Julesnaps / Mbed 2 deprecated Linefollowproject

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Dependencies:   m3pi mbed

main.cpp@3:88a6763a7e44, 2022-10-04 (annotated)

Committer:
mikkelbredholt
Date:
Tue Oct 04 11:47:47 2022 +0000
Revision:
3:88a6763a7e44
Parent:
0:f562e4f9c29f
Child:
4:803dc29393cc
sg

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
mikkelbredholt 3:88a6763a7e44 4 //Mikkel har været her
magnusmland 0:f562e4f9c29f 5 m3pi m3pi;
magnusmland 0:f562e4f9c29f 6
magnusmland 0:f562e4f9c29f 7 // Minimum and maximum motor speeds
magnusmland 0:f562e4f9c29f 8 #define MAX 1.0
magnusmland 0:f562e4f9c29f 9 #define MIN 0
magnusmland 0:f562e4f9c29f 10
magnusmland 0:f562e4f9c29f 11 // PID terms
magnusmland 0:f562e4f9c29f 12 #define P_TERM 1
magnusmland 0:f562e4f9c29f 13 #define I_TERM 0
magnusmland 0:f562e4f9c29f 14 #define D_TERM 20
magnusmland 0:f562e4f9c29f 15
magnusmland 0:f562e4f9c29f 16 int main() {
magnusmland 0:f562e4f9c29f 17 float a=m3pi.battery();
magnusmland 0:f562e4f9c29f 18 float b=m3pi.pot_voltage();
magnusmland 0:f562e4f9c29f 19 m3pi.locate(0,0);
magnusmland 0:f562e4f9c29f 20
magnusmland 0:f562e4f9c29f 21
magnusmland 0:f562e4f9c29f 22 m3pi.cls();
magnusmland 0:f562e4f9c29f 23 m3pi.printf("%f.3 ",a);
magnusmland 0:f562e4f9c29f 24 m3pi.locate(0,1);
magnusmland 0:f562e4f9c29f 25 m3pi.printf("%f.3 ",b);
magnusmland 0:f562e4f9c29f 26
magnusmland 0:f562e4f9c29f 27 wait(2.0);
magnusmland 0:f562e4f9c29f 28
magnusmland 0:f562e4f9c29f 29 m3pi.sensor_auto_calibrate();
magnusmland 0:f562e4f9c29f 30
magnusmland 0:f562e4f9c29f 31 float right;
magnusmland 0:f562e4f9c29f 32 float left;
magnusmland 0:f562e4f9c29f 33 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 34 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 35 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 36 float power;
magnusmland 0:f562e4f9c29f 37 float speed = MAX;
magnusmland 0:f562e4f9c29f 38
magnusmland 0:f562e4f9c29f 39 while (1) {
magnusmland 0:f562e4f9c29f 40
magnusmland 0:f562e4f9c29f 41 // Get the position of the line.
magnusmland 0:f562e4f9c29f 42 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 43 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 44
magnusmland 0:f562e4f9c29f 45 // Compute the derivative
magnusmland 0:f562e4f9c29f 46 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 47
magnusmland 0:f562e4f9c29f 48 // Compute the integral
magnusmland 0:f562e4f9c29f 49 integral += proportional;
magnusmland 0:f562e4f9c29f 50
magnusmland 0:f562e4f9c29f 51 // Remember the last position.
magnusmland 0:f562e4f9c29f 52 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 53
magnusmland 0:f562e4f9c29f 54 // Compute the power
magnusmland 0:f562e4f9c29f 55 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 56
magnusmland 0:f562e4f9c29f 57 // Compute new speeds
magnusmland 0:f562e4f9c29f 58 right = speed+power;
magnusmland 0:f562e4f9c29f 59 left = speed-power;
magnusmland 0:f562e4f9c29f 60
magnusmland 0:f562e4f9c29f 61 // limit checks
magnusmland 0:f562e4f9c29f 62 if (right < MIN)
magnusmland 0:f562e4f9c29f 63 right = MIN;
magnusmland 0:f562e4f9c29f 64 else if (right > MAX)
magnusmland 0:f562e4f9c29f 65 right = MAX;
magnusmland 0:f562e4f9c29f 66
magnusmland 0:f562e4f9c29f 67 if (left < MIN)
magnusmland 0:f562e4f9c29f 68 left = MIN;
magnusmland 0:f562e4f9c29f 69 else if (left > MAX)
magnusmland 0:f562e4f9c29f 70 left = MAX;
magnusmland 0:f562e4f9c29f 71
magnusmland 0:f562e4f9c29f 72 // set speed
magnusmland 0:f562e4f9c29f 73 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 74 m3pi.right_motor(right);
magnusmland 0:f562e4f9c29f 75
magnusmland 0:f562e4f9c29f 76 }
magnusmland 0:f562e4f9c29f 77 }