Wali RizviMilos Popovic
Published © MIT

The Noot Shoot

A rubber band shooter that sits on top of a pan-tilt stage with computer vision abilities.

IntermediateShowcase (no instructions)20 hours251
The Noot Shoot

Things used in this project

Hardware components

MSP430 Microcontroller
Texas Instruments MSP430 Microcontroller
MSP430F2272 variant
×1
Hitec HS-311
×3
Orange Pi Lite
×1
Pushbutton switch 12mm
SparkFun Pushbutton switch 12mm
×2
Machine Screw, M4
Machine Screw, M4
×10
Rubber Bands
A lot
×10

Software apps and online services

OpenCV
OpenCV
Code Composer Studio
Texas Instruments Code Composer Studio

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)
Multitool, Screwdriver
Multitool, Screwdriver

Story

Read more

Schematics

msp430_KRCJgnLg5F.PNG

Code

shooter.c

C/C++
/******************************************************************************
MSP430F2272 Project Creator 4.0

ME 461 - S. R. Platt
Fall 2010

Updated for CCSv4.2 Rick Rekoske 8/10/2011

Written by: Steve Keres
College of Engineering Control Systems Lab
University of Illinois at Urbana-Champaign
*******************************************************************************/

#include "msp430x22x2.h"
#include "UART.h"
#include "math.h"

char newprint = 0;
unsigned long timecnt = 0;

// i2c variables
unsigned char RXData [8] = {0, 0, 0, 0, 0, 0, 0, 0};
unsigned char TXData [8] = {0, 0, 0, 0, 0, 0, 0, 0};
int data_idx = 0;
long rxlong1 = 1000;
long rxlong2 = 1000;

// Controller Variables
int errorX = 0;
int errorY = 0;
int kpx = 3;
int kpy = 3;
long prevX = 3200;
long prevY = 3200;
long currX = 3200;
long currY = 3200;
long turnrateX = 1;
long turnrateY = 1;

// state machine variables
long btnPrsCnt = 0;
int btnPrs = 0;
int reloadMode = 0;
long errorCnt = 0;
long reloadModeCnt = 0;
int reloadBtnWait = 0;


void main(void) {

    WDTCTL = WDTPW + WDTHOLD;                 // Stop WDT

    if (CALBC1_16MHZ ==0xFF || CALDCO_16MHZ == 0xFF) while(1);

    DCOCTL = CALDCO_16MHZ;                      // Set uC to run at approximately 16 Mhz
    BCSCTL1 = CALBC1_16MHZ;

    //P1IN              Port 1 register used to read Port 1 pins setup as Inputs
    P1SEL &= ~0xFF; // Set all Port 1 pins to Port I/O function
    P1REN &= ~0xFF; // Disable internal resistor for all Port 1 pins
    P1OUT &= ~0xFF;  // Initially set all Port 1 pins set as Outputs to zero
    P1IFG &= ~0xFF;  // Clear Port 1 interrupt flags
    P1IES &= ~0xFF; // If port interrupts are enabled a High to Low transition on a Port pin will cause an interrupt
    P1IE &= ~0xFF; // Disable all port interrupts

    P1DIR |= 0x8; // Set timer TA2
    P1SEL |= 0x8; // Set timer TA2

    //P2 IN
    P2SEL &= 0x30; // Only 2.4 and 2.5
    P2DIR &= 0x30; // P2.4 and P2.5 pin to input dir
    P2REN = 0x30;  // P2.4 and 2.5 resistor enable
    P2OUT = 0xC0;  // P2.4 and P2.5 pulled down
    P2IES = 0xC0;
    P2IFG = 0x00;  // clear flags
    P2IE &= ~0xFF; // Disable all port interrupts

    //P4IN Setting TB1 and TB2
    P4DIR |= 0x6;
    P4SEL |= 0x6;
    
    //P3
    P3SEL |= 0x06; // For i2c slave definition

    //Add your code here to initialize USCIB0 as an I2C slave
    UCB0CTL1 = UCSWRST +  UCSSEL_2;
    UCB0CTL0 = UCSYNC + UCMODE_3;
    UCB0I2COA = 0x25;
    UCB0CTL1 &= ~UCSWRST;
    IE2 |= UCB0RXIE;
    IFG2 &= ~UCB0RXIFG; // This fixed the thing

    // Timer A Config
    TACCTL0 = 0; // Interrupt Disabled
    TACCR0 = 40000;
    TACTL = TASSEL_2 + MC_1 + ID_3;

    // Timer B Config
    TBCCTL0 = 0;
    TBCCR0 = 40000; //20ms 16000*20=320000, 320000/8=40 000
    TBCTL = TBSSEL_2 + MC_1 + ID_3;

    // Servo Pan
    TBCCTL1 = OUTMOD_7 + CLLD_1;
    TBCCR1 = 3500;
    // Servo Tilt
    TBCCTL2 = OUTMOD_7 + CLLD_1;
    TBCCR2 = 3750;
    // Servo trigger
    TACCTL2 = OUTMOD_7; //+ CLLD_1;
    TACCR2 = 3200;

    Init_UART(115200,1);  // Initialize UART for 115200 baud serial communication

    _BIS_SR(GIE);   // Enable global interrupt


    while(1) {

        if(newmsg) {
            //my_scanf(rxbuff,&var1,&var2,&var3,&var4);
            newmsg = 0;
        }

        if (newprint)  {
            //P1OUT ^= 0x1;     // Blink LED
            //UART_printf("%d %d %d %d\n\r", (int)RXData[0], (int)RXData[1], (int)RXData[2], (int)RXData[3]);
            UART_printf("%ld %ld %d %d\n\r", rxlong1, rxlong2, (int)currX, (int)currY);
            // UART_send(1,(float)timecnt/500);
            newprint = 0;
        }

    }
}


// Timer A0 interrupt service routine
#pragma vector=TIMERA0_VECTOR
__interrupt void Timer_A (void)
{
    timecnt++; // Keep track of time for main while loop.

    if ((timecnt%500) == 0) {
//        newprint = 1;  // flag main while loop that .5 seconds have gone by.
    }
  
}


// USCI Transmit ISR - Called when TXBUF is empty (ready to accept another character)
#pragma vector=USCIAB0TX_VECTOR
__interrupt void USCI0TX_ISR(void) {
  
    if((IFG2&UCA0TXIFG) && (IE2&UCA0TXIE)) {        // USCI_A0 requested TX interrupt
        if(printf_flag) {
            if (currentindex == txcount) {
                senddone = 1;
                printf_flag = 0;
                IFG2 &= ~UCA0TXIFG;
            } else {
            UCA0TXBUF = printbuff[currentindex];
            currentindex++;
            }
        } else if(UART_flag) {
            if(!donesending) {
                UCA0TXBUF = txbuff[txindex];
                if(txbuff[txindex] == 255) {
                    donesending = 1;
                    txindex = 0;
                } else {
                    txindex++;
                }
            }
        }

        IFG2 &= ~UCA0TXIFG;
    }

    if((IFG2&UCB0RXIFG) && (IE2&UCB0RXIE)) {    // USCI_B0 RX interrupt occurs here for I2C
        RXData[data_idx] = UCB0RXBUF;
        TXData[data_idx] = RXData[data_idx];
        data_idx++;
        if (data_idx > 7) {
            data_idx=0;
            P1OUT ^= 0x04;
            newprint = 1;
            IE2 &= ~UCB0RXIE;
            IE2 |= UCB0TXIE;
        }


    } else if ((IFG2&UCB0TXIFG) && (IE2&UCB0TXIE)) { // USCI_B0 TX interrupt
        // put your TX code here.
        rxlong1 = (((long)RXData[0])<<24) + (((long)RXData[1])<<16) + (((long)RXData[2])<<8) + (((long)RXData[3]));
        rxlong2 = (((long)RXData[4])<<24) + (((long)RXData[5])<<16) + (((long)RXData[6])<<8) + (((long)RXData[7]));

        if (reloadBtnWait == 1) {
            reloadModeCnt++;
            if (reloadModeCnt > 1000) {
                reloadModeCnt = 0;
                reloadBtnWait = 0;
            }
        }

        if (reloadMode == 1) {
            TACCR2 = 3200;
            TBCCR1 = 3500;
            TBCCR2 = 3750;

            if ((P2IN & 0x20) == 0x20 && reloadBtnWait == 0) {
                reloadBtnWait = 1;
                reloadMode = 0;
                btnPrs = 0;
                btnPrsCnt = 0;
            }
        }

        if (reloadMode == 0) {

            errorX = 160 - rxlong1;
            errorY = 120 - rxlong2;

            if (abs(errorX) < 21 && abs(errorY) < 21) {
                errorCnt++;
                if (errorCnt > 1500) {
                    TACCR2 = 1300;
                    errorCnt = 0;
                    btnPrs = 1;
                }
            } else {
                errorCnt = 0;
            }

            turnrateX = kpx*errorX;
            turnrateY = kpy*errorY;

            currX = prevX - (turnrateX * 20)/1000;
            currY = prevY - (turnrateY * 20)/1000;

            if(currX < 1200) {currX = 1200;}
            if(currX > 5200) {currX = 5200;}
            if(currY < 1400) {currY = 1400;}
            if(currY > 4500) {currY = 4200;}

            TBCCR1 = currX;
            TBCCR2 = currY;

            if (btnPrs == 0) {
                if ((P2IN & 0x10) == 0x10) {
                        TACCR2 = 1300;
                        btnPrs = 1;
                }
            }

            if (btnPrs == 1) {
                btnPrsCnt++;
                if (btnPrsCnt > 500) {
                    TACCR2 = 3200;
                }
                if (btnPrsCnt > 1000) {
                    btnPrs = 0;
                    btnPrsCnt = 0;
                    reloadMode = 1;
                }
            }

            if ((P2IN & 0x20) == 0x20 && reloadBtnWait == 0) {
                reloadMode = 1;
                reloadBtnWait = 1;
            }
        }

        prevX = currX;
        prevY = currY;

        UCB0TXBUF = TXData[data_idx];
        data_idx++;
        if (data_idx > 7) {
            data_idx = 0;
            P1OUT ^= 0x40;
            IE2 &= ~UCB0TXIE;
            IE2 |= UCB0RXIE;
        }

    }
}


// USCI Receive ISR - Called when shift register has been transferred to RXBUF
// Indicates completion of TX/RX operation
#pragma vector=USCIAB0RX_VECTOR
__interrupt void USCI0RX_ISR(void) {
  
    if((IFG2&UCA0RXIFG) && (IE2&UCA0RXIE)) {  // USCI_A0 requested RX interrupt (UCA0RXBUF is full)

        if(!started) {  // Haven't started a message yet
            if(UCA0RXBUF == 253) {
                started = 1;
                newmsg = 0;
            }
        } else {    // In process of receiving a message
            if((UCA0RXBUF != 255) && (msgindex < (MAX_NUM_FLOATS*5))) {
                rxbuff[msgindex] = UCA0RXBUF;

                msgindex++;
            } else {    // Stop char received or too much data received
                if(UCA0RXBUF == 255) {  // Message completed
                    newmsg = 1;
                    rxbuff[msgindex] = 255; // "Null"-terminate the array
                }
                started = 0;
                msgindex = 0;
            }
        }
        IFG2 &= ~UCA0RXIFG;
    }

    if((UCB0I2CIE&UCNACKIE) && (UCB0STAT&UCNACKIFG)) { // I2C NACK interrupt

        UCB0STAT &= ~UCNACKIFG;
    }
    if((UCB0I2CIE&UCSTPIE) && (UCB0STAT&UCSTPIFG)) { // I2C Stop interrupt

        UCB0STAT &= ~UCSTPIFG;
    }
    if((UCB0I2CIE&UCSTTIE) && (UCB0STAT&UCSTTIFG)) { //  I2C Start interrupt

        UCB0STAT &= ~UCSTTIFG;
    }
    if((UCB0I2CIE&UCALIE) && (UCB0STAT&UCALIFG)) {  // I2C Arbitration Lost interrupt

        UCB0STAT &= ~UCALIFG;
    }
}

Credits

Wali Rizvi

Wali Rizvi

1 project • 0 followers
Milos Popovic

Milos Popovic

1 project • 0 followers

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