This ILC code kinda works
Dependencies: FatFileSystem MSCFileSystem btbee m3pi_ng mbed ILCRobot
Fork of RobotB by
main.cpp@9:030b7e4ff7be, 2015-05-29 (annotated)
- Committer:
- charwhit
- Date:
- Fri May 29 11:29:53 2015 +0000
- Revision:
- 9:030b7e4ff7be
- Parent:
- 8:bd2f012e2f57
- Child:
- 10:83dfbc5e93ed
Still trying to get USB write to work for closed loop
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bbabbs | 0:17669460c6b1 | 1 | #include "mbed.h" |
charwhit | 8:bd2f012e2f57 | 2 | #include "MSCFileSystem.h" |
bbabbs | 0:17669460c6b1 | 3 | #include "btbee.h" |
bbabbs | 0:17669460c6b1 | 4 | #include "m3pi_ng.h" |
charwhit | 8:bd2f012e2f57 | 5 | #include <fstream> |
charwhit | 8:bd2f012e2f57 | 6 | #define FSNAME "msc" |
charwhit | 9:030b7e4ff7be | 7 | #include <string> |
charwhit | 9:030b7e4ff7be | 8 | #include <sstream> |
charwhit | 9:030b7e4ff7be | 9 | #include <vector> |
charwhit | 8:bd2f012e2f57 | 10 | |
charwhit | 8:bd2f012e2f57 | 11 | |
charwhit | 8:bd2f012e2f57 | 12 | MSCFileSystem msc(FSNAME); // Mount flash drive under the name "msc" |
charwhit | 9:030b7e4ff7be | 13 | //Serial pc(USBTX,USBRX); |
charwhit | 8:bd2f012e2f57 | 14 | |
nbtavis | 2:80a1ed62c307 | 15 | m3pi robot; |
charwhit | 4:acd0f86ed832 | 16 | btbee btbee; |
nbtavis | 3:bae8eb81a9d7 | 17 | DigitalIn m3pi_IN[]= {(p12),(p21)}; // IR sensor and Knopf |
nbtavis | 2:80a1ed62c307 | 18 | Timer timer; |
nbtavis | 2:80a1ed62c307 | 19 | Timer time_wait; |
charwhit | 9:030b7e4ff7be | 20 | #define MAX .5 |
charwhit | 5:c38929c0fd95 | 21 | #define MIN 0 |
bbabbs | 0:17669460c6b1 | 22 | |
charwhit | 4:acd0f86ed832 | 23 | //#define P_TERM 5 |
charwhit | 4:acd0f86ed832 | 24 | //#define I_TERM 0 |
charwhit | 5:c38929c0fd95 | 25 | //#define D_TERM 20 |
nbtavis | 2:80a1ed62c307 | 26 | |
nbtavis | 2:80a1ed62c307 | 27 | |
bbabbs | 0:17669460c6b1 | 28 | |
charwhit | 5:c38929c0fd95 | 29 | int main() |
charwhit | 5:c38929c0fd95 | 30 | { |
charwhit | 8:bd2f012e2f57 | 31 | float P_TERM = 2.5; |
charwhit | 8:bd2f012e2f57 | 32 | float I_TERM = .5; |
charwhit | 6:99d09e88924b | 33 | float D_TERM = 20; |
charwhit | 5:c38929c0fd95 | 34 | |
charwhit | 5:c38929c0fd95 | 35 | btbee.reset(); |
charwhit | 5:c38929c0fd95 | 36 | robot.sensor_auto_calibrate(); |
charwhit | 5:c38929c0fd95 | 37 | wait(2.0); |
charwhit | 5:c38929c0fd95 | 38 | float right; |
charwhit | 5:c38929c0fd95 | 39 | float left; |
charwhit | 5:c38929c0fd95 | 40 | //float current_pos[5]; |
charwhit | 5:c38929c0fd95 | 41 | float current_pos = 0.0; |
charwhit | 5:c38929c0fd95 | 42 | float previous_pos =0.0; |
charwhit | 5:c38929c0fd95 | 43 | float derivative, proportional, integral = 0; |
charwhit | 5:c38929c0fd95 | 44 | float power; |
charwhit | 5:c38929c0fd95 | 45 | float speed = MAX; |
charwhit | 5:c38929c0fd95 | 46 | |
charwhit | 5:c38929c0fd95 | 47 | int lap = 0; |
charwhit | 5:c38929c0fd95 | 48 | float lap_time = 0.0; |
charwhit | 5:c38929c0fd95 | 49 | float total_time = 0.0; |
charwhit | 5:c38929c0fd95 | 50 | float average_time = 0.0; |
charwhit | 5:c38929c0fd95 | 51 | int y =1; |
charwhit | 5:c38929c0fd95 | 52 | int count = 0; |
charwhit | 7:7d491b51665e | 53 | float paramChange[3]; |
charwhit | 8:bd2f012e2f57 | 54 | bool passed = false; |
charwhit | 9:030b7e4ff7be | 55 | //string hallo = "Idk what is going on...\n"; |
charwhit | 9:030b7e4ff7be | 56 | //stringstream ss; |
charwhit | 5:c38929c0fd95 | 57 | |
charwhit | 4:acd0f86ed832 | 58 | char arr_read[30]; // this should be long enough to store any reply coming in over bt. |
charwhit | 4:acd0f86ed832 | 59 | int chars_read; |
charwhit | 9:030b7e4ff7be | 60 | vector<float> leftval, rightval, lineposval; |
charwhit | 8:bd2f012e2f57 | 61 | |
charwhit | 9:030b7e4ff7be | 62 | //int check = msc.disk_initialize(); |
charwhit | 8:bd2f012e2f57 | 63 | |
charwhit | 9:030b7e4ff7be | 64 | |
charwhit | 8:bd2f012e2f57 | 65 | ofstream myFile ("/" FSNAME "/data.txt"); |
charwhit | 9:030b7e4ff7be | 66 | //myFile << hallo << "\n"; |
charwhit | 9:030b7e4ff7be | 67 | |
nbtavis | 2:80a1ed62c307 | 68 | |
charwhit | 5:c38929c0fd95 | 69 | /* for (int i = 0; i <5; ++i) |
charwhit | 5:c38929c0fd95 | 70 | current_pos[i] = 0.0; */ |
charwhit | 6:99d09e88924b | 71 | |
charwhit | 6:99d09e88924b | 72 | |
charwhit | 9:030b7e4ff7be | 73 | //wait(8); |
charwhit | 6:99d09e88924b | 74 | btbee.printf("Battery: %f\n", robot.battery()); |
charwhit | 6:99d09e88924b | 75 | //timer.start(); |
charwhit | 5:c38929c0fd95 | 76 | |
charwhit | 5:c38929c0fd95 | 77 | |
charwhit | 5:c38929c0fd95 | 78 | time_wait.start(); |
charwhit | 5:c38929c0fd95 | 79 | while(y) { |
charwhit | 5:c38929c0fd95 | 80 | time_wait.reset(); |
charwhit | 5:c38929c0fd95 | 81 | //Get raw sensor values |
charwhit | 5:c38929c0fd95 | 82 | int x [5]; |
charwhit | 5:c38929c0fd95 | 83 | robot.calibrated_sensor(x); |
charwhit | 5:c38929c0fd95 | 84 | |
charwhit | 5:c38929c0fd95 | 85 | |
charwhit | 5:c38929c0fd95 | 86 | |
charwhit | 5:c38929c0fd95 | 87 | //Check to make sure battery isn't low |
charwhit | 5:c38929c0fd95 | 88 | if (robot.battery() < 2.4) { |
charwhit | 5:c38929c0fd95 | 89 | timer.stop(); |
charwhit | 6:99d09e88924b | 90 | btbee.printf("Battery too low\n"); |
charwhit | 5:c38929c0fd95 | 91 | break; |
charwhit | 5:c38929c0fd95 | 92 | } |
charwhit | 5:c38929c0fd95 | 93 | |
charwhit | 5:c38929c0fd95 | 94 | //else if (m3pi_IN [0] == 0) |
charwhit | 5:c38929c0fd95 | 95 | //{break;} |
charwhit | 5:c38929c0fd95 | 96 | |
charwhit | 8:bd2f012e2f57 | 97 | if( x[0] > 300 && x[2]>300 && x[4]>300 & !passed) { |
charwhit | 5:c38929c0fd95 | 98 | if (lap == 0) { |
charwhit | 8:bd2f012e2f57 | 99 | /*while( x[0]> 300 && x[4] > 300) { |
charwhit | 5:c38929c0fd95 | 100 | robot.calibrated_sensor(x); |
charwhit | 8:bd2f012e2f57 | 101 | }*/ |
charwhit | 5:c38929c0fd95 | 102 | timer.start(); |
charwhit | 5:c38929c0fd95 | 103 | lap= lap +1; |
charwhit | 5:c38929c0fd95 | 104 | } |
charwhit | 5:c38929c0fd95 | 105 | |
charwhit | 9:030b7e4ff7be | 106 | else if (lap == 1) { |
charwhit | 6:99d09e88924b | 107 | robot.stop(); |
charwhit | 9:030b7e4ff7be | 108 | robot.printf("Size: %d", rightval.size()); |
charwhit | 9:030b7e4ff7be | 109 | if(myFile.is_open()){ |
charwhit | 9:030b7e4ff7be | 110 | for (int i = 0; i < rightval.size(); ++i) |
charwhit | 9:030b7e4ff7be | 111 | myFile << leftval[i] << " " << rightval[i] << " " << lineposval[i] << endl; |
charwhit | 9:030b7e4ff7be | 112 | } |
charwhit | 5:c38929c0fd95 | 113 | lap_time = timer.read(); |
charwhit | 5:c38929c0fd95 | 114 | total_time += lap_time; |
charwhit | 5:c38929c0fd95 | 115 | average_time = total_time/lap; |
charwhit | 5:c38929c0fd95 | 116 | robot.printf("%f",average_time); |
charwhit | 5:c38929c0fd95 | 117 | if (btbee.writeable()) { |
charwhit | 5:c38929c0fd95 | 118 | btbee.printf("Lap %d time: %f\n", lap, lap_time); |
charwhit | 5:c38929c0fd95 | 119 | btbee.printf("Avg Lap time: %f\n", average_time); |
charwhit | 5:c38929c0fd95 | 120 | } |
charwhit | 6:99d09e88924b | 121 | |
charwhit | 5:c38929c0fd95 | 122 | while (count < 3){ |
charwhit | 5:c38929c0fd95 | 123 | //btbee.printf("Input parameter\n"); |
charwhit | 5:c38929c0fd95 | 124 | btbee.read_line(arr_read, 30, &chars_read); |
charwhit | 7:7d491b51665e | 125 | paramChange[count] = atof(arr_read); |
charwhit | 6:99d09e88924b | 126 | //btbee.printf("%d", arr_read); |
charwhit | 5:c38929c0fd95 | 127 | count++; |
charwhit | 5:c38929c0fd95 | 128 | } |
charwhit | 5:c38929c0fd95 | 129 | P_TERM = paramChange[0]; |
charwhit | 5:c38929c0fd95 | 130 | I_TERM = paramChange[1]; |
charwhit | 5:c38929c0fd95 | 131 | D_TERM = paramChange[2]; |
charwhit | 6:99d09e88924b | 132 | btbee.printf("PTERM %f\n", P_TERM); |
charwhit | 6:99d09e88924b | 133 | btbee.printf("ITERM %f\n", I_TERM); |
charwhit | 6:99d09e88924b | 134 | btbee.printf("DTERM %f\n", D_TERM); |
charwhit | 5:c38929c0fd95 | 135 | lap = 0; |
charwhit | 5:c38929c0fd95 | 136 | total_time = 0; |
charwhit | 5:c38929c0fd95 | 137 | count = 0; |
charwhit | 6:99d09e88924b | 138 | timer.stop(); |
charwhit | 6:99d09e88924b | 139 | timer.reset(); |
charwhit | 5:c38929c0fd95 | 140 | continue; |
charwhit | 5:c38929c0fd95 | 141 | |
charwhit | 5:c38929c0fd95 | 142 | } else { |
charwhit | 8:bd2f012e2f57 | 143 | /*while( x[0]> 300 && x[4] > 300) { |
charwhit | 5:c38929c0fd95 | 144 | robot.calibrated_sensor(x); |
charwhit | 8:bd2f012e2f57 | 145 | }*/ |
charwhit | 5:c38929c0fd95 | 146 | lap_time = timer.read(); |
charwhit | 5:c38929c0fd95 | 147 | if (btbee.writeable()) { |
charwhit | 5:c38929c0fd95 | 148 | btbee.printf("Lap %d time: %f\n", lap, lap_time); |
charwhit | 5:c38929c0fd95 | 149 | } |
charwhit | 5:c38929c0fd95 | 150 | total_time += lap_time; |
charwhit | 5:c38929c0fd95 | 151 | average_time = total_time/lap; |
charwhit | 5:c38929c0fd95 | 152 | lap = lap +1; |
charwhit | 5:c38929c0fd95 | 153 | timer.reset(); |
charwhit | 5:c38929c0fd95 | 154 | } |
charwhit | 8:bd2f012e2f57 | 155 | passed = true; |
charwhit | 5:c38929c0fd95 | 156 | } |
charwhit | 8:bd2f012e2f57 | 157 | else if (x[0] > 300 && x[2]>300 && x[4]>300) |
charwhit | 8:bd2f012e2f57 | 158 | passed = true; |
charwhit | 8:bd2f012e2f57 | 159 | else |
charwhit | 8:bd2f012e2f57 | 160 | passed = false; |
charwhit | 8:bd2f012e2f57 | 161 | |
charwhit | 5:c38929c0fd95 | 162 | |
nbtavis | 2:80a1ed62c307 | 163 | |
charwhit | 5:c38929c0fd95 | 164 | // Get the position of the line. |
charwhit | 5:c38929c0fd95 | 165 | /* for (int i =0; i < 4; ++i) |
charwhit | 5:c38929c0fd95 | 166 | current_pos[i] = current_pos[i+1]; |
charwhit | 5:c38929c0fd95 | 167 | current_pos[4] = robot.line_position(); |
charwhit | 5:c38929c0fd95 | 168 | proportional = current_pos[4]; |
charwhit | 5:c38929c0fd95 | 169 | |
charwhit | 5:c38929c0fd95 | 170 | // compute the derivative |
charwhit | 5:c38929c0fd95 | 171 | derivative = 0; |
charwhit | 5:c38929c0fd95 | 172 | for (int i =1; i<5;++i) { |
charwhit | 5:c38929c0fd95 | 173 | if (i ==1) |
charwhit | 5:c38929c0fd95 | 174 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 175 | else if (i == 2) |
charwhit | 5:c38929c0fd95 | 176 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 177 | else if (i==3) |
charwhit | 5:c38929c0fd95 | 178 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 179 | else |
charwhit | 5:c38929c0fd95 | 180 | derivative += (current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 181 | } |
charwhit | 5:c38929c0fd95 | 182 | |
charwhit | 5:c38929c0fd95 | 183 | derivative = derivative; */ |
charwhit | 5:c38929c0fd95 | 184 | |
charwhit | 5:c38929c0fd95 | 185 | |
charwhit | 5:c38929c0fd95 | 186 | current_pos = robot.line_position(); |
charwhit | 5:c38929c0fd95 | 187 | proportional = current_pos; |
charwhit | 5:c38929c0fd95 | 188 | |
charwhit | 5:c38929c0fd95 | 189 | derivative = current_pos - previous_pos; |
charwhit | 5:c38929c0fd95 | 190 | |
charwhit | 5:c38929c0fd95 | 191 | |
charwhit | 5:c38929c0fd95 | 192 | //compute the integral |
charwhit | 5:c38929c0fd95 | 193 | integral =+ proportional; |
charwhit | 5:c38929c0fd95 | 194 | |
charwhit | 5:c38929c0fd95 | 195 | //remember the last position. |
charwhit | 5:c38929c0fd95 | 196 | previous_pos = current_pos; |
charwhit | 5:c38929c0fd95 | 197 | |
charwhit | 5:c38929c0fd95 | 198 | // compute the power |
charwhit | 5:c38929c0fd95 | 199 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM)); |
charwhit | 5:c38929c0fd95 | 200 | //computer new speeds |
charwhit | 5:c38929c0fd95 | 201 | right = speed+power; |
charwhit | 5:c38929c0fd95 | 202 | left = speed-power; |
charwhit | 5:c38929c0fd95 | 203 | |
charwhit | 5:c38929c0fd95 | 204 | //limit checks |
charwhit | 5:c38929c0fd95 | 205 | if(right<MIN) |
charwhit | 5:c38929c0fd95 | 206 | right = MIN; |
charwhit | 5:c38929c0fd95 | 207 | else if (right > MAX) |
charwhit | 5:c38929c0fd95 | 208 | right = MAX; |
charwhit | 5:c38929c0fd95 | 209 | |
charwhit | 5:c38929c0fd95 | 210 | if(left<MIN) |
charwhit | 5:c38929c0fd95 | 211 | left = MIN; |
charwhit | 5:c38929c0fd95 | 212 | else if (left>MIN) |
charwhit | 5:c38929c0fd95 | 213 | left = MAX; |
charwhit | 5:c38929c0fd95 | 214 | |
charwhit | 5:c38929c0fd95 | 215 | //set speed |
charwhit | 5:c38929c0fd95 | 216 | |
charwhit | 5:c38929c0fd95 | 217 | robot.left_motor(left); |
charwhit | 5:c38929c0fd95 | 218 | robot.right_motor(right); |
charwhit | 8:bd2f012e2f57 | 219 | |
charwhit | 8:bd2f012e2f57 | 220 | |
charwhit | 9:030b7e4ff7be | 221 | //if (myFile.is_open()) |
charwhit | 9:030b7e4ff7be | 222 | //{ |
charwhit | 9:030b7e4ff7be | 223 | //btbee.printf("%f %f %f\n", left, right, robot.line_position()); |
charwhit | 9:030b7e4ff7be | 224 | leftval.push_back(left); |
charwhit | 9:030b7e4ff7be | 225 | rightval.push_back(right); |
charwhit | 9:030b7e4ff7be | 226 | lineposval.push_back(robot.line_position()); |
charwhit | 9:030b7e4ff7be | 227 | //} |
charwhit | 9:030b7e4ff7be | 228 | |
charwhit | 5:c38929c0fd95 | 229 | |
charwhit | 5:c38929c0fd95 | 230 | wait((5-time_wait.read_ms())/1000); |
bbabbs | 0:17669460c6b1 | 231 | } |
charwhit | 5:c38929c0fd95 | 232 | |
charwhit | 5:c38929c0fd95 | 233 | |
charwhit | 5:c38929c0fd95 | 234 | |
charwhit | 5:c38929c0fd95 | 235 | robot.stop(); |
charwhit | 5:c38929c0fd95 | 236 | |
charwhit | 5:c38929c0fd95 | 237 | char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8' |
charwhit | 5:c38929c0fd95 | 238 | ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G' |
charwhit | 5:c38929c0fd95 | 239 | ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8' |
charwhit | 5:c38929c0fd95 | 240 | ,'G','8','E','8','D','8','C','4' |
charwhit | 5:c38929c0fd95 | 241 | }; |
nbtavis | 2:80a1ed62c307 | 242 | int numb = 59; |
charwhit | 5:c38929c0fd95 | 243 | |
nbtavis | 2:80a1ed62c307 | 244 | robot.playtune(hail,numb); |
charwhit | 5:c38929c0fd95 | 245 | |
charwhit | 5:c38929c0fd95 | 246 | |
charwhit | 5:c38929c0fd95 | 247 | |
charwhit | 5:c38929c0fd95 | 248 | |
charwhit | 5:c38929c0fd95 | 249 | } |