![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Pathfinding nach rechts funktioniert noch nicht...der rest schon
Dependencies: mbed
Fork of MicroMouse_MASTER_THREE by
main.cpp@3:2ec7cf8bc3fc, 2018-04-08 (annotated)
- Committer:
- TheDarkDurzo
- Date:
- Sun Apr 08 19:17:01 2018 +0000
- Revision:
- 3:2ec7cf8bc3fc
- Parent:
- 2:592f01278db4
- Child:
- 4:e3f388933954
dunno
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ruesipat | 0:a9fe4ef404bf | 1 | #include "mbed.h" |
ruesipat | 1:d9e840c48b1e | 2 | |
ruesipat | 0:a9fe4ef404bf | 3 | #include "IRSensor.h" |
ruesipat | 0:a9fe4ef404bf | 4 | #include "EncoderCounter.h" |
ruesipat | 0:a9fe4ef404bf | 5 | #include "LowpassFilter.h" |
ruesipat | 0:a9fe4ef404bf | 6 | #include "Controller.h" |
ruesipat | 1:d9e840c48b1e | 7 | #include "KontrastSensor.h" |
ruesipat | 1:d9e840c48b1e | 8 | #include "Drive.h" |
ruesipat | 1:d9e840c48b1e | 9 | #include "CheckWalls.h" |
ruesipat | 1:d9e840c48b1e | 10 | #include "Turn.h" |
ruesipat | 2:592f01278db4 | 11 | |
ruesipat | 0:a9fe4ef404bf | 12 | |
ruesipat | 1:d9e840c48b1e | 13 | |
ruesipat | 1:d9e840c48b1e | 14 | //Initialisierung LEDs Blinker/Surri/Button |
ruesipat | 1:d9e840c48b1e | 15 | DigitalIn button(USER_BUTTON); //Moduswählknopf |
ruesipat | 1:d9e840c48b1e | 16 | DigitalOut myled(LED1); //Heartbeat (evt auch Anzeige für Modus, vor start |
ruesipat | 1:d9e840c48b1e | 17 | DigitalOut blinker0(PA_4); //Blinker links |
ruesipat | 1:d9e840c48b1e | 18 | DigitalOut blinker1(PC_1); //Blinker rechts |
ruesipat | 1:d9e840c48b1e | 19 | DigitalOut surri(PC_0); // |
ruesipat | 1:d9e840c48b1e | 20 | |
ruesipat | 1:d9e840c48b1e | 21 | //Initialisierung LEDs Nightrider |
ruesipat | 1:d9e840c48b1e | 22 | PwmOut led0(PB_0); //von links nach rechts |
ruesipat | 1:d9e840c48b1e | 23 | PwmOut led1(PB_8); |
ruesipat | 1:d9e840c48b1e | 24 | PwmOut led2(PB_3); |
ruesipat | 1:d9e840c48b1e | 25 | PwmOut led3(PB_5); |
ruesipat | 1:d9e840c48b1e | 26 | PwmOut led4(PB_4); |
ruesipat | 1:d9e840c48b1e | 27 | PwmOut led5(PB_10); |
ruesipat | 1:d9e840c48b1e | 28 | PwmOut led6(PB_9); |
ruesipat | 1:d9e840c48b1e | 29 | |
ruesipat | 1:d9e840c48b1e | 30 | |
ruesipat | 0:a9fe4ef404bf | 31 | |
ruesipat | 1:d9e840c48b1e | 32 | //Initialisierung IR-Sensoren |
ruesipat | 1:d9e840c48b1e | 33 | AnalogIn distance0(PC_2); //Kreieren der Eingangsobjekte |
ruesipat | 1:d9e840c48b1e | 34 | AnalogIn distance1(PC_3); |
ruesipat | 1:d9e840c48b1e | 35 | AnalogIn distance2(PC_5); |
ruesipat | 1:d9e840c48b1e | 36 | AnalogIn distance3(PB_1); |
ruesipat | 1:d9e840c48b1e | 37 | IRSensor irSensor0(distance0); //rechts |
ruesipat | 1:d9e840c48b1e | 38 | IRSensor irSensor1(distance1); //vorne |
ruesipat | 1:d9e840c48b1e | 39 | IRSensor irSensor2(distance2); //links-vorne |
ruesipat | 1:d9e840c48b1e | 40 | IRSensor irSensor3(distance3); //links-hinten |
ruesipat | 1:d9e840c48b1e | 41 | |
ruesipat | 1:d9e840c48b1e | 42 | |
ruesipat | 1:d9e840c48b1e | 43 | //AnalogIn distance(PB_1); //Kreieren der Ein - und Ausgangsobjekte |
ruesipat | 1:d9e840c48b1e | 44 | //DigitalOut bit0(PH_1); |
ruesipat | 1:d9e840c48b1e | 45 | //DigitalOut bit1(PC_2); |
ruesipat | 1:d9e840c48b1e | 46 | //DigitalOut bit2(PC_3); |
ruesipat | 1:d9e840c48b1e | 47 | //IRSensor irSensor0(distance, bit0, bit1, bit2, 0); |
ruesipat | 1:d9e840c48b1e | 48 | //IRSensor irSensor1(distance, bit0, bit1, bit2, 1); |
ruesipat | 1:d9e840c48b1e | 49 | //IRSensor irSensor2(distance, bit0, bit1, bit2, 2); |
ruesipat | 1:d9e840c48b1e | 50 | //IRSensor irSensor3(distance, bit0, bit1, bit2, 3); |
ruesipat | 1:d9e840c48b1e | 51 | |
ruesipat | 1:d9e840c48b1e | 52 | |
ruesipat | 1:d9e840c48b1e | 53 | //Initialisierung Kontrastsensor |
ruesipat | 1:d9e840c48b1e | 54 | AnalogIn kontrast(PC_0); |
ruesipat | 1:d9e840c48b1e | 55 | |
ruesipat | 1:d9e840c48b1e | 56 | |
ruesipat | 1:d9e840c48b1e | 57 | |
ruesipat | 1:d9e840c48b1e | 58 | //Initialisierung Motor und Encoder |
ruesipat | 0:a9fe4ef404bf | 59 | DigitalOut enableMotorDriver(PB_2); |
ruesipat | 1:d9e840c48b1e | 60 | PwmOut pwmLeft(PA_8); //Motor links |
ruesipat | 1:d9e840c48b1e | 61 | PwmOut pwmRight(PA_9); //Motor rechts |
ruesipat | 1:d9e840c48b1e | 62 | EncoderCounter counterLeft(PB_6, PB_7); //Encoder für Motor links |
ruesipat | 1:d9e840c48b1e | 63 | EncoderCounter counterRight(PA_6, PC_7);//Encoder für Motor rechts |
ruesipat | 0:a9fe4ef404bf | 64 | |
ruesipat | 0:a9fe4ef404bf | 65 | DigitalOut enable(PC_1); |
ruesipat | 0:a9fe4ef404bf | 66 | |
ruesipat | 1:d9e840c48b1e | 67 | Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); |
ruesipat | 0:a9fe4ef404bf | 68 | |
ruesipat | 1:d9e840c48b1e | 69 | |
ruesipat | 1:d9e840c48b1e | 70 | //Turn turn(); //GEHT NICHT!!! |
ruesipat | 1:d9e840c48b1e | 71 | int state = 0; |
ruesipat | 1:d9e840c48b1e | 72 | int mode = 1; |
ruesipat | 1:d9e840c48b1e | 73 | |
ruesipat | 1:d9e840c48b1e | 74 | int main() |
ruesipat | 1:d9e840c48b1e | 75 | { |
ruesipat | 1:d9e840c48b1e | 76 | |
ruesipat | 0:a9fe4ef404bf | 77 | |
ruesipat | 2:592f01278db4 | 78 | |
ruesipat | 0:a9fe4ef404bf | 79 | |
ruesipat | 1:d9e840c48b1e | 80 | enableMotorDriver = 1; // Schaltet den Leistungstreiber ein |
ruesipat | 1:d9e840c48b1e | 81 | enable = 1; |
ruesipat | 0:a9fe4ef404bf | 82 | |
ruesipat | 2:592f01278db4 | 83 | |
ruesipat | 1:d9e840c48b1e | 84 | while(1) { // Wiederholungsschleife |
ruesipat | 0:a9fe4ef404bf | 85 | |
ruesipat | 1:d9e840c48b1e | 86 | //Ablauf ist jeweils immer Feldweise...Waende checken, allenfalls drehen (Ausrichten), waehrend der Fahrt nur Ausrichtung der Geradeausfahrt... |
ruesipat | 0:a9fe4ef404bf | 87 | |
ruesipat | 2:592f01278db4 | 88 | //printf("WARTE AUF START...."); |
ruesipat | 1:d9e840c48b1e | 89 | |
ruesipat | 1:d9e840c48b1e | 90 | while (button) { |
ruesipat | 2:592f01278db4 | 91 | wait(1.0f); //Die Ruhe vor dem Sturm... |
ruesipat | 0:a9fe4ef404bf | 92 | } |
ruesipat | 1:d9e840c48b1e | 93 | |
ruesipat | 1:d9e840c48b1e | 94 | |
ruesipat | 1:d9e840c48b1e | 95 | |
ruesipat | 1:d9e840c48b1e | 96 | while(mode==1) { |
ruesipat | 0:a9fe4ef404bf | 97 | |
ruesipat | 1:d9e840c48b1e | 98 | //Ermittlung der Abstaende rund ums Fahrzeug |
ruesipat | 1:d9e840c48b1e | 99 | float distanceRight = irSensor0.read(); |
ruesipat | 1:d9e840c48b1e | 100 | float distanceFront = irSensor1.read(); |
ruesipat | 1:d9e840c48b1e | 101 | float distanceLeftFront = irSensor2.read(); |
ruesipat | 1:d9e840c48b1e | 102 | float distanceLeftBack = irSensor3.read(); |
ruesipat | 1:d9e840c48b1e | 103 | |
ruesipat | 1:d9e840c48b1e | 104 | int wallRight; |
ruesipat | 1:d9e840c48b1e | 105 | int wallFront; |
ruesipat | 1:d9e840c48b1e | 106 | int wallLeft; |
ruesipat | 1:d9e840c48b1e | 107 | int blackLine; |
ruesipat | 1:d9e840c48b1e | 108 | |
ruesipat | 1:d9e840c48b1e | 109 | CheckWalls checkWalls(distanceRight, distanceFront, distanceLeftFront, wallRight, wallFront, wallLeft); //Ermittlung wo freie Wege(0) bzw welche Waende vorhanden (1) |
ruesipat | 1:d9e840c48b1e | 110 | //Decide?? |
ruesipat | 1:d9e840c48b1e | 111 | Turn turn(counterLeft, counterRight, controller, wallRight, wallFront, wallLeft); //Nach Ausrichtung bewegt sich der Roboter um ein Feld weiter und die Ausrichutung beginnt von vorne |
ruesipat | 1:d9e840c48b1e | 112 | KontrastSensor kontrastSensor(kontrast, blackLine); |
TheDarkDurzo | 3:2ec7cf8bc3fc | 113 | Drive drive(kontrastSensor, counterLeft, counterRight, controller, distanceRight, distanceFront, distanceLeftFront, distanceLeftBack); //20cm nach vorne... |
ruesipat | 2:592f01278db4 | 114 | |
ruesipat | 1:d9e840c48b1e | 115 | |
ruesipat | 1:d9e840c48b1e | 116 | switch(state) { //Ausrichten |
ruesipat | 1:d9e840c48b1e | 117 | case 0: { |
TheDarkDurzo | 3:2ec7cf8bc3fc | 118 | // case 0 wird evtl nicht benötigt |
ruesipat | 1:d9e840c48b1e | 119 | state = 1; |
ruesipat | 1:d9e840c48b1e | 120 | break; |
ruesipat | 1:d9e840c48b1e | 121 | } |
ruesipat | 1:d9e840c48b1e | 122 | case 1: {//Fahrzyklus |
ruesipat | 1:d9e840c48b1e | 123 | |
ruesipat | 2:592f01278db4 | 124 | checkWalls.check(); //prueft wo Waende vorhanden sind |
ruesipat | 1:d9e840c48b1e | 125 | |
ruesipat | 1:d9e840c48b1e | 126 | //wallRight = 1; |
ruesipat | 1:d9e840c48b1e | 127 | //wallFront = 1; |
ruesipat | 1:d9e840c48b1e | 128 | //wallLeft = 1; |
ruesipat | 1:d9e840c48b1e | 129 | |
ruesipat | 2:592f01278db4 | 130 | turn.turning(); //entscheidet welche Richtung und Wendet dann zu dieser... |
ruesipat | 1:d9e840c48b1e | 131 | |
ruesipat | 2:592f01278db4 | 132 | |
ruesipat | 2:592f01278db4 | 133 | drive.driving(); //faehrt, kontrolliert ob richtig steht und achtet auch schwarze Linie am Boden |
ruesipat | 1:d9e840c48b1e | 134 | |
ruesipat | 2:592f01278db4 | 135 | |
ruesipat | 1:d9e840c48b1e | 136 | |
ruesipat | 2:592f01278db4 | 137 | //blackLine = 1; |
ruesipat | 1:d9e840c48b1e | 138 | if(blackLine == 1){ //ist schwarze Linie ueberfahren...stoppt der Fahrzyklus hier. |
ruesipat | 1:d9e840c48b1e | 139 | |
ruesipat | 2:592f01278db4 | 140 | state = 2; |
ruesipat | 1:d9e840c48b1e | 141 | } |
ruesipat | 1:d9e840c48b1e | 142 | break; |
ruesipat | 1:d9e840c48b1e | 143 | } |
ruesipat | 1:d9e840c48b1e | 144 | case 2: { //Ziel erreicht |
ruesipat | 1:d9e840c48b1e | 145 | |
ruesipat | 2:592f01278db4 | 146 | controller.setDesiredSpeedRight(0.0f); |
ruesipat | 2:592f01278db4 | 147 | controller.setDesiredSpeedLeft(0.0f); |
ruesipat | 1:d9e840c48b1e | 148 | |
ruesipat | 1:d9e840c48b1e | 149 | //"Stop" |
ruesipat | 1:d9e840c48b1e | 150 | //mode=2 |
ruesipat | 1:d9e840c48b1e | 151 | break; |
ruesipat | 1:d9e840c48b1e | 152 | } |
ruesipat | 1:d9e840c48b1e | 153 | default: { // |
ruesipat | 1:d9e840c48b1e | 154 | state = 0; |
ruesipat | 1:d9e840c48b1e | 155 | break; |
ruesipat | 1:d9e840c48b1e | 156 | } |
ruesipat | 1:d9e840c48b1e | 157 | } |
ruesipat | 1:d9e840c48b1e | 158 | |
ruesipat | 2:592f01278db4 | 159 | |
ruesipat | 2:592f01278db4 | 160 | |
ruesipat | 2:592f01278db4 | 161 | |
ruesipat | 2:592f01278db4 | 162 | printf("DistanzRechts = %.0f mm\n\r", distanceRight); |
ruesipat | 2:592f01278db4 | 163 | printf("DistanzVorne = %.0f mm\n\r", distanceFront); |
ruesipat | 2:592f01278db4 | 164 | printf("DistanzLinksVorne = %.0f mm\n\r", distanceLeftFront); |
ruesipat | 2:592f01278db4 | 165 | printf("DistanzLinksHinten = %.0f mm\n\r", distanceLeftBack); |
ruesipat | 2:592f01278db4 | 166 | printf("WandRechts = %d \n\r", wallRight); |
ruesipat | 2:592f01278db4 | 167 | printf("WandVorne = %d \n\r", wallFront); |
ruesipat | 2:592f01278db4 | 168 | printf("WandLinks = %d \n\r", wallLeft); |
ruesipat | 2:592f01278db4 | 169 | |
ruesipat | 2:592f01278db4 | 170 | |
ruesipat | 2:592f01278db4 | 171 | // printf("CountsRight = %d\n", counterRight.read()); |
ruesipat | 2:592f01278db4 | 172 | // printf("CountsLeft = %d\n", counterLeft.read()); |
ruesipat | 1:d9e840c48b1e | 173 | //kontrastSensor.check(); |
ruesipat | 1:d9e840c48b1e | 174 | //printf("SchwarzeLinie = %d", blackLine); |
ruesipat | 1:d9e840c48b1e | 175 | myled =! myled; // LED is ON Heartbeat |
ruesipat | 2:592f01278db4 | 176 | // wait(0.5f); |
ruesipat | 1:d9e840c48b1e | 177 | |
ruesipat | 2:592f01278db4 | 178 | }//Ende while mode==1 |
ruesipat | 2:592f01278db4 | 179 | |
ruesipat | 2:592f01278db4 | 180 | |
ruesipat | 0:a9fe4ef404bf | 181 | } |
ruesipat | 0:a9fe4ef404bf | 182 | } |