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Dependencies:   m3pi mbed

main.cpp@72:fad84371f431, 2022-10-25 (annotated)

Committer:
uld
Date:
Tue Oct 25 07:55:44 2022 +0000
Revision:
72:fad84371f431
Parent:
71:4747e63eb48c
Child:
73:0646bad028c5
DisplayPS at start fix

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"
uld 71:4747e63eb48c 3 #include <cstdio>
magnusmland 0:f562e4f9c29f 4
magnusmland 0:f562e4f9c29f 5 m3pi m3pi;
uld 32:570b94fe2c19 6
uld 32:570b94fe2c19 7 // DigitalOuts
vehus 15:8b76add42254 8 DigitalOut led1(LED1);
vehus 15:8b76add42254 9 DigitalOut led2(LED2);
vehus 15:8b76add42254 10 DigitalOut led3(LED3);
vehus 15:8b76add42254 11 DigitalOut led4(LED4);
magnusmland 0:f562e4f9c29f 12
magnusmland 0:f562e4f9c29f 13 // Minimum and maximum motor speeds
uld 30:ccf5fa970bd2 14 #define MAX 0.80
magnusmland 0:f562e4f9c29f 15 #define MIN 0
magnusmland 0:f562e4f9c29f 16
magnusmland 0:f562e4f9c29f 17 // PID terms
magnusmland 0:f562e4f9c29f 18 #define P_TERM 1
magnusmland 0:f562e4f9c29f 19 #define I_TERM 0
magnusmland 0:f562e4f9c29f 20 #define D_TERM 20
magnusmland 0:f562e4f9c29f 21
uld 67:990fbcfee16f 22 // Ccount before test
uld 67:990fbcfee16f 23 #define CYCLEBEFORETEST 4500
uld 20:76f94dec91d1 24
uld 20:76f94dec91d1 25 // Textfile paths
uld 23:7e9505da7f48 26 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 27 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 28
uld 7:ac88c8e35048 29 // Prototypes
uld 20:76f94dec91d1 30
uld 28:2c93dff934b1 31 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 32 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 53:cef682f8684b 33 void LCD_CountDown(int num); //LCD Coundown function
uld 53:cef682f8684b 34 void LCD_InitialMessages(void); // Prints initial message to the LCD
uld 26:e6d82a8ba556 35
uld 53:cef682f8684b 36 int PS_BatteryTest(void); // Test if to robot needs to goto pit
uld 20:76f94dec91d1 37 void PS_PitStop(void); //
uld 20:76f94dec91d1 38 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 72:fad84371f431 39 void PS_AddStopToLog(void); // Add one to the log
uld 72:fad84371f431 40 int PS_GetNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 41
uld 20:76f94dec91d1 42 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 43 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 44
magnusmland 0:f562e4f9c29f 45 int main() {
uld 22:5d3332fc4c5c 46 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 47
uld 6:6865930c1135 48 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 49 float right;
magnusmland 0:f562e4f9c29f 50 float left;
magnusmland 0:f562e4f9c29f 51 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 52 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 53 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 54 float power;
magnusmland 0:f562e4f9c29f 55 float speed = MAX;
uld 6:6865930c1135 56
uld 6:6865930c1135 57 /*Team 7 Variabels*/
uld 7:ac88c8e35048 58 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
uld 67:990fbcfee16f 59 int ccount = 0; //used to count cycles
uld 6:6865930c1135 60
uld 23:7e9505da7f48 61 /*Printing secret cat mission*/
uld 53:cef682f8684b 62 LCD_InitialMessages();
uld 72:fad84371f431 63
uld 27:8561eeb0bd1d 64 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 65
uld 72:fad84371f431 66
uld 72:fad84371f431 67 /*Create logs used to log the number of pitstop */
uld 68:bb2ee5b4f9dd 68 PS_CreateLog(); //
uld 22:5d3332fc4c5c 69 TE_CreateVoltageLog();
uld 7:ac88c8e35048 70
magnusmland 0:f562e4f9c29f 71 while (1) {
uld 8:5640c8c5088e 72 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 67:990fbcfee16f 73 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 74 {
uld 67:990fbcfee16f 75 TE_LogVoltage(ccount);
uld 53:cef682f8684b 76 gotoPit = PS_BatteryTest();
vehus 15:8b76add42254 77 }
vehus 15:8b76add42254 78 if (gotoPit == 1)
vehus 15:8b76add42254 79 {
uld 20:76f94dec91d1 80 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 81 PS_AddStopToLog();
uld 69:d7125d5b5cc8 82
uld 20:76f94dec91d1 83 /*Run the pitstop function*/
uld 28:2c93dff934b1 84 PS_PitStop();
vehus 15:8b76add42254 85 }
vehus 15:8b76add42254 86
magnusmland 0:f562e4f9c29f 87 // Get the position of the line.
magnusmland 0:f562e4f9c29f 88 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 89 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 90
magnusmland 0:f562e4f9c29f 91 // Compute the derivative
magnusmland 0:f562e4f9c29f 92 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 93
magnusmland 0:f562e4f9c29f 94 // Compute the integral
magnusmland 0:f562e4f9c29f 95 integral += proportional;
magnusmland 0:f562e4f9c29f 96
magnusmland 0:f562e4f9c29f 97 // Remember the last position.
magnusmland 0:f562e4f9c29f 98 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 99
magnusmland 0:f562e4f9c29f 100 // Compute the power
magnusmland 0:f562e4f9c29f 101 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 102
magnusmland 0:f562e4f9c29f 103 // Compute new speeds
magnusmland 0:f562e4f9c29f 104 right = speed+power;
magnusmland 0:f562e4f9c29f 105 left = speed-power;
magnusmland 0:f562e4f9c29f 106
magnusmland 0:f562e4f9c29f 107 // limit checks
magnusmland 0:f562e4f9c29f 108 if (right < MIN)
magnusmland 0:f562e4f9c29f 109 right = MIN;
magnusmland 0:f562e4f9c29f 110 else if (right > MAX)
magnusmland 0:f562e4f9c29f 111 right = MAX;
magnusmland 0:f562e4f9c29f 112
magnusmland 0:f562e4f9c29f 113 if (left < MIN)
magnusmland 0:f562e4f9c29f 114 left = MIN;
magnusmland 0:f562e4f9c29f 115 else if (left > MAX)
magnusmland 0:f562e4f9c29f 116 left = MAX;
magnusmland 0:f562e4f9c29f 117
magnusmland 0:f562e4f9c29f 118 // set speed
magnusmland 0:f562e4f9c29f 119 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 120 m3pi.right_motor(right);
uld 6:6865930c1135 121
uld 67:990fbcfee16f 122 ccount++;
uld 7:ac88c8e35048 123 }
vehus 15:8b76add42254 124
uld 7:ac88c8e35048 125 }
uld 7:ac88c8e35048 126
uld 72:fad84371f431 127 /**
uld 72:fad84371f431 128 * LCD_InitialMessages -Prints iniatial secret mission
uld 72:fad84371f431 129 */
uld 53:cef682f8684b 130 void LCD_InitialMessages(void){
uld 72:fad84371f431 131
uld 72:fad84371f431 132
uld 9:7b9094864268 133 m3pi.cls();
uld 9:7b9094864268 134 m3pi.locate(0,0);
uld 69:d7125d5b5cc8 135 m3pi.printf("DESTROY");
uld 9:7b9094864268 136 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 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 69:d7125d5b5cc8 142 m3pi.printf("%4.4f ",m3pi.battery());
uld 9:7b9094864268 143 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 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 70:e6cc44d1487d 148 m3pi.printf("ROBOT ON");
uld 27:8561eeb0bd1d 149 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 150 m3pi.printf("TRACK!!");
uld 27:8561eeb0bd1d 151 wait(4.0);
uld 53:cef682f8684b 152 LCD_CountDown(3);
uld 24:6427b144b17c 153 m3pi.cls();
uld 26:e6d82a8ba556 154 m3pi.locate(0,0);
uld 69:d7125d5b5cc8 155 m3pi.printf("** GO **");
uld 69:d7125d5b5cc8 156
uld 72:fad84371f431 157
uld 53:cef682f8684b 158 wait (1.0);
uld 26:e6d82a8ba556 159 }
uld 72:fad84371f431 160
uld 72:fad84371f431 161 /**
uld 72:fad84371f431 162 * PS_DisplayPS - Display the number of pidstops from the log
uld 72:fad84371f431 163 */
uld 72:fad84371f431 164
uld 72:fad84371f431 165 void PS_DisplayPS(void){
uld 72:fad84371f431 166 m3pi.cls();
uld 72:fad84371f431 167 m3pi.locate(0,0);
uld 72:fad84371f431 168 m3pi.printf("PITSTOP:");
uld 72:fad84371f431 169 m3pi.locate(0,1);
uld 72:fad84371f431 170 m3pi.printf("%d", GetNumberofPS() );
uld 72:fad84371f431 171
uld 72:fad84371f431 172 }
uld 72:fad84371f431 173 /**
uld 72:fad84371f431 174 * LCD_CountDown - display a countdown
uld 72:fad84371f431 175 * @num The number to count down from-
uld 72:fad84371f431 176 */
uld 72:fad84371f431 177
uld 53:cef682f8684b 178 void LCD_CountDown(int num){
uld 56:ea9a5cfbcc6b 179
uld 72:fad84371f431 180 for (int i=num; i>0; i--)
uld 26:e6d82a8ba556 181 {
uld 26:e6d82a8ba556 182 m3pi.cls();
uld 26:e6d82a8ba556 183 m3pi.locate(0,0);
uld 70:e6cc44d1487d 184 m3pi.printf("** %d **", i);
uld 26:e6d82a8ba556 185 wait(1.0);
uld 26:e6d82a8ba556 186 }
uld 26:e6d82a8ba556 187 }
uld 72:fad84371f431 188 /**
uld 72:fad84371f431 189 * PS_BatteryTest - Test the batteri voltage if the robot is not headed for pi
uld 72:fad84371f431 190 *
uld 72:fad84371f431 191 *return: 0 if the battery is above the threshold- Return 1 if the robot needs to goto pit
uld 72:fad84371f431 192 */
uld 72:fad84371f431 193
uld 53:cef682f8684b 194 int PS_BatteryTest(void){
uld 7:ac88c8e35048 195 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 196
uld 53:cef682f8684b 197 const float BATVOLTTRESHOLD = 0.5; // Treshold i volt
vehus 15:8b76add42254 198 int result = 0;
magnusmland 63:be66d3b84cef 199 led4 = 1;
magnusmland 63:be66d3b84cef 200 wait_ms (1);
magnusmland 63:be66d3b84cef 201 led4 = 0;
magnusmland 63:be66d3b84cef 202
magnusmland 63:be66d3b84cef 203
mikkelbredholt 13:ddff4bb7c24f 204 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 205 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 206 result = 1; // Set goto pit condition
vehus 15:8b76add42254 207 LED_Control(1, 1);
uld 7:ac88c8e35048 208 m3pi.cls();
uld 7:ac88c8e35048 209 m3pi.locate(0,0);
uld 69:d7125d5b5cc8 210 m3pi.printf("Going to");
uld 7:ac88c8e35048 211 m3pi.locate(0,1);
uld 69:d7125d5b5cc8 212 m3pi.printf("**PIT**");
magnusmland 0:f562e4f9c29f 213 }
uld 8:5640c8c5088e 214 return result;
mikkelbredholt 13:ddff4bb7c24f 215 }
mikkelbredholt 13:ddff4bb7c24f 216
mikkelbredholt 13:ddff4bb7c24f 217 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 218 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 219 if (ledNumber == 1) {
vehus 15:8b76add42254 220 led1 = state;
vehus 15:8b76add42254 221 }
uld 20:76f94dec91d1 222 if (ledNumber == 2){
vehus 15:8b76add42254 223 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 224 }
uld 20:76f94dec91d1 225 if (ledNumber == 3){
vehus 15:8b76add42254 226 led3 = state;
vehus 15:8b76add42254 227 }
uld 20:76f94dec91d1 228 if (ledNumber == 4){
vehus 15:8b76add42254 229 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 230 }
vehus 15:8b76add42254 231 }
uld 72:fad84371f431 232 /**
uld 72:fad84371f431 233 * LED_Blink - Make a LED blink
uld 72:fad84371f431 234 *@ledNumber - The number of the targeted LED
uld 72:fad84371f431 235 */
vehus 15:8b76add42254 236
uld 28:2c93dff934b1 237 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 238 {
vehus 15:8b76add42254 239 int a = 2;
vehus 15:8b76add42254 240 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 241 wait(a);
vehus 15:8b76add42254 242 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 243 wait(a);
magnusmland 63:be66d3b84cef 244 LED_Control (ledNumber , 0);
magnusmland 63:be66d3b84cef 245 wait(a);
mikkelbredholt 13:ddff4bb7c24f 246 }
vehus 15:8b76add42254 247
uld 72:fad84371f431 248 /**
uld 72:fad84371f431 249 * PS_PitStop - Stops the robot and starts the signal
uld 72:fad84371f431 250 */
uld 72:fad84371f431 251
uld 20:76f94dec91d1 252 void PS_PitStop(void)
vehus 15:8b76add42254 253 {
vehus 15:8b76add42254 254 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 255 // increase counter with one
vehus 15:8b76add42254 256 while (1)
vehus 15:8b76add42254 257 {
uld 28:2c93dff934b1 258 LED_Blink (1); // signal in pit
mikkelbredholt 13:ddff4bb7c24f 259 }
uld 20:76f94dec91d1 260 }
uld 20:76f94dec91d1 261
uld 72:fad84371f431 262 /**
uld 72:fad84371f431 263 * PS_CreateLog - Create a pitstop log i none excist
uld 72:fad84371f431 264 *
uld 72:fad84371f431 265 * Return: The number of ppitstops as noted in the log
uld 72:fad84371f431 266 */
uld 20:76f94dec91d1 267 void PS_CreateLog(void){
uld 20:76f94dec91d1 268 FILE *fptr;
uld 68:bb2ee5b4f9dd 269
uld 68:bb2ee5b4f9dd 270 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 68:bb2ee5b4f9dd 271 fptr = fopen(PITLOGPATH,"w");
uld 68:bb2ee5b4f9dd 272 fprintf(fptr,"%d", 0);
uld 71:4747e63eb48c 273 fclose(fptr);
uld 68:bb2ee5b4f9dd 274 }
uld 68:bb2ee5b4f9dd 275
uld 20:76f94dec91d1 276 }
uld 20:76f94dec91d1 277
uld 20:76f94dec91d1 278 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 279 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 280 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 281
uld 20:76f94dec91d1 282 FILE *fptr;
uld 20:76f94dec91d1 283 int x, y;
uld 20:76f94dec91d1 284 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 285 printf("Error! opening file");
uld 20:76f94dec91d1 286 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 287 exit(1);
uld 20:76f94dec91d1 288 }
uld 20:76f94dec91d1 289
uld 20:76f94dec91d1 290 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 291 fclose(fptr);
uld 20:76f94dec91d1 292
uld 20:76f94dec91d1 293 y = x+1;
uld 20:76f94dec91d1 294 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 295
uld 20:76f94dec91d1 296 if(fptr == NULL)
uld 20:76f94dec91d1 297 {
uld 20:76f94dec91d1 298 printf("Error creating log file ");
uld 20:76f94dec91d1 299 exit(1);
uld 20:76f94dec91d1 300 }
uld 20:76f94dec91d1 301 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 302 fclose(fptr);
uld 20:76f94dec91d1 303 }
uld 20:76f94dec91d1 304
uld 72:fad84371f431 305
uld 72:fad84371f431 306 int PS_GetNumberofPS(void){
uld 27:8561eeb0bd1d 307 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 308 FILE *fptr;
uld 20:76f94dec91d1 309 int x;
uld 20:76f94dec91d1 310 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 311 printf("Error! opening file");
uld 20:76f94dec91d1 312 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 313 exit(1);
uld 20:76f94dec91d1 314 }
uld 20:76f94dec91d1 315 fscanf(fptr,"%d", &x);
uld 72:fad84371f431 316 //printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 317 fclose(fptr);
uld 72:fad84371f431 318 return x;
uld 20:76f94dec91d1 319 }
uld 72:fad84371f431 320
uld 20:76f94dec91d1 321
uld 20:76f94dec91d1 322 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 323 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 324 FILE *fptr;
uld 20:76f94dec91d1 325 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 326
uld 20:76f94dec91d1 327 if(fptr == NULL)
uld 20:76f94dec91d1 328 {
uld 20:76f94dec91d1 329 printf("Error creating log file ");
uld 20:76f94dec91d1 330 exit(1);
uld 20:76f94dec91d1 331 }
uld 20:76f94dec91d1 332
uld 20:76f94dec91d1 333 fclose(fptr);
uld 20:76f94dec91d1 334 }
uld 20:76f94dec91d1 335
uld 21:c3e256b18b96 336 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 337 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 338 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 339 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 340
uld 26:e6d82a8ba556 341 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 342 fclose(fptr);
uld 58:852b91920a44 343
uld 32:570b94fe2c19 344 }