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Código Aldebaran+
Dependencies: mbed
main.cpp@0:3e0de9e209d1, 2020-05-06 (annotated)
- Committer:
- Mateusjesus
- Date:
- Wed May 06 19:28:07 2020 +0000
- Revision:
- 0:3e0de9e209d1
'
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Mateusjesus | 0:3e0de9e209d1 | 1 | #include"mbed.h" |
Mateusjesus | 0:3e0de9e209d1 | 2 | #include"PwmOut.h" |
Mateusjesus | 0:3e0de9e209d1 | 3 | Serial bt(p9, p10); |
Mateusjesus | 0:3e0de9e209d1 | 4 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 5 | //========================= MOTORS CONTROL - ==================================== |
Mateusjesus | 0:3e0de9e209d1 | 6 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 7 | PwmOut Right(p21); |
Mateusjesus | 0:3e0de9e209d1 | 8 | PwmOut Left(p22); |
Mateusjesus | 0:3e0de9e209d1 | 9 | #define MED_PPM 1500 // Valor indicando que o motor deve ficar parado de acordo com o ppm |
Mateusjesus | 0:3e0de9e209d1 | 10 | int LSpeedGlobal; |
Mateusjesus | 0:3e0de9e209d1 | 11 | int RSpeedGlobal; |
Mateusjesus | 0:3e0de9e209d1 | 12 | |
Mateusjesus | 0:3e0de9e209d1 | 13 | void Drive(int LeftSpeed,int RightSpeed) |
Mateusjesus | 0:3e0de9e209d1 | 14 | { |
Mateusjesus | 0:3e0de9e209d1 | 15 | Left.pulsewidth_us(LeftSpeed); |
Mateusjesus | 0:3e0de9e209d1 | 16 | Right.pulsewidth_us(RightSpeed); |
Mateusjesus | 0:3e0de9e209d1 | 17 | LSpeedGlobal = LeftSpeed; |
Mateusjesus | 0:3e0de9e209d1 | 18 | RSpeedGlobal = RightSpeed; |
Mateusjesus | 0:3e0de9e209d1 | 19 | } |
Mateusjesus | 0:3e0de9e209d1 | 20 | void calibrate()// Função necessária para dar o PPM inicial nos controladores. |
Mateusjesus | 0:3e0de9e209d1 | 21 | { |
Mateusjesus | 0:3e0de9e209d1 | 22 | Drive(MED_PPM, MED_PPM); |
Mateusjesus | 0:3e0de9e209d1 | 23 | wait(3); |
Mateusjesus | 0:3e0de9e209d1 | 24 | } |
Mateusjesus | 0:3e0de9e209d1 | 25 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 26 | //===================== DISTANCE SENSORS - ===================================== |
Mateusjesus | 0:3e0de9e209d1 | 27 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 28 | //**************************** DEFINICOES - ************************************ |
Mateusjesus | 0:3e0de9e209d1 | 29 | DigitalIn Sensor1 (p26);// Sensor digital localizado na esquerda do robo |
Mateusjesus | 0:3e0de9e209d1 | 30 | DigitalIn Sensor2 (p27);//Sensor digital localizado na diagonal esquerda do robo |
Mateusjesus | 0:3e0de9e209d1 | 31 | DigitalIn Sensor3 (p28);//Sensor digital localizado na frente do robo |
Mateusjesus | 0:3e0de9e209d1 | 32 | DigitalIn Sensor4 (p25); //Sensor digital localizado na diagonal direita do robo |
Mateusjesus | 0:3e0de9e209d1 | 33 | DigitalIn Sensor5 (p30); //Sensor digital localizado na direita do robo |
Mateusjesus | 0:3e0de9e209d1 | 34 | |
Mateusjesus | 0:3e0de9e209d1 | 35 | int measure[5]= {0,0,0,0,0}; // Variável para guardar os valores dos sensores de distância. |
Mateusjesus | 0:3e0de9e209d1 | 36 | int total = 0; //{left, left_diagonal, front, right_diagonal, right} |
Mateusjesus | 0:3e0de9e209d1 | 37 | |
Mateusjesus | 0:3e0de9e209d1 | 38 | void Search () |
Mateusjesus | 0:3e0de9e209d1 | 39 | { |
Mateusjesus | 0:3e0de9e209d1 | 40 | measure[0] = Sensor1.read(); |
Mateusjesus | 0:3e0de9e209d1 | 41 | measure[1] = Sensor2.read(); |
Mateusjesus | 0:3e0de9e209d1 | 42 | measure[2] = Sensor3.read(); |
Mateusjesus | 0:3e0de9e209d1 | 43 | measure[3] = Sensor4.read(); |
Mateusjesus | 0:3e0de9e209d1 | 44 | measure[4] = Sensor5.read(); |
Mateusjesus | 0:3e0de9e209d1 | 45 | |
Mateusjesus | 0:3e0de9e209d1 | 46 | total = measure[4]*10000 + measure[3]*1000 + measure[2]*100 + measure[1]*10 + measure[0]; |
Mateusjesus | 0:3e0de9e209d1 | 47 | return; |
Mateusjesus | 0:3e0de9e209d1 | 48 | } |
Mateusjesus | 0:3e0de9e209d1 | 49 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 50 | //===================== SWITCH INICIALIZATION - ================================= |
Mateusjesus | 0:3e0de9e209d1 | 51 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 52 | InterruptIn SWITCH(p11); |
Mateusjesus | 0:3e0de9e209d1 | 53 | DigitalOut Led4(LED4); |
Mateusjesus | 0:3e0de9e209d1 | 54 | void desligar() |
Mateusjesus | 0:3e0de9e209d1 | 55 | { |
Mateusjesus | 0:3e0de9e209d1 | 56 | Drive(MED_PPM,MED_PPM); |
Mateusjesus | 0:3e0de9e209d1 | 57 | } |
Mateusjesus | 0:3e0de9e209d1 | 58 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 59 | //===================== FAILSAFE - ============================================== |
Mateusjesus | 0:3e0de9e209d1 | 60 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 61 | InterruptIn Failsafe(p12); // Interrupt on digital pushbutton input p12 |
Mateusjesus | 0:3e0de9e209d1 | 62 | Timer timer; |
Mateusjesus | 0:3e0de9e209d1 | 63 | DigitalOut Led3(LED3); |
Mateusjesus | 0:3e0de9e209d1 | 64 | int RC_value; |
Mateusjesus | 0:3e0de9e209d1 | 65 | int RC_start; |
Mateusjesus | 0:3e0de9e209d1 | 66 | int failsafe=0; |
Mateusjesus | 0:3e0de9e209d1 | 67 | #define FAILSAFE_SIGNAL 1400 //Valor em microssegundos do sinal do failsafe |
Mateusjesus | 0:3e0de9e209d1 | 68 | void intHigh() |
Mateusjesus | 0:3e0de9e209d1 | 69 | { |
Mateusjesus | 0:3e0de9e209d1 | 70 | RC_start=timer.read_us();//Começa o timer |
Mateusjesus | 0:3e0de9e209d1 | 71 | } |
Mateusjesus | 0:3e0de9e209d1 | 72 | void intLow() |
Mateusjesus | 0:3e0de9e209d1 | 73 | { |
Mateusjesus | 0:3e0de9e209d1 | 74 | RC_value=timer.read_us()- RC_start;//Reads ppm signal from RC receiver. |
Mateusjesus | 0:3e0de9e209d1 | 75 | if(RC_value > FAILSAFE_SIGNAL) { |
Mateusjesus | 0:3e0de9e209d1 | 76 | failsafe=0; //failsafe não ativado |
Mateusjesus | 0:3e0de9e209d1 | 77 | } else { |
Mateusjesus | 0:3e0de9e209d1 | 78 | failsafe=1; //failsafe ativado |
Mateusjesus | 0:3e0de9e209d1 | 79 | } |
Mateusjesus | 0:3e0de9e209d1 | 80 | } |
Mateusjesus | 0:3e0de9e209d1 | 81 | |
Mateusjesus | 0:3e0de9e209d1 | 82 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 83 | //===================== LINE SENSORS - ========================================= |
Mateusjesus | 0:3e0de9e209d1 | 84 | //================================================================================ |
Mateusjesus | 0:3e0de9e209d1 | 85 | #define PARAMETER 0.908 |
Mateusjesus | 0:3e0de9e209d1 | 86 | #define RightSensor p18 |
Mateusjesus | 0:3e0de9e209d1 | 87 | #define LeftSensor p20 |
Mateusjesus | 0:3e0de9e209d1 | 88 | DigitalOut Led1 (LED1); |
Mateusjesus | 0:3e0de9e209d1 | 89 | DigitalOut Led2 (LED2); |
Mateusjesus | 0:3e0de9e209d1 | 90 | AnalogIn RightRead(RightSensor); |
Mateusjesus | 0:3e0de9e209d1 | 91 | AnalogIn LeftRead(LeftSensor); |
Mateusjesus | 0:3e0de9e209d1 | 92 | bool right_line=1,left_line=1; |
Mateusjesus | 0:3e0de9e209d1 | 93 | int result=0,anterior=0; |
Mateusjesus | 0:3e0de9e209d1 | 94 | int Line_check () |
Mateusjesus | 0:3e0de9e209d1 | 95 | { |
Mateusjesus | 0:3e0de9e209d1 | 96 | if(RightRead.read()>PARAMETER) { |
Mateusjesus | 0:3e0de9e209d1 | 97 | right_line=1; |
Mateusjesus | 0:3e0de9e209d1 | 98 | } |
Mateusjesus | 0:3e0de9e209d1 | 99 | else { |
Mateusjesus | 0:3e0de9e209d1 | 100 | right_line=0; //white |
Mateusjesus | 0:3e0de9e209d1 | 101 | } |
Mateusjesus | 0:3e0de9e209d1 | 102 | if(LeftRead.read()>PARAMETER) { |
Mateusjesus | 0:3e0de9e209d1 | 103 | left_line=1; |
Mateusjesus | 0:3e0de9e209d1 | 104 | } else { |
Mateusjesus | 0:3e0de9e209d1 | 105 | left_line=0; |
Mateusjesus | 0:3e0de9e209d1 | 106 | } |
Mateusjesus | 0:3e0de9e209d1 | 107 | result=right_line*10+left_line; |
Mateusjesus | 0:3e0de9e209d1 | 108 | if(result==0 && anterior==0) { |
Mateusjesus | 0:3e0de9e209d1 | 109 | return 0; |
Mateusjesus | 0:3e0de9e209d1 | 110 | } |
Mateusjesus | 0:3e0de9e209d1 | 111 | if(result==0 && anterior==1) { |
Mateusjesus | 0:3e0de9e209d1 | 112 | anterior=0; |
Mateusjesus | 0:3e0de9e209d1 | 113 | wait_ms(0); |
Mateusjesus | 0:3e0de9e209d1 | 114 | return 0; |
Mateusjesus | 0:3e0de9e209d1 | 115 | } |
Mateusjesus | 0:3e0de9e209d1 | 116 | switch(result) { |
Mateusjesus | 0:3e0de9e209d1 | 117 | case 10: { //Sensor de linha da direita viu a linha |
Mateusjesus | 0:3e0de9e209d1 | 118 | Led2=1; |
Mateusjesus | 0:3e0de9e209d1 | 119 | Led1=0; |
Mateusjesus | 0:3e0de9e209d1 | 120 | Drive(1500+5*(50),1500-5*(50)); //Para tras com velocidade máxima por 50ms |
Mateusjesus | 0:3e0de9e209d1 | 121 | wait(1); |
Mateusjesus | 0:3e0de9e209d1 | 122 | Drive(1500-5*(35),1500-5*(35));//Para esquerda com velocidade máxima por 100ms |
Mateusjesus | 0:3e0de9e209d1 | 123 | wait(0.5); |
Mateusjesus | 0:3e0de9e209d1 | 124 | anterior=1; |
Mateusjesus | 0:3e0de9e209d1 | 125 | break; |
Mateusjesus | 0:3e0de9e209d1 | 126 | } |
Mateusjesus | 0:3e0de9e209d1 | 127 | |
Mateusjesus | 0:3e0de9e209d1 | 128 | case 1: { //Sensor de linha da esquerda viu a linha |
Mateusjesus | 0:3e0de9e209d1 | 129 | Led2=0; |
Mateusjesus | 0:3e0de9e209d1 | 130 | Led1=1; |
Mateusjesus | 0:3e0de9e209d1 | 131 | Drive(1500+5*(50),1500-5*(50));//Para tras com velocidade máxima por 100ms |
Mateusjesus | 0:3e0de9e209d1 | 132 | wait(1); |
Mateusjesus | 0:3e0de9e209d1 | 133 | Drive(1500+5*(35),1500+5*(35)); //Para direita com velocidade máxima por 50ms |
Mateusjesus | 0:3e0de9e209d1 | 134 | wait(0.5); |
Mateusjesus | 0:3e0de9e209d1 | 135 | anterior=1; |
Mateusjesus | 0:3e0de9e209d1 | 136 | break; |
Mateusjesus | 0:3e0de9e209d1 | 137 | } |
Mateusjesus | 0:3e0de9e209d1 | 138 | |
Mateusjesus | 0:3e0de9e209d1 | 139 | case 11: { //Sensor de linha da esquerda e da direita viram a linha |
Mateusjesus | 0:3e0de9e209d1 | 140 | Led2=1; |
Mateusjesus | 0:3e0de9e209d1 | 141 | Led1=1; |
Mateusjesus | 0:3e0de9e209d1 | 142 | Drive(1500+5*(50),1500-5*(50));//Para tras |
Mateusjesus | 0:3e0de9e209d1 | 143 | wait(1); |
Mateusjesus | 0:3e0de9e209d1 | 144 | Drive(1500+5*(35),1500+5*(35)); //Para direita |
Mateusjesus | 0:3e0de9e209d1 | 145 | wait(0.5); |
Mateusjesus | 0:3e0de9e209d1 | 146 | anterior=1; |
Mateusjesus | 0:3e0de9e209d1 | 147 | break; |
Mateusjesus | 0:3e0de9e209d1 | 148 | |
Mateusjesus | 0:3e0de9e209d1 | 149 | } |
Mateusjesus | 0:3e0de9e209d1 | 150 | default: { |
Mateusjesus | 0:3e0de9e209d1 | 151 | anterior=1; |
Mateusjesus | 0:3e0de9e209d1 | 152 | Led2=0; |
Mateusjesus | 0:3e0de9e209d1 | 153 | Led1=0; |
Mateusjesus | 0:3e0de9e209d1 | 154 | break; |
Mateusjesus | 0:3e0de9e209d1 | 155 | } |
Mateusjesus | 0:3e0de9e209d1 | 156 | } |
Mateusjesus | 0:3e0de9e209d1 | 157 | return 1; |
Mateusjesus | 0:3e0de9e209d1 | 158 | } |
Mateusjesus | 0:3e0de9e209d1 | 159 | void Action () |
Mateusjesus | 0:3e0de9e209d1 | 160 | { |
Mateusjesus | 0:3e0de9e209d1 | 161 | |
Mateusjesus | 0:3e0de9e209d1 | 162 | switch(total) { |
Mateusjesus | 0:3e0de9e209d1 | 163 | |
Mateusjesus | 0:3e0de9e209d1 | 164 | case 0: //caso nao veja nenhum dos sensores |
Mateusjesus | 0:3e0de9e209d1 | 165 | Drive(LSpeedGlobal,RSpeedGlobal); |
Mateusjesus | 0:3e0de9e209d1 | 166 | break; |
Mateusjesus | 0:3e0de9e209d1 | 167 | |
Mateusjesus | 0:3e0de9e209d1 | 168 | case 1: //vira para a esquerda |
Mateusjesus | 0:3e0de9e209d1 | 169 | Drive(1500-5*(40),1500-5*(40)); |
Mateusjesus | 0:3e0de9e209d1 | 170 | break; |
Mateusjesus | 0:3e0de9e209d1 | 171 | |
Mateusjesus | 0:3e0de9e209d1 | 172 | case 10: //vira para a esquerda |
Mateusjesus | 0:3e0de9e209d1 | 173 | Drive(1500-5*(30),1500-5*(30)); |
Mateusjesus | 0:3e0de9e209d1 | 174 | break; |
Mateusjesus | 0:3e0de9e209d1 | 175 | |
Mateusjesus | 0:3e0de9e209d1 | 176 | case 11://vira para a esquerda |
Mateusjesus | 0:3e0de9e209d1 | 177 | Drive(1500-5*(30),1500-5*(30)); |
Mateusjesus | 0:3e0de9e209d1 | 178 | break; |
Mateusjesus | 0:3e0de9e209d1 | 179 | |
Mateusjesus | 0:3e0de9e209d1 | 180 | case 100: //vai reto |
Mateusjesus | 0:3e0de9e209d1 | 181 | Drive(1500-5*(60),1500+5*(60)); |
Mateusjesus | 0:3e0de9e209d1 | 182 | break; |
Mateusjesus | 0:3e0de9e209d1 | 183 | |
Mateusjesus | 0:3e0de9e209d1 | 184 | case 110://vai reto |
Mateusjesus | 0:3e0de9e209d1 | 185 | Drive(1500-5*(50),1500+5*(50)); |
Mateusjesus | 0:3e0de9e209d1 | 186 | break; |
Mateusjesus | 0:3e0de9e209d1 | 187 | |
Mateusjesus | 0:3e0de9e209d1 | 188 | case 1000: //vira para a direita |
Mateusjesus | 0:3e0de9e209d1 | 189 | Drive(1500+5*(30),1500+5*(30)); |
Mateusjesus | 0:3e0de9e209d1 | 190 | break;// |
Mateusjesus | 0:3e0de9e209d1 | 191 | |
Mateusjesus | 0:3e0de9e209d1 | 192 | case 1100://vai reto |
Mateusjesus | 0:3e0de9e209d1 | 193 | Drive(1500-5*(50),1500+5*(50)); |
Mateusjesus | 0:3e0de9e209d1 | 194 | break; |
Mateusjesus | 0:3e0de9e209d1 | 195 | |
Mateusjesus | 0:3e0de9e209d1 | 196 | case 1110://vai reto (GRANDE CHIFRE) |
Mateusjesus | 0:3e0de9e209d1 | 197 | Drive(1500-5*(100),1500+5*(100)); |
Mateusjesus | 0:3e0de9e209d1 | 198 | break; |
Mateusjesus | 0:3e0de9e209d1 | 199 | |
Mateusjesus | 0:3e0de9e209d1 | 200 | case 10000: //vira para direita |
Mateusjesus | 0:3e0de9e209d1 | 201 | Drive(1500+5*(40),1500+5*(40)); |
Mateusjesus | 0:3e0de9e209d1 | 202 | break; |
Mateusjesus | 0:3e0de9e209d1 | 203 | |
Mateusjesus | 0:3e0de9e209d1 | 204 | case 11000://vira para a direita |
Mateusjesus | 0:3e0de9e209d1 | 205 | Drive (1500+5*(30),1500+5*(30)); |
Mateusjesus | 0:3e0de9e209d1 | 206 | break; |
Mateusjesus | 0:3e0de9e209d1 | 207 | |
Mateusjesus | 0:3e0de9e209d1 | 208 | //todos os outros casos que são impossíveis |
Mateusjesus | 0:3e0de9e209d1 | 209 | |
Mateusjesus | 0:3e0de9e209d1 | 210 | default://para//////////// |
Mateusjesus | 0:3e0de9e209d1 | 211 | Drive(MED_PPM,MED_PPM); |
Mateusjesus | 0:3e0de9e209d1 | 212 | break; |
Mateusjesus | 0:3e0de9e209d1 | 213 | } |
Mateusjesus | 0:3e0de9e209d1 | 214 | } |
Mateusjesus | 0:3e0de9e209d1 | 215 | int main() |
Mateusjesus | 0:3e0de9e209d1 | 216 | { |
Mateusjesus | 0:3e0de9e209d1 | 217 | timer.start(); |
Mateusjesus | 0:3e0de9e209d1 | 218 | SWITCH.fall(&desligar);//Attach interrupt function request when falling edge is occurred |
Mateusjesus | 0:3e0de9e209d1 | 219 | Failsafe.fall(&intLow);//Attach interrupt function request when falling edge is occurred |
Mateusjesus | 0:3e0de9e209d1 | 220 | Failsafe.rise(&intHigh);//Attach interrupt function request when rising edge is occurred |
Mateusjesus | 0:3e0de9e209d1 | 221 | calibrate(); |
Mateusjesus | 0:3e0de9e209d1 | 222 | LSpeedGlobal = 1500-5*(30); |
Mateusjesus | 0:3e0de9e209d1 | 223 | RSpeedGlobal = 1500+5*(30); |
Mateusjesus | 0:3e0de9e209d1 | 224 | |
Mateusjesus | 0:3e0de9e209d1 | 225 | while(SWITCH.read()==0) { |
Mateusjesus | 0:3e0de9e209d1 | 226 | Search(); |
Mateusjesus | 0:3e0de9e209d1 | 227 | Led4=1; |
Mateusjesus | 0:3e0de9e209d1 | 228 | } |
Mateusjesus | 0:3e0de9e209d1 | 229 | Led4=0; |
Mateusjesus | 0:3e0de9e209d1 | 230 | while(1) { |
Mateusjesus | 0:3e0de9e209d1 | 231 | if(!failsafe && SWITCH.read()) { //Failsafe não ativado |
Mateusjesus | 0:3e0de9e209d1 | 232 | Led3=1; |
Mateusjesus | 0:3e0de9e209d1 | 233 | Action(); |
Mateusjesus | 0:3e0de9e209d1 | 234 | Search(); |
Mateusjesus | 0:3e0de9e209d1 | 235 | } |
Mateusjesus | 0:3e0de9e209d1 | 236 | else { // Failsafe ativado |
Mateusjesus | 0:3e0de9e209d1 | 237 | Led3=0; |
Mateusjesus | 0:3e0de9e209d1 | 238 | Drive(MED_PPM,MED_PPM); |
Mateusjesus | 0:3e0de9e209d1 | 239 | } |
Mateusjesus | 0:3e0de9e209d1 | 240 | } |
Mateusjesus | 0:3e0de9e209d1 | 241 | } |