message:

v1.3

Changed in this revision

--- a/main.cpp	Thu Oct 16 17:30:52 2014 +0000
+++ b/main.cpp	Fri Oct 17 06:21:52 2014 +0000
@@ -5,12 +5,16 @@
     the magnometer. It will report data from the encoders and limit the movement by
     the ultrasonic sensors
     
+    
     COMPONENTS:
     * Bluetooth
     * Magnometer            (FXOS8700CQ & magnometer.h)
     * Motors                (motors.h)
-    * Encoder   
+    * Encoder               (encoder.h)
     * Ultrasonic sensors    (motors.h)
+    * SD Card               (sd_card.h & SDFileSystem)
+    * xbee                  (xbee.h)
+    
     
     CONTROLS:
     w: foward
@@ -20,16 +24,20 @@
     o: 90° left turn
     p: 90° right turn
     
+    
     Credits:
     * Mayumi Haro
     * Sarahí Morán
     * Gerardo Carmona
     
     VERSION:
-    1.2 - 10/16/14
+    1.3 - 10/17/14
+    
     
-
     HISTORY:
+    1.3 - 10/17/14
+    (+) Added nuw functions
+    
     1.2 - 10/16/14
     (+) Added xbee, ultrasonic, sd_card
     
@@ -50,31 +58,44 @@
 #include "encoder.h"
 #include "sd_card.h"
 #include "xbee.h"
+#include "encoders.h"
+#include "ultrasonic.h"
 
 // ----- Constants ------------------------------------------------------------------
 #define LED_ERROR       6
 #define LED_NORMAL      5
 #define LED_BUSY        3
-#define BT_TIME         100
+// Motores
+#define MOVE_FWD_F      'W'
+#define MOVE_REV_F      'S'
+#define MOVE_LEF_F      'A'
+#define MOVE_RIG_F      'D'
+#define MOVE_FWD_S      'w'
+#define MOVE_REV_S      's'
+#define MOVE_LEF_S      'a'
+#define MOVE_RIG_S      'd'
+#define MOVE_STO        'q'
+#define MOVE_90L        'o'
+#define MOVE_90R        'p'
+// Otros
+#define reset_encoders  'r'
+#define request_data    'm'
+#define encoder_rigth   1
+#define encoder_left    2
 
 // ----- I/O Pins -------------------------------------------------------------------
 Serial pc(USBTX, USBRX);
 Serial bt(PTC15, PTC14);
-//FXOS8700CQ fxos(PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1)
 // Leds for status
 BusOut leds(LED_RED, LED_GREEN, LED_BLUE);
 
 // Sensors
-//AnalogIn current_left(A0);
-//AnalogIn current_left(A1);
 AnalogIn ultra_left(A2);
 AnalogIn ultra_right(A3);
-DigitalIn encoder_left(D3);
-DigitalIn encoder_right(D4);
+//DigitalIn encoder_left(D3);
+//DigitalIn encoder_right(D4);
 
 // ----- Others ---------------------------------------------------------------------
-//SRAWDATA accel_data;
-//SRAWDATA magn_data;
 Timer bt_timer;
 Timer gps_timer;
 
@@ -82,35 +103,84 @@
 char bt_data;
 
 // ----- Function prototypes --------------------------------------------------------
-//double get_mag_x();
-//double get_mag_y();
-//double get_mag_angle();                             // Read angle from the compass
-char read_bt();
+void read_bt();
+void command_bt(char _command);
+void send_all_data();
 
 // ----- Main program ---------------------------------------------------------------
 int main(){
+    init_encoders();
     bt.baud(9600); 
     pc.baud(9600);
-    //fxos.enable();
     leds = LED_NORMAL;
-    bt_timer.start();
     while (true){
-        if (bt_timer.read_ms() >= BT_TIME){
-            bt_data = read_bt();
-            if (bt_data != ' '){
-                move_motors(bt_data, 100, 100);
-            }
-        }
+        read_bt(); 
     }
 }
 
 // ----- Functions ------------------------------------------------------------------
-
-char read_bt(){
+void read_bt(){
     char c = ' ';
     if (bt.readable()){
         c = bt.getc();
         bt.printf("%c\n\r", c);
+    //}
+    //if (c != ' '){
+        command_bt(c);
     }
-    return c;
+}
+
+void command_bt(char _command){
+    switch (_command){
+        case MOVE_FWD_F:
+            motor_fwd(FAST, FAST);
+            break;
+        case MOVE_REV_F:
+            motor_rev(FAST, FAST);
+            break;
+        case MOVE_LEF_F:
+            motor_left(FAST, FAST);
+            break;
+        case MOVE_RIG_F:
+            motor_right(FAST, FAST);
+            break;
+        case MOVE_FWD_S:
+            motor_fwd(SLOW, SLOW);
+            break;
+        case MOVE_REV_S:
+            motor_rev(SLOW, SLOW);
+            break;
+        case MOVE_LEF_S:
+            motor_left(SLOW, SLOW);
+            break;
+        case MOVE_RIG_S:
+            motor_right(SLOW, SLOW);
+            break;
+        case MOVE_STO:
+            motor_stop();
+            break;
+        //case MOVE_90L:
+        //    move_90(1);
+        //    break;
+        //case MOVE_90R:
+        //    move_90(2);
+        //    break;
+        case reset_encoders:
+            encoders_to_zero();
+            break;
+        case request_data:
+            send_all_data();
+            break;
+        default:
+            motor_stop();
+        //    bt.printf("%f\r\n", get_mag_angle());
+        break;
+    }
+}
+
+void send_all_data(){
+    bt.printf("sending all data...\n");
+    bt.printf("Right encoder: %f cms\tLeft encoder: %f cms\n", encoder(encoder_rigth), encoder(encoder_rigth));
+    bt.printf("Rigt distance: %fcms\tLeft distance: %fcms\n", ultrasonicos(ULTRA_R), ultrasonicos(ULTRA_L));
+    bt.printf("Angle: %f\n", get_mag_angle());
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/my_libraries/encoders.cpp	Fri Oct 17 06:21:52 2014 +0000
@@ -0,0 +1,46 @@
+// ----- Libraries ------------------------------------------------------------------
+#include "mbed.h"
+#include "encoders.h"
+
+// ----- I/O Pins -------------------------------------------------------------------
+InterruptIn interrupt_encoder_der(D2);
+InterruptIn interrupt_encoder_izq(D3);
+
+
+int flanco_bajada_rigth;
+int flanco_bajada_left;
+
+// ----- Functions ------------------------------------------------------------------
+void encoders_to_zero(){
+    flanco_bajada_rigth = 0;
+    flanco_bajada_left = 0;
+}
+
+void falling_encoder_rigth(void){
+    flanco_bajada_rigth++;
+}
+ 
+void falling_encoder_left(void){
+    flanco_bajada_left++;
+}
+
+void init_encoders(){
+    interrupt_encoder_der.fall(&falling_encoder_rigth);
+    interrupt_encoder_izq.fall(&falling_encoder_left);
+}
+
+float encoder(int sensor_encoder){
+        int read_encoder = 0;
+        float distancia;
+        
+        if(sensor_encoder==encoder_rigth){ 
+            read_encoder= flanco_bajada_rigth;
+                        
+        }else if(sensor_encoder==encoder_left){
+            read_encoder= flanco_bajada_left;
+                    
+        }
+        distancia= (read_encoder/5)*2.2580;
+        
+        return distancia; 
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/my_libraries/encoders.h	Fri Oct 17 06:21:52 2014 +0000
@@ -0,0 +1,13 @@
+#ifndef encoders_h 
+#define encoders_h
+
+#define encoder_rigth 1
+#define encoder_left 2
+
+void encoders_to_zero();
+void falling_encoder_right(void);
+void falling_encoder_left(void);
+float encoder(int sensor_encoder);
+void init_encoders();
+
+#endif
\ No newline at end of file

--- a/my_libraries/motors.cpp	Thu Oct 16 17:30:52 2014 +0000
+++ b/my_libraries/motors.cpp	Fri Oct 17 06:21:52 2014 +0000
@@ -10,34 +10,6 @@
 PwmOut pwm_right(D10);
 
 // ----- Functions ------------------------------------------------------------------
-void move_motors(char _move_command, int _power_left, int _power_right){
-    switch (_move_command){
-        case MOVE_FWD:
-            motor_fwd(_power_left, _power_right);
-            break;
-        case MOVE_REV:
-            motor_rev(_power_left, _power_right);
-            break;
-        case MOVE_LEF:
-            motor_left(_power_left, _power_right);
-            break;
-        case MOVE_RIG:
-            motor_right(_power_left, _power_right);
-            break;
-        case MOVE_STO:
-            motor_stop();
-            break;
-        //case MOVE_90L:
-        //    move_90(1);
-        //    break;
-        //case MOVE_90R:
-        //    move_90(2);
-        //    break;
-        default:
-        //    bt.printf("%f\r\n", get_mag_angle());
-        break;
-    }
-}
 
 void motor_fwd(int _power_left, int _power_right){
     dir_left = 1;
@@ -77,4 +49,4 @@
     pwm_left = 0;
     pwm_right = 0;
     //pc.printf("STOP\n");
-}
\ No newline at end of file
+}

--- a/my_libraries/motors.h	Thu Oct 16 17:30:52 2014 +0000
+++ b/my_libraries/motors.h	Fri Oct 17 06:21:52 2014 +0000
@@ -2,16 +2,11 @@
 #define motors_h
 
 // ----- Constants ------------------------------------------------------------------
-#define MOVE_FWD        'w'
-#define MOVE_REV        's'
-#define MOVE_LEF        'a'
-#define MOVE_RIG        'd'
-#define MOVE_STO        'q'
-#define MOVE_90L        'o'
-#define MOVE_90R        'p'
+#define FAST            100
+#define SLOW            50
 
 // ----- Functions ------------------------------------------------------------------
-void move_motors(char _move_command, int _power_left, int _power_right);   // Move motor function
+//void move_motors(char _move_command);               // Move motor function
 void motor_fwd(int _power_left, int _power_right);
 void motor_rev(int _power_left, int _power_right);
 void motor_move_90(int direction);
@@ -19,4 +14,4 @@
 void motor_right(int _power_left, int _power_right);
 void motor_stop();
 
-#endif
\ No newline at end of file
+#endif

--- a/my_libraries/ultrasonic.cpp	Thu Oct 16 17:30:52 2014 +0000
+++ b/my_libraries/ultrasonic.cpp	Fri Oct 17 06:21:52 2014 +0000
@@ -3,8 +3,7 @@
 #include "ultrasonic.h"
 
 // ----- Constants ------------------------------------------------------------------
-#define ULTRA_R 1
-#define ULTRA_L 2
+
 
 // ----- I/O Pins -------------------------------------------------------------------
 AnalogIn ultra_lef(A2);

--- a/my_libraries/ultrasonic.h	Thu Oct 16 17:30:52 2014 +0000
+++ b/my_libraries/ultrasonic.h	Fri Oct 17 06:21:52 2014 +0000
@@ -1,6 +1,9 @@
 #ifndef ultrasonic_h 
 #define ultrasonic_h
 
+#define ULTRA_R         1
+#define ULTRA_L         2
+
 float ultrasonicos(int sensor);
 
 #endif
\ No newline at end of file