int main(){
/**********************************************************************/
/**********************************************************************/
/* Begin. */
mraa_uart_context uart;
uart = mraa_uart_init(0);
mraa_uart_set_baudrate(uart, 115200);
char buffer[] = "hhh";
char flush[]="xxxxxxxxxxxx";
char str[] = "HELLO";
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
printf("UART failed");
return 1;
}
printf("firstavail:%d\n",mraa_uart_data_available(uart,0));
while (mraa_uart_data_available(uart,0))
{
mraa_uart_read(uart, flush, sizeof(uart));
printf("Flush: %c %c %c %c %c %c %c %c",flush[0], flush[1], flush[2],flush[3],flush[4],flush[5],flush[6],flush[7]);
usleep(150);
}
printf("available: %d",mraa_uart_data_available(uart,0));
char speed_user_input[MAXBUFSIZ];
char turn_user_input[MAXBUFSIZ];
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(turn_pwm, CENTER);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
int n = 5;
int spd = 0;
char direction = 'C';
char cross_clr = 'B';
float angle = 0.0f;
while (1)
{
//sleep(2);
//readCharAry(uart,flush);
spd = 50;
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
}
}
mraa_uart_read(uart, buffer+1, 1);
if(buffer[1]=='\n')
{
buffer[0] = 'h';
buffer[1] = 'h';
}
int sign = 0;
if(cross_clr == 'M')
{
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
sleep(1);
char* nearestBeaconID = (char*)malloc(5);
getStrongestBeacon(nearestBeaconID);
printf("the nearestBeaconID is: %s\n", nearestBeaconID);
sign = 1;
angle = CENTER - 0.0149f;
mraa_pwm_write(turn_pwm, angle);
usleep(15000);
speed_control(speed_pwm_in1, speed_pwm_in2, 54);
printf("speed: %d",spd);
usleep(5500000);
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
sleep(1);
mraa_uart_write(uart, str, 1);
//while(!mraa_uart_data_available(uart, 10)){};
mraa_uart_read(uart, buffer, 1);
while(buffer[0] == '\n')
{
mraa_uart_read(uart, buffer, 1);
}
if(buffer[0] == '\0') direction = 'C';
mraa_uart_read(uart, buffer + 1, 1);
cross_clr = buffer[1];
}
printf("buff:%c %c %c \n",buffer[0], buffer[1],buffer[2]);
if(!sign){
if (direction == 'L') angle = CENTER - 0.005f;
if (direction == 'R') angle = CENTER + 0.005f;
if (direction == 'C') angle = CENTER;}
else
{
if (direction == 'C') angle = CENTER -0.013f;
if (direction == 'L') angle = CENTER -0.005f;
if (direction == 'R') angle = CENTER - 0.019f;
}
mraa_pwm_write(turn_pwm, angle);
speed_control(speed_pwm_in1, speed_pwm_in2, spd);
printf("speed: %d",spd);
usleep(250000);
direction = buffer[0];
cross_clr = buffer[1];
}
return 0;
}
int main(int argc, char *argv[]) {
printf("\n---------------------ir_transmit.c---------------------\n");
//const struct sched_param priority={1};
//sched_setscheduler(0,SCHED_FIFO,&priority);
int transmit_counter = 0;
int i = 0;
int temp = -1;
// GPIO Initialization - Edison has 4 PWM pins
pwm1 = mraa_pwm_init(3);
mraa_pwm_period_us(pwm1, 26);
mraa_pwm_enable(pwm1, 1);
pwm2 = mraa_pwm_init(5);
mraa_pwm_period_us(pwm2, 26);
mraa_pwm_enable(pwm2, 1);
pwm3 = mraa_pwm_init(6);
mraa_pwm_period_us(pwm3, 26);
mraa_pwm_enable(pwm3, 1);
pwm4 = mraa_pwm_init(9);
mraa_pwm_period_us(pwm4, 26);
mraa_pwm_enable(pwm4, 1);
printf("\n---------------------Part 0: Apply Settings from Config Files---------------------\n");
temp = check_preamble_length();
if (temp != -1) {
printf("\nGot Preamble Length from /etc/IR/preamble_length.txt\n");
printf("ID I got was %d\n", temp);
printf("But we are still going to use 5\n", temp);
//preamble_length = temp;
}
temp = -1;
// check file for edisonID
temp = check_edison_id();
if (temp != -1) {
printf("Got Edison ID from /etc/IR/edisonID.txt\n");
printf("ID I got was %d\n", temp);
edisonID = temp;
}
temp = -1;
printf("\n---------------------Part 0: Apply Settings from Passed in Arguments---------------------\n");
// if we pass in an argument, use it for the preamble_length, takes
// priority over what's in the file. please pass in an integer
if (argc == 2) {
preamble_length = atoi(argv[1]);
printf("Argument(1) Passed In! Preamble Length set to: %d\n", preamble_length);
}
else {
printf("No Argument(1), preamble Length set to default value: %d\n", preamble_length);
}
// if we pass in an argument, use it for the edisonID, takes
// priority over what's in the file. please pass in an integer
if (argc == 3) {
preamble_length = atoi(argv[1]);
printf("Argument(1) Passed In! Preamble Length set to: %d\n", preamble_length);
edisonID = atoi(argv[2]);
printf("Argument(2) Passed In! edisonID set to: %d\n", edisonID);
}
else {
printf("No Argument(2), edisonID set to default value: %d\n", edisonID);
}
// This will transmit IR data on all 4 pins at once
// on a single Edison board
// Continuously Transmit IR Signal when the program is running
while(1) {
printf("\n---------------------Transmission---------------------\n");
// Updates the preamble_length variable based on info from server
temp = check_preamble_length();
if (temp != -1) {
printf("ID from /etc/IR_conf/preamble_length.txt was %d\n", temp);
preamble_length = temp;
}
// Preamble - Signals the Receiver Message Incoming
printf("Sending preamble_length = %d, ", preamble_length);
send_preamble_sequence(preamble_length);
// Sending Edison Board ID # - 2 bits, MSB then LSB
printf("EdisonID: %d - ", edisonID);
switch (edisonID) {
case 0:
send_low_bit(); // Send lsb bit 0 = LOW
send_low_bit(); // Send msb bit 1 = LOW
break;
case 1:
send_low_bit(); // Send msb bit 1 = LOW
send_high_bit(); // Send lsb bit 0 = HIGH
break;
case 2:
send_high_bit(); // Send msb bit 1 = HIGH
send_low_bit(); // Send lsb bit 0 = LOW
break;
case 3:
send_high_bit(); // Send lsb bit 0 = HIGH
send_high_bit(); // Send msb bit 1 = HIGH
break;
default:
send_low_bit(); // Send lsb bit 0 = LOW
send_low_bit(); // Send msb bit 1 = LOW
}
// Sending Edison IR Emitter ID # - 2 bits, MSB then LSB
// pwm1,DUTY = 00 = short-long/short-long = 5-20/5-20
// pwm2,DUTY = 01 = short-long/long-short = 5-20/20-5
// pwm3,DUTY = 10 = long-short/short-long = 20-5/5-20
// pwm4,DUTY = 11 = long-short/long-short = 20-5/20-5
printf(", EmitterIDs 0-3\n");
// First Bit
mraa_pwm_write(pwm1,DUTY);
mraa_pwm_write(pwm2,DUTY);
mraa_pwm_write(pwm3,DUTY);
mraa_pwm_write(pwm4,DUTY);
for(i = SHORT_DELAY; i > 0; i--); // 5 ms
mraa_pwm_write(pwm1,0);
mraa_pwm_write(pwm2,0);
//mraa_pwm_write(pwm3,DUTY, DUTY);
//mraa_pwm_write(pwm4,DUTY, DUTY);
for(i = MID_DELAY; i > 0; i--); // 15 ms
//mraa_pwm_write(pwm1, 0);
//mraa_pwm_write(pwm2, 0);
mraa_pwm_write(pwm3,0);
mraa_pwm_write(pwm4,0);
for(i = SHORT_DELAY; i > 0; i--); // 5 ms
// Second Bit
mraa_pwm_write(pwm1,DUTY);
mraa_pwm_write(pwm2,DUTY);
mraa_pwm_write(pwm3,DUTY);
mraa_pwm_write(pwm4,DUTY);
for(i = SHORT_DELAY; i > 0; i--); // 20 ms
mraa_pwm_write(pwm1,0);
//mraa_pwm_write(pwm2,DUTY, DUTY);
mraa_pwm_write(pwm3,0);
//mraa_pwm_write(pwm4,DUTY, DUTY);
for(i = MID_DELAY; i > 0; i--); // 15 ms
//mraa_pwm_write(pwm1, 0);
mraa_pwm_write(pwm2,0);
//mraa_pwm_write(pwm3, 0);
mraa_pwm_write(pwm4,0);
for(i = SHORT_DELAY; i > 0; i--); // 5 ms
/*
send_message_bit(edisonID, 0, DUTY, pwm1,DUTY);
send_message_bit(edisonID, 0, DUTY, pwm1,DUTY);
send_message_bit(edisonID, 0, DUTY, pwm1,DUTY);
send_message_bit(edisonID, 0, DUTY, pwm1,DUTY);
for (transmit_counter = TRANSMIT_DURATION; transmit_counter >= 0; transmit_counter--) {
send_message_bit(edisonID, 0, DUTY, pwm1,DUTY);
}
for (transmit_counter = TRANSMIT_DURATION; transmit_counter >= 0; transmit_counter--) {
send_message_bit(edisonID, 1, DUTY, pwm2,DUTY);
}
for (transmit_counter = TRANSMIT_DURATION; transmit_counter >= 0; transmit_counter--) {
send_message_bit(edisonID, 2, DUTY, pwm3,DUTY);
}
for (transmit_counter = TRANSMIT_DURATION; transmit_counter >= 0 ;transmit_counter--) {
send_message_bit(edisonID, 3, DUTY, pwm4,DUTY);
}
*/
}// end while loop
mraa_pwm_write (pwm1, 0);
mraa_pwm_enable(pwm1, 0);
mraa_pwm_write (pwm2, 0);
mraa_pwm_enable(pwm2, 0);
mraa_pwm_write (pwm3, 0);
mraa_pwm_enable(pwm3, 0);
mraa_pwm_write (pwm4, 0);
mraa_pwm_enable(pwm4, 0);
return 0;
}//end main
void es9257_halt(es9257_context dev){
mraa_pwm_enable(dev->pwm, 0);
free(dev);
}
mraa_result_t haltPwm() {
return mraa_pwm_enable(m_pwmServoContext, 0);
}
int main() {
float speed, turn;
char speed_user_input[MAXBUFSIZ];
char turn_user_input[MAXBUFSIZ];
char time_user_input[MAXBUFSIZ];
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(turn_pwm, CENTER);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
RearWheel *rw = new RearWheel();
//go for the curve
thread t1;
while(1) {
t1 = rw->threading();
printf("Turn (L, C, R): ");
scanf("%s", turn_user_input);
if (!strcmp(turn_user_input, "L") || !strcmp(turn_user_input, "l"))
turn = CENTER - 0.015f;
else if (!strcmp(turn_user_input, "C") || !strcmp(turn_user_input, "c"))
turn = CENTER;
else if (!strcmp(turn_user_input, "R") || !strcmp(turn_user_input, "r"))
turn = CENTER + 0.018f;
else {
printf("Wrong turn type!\n");
return 1;
}
printf("Speed value (-100-100): ");
scanf("%s", speed_user_input);
speed = atof(speed_user_input);
printf("time: ");
scanf("%s", time_user_input);
int time = atoi(time_user_input);
if (speed > 100 || speed < -100)
printf("Error: Choose between -100 and 100\n");
else {
mraa_pwm_write(turn_pwm, turn);
usleep(100000);
speed_control(speed_pwm_in1, speed_pwm_in2, speed);
}
sleep(time);
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
float count = rw->getCount();
printf("%.2f \n", count);
rw->clear();
t1.join();
}
return 0;
}
int main(int argc, char *argv[])
{
in1=mraa_gpio_init(7);
in2=mraa_gpio_init(8);
in3=mraa_gpio_init(9);
in4=mraa_gpio_init(10);
en1=mraa_pwm_init(6);
en2=mraa_pwm_init(5);
mraa_gpio_dir(in1,MRAA_GPIO_OUT);
mraa_gpio_dir(in2,MRAA_GPIO_OUT);
mraa_pwm_period_ms(en1,20);
mraa_pwm_enable(en1,1);
mraa_gpio_dir(in3,MRAA_GPIO_OUT);
mraa_gpio_dir(in4,MRAA_GPIO_OUT);
mraa_pwm_period_ms(en2,20);
mraa_pwm_enable(en2,1);
char* ptr1 = argv[1];
char* ptr2 = argv[2];
char* ptr3 = argv[3];
float param,result;
int i= atoi(ptr1);
int j=atoi(ptr2);
int k= atoi(ptr3);
if (i == -2)
{
rotate_right(2);//because 20 degrees
}
else if( i == -1)
{
rotate_right90(); //calcualte for 90 degrees
move_front(29); // 20 cms
rotate_left90(); //calculate for 90 degrees
}
else {
param=i/j;
//convert to our metrix, in terms of distance moved by robot//
result = atan((param) * 180 / PI);
if(result < 0)
{
rotate_left((int)(result/10));
}
else
{
rotate_right((int)(result/10));
}
float dist=sqrt(((i*i)+(j*j)));
if(k == 0)
{
dist = dist/3;
}
int num = (int) dist/(0.7) ;
move_front(num);
}
return 0;
}
