Robotics - ARM / Mbed 2 deprecated ARM_Robotics

Robot code for searching an object and charging at it.

Dependencies:   HCSR04 Motor mbed

main.cpp@22:e808fb71847d, 2015-06-07 (annotated)

Committer:
lhartfield
Date:
Sun Jun 07 15:03:54 2015 +0000
Revision:
22:e808fb71847d
Parent:
20:37a89edd1cde
Child:
23:07b3c12800a6
Changed function name from moverandom to move_random for consistency. Parameterized move_random().

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 20:37a89edd1cde 37 //
alex0612 18:7bd638e3926d 38 // reverseandturn(speed)
abdsha01 5:68a2b79cf204 39 // - reverses whie moving in a circular direction
abdsha01 5:68a2b79cf204 40 //
abdsha01 20:37a89edd1cde 41 // stop()
abdsha01 20:37a89edd1cde 42 // - stops the robot
abdsha01 20:37a89edd1cde 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 19:67ea4e8be9e1 56 // Speed at which it move_forwards an object
abdsha01 0:15664f71b21f 57 // optimum value: 0.4 to 0.8
alex0612 19:67ea4e8be9e1 58 float move_forwardspeed;
abdsha01 0:15664f71b21f 59 // Speed at which it rotates to find an object
abdsha01 0:15664f71b21f 60 // optimum value: 0.3 to 0.5
abdsha01 0:15664f71b21f 61 float searchspeed;
abdsha01 0:15664f71b21f 62 // Range of detection
abdsha01 0:15664f71b21f 63 // optimum value: 30 to 50
abdsha01 6:af897173cb75 64 unsigned int range;
abdsha01 0:15664f71b21f 65
alex0612 18:7bd638e3926d 66 void initialise()
alex0612 18:7bd638e3926d 67 {
alex0612 19:67ea4e8be9e1 68 move_forwardspeed = 0.6;
alex0612 18:7bd638e3926d 69 searchspeed = 0.5;
abdsha01 6:af897173cb75 70 range = 30;
alex0612 18:7bd638e3926d 71
abdsha01 0:15664f71b21f 72 // Wait for 5 seconds to move away from robot
abdsha01 0:15664f71b21f 73 wait(5);
abdsha01 0:15664f71b21f 74 }
abdsha01 0:15664f71b21f 75
abdsha01 0:15664f71b21f 76 // The main loop - please write your code here
alex0612 18:7bd638e3926d 77 int main()
alex0612 18:7bd638e3926d 78 {
abdsha01 0:15664f71b21f 79 // Initialise the code
abdsha01 0:15664f71b21f 80 initialise();
abdsha01 0:15664f71b21f 81
abdsha01 0:15664f71b21f 82 printf("Starting the robot...");
abdsha01 0:15664f71b21f 83
abdsha01 0:15664f71b21f 84 Timer t;
abdsha01 0:15664f71b21f 85 t.start();
alex0612 18:7bd638e3926d 86
alex0612 16:02e533e3a91c 87 int detect_l = 0;
alex0612 16:02e533e3a91c 88 int detect_o = 0;
abdsha01 0:15664f71b21f 89
alex0612 19:67ea4e8be9e1 90 while(true) {
alex0612 19:67ea4e8be9e1 91 // Sample code to detect and object and move_forward at it
alex0612 18:7bd638e3926d 92
alex0612 18:7bd638e3926d 93 detect_o = detect_object(range, searchspeed);
alex0612 18:7bd638e3926d 94
alex0612 16:02e533e3a91c 95 if (detect_o == 1) {
alex0612 18:7bd638e3926d 96
alex0612 19:67ea4e8be9e1 97 move_forward(move_forwardspeed);
abdsha01 10:cec68ef272cd 98
alex0612 16:02e533e3a91c 99 while (true) {
alex0612 18:7bd638e3926d 100
alex0612 16:02e533e3a91c 101 detect_l = detect_line();
abdsha01 10:cec68ef272cd 102 // If line is detected from front then reverse
alex0612 16:02e533e3a91c 103 if(detect_l == 1) {
alex0612 19:67ea4e8be9e1 104 stop();
alex0612 19:67ea4e8be9e1 105 turn_leds_on();
abdsha01 10:cec68ef272cd 106 reverse(searchspeed);
alex0612 19:67ea4e8be9e1 107 wait(1.5);
alex0612 18:7bd638e3926d 108 detect_l = 0;
abdsha01 10:cec68ef272cd 109 break;
alex0612 19:67ea4e8be9e1 110 // If line is detected from back just keep on moving forward
alex0612 16:02e533e3a91c 111 } else if (detect_l == -1) {
abdsha01 10:cec68ef272cd 112 stop();
alex0612 19:67ea4e8be9e1 113 turn_leds_on();
alex0612 19:67ea4e8be9e1 114 move_forward(searchspeed);
alex0612 19:67ea4e8be9e1 115 wait(1.5);
alex0612 18:7bd638e3926d 116 detect_l = 0;
abdsha01 10:cec68ef272cd 117 break;
abdsha01 10:cec68ef272cd 118 }
abdsha01 9:7770a84228c0 119 }
alex0612 18:7bd638e3926d 120
abdsha01 10:cec68ef272cd 121 } else {
alex0612 18:7bd638e3926d 122
lhartfield 22:e808fb71847d 123 move_random();
alex0612 18:7bd638e3926d 124
abdsha01 9:7770a84228c0 125 }
alex0612 18:7bd638e3926d 126
alex0612 16:02e533e3a91c 127 detect_o = 0;
abdsha01 6:af897173cb75 128 stop();
abdsha01 0:15664f71b21f 129 }
abdsha01 0:15664f71b21f 130 }
abdsha01 0:15664f71b21f 131