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Dependencies:   m3pi mbed

main.cpp@56:ea9a5cfbcc6b, 2022-10-12 (annotated)

Committer:
uld
Date:
Wed Oct 12 09:43:41 2022 +0000
Branch:
Uld minor fixes
Revision:
56:ea9a5cfbcc6b
Parent:
53:cef682f8684b
Child:
57:242d8eda740d
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;
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 53:cef682f8684b 33
uld 53:cef682f8684b 34
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 53:cef682f8684b 37 void LCD_CountDown(int num); //LCD Coundown function
uld 53:cef682f8684b 38 void LCD_InitialMessages(void); // Prints initial message to the LCD
uld 26:e6d82a8ba556 39
uld 53:cef682f8684b 40 int PS_BatteryTest(void); // Test if to robot needs to goto pit
uld 20:76f94dec91d1 41 void PS_PitStop(void); //
uld 20:76f94dec91d1 42 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 43 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 44 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 45
uld 20:76f94dec91d1 46 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 47 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 48
magnusmland 0:f562e4f9c29f 49 int main() {
uld 22:5d3332fc4c5c 50 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 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 53:cef682f8684b 66 LCD_InitialMessages();
uld 27:8561eeb0bd1d 67 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 68
uld 20:76f94dec91d1 69 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 70 PS_CreateLog();
uld 22:5d3332fc4c5c 71 TE_CreateVoltageLog();
uld 7:ac88c8e35048 72
magnusmland 0:f562e4f9c29f 73 while (1) {
uld 8:5640c8c5088e 74 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 31:434a78739a59 75 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 76 {
uld 21:c3e256b18b96 77 TE_LogVoltage(ccount);
uld 53:cef682f8684b 78 gotoPit = PS_BatteryTest();
vehus 15:8b76add42254 79 }
vehus 15:8b76add42254 80 if (gotoPit == 1)
vehus 15:8b76add42254 81 {
uld 20:76f94dec91d1 82 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 83 PS_AddStopToLog();
uld 20:76f94dec91d1 84 /*Run the pitstop function*/
uld 28:2c93dff934b1 85 PS_PitStop();
vehus 15:8b76add42254 86 }
vehus 15:8b76add42254 87
magnusmland 0:f562e4f9c29f 88 // Get the position of the line.
magnusmland 0:f562e4f9c29f 89 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 90 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 91
magnusmland 0:f562e4f9c29f 92 // Compute the derivative
magnusmland 0:f562e4f9c29f 93 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 94
magnusmland 0:f562e4f9c29f 95 // Compute the integral
magnusmland 0:f562e4f9c29f 96 integral += proportional;
magnusmland 0:f562e4f9c29f 97
magnusmland 0:f562e4f9c29f 98 // Remember the last position.
magnusmland 0:f562e4f9c29f 99 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 100
magnusmland 0:f562e4f9c29f 101 // Compute the power
magnusmland 0:f562e4f9c29f 102 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 103
magnusmland 0:f562e4f9c29f 104 // Compute new speeds
magnusmland 0:f562e4f9c29f 105 right = speed+power;
magnusmland 0:f562e4f9c29f 106 left = speed-power;
magnusmland 0:f562e4f9c29f 107
magnusmland 0:f562e4f9c29f 108 // limit checks
magnusmland 0:f562e4f9c29f 109 if (right < MIN)
magnusmland 0:f562e4f9c29f 110 right = MIN;
magnusmland 0:f562e4f9c29f 111 else if (right > MAX)
magnusmland 0:f562e4f9c29f 112 right = MAX;
magnusmland 0:f562e4f9c29f 113
magnusmland 0:f562e4f9c29f 114 if (left < MIN)
magnusmland 0:f562e4f9c29f 115 left = MIN;
magnusmland 0:f562e4f9c29f 116 else if (left > MAX)
magnusmland 0:f562e4f9c29f 117 left = MAX;
magnusmland 0:f562e4f9c29f 118
magnusmland 0:f562e4f9c29f 119 // set speed
magnusmland 0:f562e4f9c29f 120 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 121 m3pi.right_motor(right);
uld 6:6865930c1135 122
uld 8:5640c8c5088e 123 ccount++;
uld 7:ac88c8e35048 124 }
uld 20:76f94dec91d1 125 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 126
uld 7:ac88c8e35048 127 }
uld 7:ac88c8e35048 128
uld 53:cef682f8684b 129 void LCD_InitialMessages(void){
uld 9:7b9094864268 130 /*Prints iniatl secret mission*/
uld 46:62e8b4c1bea0 131
uld 9:7b9094864268 132 m3pi.cls();
uld 9:7b9094864268 133 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 134 m3pi.print("DESTROY",8);
uld 9:7b9094864268 135 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 136 m3pi.print("**CATS**",8);
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 56:ea9a5cfbcc6b 141 m3pi.print("%4.4f ",m3pi.battery());
uld 9:7b9094864268 142 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 143 m3pi.print("%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 56:ea9a5cfbcc6b 147 m3pi.print("ROBOT ON", 8);
uld 27:8561eeb0bd1d 148 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 149 m3pi.print("TRACK!!",7);
uld 27:8561eeb0bd1d 150 wait(4.0);
uld 53:cef682f8684b 151 LCD_CountDown(3);
uld 24:6427b144b17c 152 m3pi.cls();
uld 26:e6d82a8ba556 153 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 154 m3pi.print("** GO **",8);
uld 53:cef682f8684b 155 wait (1.0);
uld 26:e6d82a8ba556 156 }
uld 23:7e9505da7f48 157
uld 53:cef682f8684b 158 void LCD_CountDown(int num){
uld 56:ea9a5cfbcc6b 159 char str[8] = "** **";
uld 56:ea9a5cfbcc6b 160
uld 26:e6d82a8ba556 161 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 162 {
uld 26:e6d82a8ba556 163 m3pi.cls();
uld 26:e6d82a8ba556 164 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 165 str[4] = i;
uld 56:ea9a5cfbcc6b 166
uld 56:ea9a5cfbcc6b 167 m3pi.print(str, i );
uld 26:e6d82a8ba556 168 wait(1.0);
uld 26:e6d82a8ba556 169 }
uld 23:7e9505da7f48 170
uld 26:e6d82a8ba556 171 }
uld 26:e6d82a8ba556 172
uld 53:cef682f8684b 173 int PS_BatteryTest(void){
uld 7:ac88c8e35048 174 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 175
uld 53:cef682f8684b 176 const float BATVOLTTRESHOLD = 0.5; // Treshold i volt
vehus 15:8b76add42254 177 int result = 0;
uld 7:ac88c8e35048 178
mikkelbredholt 13:ddff4bb7c24f 179 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 180 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 181 result = 1; // Set goto pit condition
vehus 15:8b76add42254 182 LED_Control(1, 1);
uld 7:ac88c8e35048 183 m3pi.cls();
uld 7:ac88c8e35048 184 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 185 m3pi.print("Going to",8);
uld 7:ac88c8e35048 186 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 187 m3pi.print("**PIT**",7);
magnusmland 0:f562e4f9c29f 188 }
uld 8:5640c8c5088e 189 return result;
mikkelbredholt 13:ddff4bb7c24f 190 }
mikkelbredholt 13:ddff4bb7c24f 191
mikkelbredholt 13:ddff4bb7c24f 192 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 193 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 194 if (ledNumber == 1) {
vehus 15:8b76add42254 195 led1 = state;
vehus 15:8b76add42254 196 }
uld 20:76f94dec91d1 197 if (ledNumber == 2){
vehus 15:8b76add42254 198 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 199 }
uld 20:76f94dec91d1 200 if (ledNumber == 3){
vehus 15:8b76add42254 201 led3 = state;
vehus 15:8b76add42254 202 }
uld 20:76f94dec91d1 203 if (ledNumber == 4){
vehus 15:8b76add42254 204 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 205 }
vehus 15:8b76add42254 206 }
vehus 15:8b76add42254 207
uld 28:2c93dff934b1 208 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 209 {
vehus 15:8b76add42254 210 int a = 2;
vehus 15:8b76add42254 211 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 212 wait(a);
vehus 15:8b76add42254 213 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 214 wait(a);
mikkelbredholt 13:ddff4bb7c24f 215 }
vehus 15:8b76add42254 216
uld 20:76f94dec91d1 217 void PS_PitStop(void)
vehus 15:8b76add42254 218 {
uld 56:ea9a5cfbcc6b 219
vehus 15:8b76add42254 220 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 221
vehus 15:8b76add42254 222 // increase counter with one
vehus 15:8b76add42254 223 while (1)
vehus 15:8b76add42254 224 {
uld 28:2c93dff934b1 225 LED_Blink (1); // signal in pit
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 }