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-rw-r--r--firmware/libccos.abin90392 -> 90342 bytes
-rw-r--r--include/arm.h55
-rw-r--r--include/main.h150
-rw-r--r--src/init.c3
-rw-r--r--src/opcontrol.c99
5 files changed, 246 insertions, 61 deletions
diff --git a/firmware/libccos.a b/firmware/libccos.a
index 469b330..d79a629 100644
--- a/firmware/libccos.a
+++ b/firmware/libccos.a
Binary files differ
diff --git a/include/arm.h b/include/arm.h
new file mode 100644
index 0000000..51a485b
--- /dev/null
+++ b/include/arm.h
@@ -0,0 +1,55 @@
+#ifndef INCLUDE_ARM_H_
+#define INCLUDE_ARM_H_
+
+#include <stdint.h>
+
+typedef void (*funcptr_t)(void);
+
+volatile struct _ExceptionTable {
+ funcptr_t unknown1;
+ funcptr_t entry;
+ funcptr_t NMIException;
+ funcptr_t HardFaultException;
+ funcptr_t MemManageException;
+ funcptr_t BusFaultException;
+ funcptr_t UsageFaultException;
+ funcptr_t unknown2[4];
+ funcptr_t SVCHandler;
+ funcptr_t DebugMonitor;
+ funcptr_t unknown3;
+ funcptr_t PendSVC;
+ funcptr_t SysTickHandler;
+ funcptr_t InterruptHandler[];
+} __attribute__ ((packed)) *ExceptionTable;
+
+volatile struct _SystemControlBlock {
+ uint32_t CPUID;
+ uint32_t ICSR;
+ uint32_t VTOR;
+ uint32_t AIRCR;
+ uint32_t SCR;
+ uint32_t CCR;
+ uint32_t SHPR[3];
+ uint32_t SHCRS;
+ uint8_t MMSR;
+ uint8_t BFSR;
+ uint16_t UFSR;
+ uint32_t HFSR;
+ uint32_t unused1;
+ uint32_t MMAR;
+ uint32_t BFAR;
+ uint32_t AFSR;
+} __attribute__ ((packed)) *SystemControlBlock = (struct _SystemControlBlock *)0xE000ED00;
+
+/**
+ * "Allow" divide by zero instructions to be run.
+ *
+ * By setting this bit in the CCR the Cortex will handle divide by zero
+ * instructions by returning a quotient of 0.
+ */
+
+void handleDiv0(void){
+ SystemControlBlock->CCR |= (1<<4);
+}
+
+#endif // INCLUDE_ARM_H_
diff --git a/include/main.h b/include/main.h
index d0ee41b..d680b2b 100644
--- a/include/main.h
+++ b/include/main.h
@@ -4,67 +4,152 @@
#include <API.h>
#include <stdint.h>
+/**
+ * A two-dimensional vector structure.
+ *
+ * This structure contains a 2D coordinate for organized storage.
+ */
+
typedef struct{
- int x;
- int y;
-}vec2;
+ int x; /**< The 'x' coordinate */
+ int y; /**< The 'y' coordinate */
+} vec2;
+
+/**
+ * An enum for storing a button's position.
+ *
+ * The controller subsystem allows buttons to generate three signals. These are
+ * the expected pressed and unpressed states, named DOWN and UP respectively,
+ * along with a third signal called KEY_UP that is sent out upon the immediate
+ * release of a button. This allows for one-time events to be called on button
+ * releases.
+ */
typedef enum {
- UP,
- DOWN,
- KEY_UP
+ UP, /**< The unpressed state */
+ DOWN, /**< The pressed state */
+ KEY_UP /**< The 'just-released' state */
} Button;
+/**
+ * A structure for storing all input states of a single controller.
+ *
+ * This object groups a joystick's axes and buttons in a convenient manner,
+ * with simple function calls to poll inputs and update them.
+ */
+
typedef struct {
- unsigned int num;
+ unsigned int num; /**< The joystick's number as seen by PROS */
+
+ /**
+ * The 'Side' structures separate the left and right halves of the
+ * controller.
+ */
+
struct Side {
+
+ /**
+ * The 'Group' structure groups the buttons as written on the
+ * controller.
+ */
+
struct Group {
- Button l;
- Button r;
- Button u;
- Button d;
+ Button l; /**< The left button, if it exists */
+ Button r; /**< The right button, if it exists */
+ Button u; /**< The up button */
+ Button d; /**< The down button */
} front, back;
- vec2 stick;
+
+ vec2 stick; /**< The joystick's position, stored as a 2D coordinate. */
+
} left, right;
+
} Controller;
+/**
+ * A structure for handling most robot sensors.
+ *
+ * This structure contains the information necessary to handle most of the
+ * sensors provided by VEX, and allows for easier sensor reading and handling.
+ */
+
typedef struct {
+
+ /**
+ * A 'type' enum for recognizing the sensor's type.
+ */
+
enum type {
- DIGITAL,
- ANALOG,
- GYRO,
- ULTRASONIC
+ DIGITAL, /**< A generic digital sensor */
+ ANALOG, /**< A generic analog sensor */
+ GYRO, /**< A gyroscore (BROKEN) */
+ ULTRASONIC /**< An ultrasonic sensor */
} type;
+
+ /**
+ * A special 'data' item for sensors that need extra variables.
+ */
+
union data {
- Gyro gyro;
- Ultrasonic sonic;
+ Gyro gyro; /**< The gyroscope object provided by PROS */
+ Ultrasonic sonic; /**< The ultrasonic object provided by PROS */
} data;
- unsigned int port;
- int value;
- int initial;
+
+ unsigned int port; /**< The port that the sensor is connected to */
+ int value; /**< The most recent value of the sensor */
+ int initial; /**< The initial reading from the sensor */
} Sensor;
+/**
+ * A structure for tracking processes.
+ *
+ * This object contains most information about a task, as well as flags for
+ * controlling the task's state.
+ */
+
typedef struct {
- bool kill_req;
- bool exiting;
- TaskCode code;
- TaskHandle handle;
- void *param;
+ bool kill_req; /**< A kill request signal for ending the process */
+ TaskCode code; /**< The function that is the task */
+ TaskHandle handle; /**< The task handle provided by PROS */
+ void *param; /**< The argument provided for the task */
} Process;
#ifdef __cplusplus
extern "C" {
#endif
-#define DEFAULT_TRPM trpm = 1850;
-#define EXTRA_TRPM trpm = 1900;
+/**
+ * A macro for setting the target RPM to it's default value.
+ */
+
+#define DEFAULT_TRPM trpm = 1650;
+
+/**
+ * A macro for setting the target RPM to a little higher than usually
+ * necessary.
+ */
+
+#define EXTRA_TRPM trpm = 1650;
+
+/**
+ * The mathematical constant 'pi', for trig/angular calculations.
+ */
#define PI 3.14159265L
+/**
+ * The port that an LCD is expected to be plugged into.
+ */
+
#define LCD_PORT uart2
/**
- * Be sure that getIMEPort() matches these values (see sensor.c).
+ * An enum for the set of motor ports on the Cortex, for tagging what motors
+ * are.
+ *
+ * The getIMEPort() function defined in sensor.c takes these values for
+ * accessing their IME counterparts, so insure that this definition matches
+ * what getIMEPort() expects.
*/
enum MOTOR_MAP {
@@ -80,6 +165,13 @@ enum MOTOR_MAP {
LIFT_ROTATER
};
+/**
+ * An enum for tagging IMEs.
+ *
+ * getIMEPort() will allow access to these values by referencing their
+ * MOTOR_MAP counterparts, so hard-coding these shouldn't be necessary.
+ */
+
enum MOTOR_IME_MAP {
DRIVE_RIGHT_IME = 0,
DRIVE_LEFT_IME,
diff --git a/src/init.c b/src/init.c
index f8154d7..704b199 100644
--- a/src/init.c
+++ b/src/init.c
@@ -16,6 +16,9 @@ void initializeIO(void){
intakeLiftBase = initUltrasonic(1,2);
intakeLiftTop = initSensor(8,ANALOG);
//robotGyro = initSensor(2,GYRO);
+
+ pinMode(12,OUTPUT);
+ digitalWrite(12,1);
}
void initialize(void){
diff --git a/src/opcontrol.c b/src/opcontrol.c
index 1efcb10..a549e57 100644
--- a/src/opcontrol.c
+++ b/src/opcontrol.c
@@ -1,7 +1,12 @@
#include <main.h>
#include <math.h>
-#define AUTO_SKILLS
+#include <arm.h>
+
+#define PUSH_UP 500
+#define PUSH_BACK 500
+
+//#define AUTO_SKILLS
extern Sensor intakeFrontLeft,
intakeFrontRight,
@@ -25,7 +30,7 @@ static float xpos = 0,
static double cangle = 0;
-static double rpm = 0, trpm = 1850, arpm = 0;
+static double rpm = 0, trpm = 1650, arpm = 0;
static bool cannReady = false;
static Controller c[2];
@@ -40,9 +45,23 @@ void taskArmCode(void *); // 100ms
void taskAimCode(void *); // 100ms
void taskLCDCode(void *); // 500ms
+static unsigned int cid = 0;
+
+
+const char *dream = "CarryOnM:d=8,o=6,b=125:a5,c,d,c,b5,a5,4a5,a5,g5,4a5,4b5,4p,a5,c,d,c,b5,a5,4e,d,c,4c,4d,4p,f,f,e,d,d,c,4e,2d,4p,f,f,4e,d,c,2g5,4p,a5,c,d,c,b5,a5,4a5,a5,g5,4a5,4b5,4p,a5,c,d,c,b5,a5,4e,d,c,4c,4d,4p,f,f,e,d,d,c,4e,2d,4p,f,f,4e,4g,2g";
+const char *final = "FinalCou:d=4,o=5,b=140:16c#6,32b,32p,8c#.6,16p,f#,p.,32d6,32p,32c#6,32p,32d6,16p.,32c#6,16p.,b.,p,32d6,32p,32c#6,32p,d6,f#,p.,32b,32p,32a,32p,32b,16p.,32a,16p.,32g#,16p.,32b,16p.,a.,32c#6,32p,32b,32p,c#6,2f#,p,16p,32d6,32p,32c#6,32p,32d6,16p.,32c#6,16p.,b.,p,32d6,32p,32c#6,32p,d6,f#,p.,32b,32p,32a,32p,32b,16p.,32a,16p.,32g#,16p.,32b,16p.,2a,16p,32g#,32p,32a,32p,b.,16a,16b,8c#6,8b,8a,8g#,f#,d6,1c#6,8p,16c#6,16d6,16c#6,16b,2c#.6,16p";
+
+
+void cdelay(unsigned int id,unsigned int ms){
+ cid = id;
+ delay(ms);
+}
+
void operatorControl(void){
static bool invert;
+ handleDiv0();
+
DEFAULT_TRPM;
c[0].num = 1;
c[1].num = 2;
@@ -70,9 +89,6 @@ void operatorControl(void){
taskInit(taskLCD,NULL);
taskInit(taskPos,NULL);
- if(taskCan)
- taskDelete(taskCan);
-
while(1){
/**
@@ -104,6 +120,17 @@ void operatorControl(void){
onKeyUp(c[0].right.front.r) invert ^= true;
onKeyUp(c[1].right.front.r) invert ^= true;
+ if(keyUp(c[0].left.front.r)){
+ speakerInit();
+ speakerPlayRtttl(final);
+ speakerShutdown();
+ }
+ if(keyUp(c[0].left.front.l)){
+ speakerInit();
+ speakerPlayRtttl(dream);
+ speakerShutdown();
+ }
+
motorSetN(DRIVE_LEFT ,c[0].left.stick.y);
motorSetN(DRIVE_RIGHT,c[0].right.stick.y);
@@ -118,6 +145,8 @@ void operatorControl(void){
motorSetN(LIFT_ROTATER,-c[1].right.stick.x / 4);
+ //motorSetBN(LIFT_PUSHER,127,c[1].left.front);
+
delay(50);
}
}
@@ -140,7 +169,8 @@ void taskLiftCode(void *unused){
motorSetK(INTAKE_2,127,1);
do{
- turned = (cangle > 30) | (cangle < -30);
+
+ turned = (cangle > 40) | (cangle < -40);
loaded = underSensor(intakeLiftTop,LIGHT_THRESH_DEFAULT);
/*
@@ -205,6 +235,7 @@ void taskAimCode(void *unused){
target = cangle;
do{
+
if(cangle > target){
motorSetK(LIFT_ROTATER,30,4);
}else if(cangle < target){
@@ -336,13 +367,13 @@ void taskCanCode(void *unused){
*/
if(xpos < 20)
- trpm = 1850;
+ trpm = 1650;
else if(xpos < 40)
- trpm = 1750;
+ trpm = 1550;
else if(xpos < 60)
- trpm = 1650;
+ trpm = 1450;
else
- trpm = 1550;
+ trpm = 1350;
trpm += arpm;
@@ -353,7 +384,7 @@ void taskCanCode(void *unused){
*/
if(ca < trpm - 40){
- speed += 2 * ((trpm - rpm) / 60);
+ speed += 2;
motorSetK(CANNON_LEFT,-speed,2);
motorSetK(CANNON_RIGHT,speed,2);
cannReady = false;
@@ -368,6 +399,7 @@ void taskCanCode(void *unused){
delay(100);
}
+
motorSetK(CANNON_LEFT,0,2);
motorSetK(CANNON_RIGHT,0,2);
@@ -381,8 +413,8 @@ void taskCanCode(void *unused){
}
void taskArmCode(void *unused){
- if(keyDown(c[1].left.front.r))
- goto PUSH;
+ /*if(keyDown(c[1].left.front.r))
+ goto PUSH;*/
while(!underSensor(intakeLiftTop,LIGHT_THRESH_DEFAULT) && ((rpm < trpm - 30) | (rpm > trpm + 50)))
delay(100);
@@ -390,14 +422,14 @@ void taskArmCode(void *unused){
/*while(ballPos != 5)
delay(100);*/
-PUSH:
+//PUSH:
motorTake(LIFT_PUSHER,3);
motorSetK(LIFT_PUSHER,127,3);
- delay(500);
+ delay(PUSH_UP);
motorSetK(LIFT_PUSHER,-127,3);
- delay(800);
+ delay(PUSH_BACK);
motorSetK(LIFT_PUSHER,0,3);
motorFree(LIFT_PUSHER);
@@ -476,9 +508,9 @@ void autonomous(){
delay(500);
motorSet(LIFT_PUSHER,127);
- delay(500);
+ delay(PUSH_UP);
motorSet(LIFT_PUSHER,-127);
- delay(800);
+ delay(PUSH_BACK);
motorSet(LIFT_PUSHER,0);
lcdPrint(LCD_PORT,2," ");
@@ -495,11 +527,12 @@ void autonomous(){
*****************************************************************************/
void autonomous(){
- static unsigned long start,elapsed = 0;
- static unsigned long inc = 0;
+ //static unsigned long start,elapsed = 0;
+ static unsigned int inc = 0;
+ static bool onetime = false;
EXTRA_TRPM;
- start = millis();
+ //start = millis();
intakeLiftTop.initial = readSensor(&intakeLiftTop);
taskInit(taskCan,&No);
@@ -510,39 +543,41 @@ void autonomous(){
//motorSet(INTAKE_2,127);
while(1){
- elapsed = millis() - start;
+ //elapsed = millis() - start;
if(++inc == 50){
inc = 0;
- lcdPrint(LCD_PORT,1,"%02d:%02d",(int)(elapsed / 60000),(int)((elapsed / 1000) % 60));
- lcdPrint(LCD_PORT,2,"%.0lf RPM",rpm);
+ lcdPrint(LCD_PORT,1,"%.0lf/%.0lf",rpm,trpm);
}
readSensor(&intakeLiftTop);
if(underSensor(intakeLiftTop,LIGHT_THRESH_DEFAULT)){
-
- delay(200);
- motorSet(LIFT_1,0);
- motorSet(LIFT_2,0);
+ if(!onetime){
+ delay(400);
+ motorSet(LIFT_1,0);
+ motorSet(LIFT_2,0);
+ onetime = true;
+ }
//motorSet(INTAKE_1,0);
//motorSet(INTAKE_2,0);
- if(rpm >= trpm){
+ if(rpm >= trpm - 50){
motorSet(LIFT_PUSHER,127);
- delay(500);
+ delay(PUSH_UP);
motorSet(LIFT_PUSHER,-127);
- delay(500);
+ delay(PUSH_BACK);
motorSet(LIFT_PUSHER,0);
motorSet(LIFT_1,127);
motorSet(LIFT_2,127);
//motorSet(INTAKE_1,127);
//motorSet(INTAKE_2,127);
+ onetime = false;
}
}
- delay(10);
+ delay(100);
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-03-31 16:50:16 +0000