Robotics - ARM / Mbed 2 deprecated ARM_Robotics

Robot code for searching an object and charging at it.

Dependencies:   HCSR04 Motor mbed

main.cpp@38:decff231d886, 2016-10-12 (annotated)

Committer:
alex0612
Date:
Wed Oct 12 14:58:55 2016 +0000
Revision:
38:decff231d886
Parent:
37:a08d2e37b7e6 
added breaks to cases

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:
alex0612 35:89e13f72cd84 8 // Jon Baker
abdsha01 0:15664f71b21f 9 // Yucando Navarrete
abdsha01 0:15664f71b21f 10 // Vivekanand Gupta
abdsha01 0:15664f71b21f 11
lhartfield 31:70753d91565c 12 // The following code controls a robotic car
lhartfield 31:70753d91565c 13 // by detetecting an object and charging towards it.
lhartfield 31:70753d91565c 14 // It uses the following basic functions:
abdsha01 5:68a2b79cf204 15 //
alex0612 37:a08d2e37b7e6 16 // forwards(speed)
alex0612 37:a08d2e37b7e6 17 // - Sets the motor speeds in order to go forwards.
alex0612 37:a08d2e37b7e6 18 //
alex0612 37:a08d2e37b7e6 19 // reverse(speed)
alex0612 37:a08d2e37b7e6 20 // - Sets the motor speeds in order to go backwards.
alex0612 37:a08d2e37b7e6 21 //
alex0612 37:a08d2e37b7e6 22 // turn_left(speed)
alex0612 37:a08d2e37b7e6 23 // - Sets the motor speeds to turn the robot to the left.
alex0612 37:a08d2e37b7e6 24 //
alex0612 37:a08d2e37b7e6 25 // turn_right(speed)
alex0612 37:a08d2e37b7e6 26 // - Sets the motor speeds to turn the robot to the right.
alex0612 37:a08d2e37b7e6 27 //
alex0612 37:a08d2e37b7e6 28 // stop()
alex0612 37:a08d2e37b7e6 29 // - Sets the motor speeds to 0.
alex0612 37:a08d2e37b7e6 30 //
alex0612 37:a08d2e37b7e6 31 // turn_led_on(LED)
alex0612 37:a08d2e37b7e6 32 // - Turns on the LED on the mbed specified by the
alex0612 37:a08d2e37b7e6 33 // number passed as the argument
alex0612 37:a08d2e37b7e6 34 // Values need to be between 1 and 4
abdsha01 5:68a2b79cf204 35 //
abdsha01 5:68a2b79cf204 36 // detect_object(range, speed)
lhartfield 31:70753d91565c 37 // - Used to detect an object, the robot will
lhartfield 31:70753d91565c 38 // move in a circle to find an object. This function
lhartfield 31:70753d91565c 39 // returns 1 if an object is detected, otherwise it will
lhartfield 31:70753d91565c 40 // return 0. The search will be carried out for 15 seconds.
abdsha01 5:68a2b79cf204 41 //
alex0612 18:7bd638e3926d 42 // detect_line ()
lhartfield 31:70753d91565c 43 // - Used to detect a line, it returns the following values:
lhartfield 31:70753d91565c 44 // 0 - if no line is detected
lhartfield 31:70753d91565c 45 // 1 - if line detected from the front
lhartfield 31:70753d91565c 46 // -1 - if line detected from the back
abdsha01 5:68a2b79cf204 47 //
lhartfield 24:513c88816ed8 48 // move_random(speed)
lhartfield 31:70753d91565c 49 // - Used to move the robot randomly: the robot will either
abdsha01 21:42c0db071a7f 50 // move forward, move backward, or turn around. The movement
lhartfield 31:70753d91565c 51 // will be carried out for a random time.
abdsha01 21:42c0db071a7f 52 //
abdsha01 0:15664f71b21f 53
abdsha01 0:15664f71b21f 54 // Libraries for using the above functions and more ...
abdsha01 0:15664f71b21f 55 #include "mbed.h"
abdsha01 4:0507835a3dce 56 #include "Motor.h"
abdsha01 4:0507835a3dce 57 #include "hcsr04.h"
abdsha01 0:15664f71b21f 58 #include "functions.h"
abdsha01 0:15664f71b21f 59
abdsha01 0:15664f71b21f 60 // Set for debugging purpose
abdsha01 0:15664f71b21f 61 // Example: pc(TX, RX)
abdsha01 0:15664f71b21f 62 //Serial pc(USBTX, USBRX);
abdsha01 0:15664f71b21f 63
abdsha01 0:15664f71b21f 64 // Global parameters
alex0612 30:8a5570b2de68 65
alex0612 30:8a5570b2de68 66 float forwardspeed;
alex0612 30:8a5570b2de68 67 float reversespeed;
abdsha01 0:15664f71b21f 68 float searchspeed;
abdsha01 6:af897173cb75 69 unsigned int range;
abdsha01 0:15664f71b21f 70
alex0612 18:7bd638e3926d 71 void initialise()
alex0612 18:7bd638e3926d 72 {
alex0612 30:8a5570b2de68 73 // Each speed value can be set from 0 to 1
alex0612 30:8a5570b2de68 74
alex0612 30:8a5570b2de68 75 // Speed at which it moves forward
alex0612 30:8a5570b2de68 76 // optimum value: 0.5 to 0.8
alex0612 30:8a5570b2de68 77 forwardspeed = 0.6;
alex0612 30:8a5570b2de68 78 // Speed at which it reverses
alex0612 30:8a5570b2de68 79 // optimum value: 0.4 to 0.6
alex0612 30:8a5570b2de68 80 reversespeed = 0.5;
alex0612 30:8a5570b2de68 81 // Speed at which it rotates to find an object
alex0612 30:8a5570b2de68 82 // optimum value: 0.4 to 0.6
alex0612 18:7bd638e3926d 83 searchspeed = 0.5;
alex0612 30:8a5570b2de68 84 // Range of detection
alex0612 30:8a5570b2de68 85 // optimum value: 30 to 50
abdsha01 6:af897173cb75 86 range = 30;
alex0612 18:7bd638e3926d 87
abdsha01 0:15664f71b21f 88 // Wait for 5 seconds to move away from robot
abdsha01 0:15664f71b21f 89 wait(5);
abdsha01 0:15664f71b21f 90 }
abdsha01 0:15664f71b21f 91
abdsha01 0:15664f71b21f 92 // The main loop - please write your code here
alex0612 18:7bd638e3926d 93 int main()
alex0612 18:7bd638e3926d 94 {
abdsha01 0:15664f71b21f 95 // Initialise the code
abdsha01 0:15664f71b21f 96 initialise();
abdsha01 0:15664f71b21f 97
abdsha01 0:15664f71b21f 98 printf("Starting the robot...");
abdsha01 0:15664f71b21f 99
abdsha01 0:15664f71b21f 100 Timer t;
abdsha01 0:15664f71b21f 101 t.start();
alex0612 18:7bd638e3926d 102
alex0612 16:02e533e3a91c 103 int detect_l = 0;
alex0612 16:02e533e3a91c 104 int detect_o = 0;
abdsha01 0:15664f71b21f 105
alex0612 19:67ea4e8be9e1 106 while(true) {
alex0612 19:67ea4e8be9e1 107 // Sample code to detect and object and move_forward at it
lhartfield 27:96a0ff2f474c 108
abdsha01 26:5ee2a32949e6 109 wait(1);
abdsha01 26:5ee2a32949e6 110
alex0612 18:7bd638e3926d 111 detect_o = detect_object(range, searchspeed);
alex0612 18:7bd638e3926d 112
alex0612 16:02e533e3a91c 113 if (detect_o == 1) {
alex0612 18:7bd638e3926d 114
alex0612 37:a08d2e37b7e6 115 forwards(forwardspeed);
abdsha01 10:cec68ef272cd 116
alex0612 16:02e533e3a91c 117 while (true) {
alex0612 18:7bd638e3926d 118
alex0612 16:02e533e3a91c 119 detect_l = detect_line();
abdsha01 10:cec68ef272cd 120 // If line is detected from front then reverse
abdsha01 28:71781431b010 121 if(detect_l == 1 || detect_l == -1) {
alex0612 19:67ea4e8be9e1 122 stop();
abdsha01 26:5ee2a32949e6 123 turn_led_right();
alex0612 30:8a5570b2de68 124 reverse(reversespeed);
alex0612 35:89e13f72cd84 125 wait(1);
alex0612 18:7bd638e3926d 126 detect_l = 0;
abdsha01 10:cec68ef272cd 127 break;
abdsha01 10:cec68ef272cd 128 }
abdsha01 9:7770a84228c0 129 }
alex0612 18:7bd638e3926d 130
abdsha01 10:cec68ef272cd 131 } else {
alex0612 18:7bd638e3926d 132
lhartfield 22:e808fb71847d 133 move_random();
alex0612 18:7bd638e3926d 134
abdsha01 9:7770a84228c0 135 }
alex0612 18:7bd638e3926d 136
alex0612 16:02e533e3a91c 137 detect_o = 0;
abdsha01 6:af897173cb75 138 stop();
lhartfield 27:96a0ff2f474c 139 }
abdsha01 0:15664f71b21f 140 }
abdsha01 0:15664f71b21f 141