Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

main.cpp@67:be3ea5450cc7, 2013-04-14 (annotated)

Committer:
madcowswe
Date:
Sun Apr 14 18:47:17 2013 +0000
Revision:
67:be3ea5450cc7
Parent:
64:c979fb1cd3b5
Parent:
65:4709ff6c753c
Child:
71:eb1956c2d316
Tuned merge. Testing needed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 20:70d651156779 1 #include "globals.h"
madcowswe 20:70d651156779 2 #include "Kalman.h"
twighk 0:200635fa1b08 3 #include "mbed.h"
twighk 13:d4b5851742a3 4 #include "rtos.h"
madcowswe 21:167dacfe0b14 5 #include "Arm.h"
madcowswe 21:167dacfe0b14 6 #include "MainMotor.h"
madcowswe 21:167dacfe0b14 7 #include "Encoder.h"
madcowswe 21:167dacfe0b14 8 #include "Colour.h"
madcowswe 21:167dacfe0b14 9 #include "CakeSensor.h"
madcowswe 21:167dacfe0b14 10 #include "Printing.h"
madcowswe 20:70d651156779 11 #include "coprocserial.h"
madcowswe 12:76c9915db820 12 #include <algorithm>
rsavitski 24:50805ef8c499 13 #include "motion.h"
madcowswe 25:b16f1045108f 14 #include "MotorControl.h"
madcowswe 28:4e20b44251c6 15 #include "system.h"
rsavitski 30:791739422122 16 #include "ai.h"
madcowswe 20:70d651156779 17
twighk 0:200635fa1b08 18 void motortest();
twighk 0:200635fa1b08 19 void encodertest();
twighk 0:200635fa1b08 20 void motorencodetest();
twighk 0:200635fa1b08 21 void motorencodetestline();
twighk 0:200635fa1b08 22 void motorsandservostest();
twighk 1:8119211eae14 23 void armtest();
twighk 2:45da48fab346 24 void motortestline();
twighk 3:717de74f6ebd 25 void colourtest();
twighk 8:69bdf20cb525 26 void cakesensortest();
twighk 13:d4b5851742a3 27 void printingtestthread(void const*);
twighk 13:d4b5851742a3 28 void printingtestthread2(void const*);
madcowswe 12:76c9915db820 29 void feedbacktest();
twighk 0:200635fa1b08 30
xiaxia686 43:c592bf6a6a2d 31 int main()
xiaxia686 43:c592bf6a6a2d 32 {
xiaxia686 43:c592bf6a6a2d 33
xiaxia686 43:c592bf6a6a2d 34 /*****************
xiaxia686 43:c592bf6a6a2d 35 * Test Code *
xiaxia686 43:c592bf6a6a2d 36 *****************/
twighk 0:200635fa1b08 37 //motortest();
twighk 0:200635fa1b08 38 //encodertest();
twighk 8:69bdf20cb525 39 //motorencodetest();
twighk 1:8119211eae14 40 //motorencodetestline();
twighk 0:200635fa1b08 41 //motorsandservostest();
rsavitski 65:4709ff6c753c 42 //armtest();
rsavitski 65:4709ff6c753c 43 //while(1);
twighk 2:45da48fab346 44 //motortestline();
twighk 11:bbddc908c78c 45 //ledtest();
twighk 3:717de74f6ebd 46 //phototransistortest();
madcowswe 12:76c9915db820 47 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 48 //colourtest(); // Red SnR too low
madcowswe 12:76c9915db820 49 //cakesensortest();
madcowswe 20:70d651156779 50 //feedbacktest();
xiaxia686 43:c592bf6a6a2d 51
xiaxia686 43:c592bf6a6a2d 52 /*
twighk 13:d4b5851742a3 53 DigitalOut l1(LED1);
madcowswe 21:167dacfe0b14 54 Thread p(Printing::printingloop, NULL, osPriorityNormal, 2048);
twighk 13:d4b5851742a3 55 l1=1;
twighk 13:d4b5851742a3 56 Thread a(printingtestthread, NULL, osPriorityNormal, 1024);
twighk 13:d4b5851742a3 57 Thread b(printingtestthread2, NULL, osPriorityNormal, 1024);
twighk 13:d4b5851742a3 58 Thread::wait(osWaitForever);
madcowswe 15:9c5aaeda36dc 59 */
madcowswe 16:52250d8d8fce 60
madcowswe 22:6e3218cf75f8 61 SystemTime.start();
madcowswe 20:70d651156779 62
madcowswe 51:bc261eae004b 63 Serial pc(USBTX, USBRX);
madcowswe 25:b16f1045108f 64 pc.baud(115200);
xiaxia686 46:adcd57a5e402 65 InitSerial();
xiaxia686 46:adcd57a5e402 66 wait(3);
xiaxia686 46:adcd57a5e402 67 Kalman::KalmanInit();
madcowswe 20:70d651156779 68
xiaxia686 46:adcd57a5e402 69 Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k
xiaxia686 46:adcd57a5e402 70 Kalman::start_predict_ticker(&predictthread);
madcowswe 20:70d651156779 71
xiaxia686 46:adcd57a5e402 72 Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084);
rsavitski 24:50805ef8c499 73
xiaxia686 46:adcd57a5e402 74 Ticker motorcontroltestticker;
xiaxia686 46:adcd57a5e402 75 motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
rsavitski 30:791739422122 76 // ai layer thread
xiaxia686 46:adcd57a5e402 77 Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048);
madcowswe 22:6e3218cf75f8 78
rsavitski 24:50805ef8c499 79 // motion layer periodic callback
xiaxia686 46:adcd57a5e402 80 RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);
xiaxia686 46:adcd57a5e402 81 motion_timer.start(50);
xiaxia686 43:c592bf6a6a2d 82
xiaxia686 46:adcd57a5e402 83 Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
xiaxia686 43:c592bf6a6a2d 84
xiaxia686 46:adcd57a5e402 85 measureCPUidle(); //repurpose thread for idle measurement
madcowswe 64:c979fb1cd3b5 86 /*
madcowswe 62:78d99b781f02 87 MotorControl::set_omegacmd(0);
madcowswe 62:78d99b781f02 88 for(float spd = 0.02; spd <= 0.5; spd *= 1.4){
madcowswe 62:78d99b781f02 89
madcowswe 62:78d99b781f02 90 MotorControl::set_fwdcmd(spd);
madcowswe 62:78d99b781f02 91
madcowswe 62:78d99b781f02 92 Thread::wait(3000);
madcowswe 62:78d99b781f02 93
madcowswe 62:78d99b781f02 94 float f = MotorControl::mfwdpowdbg;
madcowswe 62:78d99b781f02 95 float r = MotorControl::mrotpowdbg;
madcowswe 62:78d99b781f02 96 MotorControl::set_fwdcmd(0);
madcowswe 62:78d99b781f02 97 printf("targetspd:%f, fwd:%f, rot:%f\r\n", spd, f, r);
madcowswe 62:78d99b781f02 98 Thread::wait(5000);
madcowswe 62:78d99b781f02 99 }
madcowswe 62:78d99b781f02 100
madcowswe 63:c2c6269767b8 101 MotorControl::set_fwdcmd(0);
madcowswe 63:c2c6269767b8 102 for(float spd = 0.05; spd <= 2; spd *= 1.4){
madcowswe 63:c2c6269767b8 103
madcowswe 63:c2c6269767b8 104 MotorControl::set_omegacmd(spd);
madcowswe 63:c2c6269767b8 105
madcowswe 63:c2c6269767b8 106 Thread::wait(3000);
madcowswe 63:c2c6269767b8 107
madcowswe 63:c2c6269767b8 108 float f = MotorControl::mfwdpowdbg;
madcowswe 63:c2c6269767b8 109 float r = MotorControl::mrotpowdbg;
madcowswe 63:c2c6269767b8 110 MotorControl::set_omegacmd(0);
madcowswe 63:c2c6269767b8 111 printf("targetspd:%f, fwd:%f, rot:%f\r\n", spd, f, r);
madcowswe 63:c2c6269767b8 112 Thread::wait(5000);
madcowswe 63:c2c6269767b8 113 }
madcowswe 64:c979fb1cd3b5 114 */
madcowswe 21:167dacfe0b14 115 Thread::wait(osWaitForever);
madcowswe 51:bc261eae004b 116
madcowswe 12:76c9915db820 117 }
madcowswe 12:76c9915db820 118
twighk 13:d4b5851742a3 119 #include <cstdlib>
twighk 13:d4b5851742a3 120 using namespace std;
twighk 13:d4b5851742a3 121
xiaxia686 43:c592bf6a6a2d 122 void printingtestthread(void const*)
xiaxia686 43:c592bf6a6a2d 123 {
twighk 13:d4b5851742a3 124 const char ID = 1;
twighk 13:d4b5851742a3 125 float buffer[3] = {ID};
madcowswe 21:167dacfe0b14 126 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 127 while (true){
twighk 13:d4b5851742a3 128 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
madcowswe 20:70d651156779 129 buffer[i] = ID ;
twighk 13:d4b5851742a3 130 }
madcowswe 21:167dacfe0b14 131 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 132 Thread::wait(200);
twighk 13:d4b5851742a3 133 }
twighk 13:d4b5851742a3 134 }
madcowswe 14:c638d4b9ee94 135
xiaxia686 43:c592bf6a6a2d 136 void printingtestthread2(void const*)
xiaxia686 43:c592bf6a6a2d 137 {
twighk 13:d4b5851742a3 138 const char ID = 2;
twighk 13:d4b5851742a3 139 float buffer[5] = {ID};
madcowswe 21:167dacfe0b14 140 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 141 while (true){
twighk 13:d4b5851742a3 142 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 13:d4b5851742a3 143 buffer[i] = ID;
twighk 13:d4b5851742a3 144 }
madcowswe 21:167dacfe0b14 145 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 146 Thread::wait(500);
twighk 13:d4b5851742a3 147 }
twighk 8:69bdf20cb525 148 }
twighk 8:69bdf20cb525 149
madcowswe 14:c638d4b9ee94 150
rsavitski 24:50805ef8c499 151 /*
madcowswe 12:76c9915db820 152 void feedbacktest(){
madcowswe 20:70d651156779 153 //Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 12:76c9915db820 154 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
xiaxia686 43:c592bf6a6a2d 155
madcowswe 20:70d651156779 156 Kalman::State state;
xiaxia686 43:c592bf6a6a2d 157
madcowswe 20:70d651156779 158 float Pgain = -0.01;
madcowswe 15:9c5aaeda36dc 159 float fwdspeed = -400/3.0f;
madcowswe 12:76c9915db820 160 Timer timer;
madcowswe 12:76c9915db820 161 timer.start();
xiaxia686 43:c592bf6a6a2d 162
xiaxia686 43:c592bf6a6a2d 163 while(true) {
madcowswe 12:76c9915db820 164 float expecdist = fwdspeed * timer.read();
madcowswe 20:70d651156779 165 state = Kalman::getState();
madcowswe 20:70d651156779 166 float errleft = left_encoder.getTicks() - (expecdist);
madcowswe 20:70d651156779 167 float errright = right_encoder.getTicks() - expecdist;
xiaxia686 43:c592bf6a6a2d 168
madcowswe 12:76c9915db820 169 mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
madcowswe 12:76c9915db820 170 mright(max(min(errright*Pgain, 0.4f), -0.4f));
madcowswe 12:76c9915db820 171 }
twighk 8:69bdf20cb525 172 }
rsavitski 24:50805ef8c499 173 */
twighk 8:69bdf20cb525 174
xiaxia686 43:c592bf6a6a2d 175 void cakesensortest()
xiaxia686 43:c592bf6a6a2d 176 {
twighk 8:69bdf20cb525 177 wait(1);
madcowswe 20:70d651156779 178 printf("cakesensortest");
xiaxia686 43:c592bf6a6a2d 179
xiaxia686 43:c592bf6a6a2d 180 CakeSensor cs(P_DISTANCE_SENSOR);
xiaxia686 43:c592bf6a6a2d 181 while(true) {
twighk 8:69bdf20cb525 182 wait(0.1);
madcowswe 20:70d651156779 183 printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
xiaxia686 43:c592bf6a6a2d 184 }
twighk 3:717de74f6ebd 185 }
twighk 3:717de74f6ebd 186
xiaxia686 43:c592bf6a6a2d 187 void colourtest()
xiaxia686 43:c592bf6a6a2d 188 {
xiaxia686 45:77cf6375348a 189 Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER,UPPER);
xiaxia686 45:77cf6375348a 190 Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER,LOWER);
xiaxia686 43:c592bf6a6a2d 191
xiaxia686 43:c592bf6a6a2d 192 while(true) {
twighk 3:717de74f6ebd 193 wait(0.1);
xiaxia686 43:c592bf6a6a2d 194
xiaxia686 45:77cf6375348a 195 switch(c_lower.getColour()) {
twighk 3:717de74f6ebd 196 case BLUE :
xiaxia686 43:c592bf6a6a2d 197 printf("BLUE\n");
twighk 3:717de74f6ebd 198 break;
twighk 3:717de74f6ebd 199 case RED:
xiaxia686 43:c592bf6a6a2d 200 printf("RED\n");
twighk 3:717de74f6ebd 201 break;
twighk 3:717de74f6ebd 202 case WHITE:
xiaxia686 43:c592bf6a6a2d 203 printf("WHITE\n");
twighk 3:717de74f6ebd 204 break;
xiaxia686 43:c592bf6a6a2d 205 case BLACK:
xiaxia686 43:c592bf6a6a2d 206 printf("BLACK\n");
twighk 3:717de74f6ebd 207 break;
twighk 3:717de74f6ebd 208 default:
xiaxia686 43:c592bf6a6a2d 209 printf("BUG\n");
twighk 3:717de74f6ebd 210 }
xiaxia686 43:c592bf6a6a2d 211
twighk 2:45da48fab346 212 }
twighk 0:200635fa1b08 213
twighk 3:717de74f6ebd 214 }
twighk 3:717de74f6ebd 215
madcowswe 51:bc261eae004b 216 /*
madcowswe 51:bc261eae004b 217
xiaxia686 43:c592bf6a6a2d 218 void pt_test()
xiaxia686 43:c592bf6a6a2d 219 {
xiaxia686 43:c592bf6a6a2d 220 DigitalOut _blue_led(p10);
xiaxia686 43:c592bf6a6a2d 221 DigitalOut _red_led(p11);
xiaxia686 45:77cf6375348a 222 AnalogIn _pt(p18);
xiaxia686 43:c592bf6a6a2d 223
xiaxia686 43:c592bf6a6a2d 224 bytepack_t datapackage;
xiaxia686 43:c592bf6a6a2d 225 // first 3 bytes of header is used for alignment
xiaxia686 43:c592bf6a6a2d 226 datapackage.data.header[0] = 0xFF;
xiaxia686 43:c592bf6a6a2d 227 datapackage.data.header[1] = 0xFF;
xiaxia686 43:c592bf6a6a2d 228 datapackage.data.header[2] = 0xFF;
xiaxia686 43:c592bf6a6a2d 229 while(true) {
xiaxia686 43:c592bf6a6a2d 230 //toggles leds for the next state
xiaxia686 43:c592bf6a6a2d 231 _blue_led = 1;
xiaxia686 43:c592bf6a6a2d 232 _red_led = 0;
xiaxia686 43:c592bf6a6a2d 233 wait(0.01);
xiaxia686 43:c592bf6a6a2d 234 volatile float blue_temp = _pt.read();
twighk 3:717de74f6ebd 235
xiaxia686 43:c592bf6a6a2d 236
xiaxia686 43:c592bf6a6a2d 237 datapackage.data.ID = (unsigned char)0;
xiaxia686 43:c592bf6a6a2d 238 datapackage.data.value = blue_temp;
xiaxia686 43:c592bf6a6a2d 239 datapackage.data.aux = 0;
xiaxia686 43:c592bf6a6a2d 240 for (int i = 0; i < sizeof(datapackage); i++) {
xiaxia686 43:c592bf6a6a2d 241 //mbed_serial.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 242 pc.putc(datapackage.type_char[i]);
twighk 3:717de74f6ebd 243 }
xiaxia686 43:c592bf6a6a2d 244
xiaxia686 43:c592bf6a6a2d 245 _blue_led = 0;
xiaxia686 43:c592bf6a6a2d 246 _red_led = 1;
xiaxia686 43:c592bf6a6a2d 247 wait(0.01);
xiaxia686 43:c592bf6a6a2d 248 volatile float red_temp = _pt.read();
xiaxia686 43:c592bf6a6a2d 249
xiaxia686 43:c592bf6a6a2d 250
xiaxia686 43:c592bf6a6a2d 251 datapackage.data.ID = (unsigned char)1;
xiaxia686 43:c592bf6a6a2d 252 datapackage.data.value = red_temp;
xiaxia686 43:c592bf6a6a2d 253 datapackage.data.aux = 0;
xiaxia686 43:c592bf6a6a2d 254 for (int i = 0; i < sizeof(datapackage); i++) {
xiaxia686 43:c592bf6a6a2d 255 //mbed_serial.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 256 pc.putc(datapackage.type_char[i]);
twighk 11:bbddc908c78c 257 }
twighk 3:717de74f6ebd 258
xiaxia686 43:c592bf6a6a2d 259 _blue_led = 0;
xiaxia686 43:c592bf6a6a2d 260 _red_led = 0;
xiaxia686 43:c592bf6a6a2d 261 wait(0.01);
xiaxia686 43:c592bf6a6a2d 262 volatile float noise_temp = _pt.read();
twighk 3:717de74f6ebd 263
twighk 3:717de74f6ebd 264
xiaxia686 43:c592bf6a6a2d 265 datapackage.data.ID = (unsigned char)2;
xiaxia686 43:c592bf6a6a2d 266 datapackage.data.value = noise_temp;
xiaxia686 43:c592bf6a6a2d 267 datapackage.data.aux = 0;
xiaxia686 43:c592bf6a6a2d 268 for (int i = 0; i < sizeof(datapackage); i++) {
xiaxia686 43:c592bf6a6a2d 269 //mbed_serial.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 270 pc.putc(datapackage.type_char[i]);
xiaxia686 43:c592bf6a6a2d 271 }
xiaxia686 43:c592bf6a6a2d 272
twighk 3:717de74f6ebd 273 }
twighk 3:717de74f6ebd 274 }
madcowswe 51:bc261eae004b 275 */
rsavitski 65:4709ff6c753c 276 #ifdef AGDHGADSYIGYJDGA
rsavitski 65:4709ff6c753c 277 PwmOut white(p26);
rsavitski 65:4709ff6c753c 278 PwmOut black(p25);
xiaxia686 43:c592bf6a6a2d 279
rsavitski 65:4709ff6c753c 280 void armtest()
rsavitski 65:4709ff6c753c 281 {
rsavitski 65:4709ff6c753c 282
rsavitski 65:4709ff6c753c 283 white.period(0.05);
rsavitski 65:4709ff6c753c 284 black.period(0.05);
rsavitski 65:4709ff6c753c 285
rsavitski 65:4709ff6c753c 286 /* float f=1;
rsavitski 65:4709ff6c753c 287 for (f=1; f<3; f+=0.1)
rsavitski 65:4709ff6c753c 288 {
rsavitski 65:4709ff6c753c 289 black.pulsewidth_us(f*1000);
rsavitski 65:4709ff6c753c 290 wait(1);
rsavitski 65:4709ff6c753c 291 printf("%f\r\n", f);
rsavitski 65:4709ff6c753c 292 }
rsavitski 65:4709ff6c753c 293 for (f=2; f>0; f-=0.1)
rsavitski 65:4709ff6c753c 294 {
rsavitski 65:4709ff6c753c 295 black.pulsewidth_us(f*1000);
rsavitski 65:4709ff6c753c 296 wait(1);
rsavitski 65:4709ff6c753c 297 printf("%f\r\n", f);
rsavitski 65:4709ff6c753c 298 }*/
rsavitski 65:4709ff6c753c 299
rsavitski 65:4709ff6c753c 300
rsavitski 65:4709ff6c753c 301 for(;;)
rsavitski 65:4709ff6c753c 302 {
rsavitski 65:4709ff6c753c 303 black.pulsewidth_us(2.0*1000);
rsavitski 65:4709ff6c753c 304 wait(2);
rsavitski 65:4709ff6c753c 305 black.pulsewidth_us(0.9*1000);//1.2
rsavitski 65:4709ff6c753c 306 wait(2);
rsavitski 65:4709ff6c753c 307 }
rsavitski 65:4709ff6c753c 308
rsavitski 65:4709ff6c753c 309 // white works
rsavitski 65:4709ff6c753c 310 /*for(;;)
rsavitski 65:4709ff6c753c 311 {
rsavitski 65:4709ff6c753c 312 white.pulsewidth_us(0.6*1000);
rsavitski 65:4709ff6c753c 313 wait(2);
rsavitski 65:4709ff6c753c 314 white.pulsewidth_us(2.5*1000);
rsavitski 65:4709ff6c753c 315 wait(2);
rsavitski 65:4709ff6c753c 316 }*/
rsavitski 65:4709ff6c753c 317
rsavitski 65:4709ff6c753c 318 /* while(1) //2.5 -> //0.6
rsavitski 65:4709ff6c753c 319 {
rsavitski 65:4709ff6c753c 320 white.pulsewidth_us(int(f*1000));
rsavitski 65:4709ff6c753c 321 printf("%f\r\n", f);
rsavitski 65:4709ff6c753c 322 f-=0.1;
rsavitski 65:4709ff6c753c 323 wait(1);
rsavitski 65:4709ff6c753c 324 }*/
rsavitski 65:4709ff6c753c 325 }
rsavitski 65:4709ff6c753c 326 #endif
rsavitski 65:4709ff6c753c 327 #ifdef FSDHGFSJDF
xiaxia686 43:c592bf6a6a2d 328 void armtest()
xiaxia686 43:c592bf6a6a2d 329 {
rsavitski 65:4709ff6c753c 330 Arm lower_arm(p25, 0.05, 0.9, 2.0);
rsavitski 65:4709ff6c753c 331 Arm upper_arm(p26, 0.05, 0.6, 2.5);
rsavitski 65:4709ff6c753c 332
rsavitski 65:4709ff6c753c 333 while(1)
rsavitski 65:4709ff6c753c 334 {
rsavitski 65:4709ff6c753c 335 upper_arm.go_up();
rsavitski 65:4709ff6c753c 336 wait(2);
rsavitski 65:4709ff6c753c 337 upper_arm.go_down();
rsavitski 65:4709ff6c753c 338 wait(2);
twighk 1:8119211eae14 339 }
twighk 1:8119211eae14 340 }
rsavitski 65:4709ff6c753c 341 #endif
rsavitski 65:4709ff6c753c 342 void armtest(){}
rsavitski 65:4709ff6c753c 343 /*
xiaxia686 43:c592bf6a6a2d 344 void motorsandservostest()
xiaxia686 43:c592bf6a6a2d 345 {
twighk 0:200635fa1b08 346 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 347 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 348 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 349 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 350 const float speed = 0.0;
twighk 0:200635fa1b08 351 const float dspeed = 0.0;
xiaxia686 43:c592bf6a6a2d 352
twighk 0:200635fa1b08 353 Timer servoTimer;
xiaxia686 43:c592bf6a6a2d 354 mleft(speed);
xiaxia686 43:c592bf6a6a2d 355 mright(speed);
twighk 0:200635fa1b08 356 servoTimer.start();
xiaxia686 43:c592bf6a6a2d 357 while (true) {
madcowswe 20:70d651156779 358 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
xiaxia686 43:c592bf6a6a2d 359 if (Eleft.getTicks() < Eright.getTicks()) {
twighk 0:200635fa1b08 360 mleft(speed);
twighk 0:200635fa1b08 361 mright(speed - dspeed);
twighk 0:200635fa1b08 362 } else {
twighk 0:200635fa1b08 363 mright(speed);
twighk 0:200635fa1b08 364 mleft(speed - dspeed);
twighk 0:200635fa1b08 365 }
xiaxia686 43:c592bf6a6a2d 366 if (servoTimer.read() < 1) {
twighk 0:200635fa1b08 367 sTop.clockwise();
twighk 0:200635fa1b08 368 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 369 sTop.halt();
twighk 0:200635fa1b08 370 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 371 sBottom.anticlockwise();
twighk 0:200635fa1b08 372 //Led=1;
twighk 0:200635fa1b08 373 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 374 sBottom.clockwise();
twighk 0:200635fa1b08 375 //Led=0;
twighk 0:200635fa1b08 376 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 377 sBottom.halt();
xiaxia686 43:c592bf6a6a2d 378 } else {
twighk 0:200635fa1b08 379 sTop.anticlockwise();
twighk 0:200635fa1b08 380 }
twighk 0:200635fa1b08 381 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 382 }
twighk 0:200635fa1b08 383 }
rsavitski 65:4709ff6c753c 384 */
xiaxia686 43:c592bf6a6a2d 385 void motortestline()
xiaxia686 43:c592bf6a6a2d 386 {
twighk 2:45da48fab346 387 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 388 const float speed = 0.2;
xiaxia686 43:c592bf6a6a2d 389 mleft(speed);
xiaxia686 43:c592bf6a6a2d 390 mright(speed);
twighk 2:45da48fab346 391 while(true) wait(1);
twighk 2:45da48fab346 392 }
twighk 2:45da48fab346 393
xiaxia686 43:c592bf6a6a2d 394 void motorencodetestline()
xiaxia686 43:c592bf6a6a2d 395 {
madcowswe 12:76c9915db820 396 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 12:76c9915db820 397 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 4:1be0f6c6ceae 398 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 399 const float speed = 0.2;
twighk 0:200635fa1b08 400 const float dspeed = 0.1;
twighk 0:200635fa1b08 401
xiaxia686 43:c592bf6a6a2d 402 mleft(speed);
xiaxia686 43:c592bf6a6a2d 403 mright(speed);
xiaxia686 43:c592bf6a6a2d 404 while (true) {
xiaxia686 43:c592bf6a6a2d 405 //left 27 cm = 113 -> 0.239 cm/pulse
xiaxia686 43:c592bf6a6a2d 406 //right 27 cm = 72 -> 0.375 cm/pulse
madcowswe 20:70d651156779 407 printf("Position is: %i \t %i \n\r", (int)(Eleft.getTicks()*0.239), (int)(Eright.getTicks()*0.375));
xiaxia686 43:c592bf6a6a2d 408 if (Eleft.getTicks()*0.239 < Eright.getTicks()*0.375) {
twighk 0:200635fa1b08 409 mright(speed - dspeed);
twighk 0:200635fa1b08 410 } else {
twighk 0:200635fa1b08 411 mright(speed + dspeed);
twighk 0:200635fa1b08 412 }
twighk 0:200635fa1b08 413 }
twighk 0:200635fa1b08 414
twighk 0:200635fa1b08 415 }
twighk 0:200635fa1b08 416
xiaxia686 43:c592bf6a6a2d 417 void motorencodetest()
xiaxia686 43:c592bf6a6a2d 418 {
madcowswe 7:4340355261f9 419 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 420 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 421 Serial pc(USBTX, USBRX);
xiaxia686 43:c592bf6a6a2d 422
twighk 0:200635fa1b08 423 const float speed = -0.3;
twighk 0:200635fa1b08 424 const int enc = -38;
xiaxia686 43:c592bf6a6a2d 425 while(true) {
xiaxia686 43:c592bf6a6a2d 426 mleft(speed);
xiaxia686 43:c592bf6a6a2d 427 mright(0);
xiaxia686 43:c592bf6a6a2d 428 while(Eleft.getTicks()>enc) {
madcowswe 20:70d651156779 429 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 430 }
xiaxia686 43:c592bf6a6a2d 431 Eleft.reset();
xiaxia686 43:c592bf6a6a2d 432 Eright.reset();
xiaxia686 43:c592bf6a6a2d 433 mleft(0);
xiaxia686 43:c592bf6a6a2d 434 mright(speed);
xiaxia686 43:c592bf6a6a2d 435 while(Eright.getTicks()>enc) {
madcowswe 20:70d651156779 436 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 437 }
xiaxia686 43:c592bf6a6a2d 438 Eleft.reset();
xiaxia686 43:c592bf6a6a2d 439 Eright.reset();
twighk 0:200635fa1b08 440 }
twighk 0:200635fa1b08 441 }
twighk 0:200635fa1b08 442
xiaxia686 43:c592bf6a6a2d 443 void encodertest()
xiaxia686 43:c592bf6a6a2d 444 {
madcowswe 15:9c5aaeda36dc 445 Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 15:9c5aaeda36dc 446 //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B);
twighk 0:200635fa1b08 447 Serial pc(USBTX, USBRX);
xiaxia686 43:c592bf6a6a2d 448 while(true) {
twighk 0:200635fa1b08 449 wait(0.1);
madcowswe 20:70d651156779 450 printf("Position is: %i \t %i \n\r", E1.getTicks(), 0);//E2.getTicks());
twighk 0:200635fa1b08 451 }
twighk 0:200635fa1b08 452
twighk 0:200635fa1b08 453 }
xiaxia686 43:c592bf6a6a2d 454 void motortest()
xiaxia686 43:c592bf6a6a2d 455 {
twighk 0:200635fa1b08 456 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 457 while(true) {
twighk 0:200635fa1b08 458 wait(1);
xiaxia686 43:c592bf6a6a2d 459 mleft(0.8);
xiaxia686 43:c592bf6a6a2d 460 mright(0.8);
twighk 0:200635fa1b08 461 wait(1);
xiaxia686 43:c592bf6a6a2d 462 mleft(-0.2);
xiaxia686 43:c592bf6a6a2d 463 mright(0.2);
twighk 0:200635fa1b08 464 wait(1);
xiaxia686 43:c592bf6a6a2d 465 mleft(0);
xiaxia686 43:c592bf6a6a2d 466 mright(0);
twighk 0:200635fa1b08 467 }
twighk 0:200635fa1b08 468 }