Robotics - ARM / Mbed 2 deprecated ARM_Robotics

Robot code for searching an object and charging at it.

Dependencies:   HCSR04 Motor mbed

main.cpp@26:5ee2a32949e6, 2015-06-07 (annotated)

Committer:
abdsha01
Date:
Sun Jun 07 16:36:03 2015 +0000
Revision:
26:5ee2a32949e6
Parent:
25:7662e93a77eb
Child:
27:96a0ff2f474c
Child:
28:71781431b010
Sensitivity for line sensor

Who changed what in which revision?

UserRevisionLine numberNew 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 5:68a2b79cf204 14 //
alex0612 19:67ea4e8be9e1 15 // move_forward(speed)
alex0612 19:67ea4e8be9e1 16 // - used to move_forward on an object detected
abdsha01 5:68a2b79cf204 17 // the robot will move in a straight line
abdsha01 5:68a2b79cf204 18 // until it detects the arena line where
abdsha01 5:68a2b79cf204 19 // it will use reverse() to move back
abdsha01 5:68a2b79cf204 20 //
abdsha01 5:68a2b79cf204 21 // detect_object(range, speed)
abdsha01 5:68a2b79cf204 22 // - used to detect an object, the robot will
alex0612 18:7bd638e3926d 23 // move in a circle to find an object and
abdsha01 5:68a2b79cf204 24 // return 1 if it finds something and return
abdsha01 5:68a2b79cf204 25 // 0 if it does not find anything - the search
abdsha01 21:42c0db071a7f 26 // will be carried out for 15 seconds.
abdsha01 5:68a2b79cf204 27 //
alex0612 18:7bd638e3926d 28 // detect_line ()
abdsha01 5:68a2b79cf204 29 // - used to detect a line, it returns the following
abdsha01 5:68a2b79cf204 30 // an int value as follows:
abdsha01 5:68a2b79cf204 31 // 0 - if no line is detected
abdsha01 5:68a2b79cf204 32 // 1 - if line detected from the front
abdsha01 5:68a2b79cf204 33 // -1 - if line detected from the back
abdsha01 5:68a2b79cf204 34 //
alex0612 18:7bd638e3926d 35 // reverse(speed)
lhartfield 25:7662e93a77eb 36 // - reverses the robot with moveforwardspeed in same position
abdsha01 5:68a2b79cf204 37 //
abdsha01 20:37a89edd1cde 38 // stop()
abdsha01 20:37a89edd1cde 39 // - stops the robot
abdsha01 20:37a89edd1cde 40 //
lhartfield 24:513c88816ed8 41 // move_random(speed)
abdsha01 21:42c0db071a7f 42 // - used to move the robot randomly, the robot will either
abdsha01 21:42c0db071a7f 43 // move forward, move backward, or turn around. The movement
abdsha01 21:42c0db071a7f 44 // will be carried out for a random time
abdsha01 21:42c0db071a7f 45 //
abdsha01 0:15664f71b21f 46
abdsha01 0:15664f71b21f 47 // Libraries for using the above functions and more ...
abdsha01 0:15664f71b21f 48 #include "mbed.h"
abdsha01 4:0507835a3dce 49 #include "Motor.h"
abdsha01 4:0507835a3dce 50 #include "hcsr04.h"
abdsha01 0:15664f71b21f 51 #include "functions.h"
abdsha01 0:15664f71b21f 52
abdsha01 0:15664f71b21f 53 // Set for debugging purpose
abdsha01 0:15664f71b21f 54 // Example: pc(TX, RX)
abdsha01 0:15664f71b21f 55 //Serial pc(USBTX, USBRX);
abdsha01 0:15664f71b21f 56
abdsha01 0:15664f71b21f 57 // Global parameters
alex0612 19:67ea4e8be9e1 58 // Speed at which it move_forwards an object
abdsha01 0:15664f71b21f 59 // optimum value: 0.4 to 0.8
lhartfield 25:7662e93a77eb 60 float moveforwardspeed;
abdsha01 0:15664f71b21f 61 // Speed at which it rotates to find an object
abdsha01 0:15664f71b21f 62 // optimum value: 0.3 to 0.5
abdsha01 0:15664f71b21f 63 float searchspeed;
abdsha01 0:15664f71b21f 64 // Range of detection
abdsha01 0:15664f71b21f 65 // optimum value: 30 to 50
abdsha01 6:af897173cb75 66 unsigned int range;
abdsha01 0:15664f71b21f 67
alex0612 18:7bd638e3926d 68 void initialise()
alex0612 18:7bd638e3926d 69 {
lhartfield 25:7662e93a77eb 70 moveforwardspeed = 0.6;
alex0612 18:7bd638e3926d 71 searchspeed = 0.5;
abdsha01 6:af897173cb75 72 range = 30;
alex0612 18:7bd638e3926d 73
abdsha01 0:15664f71b21f 74 // Wait for 5 seconds to move away from robot
abdsha01 0:15664f71b21f 75 wait(5);
abdsha01 0:15664f71b21f 76 }
abdsha01 0:15664f71b21f 77
abdsha01 0:15664f71b21f 78 // The main loop - please write your code here
alex0612 18:7bd638e3926d 79 int main()
alex0612 18:7bd638e3926d 80 {
abdsha01 0:15664f71b21f 81 // Initialise the code
abdsha01 0:15664f71b21f 82 initialise();
abdsha01 0:15664f71b21f 83
abdsha01 0:15664f71b21f 84 printf("Starting the robot...");
abdsha01 0:15664f71b21f 85
abdsha01 0:15664f71b21f 86 Timer t;
abdsha01 0:15664f71b21f 87 t.start();
alex0612 18:7bd638e3926d 88
alex0612 16:02e533e3a91c 89 int detect_l = 0;
alex0612 16:02e533e3a91c 90 int detect_o = 0;
abdsha01 0:15664f71b21f 91
alex0612 19:67ea4e8be9e1 92 while(true) {
alex0612 19:67ea4e8be9e1 93 // Sample code to detect and object and move_forward at it
abdsha01 26:5ee2a32949e6 94 wait(1);
abdsha01 26:5ee2a32949e6 95
alex0612 18:7bd638e3926d 96 detect_o = detect_object(range, searchspeed);
alex0612 18:7bd638e3926d 97
alex0612 16:02e533e3a91c 98 if (detect_o == 1) {
alex0612 18:7bd638e3926d 99
lhartfield 25:7662e93a77eb 100 move_forward(moveforwardspeed);
abdsha01 10:cec68ef272cd 101
alex0612 16:02e533e3a91c 102 while (true) {
alex0612 18:7bd638e3926d 103
alex0612 16:02e533e3a91c 104 detect_l = detect_line();
abdsha01 10:cec68ef272cd 105 // If line is detected from front then reverse
alex0612 16:02e533e3a91c 106 if(detect_l == 1) {
alex0612 19:67ea4e8be9e1 107 stop();
abdsha01 26:5ee2a32949e6 108 turn_led_right();
abdsha01 10:cec68ef272cd 109 reverse(searchspeed);
alex0612 19:67ea4e8be9e1 110 wait(1.5);
alex0612 18:7bd638e3926d 111 detect_l = 0;
abdsha01 10:cec68ef272cd 112 break;
alex0612 19:67ea4e8be9e1 113 // If line is detected from back just keep on moving forward
abdsha01 10:cec68ef272cd 114 }
abdsha01 9:7770a84228c0 115 }
alex0612 18:7bd638e3926d 116
abdsha01 10:cec68ef272cd 117 } else {
alex0612 18:7bd638e3926d 118
lhartfield 22:e808fb71847d 119 move_random();
alex0612 18:7bd638e3926d 120
abdsha01 9:7770a84228c0 121 }
alex0612 18:7bd638e3926d 122
alex0612 16:02e533e3a91c 123 detect_o = 0;
abdsha01 6:af897173cb75 124 stop();
abdsha01 0:15664f71b21f 125 }
abdsha01 0:15664f71b21f 126 }
abdsha01 0:15664f71b21f 127