MEGACARAZ / Mbed 2 deprecated PID

PIDs and fun

Dependencies:   btbee m3pi_ng mbed FatFileSystemCpp

main.cpp@7:74c9a0fbf2b1, 2015-05-28 (annotated)

Committer:
crmackey
Date:
Thu May 28 12:51:37 2015 +0000
Revision:
7:74c9a0fbf2b1
Parent:
6:75a6f6b50188
Child:
8:e7b322f72d16
Commented out portions of code for current assignment

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