This ILC code kinda works
Dependencies: FatFileSystem MSCFileSystem btbee m3pi_ng mbed ILCRobot
Fork of RobotB by
main.cpp@2:80a1ed62c307, 2015-05-21 (annotated)
- Committer:
- nbtavis
- Date:
- Thu May 21 14:38:47 2015 +0000
- Revision:
- 2:80a1ed62c307
- Parent:
- 1:42bba20ee253
- Child:
- 3:bae8eb81a9d7
my code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bbabbs | 0:17669460c6b1 | 1 | #include "mbed.h" |
bbabbs | 0:17669460c6b1 | 2 | #include "btbee.h" |
bbabbs | 0:17669460c6b1 | 3 | #include "m3pi_ng.h" |
nbtavis | 2:80a1ed62c307 | 4 | m3pi robot; |
nbtavis | 2:80a1ed62c307 | 5 | Timer timer; |
nbtavis | 2:80a1ed62c307 | 6 | Timer time_wait; |
nbtavis | 2:80a1ed62c307 | 7 | #define MAX 0.95 |
nbtavis | 2:80a1ed62c307 | 8 | #define MIN 0 |
bbabbs | 0:17669460c6b1 | 9 | |
nbtavis | 2:80a1ed62c307 | 10 | #define P_TERM 5 |
nbtavis | 2:80a1ed62c307 | 11 | #define I_TERM 0 |
nbtavis | 2:80a1ed62c307 | 12 | #define D_TERM 20 |
nbtavis | 2:80a1ed62c307 | 13 | |
nbtavis | 2:80a1ed62c307 | 14 | |
bbabbs | 0:17669460c6b1 | 15 | |
bbabbs | 0:17669460c6b1 | 16 | int main(){ |
nbtavis | 2:80a1ed62c307 | 17 | |
nbtavis | 2:80a1ed62c307 | 18 | robot.sensor_auto_calibrate(); |
nbtavis | 2:80a1ed62c307 | 19 | wait(2.0); |
nbtavis | 2:80a1ed62c307 | 20 | |
nbtavis | 2:80a1ed62c307 | 21 | float right; |
nbtavis | 2:80a1ed62c307 | 22 | float left; |
nbtavis | 2:80a1ed62c307 | 23 | //float current_pos[5]; |
nbtavis | 2:80a1ed62c307 | 24 | float current_pos = 0.0; |
nbtavis | 2:80a1ed62c307 | 25 | float previous_pos =0.0; |
nbtavis | 2:80a1ed62c307 | 26 | float derivative, proportional, integral = 0; |
nbtavis | 2:80a1ed62c307 | 27 | float power; |
nbtavis | 2:80a1ed62c307 | 28 | float speed = MAX; |
nbtavis | 2:80a1ed62c307 | 29 | |
nbtavis | 2:80a1ed62c307 | 30 | int lap = 0; |
nbtavis | 2:80a1ed62c307 | 31 | float lap_time = 0.0; |
nbtavis | 2:80a1ed62c307 | 32 | float total_time = 0.0; |
nbtavis | 2:80a1ed62c307 | 33 | float average_time = 0.0; |
nbtavis | 2:80a1ed62c307 | 34 | int y =1; |
nbtavis | 2:80a1ed62c307 | 35 | |
nbtavis | 2:80a1ed62c307 | 36 | /* for (int i = 0; i <5; ++i) |
nbtavis | 2:80a1ed62c307 | 37 | current_pos[i] = 0.0; */ |
nbtavis | 2:80a1ed62c307 | 38 | timer.start(); |
nbtavis | 2:80a1ed62c307 | 39 | |
nbtavis | 2:80a1ed62c307 | 40 | |
nbtavis | 2:80a1ed62c307 | 41 | time_wait.start(); |
nbtavis | 2:80a1ed62c307 | 42 | while(y) |
nbtavis | 2:80a1ed62c307 | 43 | {time_wait.reset(); |
nbtavis | 2:80a1ed62c307 | 44 | //Get raw sensor values |
nbtavis | 2:80a1ed62c307 | 45 | int x [5]; |
nbtavis | 2:80a1ed62c307 | 46 | robot.calibrated_sensor(x); |
nbtavis | 2:80a1ed62c307 | 47 | |
nbtavis | 2:80a1ed62c307 | 48 | |
nbtavis | 2:80a1ed62c307 | 49 | |
nbtavis | 2:80a1ed62c307 | 50 | //Check to make sure battery isn't low |
nbtavis | 2:80a1ed62c307 | 51 | if (robot.battery() < 2.4) |
nbtavis | 2:80a1ed62c307 | 52 | {timer.stop(); |
nbtavis | 2:80a1ed62c307 | 53 | break;} |
nbtavis | 2:80a1ed62c307 | 54 | |
nbtavis | 2:80a1ed62c307 | 55 | else if( x[0] > 300 && x[2]>300 && x[4]>300) |
nbtavis | 2:80a1ed62c307 | 56 | { if (lap == 0) |
nbtavis | 2:80a1ed62c307 | 57 | { while( x[0]> 300 && x[4] > 300) |
nbtavis | 2:80a1ed62c307 | 58 | {robot.calibrated_sensor(x);} |
nbtavis | 2:80a1ed62c307 | 59 | timer.start(); |
nbtavis | 2:80a1ed62c307 | 60 | lap= lap +1; |
nbtavis | 2:80a1ed62c307 | 61 | } |
nbtavis | 2:80a1ed62c307 | 62 | |
nbtavis | 2:80a1ed62c307 | 63 | else if (lap == 5) |
nbtavis | 2:80a1ed62c307 | 64 | {lap_time = timer.read(); |
nbtavis | 2:80a1ed62c307 | 65 | total_time += lap_time; |
nbtavis | 2:80a1ed62c307 | 66 | average_time = total_time/lap; |
nbtavis | 2:80a1ed62c307 | 67 | robot.printf("%f",average_time); |
nbtavis | 2:80a1ed62c307 | 68 | y=0; |
nbtavis | 2:80a1ed62c307 | 69 | break;} |
nbtavis | 2:80a1ed62c307 | 70 | else |
nbtavis | 2:80a1ed62c307 | 71 | { while( x[0]> 300 && x[4] > 300) |
nbtavis | 2:80a1ed62c307 | 72 | {robot.calibrated_sensor(x);} |
nbtavis | 2:80a1ed62c307 | 73 | lap_time = timer.read(); |
nbtavis | 2:80a1ed62c307 | 74 | total_time += lap_time; |
nbtavis | 2:80a1ed62c307 | 75 | average_time = total_time/lap; |
nbtavis | 2:80a1ed62c307 | 76 | lap = lap +1; |
nbtavis | 2:80a1ed62c307 | 77 | timer.reset(); } |
nbtavis | 2:80a1ed62c307 | 78 | } |
nbtavis | 2:80a1ed62c307 | 79 | |
nbtavis | 2:80a1ed62c307 | 80 | |
nbtavis | 2:80a1ed62c307 | 81 | // Get the position of the line. |
nbtavis | 2:80a1ed62c307 | 82 | /* for (int i =0; i < 4; ++i) |
nbtavis | 2:80a1ed62c307 | 83 | current_pos[i] = current_pos[i+1]; |
nbtavis | 2:80a1ed62c307 | 84 | current_pos[4] = robot.line_position(); |
nbtavis | 2:80a1ed62c307 | 85 | proportional = current_pos[4]; |
nbtavis | 2:80a1ed62c307 | 86 | |
nbtavis | 2:80a1ed62c307 | 87 | // compute the derivative |
nbtavis | 2:80a1ed62c307 | 88 | derivative = 0; |
nbtavis | 2:80a1ed62c307 | 89 | for (int i =1; i<5;++i) { |
nbtavis | 2:80a1ed62c307 | 90 | if (i ==1) |
nbtavis | 2:80a1ed62c307 | 91 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
nbtavis | 2:80a1ed62c307 | 92 | else if (i == 2) |
nbtavis | 2:80a1ed62c307 | 93 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
nbtavis | 2:80a1ed62c307 | 94 | else if (i==3) |
nbtavis | 2:80a1ed62c307 | 95 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
nbtavis | 2:80a1ed62c307 | 96 | else |
nbtavis | 2:80a1ed62c307 | 97 | derivative += (current_pos[i] - current_pos[i-1]); |
bbabbs | 0:17669460c6b1 | 98 | } |
nbtavis | 1:42bba20ee253 | 99 | |
nbtavis | 2:80a1ed62c307 | 100 | derivative = derivative; */ |
nbtavis | 2:80a1ed62c307 | 101 | |
nbtavis | 2:80a1ed62c307 | 102 | |
nbtavis | 2:80a1ed62c307 | 103 | current_pos = robot.line_position(); |
nbtavis | 2:80a1ed62c307 | 104 | proportional = current_pos; |
nbtavis | 2:80a1ed62c307 | 105 | |
nbtavis | 2:80a1ed62c307 | 106 | derivative = current_pos - previous_pos; |
nbtavis | 2:80a1ed62c307 | 107 | |
nbtavis | 2:80a1ed62c307 | 108 | |
nbtavis | 2:80a1ed62c307 | 109 | //compute the integral |
nbtavis | 2:80a1ed62c307 | 110 | integral =+ proportional; |
nbtavis | 2:80a1ed62c307 | 111 | |
nbtavis | 2:80a1ed62c307 | 112 | //remember the last position. |
nbtavis | 2:80a1ed62c307 | 113 | previous_pos = current_pos; |
nbtavis | 2:80a1ed62c307 | 114 | |
nbtavis | 2:80a1ed62c307 | 115 | // compute the power |
nbtavis | 2:80a1ed62c307 | 116 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM)); |
nbtavis | 2:80a1ed62c307 | 117 | //computer new speeds |
nbtavis | 2:80a1ed62c307 | 118 | right = speed+power; |
nbtavis | 2:80a1ed62c307 | 119 | left = speed-power; |
nbtavis | 2:80a1ed62c307 | 120 | |
nbtavis | 2:80a1ed62c307 | 121 | //limit checks |
nbtavis | 2:80a1ed62c307 | 122 | if(right<MIN) |
nbtavis | 2:80a1ed62c307 | 123 | right = MIN; |
nbtavis | 2:80a1ed62c307 | 124 | else if (right > MAX) |
nbtavis | 2:80a1ed62c307 | 125 | right = MAX; |
nbtavis | 2:80a1ed62c307 | 126 | |
nbtavis | 2:80a1ed62c307 | 127 | if(left<MIN) |
nbtavis | 2:80a1ed62c307 | 128 | left = MIN; |
nbtavis | 2:80a1ed62c307 | 129 | else if (left>MIN) |
nbtavis | 2:80a1ed62c307 | 130 | left = MAX; |
nbtavis | 2:80a1ed62c307 | 131 | |
nbtavis | 2:80a1ed62c307 | 132 | //set speed |
nbtavis | 2:80a1ed62c307 | 133 | |
nbtavis | 2:80a1ed62c307 | 134 | robot.left_motor(left); |
nbtavis | 2:80a1ed62c307 | 135 | robot.right_motor(right); |
nbtavis | 2:80a1ed62c307 | 136 | |
nbtavis | 2:80a1ed62c307 | 137 | wait(.005-time_wait.read()); |
nbtavis | 2:80a1ed62c307 | 138 | } |
nbtavis | 2:80a1ed62c307 | 139 | |
nbtavis | 2:80a1ed62c307 | 140 | |
nbtavis | 2:80a1ed62c307 | 141 | |
nbtavis | 2:80a1ed62c307 | 142 | robot.stop(); |
nbtavis | 2:80a1ed62c307 | 143 | |
nbtavis | 2:80a1ed62c307 | 144 | char hail[]={'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8' |
nbtavis | 2:80a1ed62c307 | 145 | ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G' |
nbtavis | 2:80a1ed62c307 | 146 | ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8' |
nbtavis | 2:80a1ed62c307 | 147 | ,'G','8','E','8','D','8','C','4'}; |
nbtavis | 2:80a1ed62c307 | 148 | int numb = 59; |
nbtavis | 2:80a1ed62c307 | 149 | |
nbtavis | 2:80a1ed62c307 | 150 | robot.playtune(hail,numb); |
nbtavis | 2:80a1ed62c307 | 151 | |
nbtavis | 2:80a1ed62c307 | 152 | |
nbtavis | 2:80a1ed62c307 | 153 | |
nbtavis | 2:80a1ed62c307 | 154 | |
nbtavis | 2:80a1ed62c307 | 155 | } |