Zach Matthews / Mbed 2 deprecated Car2

Car 2: Electric Boogaloo

Dependencies:   camera mbed

Fork of Car2 by NXP Group 13

Code for an NXP Cup car using a linescan Camera

main.cpp@6:971236e48adc, 2017-03-13 (annotated)

Committer:
zamatthews
Date:
Mon Mar 13 09:40:12 2017 +0000
Revision:
6:971236e48adc
Parent:
5:137dfb3e692f
Child:
9:644102f863a5
Added camera class to liobrary

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zamatthews 0:b761ef827157 1 #include "mbed.h"
zamatthews 2:0db7cc5ad6db 2 #include "Servo.h"
zamatthews 6:971236e48adc 3 #include "Camera.h"
zamatthews 2:0db7cc5ad6db 4
zamatthews 3:dadfc15fc2d1 5 //#define CIRCUMFERENCE SOMEINT //circumference in some unit of measurement (inches perhaps?)
zamatthews 3:dadfc15fc2d1 6 //#define RESWIDTH 80 //resolution width/height. change these based on actual resolution
zamatthews 3:dadfc15fc2d1 7 //#define RESHEIGHT 60
lmstthomas 4:f4852befd69c 8 #define STRAIGHT 0.00095f
lmstthomas 4:f4852befd69c 9 #define FULLRIGHT 0.0013f
lmstthomas 4:f4852befd69c 10 #define FULLLEFT 0.0006
zamatthews 3:dadfc15fc2d1 11
zamatthews 3:dadfc15fc2d1 12 //InterruptIn camera(PXXX); //can set up to get a frame from the camera whenever is sends one? does the camera even have a pin for this?
zamatthews 3:dadfc15fc2d1 13 //Timer timer;
zamatthews 3:dadfc15fc2d1 14 //DigitalIn rotation(PXXX);
zamatthews 3:dadfc15fc2d1 15 //camera data pins used are (D0-D7): PTC7, PTC0, PTC3, PTC4, PTC5, PTC6, PTC10, PTC11
zamatthews 3:dadfc15fc2d1 16 //other camera pins: SCL->PTE5, SDA->PTE4, PCLK->PTE21, VSYNC->PTE30, H->PTE29
zamatthews 3:dadfc15fc2d1 17 PwmOut servo(PTE20);
zamatthews 5:137dfb3e692f 18 PwmOut motor_left(PTA5);
zamatthews 5:137dfb3e692f 19 PwmOut motor_right(PTC8);
zamatthews 3:dadfc15fc2d1 20 DigitalOut DIR_L(PTD4);
zamatthews 3:dadfc15fc2d1 21 DigitalOut DIR_R(PTA4);
zamatthews 3:dadfc15fc2d1 22
zamatthews 3:dadfc15fc2d1 23 //int start = 0;
zamatthews 3:dadfc15fc2d1 24 //int end = 0;
zamatthews 3:dadfc15fc2d1 25 //int rotationTime = 0;
zamatthews 3:dadfc15fc2d1 26 //float speed = 0;
zamatthews 3:dadfc15fc2d1 27 //int startFinish = 0;
zamatthews 3:dadfc15fc2d1 28 //int frame[RESWIDTH][RESHEIGHT];
zamatthews 0:b761ef827157 29
zamatthews 3:dadfc15fc2d1 30 /*
zamatthews 3:dadfc15fc2d1 31 int frame(){ //triggered by interrupt from camera or request frame from camera?
zamatthews 3:dadfc15fc2d1 32 //get all the pixels
zamatthews 3:dadfc15fc2d1 33 int i = 0;
zamatthews 3:dadfc15fc2d1 34 int j = 0;
zamatthews 3:dadfc15fc2d1 35 for(i; i<RESWIDTH; i++){
zamatthews 3:dadfc15fc2d1 36 for(j; j<RESHEIGHT; j++){
zamatthews 3:dadfc15fc2d1 37 frame[i][j] = ???;
zamatthews 3:dadfc15fc2d1 38 }//j for
zamatthews 3:dadfc15fc2d1 39 }//i for
zamatthews 3:dadfc15fc2d1 40 return frame;
zamatthews 3:dadfc15fc2d1 41 }
lmstthomas 4:f4852befd69c 42 */
zamatthews 3:dadfc15fc2d1 43
lmstthomas 4:f4852befd69c 44 void setAccel(float turnAngle){//, float speed){
zamatthews 3:dadfc15fc2d1 45 //ififififififif
lmstthomas 4:f4852befd69c 46 turnAngle -= STRAIGHT; //this gets a value from -0.00035 and +0.00035
lmstthomas 4:f4852befd69c 47 turnAngle = abs(turnAngle);
lmstthomas 4:f4852befd69c 48 float turnRatio = turnAngle/0.00035f;
zamatthews 5:137dfb3e692f 49 float newSpeed = (0.7*(1-turnRatio)/4)+0.3;
zamatthews 5:137dfb3e692f 50 motor_left.write(newSpeed);
zamatthews 5:137dfb3e692f 51 motor_right.write(newSpeed);
zamatthews 3:dadfc15fc2d1 52 }
zamatthews 3:dadfc15fc2d1 53
lmstthomas 4:f4852befd69c 54 void turnWheels(){//int[][] frame, float speed){
zamatthews 3:dadfc15fc2d1 55 //ififififififif
lmstthomas 4:f4852befd69c 56 for(float p=FULLLEFT; p<=FULLRIGHT; p += 0.00005f) {
lmstthomas 4:f4852befd69c 57 servo.pulsewidth(p);
lmstthomas 4:f4852befd69c 58 setAccel(p);
lmstthomas 4:f4852befd69c 59 wait(.1);
lmstthomas 4:f4852befd69c 60 }//for p increase
lmstthomas 4:f4852befd69c 61 for(float p=FULLRIGHT; p>=FULLLEFT; p -= 0.00005f) {
lmstthomas 4:f4852befd69c 62 servo.pulsewidth(p);
lmstthomas 4:f4852befd69c 63 setAccel(p);
lmstthomas 4:f4852befd69c 64 wait(.1);
lmstthomas 4:f4852befd69c 65 }//for p decrease
zamatthews 3:dadfc15fc2d1 66 }
zamatthews 3:dadfc15fc2d1 67
lmstthomas 4:f4852befd69c 68
lmstthomas 4:f4852befd69c 69 /*
zamatthews 3:dadfc15fc2d1 70 int startFinish(int[][] frame){
zamatthews 3:dadfc15fc2d1 71 //if start
zamatthews 3:dadfc15fc2d1 72 return 1;
zamatthews 3:dadfc15fc2d1 73 //if notFinished
zamatthews 3:dadfc15fc2d1 74 return 1;
zamatthews 3:dadfc15fc2d1 75 //if finished
zamatthews 3:dadfc15fc2d1 76 return 0;
zamatthews 3:dadfc15fc2d1 77 }
zamatthews 3:dadfc15fc2d1 78 */
zamatthews 2:0db7cc5ad6db 79
zamatthews 2:0db7cc5ad6db 80 int main() {
zamatthews 3:dadfc15fc2d1 81 //timer.start();
zamatthews 5:137dfb3e692f 82 motor_left.period_us(50);
zamatthews 5:137dfb3e692f 83 motor_right.period_us(50);
lmstthomas 4:f4852befd69c 84 //motor.write(0.25);
zamatthews 5:137dfb3e692f 85 DIR_R = 1;
zamatthews 2:0db7cc5ad6db 86 DIR_L = 0;
zamatthews 3:dadfc15fc2d1 87 servo.period(0.020f);
lmstthomas 4:f4852befd69c 88 //servo.pulsewidth(STRAIGHT);
zamatthews 2:0db7cc5ad6db 89 while(1){
zamatthews 3:dadfc15fc2d1 90 /*
zamatthews 3:dadfc15fc2d1 91 if(rotation){
zamatthews 3:dadfc15fc2d1 92 end = time.read_ms();
zamatthews 3:dadfc15fc2d1 93 rotationTime = end-start;
zamatthews 3:dadfc15fc2d1 94 speed = CIRCUFERENCE / rotationTime; //inches/ms
zamatthews 3:dadfc15fc2d1 95 speed *= 56.8182 //convert to miles/hour
zamatthews 3:dadfc15fc2d1 96 start = timer.read_ms();
zamatthews 3:dadfc15fc2d1 97 }
zamatthews 3:dadfc15fc2d1 98 //camera.rise(&frame); //idea is that camera tells MCU that it's sending a frame
zamatthews 3:dadfc15fc2d1 99 //frame = frame();
zamatthews 3:dadfc15fc2d1 100 if(startFinish(frame)){; //frame returns the result
zamatthews 3:dadfc15fc2d1 101 */
lmstthomas 4:f4852befd69c 102 turnWheels();//frame, speed); //includes setAccel();
lmstthomas 4:f4852befd69c 103 //setAccel(frame, speed);
zamatthews 3:dadfc15fc2d1 104 //} //end if(startFinish(frame))
zamatthews 3:dadfc15fc2d1 105 }//while 1
zamatthews 3:dadfc15fc2d1 106 }//main