NXP Group 13 / Mbed 2 deprecated Car3

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Dependencies:   camera mbed tsi_sensor

Fork of Car2 by Zach Matthews

main.cpp@12:4ccf304800fe, 2017-03-21 (annotated)

Committer:
zamatthews
Date:
Tue Mar 21 01:42:19 2017 +0000
Revision:
12:4ccf304800fe
Parent:
11:45f345aad8ba
Child:
13:9175be9c2b9e
better accuracy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zamatthews 0:b761ef827157 1 #include "mbed.h"
zamatthews 2:0db7cc5ad6db 2 #include "Servo.h"
zamatthews 6:971236e48adc 3 #include "Camera.h"
lmstthomas 4:f4852befd69c 4 #define STRAIGHT 0.00095f
lmstthomas 4:f4852befd69c 5 #define FULLRIGHT 0.0013f
lmstthomas 4:f4852befd69c 6 #define FULLLEFT 0.0006
zamatthews 12:4ccf304800fe 7 #define MIN_TURN_RATIO 0.3
zamatthews 12:4ccf304800fe 8 #define MAX_TURN_RATIO 0.7
zamatthews 12:4ccf304800fe 9 #define MIN_SPEED 0.1
zamatthews 12:4ccf304800fe 10 #define MAX_SPEED 0.6
zamatthews 12:4ccf304800fe 11 #define TURN_TIME 100
zamatthews 3:dadfc15fc2d1 12
zamatthews 3:dadfc15fc2d1 13 PwmOut servo(PTE20);
zamatthews 5:137dfb3e692f 14 PwmOut motor_left(PTA5);
zamatthews 5:137dfb3e692f 15 PwmOut motor_right(PTC8);
zamatthews 3:dadfc15fc2d1 16 DigitalOut DIR_L(PTD4);
zamatthews 3:dadfc15fc2d1 17 DigitalOut DIR_R(PTA4);
zamatthews 9:644102f863a5 18 Serial pc(USBTX, USBRX);
zamatthews 9:644102f863a5 19 Camera cam(PTE23, PTE21, PTB3);
zamatthews 3:dadfc15fc2d1 20
zamatthews 11:45f345aad8ba 21 int turnCounter = 0;
zamatthews 11:45f345aad8ba 22 float wheelPos = STRAIGHT;
zamatthews 0:b761ef827157 23
zamatthews 12:4ccf304800fe 24 /*
zamatthews 12:4ccf304800fe 25 Function: setAccel
zamatthews 12:4ccf304800fe 26 Description: Sets the speed for the right and left motors individually based
zamatthews 12:4ccf304800fe 27 on the turning angle.
zamatthews 12:4ccf304800fe 28 */
lmstthomas 4:f4852befd69c 29 void setAccel(float turnAngle){//, float speed){
lmstthomas 4:f4852befd69c 30 turnAngle -= STRAIGHT; //this gets a value from -0.00035 and +0.00035
zamatthews 9:644102f863a5 31 float turnRatio = abs(turnAngle)/0.00035f;
zamatthews 12:4ccf304800fe 32 float newSpeed = ((MAX_SPEED - MIN_SPEED)*(1-turnRatio)/4)+MIN_SPEED;
zamatthews 9:644102f863a5 33 motor_left.write(newSpeed + 0.5 * newSpeed * (turnAngle / .00035f));
zamatthews 9:644102f863a5 34 motor_right.write(newSpeed - 0.5 * newSpeed * (turnAngle / .00035f));
zamatthews 12:4ccf304800fe 35 }//end setAccel
zamatthews 3:dadfc15fc2d1 36
zamatthews 12:4ccf304800fe 37 /*
zamatthews 12:4ccf304800fe 38 Function: turnWheels
zamatthews 12:4ccf304800fe 39 Description: Turns the wheels in order to stay between two black lines seen
zamatthews 12:4ccf304800fe 40 by the camera
zamatthews 12:4ccf304800fe 41 */
zamatthews 10:246782426144 42 void turnWheels(int frame[]){ //int[][] frame, float speed){
zamatthews 10:246782426144 43 int positionSum = 0;
zamatthews 10:246782426144 44 int numDarks = 0;
zamatthews 10:246782426144 45 for(int i = 0; i < 128; i++){
zamatthews 11:45f345aad8ba 46 if(frame[i] < 65){
zamatthews 10:246782426144 47 positionSum += i;
zamatthews 10:246782426144 48 numDarks++;
zamatthews 10:246782426144 49 }
zamatthews 10:246782426144 50 }
zamatthews 10:246782426144 51 float averagePos = 0;
zamatthews 12:4ccf304800fe 52
zamatthews 12:4ccf304800fe 53 if (numDarks == 0) {
zamatthews 11:45f345aad8ba 54 wheelPos = STRAIGHT;
zamatthews 11:45f345aad8ba 55 }
zamatthews 12:4ccf304800fe 56
zamatthews 12:4ccf304800fe 57 else {
zamatthews 12:4ccf304800fe 58 averagePos = positionSum / numDarks;
zamatthews 12:4ccf304800fe 59 if(averagePos <= 64 && ((wheelPos >= STRAIGHT) || turnCounter >= TURN_TIME)){
zamatthews 12:4ccf304800fe 60 float powerRatio = (averagePos / 64) * MAX_TURN_RATIO + MIN_TURN_RATIO;
zamatthews 12:4ccf304800fe 61 if(averagePos >= 45) powerRatio = 1;
zamatthews 12:4ccf304800fe 62 wheelPos = STRAIGHT + (FULLRIGHT - STRAIGHT) * powerRatio;
zamatthews 12:4ccf304800fe 63 turnCounter = 0;
zamatthews 11:45f345aad8ba 64 }
zamatthews 12:4ccf304800fe 65
zamatthews 12:4ccf304800fe 66 else if(averagePos >= 66 && (wheelPos <= STRAIGHT || turnCounter >= TURN_TIME)){
zamatthews 12:4ccf304800fe 67 float powerRatio = (1 - (averagePos - 64) / 64) * MAX_TURN_RATIO + MIN_TURN_RATIO;
zamatthews 12:4ccf304800fe 68 if(averagePos <= 85) powerRatio = 1;
zamatthews 12:4ccf304800fe 69 wheelPos = STRAIGHT - (STRAIGHT - FULLLEFT) * powerRatio;
zamatthews 12:4ccf304800fe 70 turnCounter = 0;
zamatthews 11:45f345aad8ba 71 }
zamatthews 12:4ccf304800fe 72 turnCounter++;
zamatthews 11:45f345aad8ba 73 }
zamatthews 12:4ccf304800fe 74
zamatthews 10:246782426144 75 servo.pulsewidth(wheelPos);
zamatthews 10:246782426144 76 setAccel(wheelPos);
zamatthews 3:dadfc15fc2d1 77 }
zamatthews 3:dadfc15fc2d1 78
zamatthews 12:4ccf304800fe 79 void display(int frame[]){
zamatthews 12:4ccf304800fe 80 char draw = 'x';
zamatthews 12:4ccf304800fe 81 for(int i = 0; i< 128; i++){
zamatthews 12:4ccf304800fe 82 if (frame[i] <65) draw = '|';
zamatthews 12:4ccf304800fe 83 else draw = '-';
zamatthews 12:4ccf304800fe 84 pc.printf("%c", draw);
zamatthews 12:4ccf304800fe 85 draw = 'x';
zamatthews 12:4ccf304800fe 86 }
zamatthews 12:4ccf304800fe 87 pc.printf("\r");
zamatthews 3:dadfc15fc2d1 88 }
zamatthews 2:0db7cc5ad6db 89
zamatthews 2:0db7cc5ad6db 90 int main() {
zamatthews 3:dadfc15fc2d1 91 //timer.start();
zamatthews 5:137dfb3e692f 92 motor_left.period_us(50);
zamatthews 5:137dfb3e692f 93 motor_right.period_us(50);
zamatthews 5:137dfb3e692f 94 DIR_R = 1;
zamatthews 2:0db7cc5ad6db 95 DIR_L = 0;
zamatthews 3:dadfc15fc2d1 96 servo.period(0.020f);
zamatthews 12:4ccf304800fe 97
zamatthews 2:0db7cc5ad6db 98 while(1){
zamatthews 9:644102f863a5 99 wait_ms(10);
zamatthews 9:644102f863a5 100 cam.capture();
zamatthews 12:4ccf304800fe 101 //display(cam.imageData);
zamatthews 12:4ccf304800fe 102 turnWheels(cam.imageData);
zamatthews 12:4ccf304800fe 103 setAccel(wheelPos);
zamatthews 12:4ccf304800fe 104 }
zamatthews 12:4ccf304800fe 105 }