From 7a1583128a4c0c301fc8965d947fb0f67b3d6cee Mon Sep 17 00:00:00 2001 From: emamaker Date: Mon, 16 May 2022 20:16:01 +0200 Subject: [PATCH] Revert "first commit, starting to work with a new setup" This reverts commit e3412149059039578d66ba54ea5447b7d8f85789. --- .vscode/extensions.json | 17 +++-- include/sensors/sensors.h | 3 +- include/systems/lines/linesys_camera.h | 16 ++--- include/vars.h | 16 +---- src/main.cpp | 16 ++--- src/sensors/data_source_bt.cpp | 69 +++++++------------ .../data_source_camera_conicmirror.cpp | 8 +-- src/sensors/sensors.cpp | 30 +++----- 8 files changed, 69 insertions(+), 106 deletions(-) diff --git a/.vscode/extensions.json b/.vscode/extensions.json index 0f0d740..080e70d 100755 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -1,7 +1,10 @@ -{ - // See http://go.microsoft.com/fwlink/?LinkId=827846 - // for the documentation about the extensions.json format - "recommendations": [ - "platformio.platformio-ide" - ] -} +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/sensors/sensors.h b/include/sensors/sensors.h index 390ffa7..a144e98 100644 --- a/include/sensors/sensors.h +++ b/include/sensors/sensors.h @@ -22,7 +22,7 @@ #include "sensors/data_source_bno055.h" #include "sensors/data_source_camera_conicmirror.h" #include "sensors/data_source_camera_vshapedmirror.h" - +#include "vars.h" void initSensors(); void updateSensors(); @@ -39,6 +39,5 @@ s_extr DataSourceBT* bt; s_extr DataSourceBallPresence* ballPresence; s_extr int role; -s_extr int robot_indentifier; s_extr Roller* roller; \ No newline at end of file diff --git a/include/systems/lines/linesys_camera.h b/include/systems/lines/linesys_camera.h index 94c60ff..27ed37f 100644 --- a/include/systems/lines/linesys_camera.h +++ b/include/systems/lines/linesys_camera.h @@ -7,14 +7,14 @@ #include "vars.h" -#define S1O A7 -#define S1I A6 -#define S2O A2 -#define S2I A3 -#define S3I A9 -#define S3O A8 -#define S4I A0 -#define S4O A1 +#define S1I A14 +#define S1O A15 +#define S2I A16 +#define S2O A17 +#define S3I A20 +#define S3O A0 +#define S4I A1 +#define S4O A2 #define LINE_THRESH_CAM 350 #define EXIT_TIME 300 diff --git a/include/vars.h b/include/vars.h index 097a8e1..4f6e9a9 100755 --- a/include/vars.h +++ b/include/vars.h @@ -9,22 +9,12 @@ #define GLOBAL_SPD_MULT 1.0 -/*SWS and LEDS are to be tested and implemented in the code. -the new setup is the one commented, leds have to be written -in the 32U4 code*/ - #define LED_R 20 #define LED_Y 17 #define LED_G 13 -#define BUZZER 6 -#define SWITCH_SX 39 -#define SWITCH_DX 38 -#define SWITCH_ID 33 - -#define ROLLER_INA 34 -#define ROLLER_INB 35 - -#define BALL_32U4 Serial2 +#define BUZZER 30 +#define SWITCH_SX 28 +#define SWITCH_DX 29 extr float sins[360], cosins[360]; diff --git a/src/main.cpp b/src/main.cpp index 624df7b..108ca10 100755 --- a/src/main.cpp +++ b/src/main.cpp @@ -53,15 +53,15 @@ void loop() { // striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike; // keeper_condition = role == LOW; - if(robot_indentifier){ - tc3_2->play(role); - tc3_1->play(!role); + // if(robot_indentifier){ + // tc3_2->play(role); + // tc3_1->play(!role); - // Last thing to do: movement and update status vector - drive->drivePrepared(); - }else{ - drive->stopAll(); - } + // // Last thing to do: movement and update status vector + // drive->drivePrepared(); + // }else{ + // drive->stopAll(); + // } testmenu->testMenu(); updateStatusVector(); diff --git a/src/sensors/data_source_bt.cpp b/src/sensors/data_source_bt.cpp index 1e6e7d7..b050c98 100644 --- a/src/sensors/data_source_bt.cpp +++ b/src/sensors/data_source_bt.cpp @@ -1,24 +1,5 @@ #include "sensors/data_source_bt.h" -/*Currently using a master-slave setup -One bt has been setup using -SM,3 - Master mode -SA, 0 - Disable authentication -SR, xxxx - Address of the other bt -SU,96 - baud rate 9600 -SN, name - Name for clarity - -The other one -SM,0 - Master mode -SA, 0 - Disable authentication -SU,96 - baud rate 9600 -SN, name - Name for clarity -ST, 5 - Configuration timeout - -For now it seems that a slave can easily recovery from a master restart, but not the opposite. We will make sure that doesn't happen -*/ - - DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){ bt_timer = millis(); bt_bombarded = false; @@ -36,32 +17,30 @@ DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, } void DataSourceBT :: connect(){ - //Give the bt time to be brought up (about 5-6 secs.) - //When turned on the bt onboard led will blink. After 5-6 secs it will start blinking at a lower freq. We need to wait for that to happen - // if(millis() >= bt_timer + 5000 && !bt_bombarded){ - // can_bombard = true; - // } - - // //For a sec, bombard the other bt of packets. Since we are in sm2 this will make them connect. Note that the two of them cannot accept connections while they're trying to connect - // if(can_bombard && millis() >= bt_timer + 5000 && millis() <= bt_timer + 6000){ - // DEBUG.println("Bombarding"); - // Serial1.print(tosend); - // bt_bombarded = true; - // }else{ - // can_bombard = false; - // } - + Serial3.print("$"); + Serial3.print("$"); + Serial3.print("$"); + delay(100); + Serial3.println("C"); } -void DataSourceBT :: receive(){ - while(Serial1.available()) { - last_received = millis(); - received = (char) Serial1.read(); - comrade = true; - } - if(millis() - last_received > 2000) - comrade = false; -} +// void DataSourceBT :: reconnect(){ +// if(!comrade){ +// if(!b){ +// Serial3.print("$"); +// Serial3.print("$"); +// Serial3.print("$"); +// }else{ +// Serial3.println("C"); +// } + +// b = !b; +// }else{ +// Serial3.println("---"); +// } +// if(millis() - last_received > 2000) +// comrade = false; +// } void DataSourceBT::send(){ if(millis() - t >= 250 && can_send ){ @@ -80,7 +59,7 @@ void DataSourceBT :: test(){ if (DEBUG.available()) { DEBUG.println((char)DEBUG.read()); } - if (Serial1.available()) { - Serial1.write((char)Serial1.read()); + if (Serial3.available()) { + Serial3.write((char)Serial3.read()); } } \ No newline at end of file diff --git a/src/sensors/data_source_camera_conicmirror.cpp b/src/sensors/data_source_camera_conicmirror.cpp index 376fe4a..24dda57 100644 --- a/src/sensors/data_source_camera_conicmirror.cpp +++ b/src/sensors/data_source_camera_conicmirror.cpp @@ -196,10 +196,10 @@ void DataSourceCameraConic ::computeCoordsAngles() { CURRENT_DATA_WRITE.xDefFix = CURRENT_DATA_WRITE.cam_xy_fixed; } - byte to_32u4 = 0; - to_32u4 |= (CURRENT_DATA_READ.ySeen); - to_32u4 |= (CURRENT_DATA_READ.bSeen) << 1; - BALL_32U4.write(to_32u4); + // byte to_32u4 = 0; + // to_32u4 |= (CURRENT_DATA_READ.ySeen); + // to_32u4 |= (CURRENT_DATA_READ.bSeen) << 1; + // BALL_32U4.write(to_32u4); } void DataSourceCameraConic::test(){ diff --git a/src/sensors/sensors.cpp b/src/sensors/sensors.cpp index 2e40c37..b6c962e 100644 --- a/src/sensors/sensors.cpp +++ b/src/sensors/sensors.cpp @@ -2,35 +2,27 @@ #include "sensors/sensors.h" void initSensors(){ - pinMode(SWITCH_1, INPUT); - pinMode(SWITCH_2, INPUT); + pinMode(SWITCH_SX, INPUT); + pinMode(SWITCH_DX, INPUT); pinMode(LED_R, OUTPUT); pinMode(LED_Y, OUTPUT); pinMode(LED_G, OUTPUT); - - drive = new DriveController(new Motor(12, 11, 4, 55), new Motor(25, 24, 5, 135), new Motor(27, 26, 2, 225), new Motor(29, 28, 3, 305)); - // tone(BUZZER, 270, 250); - // delay(350); + + // dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)), new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) }; + + drive = new DriveController(new Motor(12, 11, 2, 45),new Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315)); compass = new DataSourceBNO055(); - // tone(BUZZER, 275, 250); - // delay(350); - ball = new DataSourceBall(&BALL_32U4, 57600); - // tone(BUZZER, 280, 250); - // delay(350); - camera = new DataSourceCameraConic(&Serial3, 19200); - // tone(BUZZER, 285, 250); - // delay(350); - bt = new DataSourceBT(&Serial1, 9600); - roller = new Roller(30, 31, 1000, 2000, 500); - ballPresence = new DataSourceBallPresence(A13, true); + ball = new DataSourceBall(&Serial4, 57600); + camera = new DataSourceCameraConic(&Serial2, 19200); + // usCtrl = new DataSourceCtrl(dUs); + bt = new DataSourceBT(&Serial3, 115200); } void updateSensors(){ role = digitalRead(SWITCH_DX); camera->old_goalOrientation = camera ->goalOrientation; camera->goalOrientation = digitalRead(SWITCH_SX); - robot_indentifier = digitalRead(SWITCH_ID); compass->update(); ball->update(); @@ -39,5 +31,5 @@ void updateSensors(){ bt->update(); - roller->update(); + // roller->update(); } \ No newline at end of file