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Dependencies:   m3pi mbed

main.cpp@49:017e25c34cf9, 2022-10-12 (annotated)

Committer:
uld
Date:
Wed Oct 12 07:51:32 2022 +0000
Revision:
49:017e25c34cf9
Parent:
45:9763e13be02c
Parent:
48:dc6ac1715e31
Child:
50:e7b27b75ddd9
MInor fixes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
magnusmland 0:f562e4f9c29f 1 #include "mbed.h"
magnusmland 0:f562e4f9c29f 2 #include "m3pi.h"
magnusmland 0:f562e4f9c29f 3
magnusmland 0:f562e4f9c29f 4 m3pi m3pi;
uld 32:570b94fe2c19 5
uld 32:570b94fe2c19 6 // DigitalOuts
vehus 15:8b76add42254 7 DigitalOut led1(LED1);
vehus 15:8b76add42254 8 DigitalOut led2(LED2);
vehus 15:8b76add42254 9 DigitalOut led3(LED3);
vehus 15:8b76add42254 10 DigitalOut led4(LED4);
magnusmland 0:f562e4f9c29f 11
magnusmland 0:f562e4f9c29f 12 // Minimum and maximum motor speeds
uld 30:ccf5fa970bd2 13 #define MAX 0.80
magnusmland 0:f562e4f9c29f 14 #define MIN 0
magnusmland 0:f562e4f9c29f 15
magnusmland 0:f562e4f9c29f 16 // PID terms
magnusmland 0:f562e4f9c29f 17 #define P_TERM 1
magnusmland 0:f562e4f9c29f 18 #define I_TERM 0
magnusmland 0:f562e4f9c29f 19 #define D_TERM 20
magnusmland 0:f562e4f9c29f 20
uld 31:434a78739a59 21 // Ccount before test
uld 31:434a78739a59 22 #define CYCLEBEFORETEST 1500
uld 20:76f94dec91d1 23
uld 20:76f94dec91d1 24 // Textfile paths
uld 23:7e9505da7f48 25 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 26 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 27
uld 7:ac88c8e35048 28 // Prototypes
uld 8:5640c8c5088e 29 int PitTest(void); // Test if to robot needs to goto pit
vehus 15:8b76add42254 30 void InitialMessages(void); // Prints initial message to the LCD
uld 28:2c93dff934b1 31 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 32 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 28:2c93dff934b1 33 void LCDCountDown(int num); //LCD Coundown function
uld 26:e6d82a8ba556 34
uld 20:76f94dec91d1 35 void PS_PitStop(void); //
uld 20:76f94dec91d1 36 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 37 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 38 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 39
uld 20:76f94dec91d1 40 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 41 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 42
magnusmland 0:f562e4f9c29f 43 int main() {
uld 22:5d3332fc4c5c 44 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 45
uld 6:6865930c1135 46 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 47 float right;
magnusmland 0:f562e4f9c29f 48 float left;
magnusmland 0:f562e4f9c29f 49 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 50 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 51 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 52 float power;
magnusmland 0:f562e4f9c29f 53 float speed = MAX;
uld 6:6865930c1135 54
uld 6:6865930c1135 55 /*Team 7 Variabels*/
uld 7:ac88c8e35048 56 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 15:8b76add42254 57 int ccount = 0; //used to count cycles
uld 6:6865930c1135 58
uld 23:7e9505da7f48 59 /*Printing secret cat mission*/
uld 23:7e9505da7f48 60 InitialMessages();
uld 27:8561eeb0bd1d 61 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 62
uld 23:7e9505da7f48 63
uld 20:76f94dec91d1 64 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 65 PS_CreateLog();
uld 22:5d3332fc4c5c 66 TE_CreateVoltageLog();
uld 7:ac88c8e35048 67
magnusmland 0:f562e4f9c29f 68 while (1) {
uld 8:5640c8c5088e 69 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 31:434a78739a59 70 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 71 {
uld 21:c3e256b18b96 72 TE_LogVoltage(ccount);
vehus 15:8b76add42254 73 gotoPit = PitTest();
vehus 15:8b76add42254 74 }
vehus 15:8b76add42254 75 if (gotoPit == 1)
vehus 15:8b76add42254 76 {
uld 20:76f94dec91d1 77 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 78 PS_AddStopToLog();
uld 20:76f94dec91d1 79 /*Run the pitstop function*/
uld 28:2c93dff934b1 80 PS_PitStop();
vehus 15:8b76add42254 81 }
vehus 15:8b76add42254 82
magnusmland 0:f562e4f9c29f 83 // Get the position of the line.
magnusmland 0:f562e4f9c29f 84 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 85 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 86
magnusmland 0:f562e4f9c29f 87 // Compute the derivative
magnusmland 0:f562e4f9c29f 88 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 89
magnusmland 0:f562e4f9c29f 90 // Compute the integral
magnusmland 0:f562e4f9c29f 91 integral += proportional;
magnusmland 0:f562e4f9c29f 92
magnusmland 0:f562e4f9c29f 93 // Remember the last position.
magnusmland 0:f562e4f9c29f 94 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 95
magnusmland 0:f562e4f9c29f 96 // Compute the power
magnusmland 0:f562e4f9c29f 97 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 98
magnusmland 0:f562e4f9c29f 99 // Compute new speeds
magnusmland 0:f562e4f9c29f 100 right = speed+power;
magnusmland 0:f562e4f9c29f 101 left = speed-power;
magnusmland 0:f562e4f9c29f 102
magnusmland 0:f562e4f9c29f 103 // limit checks
magnusmland 0:f562e4f9c29f 104 if (right < MIN)
magnusmland 0:f562e4f9c29f 105 right = MIN;
magnusmland 0:f562e4f9c29f 106 else if (right > MAX)
magnusmland 0:f562e4f9c29f 107 right = MAX;
magnusmland 0:f562e4f9c29f 108
magnusmland 0:f562e4f9c29f 109 if (left < MIN)
magnusmland 0:f562e4f9c29f 110 left = MIN;
magnusmland 0:f562e4f9c29f 111 else if (left > MAX)
magnusmland 0:f562e4f9c29f 112 left = MAX;
magnusmland 0:f562e4f9c29f 113
magnusmland 0:f562e4f9c29f 114 // set speed
magnusmland 0:f562e4f9c29f 115 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 116 m3pi.right_motor(right);
uld 6:6865930c1135 117
uld 8:5640c8c5088e 118 ccount++;
uld 7:ac88c8e35048 119 }
uld 20:76f94dec91d1 120 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 121
uld 7:ac88c8e35048 122 }
uld 7:ac88c8e35048 123
vehus 15:8b76add42254 124 void InitialMessages(void){
uld 9:7b9094864268 125 /*Prints iniatl secret mission*/
uld 46:62e8b4c1bea0 126
uld 9:7b9094864268 127 m3pi.cls();
uld 9:7b9094864268 128 m3pi.locate(0,0);
uld 27:8561eeb0bd1d 129 m3pi.printf("DESTROY");
uld 9:7b9094864268 130 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 131 m3pi.printf("**CATS**");
uld 20:76f94dec91d1 132 wait(5.0);
uld 9:7b9094864268 133
uld 9:7b9094864268 134 m3pi.cls();
uld 9:7b9094864268 135 m3pi.locate(0,0);
uld 20:76f94dec91d1 136 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 137 m3pi.locate(0,1);
uld 20:76f94dec91d1 138 m3pi.printf("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 139 wait(10.0);
uld 28:2c93dff934b1 140 m3pi.cls();
uld 27:8561eeb0bd1d 141 m3pi.locate(0,0);
uld 28:2c93dff934b1 142 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 143 m3pi.locate(0,1);
uld 28:2c93dff934b1 144 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 145 wait(4.0);
uld 26:e6d82a8ba556 146 LCDCountDown(3);
uld 24:6427b144b17c 147 m3pi.cls();
uld 26:e6d82a8ba556 148 m3pi.locate(0,0);
uld 26:e6d82a8ba556 149 m3pi.printf("** GO **");
uld 26:e6d82a8ba556 150 }
uld 23:7e9505da7f48 151
uld 26:e6d82a8ba556 152 void LCDCountDown(int num){
uld 26:e6d82a8ba556 153 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 154 {
uld 26:e6d82a8ba556 155 m3pi.cls();
uld 26:e6d82a8ba556 156 m3pi.locate(0,0);
uld 26:e6d82a8ba556 157 m3pi.printf("** %d **", i );
uld 26:e6d82a8ba556 158 wait(1.0);
uld 26:e6d82a8ba556 159 }
uld 23:7e9505da7f48 160
uld 26:e6d82a8ba556 161 }
uld 26:e6d82a8ba556 162
uld 8:5640c8c5088e 163 int PitTest(void){
uld 7:ac88c8e35048 164 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 165
uld 30:ccf5fa970bd2 166 const float BATVOLTTRESHOLD = 0.05; // Treshold i volt
vehus 15:8b76add42254 167 int result = 0;
uld 7:ac88c8e35048 168
mikkelbredholt 13:ddff4bb7c24f 169 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 170 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 171 result = 1; // Set goto pit condition
vehus 15:8b76add42254 172 LED_Control(1, 1);
uld 7:ac88c8e35048 173 m3pi.cls();
uld 7:ac88c8e35048 174 m3pi.locate(0,0);
uld 7:ac88c8e35048 175 m3pi.printf("Going to");
uld 7:ac88c8e35048 176 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 177 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 178 }
uld 8:5640c8c5088e 179 return result;
mikkelbredholt 13:ddff4bb7c24f 180 }
mikkelbredholt 13:ddff4bb7c24f 181
mikkelbredholt 13:ddff4bb7c24f 182 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 183 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 184 if (ledNumber == 1) {
vehus 15:8b76add42254 185 led1 = state;
vehus 15:8b76add42254 186 }
uld 20:76f94dec91d1 187 if (ledNumber == 2){
vehus 15:8b76add42254 188 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 189 }
uld 20:76f94dec91d1 190 if (ledNumber == 3){
vehus 15:8b76add42254 191 led3 = state;
vehus 15:8b76add42254 192 }
uld 20:76f94dec91d1 193 if (ledNumber == 4){
vehus 15:8b76add42254 194 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 195 }
vehus 15:8b76add42254 196 }
vehus 15:8b76add42254 197
uld 28:2c93dff934b1 198 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 199 {
vehus 15:8b76add42254 200 int a = 2;
vehus 15:8b76add42254 201 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 202 wait(a);
vehus 15:8b76add42254 203 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 204 wait(a);
mikkelbredholt 13:ddff4bb7c24f 205 }
vehus 15:8b76add42254 206
uld 20:76f94dec91d1 207 void PS_PitStop(void)
vehus 15:8b76add42254 208 {
vehus 15:8b76add42254 209 /* Testing alternative stop function
vehus 15:8b76add42254 210 m3pi.left_motor(0);
vehus 15:8b76add42254 211 m3pi.right_motor(0);
vehus 15:8b76add42254 212 */
vehus 15:8b76add42254 213 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 214
vehus 15:8b76add42254 215 // increase counter with one
vehus 15:8b76add42254 216 while (1)
vehus 15:8b76add42254 217 {
uld 28:2c93dff934b1 218 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 219
vehus 15:8b76add42254 220 /* missing input to stop blink. */
vehus 15:8b76add42254 221
mikkelbredholt 13:ddff4bb7c24f 222 }
uld 20:76f94dec91d1 223 }
uld 20:76f94dec91d1 224
uld 20:76f94dec91d1 225 void PS_CreateLog(void){
uld 20:76f94dec91d1 226 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 227 FILE *fptr;
uld 20:76f94dec91d1 228 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 229
uld 20:76f94dec91d1 230 if(fptr == NULL)
uld 20:76f94dec91d1 231 {
uld 20:76f94dec91d1 232 printf("Error creating log file ");
uld 20:76f94dec91d1 233 exit(1);
uld 20:76f94dec91d1 234 }
uld 20:76f94dec91d1 235 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 236 fclose(fptr);
uld 20:76f94dec91d1 237 }
uld 20:76f94dec91d1 238
uld 20:76f94dec91d1 239 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 240 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 241 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 242
uld 20:76f94dec91d1 243 FILE *fptr;
uld 20:76f94dec91d1 244 int x, y;
uld 20:76f94dec91d1 245 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 246 printf("Error! opening file");
uld 20:76f94dec91d1 247 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 248 exit(1);
uld 20:76f94dec91d1 249 }
uld 20:76f94dec91d1 250
uld 20:76f94dec91d1 251 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 252 fclose(fptr);
uld 20:76f94dec91d1 253
uld 20:76f94dec91d1 254 y = x+1;
uld 20:76f94dec91d1 255 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 256
uld 20:76f94dec91d1 257 if(fptr == NULL)
uld 20:76f94dec91d1 258 {
uld 20:76f94dec91d1 259 printf("Error creating log file ");
uld 20:76f94dec91d1 260 exit(1);
uld 20:76f94dec91d1 261 }
uld 20:76f94dec91d1 262 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 263 fclose(fptr);
uld 20:76f94dec91d1 264 }
uld 20:76f94dec91d1 265
uld 20:76f94dec91d1 266 /*
uld 20:76f94dec91d1 267 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 268 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 269 FILE *fptr;
uld 20:76f94dec91d1 270 int x;
uld 20:76f94dec91d1 271 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 272 printf("Error! opening file");
uld 20:76f94dec91d1 273 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 274 exit(1);
uld 20:76f94dec91d1 275 }
uld 20:76f94dec91d1 276 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 277 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 278 fclose(fptr);
uld 20:76f94dec91d1 279 }
uld 20:76f94dec91d1 280 */
uld 20:76f94dec91d1 281
uld 20:76f94dec91d1 282 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 283 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 284 FILE *fptr;
uld 20:76f94dec91d1 285 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 286
uld 20:76f94dec91d1 287 if(fptr == NULL)
uld 20:76f94dec91d1 288 {
uld 20:76f94dec91d1 289 printf("Error creating log file ");
uld 20:76f94dec91d1 290 exit(1);
uld 20:76f94dec91d1 291 }
uld 20:76f94dec91d1 292
uld 20:76f94dec91d1 293 fclose(fptr);
uld 20:76f94dec91d1 294 }
uld 20:76f94dec91d1 295
uld 21:c3e256b18b96 296 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 297 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 298 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 299 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 300
uld 26:e6d82a8ba556 301 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 302 fclose(fptr);
mikkelbredholt 45:9763e13be02c 303 }