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Dependencies:   m3pi mbed

main.cpp@32:570b94fe2c19, 2022-10-11 (annotated)

Committer:
uld
Date:
Tue Oct 11 12:43:55 2022 +0000
Revision:
32:570b94fe2c19
Parent:
31:434a78739a59
Child:
33:f035445a4604
Snaps

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 20:76f94dec91d1 28
uld 7:ac88c8e35048 29 // Prototypes
uld 8:5640c8c5088e 30 int PitTest(void); // Test if to robot needs to goto pit
vehus 15:8b76add42254 31 void InitialMessages(void); // Prints initial message to the LCD
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 28:2c93dff934b1 34 void LCDCountDown(int num); //LCD Coundown function
uld 26:e6d82a8ba556 35
mikkelbredholt 13:ddff4bb7c24f 36
uld 20:76f94dec91d1 37 void PS_PitStop(void); //
uld 20:76f94dec91d1 38 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 39 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 40 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 41
uld 20:76f94dec91d1 42 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 43 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 44
magnusmland 0:f562e4f9c29f 45 int main() {
uld 22:5d3332fc4c5c 46 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 47
uld 5:dbd32cb3650a 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.
vehus 15:8b76add42254 60 int ccount = 0; //used to count cycles
uld 6:6865930c1135 61
uld 23:7e9505da7f48 62 /*Printing secret cat mission*/
uld 23:7e9505da7f48 63 InitialMessages();
uld 27:8561eeb0bd1d 64 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 65
uld 23:7e9505da7f48 66
uld 20:76f94dec91d1 67 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 68 PS_CreateLog();
uld 22:5d3332fc4c5c 69 TE_CreateVoltageLog();
uld 7:ac88c8e35048 70
magnusmland 0:f562e4f9c29f 71 while (1) {
uld 8:5640c8c5088e 72 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 31:434a78739a59 73 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 74 {
uld 21:c3e256b18b96 75 TE_LogVoltage(ccount);
vehus 15:8b76add42254 76 gotoPit = PitTest();
vehus 15:8b76add42254 77 }
vehus 15:8b76add42254 78 if (gotoPit == 1)
vehus 15:8b76add42254 79 {
uld 20:76f94dec91d1 80 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 81 PS_AddStopToLog();
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 8:5640c8c5088e 121 ccount++;
uld 7:ac88c8e35048 122 }
uld 20:76f94dec91d1 123 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 124
uld 7:ac88c8e35048 125 }
uld 7:ac88c8e35048 126
vehus 15:8b76add42254 127 void InitialMessages(void){
uld 9:7b9094864268 128 /*Prints iniatl secret mission*/
uld 9:7b9094864268 129
uld 23:7e9505da7f48 130
uld 23:7e9505da7f48 131
uld 9:7b9094864268 132 m3pi.cls();
uld 9:7b9094864268 133 m3pi.locate(0,0);
uld 27:8561eeb0bd1d 134 m3pi.printf("DESTROY");
uld 9:7b9094864268 135 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 136 m3pi.printf("**CATS**");
uld 20:76f94dec91d1 137 wait(5.0);
uld 9:7b9094864268 138
uld 9:7b9094864268 139 m3pi.cls();
uld 9:7b9094864268 140 m3pi.locate(0,0);
uld 20:76f94dec91d1 141 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 142 m3pi.locate(0,1);
uld 20:76f94dec91d1 143 m3pi.printf("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 144 wait(10.0);
uld 28:2c93dff934b1 145 m3pi.cls();
uld 27:8561eeb0bd1d 146 m3pi.locate(0,0);
uld 28:2c93dff934b1 147 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 148 m3pi.locate(0,1);
uld 28:2c93dff934b1 149 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 150 wait(4.0);
uld 26:e6d82a8ba556 151 LCDCountDown(3);
uld 24:6427b144b17c 152 m3pi.cls();
uld 26:e6d82a8ba556 153 m3pi.locate(0,0);
uld 26:e6d82a8ba556 154 m3pi.printf("** GO **");
uld 26:e6d82a8ba556 155 }
uld 23:7e9505da7f48 156
uld 26:e6d82a8ba556 157 void LCDCountDown(int num){
uld 26:e6d82a8ba556 158 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 159 {
uld 26:e6d82a8ba556 160 m3pi.cls();
uld 26:e6d82a8ba556 161 m3pi.locate(0,0);
uld 26:e6d82a8ba556 162 m3pi.printf("** %d **", i );
uld 26:e6d82a8ba556 163 wait(1.0);
uld 26:e6d82a8ba556 164 }
uld 23:7e9505da7f48 165
uld 26:e6d82a8ba556 166 }
uld 26:e6d82a8ba556 167
uld 8:5640c8c5088e 168 int PitTest(void){
uld 7:ac88c8e35048 169 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 170
uld 30:ccf5fa970bd2 171 const float BATVOLTTRESHOLD = 0.05; // Treshold i volt
vehus 15:8b76add42254 172 int result = 0;
uld 7:ac88c8e35048 173
mikkelbredholt 13:ddff4bb7c24f 174 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 175 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 176 result = 1; // Set goto pit condition
vehus 15:8b76add42254 177 LED_Control(1, 1);
uld 7:ac88c8e35048 178 m3pi.cls();
uld 7:ac88c8e35048 179 m3pi.locate(0,0);
uld 7:ac88c8e35048 180 m3pi.printf("Going to");
uld 7:ac88c8e35048 181 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 182 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 183 }
uld 8:5640c8c5088e 184 return result;
mikkelbredholt 13:ddff4bb7c24f 185 }
mikkelbredholt 13:ddff4bb7c24f 186
mikkelbredholt 13:ddff4bb7c24f 187 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 188 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 189 if (ledNumber == 1) {
vehus 15:8b76add42254 190 led1 = state;
vehus 15:8b76add42254 191 }
uld 20:76f94dec91d1 192 if (ledNumber == 2){
vehus 15:8b76add42254 193 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 194 }
uld 20:76f94dec91d1 195 if (ledNumber == 3){
vehus 15:8b76add42254 196 led3 = state;
vehus 15:8b76add42254 197 }
uld 20:76f94dec91d1 198 if (ledNumber == 4){
vehus 15:8b76add42254 199 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 200 }
vehus 15:8b76add42254 201 }
vehus 15:8b76add42254 202
uld 28:2c93dff934b1 203 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 204 {
vehus 15:8b76add42254 205 int a = 2;
vehus 15:8b76add42254 206 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 207 wait(a);
vehus 15:8b76add42254 208 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 209 wait(a);
mikkelbredholt 13:ddff4bb7c24f 210 }
vehus 15:8b76add42254 211
uld 20:76f94dec91d1 212 void PS_PitStop(void)
vehus 15:8b76add42254 213 {
vehus 15:8b76add42254 214 /* Testing alternative stop function
vehus 15:8b76add42254 215 m3pi.left_motor(0);
vehus 15:8b76add42254 216 m3pi.right_motor(0);
vehus 15:8b76add42254 217 */
vehus 15:8b76add42254 218 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 219
vehus 15:8b76add42254 220 // increase counter with one
vehus 15:8b76add42254 221 while (1)
vehus 15:8b76add42254 222 {
uld 28:2c93dff934b1 223 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 224
vehus 15:8b76add42254 225 /* missing input to stop blink. */
vehus 15:8b76add42254 226
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 20:76f94dec91d1 233 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 234
uld 20:76f94dec91d1 235 if(fptr == NULL)
uld 20:76f94dec91d1 236 {
uld 20:76f94dec91d1 237 printf("Error creating log file ");
uld 20:76f94dec91d1 238 exit(1);
uld 20:76f94dec91d1 239 }
uld 20:76f94dec91d1 240 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 241 fclose(fptr);
uld 20:76f94dec91d1 242 }
uld 20:76f94dec91d1 243
uld 20:76f94dec91d1 244 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 245 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 246 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 247
uld 20:76f94dec91d1 248 FILE *fptr;
uld 20:76f94dec91d1 249 int x, y;
uld 20:76f94dec91d1 250 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 251 printf("Error! opening file");
uld 20:76f94dec91d1 252 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 253 exit(1);
uld 20:76f94dec91d1 254 }
uld 20:76f94dec91d1 255
uld 20:76f94dec91d1 256 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 257 fclose(fptr);
uld 20:76f94dec91d1 258
uld 20:76f94dec91d1 259 y = x+1;
uld 20:76f94dec91d1 260 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 261
uld 20:76f94dec91d1 262 if(fptr == NULL)
uld 20:76f94dec91d1 263 {
uld 20:76f94dec91d1 264 printf("Error creating log file ");
uld 20:76f94dec91d1 265 exit(1);
uld 20:76f94dec91d1 266 }
uld 20:76f94dec91d1 267 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 268 fclose(fptr);
uld 20:76f94dec91d1 269 }
uld 20:76f94dec91d1 270
uld 20:76f94dec91d1 271 /*
uld 20:76f94dec91d1 272 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 273 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 274 FILE *fptr;
uld 20:76f94dec91d1 275 int x;
uld 20:76f94dec91d1 276 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 277 printf("Error! opening file");
uld 20:76f94dec91d1 278 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 279 exit(1);
uld 20:76f94dec91d1 280 }
uld 20:76f94dec91d1 281 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 282 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 283 fclose(fptr);
uld 20:76f94dec91d1 284 }
uld 20:76f94dec91d1 285 */
uld 20:76f94dec91d1 286
uld 20:76f94dec91d1 287 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 288 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 289 FILE *fptr;
uld 20:76f94dec91d1 290 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 291
uld 20:76f94dec91d1 292 if(fptr == NULL)
uld 20:76f94dec91d1 293 {
uld 20:76f94dec91d1 294 printf("Error creating log file ");
uld 20:76f94dec91d1 295 exit(1);
uld 20:76f94dec91d1 296 }
uld 20:76f94dec91d1 297
uld 20:76f94dec91d1 298 fclose(fptr);
uld 20:76f94dec91d1 299 }
uld 20:76f94dec91d1 300
uld 21:c3e256b18b96 301 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 302 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 303 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 304 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 305
uld 26:e6d82a8ba556 306 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 307 fclose(fptr);
uld 32:570b94fe2c19 308 }
uld 32:570b94fe2c19 309
uld 32:570b94fe2c19 310 // Julesnaps smager godt og Andreas skal drikke hvergang en anden drikker