Renishaw / Mbed 2 deprecated RenBuggyLineFollower

Basic Line Following Program motors: p25, p10 inputs: p15, p16 Current settings: lineToSpeedFactor = 10 / 3 speedModifier = -4

Dependencies:   mbed

Fork of RenBuggyLineFollower by Dan Argust

This small program lets a buggy follow a line (black line on white background)

main.cpp@0:466ee63955df, 2016-07-14 (annotated)

Committer:
DanArgust
Date:
Thu Jul 14 09:09:52 2016 +0000
Revision:
0:466ee63955df
Child:
2:2439f5a4a93d
First commit; Basic Line follower using two sensors; This commit contains highly sensitive algorithm and exhibits twitchy behaviour

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanArgust 0:466ee63955df 1 /*********************************************************
DanArgust 0:466ee63955df 2 *RenBuggyLineFollower *
DanArgust 0:466ee63955df 3 *Author: Dan Argust *
DanArgust 0:466ee63955df 4 * *
DanArgust 0:466ee63955df 5 *This program demonstates the use of two sensors to *
DanArgust 0:466ee63955df 6 *detect and follow a thin black line. *
DanArgust 0:466ee63955df 7 *********************************************************/
DanArgust 0:466ee63955df 8
DanArgust 0:466ee63955df 9 #include "mbed.h" //"mbed.h" is a library that makes it easier to program microcontrollers
DanArgust 0:466ee63955df 10 #include "USBSerial.h"
DanArgust 0:466ee63955df 11 //#include "TimedMovement.h" //"TimedMovement.h" contains the functions that we will use to move the buggy
DanArgust 0:466ee63955df 12
DanArgust 0:466ee63955df 13 AnalogIn ain0(p15);
DanArgust 0:466ee63955df 14 AnalogIn ain1(p16);
DanArgust 0:466ee63955df 15
DanArgust 0:466ee63955df 16 PwmOut pwm0(p25);
DanArgust 0:466ee63955df 17 PwmOut pwm1(p10);
DanArgust 0:466ee63955df 18
DanArgust 0:466ee63955df 19 float Lmotor;
DanArgust 0:466ee63955df 20 float Rmotor;
DanArgust 0:466ee63955df 21 float newLine;
DanArgust 0:466ee63955df 22 float oldLine;
DanArgust 0:466ee63955df 23
DanArgust 0:466ee63955df 24 //USBSerial USB;
DanArgust 0:466ee63955df 25 Ticker timer;
DanArgust 0:466ee63955df 26
DanArgust 0:466ee63955df 27 void getMotorSpeeds(float a,float b){
DanArgust 0:466ee63955df 28 float inputs[2] = {a,b};
DanArgust 0:466ee63955df 29 float max_speed = 1.0;
DanArgust 0:466ee63955df 30 Lmotor = 0;
DanArgust 0:466ee63955df 31 Rmotor = 0;
DanArgust 0:466ee63955df 32 newLine = 0;
DanArgust 0:466ee63955df 33 float line_to_speed_factor = 5;
DanArgust 0:466ee63955df 34 for(int i = 0;i<2;++i){
DanArgust 0:466ee63955df 35 newLine += inputs[i]*(i+1);
DanArgust 0:466ee63955df 36 }
DanArgust 0:466ee63955df 37 float sum = 0;
DanArgust 0:466ee63955df 38 for (int i = 0;i<2;++i){
DanArgust 0:466ee63955df 39 sum += inputs[i];
DanArgust 0:466ee63955df 40 }
DanArgust 0:466ee63955df 41 newLine = newLine / sum;
DanArgust 0:466ee63955df 42 if((a<0.2)&&(b<0.2)){
DanArgust 0:466ee63955df 43 if(oldLine>1.5)
DanArgust 0:466ee63955df 44 newLine = 2;
DanArgust 0:466ee63955df 45 else
DanArgust 0:466ee63955df 46 newLine = 1;
DanArgust 0:466ee63955df 47 }
DanArgust 0:466ee63955df 48 oldLine = newLine;
DanArgust 0:466ee63955df 49 /*USB.printf("\033[2J");
DanArgust 0:466ee63955df 50 USB.printf("\033[0;0H");
DanArgust 0:466ee63955df 51 USB.printf("input a = %f\n\rinput b = %f\n\r",a,b);
DanArgust 0:466ee63955df 52 USB.printf("%f\n",line);*/
DanArgust 0:466ee63955df 53 Lmotor = newLine*line_to_speed_factor-6.5;
DanArgust 0:466ee63955df 54 Rmotor = 2-(newLine*line_to_speed_factor-6.5);
DanArgust 0:466ee63955df 55 if(Lmotor>max_speed){
DanArgust 0:466ee63955df 56 Lmotor = max_speed;
DanArgust 0:466ee63955df 57 }
DanArgust 0:466ee63955df 58 if(Rmotor>max_speed){
DanArgust 0:466ee63955df 59 Rmotor = max_speed;
DanArgust 0:466ee63955df 60 }
DanArgust 0:466ee63955df 61 }
DanArgust 0:466ee63955df 62
DanArgust 0:466ee63955df 63 /*void PrintOutputs(){
DanArgust 0:466ee63955df 64 USB.printf("\033[2J");
DanArgust 0:466ee63955df 65 USB.printf("\033[0;0H");
DanArgust 0:466ee63955df 66 USB.printf("Left : %f\n\r",Lmotor);
DanArgust 0:466ee63955df 67 USB.printf("Right : %f\n\r",Rmotor);
DanArgust 0:466ee63955df 68 }*/
DanArgust 0:466ee63955df 69
DanArgust 0:466ee63955df 70 int main()
DanArgust 0:466ee63955df 71 {
DanArgust 0:466ee63955df 72 //timer.attach(&PrintOutputs,0.1);
DanArgust 0:466ee63955df 73 while(true){
DanArgust 0:466ee63955df 74 getMotorSpeeds(ain0.read(),ain1.read());
DanArgust 0:466ee63955df 75 pwm0 = Lmotor;
DanArgust 0:466ee63955df 76 pwm1 = Rmotor;
DanArgust 0:466ee63955df 77 wait_ms(10);
DanArgust 0:466ee63955df 78 }
DanArgust 0:466ee63955df 79 }