Robotics - ARM / Mbed 2 deprecated ARM_Robotics

Robot code for searching an object and charging at it.

Dependencies:   HCSR04 Motor mbed

main.cpp@5:68a2b79cf204, 2015-05-23 (annotated)

Committer:
abdsha01
Date:
Sat May 23 15:08:23 2015 +0000
Revision:
5:68a2b79cf204
Parent:
4:0507835a3dce
Child:
6:af897173cb75
Added more comments

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 //
abdsha01 5:68a2b79cf204 15 // charge(speed)
abdsha01 5:68a2b79cf204 16 // - used to charge 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
abdsha01 5:68a2b79cf204 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 //
abdsha01 5:68a2b79cf204 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 //
abdsha01 5:68a2b79cf204 35 // reverse(speed)
abdsha01 5:68a2b79cf204 36 // - reverses the robot with chargespeed in same position
abdsha01 5:68a2b79cf204 37
abdsha01 5:68a2b79cf204 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
abdsha01 1:bd88d4062c97 54 // Speed at which it charges an object
abdsha01 0:15664f71b21f 55 // optimum value: 0.4 to 0.8
abdsha01 0:15664f71b21f 56 float chargespeed;
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 0:15664f71b21f 62 int range;
abdsha01 0:15664f71b21f 63
abdsha01 0:15664f71b21f 64 void initialise()
abdsha01 0:15664f71b21f 65 {
abdsha01 0:15664f71b21f 66 chargespeed = 0.5;
abdsha01 0:15664f71b21f 67 searchspeed = 0.3;
abdsha01 0:15664f71b21f 68 range = 40;
abdsha01 0:15664f71b21f 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
abdsha01 0:15664f71b21f 75 int main()
abdsha01 0:15664f71b21f 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();
abdsha01 0:15664f71b21f 84
abdsha01 2:6f15a798993d 85 while(1) {
abdsha01 4:0507835a3dce 86 // Sample code to detect and object and charge at it
abdsha01 4:0507835a3dce 87 if (detect_object(range, searchspeed)) {
abdsha01 4:0507835a3dce 88
abdsha01 4:0507835a3dce 89 charge(chargespeed);
abdsha01 4:0507835a3dce 90 wait(3);
abdsha01 4:0507835a3dce 91 stop();
abdsha01 4:0507835a3dce 92
abdsha01 4:0507835a3dce 93 } else {
abdsha01 4:0507835a3dce 94
abdsha01 4:0507835a3dce 95 }
abdsha01 0:15664f71b21f 96 }
abdsha01 0:15664f71b21f 97 }
abdsha01 0:15664f71b21f 98