Alphabot_Group2
Alphabot
Dependencies: WS2812 PixelArray Adafruit_GFX HC_SR04_Ultrasonic_Library
Revision 100:43e306bf6f13, committed 2019-06-17
- Comitter:
- kmsmile2
- Date:
- Mon Jun 17 02:36:43 2019 +0000
- Parent:
- 98:d8ead5e04047
- Commit message:
- group2
Changed in this revision
--- a/RemoteIR.lib Thu Jun 13 11:12:37 2019 +0000 +++ b/RemoteIR.lib Mon Jun 17 02:36:43 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/kmsmile2/code/RemoteIR/#5833495063f7 +https://os.mbed.com/teams/Alphabot_Group2/code/Alphabot_group2/#74ac19b184bd
--- a/TB6612FNG.lib Thu Jun 13 11:12:37 2019 +0000 +++ b/TB6612FNG.lib Mon Jun 17 02:36:43 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/kmsmile2/code/TB6612FNG/#5c976ecdfa44 +https://os.mbed.com/users/kmsmile2/code/TB6612FNG/#269091717d47
--- a/TRSensors.lib Thu Jun 13 11:12:37 2019 +0000 +++ b/TRSensors.lib Mon Jun 17 02:36:43 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/kmsmile2/code/TRSensors/#bb9f536cceda +https://os.mbed.com/users/kmsmile2/code/TRSensors/#0d7360cea70c
--- a/main.cpp Thu Jun 13 11:12:37 2019 +0000
+++ b/main.cpp Mon Jun 17 02:36:43 2019 +0000
@@ -28,34 +28,31 @@
TRSensors trs;
RawSerial pc(USBTX, USBRX, 115200);
Adafruit_SSD1306_I2c gOled2(i2c,D9,0x7A,64,128);
-Ticker IRticker;
-Thread thread1;
-Thread thread2;
Timer timer;
PixelArray px(WS2812_BUF);
-
-// See the program page for information on the timing numbers
-// The given numbers are for the K64F
WS2812 ws(D7, WS2812_BUF, 7, 15, 10, 15);
+// Thread thread1;
+// Thread thread2;
-// variables
+
unsigned int sensorValues[button_SENSORS];
-unsigned int last_proportional = 0;
-long integral = 0;
+
+// Error variables
static int prev_err = 0;
static int int_err = 0;
+int err = 0;
+
+// PID & velocity value
static float pval = 0.15;
static float ival = 0.00003;
static float dval = 2.3;
static float vel = 120.0;
-uint8_t IR_buf[64];
-int length = 32;
+
volatile int button = 0;
int position = 0;
int dist = 0;
int cnt = 0;
-int err = 0;
-float t=0;
+float t = 0;
// Reflective sensor
bool rightObs= false;
@@ -132,6 +129,7 @@
}
int colorbuf[NUM_COLORS] = {0xff0000,0x00ff00,0x0000ff};
int colorbuf3 =0x000000;
+
int main()
{
for (int i = 0; i < WS2812_BUF; i++) {
@@ -317,38 +315,9 @@
err = 0;
prev_err = 0;
break;
-
-
}
}
-
}
- //if(dist < 25)
-// {
-// int count=0;
-// while(count<100){
-// if(dist>10) break;
-// count++;
-// }
-// if(count<100) continue;
-// while(1)
-// {
-//
-// motorDriver.user_forward(0,0.2);
-//
-// //pc.printf("distance: %d\r\n", dist);
-// pc.printf("position: %d\r\n", position);
-// position=trs.readLine(sensorValues,0);
-// if(position > 2000)
-// {
-// int_err = 0;
-// err = 0;
-// prev_err = 0;
-// break;
-// }
-// }
-// }
-
err=(int)position-2000; // error>0 --> right, error<0 --> left
int_err+=err;
@@ -367,9 +336,9 @@
power_difference = -maximum;
if(power_difference<0)
- motorDriver.user_forward((maximum-10)/255,(maximum+power_difference)/255);
+ motorDriver.user_forward((maximum)/255,(maximum+power_difference)/255);
else
- motorDriver.user_forward((maximum-power_difference)/255,(maximum+10)/255);
+ motorDriver.user_forward((maximum-power_difference)/255,(maximum)/255);
pc.printf("position value: %d\r\n", position);