Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
Diff: main.cpp.orig
- Revision:
- 32:775eec44ba4f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp.orig Sun Jun 07 18:44:26 2015 +0000 @@ -0,0 +1,134 @@ +// Code written by: +// Jon Baker +// Alessandro Grande +// Abdul-Rehman Sharif +// Lucinda Hartfield + +// Circuitry made by: +// Yucando Navarrete +// Vivekanand Gupta + +// The following code will control a robotic car +// by detetecting an object and charging towards it +// it uses basic functions as: +// +// move_forward(speed) +// - used to move_forward on an object detected +// the robot will move in a straight line +// until it detects the arena line where +// it will use reverse() to move back +// +// detect_object(range, speed) +// - used to detect an object, the robot will +// move in a circle to find an object and +// return 1 if it finds something and return +// 0 if it does not find anything - the search +// will be carried out for 15 seconds. +// +// detect_line () +// - used to detect a line, it returns the following +// an int value as follows: +// 0 - if no line is detected +// 1 - if line detected from the front +// -1 - if line detected from the back +// +// reverse(speed) +// - reverses the robot with forwardspeed in same position +// +// stop() +// - stops the robot +// +// move_random(speed) +// - used to move the robot randomly, the robot will either +// move forward, move backward, or turn around. The movement +// will be carried out for a random time +// + +// Libraries for using the above functions and more ... +#include "mbed.h" +#include "Motor.h" +#include "hcsr04.h" +#include "functions.h" + +// Set for debugging purpose +// Example: pc(TX, RX) +//Serial pc(USBTX, USBRX); + +// Global parameters + +float forwardspeed; +float reversespeed; +float searchspeed; +unsigned int range; + +void initialise() +{ + // Each speed value can be set from 0 to 1 + + // Speed at which it moves forward + // optimum value: 0.5 to 0.8 + forwardspeed = 0.6; + // Speed at which it reverses + // optimum value: 0.4 to 0.6 + reversespeed = 0.5; + // Speed at which it rotates to find an object + // optimum value: 0.4 to 0.6 + searchspeed = 0.5; + // Range of detection + // optimum value: 30 to 50 + range = 30; + + // Wait for 5 seconds to move away from robot + wait(5); +} + +// The main loop - please write your code here +int main() +{ + // Initialise the code + initialise(); + + printf("Starting the robot..."); + + Timer t; + t.start(); + + int detect_l = 0; + int detect_o = 0; + + while(true) { + // Sample code to detect and object and move_forward at it + + wait(1); + + detect_o = detect_object(range, searchspeed); + + if (detect_o == 1) { + + move_forward(forwardspeed); + + while (true) { + + detect_l = detect_line(); + // If line is detected from front then reverse + if(detect_l == 1 || detect_l == -1) { + stop(); + turn_led_right(); + reverse(reversespeed); + wait(1.5); + detect_l = 0; + break; + } + } + + } else { + + move_random(); + + } + + detect_o = 0; + stop(); + } +} +