MEGACARAZ / Mbed 2 deprecated PID

PIDs and fun

Dependencies:   btbee m3pi_ng mbed FatFileSystemCpp

main.cpp@12:057471fb3616, 2015-05-28 (annotated)

Committer:
morganrose402
Date:
Thu May 28 14:32:08 2015 +0000
Revision:
12:057471fb3616
Parent:
11:ac6112ca954f
Child:
13:0b1e1e90f147
USB tests: 1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
crmackey 0:4d1ae7eb0070 1 #include "mbed.h"
crmackey 0:4d1ae7eb0070 2 #include "m3pi_ng.h"
crmackey 0:4d1ae7eb0070 3 #include "time.h"
crmackey 0:4d1ae7eb0070 4 #include "btbee.h"
morganrose402 9:43be0dea44f0 5 #include <string>
morganrose402 9:43be0dea44f0 6 #include <sstream>
morganrose402 9:43be0dea44f0 7
morganrose402 9:43be0dea44f0 8 using namespace std;
morganrose402 10:fd4ae3946c7e 9
morganrose402 9:43be0dea44f0 10 //For USB writing
morganrose402 9:43be0dea44f0 11 #include "MSCFileSystem.h"
morganrose402 9:43be0dea44f0 12 #define FSNAME "msc"
morganrose402 9:43be0dea44f0 13 MSCFileSystem msc(FSNAME);
morganrose402 9:43be0dea44f0 14
crmackey 0:4d1ae7eb0070 15
crmackey 0:4d1ae7eb0070 16 m3pi m3pi;
crmackey 0:4d1ae7eb0070 17 btbee btbee;
crmackey 0:4d1ae7eb0070 18 DigitalIn m3pi_pb(p21);
crmackey 1:936e329e840a 19 DigitalIn m3pi_IN[] = {(p12)};
crmackey 0:4d1ae7eb0070 20 DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)};
crmackey 0:4d1ae7eb0070 21 DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)};
crmackey 0:4d1ae7eb0070 22
crmackey 0:4d1ae7eb0070 23 // Minimum and maximum motor speeds
crmackey 0:4d1ae7eb0070 24 #define MAX 1.0
crmackey 0:4d1ae7eb0070 25 #define MIN 0
crmackey 0:4d1ae7eb0070 26
crmackey 0:4d1ae7eb0070 27 // PID terms
crmackey 6:75a6f6b50188 28 double P_TERM = 1.5;
crmackey 6:75a6f6b50188 29 double I_TERM = 0;
crmackey 6:75a6f6b50188 30 double D_TERM = 25;
crmackey 6:75a6f6b50188 31 char arr_read[30];
crmackey 6:75a6f6b50188 32 int chars_read;
crmackey 0:4d1ae7eb0070 33
crmackey 0:4d1ae7eb0070 34 int main() {
crmackey 0:4d1ae7eb0070 35
morganrose402 12:057471fb3616 36 DIR *d;
morganrose402 12:057471fb3616 37 struct dirent *p;
morganrose402 12:057471fb3616 38
morganrose402 12:057471fb3616 39 d = opendir("/" FSNAME);
morganrose402 12:057471fb3616 40
morganrose402 12:057471fb3616 41 FILE *fp = fopen( "/" FSNAME "/Fertig.txt", "w");
morganrose402 12:057471fb3616 42 if ( fp == NULL )
morganrose402 12:057471fb3616 43 {
morganrose402 12:057471fb3616 44 m3pi.leds(1);
morganrose402 12:057471fb3616 45 }
crmackey 1:936e329e840a 46
crmackey 0:4d1ae7eb0070 47
crmackey 0:4d1ae7eb0070 48 btbee.reset();
crmackey 0:4d1ae7eb0070 49 m3pi_pb.mode(PullUp);
crmackey 0:4d1ae7eb0070 50
crmackey 0:4d1ae7eb0070 51 m3pi.printf("Wait 4");
crmackey 0:4d1ae7eb0070 52 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 53 m3pi.printf("PC");
crmackey 0:4d1ae7eb0070 54
crmackey 0:4d1ae7eb0070 55 while(m3pi_pb) {
crmackey 0:4d1ae7eb0070 56 m3pi_led[0]=!m3pi_led[0];
crmackey 0:4d1ae7eb0070 57 wait(3);
crmackey 0:4d1ae7eb0070 58 btbee.printf("\n");
crmackey 0:4d1ae7eb0070 59 btbee.printf("PC connected. Press the button \n");
crmackey 0:4d1ae7eb0070 60 }
crmackey 0:4d1ae7eb0070 61
crmackey 1:936e329e840a 62 m3pi.cls();
crmackey 0:4d1ae7eb0070 63
crmackey 0:4d1ae7eb0070 64 Timer LapTimer;
crmackey 5:3f29267b18e3 65 Timer LoopTime;
crmackey 0:4d1ae7eb0070 66 char Bat[] = {'V','o','l','t',' ','i','s'};
crmackey 0:4d1ae7eb0070 67 m3pi.print(Bat,7);
crmackey 0:4d1ae7eb0070 68 wait(0.75);
crmackey 0:4d1ae7eb0070 69 m3pi.cls();
crmackey 0:4d1ae7eb0070 70 float batteryvoltage = m3pi.battery();
crmackey 0:4d1ae7eb0070 71 char* str = new char[30];
crmackey 0:4d1ae7eb0070 72 sprintf(str, "%.4g", batteryvoltage);
crmackey 0:4d1ae7eb0070 73 m3pi.print(str,6);
crmackey 0:4d1ae7eb0070 74 btbee.printf("Battery voltage is %f \n", batteryvoltage);
crmackey 0:4d1ae7eb0070 75 wait(0.75);
crmackey 0:4d1ae7eb0070 76 m3pi.cls();
crmackey 0:4d1ae7eb0070 77
crmackey 0:4d1ae7eb0070 78 if (batteryvoltage < 4.2)
crmackey 0:4d1ae7eb0070 79 {
crmackey 0:4d1ae7eb0070 80 char low[] = {'L','o','w',' ','b','a','t'};
crmackey 0:4d1ae7eb0070 81 m3pi.print(low,7);
crmackey 0:4d1ae7eb0070 82 char ExitSound[]={'V','1','5','O','6','E','4','O','5','E','4'};
crmackey 0:4d1ae7eb0070 83 m3pi.playtune(ExitSound,11);
crmackey 0:4d1ae7eb0070 84 btbee.printf("Battery voltage is too low. Stopping program");
crmackey 0:4d1ae7eb0070 85 exit(1);
crmackey 0:4d1ae7eb0070 86 }
crmackey 0:4d1ae7eb0070 87
crmackey 0:4d1ae7eb0070 88 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 89 m3pi.printf("Line PID");
crmackey 0:4d1ae7eb0070 90
crmackey 0:4d1ae7eb0070 91 wait(2.0);
crmackey 6:75a6f6b50188 92
crmackey 0:4d1ae7eb0070 93 btbee.printf("Now calibrating \n");
crmackey 0:4d1ae7eb0070 94
crmackey 0:4d1ae7eb0070 95 m3pi.sensor_auto_calibrate();
crmackey 0:4d1ae7eb0070 96
crmackey 0:4d1ae7eb0070 97 btbee.printf("Finished calibrating \n");
crmackey 0:4d1ae7eb0070 98
crmackey 0:4d1ae7eb0070 99
crmackey 0:4d1ae7eb0070 100 float right;
crmackey 0:4d1ae7eb0070 101 float left;
crmackey 0:4d1ae7eb0070 102 float current_pos_of_line = 0.0;
crmackey 0:4d1ae7eb0070 103 float previous_pos_of_line = 0.0;
crmackey 0:4d1ae7eb0070 104 float derivative,proportional,integral = 0;
crmackey 0:4d1ae7eb0070 105 float power;
crmackey 0:4d1ae7eb0070 106 float speed = MAX;
crmackey 0:4d1ae7eb0070 107 int LapTest[5];
crmackey 0:4d1ae7eb0070 108 int s1, s2, s3, s4, s5;
crmackey 0:4d1ae7eb0070 109 int counter = -1;
crmackey 0:4d1ae7eb0070 110 int checkvar = 0;
crmackey 0:4d1ae7eb0070 111 double Time1, Time2, Time3, Time4, Time5, TimeAve;
crmackey 3:ebe015c72bba 112 bool IR = 1;
crmackey 5:3f29267b18e3 113 double timer;
crmackey 0:4d1ae7eb0070 114 btbee.printf("\n");
crmackey 0:4d1ae7eb0070 115 btbee.printf("Now starting \n");
crmackey 0:4d1ae7eb0070 116
crmackey 1:936e329e840a 117 while (1) {
crmackey 1:936e329e840a 118
crmackey 5:3f29267b18e3 119 LoopTime.start();
crmackey 5:3f29267b18e3 120
crmackey 3:ebe015c72bba 121 IR = m3pi_IN [0];
crmackey 3:ebe015c72bba 122
crmackey 3:ebe015c72bba 123 if(m3pi_IN [0] == 0 and IR == 0) {
crmackey 3:ebe015c72bba 124 while (m3pi_IN [0] == 0 and IR == 0) {
crmackey 4:0bcd7a924140 125 m3pi.cls();
crmackey 4:0bcd7a924140 126 btbee.printf("Obstacle detected. Ending program");
crmackey 4:0bcd7a924140 127 m3pi.printf("ABORT");
crmackey 2:1e947dcc40cb 128 m3pi.stop();
crmackey 4:0bcd7a924140 129 exit(1);
crmackey 2:1e947dcc40cb 130 }
crmackey 2:1e947dcc40cb 131 }
crmackey 4:0bcd7a924140 132
crmackey 2:1e947dcc40cb 133
crmackey 2:1e947dcc40cb 134 // Get the position of the line.
crmackey 0:4d1ae7eb0070 135 current_pos_of_line = m3pi.line_position();
crmackey 0:4d1ae7eb0070 136 proportional = current_pos_of_line;
crmackey 0:4d1ae7eb0070 137
morganrose402 9:43be0dea44f0 138
crmackey 0:4d1ae7eb0070 139 // Compute the derivative
crmackey 0:4d1ae7eb0070 140 derivative = current_pos_of_line - previous_pos_of_line;
crmackey 0:4d1ae7eb0070 141
crmackey 0:4d1ae7eb0070 142 // Compute the integral
crmackey 0:4d1ae7eb0070 143 integral += proportional;
crmackey 0:4d1ae7eb0070 144
crmackey 0:4d1ae7eb0070 145 // Remember the last position.
crmackey 0:4d1ae7eb0070 146 previous_pos_of_line = current_pos_of_line;
crmackey 0:4d1ae7eb0070 147
crmackey 0:4d1ae7eb0070 148 // Compute the power
crmackey 0:4d1ae7eb0070 149 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
crmackey 0:4d1ae7eb0070 150
crmackey 0:4d1ae7eb0070 151 // Compute new speeds
crmackey 0:4d1ae7eb0070 152 right = speed+power;
crmackey 0:4d1ae7eb0070 153 left = speed-power;
crmackey 0:4d1ae7eb0070 154
crmackey 0:4d1ae7eb0070 155 // limit checks
crmackey 0:4d1ae7eb0070 156 if (right < MIN)
crmackey 0:4d1ae7eb0070 157 right = MIN;
crmackey 0:4d1ae7eb0070 158 else if (right > MAX)
crmackey 0:4d1ae7eb0070 159 right = MAX;
crmackey 0:4d1ae7eb0070 160
crmackey 0:4d1ae7eb0070 161 if (left < MIN)
crmackey 0:4d1ae7eb0070 162 left = MIN;
crmackey 0:4d1ae7eb0070 163 else if (left > MAX)
crmackey 0:4d1ae7eb0070 164 left = MAX;
crmackey 0:4d1ae7eb0070 165
crmackey 0:4d1ae7eb0070 166 // set speed
crmackey 0:4d1ae7eb0070 167 m3pi.left_motor(left);
crmackey 0:4d1ae7eb0070 168 m3pi.right_motor(right);
crmackey 0:4d1ae7eb0070 169
morganrose402 9:43be0dea44f0 170
morganrose402 11:ac6112ca954f 171
morganrose402 9:43be0dea44f0 172
crmackey 0:4d1ae7eb0070 173 m3pi.calibrated_sensor(LapTest);
crmackey 0:4d1ae7eb0070 174
crmackey 0:4d1ae7eb0070 175 s1 = LapTest[0];
crmackey 0:4d1ae7eb0070 176 s5 = LapTest[4];
crmackey 0:4d1ae7eb0070 177
crmackey 8:e7b322f72d16 178 if (s1 > 500 and s5 > 500) {
crmackey 8:e7b322f72d16 179 m3pi.stop();
crmackey 8:e7b322f72d16 180 exit(1);
crmackey 8:e7b322f72d16 181 }
crmackey 8:e7b322f72d16 182
crmackey 7:74c9a0fbf2b1 183 // if (s1 < 500 and s5 < 500 and checkvar == 1 and counter == -1) {
crmackey 7:74c9a0fbf2b1 184 // LapTimer.reset();
crmackey 7:74c9a0fbf2b1 185 // LapTimer.start();
crmackey 7:74c9a0fbf2b1 186 // }
crmackey 7:74c9a0fbf2b1 187 //
crmackey 7:74c9a0fbf2b1 188 // if (s1 < 500 and s5 < 500 and checkvar == 1) {
crmackey 7:74c9a0fbf2b1 189 // counter = counter + 1;
crmackey 7:74c9a0fbf2b1 190 // m3pi.cls();
crmackey 7:74c9a0fbf2b1 191 // m3pi.printf("%d", counter);
crmackey 7:74c9a0fbf2b1 192 // checkvar = 0;
crmackey 7:74c9a0fbf2b1 193 // switch (counter) {
crmackey 7:74c9a0fbf2b1 194 // case 1: {
crmackey 7:74c9a0fbf2b1 195 // Time1 = LapTimer.read();
crmackey 7:74c9a0fbf2b1 196 // LapTimer.reset();
crmackey 7:74c9a0fbf2b1 197 // LapTimer.start();
crmackey 7:74c9a0fbf2b1 198 // btbee.printf("Lap 1: %f \n", Time1);
crmackey 7:74c9a0fbf2b1 199 // break;
crmackey 7:74c9a0fbf2b1 200 // }
crmackey 7:74c9a0fbf2b1 201 // case 2: {
crmackey 7:74c9a0fbf2b1 202 // Time2 = LapTimer.read();
crmackey 7:74c9a0fbf2b1 203 // LapTimer.reset();
crmackey 7:74c9a0fbf2b1 204 // LapTimer.start();
crmackey 7:74c9a0fbf2b1 205 // btbee.printf("Lap 2: %f \n", Time2);
crmackey 7:74c9a0fbf2b1 206 // break;
crmackey 7:74c9a0fbf2b1 207 // }
crmackey 7:74c9a0fbf2b1 208 // case 3: {
crmackey 7:74c9a0fbf2b1 209 // Time3 = LapTimer.read();
crmackey 7:74c9a0fbf2b1 210 // LapTimer.reset();
crmackey 7:74c9a0fbf2b1 211 // LapTimer.start();
crmackey 7:74c9a0fbf2b1 212 // btbee.printf("Lap 3: %f \n", Time3);
crmackey 7:74c9a0fbf2b1 213 // break;
crmackey 7:74c9a0fbf2b1 214 // }
crmackey 7:74c9a0fbf2b1 215 // case 4: {
crmackey 7:74c9a0fbf2b1 216 // Time4 = LapTimer.read();
crmackey 7:74c9a0fbf2b1 217 // LapTimer.reset();
crmackey 7:74c9a0fbf2b1 218 // LapTimer.start();
crmackey 7:74c9a0fbf2b1 219 // btbee.printf("Lap 4: %f \n", Time4);
crmackey 7:74c9a0fbf2b1 220 // break;
crmackey 7:74c9a0fbf2b1 221 // }
crmackey 7:74c9a0fbf2b1 222 // case 5: {
crmackey 7:74c9a0fbf2b1 223 // Time5 = LapTimer.read();
crmackey 7:74c9a0fbf2b1 224 // LapTimer.reset();
crmackey 7:74c9a0fbf2b1 225 // LapTimer.start();
crmackey 7:74c9a0fbf2b1 226 // btbee.printf("Lap 5: %f \n", Time5);
crmackey 7:74c9a0fbf2b1 227 // break;
crmackey 7:74c9a0fbf2b1 228 // }
crmackey 7:74c9a0fbf2b1 229 // }
crmackey 7:74c9a0fbf2b1 230 //
crmackey 7:74c9a0fbf2b1 231 //
crmackey 7:74c9a0fbf2b1 232 // }
crmackey 7:74c9a0fbf2b1 233 //
crmackey 7:74c9a0fbf2b1 234 //if (counter == 5) {
crmackey 7:74c9a0fbf2b1 235 // m3pi.stop();
crmackey 7:74c9a0fbf2b1 236 // m3pi.cls();
crmackey 7:74c9a0fbf2b1 237 // m3pi.locate(0,0);
crmackey 7:74c9a0fbf2b1 238 // m3pi.printf("Ave time");
crmackey 7:74c9a0fbf2b1 239 // TimeAve = (Time1 + Time2 + Time3 + Time4 + Time5)/5.0;
crmackey 7:74c9a0fbf2b1 240 // m3pi.locate(0,1);
crmackey 7:74c9a0fbf2b1 241 // m3pi.printf("%f", TimeAve);
crmackey 7:74c9a0fbf2b1 242 // btbee.printf("Average time per lap: %f \n", TimeAve);
crmackey 7:74c9a0fbf2b1 243 // btbee.printf("\n");
crmackey 7:74c9a0fbf2b1 244 // btbee.printf("Enter P value, I value, and D value separately \n");
crmackey 7:74c9a0fbf2b1 245 //
crmackey 7:74c9a0fbf2b1 246 // while(1) {
crmackey 7:74c9a0fbf2b1 247 //
crmackey 7:74c9a0fbf2b1 248 //
crmackey 7:74c9a0fbf2b1 249 // if (btbee.readable()) {
crmackey 7:74c9a0fbf2b1 250 //
crmackey 7:74c9a0fbf2b1 251 // btbee.printf("Enter P valure: \n");
crmackey 7:74c9a0fbf2b1 252 //
crmackey 7:74c9a0fbf2b1 253 //
crmackey 7:74c9a0fbf2b1 254 // btbee.read_all(arr_read, 30, &chars_read);
crmackey 7:74c9a0fbf2b1 255 // P_TERM = atof(arr_read);
crmackey 7:74c9a0fbf2b1 256 //
crmackey 7:74c9a0fbf2b1 257 // btbee.printf("P term is %f \n", P_TERM);
crmackey 7:74c9a0fbf2b1 258 //
crmackey 7:74c9a0fbf2b1 259 // wait(1.0);
crmackey 7:74c9a0fbf2b1 260 //
crmackey 7:74c9a0fbf2b1 261 // break;
crmackey 7:74c9a0fbf2b1 262 //
crmackey 7:74c9a0fbf2b1 263 // }
crmackey 7:74c9a0fbf2b1 264 //
crmackey 7:74c9a0fbf2b1 265 // }
crmackey 7:74c9a0fbf2b1 266 //
crmackey 7:74c9a0fbf2b1 267 // while(1) {
crmackey 7:74c9a0fbf2b1 268 //
crmackey 7:74c9a0fbf2b1 269 // if(btbee.readable()) {
crmackey 7:74c9a0fbf2b1 270 //
crmackey 7:74c9a0fbf2b1 271 // btbee.printf("Enter I value: \n");
crmackey 7:74c9a0fbf2b1 272 //
crmackey 7:74c9a0fbf2b1 273 // btbee.read_all(arr_read, 30, &chars_read);
crmackey 7:74c9a0fbf2b1 274 // I_TERM = atof(arr_read);
crmackey 7:74c9a0fbf2b1 275 //
crmackey 7:74c9a0fbf2b1 276 // btbee.printf("I term is %f \n", I_TERM);
crmackey 7:74c9a0fbf2b1 277 //
crmackey 7:74c9a0fbf2b1 278 // wait(1.0);
crmackey 7:74c9a0fbf2b1 279 //
crmackey 7:74c9a0fbf2b1 280 // break;
crmackey 7:74c9a0fbf2b1 281 //
crmackey 7:74c9a0fbf2b1 282 // }
crmackey 7:74c9a0fbf2b1 283 //
crmackey 7:74c9a0fbf2b1 284 // }
crmackey 7:74c9a0fbf2b1 285 //
crmackey 7:74c9a0fbf2b1 286 // while(1) {
crmackey 7:74c9a0fbf2b1 287 //
crmackey 7:74c9a0fbf2b1 288 // if(btbee.readable()) {
crmackey 7:74c9a0fbf2b1 289 //
crmackey 7:74c9a0fbf2b1 290 // btbee.printf("Enter D value: \n");
crmackey 7:74c9a0fbf2b1 291 //
crmackey 7:74c9a0fbf2b1 292 // btbee.read_all(arr_read, 30, &chars_read);
crmackey 7:74c9a0fbf2b1 293 // D_TERM = atof(arr_read);
crmackey 7:74c9a0fbf2b1 294 //
crmackey 7:74c9a0fbf2b1 295 // btbee.printf("D term is %f \n", D_TERM);
crmackey 7:74c9a0fbf2b1 296 //
crmackey 7:74c9a0fbf2b1 297 // wait(1);
crmackey 7:74c9a0fbf2b1 298 //
crmackey 7:74c9a0fbf2b1 299 // btbee.printf("Starting again with new parameters");
crmackey 7:74c9a0fbf2b1 300 //
crmackey 7:74c9a0fbf2b1 301 // counter = -1;
crmackey 7:74c9a0fbf2b1 302 //
crmackey 7:74c9a0fbf2b1 303 //
crmackey 7:74c9a0fbf2b1 304 // break;
crmackey 7:74c9a0fbf2b1 305 //
crmackey 7:74c9a0fbf2b1 306 // }
crmackey 7:74c9a0fbf2b1 307 //
crmackey 7:74c9a0fbf2b1 308 // }
crmackey 7:74c9a0fbf2b1 309 //
crmackey 7:74c9a0fbf2b1 310 // }
crmackey 6:75a6f6b50188 311
crmackey 6:75a6f6b50188 312
crmackey 5:3f29267b18e3 313
crmackey 6:75a6f6b50188 314
crmackey 6:75a6f6b50188 315 //if(timer < 0.005) {
crmackey 6:75a6f6b50188 316 // wait(0.005 - timer);
crmackey 6:75a6f6b50188 317 // }
crmackey 6:75a6f6b50188 318 // timer = 0;
crmackey 6:75a6f6b50188 319 // LoopTime.reset();
crmackey 0:4d1ae7eb0070 320
morganrose402 9:43be0dea44f0 321
crmackey 0:4d1ae7eb0070 322 }
morganrose402 12:057471fb3616 323 fprintf(fp,"LOL");
morganrose402 12:057471fb3616 324 fclose(fp);
crmackey 6:75a6f6b50188 325 }