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Dependencies:   m3pi mbed

main.cpp@58:852b91920a44, 2022-10-12 (annotated)

Committer:
uld
Date:
Wed Oct 12 09:46:05 2022 +0000
Revision:
58:852b91920a44
Parent:
57:242d8eda740d
Child:
61:981fe979a93f
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"
magnusmland 0:f562e4f9c29f 3
magnusmland 0:f562e4f9c29f 4 m3pi m3pi;
uld 32:570b94fe2c19 5
uld 32:570b94fe2c19 6 // DigitalOuts
vehus 15:8b76add42254 7 DigitalOut led1(LED1);
vehus 15:8b76add42254 8 DigitalOut led2(LED2);
vehus 15:8b76add42254 9 DigitalOut led3(LED3);
vehus 15:8b76add42254 10 DigitalOut led4(LED4);
magnusmland 0:f562e4f9c29f 11
magnusmland 0:f562e4f9c29f 12 // Minimum and maximum motor speeds
uld 30:ccf5fa970bd2 13 #define MAX 0.80
magnusmland 0:f562e4f9c29f 14 #define MIN 0
magnusmland 0:f562e4f9c29f 15
magnusmland 0:f562e4f9c29f 16 // PID terms
magnusmland 0:f562e4f9c29f 17 #define P_TERM 1
magnusmland 0:f562e4f9c29f 18 #define I_TERM 0
magnusmland 0:f562e4f9c29f 19 #define D_TERM 20
magnusmland 0:f562e4f9c29f 20
uld 31:434a78739a59 21 // Ccount before test
uld 31:434a78739a59 22 #define CYCLEBEFORETEST 1500
uld 20:76f94dec91d1 23
uld 20:76f94dec91d1 24 // Textfile paths
uld 23:7e9505da7f48 25 #define PITLOGPATH "/local/pitlog.txt"
uld 23:7e9505da7f48 26 #define VOLTAGELOGPATH "/local/voltage.txt"
uld 20:76f94dec91d1 27
uld 7:ac88c8e35048 28 // Prototypes
uld 53:cef682f8684b 29
uld 53:cef682f8684b 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 20:76f94dec91d1 39 void PS_AddStopToLog(void); // Add one to the log
uld 20:76f94dec91d1 40 // void PS_DisplayNumberofPS(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.
vehus 15:8b76add42254 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 27:8561eeb0bd1d 63 m3pi.sensor_auto_calibrate();
uld 27:8561eeb0bd1d 64
uld 20:76f94dec91d1 65 /*Create pitlog used to log the number of pitstop */
uld 20:76f94dec91d1 66 PS_CreateLog();
uld 22:5d3332fc4c5c 67 TE_CreateVoltageLog();
uld 7:ac88c8e35048 68
magnusmland 0:f562e4f9c29f 69 while (1) {
uld 8:5640c8c5088e 70 /* If cycle count divided by 100 does not have a rest. test if pit */
uld 31:434a78739a59 71 if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
vehus 15:8b76add42254 72 {
uld 21:c3e256b18b96 73 TE_LogVoltage(ccount);
uld 53:cef682f8684b 74 gotoPit = PS_BatteryTest();
vehus 15:8b76add42254 75 }
vehus 15:8b76add42254 76 if (gotoPit == 1)
vehus 15:8b76add42254 77 {
uld 20:76f94dec91d1 78 /*Add one to the nummber allready in the pitlog*/
uld 20:76f94dec91d1 79 PS_AddStopToLog();
uld 20:76f94dec91d1 80 /*Run the pitstop function*/
uld 28:2c93dff934b1 81 PS_PitStop();
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
uld 53:cef682f8684b 125 void LCD_InitialMessages(void){
uld 9:7b9094864268 126 /*Prints iniatl secret mission*/
uld 46:62e8b4c1bea0 127
uld 9:7b9094864268 128 m3pi.cls();
uld 9:7b9094864268 129 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 130 m3pi.print("DESTROY",8);
uld 9:7b9094864268 131 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 132 m3pi.print("**CATS**",8);
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 56:ea9a5cfbcc6b 137 m3pi.print("%4.4f ",m3pi.battery());
uld 9:7b9094864268 138 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 139 m3pi.print("%4.4f ",m3pi.pot_voltage());
uld 20:76f94dec91d1 140 wait(10.0);
uld 28:2c93dff934b1 141 m3pi.cls();
uld 27:8561eeb0bd1d 142 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 143 m3pi.print("ROBOT ON", 8);
uld 27:8561eeb0bd1d 144 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 145 m3pi.print("TRACK!!",7);
uld 27:8561eeb0bd1d 146 wait(4.0);
uld 53:cef682f8684b 147 LCD_CountDown(3);
uld 24:6427b144b17c 148 m3pi.cls();
uld 26:e6d82a8ba556 149 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 150 m3pi.print("** GO **",8);
uld 53:cef682f8684b 151 wait (1.0);
uld 26:e6d82a8ba556 152 }
uld 23:7e9505da7f48 153
uld 53:cef682f8684b 154 void LCD_CountDown(int num){
uld 56:ea9a5cfbcc6b 155 char str[8] = "** **";
uld 56:ea9a5cfbcc6b 156
uld 26:e6d82a8ba556 157 for (int i=0; i<num; i++)
uld 26:e6d82a8ba556 158 {
uld 26:e6d82a8ba556 159 m3pi.cls();
uld 26:e6d82a8ba556 160 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 161 str[4] = i;
uld 56:ea9a5cfbcc6b 162
uld 56:ea9a5cfbcc6b 163 m3pi.print(str, i );
uld 26:e6d82a8ba556 164 wait(1.0);
uld 26:e6d82a8ba556 165 }
uld 23:7e9505da7f48 166
uld 26:e6d82a8ba556 167 }
uld 26:e6d82a8ba556 168
uld 53:cef682f8684b 169 int PS_BatteryTest(void){
uld 7:ac88c8e35048 170 /* Test the batteri voltage if the robot is not headed for pit */
uld 7:ac88c8e35048 171
uld 53:cef682f8684b 172 const float BATVOLTTRESHOLD = 0.5; // Treshold i volt
vehus 15:8b76add42254 173 int result = 0;
uld 7:ac88c8e35048 174
mikkelbredholt 13:ddff4bb7c24f 175 /*Test if the voltage is below the threshold if so turn on go to pit mode*/
vehus 15:8b76add42254 176 if (m3pi.battery() <= BATVOLTTRESHOLD ){
uld 9:7b9094864268 177 result = 1; // Set goto pit condition
vehus 15:8b76add42254 178 LED_Control(1, 1);
uld 7:ac88c8e35048 179 m3pi.cls();
uld 7:ac88c8e35048 180 m3pi.locate(0,0);
uld 56:ea9a5cfbcc6b 181 m3pi.print("Going to",8);
uld 7:ac88c8e35048 182 m3pi.locate(0,1);
uld 56:ea9a5cfbcc6b 183 m3pi.print("**PIT**",7);
magnusmland 0:f562e4f9c29f 184 }
uld 8:5640c8c5088e 185 return result;
mikkelbredholt 13:ddff4bb7c24f 186 }
mikkelbredholt 13:ddff4bb7c24f 187
mikkelbredholt 13:ddff4bb7c24f 188 void LED_Control(int ledNumber, int state){
mikkelbredholt 13:ddff4bb7c24f 189 //LED1 on if robot is looking for pit
uld 20:76f94dec91d1 190 if (ledNumber == 1) {
vehus 15:8b76add42254 191 led1 = state;
vehus 15:8b76add42254 192 }
uld 20:76f94dec91d1 193 if (ledNumber == 2){
vehus 15:8b76add42254 194 led2 = state;
mikkelbredholt 13:ddff4bb7c24f 195 }
uld 20:76f94dec91d1 196 if (ledNumber == 3){
vehus 15:8b76add42254 197 led3 = state;
vehus 15:8b76add42254 198 }
uld 20:76f94dec91d1 199 if (ledNumber == 4){
vehus 15:8b76add42254 200 led4 = state;
mikkelbredholt 13:ddff4bb7c24f 201 }
vehus 15:8b76add42254 202 }
vehus 15:8b76add42254 203
uld 28:2c93dff934b1 204 void LED_Blink(int ledNumber)
vehus 15:8b76add42254 205 {
vehus 15:8b76add42254 206 int a = 2;
vehus 15:8b76add42254 207 LED_Control (ledNumber , 0);
vehus 15:8b76add42254 208 wait(a);
vehus 15:8b76add42254 209 LED_Control (ledNumber , 1);
vehus 15:8b76add42254 210 wait(a);
mikkelbredholt 13:ddff4bb7c24f 211 }
vehus 15:8b76add42254 212
uld 20:76f94dec91d1 213 void PS_PitStop(void)
vehus 15:8b76add42254 214 {
uld 56:ea9a5cfbcc6b 215
vehus 15:8b76add42254 216 m3pi.stop(); // stop all engine
vehus 15:8b76add42254 217
vehus 15:8b76add42254 218 // increase counter with one
vehus 15:8b76add42254 219 while (1)
vehus 15:8b76add42254 220 {
uld 28:2c93dff934b1 221 LED_Blink (1); // signal in pit
vehus 15:8b76add42254 222
mikkelbredholt 13:ddff4bb7c24f 223 }
uld 20:76f94dec91d1 224 }
uld 20:76f94dec91d1 225
uld 20:76f94dec91d1 226 void PS_CreateLog(void){
uld 20:76f94dec91d1 227 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 228 FILE *fptr;
uld 20:76f94dec91d1 229 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 230
uld 20:76f94dec91d1 231 if(fptr == NULL)
uld 20:76f94dec91d1 232 {
uld 20:76f94dec91d1 233 printf("Error creating log file ");
uld 20:76f94dec91d1 234 exit(1);
uld 20:76f94dec91d1 235 }
uld 20:76f94dec91d1 236 fprintf(fptr,"%d", 0);
uld 20:76f94dec91d1 237 fclose(fptr);
uld 20:76f94dec91d1 238 }
uld 20:76f94dec91d1 239
uld 20:76f94dec91d1 240 void PS_AddStopToLog(void){
uld 20:76f94dec91d1 241 /*Opens the pit log and read the number.
uld 20:76f94dec91d1 242 * Then adds one to that number at write it into the pitlog */
uld 20:76f94dec91d1 243
uld 20:76f94dec91d1 244 FILE *fptr;
uld 20:76f94dec91d1 245 int x, y;
uld 20:76f94dec91d1 246 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 247 printf("Error! opening file");
uld 20:76f94dec91d1 248 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 249 exit(1);
uld 20:76f94dec91d1 250 }
uld 20:76f94dec91d1 251
uld 20:76f94dec91d1 252 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 253 fclose(fptr);
uld 20:76f94dec91d1 254
uld 20:76f94dec91d1 255 y = x+1;
uld 20:76f94dec91d1 256 fptr = fopen(PITLOGPATH,"w");
uld 20:76f94dec91d1 257
uld 20:76f94dec91d1 258 if(fptr == NULL)
uld 20:76f94dec91d1 259 {
uld 20:76f94dec91d1 260 printf("Error creating log file ");
uld 20:76f94dec91d1 261 exit(1);
uld 20:76f94dec91d1 262 }
uld 20:76f94dec91d1 263 fprintf(fptr,"%d", y);
uld 20:76f94dec91d1 264 fclose(fptr);
uld 20:76f94dec91d1 265 }
uld 20:76f94dec91d1 266
uld 20:76f94dec91d1 267 /*
uld 20:76f94dec91d1 268 void PS_DisplayNumberofPS(void){
uld 27:8561eeb0bd1d 269 // Display the number i the pitstop recorded in the logfile
uld 20:76f94dec91d1 270 FILE *fptr;
uld 20:76f94dec91d1 271 int x;
uld 20:76f94dec91d1 272 if ((fptr = fopen(PITLOGPATH,"r")) == NULL){
uld 20:76f94dec91d1 273 printf("Error! opening file");
uld 20:76f94dec91d1 274 // Program exits if the file pointer returns NULL.
uld 20:76f94dec91d1 275 exit(1);
uld 20:76f94dec91d1 276 }
uld 20:76f94dec91d1 277 fscanf(fptr,"%d", &x);
uld 20:76f94dec91d1 278 printf("Final number of pits stops %d", x);
uld 20:76f94dec91d1 279 fclose(fptr);
uld 20:76f94dec91d1 280 }
uld 20:76f94dec91d1 281 */
uld 20:76f94dec91d1 282
uld 20:76f94dec91d1 283 void TE_CreateVoltageLog(void){
uld 20:76f94dec91d1 284 /* Create a voltagelog file and test if it can open*/
uld 20:76f94dec91d1 285 FILE *fptr;
uld 20:76f94dec91d1 286 fptr = fopen(VOLTAGELOGPATH,"w");
uld 20:76f94dec91d1 287
uld 20:76f94dec91d1 288 if(fptr == NULL)
uld 20:76f94dec91d1 289 {
uld 20:76f94dec91d1 290 printf("Error creating log file ");
uld 20:76f94dec91d1 291 exit(1);
uld 20:76f94dec91d1 292 }
uld 20:76f94dec91d1 293
uld 20:76f94dec91d1 294 fclose(fptr);
uld 20:76f94dec91d1 295 }
uld 20:76f94dec91d1 296
uld 21:c3e256b18b96 297 void TE_LogVoltage(int count){
uld 20:76f94dec91d1 298 /* Create a pitlog file and test if it can open*/
uld 20:76f94dec91d1 299 FILE *fptr; /* voltagelog adres */
uld 20:76f94dec91d1 300 fptr = fopen(VOLTAGELOGPATH,"a");
uld 20:76f94dec91d1 301
uld 26:e6d82a8ba556 302 fprintf(fptr," %8d %4.4f %4.4f \n" ,count, m3pi.battery(),m3pi.pot_voltage() );
uld 20:76f94dec91d1 303 fclose(fptr);
uld 58:852b91920a44 304
uld 32:570b94fe2c19 305 }
uld 54:c4f02c75ba8d 306
uld 58:852b91920a44 307