File content as of revision 1:282467cbebb3:

/* mbed ROBOT Library, for SUTD evobot project, Generation 1
 * Copyright (c) 2013, SUTD
 * Author: Mark VanderMeulen
 * Modified: Mayuran Saravanapavanantham (this code used for STARS)
 *
 * April 22, 2013
 */

#include "robot.h"
#include "math.h"
//*********************************CONSTRUCTOR*********************************//
//*********************************CONSTRUCTOR*********************************//
HC05 bt(tx_bt,rx_bt,EN_BT);
//QEI wheel (PTA16, PTA17, NC, 24);
QEI right (PTA16, PTA17, NC, 150, QEI::X4_ENCODING);
QEI left (PTA14, PTA13, NC, 150, QEI::X4_ENCODING);
//Serial bt(rx_bt,tx_bt);
//MPU6050 mpu(PTE0, PTE1);
DigitalOut myled(myledd);
DigitalOut key(PTA15);
DigitalOut btSwitch(EN_BT);
//AnalogIn  currentSensor(CURRENTSENSOR_PIN);
DigitalOut buzzer(buzz);

AnalogIn LDRsensor1(LDR1);
AnalogIn LDRsensor2(LDR2);
//AnalogIn voltageSensor(VOLTAGESENSOR_PIN);
//PwmOut  buzzer(buzz);
PwmOut PWMA(MOT_PWMA_PIN);
PwmOut PWMB(MOT_PWMB_PIN);
DigitalOut AIN1(MOT_AIN1_PIN);
DigitalOut AIN2(MOT_AIN2_PIN);
DigitalOut BIN1(MOT_BIN1_PIN);
DigitalOut BIN2(MOT_BIN2_PIN);
DigitalOut STBY(MOT_STBY_PIN);

DigitalOut SRX(PTB10);

AnalogIn uL(ulL);
AnalogIn uF(ulF);
AnalogIn uR(ulR);
AnalogIn urR(ulrR);
AnalogIn urL(ulrL);
AnalogIn uB(ulB);
MPU6050 accelgyro;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int rMotor = 1;
int lMotor = -1;
int m_speed = 100;
int speed;
Mutex stdio_mutex; 
int freq=0;
Timer t;
int heading=0;
int last_time=0;
int dy =0;
int dx=0;
float left_current_reading=0;
float   right_current_reading= 0;
float   left_change  = 0;
float   right_change =0;
float   left_prev_read=0;
float   right_prev_read=0;
int   delta_y=0;
int   delta_x=0;
float   delta_thetha=0;
float   encoder_yaw =0;
float   G_thetha=0;
int Encoder_x=0;
int Encoder_y=0;
int dtheta=0;
int r_time ()
{
    int mseconds = (int)time(NULL)+(int)t.read_ms();
    return mseconds;
}
void initRobot()
{
    key  = 0;
    //btSwitch = 1;
    bt.start();
    myled = 0;
    wait_ms(500);
    bt.baud(BaudRate_bt);
    myled = 1;
    accelgyro.initialize();
    t.start();
    SRX = 0;
}

//*********************************MOTORS*********************************//
void motor_control(int Lspeed, int Rspeed)
{
    //Controls the motors. 0 = stopped, 100 = full speed, -100 = reverse speed
    if (!Lspeed && !Rspeed)     //stop//
      {  STBY = 0;
         }
    else
        STBY = 1;
    //make sure 'speeds' are between -100 and 100, and not between abs(0 to 10)
    if(Lspeed > 100) Lspeed = 100;
    else if (Lspeed < -100) Lspeed = -100;
    else if (Lspeed < 0 && Lspeed > -15)   Lspeed = -15;    //prevent speed from being less than 15
    else if (Lspeed > 0 &&  Lspeed < 15)    Lspeed = 15;
    if(Rspeed > 100) Rspeed = 100;
    else if (Rspeed < -100) Rspeed = -100;
    else if (Rspeed < 0 && Rspeed > -15)   Rspeed = -15;
    else if (Rspeed > 0 &&  Rspeed < 15)    Rspeed = 15;
    if (!Rspeed) {  //if right motor is stopped
        AIN1 = 0;
        AIN2 = 0;
        PWMA = 0;
    } else if (!Lspeed) { //if left motor is stopped
        BIN1 = 0;
        BIN2 = 0;
        PWMB = 0;
    }
    //RIGHT MOTOR//
    if(Rspeed > 0) {     //Right motor fwd
        AIN1 = MOTOR_R_DIRECTION;   //set the motor direction
        AIN2 = !AIN1;
    } else {     //Right motor reverse
        AIN2 = MOTOR_R_DIRECTION;
        AIN1 = !AIN2;
    }
    PWMA = abs(Rspeed/100.0);
    //LEFT MOTOR//
    if(Lspeed >0) {
        BIN1 = MOTOR_L_DIRECTION;
        BIN2 = !BIN1;
    } else {
        BIN2 = MOTOR_L_DIRECTION;
        BIN1 = !BIN2;
    }
    PWMB = abs(Lspeed/100.0);
}

void stop()
{
    motor_control(0,0);
}
void set_speed(int Speed)
{
    speed = Speed;
    motor_control(speed,speed);
}

double ldrread1()
{
    double r = LDRsensor1.read();
    return r;

}
double ldrread2()
{
    double r = LDRsensor2.read();
    return r;

}
void Led_on()
{
    // pulseIn
    myled= 0;
}
void Led_off()
{
    // pulseIn
    myled= 1;
}
/*double pl_buzzer()
{
      for (int i=0;i<1000;i++)
    {
        int freq = 150+(i*10);
        buzzer=1;
        wait_us(1000000/freq);
        buzzer=0;
        wait_us(1000000/freq);
        wait_ms(1);
    }

}
*/
void pl_buzzer(void const *args)
{
         while(true)
        {
         stdio_mutex.lock();
        float pulse_delay = 150+((float)freq*10);
        pulse_delay= 1000/pulse_delay;
        stdio_mutex.unlock();
       // bt.lock();
        //bt.printf("s;%lf;s\n\r",pulse_delay);
        //bt.unlock();
        buzzer=1;
        //Thread::wait(pulse_delay);
        buzzer=0;
        //Thread::wait(pulse_delay);
        }
   
    //freq = 150+(freq*10);
    //buzzer.period_us(1000000/freq);  // 4 second period
    //buzz.pulsewidth(2); // 2 second pulse (on)
    //buzzer.write(0.5f);  // 50% duty cycle
}
void Imu_yaw(void const *args)
{
while(true)

{
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    int m_seconds = r_time();
        float dt = ((float)(m_seconds-last_time))/1000;
         last_time=m_seconds;
        if ((gz)<800&& gz>-800) {
            gz=0;
        }
        stdio_mutex.lock();
         heading = heading + (dt*gz)*3/4/100;
         if(heading>360)
         heading= heading -360;
         else if (heading <0)
         heading = heading +360;
        stdio_mutex.unlock();
        Thread:: wait(20);
}    
}
void encoder_thread(void const *args)
{
while(true)
{
   left_current_reading=left.getPulses()*(-1)/5;
   right_current_reading= right.getPulses()/5;
   left_change  = left_current_reading- left_prev_read;
   right_change =right_current_reading- right_prev_read;
   left_prev_read=left_current_reading;
   right_prev_read=right_current_reading;
   delta_y=(left_change *cos(encoder_yaw) + right_change *cos(encoder_yaw))/2;
   delta_x=(left_change *sin(encoder_yaw) + right_change *sin(encoder_yaw))/2;
   delta_thetha=atan((right_change-left_change)/100);
   encoder_yaw =encoder_yaw+delta_thetha;
   G_thetha=encoder_yaw*180/M_PI;           //global thetha, overall
   Encoder_x=Encoder_x+delta_x;
   Encoder_y=Encoder_y+delta_y;
   stdio_mutex.lock();
   dx=delta_x+dx;
   dy=delta_y+dy;
   dtheta=delta_thetha*180/M_PI;
   stdio_mutex.unlock();
   //bt.lock();
   //bt.printf("%0.2lf\t%0.2lf;\t%d;\t%d;\t%d;\t%d;\t%lf;\t%lf;\t :s\n\r",left_current_reading,right_current_reading,Encoder_x,Encoder_y,delta_y,delta_x,delta_thetha,G_thetha);
   //bt.unlock();
Thread:: wait(50);
}    
}