![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
exemple pour le TP SETI ROBOT M3PI
Dependencies: mbed FileSystem_POPS m3pi
Diff: main3.cpp
- Revision:
- 4:dcad3508bdfb
- Parent:
- 0:398afdd73d9e
- Child:
- 5:0f4a460521be
diff -r b4b0c5219d2a -r dcad3508bdfb main3.cpp --- a/main3.cpp Mon Nov 23 23:24:35 2015 +0000 +++ b/main3.cpp Wed Jan 10 08:51:51 2018 +0000 @@ -8,24 +8,104 @@ Serial xbee(p28,p27); DigitalOut resetxbee(p26); Serial pc(USBTX, USBRX); // For debugging and pc messages, uses commented out to prevent hanging -MSCFileSystem fs("fs"); +//MSCFileSystem fs("fs"); +Timer tm1; +Ticker tic1; BusOut myleds(LED1, LED2, LED3, LED4); +// all variables are float +#define D_TERM 0.0 +#define I_TERMO 0.1 +#define I_TERM 0.1 +#define P_TERM 0.9 +#define MAX 0.3 +#define MIN -0.2 +float current_pos_of_line,derivative,proportional,power,integral,right,left,previous_pos_of_line; +float speed =0.3; + + +unsigned short tabsensor[5]; +#define seuil(x) (x>400 ? 1 : 0) +unsigned char statcapt; +char PIDf(char commande){ + unsigned char i; + m3pi.calibrated_sensors(tabsensor); + statcapt=0; + for(i=0;i<5;i++){ + statcapt = (statcapt <<1) | seuil(tabsensor[i]); + } + if(commande == 1) { + if((statcapt==0 )||(statcapt==0x1F )) { + m3pi.left_motor(0.0); + m3pi.right_motor(0.0); + myleds=0xF; + return 0; + }else{ + // Get the position of the line. + current_pos_of_line = m3pi.line_position(); + proportional = current_pos_of_line; + // Compute the derivative + derivative = current_pos_of_line - previous_pos_of_line; + // Compute the integral + integral = (integral+ I_TERMO*proportional)/(1+I_TERMO); + // Remember the last position. + previous_pos_of_line = current_pos_of_line; + // Compute the power + power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ; + // Compute new speeds + right = speed-(power*MAX); + left = speed+(power*MAX); + // limit checks on motor control + //MIN <right < MAX + // MIN <left < MAX + right = (right>MAX ? MAX :(right<MIN ? MIN : right)); + // send command to motors + m3pi.left_motor(left); + m3pi.right_motor(right); + } + } + return 1; +} + +volatile char flag10ms; +void inter1(){ + flag10ms=1; +} + +int v; +unsigned char delai600ms; +char chain[10]; int main() { resetxbee =0; wait(0.01); resetxbee =1; - FILE *p= fopen("/fs/tt.txt","a+"); + // FILE *p= fopen("/fs/tt.txt","a+"); m3pi.sensor_auto_calibrate(); wait(1.); - - fprintf(p,"ecrire dans la cle USB\r\n"); - fclose(p); + tic1.attach(&inter1,0.01); + // fprintf(p,"ecrire dans la cle USB\r\n"); + // fclose(p); while(1) { - - + if(flag10ms==1){ + flag10ms=0; + tm1.reset(); + tm1.start(); + PIDf(1); + tm1.stop(); + v=tm1.read_us(); + delai600ms++; + } + if(delai600ms>=60){ + sprintf(chain,"%5u",v); + m3pi.locate(0,0); + m3pi.print(chain,strlen(chain)); + delai600ms=0; + } + //pc.printf("%u %u %u %u %u\r\n",seuil(tabsensor[0]),seuil(tabsensor[1]), + // seuil(tabsensor[2]),seuil(tabsensor[3]),seuil(tabsensor[4])); } + }