MEGACARAZ / Mbed 2 deprecated PID

PIDs and fun

Dependencies:   btbee m3pi_ng mbed FatFileSystemCpp

main.cpp@5:3f29267b18e3, 2015-05-27 (annotated)

Committer:
crmackey
Date:
Wed May 27 12:24:22 2015 +0000
Revision:
5:3f29267b18e3
Parent:
4:0bcd7a924140
Child:
6:75a6f6b50188
Each loop now lasts exactly five miliseconds.

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"
crmackey 0:4d1ae7eb0070 5
crmackey 0:4d1ae7eb0070 6 m3pi m3pi;
crmackey 0:4d1ae7eb0070 7 btbee btbee;
crmackey 0:4d1ae7eb0070 8 DigitalIn m3pi_pb(p21);
crmackey 1:936e329e840a 9 DigitalIn m3pi_IN[] = {(p12)};
crmackey 0:4d1ae7eb0070 10 DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)};
crmackey 0:4d1ae7eb0070 11 DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)};
crmackey 0:4d1ae7eb0070 12
crmackey 0:4d1ae7eb0070 13 // Minimum and maximum motor speeds
crmackey 0:4d1ae7eb0070 14 #define MAX 1.0
crmackey 0:4d1ae7eb0070 15 #define MIN 0
crmackey 0:4d1ae7eb0070 16
crmackey 0:4d1ae7eb0070 17 // PID terms
crmackey 0:4d1ae7eb0070 18 #define P_TERM 1.5
crmackey 0:4d1ae7eb0070 19 #define I_TERM 0
crmackey 0:4d1ae7eb0070 20 #define D_TERM 25
crmackey 0:4d1ae7eb0070 21
crmackey 0:4d1ae7eb0070 22 int main() {
crmackey 0:4d1ae7eb0070 23
crmackey 1:936e329e840a 24
crmackey 0:4d1ae7eb0070 25
crmackey 0:4d1ae7eb0070 26 btbee.reset();
crmackey 0:4d1ae7eb0070 27 m3pi_pb.mode(PullUp);
crmackey 0:4d1ae7eb0070 28
crmackey 0:4d1ae7eb0070 29 m3pi.printf("Wait 4");
crmackey 0:4d1ae7eb0070 30 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 31 m3pi.printf("PC");
crmackey 0:4d1ae7eb0070 32
crmackey 0:4d1ae7eb0070 33 while(m3pi_pb) {
crmackey 0:4d1ae7eb0070 34 m3pi_led[0]=!m3pi_led[0];
crmackey 0:4d1ae7eb0070 35 wait(3);
crmackey 0:4d1ae7eb0070 36 btbee.printf("\n");
crmackey 0:4d1ae7eb0070 37 btbee.printf("PC connected. Press the button \n");
crmackey 0:4d1ae7eb0070 38 }
crmackey 0:4d1ae7eb0070 39
crmackey 1:936e329e840a 40 m3pi.cls();
crmackey 0:4d1ae7eb0070 41
crmackey 0:4d1ae7eb0070 42 Timer LapTimer;
crmackey 5:3f29267b18e3 43 Timer LoopTime;
crmackey 0:4d1ae7eb0070 44 char Bat[] = {'V','o','l','t',' ','i','s'};
crmackey 0:4d1ae7eb0070 45 m3pi.print(Bat,7);
crmackey 0:4d1ae7eb0070 46 wait(0.75);
crmackey 0:4d1ae7eb0070 47 m3pi.cls();
crmackey 0:4d1ae7eb0070 48 float batteryvoltage = m3pi.battery();
crmackey 0:4d1ae7eb0070 49 char* str = new char[30];
crmackey 0:4d1ae7eb0070 50 sprintf(str, "%.4g", batteryvoltage);
crmackey 0:4d1ae7eb0070 51 m3pi.print(str,6);
crmackey 0:4d1ae7eb0070 52 btbee.printf("Battery voltage is %f \n", batteryvoltage);
crmackey 0:4d1ae7eb0070 53 wait(0.75);
crmackey 0:4d1ae7eb0070 54 m3pi.cls();
crmackey 0:4d1ae7eb0070 55
crmackey 0:4d1ae7eb0070 56 if (batteryvoltage < 4.2)
crmackey 0:4d1ae7eb0070 57 {
crmackey 0:4d1ae7eb0070 58 char low[] = {'L','o','w',' ','b','a','t'};
crmackey 0:4d1ae7eb0070 59 m3pi.print(low,7);
crmackey 0:4d1ae7eb0070 60 char ExitSound[]={'V','1','5','O','6','E','4','O','5','E','4'};
crmackey 0:4d1ae7eb0070 61 m3pi.playtune(ExitSound,11);
crmackey 0:4d1ae7eb0070 62 btbee.printf("Battery voltage is too low. Stopping program");
crmackey 0:4d1ae7eb0070 63 exit(1);
crmackey 0:4d1ae7eb0070 64 }
crmackey 0:4d1ae7eb0070 65
crmackey 0:4d1ae7eb0070 66 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 67 m3pi.printf("Line PID");
crmackey 0:4d1ae7eb0070 68
crmackey 0:4d1ae7eb0070 69 wait(2.0);
crmackey 0:4d1ae7eb0070 70
crmackey 0:4d1ae7eb0070 71 btbee.printf("Now calibrating \n");
crmackey 0:4d1ae7eb0070 72
crmackey 0:4d1ae7eb0070 73 m3pi.sensor_auto_calibrate();
crmackey 0:4d1ae7eb0070 74
crmackey 0:4d1ae7eb0070 75 btbee.printf("Finished calibrating \n");
crmackey 0:4d1ae7eb0070 76
crmackey 0:4d1ae7eb0070 77
crmackey 0:4d1ae7eb0070 78 float right;
crmackey 0:4d1ae7eb0070 79 float left;
crmackey 0:4d1ae7eb0070 80 float current_pos_of_line = 0.0;
crmackey 0:4d1ae7eb0070 81 float previous_pos_of_line = 0.0;
crmackey 0:4d1ae7eb0070 82 float derivative,proportional,integral = 0;
crmackey 0:4d1ae7eb0070 83 float power;
crmackey 0:4d1ae7eb0070 84 float speed = MAX;
crmackey 0:4d1ae7eb0070 85 int LapTest[5];
crmackey 0:4d1ae7eb0070 86 int s1, s2, s3, s4, s5;
crmackey 0:4d1ae7eb0070 87 int counter = -1;
crmackey 0:4d1ae7eb0070 88 int checkvar = 0;
crmackey 0:4d1ae7eb0070 89 double Time1, Time2, Time3, Time4, Time5, TimeAve;
crmackey 3:ebe015c72bba 90 bool IR = 1;
crmackey 5:3f29267b18e3 91 double timer;
crmackey 0:4d1ae7eb0070 92 btbee.printf("\n");
crmackey 0:4d1ae7eb0070 93 btbee.printf("Now starting \n");
crmackey 0:4d1ae7eb0070 94
crmackey 0:4d1ae7eb0070 95
crmackey 1:936e329e840a 96
crmackey 0:4d1ae7eb0070 97
crmackey 1:936e329e840a 98 while (1) {
crmackey 1:936e329e840a 99
crmackey 5:3f29267b18e3 100 LoopTime.start();
crmackey 5:3f29267b18e3 101
crmackey 3:ebe015c72bba 102 IR = m3pi_IN [0];
crmackey 3:ebe015c72bba 103
crmackey 3:ebe015c72bba 104 if(m3pi_IN [0] == 0 and IR == 0) {
crmackey 3:ebe015c72bba 105 while (m3pi_IN [0] == 0 and IR == 0) {
crmackey 4:0bcd7a924140 106 m3pi.cls();
crmackey 4:0bcd7a924140 107 btbee.printf("Obstacle detected. Ending program");
crmackey 4:0bcd7a924140 108 m3pi.printf("ABORT");
crmackey 2:1e947dcc40cb 109 m3pi.stop();
crmackey 4:0bcd7a924140 110 exit(1);
crmackey 2:1e947dcc40cb 111 }
crmackey 2:1e947dcc40cb 112 }
crmackey 4:0bcd7a924140 113
crmackey 2:1e947dcc40cb 114
crmackey 2:1e947dcc40cb 115 // Get the position of the line.
crmackey 0:4d1ae7eb0070 116 current_pos_of_line = m3pi.line_position();
crmackey 0:4d1ae7eb0070 117 proportional = current_pos_of_line;
crmackey 0:4d1ae7eb0070 118
crmackey 0:4d1ae7eb0070 119 // Compute the derivative
crmackey 0:4d1ae7eb0070 120 derivative = current_pos_of_line - previous_pos_of_line;
crmackey 0:4d1ae7eb0070 121
crmackey 0:4d1ae7eb0070 122 // Compute the integral
crmackey 0:4d1ae7eb0070 123 integral += proportional;
crmackey 0:4d1ae7eb0070 124
crmackey 0:4d1ae7eb0070 125 // Remember the last position.
crmackey 0:4d1ae7eb0070 126 previous_pos_of_line = current_pos_of_line;
crmackey 0:4d1ae7eb0070 127
crmackey 0:4d1ae7eb0070 128 // Compute the power
crmackey 0:4d1ae7eb0070 129 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
crmackey 0:4d1ae7eb0070 130
crmackey 0:4d1ae7eb0070 131 // Compute new speeds
crmackey 0:4d1ae7eb0070 132 right = speed+power;
crmackey 0:4d1ae7eb0070 133 left = speed-power;
crmackey 0:4d1ae7eb0070 134
crmackey 0:4d1ae7eb0070 135 // limit checks
crmackey 0:4d1ae7eb0070 136 if (right < MIN)
crmackey 0:4d1ae7eb0070 137 right = MIN;
crmackey 0:4d1ae7eb0070 138 else if (right > MAX)
crmackey 0:4d1ae7eb0070 139 right = MAX;
crmackey 0:4d1ae7eb0070 140
crmackey 0:4d1ae7eb0070 141 if (left < MIN)
crmackey 0:4d1ae7eb0070 142 left = MIN;
crmackey 0:4d1ae7eb0070 143 else if (left > MAX)
crmackey 0:4d1ae7eb0070 144 left = MAX;
crmackey 0:4d1ae7eb0070 145
crmackey 0:4d1ae7eb0070 146 // set speed
crmackey 0:4d1ae7eb0070 147 m3pi.left_motor(left);
crmackey 0:4d1ae7eb0070 148 m3pi.right_motor(right);
crmackey 0:4d1ae7eb0070 149
crmackey 0:4d1ae7eb0070 150 m3pi.calibrated_sensor(LapTest);
crmackey 0:4d1ae7eb0070 151
crmackey 0:4d1ae7eb0070 152 s1 = LapTest[0];
crmackey 0:4d1ae7eb0070 153 s2 = LapTest[1];
crmackey 0:4d1ae7eb0070 154 s3 = LapTest[2];
crmackey 0:4d1ae7eb0070 155 s4 = LapTest[3];
crmackey 0:4d1ae7eb0070 156 s5 = LapTest[4];
crmackey 0:4d1ae7eb0070 157
crmackey 0:4d1ae7eb0070 158 if (s1 > 500 and s5 > 500) {
crmackey 0:4d1ae7eb0070 159 checkvar = 1;
crmackey 0:4d1ae7eb0070 160 }
crmackey 0:4d1ae7eb0070 161
crmackey 0:4d1ae7eb0070 162 if (s1 < 500 and s5 < 500 and checkvar == 1 and counter == -1) {
crmackey 0:4d1ae7eb0070 163 LapTimer.start();
crmackey 0:4d1ae7eb0070 164 }
crmackey 0:4d1ae7eb0070 165
crmackey 0:4d1ae7eb0070 166 if (s1 < 500 and s5 < 500 and checkvar == 1) {
crmackey 0:4d1ae7eb0070 167 counter = counter + 1;
crmackey 0:4d1ae7eb0070 168 m3pi.cls();
crmackey 0:4d1ae7eb0070 169 m3pi.printf("%d", counter);
crmackey 0:4d1ae7eb0070 170 checkvar = 0;
crmackey 0:4d1ae7eb0070 171 switch (counter) {
crmackey 0:4d1ae7eb0070 172 case 1: {
crmackey 0:4d1ae7eb0070 173 Time1 = LapTimer.read();
crmackey 0:4d1ae7eb0070 174 LapTimer.reset();
crmackey 0:4d1ae7eb0070 175 LapTimer.start();
crmackey 0:4d1ae7eb0070 176 btbee.printf("Lap 1: %f \n", Time1);
crmackey 0:4d1ae7eb0070 177 break;
crmackey 0:4d1ae7eb0070 178 }
crmackey 0:4d1ae7eb0070 179 case 2: {
crmackey 0:4d1ae7eb0070 180 Time2 = LapTimer.read();
crmackey 0:4d1ae7eb0070 181 LapTimer.reset();
crmackey 0:4d1ae7eb0070 182 LapTimer.start();
crmackey 0:4d1ae7eb0070 183 btbee.printf("Lap 2: %f \n", Time2);
crmackey 0:4d1ae7eb0070 184 break;
crmackey 0:4d1ae7eb0070 185 }
crmackey 0:4d1ae7eb0070 186 case 3: {
crmackey 0:4d1ae7eb0070 187 Time3 = LapTimer.read();
crmackey 0:4d1ae7eb0070 188 LapTimer.reset();
crmackey 0:4d1ae7eb0070 189 LapTimer.start();
crmackey 0:4d1ae7eb0070 190 btbee.printf("Lap 3: %f \n", Time3);
crmackey 0:4d1ae7eb0070 191 break;
crmackey 0:4d1ae7eb0070 192 }
crmackey 0:4d1ae7eb0070 193 case 4: {
crmackey 0:4d1ae7eb0070 194 Time4 = LapTimer.read();
crmackey 0:4d1ae7eb0070 195 LapTimer.reset();
crmackey 0:4d1ae7eb0070 196 LapTimer.start();
crmackey 0:4d1ae7eb0070 197 btbee.printf("Lap 4: %f \n", Time4);
crmackey 0:4d1ae7eb0070 198 break;
crmackey 0:4d1ae7eb0070 199 }
crmackey 0:4d1ae7eb0070 200 case 5: {
crmackey 0:4d1ae7eb0070 201 Time5 = LapTimer.read();
crmackey 0:4d1ae7eb0070 202 LapTimer.reset();
crmackey 0:4d1ae7eb0070 203 LapTimer.start();
crmackey 0:4d1ae7eb0070 204 btbee.printf("Lap 5: %f \n", Time5);
crmackey 0:4d1ae7eb0070 205 break;
crmackey 0:4d1ae7eb0070 206 }
crmackey 0:4d1ae7eb0070 207 }
crmackey 0:4d1ae7eb0070 208
crmackey 0:4d1ae7eb0070 209
crmackey 0:4d1ae7eb0070 210 }
crmackey 0:4d1ae7eb0070 211
crmackey 0:4d1ae7eb0070 212 if (counter == 5) {
crmackey 0:4d1ae7eb0070 213 m3pi.stop();
crmackey 0:4d1ae7eb0070 214 m3pi.cls();
crmackey 0:4d1ae7eb0070 215 m3pi.locate(0,0);
crmackey 0:4d1ae7eb0070 216 m3pi.printf("Ave time");
crmackey 0:4d1ae7eb0070 217 TimeAve = (Time1 + Time2 + Time3 + Time4 + Time5)/5.0;
crmackey 0:4d1ae7eb0070 218 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 219 m3pi.printf("%f", TimeAve);
crmackey 0:4d1ae7eb0070 220 btbee.printf("Average time per lap: %f ", TimeAve);
crmackey 0:4d1ae7eb0070 221 exit(1);
crmackey 0:4d1ae7eb0070 222 }
crmackey 5:3f29267b18e3 223
crmackey 5:3f29267b18e3 224 timer = LoopTime.read();
crmackey 5:3f29267b18e3 225 btbee.printf("%f", timer);
crmackey 5:3f29267b18e3 226 btbee.printf("\n");
crmackey 5:3f29267b18e3 227 if(timer < 0.005) {
crmackey 5:3f29267b18e3 228 wait(0.005 - timer);
crmackey 5:3f29267b18e3 229 }
crmackey 5:3f29267b18e3 230 timer = 0;
crmackey 5:3f29267b18e3 231 LoopTime.reset();
crmackey 0:4d1ae7eb0070 232
crmackey 0:4d1ae7eb0070 233 }
crmackey 0:4d1ae7eb0070 234
crmackey 1:936e329e840a 235 }
crmackey 1:936e329e840a 236
crmackey 2:1e947dcc40cb 237
crmackey 2:1e947dcc40cb 238
crmackey 4:0bcd7a924140 239