Robotics - ARM / Mbed 2 deprecated ARM_Robotics

Robot code for searching an object and charging at it.

Dependencies:   HCSR04 Motor mbed

main.cpp@32:775eec44ba4f, 2015-06-07 (annotated)

Committer:
lhartfield
Date:
Sun Jun 07 18:44:26 2015 +0000
Revision:
32:775eec44ba4f
Parent:
30:8a5570b2de68
Parent:
31:70753d91565c
Child:
35:89e13f72cd84
merge

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
lhartfield 31:70753d91565c 11 // The following code controls a robotic car
lhartfield 31:70753d91565c 12 // by detetecting an object and charging towards it.
lhartfield 31:70753d91565c 13 // It uses the following basic functions:
abdsha01 5:68a2b79cf204 14 //
alex0612 19:67ea4e8be9e1 15 // move_forward(speed)
lhartfield 31:70753d91565c 16 // - Used to move the robot toward a detected object.
lhartfield 31:70753d91565c 17 // The robot will move forwards 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)
lhartfield 31:70753d91565c 22 // - Used to detect an object, the robot will
lhartfield 31:70753d91565c 23 // move in a circle to find an object. This function
lhartfield 31:70753d91565c 24 // returns 1 if an object is detected, otherwise it will
lhartfield 31:70753d91565c 25 // return 0. The search will be carried out for 15 seconds.
abdsha01 5:68a2b79cf204 26 //
alex0612 18:7bd638e3926d 27 // detect_line ()
lhartfield 31:70753d91565c 28 // - Used to detect a line, it returns the following values:
lhartfield 31:70753d91565c 29 // 0 - if no line is detected
lhartfield 31:70753d91565c 30 // 1 - if line detected from the front
lhartfield 31:70753d91565c 31 // -1 - if line detected from the back
abdsha01 5:68a2b79cf204 32 //
alex0612 18:7bd638e3926d 33 // reverse(speed)
lhartfield 31:70753d91565c 34 // - Reverses the robot in a straight line at given speed.
abdsha01 5:68a2b79cf204 35 //
abdsha01 20:37a89edd1cde 36 // stop()
lhartfield 31:70753d91565c 37 // - Stops the robot.
abdsha01 20:37a89edd1cde 38 //
lhartfield 24:513c88816ed8 39 // move_random(speed)
lhartfield 31:70753d91565c 40 // - Used to move the robot randomly: the robot will either
abdsha01 21:42c0db071a7f 41 // move forward, move backward, or turn around. The movement
lhartfield 31:70753d91565c 42 // will be carried out for a random time.
abdsha01 21:42c0db071a7f 43 //
abdsha01 0:15664f71b21f 44
abdsha01 0:15664f71b21f 45 // Libraries for using the above functions and more ...
abdsha01 0:15664f71b21f 46 #include "mbed.h"
abdsha01 4:0507835a3dce 47 #include "Motor.h"
abdsha01 4:0507835a3dce 48 #include "hcsr04.h"
abdsha01 0:15664f71b21f 49 #include "functions.h"
abdsha01 0:15664f71b21f 50
abdsha01 0:15664f71b21f 51 // Set for debugging purpose
abdsha01 0:15664f71b21f 52 // Example: pc(TX, RX)
abdsha01 0:15664f71b21f 53 //Serial pc(USBTX, USBRX);
abdsha01 0:15664f71b21f 54
abdsha01 0:15664f71b21f 55 // Global parameters
alex0612 30:8a5570b2de68 56
alex0612 30:8a5570b2de68 57 float forwardspeed;
alex0612 30:8a5570b2de68 58 float reversespeed;
abdsha01 0:15664f71b21f 59 float searchspeed;
abdsha01 6:af897173cb75 60 unsigned int range;
abdsha01 0:15664f71b21f 61
alex0612 18:7bd638e3926d 62 void initialise()
alex0612 18:7bd638e3926d 63 {
alex0612 30:8a5570b2de68 64 // Each speed value can be set from 0 to 1
alex0612 30:8a5570b2de68 65
alex0612 30:8a5570b2de68 66 // Speed at which it moves forward
alex0612 30:8a5570b2de68 67 // optimum value: 0.5 to 0.8
alex0612 30:8a5570b2de68 68 forwardspeed = 0.6;
alex0612 30:8a5570b2de68 69 // Speed at which it reverses
alex0612 30:8a5570b2de68 70 // optimum value: 0.4 to 0.6
alex0612 30:8a5570b2de68 71 reversespeed = 0.5;
alex0612 30:8a5570b2de68 72 // Speed at which it rotates to find an object
alex0612 30:8a5570b2de68 73 // optimum value: 0.4 to 0.6
alex0612 18:7bd638e3926d 74 searchspeed = 0.5;
alex0612 30:8a5570b2de68 75 // Range of detection
alex0612 30:8a5570b2de68 76 // optimum value: 30 to 50
abdsha01 6:af897173cb75 77 range = 30;
alex0612 18:7bd638e3926d 78
abdsha01 0:15664f71b21f 79 // Wait for 5 seconds to move away from robot
abdsha01 0:15664f71b21f 80 wait(5);
abdsha01 0:15664f71b21f 81 }
abdsha01 0:15664f71b21f 82
abdsha01 0:15664f71b21f 83 // The main loop - please write your code here
alex0612 18:7bd638e3926d 84 int main()
alex0612 18:7bd638e3926d 85 {
abdsha01 0:15664f71b21f 86 // Initialise the code
abdsha01 0:15664f71b21f 87 initialise();
abdsha01 0:15664f71b21f 88
abdsha01 0:15664f71b21f 89 printf("Starting the robot...");
abdsha01 0:15664f71b21f 90
abdsha01 0:15664f71b21f 91 Timer t;
abdsha01 0:15664f71b21f 92 t.start();
alex0612 18:7bd638e3926d 93
alex0612 16:02e533e3a91c 94 int detect_l = 0;
alex0612 16:02e533e3a91c 95 int detect_o = 0;
abdsha01 0:15664f71b21f 96
alex0612 19:67ea4e8be9e1 97 while(true) {
alex0612 19:67ea4e8be9e1 98 // Sample code to detect and object and move_forward at it
lhartfield 27:96a0ff2f474c 99
abdsha01 26:5ee2a32949e6 100 wait(1);
abdsha01 26:5ee2a32949e6 101
alex0612 18:7bd638e3926d 102 detect_o = detect_object(range, searchspeed);
alex0612 18:7bd638e3926d 103
alex0612 16:02e533e3a91c 104 if (detect_o == 1) {
alex0612 18:7bd638e3926d 105
alex0612 30:8a5570b2de68 106 move_forward(forwardspeed);
abdsha01 10:cec68ef272cd 107
alex0612 16:02e533e3a91c 108 while (true) {
alex0612 18:7bd638e3926d 109
alex0612 16:02e533e3a91c 110 detect_l = detect_line();
abdsha01 10:cec68ef272cd 111 // If line is detected from front then reverse
abdsha01 28:71781431b010 112 if(detect_l == 1 || detect_l == -1) {
alex0612 19:67ea4e8be9e1 113 stop();
abdsha01 26:5ee2a32949e6 114 turn_led_right();
alex0612 30:8a5570b2de68 115 reverse(reversespeed);
alex0612 19:67ea4e8be9e1 116 wait(1.5);
alex0612 18:7bd638e3926d 117 detect_l = 0;
abdsha01 10:cec68ef272cd 118 break;
abdsha01 10:cec68ef272cd 119 }
abdsha01 9:7770a84228c0 120 }
alex0612 18:7bd638e3926d 121
abdsha01 10:cec68ef272cd 122 } else {
alex0612 18:7bd638e3926d 123
lhartfield 22:e808fb71847d 124 move_random();
alex0612 18:7bd638e3926d 125
abdsha01 9:7770a84228c0 126 }
alex0612 18:7bd638e3926d 127
alex0612 16:02e533e3a91c 128 detect_o = 0;
abdsha01 6:af897173cb75 129 stop();
lhartfield 27:96a0ff2f474c 130 }
abdsha01 0:15664f71b21f 131 }
abdsha01 0:15664f71b21f 132