main buggy code More...

#include "mbed.h"
#include "QEI.h"
#include "constants.h"
#include "pin_assignments.h"
#include "bluetooth.h"
#include "motor.h"
#include "PID.h"
#include "motor_driver_board.h"
#include "sensor_array.h"

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Classes
struct	Buggy_status
	Represents the status of a buggy. More...

Enumerations
enum	Bt_cmd_chars { ch_execute = 'E' , ch_get = 'G' , ch_set = 'S' , ch_continous = 'C' , ch_stop = 'S' , ch_active_stop = 'X' , ch_uturn = 'U' , ch_encoder_test = 'E' , ch_motor_pwm_test = 'M' , ch_straight_test = 'Z' , ch_square_test = 'Q' , ch_PID_test = 'P' , ch_toggle_led_test = 'L' , ch_line_follow = 'F' , ch_static_tracking = 'T' , ch_line_follow_auto = 'A' , ch_calibrate = 'C' , ch_pwm_duty = 'D' , ch_ticks_cumulative = 'E' , ch_speed = 'S' , ch_gains_PID = 'P' , ch_tau_PID = 'T' , ch_current_usage = 'C' , ch_runtime = 'R' , ch_loop_time = 'X' , ch_loop_count = 'Y' , ch_motor_left = 'L' , ch_motor_right = 'R' , ch_motor_both = 'B' , ch_sensor = 'S' , ch_no_obj = 'D' }

enum	Buggy_modes { square_mode , straight_test , PID_test , line_test , line_follow , task_test , task_test_inactive , inactive , active_stop , uturn , static_tracking , line_follow_auto , stop_detect_line , calibration }

Functions
DigitalOut	LED (LED_PIN)

Serial	pc (USBTX, USBRX, 115200)

void	stop_motors (void)
	Set pwm dc to 0 for both motors.

void	update_buggy_status (int tick_count_left, int tick_count_right)
	Update buggy status variables.

void	reset_everything (void)
	Reset all buggy values and all objects variables.

bool	bt_parse_rx (char *rx_buffer)
	Parse recieved bluetooth data.

void	control_update_ISR (void)
	ISR updating the control algorithm.

void	serial_update_ISR (void)
	ISR to update flag to send data to pc/bt in main()

void	stop_detect_ISR (void)

void	bt_send_data (void)
	Send data to the bt module.

void	pc_send_data (void)
	Send data to the pc.

void	sensor_update_ISR ()

void	slow_accel_ISR (void)

int	main ()

Variables
volatile bool	pc_serial_update = false

volatile bool	bt_serial_update = false

int	ISR_exec_time = 0

int	loop_exec_time = 0

float	bt_float_data [3] = {0}

short int	data_log [LOG_SIZE][5] = {0}

int	log_index = 0

char	bt_data_sent

char	bt_obj_sent

float *	pid_constants

float *	cal_constants

Buggy_modes	buggy_mode

Buggy_modes	prev_buggy_mode

Buggy_status	buggy_status = {0}

volatile float	lf_velocity = LINE_FOLLOW_VELOCITY

Timer	global_timer

Ticker	control_ticker

Ticker	serial_ticker

Ticker	sensor_ticker

Timeout	logic_timout

Bluetooth	bt (BT_TX_PIN, BT_RX_PIN, BT_BAUD_RATE)

MotorDriverBoard	driver_board (DRIVER_ENABLE_PIN, DRIVER_MONITOR_PIN)

SensorArray	sensor_array (SENSOR0_IN_PIN, SENSOR1_IN_PIN, SENSOR2_IN_PIN, SENSOR3_IN_PIN, SENSOR4_IN_PIN, SENSOR5_IN_PIN, SENSOR0_OUT_PIN, SENSOR1_OUT_PIN, SENSOR2_OUT_PIN, SENSOR3_OUT_PIN, SENSOR4_OUT_PIN, SENSOR5_OUT_PIN, SENS_SAMPLE_COUNT, SENS_DETECT_RANGE, SENS_ANGLE_COEFF)

Motor	motor_left (MOTORL_PWM_PIN, MOTORL_DIRECTION_PIN, MOTORL_BIPOLAR_PIN, MOTORL_CHA_PIN, MOTORL_CHB_PIN, PULSE_PER_REV, MOTOR_PWM_FREQ, CONTROL_UPDATE_RATE, LP_SPEED_A0, LP_SPEED_B0, LP_SPEED_B1, WHEEL_RADIUS)

Motor	motor_right (MOTORR_PWM_PIN, MOTORR_DIRECTION_PIN, MOTORR_BIPOLAR_PIN, MOTORR_CHA_PIN, MOTORR_CHB_PIN, PULSE_PER_REV, MOTOR_PWM_FREQ, CONTROL_UPDATE_RATE, LP_SPEED_A0, LP_SPEED_B0, LP_SPEED_B1, WHEEL_RADIUS)

PID	PID_motor_left (PID_M_L_KP, PID_M_L_KI, PID_M_L_KD, PID_M_TAU, PID_M_MIN_OUT, PID_M_MAX_OUT, PID_M_MIN_INT, PID_M_MAX_INT, CONTROL_UPDATE_PERIOD)

PID	PID_motor_right (PID_M_R_KP, PID_M_R_KI, PID_M_R_KD, PID_M_TAU, PID_M_MIN_OUT, PID_M_MAX_OUT, PID_M_MIN_INT, PID_M_MAX_INT, CONTROL_UPDATE_PERIOD)

PID	PID_angle (PID_A_KP, PID_A_KI, PID_A_KD, PID_A_TAU, PID_A_MIN_OUT, PID_A_MAX_OUT, PID_A_MIN_INT, PID_A_MAX_INT, CONTROL_UPDATE_PERIOD)

PID	PID_sensor (PID_S_KP, PID_S_KI, PID_S_KD, PID_S_TAU, PID_S_MIN_OUT, PID_S_MAX_OUT, PID_S_MIN_INT, PID_S_MAX_INT, SENSOR_UPDATE_PERIOD)

Detailed Description

main buggy code

This file contains all the buggy logic

Definition in file main.cpp.

Enumeration Type Documentation

◆ Bt_cmd_chars

enum Bt_cmd_chars

Enumerator
ch_execute
ch_get
ch_set
ch_continous
ch_stop
ch_active_stop
ch_uturn
ch_encoder_test
ch_motor_pwm_test
ch_straight_test
ch_square_test
ch_PID_test
ch_toggle_led_test
ch_line_follow
ch_static_tracking
ch_line_follow_auto
ch_calibrate
ch_pwm_duty
ch_ticks_cumulative
ch_speed
ch_gains_PID
ch_tau_PID
ch_current_usage
ch_runtime
ch_loop_time
ch_loop_count
ch_motor_left
ch_motor_right
ch_motor_both
ch_sensor
ch_no_obj

Definition at line 22 of file main.cpp.

◆ Buggy_modes

enum Buggy_modes

Enumerator
square_mode
straight_test
PID_test
line_test
line_follow
task_test
task_test_inactive
inactive
active_stop
uturn
static_tracking
line_follow_auto
stop_detect_line
calibration

Definition at line 66 of file main.cpp.

Function Documentation

◆ bt_parse_rx()

bool bt_parse_rx ( char * rx_buffer )

Parse recieved bluetooth data.

Definition at line 703 of file main.cpp.

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◆ bt_send_data()

void bt_send_data ( void )

Send data to the bt module.

Definition at line 863 of file main.cpp.

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◆ control_update_ISR()

void control_update_ISR ( void )

ISR updating the control algorithm.

Definition at line 530 of file main.cpp.

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◆ LED()

DigitalOut LED ( LED_PIN )

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◆ main()

int main ( )

Definition at line 173 of file main.cpp.

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◆ pc()

Serial pc	(	USBTX	,
		USBRX	,
		115200	)

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◆ pc_send_data()

void pc_send_data ( void )

Send data to the pc.

Definition at line 958 of file main.cpp.

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◆ reset_everything()

void reset_everything ( void )

Reset all buggy values and all objects variables.

Definition at line 690 of file main.cpp.

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◆ sensor_update_ISR()

void sensor_update_ISR ( void )

Definition at line 648 of file main.cpp.

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◆ serial_update_ISR()

void serial_update_ISR ( void )

ISR to update flag to send data to pc/bt in main()

Definition at line 856 of file main.cpp.

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◆ slow_accel_ISR()

void slow_accel_ISR ( void )

Definition at line 655 of file main.cpp.

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◆ stop_detect_ISR()

void stop_detect_ISR ( void )

Definition at line 664 of file main.cpp.

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◆ stop_motors()

void stop_motors ( void )

Set pwm dc to 0 for both motors.

Definition at line 673 of file main.cpp.

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◆ update_buggy_status()

void update_buggy_status	(	int	tick_count_left,
		int	tick_count_right )

Update buggy status variables.

Definition at line 680 of file main.cpp.

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Variable Documentation

◆ bt

Bluetooth bt(BT_TX_PIN, BT_RX_PIN, BT_BAUD_RATE)	(	BT_TX_PIN	,
		BT_RX_PIN	,
		BT_BAUD_RATE	)

◆ bt_data_sent

char bt_data_sent

Definition at line 125 of file main.cpp.

◆ bt_float_data

float bt_float_data[3] = {0}

Definition at line 122 of file main.cpp.

◆ bt_obj_sent

char bt_obj_sent

Definition at line 126 of file main.cpp.

◆ bt_serial_update

volatile bool bt_serial_update = false

Definition at line 118 of file main.cpp.

◆ buggy_mode

Buggy_modes buggy_mode

Definition at line 130 of file main.cpp.

◆ buggy_status

Buggy_status buggy_status = {0}

Definition at line 132 of file main.cpp.

◆ cal_constants

float* cal_constants

Definition at line 128 of file main.cpp.

◆ control_ticker

Ticker control_ticker

Definition at line 141 of file main.cpp.

◆ data_log

short int data_log[LOG_SIZE][5] = {0}

Definition at line 123 of file main.cpp.

◆ driver_board

MotorDriverBoard driver_board(DRIVER_ENABLE_PIN, DRIVER_MONITOR_PIN)	(	DRIVER_ENABLE_PIN	,
		DRIVER_MONITOR_PIN	)

◆ global_timer

Timer global_timer

Definition at line 140 of file main.cpp.

◆ ISR_exec_time

int ISR_exec_time = 0

Definition at line 119 of file main.cpp.

◆ lf_velocity

volatile float lf_velocity = LINE_FOLLOW_VELOCITY

Definition at line 134 of file main.cpp.

◆ log_index

int log_index = 0

Definition at line 124 of file main.cpp.

◆ logic_timout

Timeout logic_timout

Definition at line 144 of file main.cpp.

◆ loop_exec_time

int loop_exec_time = 0

Definition at line 120 of file main.cpp.

◆ motor_left

Motor motor_left(MOTORL_PWM_PIN, MOTORL_DIRECTION_PIN, MOTORL_BIPOLAR_PIN, MOTORL_CHA_PIN, MOTORL_CHB_PIN, PULSE_PER_REV, MOTOR_PWM_FREQ, CONTROL_UPDATE_RATE, LP_SPEED_A0, LP_SPEED_B0, LP_SPEED_B1, WHEEL_RADIUS)	(	MOTORL_PWM_PIN	,
		MOTORL_DIRECTION_PIN	,
		MOTORL_BIPOLAR_PIN	,
		MOTORL_CHA_PIN	,
		MOTORL_CHB_PIN	,
		PULSE_PER_REV	,
		MOTOR_PWM_FREQ	,
		CONTROL_UPDATE_RATE	,
		LP_SPEED_A0	,
		LP_SPEED_B0	,
		LP_SPEED_B1	,
		WHEEL_RADIUS	)

◆ motor_right

Motor motor_right(MOTORR_PWM_PIN, MOTORR_DIRECTION_PIN, MOTORR_BIPOLAR_PIN, MOTORR_CHA_PIN, MOTORR_CHB_PIN, PULSE_PER_REV, MOTOR_PWM_FREQ, CONTROL_UPDATE_RATE, LP_SPEED_A0, LP_SPEED_B0, LP_SPEED_B1, WHEEL_RADIUS)	(	MOTORR_PWM_PIN	,
		MOTORR_DIRECTION_PIN	,
		MOTORR_BIPOLAR_PIN	,
		MOTORR_CHA_PIN	,
		MOTORR_CHB_PIN	,
		PULSE_PER_REV	,
		MOTOR_PWM_FREQ	,
		CONTROL_UPDATE_RATE	,
		LP_SPEED_A0	,
		LP_SPEED_B0	,
		LP_SPEED_B1	,
		WHEEL_RADIUS	)

◆ pc_serial_update

volatile bool pc_serial_update = false

Definition at line 117 of file main.cpp.

◆ PID_angle

PID PID_angle(PID_A_KP, PID_A_KI, PID_A_KD, PID_A_TAU, PID_A_MIN_OUT, PID_A_MAX_OUT, PID_A_MIN_INT, PID_A_MAX_INT, CONTROL_UPDATE_PERIOD)	(	PID_A_KP	,
		PID_A_KI	,
		PID_A_KD	,
		PID_A_TAU	,
		PID_A_MIN_OUT	,
		PID_A_MAX_OUT	,
		PID_A_MIN_INT	,
		PID_A_MAX_INT	,
		CONTROL_UPDATE_PERIOD	)

◆ pid_constants

float* pid_constants

Definition at line 127 of file main.cpp.

◆ PID_motor_left

PID PID_motor_left(PID_M_L_KP, PID_M_L_KI, PID_M_L_KD, PID_M_TAU, PID_M_MIN_OUT, PID_M_MAX_OUT, PID_M_MIN_INT, PID_M_MAX_INT, CONTROL_UPDATE_PERIOD)	(	PID_M_L_KP	,
		PID_M_L_KI	,
		PID_M_L_KD	,
		PID_M_TAU	,
		PID_M_MIN_OUT	,
		PID_M_MAX_OUT	,
		PID_M_MIN_INT	,
		PID_M_MAX_INT	,
		CONTROL_UPDATE_PERIOD	)

◆ PID_motor_right

PID PID_motor_right(PID_M_R_KP, PID_M_R_KI, PID_M_R_KD, PID_M_TAU, PID_M_MIN_OUT, PID_M_MAX_OUT, PID_M_MIN_INT, PID_M_MAX_INT, CONTROL_UPDATE_PERIOD)	(	PID_M_R_KP	,
		PID_M_R_KI	,
		PID_M_R_KD	,
		PID_M_TAU	,
		PID_M_MIN_OUT	,
		PID_M_MAX_OUT	,
		PID_M_MIN_INT	,
		PID_M_MAX_INT	,
		CONTROL_UPDATE_PERIOD	)

◆ PID_sensor

PID PID_sensor(PID_S_KP, PID_S_KI, PID_S_KD, PID_S_TAU, PID_S_MIN_OUT, PID_S_MAX_OUT, PID_S_MIN_INT, PID_S_MAX_INT, SENSOR_UPDATE_PERIOD)	(	PID_S_KP	,
		PID_S_KI	,
		PID_S_KD	,
		PID_S_TAU	,
		PID_S_MIN_OUT	,
		PID_S_MAX_OUT	,
		PID_S_MIN_INT	,
		PID_S_MAX_INT	,
		SENSOR_UPDATE_PERIOD	)

◆ prev_buggy_mode

Buggy_modes prev_buggy_mode

Definition at line 131 of file main.cpp.

◆ sensor_array

SensorArray sensor_array(SENSOR0_IN_PIN, SENSOR1_IN_PIN, SENSOR2_IN_PIN, SENSOR3_IN_PIN, SENSOR4_IN_PIN, SENSOR5_IN_PIN, SENSOR0_OUT_PIN, SENSOR1_OUT_PIN, SENSOR2_OUT_PIN, SENSOR3_OUT_PIN, SENSOR4_OUT_PIN, SENSOR5_OUT_PIN, SENS_SAMPLE_COUNT, SENS_DETECT_RANGE, SENS_ANGLE_COEFF)	(	SENSOR0_IN_PIN	,
		SENSOR1_IN_PIN	,
		SENSOR2_IN_PIN	,
		SENSOR3_IN_PIN	,
		SENSOR4_IN_PIN	,
		SENSOR5_IN_PIN	,
		SENSOR0_OUT_PIN	,
		SENSOR1_OUT_PIN	,
		SENSOR2_OUT_PIN	,
		SENSOR3_OUT_PIN	,
		SENSOR4_OUT_PIN	,
		SENSOR5_OUT_PIN	,
		SENS_SAMPLE_COUNT	,
		SENS_DETECT_RANGE	,
		SENS_ANGLE_COEFF	)

◆ sensor_ticker

Ticker sensor_ticker

Definition at line 143 of file main.cpp.

◆ serial_ticker

Ticker serial_ticker

Definition at line 142 of file main.cpp.

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ Bt_cmd_chars

◆ Buggy_modes

Function Documentation

◆ bt_parse_rx()

◆ bt_send_data()

◆ control_update_ISR()

◆ LED()

◆ main()

◆ pc()

◆ pc_send_data()

◆ reset_everything()

◆ sensor_update_ISR()

◆ serial_update_ISR()

◆ slow_accel_ISR()

◆ stop_detect_ISR()

◆ stop_motors()

◆ update_buggy_status()

Variable Documentation

◆ bt

◆ bt_data_sent

◆ bt_float_data

◆ bt_obj_sent

◆ bt_serial_update

◆ buggy_mode

◆ buggy_status

◆ cal_constants

◆ control_ticker

◆ data_log

◆ driver_board

◆ global_timer

◆ ISR_exec_time

◆ lf_velocity

◆ log_index

◆ logic_timout

◆ loop_exec_time

◆ motor_left

◆ motor_right

◆ pc_serial_update

◆ PID_angle

◆ pid_constants

◆ PID_motor_left

◆ PID_motor_right

◆ PID_sensor

◆ prev_buggy_mode

◆ sensor_array

◆ sensor_ticker

◆ serial_ticker