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@66:6403ec154b77, 2022-10-12 (annotated)

Committer:
vehus
Date:
Wed Oct 12 10:48:42 2022 +0000
Revision:
66:6403ec154b77
Parent:
63:be66d3b84cef
Parent:
65:b6dad21c9e0d
Child:
67:990fbcfee16f
Rev

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 63:be66d3b84cef 3 #include "mbed2/170/wait_api.h"
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
vehus 52:a2f53d9d2bdc 22 // loopcount before test
vehus 65:b6dad21c9e0d 23 #define LOOPSBEFORETEST 9000
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 53:cef682f8684b 31
uld 28:2c93dff934b1 32 void LED_Control(int ledNumber, int state); //Turn ledNumber to 1=on, 0 = off
uld 28:2c93dff934b1 33 void LED_Blink(int ledNumber); // Make ledNumber blinik
uld 53:cef682f8684b 34 void LCD_CountDown(int num); //LCD Coundown function
uld 53:cef682f8684b 35 void LCD_InitialMessages(void); // Prints initial message to the LCD
uld 26:e6d82a8ba556 36
uld 53:cef682f8684b 37 int PS_BatteryTest(void); // Test if to robot needs to goto pit
uld 20:76f94dec91d1 38 void PS_PitStop(void); //
uld 20:76f94dec91d1 39 void PS_CreateLog(void); // create a log file or resets it (WIP
uld 20:76f94dec91d1 40 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 41 // void PS_DisplayNumberofPS(void); // Display the final number on screen WIP
uld 20:76f94dec91d1 42
uld 20:76f94dec91d1 43 void TE_CreateVoltageLog(void); //
uld 21:c3e256b18b96 44 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
uld 20:76f94dec91d1 45
magnusmland 0:f562e4f9c29f 46 int main() {
uld 22:5d3332fc4c5c 47 LocalFileSystem local("local");
uld 27:8561eeb0bd1d 48
uld 6:6865930c1135 49 /*Base program Variable initiation*/
magnusmland 0:f562e4f9c29f 50 float right;
magnusmland 0:f562e4f9c29f 51 float left;
magnusmland 0:f562e4f9c29f 52 float current_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 53 float previous_pos_of_line = 0.0;
magnusmland 0:f562e4f9c29f 54 float derivative,proportional,integral = 0;
magnusmland 0:f562e4f9c29f 55 float power;
magnusmland 0:f562e4f9c29f 56 float speed = MAX;
uld 6:6865930c1135 57
uld 6:6865930c1135 58 /*Team 7 Variabels*/
uld 7:ac88c8e35048 59 int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false.
vehus 52:a2f53d9d2bdc 60 int loopcount = 0; //used to count loops
uld 6:6865930c1135 61
uld 23:7e9505da7f48 62 /*Printing secret cat mission*/
uld 53:cef682f8684b 63 LCD_InitialMessages();
uld 27:8561eeb0bd1d 64 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 65
uld 20:76f94dec91d1 66 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 67 PS_CreateLog();
uld 22:5d3332fc4c5c 68 TE_CreateVoltageLog();
uld 7:ac88c8e35048 69
magnusmland 0:f562e4f9c29f 70 while (1) {
uld 8:5640c8c5088e 71 /* If cycle count divided by 100 does not have a rest. test if pit */
vehus 65:b6dad21c9e0d 72 if (loopcount % LOOPSBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 73 {
vehus 66:6403ec154b77 74
vehus 52:a2f53d9d2bdc 75 TE_LogVoltage(loopcount);
uld 53:cef682f8684b 76 gotoPit = PS_BatteryTest();
vehus 66:6403ec154b77 77
vehus 15:8b76add42254 78 }
vehus 15:8b76add42254 79 if (gotoPit == 1)
vehus 15:8b76add42254 80 {
uld 20:76f94dec91d1 81 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 82 PS_AddStopToLog();
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
vehus 52:a2f53d9d2bdc 122 loopcount++;
uld 7:ac88c8e35048 123 }
uld 20:76f94dec91d1 124 // PS_DisplayNumberofPS();
vehus 15:8b76add42254 125
uld 7:ac88c8e35048 126 }
uld 7:ac88c8e35048 127
uld 53:cef682f8684b 128 void LCD_InitialMessages(void){
uld 9:7b9094864268 129 /*Prints iniatl secret mission*/
uld 46:62e8b4c1bea0 130
uld 9:7b9094864268 131 m3pi.cls();
uld 9:7b9094864268 132 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 133 m3pi.print("DESTROY",8);
uld 9:7b9094864268 134 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 135 m3pi.print("**CATS**",8);
uld 20:76f94dec91d1 136 wait(5.0);
uld 9:7b9094864268 137
uld 9:7b9094864268 138 m3pi.cls();
uld 9:7b9094864268 139 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 140 m3pi.print("%4.4f ",m3pi.battery());
uld 9:7b9094864268 141 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 142 m3pi.print("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 143 wait(10.0);
uld 28:2c93dff934b1 144 m3pi.cls();
uld 27:8561eeb0bd1d 145 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 146 m3pi.print("ROBOT ON", 8);
uld 27:8561eeb0bd1d 147 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 148 m3pi.print("TRACK!!",7);
uld 27:8561eeb0bd1d 149 wait(4.0);
uld 53:cef682f8684b 150 LCD_CountDown(3);
uld 24:6427b144b17c 151 m3pi.cls();
uld 26:e6d82a8ba556 152 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 153 m3pi.print("** GO **",8);
uld 53:cef682f8684b 154 wait (1.0);
uld 26:e6d82a8ba556 155 }
uld 23:7e9505da7f48 156
uld 53:cef682f8684b 157 void LCD_CountDown(int num){
uld 56:ea9a5cfbcc6b 158 char str[8] = "** **";
uld 56:ea9a5cfbcc6b 159
uld 26:e6d82a8ba556 160 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 161 {
uld 26:e6d82a8ba556 162 m3pi.cls();
uld 26:e6d82a8ba556 163 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 164 str[4] = i;
uld 56:ea9a5cfbcc6b 165
uld 56:ea9a5cfbcc6b 166 m3pi.print(str, i );
uld 26:e6d82a8ba556 167 wait(1.0);
uld 26:e6d82a8ba556 168 }
uld 23:7e9505da7f48 169
uld 26:e6d82a8ba556 170 }
uld 26:e6d82a8ba556 171
uld 53:cef682f8684b 172 int PS_BatteryTest(void){
uld 7:ac88c8e35048 173 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 174
uld 53:cef682f8684b 175 const float BATVOLTTRESHOLD = 0.5; // Treshold i volt
vehus 15:8b76add42254 176 int result = 0;
magnusmland 63:be66d3b84cef 177 led4 = 1;
magnusmland 63:be66d3b84cef 178 wait_ms (1);
magnusmland 63:be66d3b84cef 179 led4 = 0;
magnusmland 63:be66d3b84cef 180
magnusmland 63:be66d3b84cef 181
mikkelbredholt 13:ddff4bb7c24f 182 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 183 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 184 result = 1; // Set goto pit condition
vehus 15:8b76add42254 185 LED_Control(1, 1);
uld 7:ac88c8e35048 186 m3pi.cls();
uld 7:ac88c8e35048 187 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 188 m3pi.print("Going to",8);
uld 7:ac88c8e35048 189 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 190 m3pi.print("**PIT**",7);
magnusmland 0:f562e4f9c29f 191 }
uld 8:5640c8c5088e 192 return result;
mikkelbredholt 13:ddff4bb7c24f 193 }
mikkelbredholt 13:ddff4bb7c24f 194
mikkelbredholt 13:ddff4bb7c24f 195 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 196 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 197 if (ledNumber == 1) {
vehus 15:8b76add42254 198 led1 = state;
vehus 15:8b76add42254 199 }
uld 20:76f94dec91d1 200 if (ledNumber == 2){
vehus 15:8b76add42254 201 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 202 }
uld 20:76f94dec91d1 203 if (ledNumber == 3){
vehus 15:8b76add42254 204 led3 = state;
vehus 15:8b76add42254 205 }
uld 20:76f94dec91d1 206 if (ledNumber == 4){
vehus 15:8b76add42254 207 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 208 }
vehus 15:8b76add42254 209 }
vehus 15:8b76add42254 210
uld 28:2c93dff934b1 211 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 212 {
vehus 15:8b76add42254 213 int a = 2;
vehus 15:8b76add42254 214 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 215 wait(a);
vehus 15:8b76add42254 216 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 217 wait(a);
magnusmland 63:be66d3b84cef 218 LED_Control (ledNumber , 0);
magnusmland 63:be66d3b84cef 219 wait(a);
mikkelbredholt 13:ddff4bb7c24f 220 }
vehus 15:8b76add42254 221
uld 20:76f94dec91d1 222 void PS_PitStop(void)
vehus 15:8b76add42254 223 {
uld 56:ea9a5cfbcc6b 224
vehus 15:8b76add42254 225 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 226
vehus 15:8b76add42254 227 // increase counter with one
vehus 15:8b76add42254 228 while (1)
vehus 15:8b76add42254 229 {
uld 28:2c93dff934b1 230 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 231
mikkelbredholt 13:ddff4bb7c24f 232 }
uld 20:76f94dec91d1 233 }
uld 20:76f94dec91d1 234
uld 20:76f94dec91d1 235 void PS_CreateLog(void){
uld 20:76f94dec91d1 236 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 237 FILE *fptr;
uld 20:76f94dec91d1 238 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 239
uld 20:76f94dec91d1 240 if(fptr == NULL)
uld 20:76f94dec91d1 241 {
uld 20:76f94dec91d1 242 printf("Error creating log file ");
uld 20:76f94dec91d1 243 exit(1);
uld 20:76f94dec91d1 244 }
uld 20:76f94dec91d1 245 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 246 fclose(fptr);
uld 20:76f94dec91d1 247 }
uld 20:76f94dec91d1 248
uld 20:76f94dec91d1 249 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 250 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 251 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 252
uld 20:76f94dec91d1 253 FILE *fptr;
uld 20:76f94dec91d1 254 int x, y;
uld 20:76f94dec91d1 255 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 256 printf("Error! opening file");
uld 20:76f94dec91d1 257 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 258 exit(1);
uld 20:76f94dec91d1 259 }
uld 20:76f94dec91d1 260
uld 20:76f94dec91d1 261 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 262 fclose(fptr);
uld 20:76f94dec91d1 263
uld 20:76f94dec91d1 264 y = x+1;
uld 20:76f94dec91d1 265 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 266
uld 20:76f94dec91d1 267 if(fptr == NULL)
uld 20:76f94dec91d1 268 {
uld 20:76f94dec91d1 269 printf("Error creating log file ");
uld 20:76f94dec91d1 270 exit(1);
uld 20:76f94dec91d1 271 }
uld 20:76f94dec91d1 272 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 273 fclose(fptr);
uld 20:76f94dec91d1 274 }
uld 20:76f94dec91d1 275
uld 20:76f94dec91d1 276 /*
uld 20:76f94dec91d1 277 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 278 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 279 FILE *fptr;
uld 20:76f94dec91d1 280 int x;
uld 20:76f94dec91d1 281 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 282 printf("Error! opening file");
uld 20:76f94dec91d1 283 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 284 exit(1);
uld 20:76f94dec91d1 285 }
uld 20:76f94dec91d1 286 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 287 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 288 fclose(fptr);
uld 20:76f94dec91d1 289 }
uld 20:76f94dec91d1 290 */
uld 20:76f94dec91d1 291
uld 20:76f94dec91d1 292 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 293 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 294 FILE *fptr;
uld 20:76f94dec91d1 295 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 296
uld 20:76f94dec91d1 297 if(fptr == NULL)
uld 20:76f94dec91d1 298 {
uld 20:76f94dec91d1 299 printf("Error creating log file ");
uld 20:76f94dec91d1 300 exit(1);
uld 20:76f94dec91d1 301 }
uld 20:76f94dec91d1 302
uld 20:76f94dec91d1 303 fclose(fptr);
uld 20:76f94dec91d1 304 }
uld 20:76f94dec91d1 305
uld 21:c3e256b18b96 306 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 307 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 308 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 309 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 310
uld 26:e6d82a8ba556 311 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 312 fclose(fptr);
uld 58:852b91920a44 313
uld 32:570b94fe2c19 314 }
uld 54:c4f02c75ba8d 315
uld 58:852b91920a44 316