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Dependencies:   m3pi mbed

main.cpp@25:d17a7d3ed6f6, 2022-10-11 (annotated)

Committer:
uld
Date:
Tue Oct 11 11:50:23 2022 +0000
Revision:
25:d17a7d3ed6f6
Parent:
24:6427b144b17c
Child:
26:e6d82a8ba556
Minor Fixes

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
magnusmland 0:f562e4f9c29f 11 #define MAX 1.0
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
vehus 15:8b76add42254 28 void LED_Control(int ledNumber, int state); //turn ledNumber to 1=on, 0 = off
vehus 15:8b76add42254 29 void Blink(int ledNumber); // make ledNumber blinik
mikkelbredholt 13:ddff4bb7c24f 30
uld 20:76f94dec91d1 31 void PS_PitStop(void); //
uld 20:76f94dec91d1 32 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 33 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 34 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 35
uld 20:76f94dec91d1 36 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 37 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 38
magnusmland 0:f562e4f9c29f 39 int main() {
uld 22:5d3332fc4c5c 40 LocalFileSystem local("local");
magnusmland 0:f562e4f9c29f 41 m3pi.sensor_auto_calibrate();
uld 5:dbd32cb3650a 42
uld 6:6865930c1135 43 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 44 float right;
magnusmland 0:f562e4f9c29f 45 float left;
magnusmland 0:f562e4f9c29f 46 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 47 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 48 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 49 float power;
magnusmland 0:f562e4f9c29f 50 float speed = MAX;
uld 6:6865930c1135 51
uld 6:6865930c1135 52 /*Team 7 Variabels*/
uld 7:ac88c8e35048 53 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 15:8b76add42254 54 int ccount = 0; //used to count cycles
uld 6:6865930c1135 55
uld 23:7e9505da7f48 56 /*Printing secret cat mission*/
uld 23:7e9505da7f48 57 InitialMessages();
uld 23:7e9505da7f48 58
uld 20:76f94dec91d1 59 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 60 PS_CreateLog();
uld 22:5d3332fc4c5c 61 TE_CreateVoltageLog();
uld 23:7e9505da7f48 62
uld 20:76f94dec91d1 63
uld 7:ac88c8e35048 64
uld 6:6865930c1135 65
magnusmland 0:f562e4f9c29f 66 while (1) {
uld 8:5640c8c5088e 67 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 24:6427b144b17c 68 if (ccount % 300 == 0 && gotoPit == 0)
vehus 15:8b76add42254 69 {
uld 21:c3e256b18b96 70 TE_LogVoltage(ccount);
vehus 15:8b76add42254 71 gotoPit = PitTest();
uld 20:76f94dec91d1 72
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 20:76f94dec91d1 79 PS_PitStop ();
vehus 15:8b76add42254 80
vehus 15:8b76add42254 81 }
vehus 15:8b76add42254 82
magnusmland 0:f562e4f9c29f 83 // Get the position of the line.
magnusmland 0:f562e4f9c29f 84 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 85 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 86
magnusmland 0:f562e4f9c29f 87 // Compute the derivative
magnusmland 0:f562e4f9c29f 88 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 89
magnusmland 0:f562e4f9c29f 90 // Compute the integral
magnusmland 0:f562e4f9c29f 91 integral += proportional;
magnusmland 0:f562e4f9c29f 92
magnusmland 0:f562e4f9c29f 93 // Remember the last position.
magnusmland 0:f562e4f9c29f 94 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 95
magnusmland 0:f562e4f9c29f 96 // Compute the power
magnusmland 0:f562e4f9c29f 97 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 98
magnusmland 0:f562e4f9c29f 99 // Compute new speeds
magnusmland 0:f562e4f9c29f 100 right = speed+power;
magnusmland 0:f562e4f9c29f 101 left = speed-power;
magnusmland 0:f562e4f9c29f 102
magnusmland 0:f562e4f9c29f 103 // limit checks
magnusmland 0:f562e4f9c29f 104 if (right < MIN)
magnusmland 0:f562e4f9c29f 105 right = MIN;
magnusmland 0:f562e4f9c29f 106 else if (right > MAX)
magnusmland 0:f562e4f9c29f 107 right = MAX;
magnusmland 0:f562e4f9c29f 108
magnusmland 0:f562e4f9c29f 109 if (left < MIN)
magnusmland 0:f562e4f9c29f 110 left = MIN;
magnusmland 0:f562e4f9c29f 111 else if (left > MAX)
magnusmland 0:f562e4f9c29f 112 left = MAX;
magnusmland 0:f562e4f9c29f 113
magnusmland 0:f562e4f9c29f 114 // set speed
magnusmland 0:f562e4f9c29f 115 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 116 m3pi.right_motor(right);
uld 6:6865930c1135 117
uld 8:5640c8c5088e 118 ccount++;
uld 7:ac88c8e35048 119 }
uld 20:76f94dec91d1 120 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 121
uld 7:ac88c8e35048 122 }
uld 7:ac88c8e35048 123
vehus 15:8b76add42254 124 void InitialMessages(void){
uld 9:7b9094864268 125 /*Prints iniatl secret mission*/
uld 9:7b9094864268 126
uld 23:7e9505da7f48 127
uld 23:7e9505da7f48 128
uld 9:7b9094864268 129 m3pi.cls();
uld 9:7b9094864268 130 m3pi.locate(0,0);
uld 9:7b9094864268 131 m3pi.printf("eliminate");
uld 9:7b9094864268 132 m3pi.locate(0,1);
uld 9:7b9094864268 133 m3pi.printf("all cats");
uld 20:76f94dec91d1 134 wait(5.0);
uld 9:7b9094864268 135
uld 9:7b9094864268 136 m3pi.cls();
uld 9:7b9094864268 137 m3pi.locate(0,0);
uld 20:76f94dec91d1 138 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 139 m3pi.locate(0,1);
uld 20:76f94dec91d1 140 m3pi.printf("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 141 wait(10.0);
uld 9:7b9094864268 142 m3pi.cls();
uld 23:7e9505da7f48 143 m3pi.locate(0,0);
uld 23:7e9505da7f48 144 m3pi.printf("** 3 **");
uld 23:7e9505da7f48 145 wait(1.0);
uld 23:7e9505da7f48 146 m3pi.cls();
uld 23:7e9505da7f48 147 m3pi.printf("** 2 **");
uld 24:6427b144b17c 148 wait(1.0);
uld 24:6427b144b17c 149 m3pi.cls();
uld 24:6427b144b17c 150 m3pi.printf("** 1 **");
uld 24:6427b144b17c 151 wait(1.0);
uld 24:6427b144b17c 152 m3pi.cls();
uld 24:6427b144b17c 153 m3pi.printf("** Go **");
uld 23:7e9505da7f48 154
uld 23:7e9505da7f48 155
uld 23:7e9505da7f48 156
uld 9:7b9094864268 157 }
uld 8:5640c8c5088e 158 int PitTest(void){
uld 7:ac88c8e35048 159 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 160
uld 24:6427b144b17c 161 const float BATVOLTTRESHOLD = 4.50; // Treshold i volt
vehus 15:8b76add42254 162 int result = 0;
uld 7:ac88c8e35048 163
mikkelbredholt 13:ddff4bb7c24f 164 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 165 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 166 result = 1; // Set goto pit condition
vehus 15:8b76add42254 167 LED_Control(1, 1);
uld 7:ac88c8e35048 168 m3pi.cls();
uld 7:ac88c8e35048 169 m3pi.locate(0,0);
uld 7:ac88c8e35048 170 m3pi.printf("Going to");
uld 7:ac88c8e35048 171 m3pi.locate(0,1);
uld 7:ac88c8e35048 172 m3pi.printf("PIT Party");
magnusmland 0:f562e4f9c29f 173 }
uld 8:5640c8c5088e 174 return result;
mikkelbredholt 13:ddff4bb7c24f 175 }
mikkelbredholt 13:ddff4bb7c24f 176
mikkelbredholt 13:ddff4bb7c24f 177 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 178 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 179 if (ledNumber == 1) {
vehus 15:8b76add42254 180 led1 = state;
vehus 15:8b76add42254 181 }
uld 20:76f94dec91d1 182 if (ledNumber == 2){
vehus 15:8b76add42254 183 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 184 }
uld 20:76f94dec91d1 185 if (ledNumber == 3){
vehus 15:8b76add42254 186 led3 = state;
vehus 15:8b76add42254 187 }
uld 20:76f94dec91d1 188 if (ledNumber == 4){
vehus 15:8b76add42254 189 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 190 }
vehus 15:8b76add42254 191 }
vehus 15:8b76add42254 192
vehus 15:8b76add42254 193 void Blink(int ledNumber)
vehus 15:8b76add42254 194 {
vehus 15:8b76add42254 195 int a = 2;
vehus 15:8b76add42254 196 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 197 wait(a);
vehus 15:8b76add42254 198 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 199 wait(a);
mikkelbredholt 13:ddff4bb7c24f 200 }
vehus 15:8b76add42254 201
uld 20:76f94dec91d1 202 void PS_PitStop(void)
vehus 15:8b76add42254 203 {
vehus 15:8b76add42254 204 /* Testing alternative stop function
vehus 15:8b76add42254 205 m3pi.left_motor(0);
vehus 15:8b76add42254 206 m3pi.right_motor(0);
vehus 15:8b76add42254 207 */
vehus 15:8b76add42254 208 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 209
vehus 15:8b76add42254 210 // increase counter with one
vehus 15:8b76add42254 211 while (1)
vehus 15:8b76add42254 212 {
vehus 15:8b76add42254 213 Blink (1); // signal in pit
vehus 15:8b76add42254 214
vehus 15:8b76add42254 215 /* missing input to stop blink. */
vehus 15:8b76add42254 216
mikkelbredholt 13:ddff4bb7c24f 217 }
uld 20:76f94dec91d1 218 }
uld 20:76f94dec91d1 219
uld 20:76f94dec91d1 220 void PS_CreateLog(void){
uld 20:76f94dec91d1 221 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 222 FILE *fptr;
uld 20:76f94dec91d1 223 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 224
uld 20:76f94dec91d1 225 if(fptr == NULL)
uld 20:76f94dec91d1 226 {
uld 20:76f94dec91d1 227 printf("Error creating log file ");
uld 20:76f94dec91d1 228 exit(1);
uld 20:76f94dec91d1 229 }
uld 20:76f94dec91d1 230 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 231 fclose(fptr);
uld 20:76f94dec91d1 232 }
uld 20:76f94dec91d1 233
uld 20:76f94dec91d1 234 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 235 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 236 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 237
uld 20:76f94dec91d1 238 FILE *fptr;
uld 20:76f94dec91d1 239 int x, y;
uld 20:76f94dec91d1 240 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 241 printf("Error! opening file");
uld 20:76f94dec91d1 242 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 243 exit(1);
uld 20:76f94dec91d1 244 }
uld 20:76f94dec91d1 245
uld 20:76f94dec91d1 246 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 247 fclose(fptr);
uld 20:76f94dec91d1 248
uld 20:76f94dec91d1 249 y = x+1;
uld 20:76f94dec91d1 250 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 251
uld 20:76f94dec91d1 252 if(fptr == NULL)
uld 20:76f94dec91d1 253 {
uld 20:76f94dec91d1 254 printf("Error creating log file ");
uld 20:76f94dec91d1 255 exit(1);
uld 20:76f94dec91d1 256 }
uld 20:76f94dec91d1 257 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 258 fclose(fptr);
uld 20:76f94dec91d1 259 }
uld 20:76f94dec91d1 260
uld 20:76f94dec91d1 261 /*
uld 20:76f94dec91d1 262 void PS_DisplayNumberofPS(void){
uld 20:76f94dec91d1 263 //Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 264 /*
uld 20:76f94dec91d1 265 FILE *fptr;
uld 20:76f94dec91d1 266 int x;
uld 20:76f94dec91d1 267 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 268 printf("Error! opening file");
uld 20:76f94dec91d1 269 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 270 exit(1);
uld 20:76f94dec91d1 271 }
uld 20:76f94dec91d1 272 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 273 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 274 fclose(fptr);
uld 20:76f94dec91d1 275 }
uld 20:76f94dec91d1 276 */
uld 20:76f94dec91d1 277
uld 20:76f94dec91d1 278 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 279 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 280 FILE *fptr;
uld 20:76f94dec91d1 281 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 282
uld 20:76f94dec91d1 283 if(fptr == NULL)
uld 20:76f94dec91d1 284 {
uld 20:76f94dec91d1 285 printf("Error creating log file ");
uld 20:76f94dec91d1 286 exit(1);
uld 20:76f94dec91d1 287 }
uld 20:76f94dec91d1 288
uld 20:76f94dec91d1 289 fclose(fptr);
uld 20:76f94dec91d1 290 }
uld 20:76f94dec91d1 291
uld 20:76f94dec91d1 292
uld 21:c3e256b18b96 293 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 294 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 295 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 296 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 297
uld 20:76f94dec91d1 298 fprintf(fptr," %8d %4.4f %4.4f " ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 299 fclose(fptr);
magnusmland 0:f562e4f9c29f 300 }