main Namespace Reference

WS23-24 Semi Autonomous Program. More...

Classes
class	man_point
	This is a manuevre segment array base class. More...

Variables
int	max_steer = 600;
	Creating an array of Point objects.
bool	two_motors = True;
	Flag used during debugging.
	motor_drive = Motor(Port.A);
	Initialize the drive motor.
	sen_us = UltrasonicSensor(Port.S1);
	init Ultrasonic sensor.
	sen_gyro = GyroSensor(Port.S2,Direction.CLOCKWISE);
	Init Gyro sensor.
	emergency_button = TouchSensor(Port.S4);
	touchsensor is also the ESTOP button
int	start_distance = 0;
	Variable used to store the start distance during object detection.
int	end_distance = 0;
	Variable used to store the start distance during object detection.
bool	run_flag = False;
	Flag used to see if the drive motor needs to be active.
int	button_press_ctr = 0;
	ESTOP Button Press samples counter.
int	center_button_ctr = 0;
	Center Button pressed samples counter.
int	left_button_ctr = 0;
	Left button pressed samples counter.
int	man = 0;
	Index for segments in path planning.
int	detect_flag = 0;
	Flag used to detect the start first object.
int	parking_spot_detected = 0;
	Flag to detect if the parking spot is successfully detected.
int	detect_obj1_flag = 0;
	Flag to detect if first object was successfully detected.
int	obj1_valid = 0;
	Flag to denote if first object is valid.
int	obj1_last_distance = 0;
	Variable to store the last detected Ultrasonic Sensor Distance.
int	start_distance_obj1 = 0;
	Start Distance variale to store the distance value when object 1 was detected which helps us to calculate the length of the object.
int	obj1_distance = 0;
	Length of the object 1.
int	parking_length_detected = 0;
	Flag to denote if a valid parking length for parallel parking manuevre was detected.
int	park_distance = 0;
	Variable to store the current parking spot length to check if it valid.
int	detect_obj2_flag = 0;
	Flag to detect if second object was successfully detected.
int	obj2_valid = 0;
	Flag to denote if second object is valid.
int	start_distance_obj2 = 0;
	Start Distance variale to store the distance value when object 2 was detected which helps us to calculate the length of the object.
int	obj2_distance = 0;
	Length of the object 2.
int	park_flag = 0;
	Flag used to wait for park confirmation.
str	previous_state = 'init_0';
	Variable to store previous state.

Detailed Description

WS23-24 Semi Autonomous Program.

Description

This is main file of the application, where the main thread runs. The main thread runs in the an infinite while loop and it has the following structure:

• Peripheral and Data Initialization
• Main thread
  • Acquisation of User Inputs
  • Run the Drive Module functions
  • Acquisation of the Statemachine Events
  • Run the StateMachine
  • Run StateMachine Callbacks