Andrew Oyaide / StudentBuggyProject

Starting point for the student buggy project

Dependencies:   microbit

Fork of microbit-hello-world by micro:bit

main.cpp@4:2d939ef2b09c, 2017-08-06 (annotated)

Committer:
OyaideA
Date:
Sun Aug 06 20:13:33 2017 +0000
Revision:
4:2d939ef2b09c
Parent:
3:c3a42966b47c
Child:
5:a33f016d5962
Now includes motor characterisation code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LancasterUniversity 0:0041f35b0c4c 1 /*
LancasterUniversity 0:0041f35b0c4c 2 The MIT License (MIT)
LancasterUniversity 0:0041f35b0c4c 3
LancasterUniversity 0:0041f35b0c4c 4 Copyright (c) 2016 British Broadcasting Corporation.
LancasterUniversity 0:0041f35b0c4c 5 This software is provided by Lancaster University by arrangement with the BBC.
LancasterUniversity 0:0041f35b0c4c 6
LancasterUniversity 0:0041f35b0c4c 7 Permission is hereby granted, free of charge, to any person obtaining a
LancasterUniversity 0:0041f35b0c4c 8 copy of this software and associated documentation files (the "Software"),
LancasterUniversity 0:0041f35b0c4c 9 to deal in the Software without restriction, including without limitation
LancasterUniversity 0:0041f35b0c4c 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
LancasterUniversity 0:0041f35b0c4c 11 and/or sell copies of the Software, and to permit persons to whom the
LancasterUniversity 0:0041f35b0c4c 12 Software is furnished to do so, subject to the following conditions:
LancasterUniversity 0:0041f35b0c4c 13
LancasterUniversity 0:0041f35b0c4c 14 The above copyright notice and this permission notice shall be included in
LancasterUniversity 0:0041f35b0c4c 15 all copies or substantial portions of the Software.
LancasterUniversity 0:0041f35b0c4c 16
LancasterUniversity 0:0041f35b0c4c 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
LancasterUniversity 0:0041f35b0c4c 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
LancasterUniversity 0:0041f35b0c4c 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
LancasterUniversity 0:0041f35b0c4c 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LancasterUniversity 0:0041f35b0c4c 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
LancasterUniversity 0:0041f35b0c4c 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
LancasterUniversity 0:0041f35b0c4c 23 DEALINGS IN THE SOFTWARE.
LancasterUniversity 0:0041f35b0c4c 24 */
LancasterUniversity 0:0041f35b0c4c 25
OyaideA 2:47b7a55b0805 26 #include "Buggy.h"
LancasterUniversity 0:0041f35b0c4c 27
OyaideA 1:8c05eb53f714 28
OyaideA 1:8c05eb53f714 29 int main();
OyaideA 2:47b7a55b0805 30 void SelfTest();
OyaideA 2:47b7a55b0805 31 void DisplaySonarTiming();
LancasterUniversity 0:0041f35b0c4c 32
LancasterUniversity 0:0041f35b0c4c 33 int main()
OyaideA 2:47b7a55b0805 34 {
OyaideA 1:8c05eb53f714 35 //Initialise the micro:bit runtime.
OyaideA 2:47b7a55b0805 36 InitialiseBuggy();
OyaideA 1:8c05eb53f714 37
OyaideA 2:47b7a55b0805 38 //Run self test forever
OyaideA 2:47b7a55b0805 39 //SelfTest();
OyaideA 2:47b7a55b0805 40 //Print the sonar time
OyaideA 3:c3a42966b47c 41 //DisplaySonarTiming();
OyaideA 4:2d939ef2b09c 42 MotorSpeedCharacterisation();
OyaideA 3:c3a42966b47c 43
OyaideA 2:47b7a55b0805 44
LancasterUniversity 0:0041f35b0c4c 45
LancasterUniversity 0:0041f35b0c4c 46 // If main exits, there may still be other fibers running or registered event handlers etc.
LancasterUniversity 0:0041f35b0c4c 47 // Simply release this fiber, which will mean we enter the scheduler. Worse case, we then
LancasterUniversity 0:0041f35b0c4c 48 // sit in the idle task forever, in a power efficient sleep.
LancasterUniversity 0:0041f35b0c4c 49 release_fiber();
LancasterUniversity 0:0041f35b0c4c 50 }
LancasterUniversity 0:0041f35b0c4c 51
OyaideA 2:47b7a55b0805 52 void SelfTest()
OyaideA 2:47b7a55b0805 53 {
OyaideA 2:47b7a55b0805 54 int Counter = 3;
OyaideA 2:47b7a55b0805 55 unsigned int LastSystemTime = 0;
OyaideA 2:47b7a55b0805 56
OyaideA 2:47b7a55b0805 57 //Display start message using the LEDs
OyaideA 2:47b7a55b0805 58 //uBit.display.scroll("Hello World");
OyaideA 2:47b7a55b0805 59 //Instead, display 3, 2, 1, 0
OyaideA 2:47b7a55b0805 60 uBit.display.printAsync(Counter);
OyaideA 2:47b7a55b0805 61 LastSystemTime = uBit.systemTime();
OyaideA 2:47b7a55b0805 62 while (Counter > 0)
OyaideA 2:47b7a55b0805 63 {
OyaideA 2:47b7a55b0805 64 if( (uBit.systemTime()-LastSystemTime) > 1000)
OyaideA 2:47b7a55b0805 65 {
OyaideA 2:47b7a55b0805 66 //uBit.serial.printf("Counter=%d, ", Counter);
OyaideA 2:47b7a55b0805 67 LastSystemTime = uBit.systemTime();
OyaideA 2:47b7a55b0805 68 Counter = Counter - 1;
OyaideA 2:47b7a55b0805 69 uBit.display.printAsync(Counter);
OyaideA 2:47b7a55b0805 70 }
OyaideA 2:47b7a55b0805 71 }
OyaideA 2:47b7a55b0805 72
OyaideA 2:47b7a55b0805 73 while(1)
OyaideA 2:47b7a55b0805 74 {
OyaideA 2:47b7a55b0805 75 //Run the sonar test for 10 secs
OyaideA 2:47b7a55b0805 76 LastSystemTime = uBit.systemTime();
OyaideA 2:47b7a55b0805 77 while( (uBit.systemTime()-LastSystemTime) < 10000)
OyaideA 2:47b7a55b0805 78 {
OyaideA 2:47b7a55b0805 79 TestSonar();
OyaideA 2:47b7a55b0805 80 }
OyaideA 2:47b7a55b0805 81 //Display 0
OyaideA 2:47b7a55b0805 82 uBit.display.printAsync(Counter);
OyaideA 2:47b7a55b0805 83 //Run the motor test
OyaideA 2:47b7a55b0805 84 RunBasicBuggyMotorTest(800, 1000, 1000);
OyaideA 2:47b7a55b0805 85 }
OyaideA 2:47b7a55b0805 86 }
OyaideA 2:47b7a55b0805 87
OyaideA 2:47b7a55b0805 88 void DisplaySonarTiming()
OyaideA 2:47b7a55b0805 89 {
OyaideA 2:47b7a55b0805 90 while(1)
OyaideA 2:47b7a55b0805 91 {
OyaideA 2:47b7a55b0805 92 PrintSonarTiming();
OyaideA 2:47b7a55b0805 93 }
OyaideA 2:47b7a55b0805 94
OyaideA 2:47b7a55b0805 95 }