Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
main.cpp@0:15664f71b21f, 2015-05-23 (annotated)
- Committer:
- abdsha01
- Date:
- Sat May 23 14:13:09 2015 +0000
- Revision:
- 0:15664f71b21f
- Child:
- 1:bd88d4062c97
Draft version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
abdsha01 | 0:15664f71b21f | 1 | // Code written by: |
abdsha01 | 0:15664f71b21f | 2 | // Jon Baker |
abdsha01 | 0:15664f71b21f | 3 | // Alessandro Grande |
abdsha01 | 0:15664f71b21f | 4 | // Abdul-Rehman Sharif |
abdsha01 | 0:15664f71b21f | 5 | // Lucinda Hartfield |
abdsha01 | 0:15664f71b21f | 6 | |
abdsha01 | 0:15664f71b21f | 7 | // Circuitry made by: |
abdsha01 | 0:15664f71b21f | 8 | // Yucando Navarrete |
abdsha01 | 0:15664f71b21f | 9 | // Vivekanand Gupta |
abdsha01 | 0:15664f71b21f | 10 | |
abdsha01 | 0:15664f71b21f | 11 | // The following code will control a robotic car |
abdsha01 | 0:15664f71b21f | 12 | // by detetecting an object and charging towards it |
abdsha01 | 0:15664f71b21f | 13 | // it uses basic functions as: |
abdsha01 | 0:15664f71b21f | 14 | // charge() - used to charge on an object detected |
abdsha01 | 0:15664f71b21f | 15 | // the robot will move in a straight line |
abdsha01 | 0:15664f71b21f | 16 | // until it detects the arena line where |
abdsha01 | 0:15664f71b21f | 17 | // it will use reverse() to move back |
abdsha01 | 0:15664f71b21f | 18 | // detect_object() - used to detect an object, the robot will |
abdsha01 | 0:15664f71b21f | 19 | // move in a circle to find an object and |
abdsha01 | 0:15664f71b21f | 20 | // return 1 if it finds something and return |
abdsha01 | 0:15664f71b21f | 21 | // 0 if it does not find anything - the search |
abdsha01 | 0:15664f71b21f | 22 | // will be carried out for 10 seconds. |
abdsha01 | 0:15664f71b21f | 23 | // detect_line () - used to detect a line, it returns the following |
abdsha01 | 0:15664f71b21f | 24 | // an int value as follows: |
abdsha01 | 0:15664f71b21f | 25 | // 0 - if no line is detected |
abdsha01 | 0:15664f71b21f | 26 | // 1 - if line detected from the front |
abdsha01 | 0:15664f71b21f | 27 | // -1 - if line detected from the back |
abdsha01 | 0:15664f71b21f | 28 | |
abdsha01 | 0:15664f71b21f | 29 | // Libraries for using the above functions and more ... |
abdsha01 | 0:15664f71b21f | 30 | #include "mbed.h" |
abdsha01 | 0:15664f71b21f | 31 | #include "functions.h" |
abdsha01 | 0:15664f71b21f | 32 | |
abdsha01 | 0:15664f71b21f | 33 | // Two sensors are used to detect a line, line_sens1 and line_sens2 |
abdsha01 | 0:15664f71b21f | 34 | // if there is a difference between the readings of these sensors |
abdsha01 | 0:15664f71b21f | 35 | // the robot has detected a line. |
abdsha01 | 0:15664f71b21f | 36 | // Setting pins for line sensor |
abdsha01 | 0:15664f71b21f | 37 | DigitalInOut line1(p20); |
abdsha01 | 0:15664f71b21f | 38 | DigitalInOut line2(p19); |
abdsha01 | 0:15664f71b21f | 39 | |
abdsha01 | 0:15664f71b21f | 40 | // Setting pins for motor, as follows: |
abdsha01 | 0:15664f71b21f | 41 | // Example: Motor____(PWM, Forward, Reverse) |
abdsha01 | 0:15664f71b21f | 42 | Motor MotorLeft(p23, p28, p27); |
abdsha01 | 0:15664f71b21f | 43 | Motor MotorRight(p22, p29, p30); |
abdsha01 | 0:15664f71b21f | 44 | |
abdsha01 | 0:15664f71b21f | 45 | // Setting pins for ultrasonic sensor, as follows: |
abdsha01 | 0:15664f71b21f | 46 | // Example: usensor(Trigger, Echo) |
abdsha01 | 0:15664f71b21f | 47 | HCSR04 usensor(p25,p26); |
abdsha01 | 0:15664f71b21f | 48 | |
abdsha01 | 0:15664f71b21f | 49 | // Set for debugging purpose |
abdsha01 | 0:15664f71b21f | 50 | // Example: pc(TX, RX) |
abdsha01 | 0:15664f71b21f | 51 | //Serial pc(USBTX, USBRX); |
abdsha01 | 0:15664f71b21f | 52 | |
abdsha01 | 0:15664f71b21f | 53 | |
abdsha01 | 0:15664f71b21f | 54 | // Global parameters |
abdsha01 | 0:15664f71b21f | 55 | // Speed at which it charged an object |
abdsha01 | 0:15664f71b21f | 56 | // optimum value: 0.4 to 0.8 |
abdsha01 | 0:15664f71b21f | 57 | float chargespeed; |
abdsha01 | 0:15664f71b21f | 58 | // Speed at which it rotates to find an object |
abdsha01 | 0:15664f71b21f | 59 | // optimum value: 0.3 to 0.5 |
abdsha01 | 0:15664f71b21f | 60 | float searchspeed; |
abdsha01 | 0:15664f71b21f | 61 | // Range of detection |
abdsha01 | 0:15664f71b21f | 62 | // optimum value: 30 to 50 |
abdsha01 | 0:15664f71b21f | 63 | int range; |
abdsha01 | 0:15664f71b21f | 64 | |
abdsha01 | 0:15664f71b21f | 65 | void initialise() |
abdsha01 | 0:15664f71b21f | 66 | { |
abdsha01 | 0:15664f71b21f | 67 | chargespeed = 0.5; |
abdsha01 | 0:15664f71b21f | 68 | searchspeed = 0.3; |
abdsha01 | 0:15664f71b21f | 69 | range = 40; |
abdsha01 | 0:15664f71b21f | 70 | |
abdsha01 | 0:15664f71b21f | 71 | // Wait for 5 seconds to move away from robot |
abdsha01 | 0:15664f71b21f | 72 | wait(5); |
abdsha01 | 0:15664f71b21f | 73 | } |
abdsha01 | 0:15664f71b21f | 74 | |
abdsha01 | 0:15664f71b21f | 75 | // The main loop - please write your code here |
abdsha01 | 0:15664f71b21f | 76 | int main() |
abdsha01 | 0:15664f71b21f | 77 | { |
abdsha01 | 0:15664f71b21f | 78 | // Initialise the code |
abdsha01 | 0:15664f71b21f | 79 | initialise(); |
abdsha01 | 0:15664f71b21f | 80 | |
abdsha01 | 0:15664f71b21f | 81 | printf("Starting the robot..."); |
abdsha01 | 0:15664f71b21f | 82 | |
abdsha01 | 0:15664f71b21f | 83 | Timer t; |
abdsha01 | 0:15664f71b21f | 84 | t.start(); |
abdsha01 | 0:15664f71b21f | 85 | |
abdsha01 | 0:15664f71b21f | 86 | while(1) { // main loop |
abdsha01 | 0:15664f71b21f | 87 | if (dist <= 35 && dist >= 1) { |
abdsha01 | 0:15664f71b21f | 88 | MotorLeft.speed(-0.4); |
abdsha01 | 0:15664f71b21f | 89 | MotorRight.speed(-0.4); |
abdsha01 | 0:15664f71b21f | 90 | Timer t3; |
abdsha01 | 0:15664f71b21f | 91 | |
abdsha01 | 0:15664f71b21f | 92 | t3.start(); |
abdsha01 | 0:15664f71b21f | 93 | |
abdsha01 | 0:15664f71b21f | 94 | //printf("%d,%d,%d\r\n",line1val,line2val,line1val-line2val); |
abdsha01 | 0:15664f71b21f | 95 | |
abdsha01 | 0:15664f71b21f | 96 | while (t3.read_ms() < 100) { |
abdsha01 | 0:15664f71b21f | 97 | |
abdsha01 | 0:15664f71b21f | 98 | if (((line1val-line2val) > 50) || ((line1val-line2val) < -50)) { |
abdsha01 | 0:15664f71b21f | 99 | MotorLeft.speed(0.4); |
abdsha01 | 0:15664f71b21f | 100 | MotorRight.speed(0.4); |
abdsha01 | 0:15664f71b21f | 101 | |
abdsha01 | 0:15664f71b21f | 102 | wait_ms(500); |
abdsha01 | 0:15664f71b21f | 103 | |
abdsha01 | 0:15664f71b21f | 104 | //return 0; |
abdsha01 | 0:15664f71b21f | 105 | printf("STOP\r\n"); |
abdsha01 | 0:15664f71b21f | 106 | } |
abdsha01 | 0:15664f71b21f | 107 | //t.reset(); |
abdsha01 | 0:15664f71b21f | 108 | } |
abdsha01 | 0:15664f71b21f | 109 | |
abdsha01 | 0:15664f71b21f | 110 | } else { |
abdsha01 | 0:15664f71b21f | 111 | MotorLeft.speed(motorspeed); |
abdsha01 | 0:15664f71b21f | 112 | MotorRight.speed(-(motorspeed)); |
abdsha01 | 0:15664f71b21f | 113 | } |
abdsha01 | 0:15664f71b21f | 114 | |
abdsha01 | 0:15664f71b21f | 115 | usensor.start(); |
abdsha01 | 0:15664f71b21f | 116 | if (t.read_ms() >=100) { |
abdsha01 | 0:15664f71b21f | 117 | dist=usensor.get_dist_cm(); |
abdsha01 | 0:15664f71b21f | 118 | motorspeed = -0.8; |
abdsha01 | 0:15664f71b21f | 119 | if (reverse==2) { |
abdsha01 | 0:15664f71b21f | 120 | motorspeed = -0.7; |
abdsha01 | 0:15664f71b21f | 121 | reverse = 0; |
abdsha01 | 0:15664f71b21f | 122 | //motorspeed = -(motorspeed); |
abdsha01 | 0:15664f71b21f | 123 | //reverse=0; |
abdsha01 | 0:15664f71b21f | 124 | } else { |
abdsha01 | 0:15664f71b21f | 125 | motorspeed = 0.0; |
abdsha01 | 0:15664f71b21f | 126 | |
abdsha01 | 0:15664f71b21f | 127 | } |
abdsha01 | 0:15664f71b21f | 128 | reverse++; |
abdsha01 | 0:15664f71b21f | 129 | t.reset(); |
abdsha01 | 0:15664f71b21f | 130 | } |
abdsha01 | 0:15664f71b21f | 131 | |
abdsha01 | 0:15664f71b21f | 132 | } |
abdsha01 | 0:15664f71b21f | 133 | |
abdsha01 | 0:15664f71b21f | 134 | } |
abdsha01 | 0:15664f71b21f | 135 |