MEGACARAZ / Mbed 2 deprecated PID

PIDs and fun

Dependencies:   btbee m3pi_ng mbed FatFileSystemCpp

main.cpp@11:ac6112ca954f, 2015-05-28 (annotated)

Committer:
morganrose402
Date:
Thu May 28 14:29:54 2015 +0000
Revision:
11:ac6112ca954f
Parent:
10:fd4ae3946c7e
Child:
12:057471fb3616
took out the USB garbage; ;

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