Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
main.cpp
- Committer:
- abdsha01
- Date:
- 2015-05-23
- Revision:
- 3:7f7a82bf59b9
- Parent:
- 2:6f15a798993d
- Child:
- 4:0507835a3dce
File content as of revision 3:7f7a82bf59b9:
// 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: // charge() - used to charge 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() - 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 10 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() - reverses the robot with chargespeed in same position // reverseandturn()- reverses whie moving in a circular direction // Libraries for using the above functions and more ... #include "mbed.h" #include "functions.h" // Two sensors are used to detect a line, line_sens1 and line_sens2 // if there is a difference between the readings of these sensors // the robot has detected a line. // Setting pins for line sensor DigitalInOut line1(p20); DigitalInOut line2(p19); // Setting pins for motor, as follows: // Example: Motor____(PWM, Forward, Reverse) Motor MotorLeft(p23, p28, p27); Motor MotorRight(p22, p29, p30); // Setting pins for ultrasonic sensor, as follows: // Example: usensor(Trigger, Echo) HCSR04 usensor(p25,p26); // Set for debugging purpose // Example: pc(TX, RX) //Serial pc(USBTX, USBRX); // Global parameters // Speed at which it charges an object // optimum value: 0.4 to 0.8 float chargespeed; // Speed at which it rotates to find an object // optimum value: 0.3 to 0.5 float searchspeed; // Range of detection // optimum value: 30 to 50 int range; void initialise() { chargespeed = 0.5; searchspeed = 0.3; range = 40; // 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(); while(1) { } }