E=MC / Mbed 2 deprecated linecam_practice

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Dependencies:   mbed

main.cpp@7:f7f4308c7ac0, 2015-03-20 (annotated)

Committer:
mawk2311
Date:
Fri Mar 20 05:33:43 2015 +0000
Revision:
7:f7f4308c7ac0
Parent:
6:53d521496469 
Have a decent, shitty, line tracking thing going.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ericoneill 0:a7a8c6ef6d11 1 #include "mbed.h"
mawk2311 4:a8dce9e269e5 2 #include "stdlib.h"
ericoneill 0:a7a8c6ef6d11 3
mawk2311 6:53d521496469 4 DigitalOut led1(LED1);
mawk2311 6:53d521496469 5 DigitalOut clk(PTD5);
ericoneill 1:c6fa316ce7d1 6 DigitalOut si(PTD4);
ericoneill 0:a7a8c6ef6d11 7 AnalogIn camData(PTC2);
mawk2311 3:4ba3d22e50dc 8 PwmOut servo(PTA5);
mawk2311 3:4ba3d22e50dc 9 Serial pc(USBTX, USBRX); // tx, rx
mawk2311 3:4ba3d22e50dc 10
mawk2311 3:4ba3d22e50dc 11 float ADCdata [128];
mawk2311 3:4ba3d22e50dc 12 float slopeAccum;
mawk2311 3:4ba3d22e50dc 13 float slopeCount;
mawk2311 3:4ba3d22e50dc 14 float approxPos;
mawk2311 3:4ba3d22e50dc 15 float minVal;
mawk2311 3:4ba3d22e50dc 16
mawk2311 6:53d521496469 17 int minLoc;
mawk2311 3:4ba3d22e50dc 18
mawk2311 3:4ba3d22e50dc 19 float straight = 0.00155f;
mawk2311 3:4ba3d22e50dc 20 float hardLeft = 0.0013f;
mawk2311 3:4ba3d22e50dc 21 float slightLeft = 0.00145f;
mawk2311 3:4ba3d22e50dc 22 float hardRight = 0.0018f;
mawk2311 3:4ba3d22e50dc 23 float slightRight = 0.00165f;
mawk2311 3:4ba3d22e50dc 24
mawk2311 4:a8dce9e269e5 25 float currDirection = straight;
mawk2311 4:a8dce9e269e5 26
ericoneill 0:a7a8c6ef6d11 27 int main() {
mawk2311 4:a8dce9e269e5 28 //servo.period(SERVO_FREQ);
ericoneill 1:c6fa316ce7d1 29 int integrationCounter = 0;
mawk2311 3:4ba3d22e50dc 30
ericoneill 0:a7a8c6ef6d11 31 while(1) {
mawk2311 3:4ba3d22e50dc 32
mawk2311 4:a8dce9e269e5 33 if(integrationCounter % 151== 0){
mawk2311 7:f7f4308c7ac0 34 //__disable_irq
ericoneill 1:c6fa316ce7d1 35 si = 1;
ericoneill 2:f3eafd4d3705 36 clk = 1;
ericoneill 2:f3eafd4d3705 37 //wait(.00001);
ericoneill 1:c6fa316ce7d1 38 si = 0;
ericoneill 2:f3eafd4d3705 39 clk = 0;
mawk2311 3:4ba3d22e50dc 40 integrationCounter = 0;
mawk2311 3:4ba3d22e50dc 41
mawk2311 3:4ba3d22e50dc 42 slopeAccum = 0;
mawk2311 3:4ba3d22e50dc 43 slopeCount = 0;
mawk2311 3:4ba3d22e50dc 44 approxPos = 0;
mawk2311 3:4ba3d22e50dc 45
mawk2311 3:4ba3d22e50dc 46 }
mawk2311 3:4ba3d22e50dc 47 else if (integrationCounter > 129){
mawk2311 7:f7f4308c7ac0 48 minVal = ADCdata[15];
mawk2311 7:f7f4308c7ac0 49 for (int c = 15; c < 118; c++) {
mawk2311 7:f7f4308c7ac0 50 if (ADCdata[c] < minVal){
mawk2311 6:53d521496469 51 minVal = ADCdata[c];
mawk2311 6:53d521496469 52 minLoc = c;
mawk2311 6:53d521496469 53 }
mawk2311 6:53d521496469 54 }
mawk2311 6:53d521496469 55
mawk2311 7:f7f4308c7ac0 56 for (int c = 15; c < 118; c++) {
mawk2311 7:f7f4308c7ac0 57 if (ADCdata[c] >= minVal && ADCdata[c] - minVal < 0.04f && ADCdata[c] > 0.1f){
mawk2311 6:53d521496469 58 slopeAccum += c;
mawk2311 6:53d521496469 59 slopeCount++;
mawk2311 6:53d521496469 60 }
mawk2311 3:4ba3d22e50dc 61 }
mawk2311 4:a8dce9e269e5 62
mawk2311 3:4ba3d22e50dc 63 approxPos = (float)slopeAccum/(float)slopeCount;
mawk2311 3:4ba3d22e50dc 64
mawk2311 7:f7f4308c7ac0 65 if(approxPos > 0 && approxPos <= 20){
mawk2311 6:53d521496469 66 servo.pulsewidth(hardLeft);
mawk2311 7:f7f4308c7ac0 67 } else if (approxPos > 20 && approxPos <= 45){
mawk2311 7:f7f4308c7ac0 68 servo.pulsewidth(slightLeft);
mawk2311 7:f7f4308c7ac0 69 } else if (approxPos > 45 && approxPos <= 90){
mawk2311 6:53d521496469 70 servo.pulsewidth(straight);
mawk2311 7:f7f4308c7ac0 71 } else if (approxPos > 90 && approxPos <= 105){
mawk2311 7:f7f4308c7ac0 72 servo.pulsewidth(slightRight);
mawk2311 7:f7f4308c7ac0 73 } else if (approxPos > 105 && approxPos <= 128){
mawk2311 6:53d521496469 74 servo.pulsewidth(hardRight);
mawk2311 3:4ba3d22e50dc 75 }
mawk2311 4:a8dce9e269e5 76 integrationCounter = 150;
ericoneill 0:a7a8c6ef6d11 77 }
ericoneill 2:f3eafd4d3705 78 else{
ericoneill 2:f3eafd4d3705 79 clk = 1;
mawk2311 7:f7f4308c7ac0 80 wait_us(70);
mawk2311 3:4ba3d22e50dc 81 ADCdata[integrationCounter - 1] = camData;
ericoneill 2:f3eafd4d3705 82 clk = 0;
ericoneill 2:f3eafd4d3705 83 }
ericoneill 2:f3eafd4d3705 84
ericoneill 2:f3eafd4d3705 85 //clk = 0;
ericoneill 1:c6fa316ce7d1 86 integrationCounter++;
ericoneill 1:c6fa316ce7d1 87 //camData.
ericoneill 0:a7a8c6ef6d11 88
ericoneill 0:a7a8c6ef6d11 89 }
ericoneill 0:a7a8c6ef6d11 90 }