Robotics - ARM / Mbed 2 deprecated ARM_Robotics

Robot code for searching an object and charging at it.

Dependencies:   HCSR04 Motor mbed

main.cpp@19:67ea4e8be9e1, 2015-05-30 (annotated)

Committer:
alex0612
Date:
Sat May 30 19:08:26 2015 +0000
Revision:
19:67ea4e8be9e1
Parent:
18:7bd638e3926d
Child:
20:37a89edd1cde
Added led blinking

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 5:68a2b79cf204 26 // will be carried out for 10 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)
alex0612 19:67ea4e8be9e1 36 // - reverses the robot with move_forwardspeed in same position
abdsha01 5:68a2b79cf204 37
alex0612 18:7bd638e3926d 38 // reverseandturn(speed)
abdsha01 5:68a2b79cf204 39 // - reverses whie moving in a circular direction
abdsha01 5:68a2b79cf204 40 //
abdsha01 0:15664f71b21f 41
abdsha01 0:15664f71b21f 42 // Libraries for using the above functions and more ...
abdsha01 0:15664f71b21f 43 #include "mbed.h"
abdsha01 4:0507835a3dce 44 #include "Motor.h"
abdsha01 4:0507835a3dce 45 #include "hcsr04.h"
abdsha01 0:15664f71b21f 46 #include "functions.h"
abdsha01 0:15664f71b21f 47
abdsha01 0:15664f71b21f 48 // Set for debugging purpose
abdsha01 0:15664f71b21f 49 // Example: pc(TX, RX)
abdsha01 0:15664f71b21f 50 //Serial pc(USBTX, USBRX);
abdsha01 0:15664f71b21f 51
abdsha01 0:15664f71b21f 52
abdsha01 0:15664f71b21f 53 // Global parameters
alex0612 19:67ea4e8be9e1 54 // Speed at which it move_forwards an object
abdsha01 0:15664f71b21f 55 // optimum value: 0.4 to 0.8
alex0612 19:67ea4e8be9e1 56 float move_forwardspeed;
abdsha01 0:15664f71b21f 57 // Speed at which it rotates to find an object
abdsha01 0:15664f71b21f 58 // optimum value: 0.3 to 0.5
abdsha01 0:15664f71b21f 59 float searchspeed;
abdsha01 0:15664f71b21f 60 // Range of detection
abdsha01 0:15664f71b21f 61 // optimum value: 30 to 50
abdsha01 6:af897173cb75 62 unsigned int range;
abdsha01 0:15664f71b21f 63
alex0612 18:7bd638e3926d 64 void initialise()
alex0612 18:7bd638e3926d 65 {
alex0612 19:67ea4e8be9e1 66 move_forwardspeed = 0.6;
alex0612 18:7bd638e3926d 67 searchspeed = 0.5;
abdsha01 6:af897173cb75 68 range = 30;
alex0612 18:7bd638e3926d 69
abdsha01 0:15664f71b21f 70 // Wait for 5 seconds to move away from robot
abdsha01 0:15664f71b21f 71 wait(5);
abdsha01 0:15664f71b21f 72 }
abdsha01 0:15664f71b21f 73
abdsha01 0:15664f71b21f 74 // The main loop - please write your code here
alex0612 18:7bd638e3926d 75 int main()
alex0612 18:7bd638e3926d 76 {
abdsha01 0:15664f71b21f 77 // Initialise the code
abdsha01 0:15664f71b21f 78 initialise();
abdsha01 0:15664f71b21f 79
abdsha01 0:15664f71b21f 80 printf("Starting the robot...");
abdsha01 0:15664f71b21f 81
abdsha01 0:15664f71b21f 82 Timer t;
abdsha01 0:15664f71b21f 83 t.start();
alex0612 18:7bd638e3926d 84
alex0612 16:02e533e3a91c 85 int detect_l = 0;
alex0612 16:02e533e3a91c 86 int detect_o = 0;
abdsha01 0:15664f71b21f 87
alex0612 19:67ea4e8be9e1 88 while(true) {
alex0612 19:67ea4e8be9e1 89 // Sample code to detect and object and move_forward at it
alex0612 18:7bd638e3926d 90
alex0612 18:7bd638e3926d 91 detect_o = detect_object(range, searchspeed);
alex0612 18:7bd638e3926d 92
alex0612 16:02e533e3a91c 93 if (detect_o == 1) {
alex0612 18:7bd638e3926d 94
alex0612 19:67ea4e8be9e1 95 move_forward(move_forwardspeed);
abdsha01 10:cec68ef272cd 96
alex0612 16:02e533e3a91c 97 while (true) {
alex0612 18:7bd638e3926d 98
alex0612 16:02e533e3a91c 99 detect_l = detect_line();
abdsha01 10:cec68ef272cd 100 // If line is detected from front then reverse
alex0612 16:02e533e3a91c 101 if(detect_l == 1) {
alex0612 19:67ea4e8be9e1 102 stop();
alex0612 19:67ea4e8be9e1 103 turn_leds_on();
abdsha01 10:cec68ef272cd 104 reverse(searchspeed);
alex0612 19:67ea4e8be9e1 105 wait(1.5);
alex0612 18:7bd638e3926d 106 detect_l = 0;
abdsha01 10:cec68ef272cd 107 break;
alex0612 19:67ea4e8be9e1 108 // If line is detected from back just keep on moving forward
alex0612 16:02e533e3a91c 109 } else if (detect_l == -1) {
abdsha01 10:cec68ef272cd 110 stop();
alex0612 19:67ea4e8be9e1 111 turn_leds_on();
alex0612 19:67ea4e8be9e1 112 move_forward(searchspeed);
alex0612 19:67ea4e8be9e1 113 wait(1.5);
alex0612 18:7bd638e3926d 114 detect_l = 0;
abdsha01 10:cec68ef272cd 115 break;
abdsha01 10:cec68ef272cd 116 }
abdsha01 9:7770a84228c0 117 }
alex0612 18:7bd638e3926d 118
abdsha01 10:cec68ef272cd 119 } else {
alex0612 18:7bd638e3926d 120
abdsha01 10:cec68ef272cd 121 moverandom();
alex0612 18:7bd638e3926d 122
abdsha01 9:7770a84228c0 123 }
alex0612 18:7bd638e3926d 124
alex0612 16:02e533e3a91c 125 detect_o = 0;
abdsha01 6:af897173cb75 126 stop();
abdsha01 0:15664f71b21f 127 }
abdsha01 0:15664f71b21f 128 }
abdsha01 0:15664f71b21f 129