Julesnaps / Mbed 2 deprecated Linefollowproject

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   m3pi mbed

main.cpp@22:5d3332fc4c5c, 2022-10-11 (annotated)

Committer:
uld
Date:
Tue Oct 11 11:34:59 2022 +0000
Revision:
22:5d3332fc4c5c
Parent:
21:c3e256b18b96
Child:
23:7e9505da7f48
Fixed for filestorege

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 22:5d3332fc4c5c 21
uld 22:5d3332fc4c5c 22
uld 22:5d3332fc4c5c 23
uld 22:5d3332fc4c5c 24 #define PITLOGPATH "local/pitlog.txt"
uld 22:5d3332fc4c5c 25 #define VOLTAGELOGPATH "local/voltage.txt"
uld 20:76f94dec91d1 26
uld 20:76f94dec91d1 27
uld 7:ac88c8e35048 28 // Prototypes
uld 8:5640c8c5088e 29 int PitTest(void); // Test if to robot needs to goto pit
vehus 15:8b76add42254 30 void InitialMessages(void); // Prints initial message to the LCD
vehus 15:8b76add42254 31 void LED_Control(int ledNumber, int state); //turn ledNumber to 1=on, 0 = off
vehus 15:8b76add42254 32 void Blink(int ledNumber); // make ledNumber blinik
mikkelbredholt 13:ddff4bb7c24f 33
uld 20:76f94dec91d1 34 void PS_PitStop(void); //
uld 20:76f94dec91d1 35 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 36 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 37 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 38
uld 20:76f94dec91d1 39 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 40 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 41
magnusmland 0:f562e4f9c29f 42 int main() {
uld 22:5d3332fc4c5c 43 LocalFileSystem local("local");
magnusmland 0:f562e4f9c29f 44 m3pi.sensor_auto_calibrate();
uld 5:dbd32cb3650a 45
uld 6:6865930c1135 46 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 47 float right;
magnusmland 0:f562e4f9c29f 48 float left;
magnusmland 0:f562e4f9c29f 49 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 50 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 51 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 52 float power;
magnusmland 0:f562e4f9c29f 53 float speed = MAX;
uld 6:6865930c1135 54
uld 6:6865930c1135 55 /*Team 7 Variabels*/
uld 7:ac88c8e35048 56 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 15:8b76add42254 57 int ccount = 0; //used to count cycles
uld 6:6865930c1135 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 6:6865930c1135 62 /*Printing secret cat mission*/
vehus 15:8b76add42254 63 InitialMessages();
uld 20:76f94dec91d1 64
uld 7:ac88c8e35048 65
uld 6:6865930c1135 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 */
vehus 15:8b76add42254 69 if (ccount % 100 == 0 && gotoPit == 0)
vehus 15:8b76add42254 70 {
uld 21:c3e256b18b96 71 TE_LogVoltage(ccount);
vehus 15:8b76add42254 72 gotoPit = PitTest();
uld 20:76f94dec91d1 73
vehus 15:8b76add42254 74 }
vehus 15:8b76add42254 75 if (gotoPit == 1)
vehus 15:8b76add42254 76 {
uld 20:76f94dec91d1 77 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 78 PS_AddStopToLog();
uld 20:76f94dec91d1 79 /*Run the pitstop function*/
uld 20:76f94dec91d1 80 PS_PitStop ();
vehus 15:8b76add42254 81
vehus 15:8b76add42254 82 }
vehus 15:8b76add42254 83
magnusmland 0:f562e4f9c29f 84 // Get the position of the line.
magnusmland 0:f562e4f9c29f 85 current_pos_of_line = m3pi.line_position();
magnusmland 0:f562e4f9c29f 86 proportional = current_pos_of_line;
magnusmland 0:f562e4f9c29f 87
magnusmland 0:f562e4f9c29f 88 // Compute the derivative
magnusmland 0:f562e4f9c29f 89 derivative = current_pos_of_line - previous_pos_of_line;
magnusmland 0:f562e4f9c29f 90
magnusmland 0:f562e4f9c29f 91 // Compute the integral
magnusmland 0:f562e4f9c29f 92 integral += proportional;
magnusmland 0:f562e4f9c29f 93
magnusmland 0:f562e4f9c29f 94 // Remember the last position.
magnusmland 0:f562e4f9c29f 95 previous_pos_of_line = current_pos_of_line;
magnusmland 0:f562e4f9c29f 96
magnusmland 0:f562e4f9c29f 97 // Compute the power
magnusmland 0:f562e4f9c29f 98 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
magnusmland 0:f562e4f9c29f 99
magnusmland 0:f562e4f9c29f 100 // Compute new speeds
magnusmland 0:f562e4f9c29f 101 right = speed+power;
magnusmland 0:f562e4f9c29f 102 left = speed-power;
magnusmland 0:f562e4f9c29f 103
magnusmland 0:f562e4f9c29f 104 // limit checks
magnusmland 0:f562e4f9c29f 105 if (right < MIN)
magnusmland 0:f562e4f9c29f 106 right = MIN;
magnusmland 0:f562e4f9c29f 107 else if (right > MAX)
magnusmland 0:f562e4f9c29f 108 right = MAX;
magnusmland 0:f562e4f9c29f 109
magnusmland 0:f562e4f9c29f 110 if (left < MIN)
magnusmland 0:f562e4f9c29f 111 left = MIN;
magnusmland 0:f562e4f9c29f 112 else if (left > MAX)
magnusmland 0:f562e4f9c29f 113 left = MAX;
magnusmland 0:f562e4f9c29f 114
magnusmland 0:f562e4f9c29f 115 // set speed
magnusmland 0:f562e4f9c29f 116 m3pi.left_motor(left);
magnusmland 0:f562e4f9c29f 117 m3pi.right_motor(right);
uld 6:6865930c1135 118
uld 8:5640c8c5088e 119 ccount++;
uld 7:ac88c8e35048 120 }
uld 20:76f94dec91d1 121 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 122
uld 7:ac88c8e35048 123 }
uld 7:ac88c8e35048 124
vehus 15:8b76add42254 125 void InitialMessages(void){
uld 9:7b9094864268 126 /*Prints iniatl secret mission*/
uld 9:7b9094864268 127
uld 9:7b9094864268 128 m3pi.cls();
uld 9:7b9094864268 129 m3pi.locate(0,0);
uld 9:7b9094864268 130 m3pi.printf("eliminate");
uld 9:7b9094864268 131 m3pi.locate(0,1);
uld 9:7b9094864268 132 m3pi.printf("all 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 9:7b9094864268 141 m3pi.cls();
uld 9:7b9094864268 142 }
uld 8:5640c8c5088e 143 int PitTest(void){
uld 7:ac88c8e35048 144 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 145
uld 20:76f94dec91d1 146 const float BATVOLTTRESHOLD = 4.64; // Treshold i volt
vehus 15:8b76add42254 147 int result = 0;
uld 7:ac88c8e35048 148
mikkelbredholt 13:ddff4bb7c24f 149 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 150 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 151 result = 1; // Set goto pit condition
vehus 15:8b76add42254 152 LED_Control(1, 1);
uld 7:ac88c8e35048 153 m3pi.cls();
uld 7:ac88c8e35048 154 m3pi.locate(0,0);
uld 7:ac88c8e35048 155 m3pi.printf("Going to");
uld 7:ac88c8e35048 156 m3pi.locate(0,1);
uld 7:ac88c8e35048 157 m3pi.printf("PIT Party");
magnusmland 0:f562e4f9c29f 158 }
uld 8:5640c8c5088e 159 return result;
mikkelbredholt 13:ddff4bb7c24f 160 }
mikkelbredholt 13:ddff4bb7c24f 161
mikkelbredholt 13:ddff4bb7c24f 162 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 163 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 164 if (ledNumber == 1) {
vehus 15:8b76add42254 165 led1 = state;
vehus 15:8b76add42254 166 }
uld 20:76f94dec91d1 167 if (ledNumber == 2){
vehus 15:8b76add42254 168 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 169 }
uld 20:76f94dec91d1 170 if (ledNumber == 3){
vehus 15:8b76add42254 171 led3 = state;
vehus 15:8b76add42254 172 }
uld 20:76f94dec91d1 173 if (ledNumber == 4){
vehus 15:8b76add42254 174 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 175 }
vehus 15:8b76add42254 176 }
vehus 15:8b76add42254 177
vehus 15:8b76add42254 178 void Blink(int ledNumber)
vehus 15:8b76add42254 179 {
vehus 15:8b76add42254 180 int a = 2;
vehus 15:8b76add42254 181 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 182 wait(a);
vehus 15:8b76add42254 183 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 184 wait(a);
mikkelbredholt 13:ddff4bb7c24f 185 }
vehus 15:8b76add42254 186
uld 20:76f94dec91d1 187 void PS_PitStop(void)
vehus 15:8b76add42254 188 {
vehus 15:8b76add42254 189 /* Testing alternative stop function
vehus 15:8b76add42254 190 m3pi.left_motor(0);
vehus 15:8b76add42254 191 m3pi.right_motor(0);
vehus 15:8b76add42254 192 */
vehus 15:8b76add42254 193 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 194
vehus 15:8b76add42254 195 // increase counter with one
vehus 15:8b76add42254 196 while (1)
vehus 15:8b76add42254 197 {
vehus 15:8b76add42254 198 Blink (1); // signal in pit
vehus 15:8b76add42254 199
vehus 15:8b76add42254 200 /* missing input to stop blink. */
vehus 15:8b76add42254 201
mikkelbredholt 13:ddff4bb7c24f 202 }
uld 20:76f94dec91d1 203 }
uld 20:76f94dec91d1 204
uld 20:76f94dec91d1 205 void PS_CreateLog(void){
uld 20:76f94dec91d1 206 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 207 FILE *fptr;
uld 20:76f94dec91d1 208 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 209
uld 20:76f94dec91d1 210 if(fptr == NULL)
uld 20:76f94dec91d1 211 {
uld 20:76f94dec91d1 212 printf("Error creating log file ");
uld 20:76f94dec91d1 213 exit(1);
uld 20:76f94dec91d1 214 }
uld 20:76f94dec91d1 215 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 216 fclose(fptr);
uld 20:76f94dec91d1 217 }
uld 20:76f94dec91d1 218
uld 20:76f94dec91d1 219 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 220 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 221 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 222
uld 20:76f94dec91d1 223 FILE *fptr;
uld 20:76f94dec91d1 224 int x, y;
uld 20:76f94dec91d1 225 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 226 printf("Error! opening file");
uld 20:76f94dec91d1 227 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 228 exit(1);
uld 20:76f94dec91d1 229 }
uld 20:76f94dec91d1 230
uld 20:76f94dec91d1 231 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 232 fclose(fptr);
uld 20:76f94dec91d1 233
uld 20:76f94dec91d1 234 y = x+1;
uld 20:76f94dec91d1 235 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 236
uld 20:76f94dec91d1 237 if(fptr == NULL)
uld 20:76f94dec91d1 238 {
uld 20:76f94dec91d1 239 printf("Error creating log file ");
uld 20:76f94dec91d1 240 exit(1);
uld 20:76f94dec91d1 241 }
uld 20:76f94dec91d1 242 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 243 fclose(fptr);
uld 20:76f94dec91d1 244 }
uld 20:76f94dec91d1 245
uld 20:76f94dec91d1 246 /*
uld 20:76f94dec91d1 247 void PS_DisplayNumberofPS(void){
uld 20:76f94dec91d1 248 //Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 249 /*
uld 20:76f94dec91d1 250 FILE *fptr;
uld 20:76f94dec91d1 251 int x;
uld 20:76f94dec91d1 252 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 253 printf("Error! opening file");
uld 20:76f94dec91d1 254 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 255 exit(1);
uld 20:76f94dec91d1 256 }
uld 20:76f94dec91d1 257 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 258 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 259 fclose(fptr);
uld 20:76f94dec91d1 260 }
uld 20:76f94dec91d1 261 */
uld 20:76f94dec91d1 262
uld 20:76f94dec91d1 263 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 264 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 265 FILE *fptr;
uld 20:76f94dec91d1 266 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 267
uld 20:76f94dec91d1 268 if(fptr == NULL)
uld 20:76f94dec91d1 269 {
uld 20:76f94dec91d1 270 printf("Error creating log file ");
uld 20:76f94dec91d1 271 exit(1);
uld 20:76f94dec91d1 272 }
uld 20:76f94dec91d1 273
uld 20:76f94dec91d1 274 fclose(fptr);
uld 20:76f94dec91d1 275 }
uld 20:76f94dec91d1 276
uld 20:76f94dec91d1 277
uld 21:c3e256b18b96 278 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 279 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 280 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 281 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 282
uld 20:76f94dec91d1 283 fprintf(fptr," %8d %4.4f %4.4f " ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 284 fclose(fptr);
magnusmland 0:f562e4f9c29f 285 }