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Dependencies:   m3pi mbed

main.cpp@71:4747e63eb48c, 2022-10-12 (annotated)

Committer:
uld
Date:
Wed Oct 12 12:03:11 2022 +0000
Revision:
71:4747e63eb48c
Parent:
70:e6cc44d1487d
Child:
72:fad84371f431
Fix_kan foldes

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"
uld 71:4747e63eb48c 3 #include <cstdio>
magnusmland 0:f562e4f9c29f 4
magnusmland 0:f562e4f9c29f 5 m3pi m3pi;
uld 32:570b94fe2c19 6
uld 32:570b94fe2c19 7 // DigitalOuts
vehus 15:8b76add42254 8 DigitalOut led1(LED1);
vehus 15:8b76add42254 9 DigitalOut led2(LED2);
vehus 15:8b76add42254 10 DigitalOut led3(LED3);
vehus 15:8b76add42254 11 DigitalOut led4(LED4);
magnusmland 0:f562e4f9c29f 12
magnusmland 0:f562e4f9c29f 13 // Minimum and maximum motor speeds
uld 30:ccf5fa970bd2 14 #define MAX 0.80
magnusmland 0:f562e4f9c29f 15 #define MIN 0
magnusmland 0:f562e4f9c29f 16
magnusmland 0:f562e4f9c29f 17 // PID terms
magnusmland 0:f562e4f9c29f 18 #define P_TERM 1
magnusmland 0:f562e4f9c29f 19 #define I_TERM 0
magnusmland 0:f562e4f9c29f 20 #define D_TERM 20
magnusmland 0:f562e4f9c29f 21
uld 67:990fbcfee16f 22 // Ccount before test
uld 67:990fbcfee16f 23 #define CYCLEBEFORETEST 4500
uld 20:76f94dec91d1 24
uld 20:76f94dec91d1 25 // Textfile paths
uld 23:7e9505da7f48 26 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 27 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 28
uld 7:ac88c8e35048 29 // Prototypes
uld 20:76f94dec91d1 30
uld 53:cef682f8684b 31
uld 28:2c93dff934b1 32 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 33 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 53:cef682f8684b 34 void LCD_CountDown(int num); //LCD Coundown function
uld 53:cef682f8684b 35 void LCD_InitialMessages(void); // Prints initial message to the LCD
uld 26:e6d82a8ba556 36
uld 53:cef682f8684b 37 int PS_BatteryTest(void); // Test if to robot needs to goto pit
uld 20:76f94dec91d1 38 void PS_PitStop(void); //
uld 20:76f94dec91d1 39 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 40 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 41 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 42
uld 20:76f94dec91d1 43 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 44 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 45
magnusmland 0:f562e4f9c29f 46 int main() {
uld 22:5d3332fc4c5c 47 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 48
uld 6:6865930c1135 49 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 50 float right;
magnusmland 0:f562e4f9c29f 51 float left;
magnusmland 0:f562e4f9c29f 52 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 53 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 54 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 55 float power;
magnusmland 0:f562e4f9c29f 56 float speed = MAX;
uld 6:6865930c1135 57
uld 6:6865930c1135 58 /*Team 7 Variabels*/
uld 7:ac88c8e35048 59 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
uld 67:990fbcfee16f 60 int ccount = 0; //used to count cycles
uld 6:6865930c1135 61
uld 23:7e9505da7f48 62 /*Printing secret cat mission*/
uld 53:cef682f8684b 63 LCD_InitialMessages();
uld 27:8561eeb0bd1d 64 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 65
uld 20:76f94dec91d1 66 /*Create pitlog used to log the number of pitstop */
uld 68:bb2ee5b4f9dd 67 PS_CreateLog(); //
uld 22:5d3332fc4c5c 68 TE_CreateVoltageLog();
uld 7:ac88c8e35048 69
magnusmland 0:f562e4f9c29f 70 while (1) {
uld 8:5640c8c5088e 71 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 67:990fbcfee16f 72 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 73 {
uld 67:990fbcfee16f 74 TE_LogVoltage(ccount);
uld 53:cef682f8684b 75 gotoPit = PS_BatteryTest();
vehus 15:8b76add42254 76 }
vehus 15:8b76add42254 77 if (gotoPit == 1)
vehus 15:8b76add42254 78 {
uld 20:76f94dec91d1 79 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 80 PS_AddStopToLog();
uld 69:d7125d5b5cc8 81
uld 20:76f94dec91d1 82 /*Run the pitstop function*/
uld 28:2c93dff934b1 83 PS_PitStop();
vehus 15:8b76add42254 84 }
vehus 15:8b76add42254 85
magnusmland 0:f562e4f9c29f 86 // Get the position of the line.
magnusmland 0:f562e4f9c29f 87 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 88 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 89
magnusmland 0:f562e4f9c29f 90 // Compute the derivative
magnusmland 0:f562e4f9c29f 91 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 92
magnusmland 0:f562e4f9c29f 93 // Compute the integral
magnusmland 0:f562e4f9c29f 94 integral += proportional;
magnusmland 0:f562e4f9c29f 95
magnusmland 0:f562e4f9c29f 96 // Remember the last position.
magnusmland 0:f562e4f9c29f 97 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 98
magnusmland 0:f562e4f9c29f 99 // Compute the power
magnusmland 0:f562e4f9c29f 100 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 101
magnusmland 0:f562e4f9c29f 102 // Compute new speeds
magnusmland 0:f562e4f9c29f 103 right = speed+power;
magnusmland 0:f562e4f9c29f 104 left = speed-power;
magnusmland 0:f562e4f9c29f 105
magnusmland 0:f562e4f9c29f 106 // limit checks
magnusmland 0:f562e4f9c29f 107 if (right < MIN)
magnusmland 0:f562e4f9c29f 108 right = MIN;
magnusmland 0:f562e4f9c29f 109 else if (right > MAX)
magnusmland 0:f562e4f9c29f 110 right = MAX;
magnusmland 0:f562e4f9c29f 111
magnusmland 0:f562e4f9c29f 112 if (left < MIN)
magnusmland 0:f562e4f9c29f 113 left = MIN;
magnusmland 0:f562e4f9c29f 114 else if (left > MAX)
magnusmland 0:f562e4f9c29f 115 left = MAX;
magnusmland 0:f562e4f9c29f 116
magnusmland 0:f562e4f9c29f 117 // set speed
magnusmland 0:f562e4f9c29f 118 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 119 m3pi.right_motor(right);
uld 6:6865930c1135 120
uld 67:990fbcfee16f 121 ccount++;
uld 7:ac88c8e35048 122 }
uld 20:76f94dec91d1 123 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 124
uld 7:ac88c8e35048 125 }
uld 7:ac88c8e35048 126
uld 53:cef682f8684b 127 void LCD_InitialMessages(void){
uld 69:d7125d5b5cc8 128 /*Prints iniatial secret mission*/
uld 46:62e8b4c1bea0 129
uld 9:7b9094864268 130 m3pi.cls();
uld 9:7b9094864268 131 m3pi.locate(0,0);
uld 69:d7125d5b5cc8 132 m3pi.printf("DESTROY");
uld 9:7b9094864268 133 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 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 69:d7125d5b5cc8 139 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 140 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 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 70:e6cc44d1487d 145 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 146 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 147 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 148 wait(4.0);
uld 53:cef682f8684b 149 LCD_CountDown(3);
uld 24:6427b144b17c 150 m3pi.cls();
uld 26:e6d82a8ba556 151 m3pi.locate(0,0);
uld 69:d7125d5b5cc8 152 m3pi.printf("** GO **");
uld 69:d7125d5b5cc8 153
uld 69:d7125d5b5cc8 154
uld 53:cef682f8684b 155 wait (1.0);
uld 26:e6d82a8ba556 156 }
uld 23:7e9505da7f48 157
uld 53:cef682f8684b 158 void LCD_CountDown(int num){
uld 56:ea9a5cfbcc6b 159
uld 26:e6d82a8ba556 160 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 161 {
uld 26:e6d82a8ba556 162 m3pi.cls();
uld 26:e6d82a8ba556 163 m3pi.locate(0,0);
uld 70:e6cc44d1487d 164 m3pi.printf("** %d **", i);
uld 26:e6d82a8ba556 165 wait(1.0);
uld 26:e6d82a8ba556 166 }
uld 23:7e9505da7f48 167
uld 26:e6d82a8ba556 168 }
uld 26:e6d82a8ba556 169
uld 53:cef682f8684b 170 int PS_BatteryTest(void){
uld 7:ac88c8e35048 171 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 172
uld 53:cef682f8684b 173 const float BATVOLTTRESHOLD = 0.5; // Treshold i volt
vehus 15:8b76add42254 174 int result = 0;
magnusmland 63:be66d3b84cef 175 led4 = 1;
magnusmland 63:be66d3b84cef 176 wait_ms (1);
magnusmland 63:be66d3b84cef 177 led4 = 0;
magnusmland 63:be66d3b84cef 178
magnusmland 63:be66d3b84cef 179
mikkelbredholt 13:ddff4bb7c24f 180 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 181 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 182 result = 1; // Set goto pit condition
vehus 15:8b76add42254 183 LED_Control(1, 1);
uld 7:ac88c8e35048 184 m3pi.cls();
uld 7:ac88c8e35048 185 m3pi.locate(0,0);
uld 69:d7125d5b5cc8 186 m3pi.printf("Going to");
uld 7:ac88c8e35048 187 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 188 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 189 }
uld 8:5640c8c5088e 190 return result;
mikkelbredholt 13:ddff4bb7c24f 191 }
mikkelbredholt 13:ddff4bb7c24f 192
mikkelbredholt 13:ddff4bb7c24f 193 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 194 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 195 if (ledNumber == 1) {
vehus 15:8b76add42254 196 led1 = state;
vehus 15:8b76add42254 197 }
uld 20:76f94dec91d1 198 if (ledNumber == 2){
vehus 15:8b76add42254 199 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 200 }
uld 20:76f94dec91d1 201 if (ledNumber == 3){
vehus 15:8b76add42254 202 led3 = state;
vehus 15:8b76add42254 203 }
uld 20:76f94dec91d1 204 if (ledNumber == 4){
vehus 15:8b76add42254 205 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 206 }
vehus 15:8b76add42254 207 }
vehus 15:8b76add42254 208
uld 28:2c93dff934b1 209 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 210 {
vehus 15:8b76add42254 211 int a = 2;
vehus 15:8b76add42254 212 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 213 wait(a);
vehus 15:8b76add42254 214 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 215 wait(a);
magnusmland 63:be66d3b84cef 216 LED_Control (ledNumber , 0);
magnusmland 63:be66d3b84cef 217 wait(a);
mikkelbredholt 13:ddff4bb7c24f 218 }
vehus 15:8b76add42254 219
uld 20:76f94dec91d1 220 void PS_PitStop(void)
vehus 15:8b76add42254 221 {
vehus 15:8b76add42254 222 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 223 // increase counter with one
vehus 15:8b76add42254 224 while (1)
vehus 15:8b76add42254 225 {
uld 28:2c93dff934b1 226 LED_Blink (1); // signal in pit
mikkelbredholt 13:ddff4bb7c24f 227 }
uld 20:76f94dec91d1 228 }
uld 20:76f94dec91d1 229
uld 20:76f94dec91d1 230 void PS_CreateLog(void){
uld 20:76f94dec91d1 231 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 232 FILE *fptr;
uld 68:bb2ee5b4f9dd 233
uld 68:bb2ee5b4f9dd 234 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 68:bb2ee5b4f9dd 235 fptr = fopen(PITLOGPATH,"w");
uld 68:bb2ee5b4f9dd 236 fprintf(fptr,"%d", 0);
uld 71:4747e63eb48c 237 fclose(fptr);
uld 68:bb2ee5b4f9dd 238 }
uld 68:bb2ee5b4f9dd 239
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);
uld 58:852b91920a44 306
uld 32:570b94fe2c19 307 }