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Dependencies:   m3pi mbed

main.cpp@31:434a78739a59, 2022-10-11 (annotated)

Committer:
uld
Date:
Tue Oct 11 12:42:26 2022 +0000
Revision:
31:434a78739a59
Parent:
30:ccf5fa970bd2
Child:
32:570b94fe2c19
CCOUNT TEST defined a const to control the time between tests

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;
vehus 15:8b76add42254 5 DigitalOut led1(LED1);
vehus 15:8b76add42254 6 DigitalOut led2(LED2);
vehus 15:8b76add42254 7 DigitalOut led3(LED3);
vehus 15:8b76add42254 8 DigitalOut led4(LED4);
magnusmland 0:f562e4f9c29f 9
magnusmland 0:f562e4f9c29f 10 // Minimum and maximum motor speeds
uld 30:ccf5fa970bd2 11 #define MAX 0.80
magnusmland 0:f562e4f9c29f 12 #define MIN 0
magnusmland 0:f562e4f9c29f 13
magnusmland 0:f562e4f9c29f 14 // PID terms
magnusmland 0:f562e4f9c29f 15 #define P_TERM 1
magnusmland 0:f562e4f9c29f 16 #define I_TERM 0
magnusmland 0:f562e4f9c29f 17 #define D_TERM 20
magnusmland 0:f562e4f9c29f 18
uld 31:434a78739a59 19 // Ccount before test
uld 31:434a78739a59 20 #define CYCLEBEFORETEST 1500
uld 20:76f94dec91d1 21
uld 20:76f94dec91d1 22 // Textfile paths
uld 23:7e9505da7f48 23 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 24 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 25
uld 20:76f94dec91d1 26
uld 7:ac88c8e35048 27 // Prototypes
uld 8:5640c8c5088e 28 int PitTest(void); // Test if to robot needs to goto pit
vehus 15:8b76add42254 29 void InitialMessages(void); // Prints initial message to the LCD
uld 28:2c93dff934b1 30 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 31 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 28:2c93dff934b1 32 void LCDCountDown(int num); //LCD Coundown function
uld 26:e6d82a8ba556 33
mikkelbredholt 13:ddff4bb7c24f 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 5:dbd32cb3650a 46
uld 6:6865930c1135 47 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 48 float right;
magnusmland 0:f562e4f9c29f 49 float left;
magnusmland 0:f562e4f9c29f 50 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 51 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 52 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 53 float power;
magnusmland 0:f562e4f9c29f 54 float speed = MAX;
uld 6:6865930c1135 55
uld 6:6865930c1135 56 /*Team 7 Variabels*/
uld 7:ac88c8e35048 57 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 15:8b76add42254 58 int ccount = 0; //used to count cycles
uld 6:6865930c1135 59
uld 23:7e9505da7f48 60 /*Printing secret cat mission*/
uld 23:7e9505da7f48 61 InitialMessages();
uld 27:8561eeb0bd1d 62 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 63
uld 23:7e9505da7f48 64
uld 20:76f94dec91d1 65 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 66 PS_CreateLog();
uld 22:5d3332fc4c5c 67 TE_CreateVoltageLog();
uld 7:ac88c8e35048 68
magnusmland 0:f562e4f9c29f 69 while (1) {
uld 8:5640c8c5088e 70 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 31:434a78739a59 71 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 72 {
uld 21:c3e256b18b96 73 TE_LogVoltage(ccount);
vehus 15:8b76add42254 74 gotoPit = PitTest();
vehus 15:8b76add42254 75 }
vehus 15:8b76add42254 76 if (gotoPit == 1)
vehus 15:8b76add42254 77 {
uld 20:76f94dec91d1 78 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 79 PS_AddStopToLog();
uld 20:76f94dec91d1 80 /*Run the pitstop function*/
uld 28:2c93dff934b1 81 PS_PitStop();
vehus 15:8b76add42254 82 }
vehus 15:8b76add42254 83
magnusmland 0:f562e4f9c29f 84 // Get the position of the line.
magnusmland 0:f562e4f9c29f 85 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 86 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 87
magnusmland 0:f562e4f9c29f 88 // Compute the derivative
magnusmland 0:f562e4f9c29f 89 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 90
magnusmland 0:f562e4f9c29f 91 // Compute the integral
magnusmland 0:f562e4f9c29f 92 integral += proportional;
magnusmland 0:f562e4f9c29f 93
magnusmland 0:f562e4f9c29f 94 // Remember the last position.
magnusmland 0:f562e4f9c29f 95 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 96
magnusmland 0:f562e4f9c29f 97 // Compute the power
magnusmland 0:f562e4f9c29f 98 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 99
magnusmland 0:f562e4f9c29f 100 // Compute new speeds
magnusmland 0:f562e4f9c29f 101 right = speed+power;
magnusmland 0:f562e4f9c29f 102 left = speed-power;
magnusmland 0:f562e4f9c29f 103
magnusmland 0:f562e4f9c29f 104 // limit checks
magnusmland 0:f562e4f9c29f 105 if (right < MIN)
magnusmland 0:f562e4f9c29f 106 right = MIN;
magnusmland 0:f562e4f9c29f 107 else if (right > MAX)
magnusmland 0:f562e4f9c29f 108 right = MAX;
magnusmland 0:f562e4f9c29f 109
magnusmland 0:f562e4f9c29f 110 if (left < MIN)
magnusmland 0:f562e4f9c29f 111 left = MIN;
magnusmland 0:f562e4f9c29f 112 else if (left > MAX)
magnusmland 0:f562e4f9c29f 113 left = MAX;
magnusmland 0:f562e4f9c29f 114
magnusmland 0:f562e4f9c29f 115 // set speed
magnusmland 0:f562e4f9c29f 116 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 117 m3pi.right_motor(right);
uld 6:6865930c1135 118
uld 8:5640c8c5088e 119 ccount++;
uld 7:ac88c8e35048 120 }
uld 20:76f94dec91d1 121 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 122
uld 7:ac88c8e35048 123 }
uld 7:ac88c8e35048 124
vehus 15:8b76add42254 125 void InitialMessages(void){
uld 9:7b9094864268 126 /*Prints iniatl secret mission*/
uld 9:7b9094864268 127
uld 23:7e9505da7f48 128
uld 23:7e9505da7f48 129
uld 9:7b9094864268 130 m3pi.cls();
uld 9:7b9094864268 131 m3pi.locate(0,0);
uld 27:8561eeb0bd1d 132 m3pi.printf("DESTROY");
uld 9:7b9094864268 133 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 134 m3pi.printf("**CATS**");
uld 20:76f94dec91d1 135 wait(5.0);
uld 9:7b9094864268 136
uld 9:7b9094864268 137 m3pi.cls();
uld 9:7b9094864268 138 m3pi.locate(0,0);
uld 20:76f94dec91d1 139 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 140 m3pi.locate(0,1);
uld 20:76f94dec91d1 141 m3pi.printf("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 142 wait(10.0);
uld 28:2c93dff934b1 143 m3pi.cls();
uld 27:8561eeb0bd1d 144 m3pi.locate(0,0);
uld 28:2c93dff934b1 145 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 146 m3pi.locate(0,1);
uld 28:2c93dff934b1 147 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 148 wait(4.0);
uld 26:e6d82a8ba556 149 LCDCountDown(3);
uld 24:6427b144b17c 150 m3pi.cls();
uld 26:e6d82a8ba556 151 m3pi.locate(0,0);
uld 26:e6d82a8ba556 152 m3pi.printf("** GO **");
uld 26:e6d82a8ba556 153 }
uld 23:7e9505da7f48 154
uld 26:e6d82a8ba556 155 void LCDCountDown(int num){
uld 26:e6d82a8ba556 156 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 157 {
uld 26:e6d82a8ba556 158 m3pi.cls();
uld 26:e6d82a8ba556 159 m3pi.locate(0,0);
uld 26:e6d82a8ba556 160 m3pi.printf("** %d **", i );
uld 26:e6d82a8ba556 161 wait(1.0);
uld 26:e6d82a8ba556 162 }
uld 23:7e9505da7f48 163
uld 26:e6d82a8ba556 164 }
uld 26:e6d82a8ba556 165
uld 8:5640c8c5088e 166 int PitTest(void){
uld 7:ac88c8e35048 167 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 168
uld 30:ccf5fa970bd2 169 const float BATVOLTTRESHOLD = 0.05; // Treshold i volt
vehus 15:8b76add42254 170 int result = 0;
uld 7:ac88c8e35048 171
mikkelbredholt 13:ddff4bb7c24f 172 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 173 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 174 result = 1; // Set goto pit condition
vehus 15:8b76add42254 175 LED_Control(1, 1);
uld 7:ac88c8e35048 176 m3pi.cls();
uld 7:ac88c8e35048 177 m3pi.locate(0,0);
uld 7:ac88c8e35048 178 m3pi.printf("Going to");
uld 7:ac88c8e35048 179 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 180 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 181 }
uld 8:5640c8c5088e 182 return result;
mikkelbredholt 13:ddff4bb7c24f 183 }
mikkelbredholt 13:ddff4bb7c24f 184
mikkelbredholt 13:ddff4bb7c24f 185 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 186 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 187 if (ledNumber == 1) {
vehus 15:8b76add42254 188 led1 = state;
vehus 15:8b76add42254 189 }
uld 20:76f94dec91d1 190 if (ledNumber == 2){
vehus 15:8b76add42254 191 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 192 }
uld 20:76f94dec91d1 193 if (ledNumber == 3){
vehus 15:8b76add42254 194 led3 = state;
vehus 15:8b76add42254 195 }
uld 20:76f94dec91d1 196 if (ledNumber == 4){
vehus 15:8b76add42254 197 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 198 }
vehus 15:8b76add42254 199 }
vehus 15:8b76add42254 200
uld 28:2c93dff934b1 201 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 202 {
vehus 15:8b76add42254 203 int a = 2;
vehus 15:8b76add42254 204 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 205 wait(a);
vehus 15:8b76add42254 206 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 207 wait(a);
mikkelbredholt 13:ddff4bb7c24f 208 }
vehus 15:8b76add42254 209
uld 20:76f94dec91d1 210 void PS_PitStop(void)
vehus 15:8b76add42254 211 {
vehus 15:8b76add42254 212 /* Testing alternative stop function
vehus 15:8b76add42254 213 m3pi.left_motor(0);
vehus 15:8b76add42254 214 m3pi.right_motor(0);
vehus 15:8b76add42254 215 */
vehus 15:8b76add42254 216 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 217
vehus 15:8b76add42254 218 // increase counter with one
vehus 15:8b76add42254 219 while (1)
vehus 15:8b76add42254 220 {
uld 28:2c93dff934b1 221 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 222
vehus 15:8b76add42254 223 /* missing input to stop blink. */
vehus 15:8b76add42254 224
mikkelbredholt 13:ddff4bb7c24f 225 }
uld 20:76f94dec91d1 226 }
uld 20:76f94dec91d1 227
uld 20:76f94dec91d1 228 void PS_CreateLog(void){
uld 20:76f94dec91d1 229 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 230 FILE *fptr;
uld 20:76f94dec91d1 231 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 232
uld 20:76f94dec91d1 233 if(fptr == NULL)
uld 20:76f94dec91d1 234 {
uld 20:76f94dec91d1 235 printf("Error creating log file ");
uld 20:76f94dec91d1 236 exit(1);
uld 20:76f94dec91d1 237 }
uld 20:76f94dec91d1 238 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 239 fclose(fptr);
uld 20:76f94dec91d1 240 }
uld 20:76f94dec91d1 241
uld 20:76f94dec91d1 242 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 243 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 244 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 245
uld 20:76f94dec91d1 246 FILE *fptr;
uld 20:76f94dec91d1 247 int x, y;
uld 20:76f94dec91d1 248 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 249 printf("Error! opening file");
uld 20:76f94dec91d1 250 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 251 exit(1);
uld 20:76f94dec91d1 252 }
uld 20:76f94dec91d1 253
uld 20:76f94dec91d1 254 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 255 fclose(fptr);
uld 20:76f94dec91d1 256
uld 20:76f94dec91d1 257 y = x+1;
uld 20:76f94dec91d1 258 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 259
uld 20:76f94dec91d1 260 if(fptr == NULL)
uld 20:76f94dec91d1 261 {
uld 20:76f94dec91d1 262 printf("Error creating log file ");
uld 20:76f94dec91d1 263 exit(1);
uld 20:76f94dec91d1 264 }
uld 20:76f94dec91d1 265 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 266 fclose(fptr);
uld 20:76f94dec91d1 267 }
uld 20:76f94dec91d1 268
uld 20:76f94dec91d1 269 /*
uld 20:76f94dec91d1 270 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 271 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 272 FILE *fptr;
uld 20:76f94dec91d1 273 int x;
uld 20:76f94dec91d1 274 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 275 printf("Error! opening file");
uld 20:76f94dec91d1 276 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 277 exit(1);
uld 20:76f94dec91d1 278 }
uld 20:76f94dec91d1 279 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 280 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 281 fclose(fptr);
uld 20:76f94dec91d1 282 }
uld 20:76f94dec91d1 283 */
uld 20:76f94dec91d1 284
uld 20:76f94dec91d1 285 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 286 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 287 FILE *fptr;
uld 20:76f94dec91d1 288 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 289
uld 20:76f94dec91d1 290 if(fptr == NULL)
uld 20:76f94dec91d1 291 {
uld 20:76f94dec91d1 292 printf("Error creating log file ");
uld 20:76f94dec91d1 293 exit(1);
uld 20:76f94dec91d1 294 }
uld 20:76f94dec91d1 295
uld 20:76f94dec91d1 296 fclose(fptr);
uld 20:76f94dec91d1 297 }
uld 20:76f94dec91d1 298
uld 21:c3e256b18b96 299 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 300 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 301 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 302 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 303
uld 26:e6d82a8ba556 304 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 305 fclose(fptr);
magnusmland 0:f562e4f9c29f 306 }