Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
main.cpp
- Committer:
- lhartfield
- Date:
- 2015-06-07
- Revision:
- 27:96a0ff2f474c
- Parent:
- 26:5ee2a32949e6
- Child:
- 29:977f47331d85
File content as of revision 27:96a0ff2f474c:
// 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 moveforwardspeed 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 // Speed at which it move_forwards an object // optimum value: 0.4 to 0.8 float moveforwardspeed; // 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 unsigned int range; void initialise() { moveforwardspeed = 0.6; searchspeed = 0.5; 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(moveforwardspeed); 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(searchspeed); wait(1.5); detect_l = 0; break; // If line is detected from back just keep on moving forward } } } else { move_random(); } detect_o = 0; stop(); } }