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Dependencies:   m3pi mbed

main.cpp@46:62e8b4c1bea0, 2022-10-12 (annotated)

Committer:
uld
Date:
Wed Oct 12 07:46:44 2022 +0000
Revision:
46:62e8b4c1bea0
Parent:
44:6d370466a582
Child:
48:dc6ac1715e31
minorefixes

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
mikkelbredholt 33:f035445a4604 6 //test11
mikkelbredholt 35:be40a5d57023 7 //test12
mikkelbredholt 36:17854202990b 8 //test13
mikkelbredholt 33:f035445a4604 9
uld 32:570b94fe2c19 10 // DigitalOuts
vehus 15:8b76add42254 11 DigitalOut led1(LED1);
vehus 15:8b76add42254 12 DigitalOut led2(LED2);
vehus 15:8b76add42254 13 DigitalOut led3(LED3);
vehus 15:8b76add42254 14 DigitalOut led4(LED4);
magnusmland 0:f562e4f9c29f 15
magnusmland 0:f562e4f9c29f 16 // Minimum and maximum motor speeds
uld 30:ccf5fa970bd2 17 #define MAX 0.80
magnusmland 0:f562e4f9c29f 18 #define MIN 0
magnusmland 0:f562e4f9c29f 19
magnusmland 0:f562e4f9c29f 20 // PID terms
magnusmland 0:f562e4f9c29f 21 #define P_TERM 1
magnusmland 0:f562e4f9c29f 22 #define I_TERM 0
magnusmland 0:f562e4f9c29f 23 #define D_TERM 20
magnusmland 0:f562e4f9c29f 24
uld 31:434a78739a59 25 // Ccount before test
uld 31:434a78739a59 26 #define CYCLEBEFORETEST 1500
uld 20:76f94dec91d1 27
uld 20:76f94dec91d1 28 // Textfile paths
uld 23:7e9505da7f48 29 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 30 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 31
uld 7:ac88c8e35048 32 // Prototypes
uld 8:5640c8c5088e 33 int PitTest(void); // Test if to robot needs to goto pit
vehus 15:8b76add42254 34 void InitialMessages(void); // Prints initial message to the LCD
uld 28:2c93dff934b1 35 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 36 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 28:2c93dff934b1 37 void LCDCountDown(int num); //LCD Coundown function
uld 26:e6d82a8ba556 38
mikkelbredholt 13:ddff4bb7c24f 39
uld 20:76f94dec91d1 40 void PS_PitStop(void); //
uld 20:76f94dec91d1 41 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 42 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 43 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 44
uld 20:76f94dec91d1 45 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 46 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 47
magnusmland 0:f562e4f9c29f 48 int main() {
uld 22:5d3332fc4c5c 49 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 50
uld 5:dbd32cb3650a 51
uld 6:6865930c1135 52 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 53 float right;
magnusmland 0:f562e4f9c29f 54 float left;
magnusmland 0:f562e4f9c29f 55 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 56 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 57 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 58 float power;
magnusmland 0:f562e4f9c29f 59 float speed = MAX;
uld 6:6865930c1135 60
uld 6:6865930c1135 61 /*Team 7 Variabels*/
uld 7:ac88c8e35048 62 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 15:8b76add42254 63 int ccount = 0; //used to count cycles
uld 6:6865930c1135 64
uld 23:7e9505da7f48 65 /*Printing secret cat mission*/
uld 23:7e9505da7f48 66 InitialMessages();
uld 27:8561eeb0bd1d 67 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 68
uld 23:7e9505da7f48 69
uld 20:76f94dec91d1 70 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 71 PS_CreateLog();
uld 22:5d3332fc4c5c 72 TE_CreateVoltageLog();
uld 7:ac88c8e35048 73
magnusmland 0:f562e4f9c29f 74 while (1) {
uld 8:5640c8c5088e 75 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 31:434a78739a59 76 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 77 {
uld 21:c3e256b18b96 78 TE_LogVoltage(ccount);
vehus 15:8b76add42254 79 gotoPit = PitTest();
vehus 15:8b76add42254 80 }
vehus 15:8b76add42254 81 if (gotoPit == 1)
vehus 15:8b76add42254 82 {
uld 20:76f94dec91d1 83 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 84 PS_AddStopToLog();
uld 20:76f94dec91d1 85 /*Run the pitstop function*/
uld 28:2c93dff934b1 86 PS_PitStop();
vehus 15:8b76add42254 87 }
vehus 15:8b76add42254 88
magnusmland 0:f562e4f9c29f 89 // Get the position of the line.
magnusmland 0:f562e4f9c29f 90 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 91 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 92
magnusmland 0:f562e4f9c29f 93 // Compute the derivative
magnusmland 0:f562e4f9c29f 94 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 95
magnusmland 0:f562e4f9c29f 96 // Compute the integral
magnusmland 0:f562e4f9c29f 97 integral += proportional;
magnusmland 0:f562e4f9c29f 98
magnusmland 0:f562e4f9c29f 99 // Remember the last position.
magnusmland 0:f562e4f9c29f 100 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 101
magnusmland 0:f562e4f9c29f 102 // Compute the power
magnusmland 0:f562e4f9c29f 103 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 104
magnusmland 0:f562e4f9c29f 105 // Compute new speeds
magnusmland 0:f562e4f9c29f 106 right = speed+power;
magnusmland 0:f562e4f9c29f 107 left = speed-power;
magnusmland 0:f562e4f9c29f 108
magnusmland 0:f562e4f9c29f 109 // limit checks
magnusmland 0:f562e4f9c29f 110 if (right < MIN)
magnusmland 0:f562e4f9c29f 111 right = MIN;
magnusmland 0:f562e4f9c29f 112 else if (right > MAX)
magnusmland 0:f562e4f9c29f 113 right = MAX;
magnusmland 0:f562e4f9c29f 114
magnusmland 0:f562e4f9c29f 115 if (left < MIN)
magnusmland 0:f562e4f9c29f 116 left = MIN;
magnusmland 0:f562e4f9c29f 117 else if (left > MAX)
magnusmland 0:f562e4f9c29f 118 left = MAX;
magnusmland 0:f562e4f9c29f 119
magnusmland 0:f562e4f9c29f 120 // set speed
magnusmland 0:f562e4f9c29f 121 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 122 m3pi.right_motor(right);
uld 6:6865930c1135 123
uld 8:5640c8c5088e 124 ccount++;
uld 7:ac88c8e35048 125 }
uld 20:76f94dec91d1 126 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 127
uld 7:ac88c8e35048 128 }
uld 7:ac88c8e35048 129
vehus 15:8b76add42254 130 void InitialMessages(void){
uld 9:7b9094864268 131 /*Prints iniatl secret mission*/
uld 46:62e8b4c1bea0 132
uld 9:7b9094864268 133 m3pi.cls();
uld 9:7b9094864268 134 m3pi.locate(0,0);
uld 27:8561eeb0bd1d 135 m3pi.printf("DESTROY");
uld 9:7b9094864268 136 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 137 m3pi.printf("**CATS**");
uld 20:76f94dec91d1 138 wait(5.0);
uld 9:7b9094864268 139
uld 9:7b9094864268 140 m3pi.cls();
uld 9:7b9094864268 141 m3pi.locate(0,0);
uld 20:76f94dec91d1 142 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 143 m3pi.locate(0,1);
uld 20:76f94dec91d1 144 m3pi.printf("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 145 wait(10.0);
uld 28:2c93dff934b1 146 m3pi.cls();
uld 27:8561eeb0bd1d 147 m3pi.locate(0,0);
uld 28:2c93dff934b1 148 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 149 m3pi.locate(0,1);
uld 28:2c93dff934b1 150 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 151 wait(4.0);
uld 26:e6d82a8ba556 152 LCDCountDown(3);
uld 24:6427b144b17c 153 m3pi.cls();
uld 26:e6d82a8ba556 154 m3pi.locate(0,0);
uld 26:e6d82a8ba556 155 m3pi.printf("** GO **");
uld 26:e6d82a8ba556 156 }
uld 23:7e9505da7f48 157
uld 26:e6d82a8ba556 158 void LCDCountDown(int num){
uld 26:e6d82a8ba556 159 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 160 {
uld 26:e6d82a8ba556 161 m3pi.cls();
uld 26:e6d82a8ba556 162 m3pi.locate(0,0);
uld 26:e6d82a8ba556 163 m3pi.printf("** %d **", i );
uld 26:e6d82a8ba556 164 wait(1.0);
uld 26:e6d82a8ba556 165 }
uld 23:7e9505da7f48 166
uld 26:e6d82a8ba556 167 }
uld 26:e6d82a8ba556 168
uld 8:5640c8c5088e 169 int PitTest(void){
uld 7:ac88c8e35048 170 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 171
uld 30:ccf5fa970bd2 172 const float BATVOLTTRESHOLD = 0.05; // Treshold i volt
vehus 15:8b76add42254 173 int result = 0;
uld 7:ac88c8e35048 174
mikkelbredholt 13:ddff4bb7c24f 175 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 176 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 177 result = 1; // Set goto pit condition
vehus 15:8b76add42254 178 LED_Control(1, 1);
uld 7:ac88c8e35048 179 m3pi.cls();
uld 7:ac88c8e35048 180 m3pi.locate(0,0);
uld 7:ac88c8e35048 181 m3pi.printf("Going to");
uld 7:ac88c8e35048 182 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 183 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 184 }
uld 8:5640c8c5088e 185 return result;
mikkelbredholt 13:ddff4bb7c24f 186 }
mikkelbredholt 13:ddff4bb7c24f 187
mikkelbredholt 13:ddff4bb7c24f 188 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 189 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 190 if (ledNumber == 1) {
vehus 15:8b76add42254 191 led1 = state;
vehus 15:8b76add42254 192 }
uld 20:76f94dec91d1 193 if (ledNumber == 2){
vehus 15:8b76add42254 194 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 195 }
uld 20:76f94dec91d1 196 if (ledNumber == 3){
vehus 15:8b76add42254 197 led3 = state;
vehus 15:8b76add42254 198 }
uld 20:76f94dec91d1 199 if (ledNumber == 4){
vehus 15:8b76add42254 200 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 201 }
vehus 15:8b76add42254 202 }
vehus 15:8b76add42254 203
uld 28:2c93dff934b1 204 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 205 {
vehus 15:8b76add42254 206 int a = 2;
vehus 15:8b76add42254 207 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 208 wait(a);
vehus 15:8b76add42254 209 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 210 wait(a);
mikkelbredholt 13:ddff4bb7c24f 211 }
vehus 15:8b76add42254 212
uld 20:76f94dec91d1 213 void PS_PitStop(void)
vehus 15:8b76add42254 214 {
vehus 15:8b76add42254 215 /* Testing alternative stop function
vehus 15:8b76add42254 216 m3pi.left_motor(0);
vehus 15:8b76add42254 217 m3pi.right_motor(0);
vehus 15:8b76add42254 218 */
vehus 15:8b76add42254 219 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 220
vehus 15:8b76add42254 221 // increase counter with one
vehus 15:8b76add42254 222 while (1)
vehus 15:8b76add42254 223 {
uld 28:2c93dff934b1 224 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 225
vehus 15:8b76add42254 226 /* missing input to stop blink. */
vehus 15:8b76add42254 227
mikkelbredholt 13:ddff4bb7c24f 228 }
uld 20:76f94dec91d1 229 }
uld 20:76f94dec91d1 230
uld 20:76f94dec91d1 231 void PS_CreateLog(void){
uld 20:76f94dec91d1 232 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 233 FILE *fptr;
uld 20:76f94dec91d1 234 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 235
uld 20:76f94dec91d1 236 if(fptr == NULL)
uld 20:76f94dec91d1 237 {
uld 20:76f94dec91d1 238 printf("Error creating log file ");
uld 20:76f94dec91d1 239 exit(1);
uld 20:76f94dec91d1 240 }
uld 20:76f94dec91d1 241 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 242 fclose(fptr);
uld 20:76f94dec91d1 243 }
uld 20:76f94dec91d1 244
uld 20:76f94dec91d1 245 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 246 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 247 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 248
uld 20:76f94dec91d1 249 FILE *fptr;
uld 20:76f94dec91d1 250 int x, y;
uld 20:76f94dec91d1 251 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 252 printf("Error! opening file");
uld 20:76f94dec91d1 253 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 254 exit(1);
uld 20:76f94dec91d1 255 }
uld 20:76f94dec91d1 256
uld 20:76f94dec91d1 257 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 258 fclose(fptr);
uld 20:76f94dec91d1 259
uld 20:76f94dec91d1 260 y = x+1;
uld 20:76f94dec91d1 261 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 262
uld 20:76f94dec91d1 263 if(fptr == NULL)
uld 20:76f94dec91d1 264 {
uld 20:76f94dec91d1 265 printf("Error creating log file ");
uld 20:76f94dec91d1 266 exit(1);
uld 20:76f94dec91d1 267 }
uld 20:76f94dec91d1 268 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 269 fclose(fptr);
uld 20:76f94dec91d1 270 }
uld 20:76f94dec91d1 271
uld 20:76f94dec91d1 272 /*
uld 20:76f94dec91d1 273 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 274 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 275 FILE *fptr;
uld 20:76f94dec91d1 276 int x;
uld 20:76f94dec91d1 277 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 278 printf("Error! opening file");
uld 20:76f94dec91d1 279 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 280 exit(1);
uld 20:76f94dec91d1 281 }
uld 20:76f94dec91d1 282 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 283 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 284 fclose(fptr);
uld 20:76f94dec91d1 285 }
uld 20:76f94dec91d1 286 */
uld 20:76f94dec91d1 287
uld 20:76f94dec91d1 288 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 289 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 290 FILE *fptr;
uld 20:76f94dec91d1 291 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 292
uld 20:76f94dec91d1 293 if(fptr == NULL)
uld 20:76f94dec91d1 294 {
uld 20:76f94dec91d1 295 printf("Error creating log file ");
uld 20:76f94dec91d1 296 exit(1);
uld 20:76f94dec91d1 297 }
uld 20:76f94dec91d1 298
uld 20:76f94dec91d1 299 fclose(fptr);
uld 20:76f94dec91d1 300 }
uld 20:76f94dec91d1 301
uld 21:c3e256b18b96 302 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 303 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 304 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 305 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 306
uld 26:e6d82a8ba556 307 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 308 fclose(fptr);
uld 32:570b94fe2c19 309 }
uld 32:570b94fe2c19 310
vehus 37:f73c49c23183 311 // Julesnaps smager godt og Andreas skal drikke hvergang en anden drikker
vehus 37:f73c49c23183 312
vehus 38:fff744f551e3 313 // Det bliver hårdt :)
mikkelbredholt 40:b7d615920395 314 // Ingen sang - tak.
mikkelbredholt 42:4f200484f1f9 315
mikkelbredholt 42:4f200484f1f9 316
mikkelbredholt 42:4f200484f1f9 317
mikkelbredholt 42:4f200484f1f9 318
mikkelbredholt 42:4f200484f1f9 319 gnjask lfdajklf hasj klhdfjkl asdf
mikkelbredholt 42:4f200484f1f9 320 asd fasdf sda
mikkelbredholt 44:6d370466a582 321 a sdfa sdf daf da