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Dependencies:   m3pi mbed

main.cpp@30:ccf5fa970bd2, 2022-10-11 (annotated)

Committer:
uld
Date:
Tue Oct 11 12:38:39 2022 +0000
Revision:
30:ccf5fa970bd2
Parent:
29:b1a18d0493c9
Child:
31:434a78739a59
MAD testrun

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 20:76f94dec91d1 19
uld 20:76f94dec91d1 20 // Textfile paths
uld 23:7e9505da7f48 21 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 22 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 23
uld 20:76f94dec91d1 24
uld 7:ac88c8e35048 25 // Prototypes
uld 8:5640c8c5088e 26 int PitTest(void); // Test if to robot needs to goto pit
vehus 15:8b76add42254 27 void InitialMessages(void); // Prints initial message to the LCD
uld 28:2c93dff934b1 28 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 29 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 28:2c93dff934b1 30 void LCDCountDown(int num); //LCD Coundown function
uld 26:e6d82a8ba556 31
mikkelbredholt 13:ddff4bb7c24f 32
uld 20:76f94dec91d1 33 void PS_PitStop(void); //
uld 20:76f94dec91d1 34 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 35 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 36 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 37
uld 20:76f94dec91d1 38 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 39 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 40
magnusmland 0:f562e4f9c29f 41 int main() {
uld 22:5d3332fc4c5c 42 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 43
uld 5:dbd32cb3650a 44
uld 6:6865930c1135 45 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 46 float right;
magnusmland 0:f562e4f9c29f 47 float left;
magnusmland 0:f562e4f9c29f 48 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 49 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 50 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 51 float power;
magnusmland 0:f562e4f9c29f 52 float speed = MAX;
uld 6:6865930c1135 53
uld 6:6865930c1135 54 /*Team 7 Variabels*/
uld 7:ac88c8e35048 55 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 15:8b76add42254 56 int ccount = 0; //used to count cycles
uld 6:6865930c1135 57
uld 23:7e9505da7f48 58 /*Printing secret cat mission*/
uld 23:7e9505da7f48 59 InitialMessages();
uld 27:8561eeb0bd1d 60 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 61
uld 23:7e9505da7f48 62
uld 20:76f94dec91d1 63 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 64 PS_CreateLog();
uld 22:5d3332fc4c5c 65 TE_CreateVoltageLog();
uld 7:ac88c8e35048 66
magnusmland 0:f562e4f9c29f 67 while (1) {
uld 8:5640c8c5088e 68 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 29:b1a18d0493c9 69 if (ccount % 1500 == 0 && gotoPit == 0)
vehus 15:8b76add42254 70 {
uld 21:c3e256b18b96 71 TE_LogVoltage(ccount);
vehus 15:8b76add42254 72 gotoPit = PitTest();
vehus 15:8b76add42254 73 }
vehus 15:8b76add42254 74 if (gotoPit == 1)
vehus 15:8b76add42254 75 {
uld 20:76f94dec91d1 76 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 77 PS_AddStopToLog();
uld 20:76f94dec91d1 78 /*Run the pitstop function*/
uld 28:2c93dff934b1 79 PS_PitStop();
vehus 15:8b76add42254 80 }
vehus 15:8b76add42254 81
magnusmland 0:f562e4f9c29f 82 // Get the position of the line.
magnusmland 0:f562e4f9c29f 83 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 84 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 85
magnusmland 0:f562e4f9c29f 86 // Compute the derivative
magnusmland 0:f562e4f9c29f 87 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 88
magnusmland 0:f562e4f9c29f 89 // Compute the integral
magnusmland 0:f562e4f9c29f 90 integral += proportional;
magnusmland 0:f562e4f9c29f 91
magnusmland 0:f562e4f9c29f 92 // Remember the last position.
magnusmland 0:f562e4f9c29f 93 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 94
magnusmland 0:f562e4f9c29f 95 // Compute the power
magnusmland 0:f562e4f9c29f 96 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 97
magnusmland 0:f562e4f9c29f 98 // Compute new speeds
magnusmland 0:f562e4f9c29f 99 right = speed+power;
magnusmland 0:f562e4f9c29f 100 left = speed-power;
magnusmland 0:f562e4f9c29f 101
magnusmland 0:f562e4f9c29f 102 // limit checks
magnusmland 0:f562e4f9c29f 103 if (right < MIN)
magnusmland 0:f562e4f9c29f 104 right = MIN;
magnusmland 0:f562e4f9c29f 105 else if (right > MAX)
magnusmland 0:f562e4f9c29f 106 right = MAX;
magnusmland 0:f562e4f9c29f 107
magnusmland 0:f562e4f9c29f 108 if (left < MIN)
magnusmland 0:f562e4f9c29f 109 left = MIN;
magnusmland 0:f562e4f9c29f 110 else if (left > MAX)
magnusmland 0:f562e4f9c29f 111 left = MAX;
magnusmland 0:f562e4f9c29f 112
magnusmland 0:f562e4f9c29f 113 // set speed
magnusmland 0:f562e4f9c29f 114 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 115 m3pi.right_motor(right);
uld 6:6865930c1135 116
uld 8:5640c8c5088e 117 ccount++;
uld 7:ac88c8e35048 118 }
uld 20:76f94dec91d1 119 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 120
uld 7:ac88c8e35048 121 }
uld 7:ac88c8e35048 122
vehus 15:8b76add42254 123 void InitialMessages(void){
uld 9:7b9094864268 124 /*Prints iniatl secret mission*/
uld 9:7b9094864268 125
uld 23:7e9505da7f48 126
uld 23:7e9505da7f48 127
uld 9:7b9094864268 128 m3pi.cls();
uld 9:7b9094864268 129 m3pi.locate(0,0);
uld 27:8561eeb0bd1d 130 m3pi.printf("DESTROY");
uld 9:7b9094864268 131 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 132 m3pi.printf("**CATS**");
uld 20:76f94dec91d1 133 wait(5.0);
uld 9:7b9094864268 134
uld 9:7b9094864268 135 m3pi.cls();
uld 9:7b9094864268 136 m3pi.locate(0,0);
uld 20:76f94dec91d1 137 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 138 m3pi.locate(0,1);
uld 20:76f94dec91d1 139 m3pi.printf("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 140 wait(10.0);
uld 28:2c93dff934b1 141 m3pi.cls();
uld 27:8561eeb0bd1d 142 m3pi.locate(0,0);
uld 28:2c93dff934b1 143 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 144 m3pi.locate(0,1);
uld 28:2c93dff934b1 145 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 146 wait(4.0);
uld 26:e6d82a8ba556 147 LCDCountDown(3);
uld 24:6427b144b17c 148 m3pi.cls();
uld 26:e6d82a8ba556 149 m3pi.locate(0,0);
uld 26:e6d82a8ba556 150 m3pi.printf("** GO **");
uld 26:e6d82a8ba556 151 }
uld 23:7e9505da7f48 152
uld 26:e6d82a8ba556 153 void LCDCountDown(int num){
uld 26:e6d82a8ba556 154 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 155 {
uld 26:e6d82a8ba556 156 m3pi.cls();
uld 26:e6d82a8ba556 157 m3pi.locate(0,0);
uld 26:e6d82a8ba556 158 m3pi.printf("** %d **", i );
uld 26:e6d82a8ba556 159 wait(1.0);
uld 26:e6d82a8ba556 160 }
uld 23:7e9505da7f48 161
uld 26:e6d82a8ba556 162 }
uld 26:e6d82a8ba556 163
uld 8:5640c8c5088e 164 int PitTest(void){
uld 7:ac88c8e35048 165 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 166
uld 30:ccf5fa970bd2 167 const float BATVOLTTRESHOLD = 0.05; // Treshold i volt
vehus 15:8b76add42254 168 int result = 0;
uld 7:ac88c8e35048 169
mikkelbredholt 13:ddff4bb7c24f 170 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 171 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 172 result = 1; // Set goto pit condition
vehus 15:8b76add42254 173 LED_Control(1, 1);
uld 7:ac88c8e35048 174 m3pi.cls();
uld 7:ac88c8e35048 175 m3pi.locate(0,0);
uld 7:ac88c8e35048 176 m3pi.printf("Going to");
uld 7:ac88c8e35048 177 m3pi.locate(0,1);
uld 27:8561eeb0bd1d 178 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 179 }
uld 8:5640c8c5088e 180 return result;
mikkelbredholt 13:ddff4bb7c24f 181 }
mikkelbredholt 13:ddff4bb7c24f 182
mikkelbredholt 13:ddff4bb7c24f 183 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 184 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 185 if (ledNumber == 1) {
vehus 15:8b76add42254 186 led1 = state;
vehus 15:8b76add42254 187 }
uld 20:76f94dec91d1 188 if (ledNumber == 2){
vehus 15:8b76add42254 189 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 190 }
uld 20:76f94dec91d1 191 if (ledNumber == 3){
vehus 15:8b76add42254 192 led3 = state;
vehus 15:8b76add42254 193 }
uld 20:76f94dec91d1 194 if (ledNumber == 4){
vehus 15:8b76add42254 195 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 196 }
vehus 15:8b76add42254 197 }
vehus 15:8b76add42254 198
uld 28:2c93dff934b1 199 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 200 {
vehus 15:8b76add42254 201 int a = 2;
vehus 15:8b76add42254 202 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 203 wait(a);
vehus 15:8b76add42254 204 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 205 wait(a);
mikkelbredholt 13:ddff4bb7c24f 206 }
vehus 15:8b76add42254 207
uld 20:76f94dec91d1 208 void PS_PitStop(void)
vehus 15:8b76add42254 209 {
vehus 15:8b76add42254 210 /* Testing alternative stop function
vehus 15:8b76add42254 211 m3pi.left_motor(0);
vehus 15:8b76add42254 212 m3pi.right_motor(0);
vehus 15:8b76add42254 213 */
vehus 15:8b76add42254 214 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 215
vehus 15:8b76add42254 216 // increase counter with one
vehus 15:8b76add42254 217 while (1)
vehus 15:8b76add42254 218 {
uld 28:2c93dff934b1 219 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 220
vehus 15:8b76add42254 221 /* missing input to stop blink. */
vehus 15:8b76add42254 222
mikkelbredholt 13:ddff4bb7c24f 223 }
uld 20:76f94dec91d1 224 }
uld 20:76f94dec91d1 225
uld 20:76f94dec91d1 226 void PS_CreateLog(void){
uld 20:76f94dec91d1 227 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 228 FILE *fptr;
uld 20:76f94dec91d1 229 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 230
uld 20:76f94dec91d1 231 if(fptr == NULL)
uld 20:76f94dec91d1 232 {
uld 20:76f94dec91d1 233 printf("Error creating log file ");
uld 20:76f94dec91d1 234 exit(1);
uld 20:76f94dec91d1 235 }
uld 20:76f94dec91d1 236 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 237 fclose(fptr);
uld 20:76f94dec91d1 238 }
uld 20:76f94dec91d1 239
uld 20:76f94dec91d1 240 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 241 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 242 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 243
uld 20:76f94dec91d1 244 FILE *fptr;
uld 20:76f94dec91d1 245 int x, y;
uld 20:76f94dec91d1 246 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 247 printf("Error! opening file");
uld 20:76f94dec91d1 248 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 249 exit(1);
uld 20:76f94dec91d1 250 }
uld 20:76f94dec91d1 251
uld 20:76f94dec91d1 252 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 253 fclose(fptr);
uld 20:76f94dec91d1 254
uld 20:76f94dec91d1 255 y = x+1;
uld 20:76f94dec91d1 256 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 257
uld 20:76f94dec91d1 258 if(fptr == NULL)
uld 20:76f94dec91d1 259 {
uld 20:76f94dec91d1 260 printf("Error creating log file ");
uld 20:76f94dec91d1 261 exit(1);
uld 20:76f94dec91d1 262 }
uld 20:76f94dec91d1 263 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 264 fclose(fptr);
uld 20:76f94dec91d1 265 }
uld 20:76f94dec91d1 266
uld 20:76f94dec91d1 267 /*
uld 20:76f94dec91d1 268 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 269 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 270 FILE *fptr;
uld 20:76f94dec91d1 271 int x;
uld 20:76f94dec91d1 272 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 273 printf("Error! opening file");
uld 20:76f94dec91d1 274 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 275 exit(1);
uld 20:76f94dec91d1 276 }
uld 20:76f94dec91d1 277 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 278 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 279 fclose(fptr);
uld 20:76f94dec91d1 280 }
uld 20:76f94dec91d1 281 */
uld 20:76f94dec91d1 282
uld 20:76f94dec91d1 283 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 284 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 285 FILE *fptr;
uld 20:76f94dec91d1 286 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 287
uld 20:76f94dec91d1 288 if(fptr == NULL)
uld 20:76f94dec91d1 289 {
uld 20:76f94dec91d1 290 printf("Error creating log file ");
uld 20:76f94dec91d1 291 exit(1);
uld 20:76f94dec91d1 292 }
uld 20:76f94dec91d1 293
uld 20:76f94dec91d1 294 fclose(fptr);
uld 20:76f94dec91d1 295 }
uld 20:76f94dec91d1 296
uld 21:c3e256b18b96 297 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 298 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 299 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 300 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 301
uld 26:e6d82a8ba556 302 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 303 fclose(fptr);
magnusmland 0:f562e4f9c29f 304 }