main.cpp

00001 /**
00002 ******************************************************************************
00003 * @file    main.cpp
00004 * @author  Kleber Lima da Silva (kleber@ioton.cc)
00005 * @version V0.0.1
00006 * @date    05-Julho-2017
00007 * @brief   Programa de exemplo do Robô TON-BOT no modo seguidor de linha.
00008 ******************************************************************************
00009 * @attention
00010 *
00011 * COPYRIGHT(c) 2017 IOTON Technology
00012 *
00013 * Licensed under the Apache License, Version 2.0 (the "License");
00014 * you may not use this file except in compliance with the License.
00015 * You may obtain a copy of the License at
00016 *
00017 *     http://www.apache.org/licenses/LICENSE-2.0
00018 *
00019 * Unless required by applicable law or agreed to in writing, software
00020 * distributed under the License is distributed on an "AS IS" BASIS,
00021 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00022 * See the License for the specific language governing permissions and
00023 * limitations under the License.
00024 ******************************************************************************
00025 */
00026 
00027 /* Includes ------------------------------------------------------------------*/
00028 #include "main.h"
00029 
00030 /** @addtogroup Seguidor de linha TON-BOT
00031  * @{
00032  */
00033 
00034 /* Variáveis privadas --------------------------------------------------------*/
00035 
00036 
00037 /* Funções Privadas ----------------------------------------------------------*/
00038 
00039 /**
00040  * @brief  Programa Principal
00041  * @param  Nenhum
00042  * @retval Nenhum
00043  */
00044 int main(void)
00045 {
00046   const float KP = 0.008, PWM_MEDIO = 0.3;
00047   int32_t erro = 0, erro_anterior = 0;
00048   float MV = 0;
00049 
00050   /* Ligue o TON com o botão USER pressionado para indicar o estado da bateria */
00051   if (ton.USERisPressed())
00052   {
00053     /* Necessário pressionar o botão RESET voltar ao modo normal */
00054     ton.batteryStatus();
00055   }
00056 
00057   /* Inicialização do robô para seguir linha preta (pista branca) */
00058   ton.setLED(GREEN);
00059   initTonBot(PRETA);
00060 
00061   /* Inicio do programa ------------------------------------------------------*/
00062   /* Aguarda o botão USER ser pressionado para ligar o robô */
00063   while(!ton.USERisPressed())
00064   {
00065     ton.toggleLED(RED);
00066     wait_ms(100);
00067   }
00068   wait(1);
00069   ton.setLED(BLUE);
00070   beeps(3, 100, 50);
00071 
00072 
00073   /* LOOP principal ----------------------------------------------------------*/
00074   while (1)
00075   {
00076     /* Verifica a leitura dos sensores */
00077     erro = getSensoresLinha();
00078     if (erro == INFINITO)
00079     {
00080       erro = erro_anterior;
00081     }
00082 
00083     /* Controlador Proporcional */
00084     MV = KP * erro;
00085 
00086     /* Acionamento dos motores */
00087     setMotores(PWM_MEDIO + MV, PWM_MEDIO - MV);
00088 
00089     /* Base de tempo do controlador */
00090     wait_ms(10);
00091 
00092   } // fim do loop principal
00093 } // fim da função principal
00094 
00095 
00096 /**
00097  * @}
00098  */
00099 
00100 /************************ (C) COPYRIGHT IOTON Technology **********************/
00101 /***********************************END OF FILE********************************/