MEGACARAZ / Mbed 2 deprecated PID

PIDs and fun

Dependencies:   btbee m3pi_ng mbed FatFileSystemCpp

main.cpp@3:ebe015c72bba, 2015-05-27 (annotated)

Committer:
crmackey
Date:
Wed May 27 11:49:58 2015 +0000
Revision:
3:ebe015c72bba
Parent:
2:1e947dcc40cb
Child:
4:0bcd7a924140
More IF stuff

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 1:936e329e840a 25 while(1) {
crmackey 0:4d1ae7eb0070 26
crmackey 0:4d1ae7eb0070 27 btbee.reset();
crmackey 0:4d1ae7eb0070 28 m3pi_pb.mode(PullUp);
crmackey 0:4d1ae7eb0070 29
crmackey 0:4d1ae7eb0070 30 m3pi.printf("Wait 4");
crmackey 0:4d1ae7eb0070 31 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 32 m3pi.printf("PC");
crmackey 0:4d1ae7eb0070 33
crmackey 0:4d1ae7eb0070 34 while(m3pi_pb) {
crmackey 0:4d1ae7eb0070 35 m3pi_led[0]=!m3pi_led[0];
crmackey 0:4d1ae7eb0070 36 wait(3);
crmackey 0:4d1ae7eb0070 37 btbee.printf("\n");
crmackey 0:4d1ae7eb0070 38 btbee.printf("PC connected. Press the button \n");
crmackey 0:4d1ae7eb0070 39 }
crmackey 0:4d1ae7eb0070 40
crmackey 1:936e329e840a 41 m3pi.cls();
crmackey 0:4d1ae7eb0070 42
crmackey 0:4d1ae7eb0070 43 Timer LapTimer;
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 0:4d1ae7eb0070 91 btbee.printf("\n");
crmackey 0:4d1ae7eb0070 92 btbee.printf("Now starting \n");
crmackey 0:4d1ae7eb0070 93
crmackey 0:4d1ae7eb0070 94
crmackey 1:936e329e840a 95
crmackey 0:4d1ae7eb0070 96
crmackey 1:936e329e840a 97 while (1) {
crmackey 1:936e329e840a 98
crmackey 3:ebe015c72bba 99 IR = m3pi_IN [0];
crmackey 3:ebe015c72bba 100
crmackey 3:ebe015c72bba 101 if(m3pi_IN [0] == 0 and IR == 0) {
crmackey 3:ebe015c72bba 102 while (m3pi_IN [0] == 0 and IR == 0) {
crmackey 2:1e947dcc40cb 103 btbee.printf("Obstacle detected. Please remove to continue");
crmackey 2:1e947dcc40cb 104 m3pi.stop();
crmackey 2:1e947dcc40cb 105 wait(3.0);
crmackey 2:1e947dcc40cb 106 }
crmackey 2:1e947dcc40cb 107 }
crmackey 3:ebe015c72bba 108 IR = 1;
crmackey 2:1e947dcc40cb 109
crmackey 2:1e947dcc40cb 110 // Get the position of the line.
crmackey 0:4d1ae7eb0070 111 current_pos_of_line = m3pi.line_position();
crmackey 0:4d1ae7eb0070 112 proportional = current_pos_of_line;
crmackey 0:4d1ae7eb0070 113
crmackey 0:4d1ae7eb0070 114 // Compute the derivative
crmackey 0:4d1ae7eb0070 115 derivative = current_pos_of_line - previous_pos_of_line;
crmackey 0:4d1ae7eb0070 116
crmackey 0:4d1ae7eb0070 117 // Compute the integral
crmackey 0:4d1ae7eb0070 118 integral += proportional;
crmackey 0:4d1ae7eb0070 119
crmackey 0:4d1ae7eb0070 120 // Remember the last position.
crmackey 0:4d1ae7eb0070 121 previous_pos_of_line = current_pos_of_line;
crmackey 0:4d1ae7eb0070 122
crmackey 0:4d1ae7eb0070 123 // Compute the power
crmackey 0:4d1ae7eb0070 124 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
crmackey 0:4d1ae7eb0070 125
crmackey 0:4d1ae7eb0070 126 // Compute new speeds
crmackey 0:4d1ae7eb0070 127 right = speed+power;
crmackey 0:4d1ae7eb0070 128 left = speed-power;
crmackey 0:4d1ae7eb0070 129
crmackey 0:4d1ae7eb0070 130 // limit checks
crmackey 0:4d1ae7eb0070 131 if (right < MIN)
crmackey 0:4d1ae7eb0070 132 right = MIN;
crmackey 0:4d1ae7eb0070 133 else if (right > MAX)
crmackey 0:4d1ae7eb0070 134 right = MAX;
crmackey 0:4d1ae7eb0070 135
crmackey 0:4d1ae7eb0070 136 if (left < MIN)
crmackey 0:4d1ae7eb0070 137 left = MIN;
crmackey 0:4d1ae7eb0070 138 else if (left > MAX)
crmackey 0:4d1ae7eb0070 139 left = MAX;
crmackey 0:4d1ae7eb0070 140
crmackey 0:4d1ae7eb0070 141 // set speed
crmackey 0:4d1ae7eb0070 142 m3pi.left_motor(left);
crmackey 0:4d1ae7eb0070 143 m3pi.right_motor(right);
crmackey 0:4d1ae7eb0070 144
crmackey 0:4d1ae7eb0070 145 m3pi.calibrated_sensor(LapTest);
crmackey 0:4d1ae7eb0070 146
crmackey 0:4d1ae7eb0070 147 s1 = LapTest[0];
crmackey 0:4d1ae7eb0070 148 s2 = LapTest[1];
crmackey 0:4d1ae7eb0070 149 s3 = LapTest[2];
crmackey 0:4d1ae7eb0070 150 s4 = LapTest[3];
crmackey 0:4d1ae7eb0070 151 s5 = LapTest[4];
crmackey 0:4d1ae7eb0070 152
crmackey 0:4d1ae7eb0070 153 if (s1 > 500 and s5 > 500) {
crmackey 0:4d1ae7eb0070 154 checkvar = 1;
crmackey 0:4d1ae7eb0070 155 }
crmackey 0:4d1ae7eb0070 156
crmackey 0:4d1ae7eb0070 157 if (s1 < 500 and s5 < 500 and checkvar == 1 and counter == -1) {
crmackey 0:4d1ae7eb0070 158 LapTimer.start();
crmackey 0:4d1ae7eb0070 159 }
crmackey 0:4d1ae7eb0070 160
crmackey 0:4d1ae7eb0070 161 if (s1 < 500 and s5 < 500 and checkvar == 1) {
crmackey 0:4d1ae7eb0070 162 counter = counter + 1;
crmackey 0:4d1ae7eb0070 163 m3pi.cls();
crmackey 0:4d1ae7eb0070 164 m3pi.printf("%d", counter);
crmackey 0:4d1ae7eb0070 165 checkvar = 0;
crmackey 0:4d1ae7eb0070 166 switch (counter) {
crmackey 0:4d1ae7eb0070 167 case 1: {
crmackey 0:4d1ae7eb0070 168 Time1 = LapTimer.read();
crmackey 0:4d1ae7eb0070 169 LapTimer.reset();
crmackey 0:4d1ae7eb0070 170 LapTimer.start();
crmackey 0:4d1ae7eb0070 171 btbee.printf("Lap 1: %f \n", Time1);
crmackey 0:4d1ae7eb0070 172 break;
crmackey 0:4d1ae7eb0070 173 }
crmackey 0:4d1ae7eb0070 174 case 2: {
crmackey 0:4d1ae7eb0070 175 Time2 = LapTimer.read();
crmackey 0:4d1ae7eb0070 176 LapTimer.reset();
crmackey 0:4d1ae7eb0070 177 LapTimer.start();
crmackey 0:4d1ae7eb0070 178 btbee.printf("Lap 2: %f \n", Time2);
crmackey 0:4d1ae7eb0070 179 break;
crmackey 0:4d1ae7eb0070 180 }
crmackey 0:4d1ae7eb0070 181 case 3: {
crmackey 0:4d1ae7eb0070 182 Time3 = LapTimer.read();
crmackey 0:4d1ae7eb0070 183 LapTimer.reset();
crmackey 0:4d1ae7eb0070 184 LapTimer.start();
crmackey 0:4d1ae7eb0070 185 btbee.printf("Lap 3: %f \n", Time3);
crmackey 0:4d1ae7eb0070 186 break;
crmackey 0:4d1ae7eb0070 187 }
crmackey 0:4d1ae7eb0070 188 case 4: {
crmackey 0:4d1ae7eb0070 189 Time4 = LapTimer.read();
crmackey 0:4d1ae7eb0070 190 LapTimer.reset();
crmackey 0:4d1ae7eb0070 191 LapTimer.start();
crmackey 0:4d1ae7eb0070 192 btbee.printf("Lap 4: %f \n", Time4);
crmackey 0:4d1ae7eb0070 193 break;
crmackey 0:4d1ae7eb0070 194 }
crmackey 0:4d1ae7eb0070 195 case 5: {
crmackey 0:4d1ae7eb0070 196 Time5 = LapTimer.read();
crmackey 0:4d1ae7eb0070 197 LapTimer.reset();
crmackey 0:4d1ae7eb0070 198 LapTimer.start();
crmackey 0:4d1ae7eb0070 199 btbee.printf("Lap 5: %f \n", Time5);
crmackey 0:4d1ae7eb0070 200 break;
crmackey 0:4d1ae7eb0070 201 }
crmackey 0:4d1ae7eb0070 202 }
crmackey 0:4d1ae7eb0070 203
crmackey 0:4d1ae7eb0070 204
crmackey 0:4d1ae7eb0070 205 }
crmackey 0:4d1ae7eb0070 206
crmackey 0:4d1ae7eb0070 207 if (counter == 5) {
crmackey 0:4d1ae7eb0070 208 m3pi.stop();
crmackey 0:4d1ae7eb0070 209 m3pi.cls();
crmackey 0:4d1ae7eb0070 210 m3pi.locate(0,0);
crmackey 0:4d1ae7eb0070 211 m3pi.printf("Ave time");
crmackey 0:4d1ae7eb0070 212 TimeAve = (Time1 + Time2 + Time3 + Time4 + Time5)/5.0;
crmackey 0:4d1ae7eb0070 213 m3pi.locate(0,1);
crmackey 0:4d1ae7eb0070 214 m3pi.printf("%f", TimeAve);
crmackey 0:4d1ae7eb0070 215 btbee.printf("Average time per lap: %f ", TimeAve);
crmackey 0:4d1ae7eb0070 216 exit(1);
crmackey 0:4d1ae7eb0070 217 }
crmackey 0:4d1ae7eb0070 218
crmackey 0:4d1ae7eb0070 219
crmackey 0:4d1ae7eb0070 220 }
crmackey 0:4d1ae7eb0070 221
crmackey 1:936e329e840a 222 }
crmackey 1:936e329e840a 223
crmackey 1:936e329e840a 224 }
crmackey 2:1e947dcc40cb 225
crmackey 2:1e947dcc40cb 226