Mechatronics Robotics
/
BrobotV1
These are the core files for the Robot at Team conception.
Brobot.cpp
- Committer:
- huynh270
- Date:
- 2017-06-01
- Revision:
- 13:5c2a7dede65f
- Parent:
- 11:05d5539141c8
- Child:
- 14:6a3eb8e8a75e
File content as of revision 13:5c2a7dede65f:
/* * BROBOT.cpp * */ #include <cmath> #include "Brobot.h" Brobot::Brobot(SpeedControl& speedctrl_, AnalogIn& distance_, DigitalOut& enable_, DigitalOut& bit0_, DigitalOut& bit1_, DigitalOut& bit2_, DigitalOut* led_ptr, Pixy& pixy_) : speedctrl(speedctrl_), distance(distance_), enable(enable_), bit0(bit0_), bit1(bit1_), bit2(bit2_), leds(led_ptr), pixy(pixy_) // assigning parameters to class variables { //initialize distance sensors for( int ii = 0; ii<6; ++ii) sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii); //defining the sensors for sensor_front.init( &distance, &bit0, &bit1, &bit2, 0); // & give the address of the object sensor_left.init( &distance, &bit0, &bit1, &bit2, 5); sensor_right.init( &distance, &bit0, &bit1, &bit2, 1); // kp ki kd min max //pid.setPIDValues( 0.025f, 0.00005f, 0.001f, 0.5f, -0.5f, 1000); pid.setPIDValues( 0.4f, 0.001f, 0.001f, 0.5f, -0.5f, 1000); pixypid.setPIDValues( 0.001f, 0.0000f, 0.000000f, 0.5f, -0.5f, 1000); } void Brobot::avoidObstacleAndMove(int vtrans) { float vrot = 0; // rpm if(sensor_left.read() <0.3f || sensor_right.read() <0.3f) { // to avoid obstacles float e = sensor_left.read() - sensor_right.read(); float diff = pid.calc( e, 0.05f ); // error and period are arguments vrot = diff*50; //turn if( vrot<= -20) vrot=-20; else if (vrot > 20) vrot=20; } speedctrl.setDesiredSpeed( vtrans - vrot, -vtrans - vrot ); if(sensor_front.read() <=0.2f) { // when approaching normal to wall speedctrl.setDesiredSpeed( 0, 0 ); int direction=rand()%2 ; // so there is variablility in the robots path if(direction==0) { //stingray.rotate(10); speedctrl.setDesiredSpeed(15, 15 ); wait(0.3); } else if (direction==1) { //stingray.rotate(-10); speedctrl.setDesiredSpeed( -15, -15 ); wait(0.3); } } } void Brobot::startLeds() { t1.attach( callback(this, &Brobot::ledShow), 0.05f ); } void Brobot::ledDistance() { for( int ii = 0; ii<6; ++ii) sensors[ii]< 0.1f ? leds[ii].write(1) : leds[ii].write(0); // an if statement in one line } void Brobot::ledShow() { static int timer = 0; // static is only the first time/loop // for( int ii = 0; ii<6; ++ii) // leds[ii] = !leds[ii]; //quit ticker and start led distance show if( ++timer > 10) { t1.detach(); t1.attach( callback(this, &Brobot::ledDistance), 0.01f ); } } bool Brobot::foundGreenBrick() { if( pixy.objectDetected() ) { if( pixy.getSignature() == 1) { // 1 is the green brick return true; } } return false; } bool Brobot::foundHome() { if( pixy.objectDetected() ) { if( pixy.getSignature() == 2) { // 2 is the home return true; } } return false; } void Brobot::approachBrick() { //insert Crystal's code float e = 160-pixy.getX(); float diff = pixypid.calc( e, 0.005f ); while( pixy.getY() <= 200) { // in [ixels speedctrl.setDesiredSpeed( 8 - diff, 8 - diff) ; // 8 rpms } // function assumes Brick is in open grips } void Brobot::closeGrip() { //insert Paul's code here //create Servo type object (ex. servMotor) in Brobot.h } void Brobot::openGrip() { //insert adjusted Paul's code here //create Servo type object (ex. servMotor) in Brobot.h } void Brobot::rotate(int phi) { if(phi>25|| phi<-25) { phi=10; } speedctrl.setDesiredSpeed(phi, phi); } void Brobot::forward() { speedctrl.setDesiredSpeed(20, -20); // rpms } void Brobot::turnleft() { speedctrl.setDesiredSpeed(0.48f, 0.31f); // needs tuning wait(0.1); } void Brobot::turnright() { speedctrl.setDesiredSpeed(0.69f, 0.52f); // needs tuning wait(0.1); } void Brobot::back() { speedctrl.setDesiredSpeed(-15, 15); //rpms } void Brobot::stop() { speedctrl.setDesiredSpeed(0.0f, 0.0f); }