Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
main.cpp@32:775eec44ba4f, 2015-06-07 (annotated)
- Committer:
- lhartfield
- Date:
- Sun Jun 07 18:44:26 2015 +0000
- Revision:
- 32:775eec44ba4f
- Parent:
- 30:8a5570b2de68
- Parent:
- 31:70753d91565c
- Child:
- 35:89e13f72cd84
merge
Who changed what in which revision?
User | Revision | Line number | New 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 | |
lhartfield | 31:70753d91565c | 11 | // The following code controls a robotic car |
lhartfield | 31:70753d91565c | 12 | // by detetecting an object and charging towards it. |
lhartfield | 31:70753d91565c | 13 | // It uses the following basic functions: |
abdsha01 | 5:68a2b79cf204 | 14 | // |
alex0612 | 19:67ea4e8be9e1 | 15 | // move_forward(speed) |
lhartfield | 31:70753d91565c | 16 | // - Used to move the robot toward a detected object. |
lhartfield | 31:70753d91565c | 17 | // The robot will move forwards 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) |
lhartfield | 31:70753d91565c | 22 | // - Used to detect an object, the robot will |
lhartfield | 31:70753d91565c | 23 | // move in a circle to find an object. This function |
lhartfield | 31:70753d91565c | 24 | // returns 1 if an object is detected, otherwise it will |
lhartfield | 31:70753d91565c | 25 | // return 0. The search will be carried out for 15 seconds. |
abdsha01 | 5:68a2b79cf204 | 26 | // |
alex0612 | 18:7bd638e3926d | 27 | // detect_line () |
lhartfield | 31:70753d91565c | 28 | // - Used to detect a line, it returns the following values: |
lhartfield | 31:70753d91565c | 29 | // 0 - if no line is detected |
lhartfield | 31:70753d91565c | 30 | // 1 - if line detected from the front |
lhartfield | 31:70753d91565c | 31 | // -1 - if line detected from the back |
abdsha01 | 5:68a2b79cf204 | 32 | // |
alex0612 | 18:7bd638e3926d | 33 | // reverse(speed) |
lhartfield | 31:70753d91565c | 34 | // - Reverses the robot in a straight line at given speed. |
abdsha01 | 5:68a2b79cf204 | 35 | // |
abdsha01 | 20:37a89edd1cde | 36 | // stop() |
lhartfield | 31:70753d91565c | 37 | // - Stops the robot. |
abdsha01 | 20:37a89edd1cde | 38 | // |
lhartfield | 24:513c88816ed8 | 39 | // move_random(speed) |
lhartfield | 31:70753d91565c | 40 | // - Used to move the robot randomly: the robot will either |
abdsha01 | 21:42c0db071a7f | 41 | // move forward, move backward, or turn around. The movement |
lhartfield | 31:70753d91565c | 42 | // will be carried out for a random time. |
abdsha01 | 21:42c0db071a7f | 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 | 30:8a5570b2de68 | 56 | |
alex0612 | 30:8a5570b2de68 | 57 | float forwardspeed; |
alex0612 | 30:8a5570b2de68 | 58 | float reversespeed; |
abdsha01 | 0:15664f71b21f | 59 | float searchspeed; |
abdsha01 | 6:af897173cb75 | 60 | unsigned int range; |
abdsha01 | 0:15664f71b21f | 61 | |
alex0612 | 18:7bd638e3926d | 62 | void initialise() |
alex0612 | 18:7bd638e3926d | 63 | { |
alex0612 | 30:8a5570b2de68 | 64 | // Each speed value can be set from 0 to 1 |
alex0612 | 30:8a5570b2de68 | 65 | |
alex0612 | 30:8a5570b2de68 | 66 | // Speed at which it moves forward |
alex0612 | 30:8a5570b2de68 | 67 | // optimum value: 0.5 to 0.8 |
alex0612 | 30:8a5570b2de68 | 68 | forwardspeed = 0.6; |
alex0612 | 30:8a5570b2de68 | 69 | // Speed at which it reverses |
alex0612 | 30:8a5570b2de68 | 70 | // optimum value: 0.4 to 0.6 |
alex0612 | 30:8a5570b2de68 | 71 | reversespeed = 0.5; |
alex0612 | 30:8a5570b2de68 | 72 | // Speed at which it rotates to find an object |
alex0612 | 30:8a5570b2de68 | 73 | // optimum value: 0.4 to 0.6 |
alex0612 | 18:7bd638e3926d | 74 | searchspeed = 0.5; |
alex0612 | 30:8a5570b2de68 | 75 | // Range of detection |
alex0612 | 30:8a5570b2de68 | 76 | // optimum value: 30 to 50 |
abdsha01 | 6:af897173cb75 | 77 | range = 30; |
alex0612 | 18:7bd638e3926d | 78 | |
abdsha01 | 0:15664f71b21f | 79 | // Wait for 5 seconds to move away from robot |
abdsha01 | 0:15664f71b21f | 80 | wait(5); |
abdsha01 | 0:15664f71b21f | 81 | } |
abdsha01 | 0:15664f71b21f | 82 | |
abdsha01 | 0:15664f71b21f | 83 | // The main loop - please write your code here |
alex0612 | 18:7bd638e3926d | 84 | int main() |
alex0612 | 18:7bd638e3926d | 85 | { |
abdsha01 | 0:15664f71b21f | 86 | // Initialise the code |
abdsha01 | 0:15664f71b21f | 87 | initialise(); |
abdsha01 | 0:15664f71b21f | 88 | |
abdsha01 | 0:15664f71b21f | 89 | printf("Starting the robot..."); |
abdsha01 | 0:15664f71b21f | 90 | |
abdsha01 | 0:15664f71b21f | 91 | Timer t; |
abdsha01 | 0:15664f71b21f | 92 | t.start(); |
alex0612 | 18:7bd638e3926d | 93 | |
alex0612 | 16:02e533e3a91c | 94 | int detect_l = 0; |
alex0612 | 16:02e533e3a91c | 95 | int detect_o = 0; |
abdsha01 | 0:15664f71b21f | 96 | |
alex0612 | 19:67ea4e8be9e1 | 97 | while(true) { |
alex0612 | 19:67ea4e8be9e1 | 98 | // Sample code to detect and object and move_forward at it |
lhartfield | 27:96a0ff2f474c | 99 | |
abdsha01 | 26:5ee2a32949e6 | 100 | wait(1); |
abdsha01 | 26:5ee2a32949e6 | 101 | |
alex0612 | 18:7bd638e3926d | 102 | detect_o = detect_object(range, searchspeed); |
alex0612 | 18:7bd638e3926d | 103 | |
alex0612 | 16:02e533e3a91c | 104 | if (detect_o == 1) { |
alex0612 | 18:7bd638e3926d | 105 | |
alex0612 | 30:8a5570b2de68 | 106 | move_forward(forwardspeed); |
abdsha01 | 10:cec68ef272cd | 107 | |
alex0612 | 16:02e533e3a91c | 108 | while (true) { |
alex0612 | 18:7bd638e3926d | 109 | |
alex0612 | 16:02e533e3a91c | 110 | detect_l = detect_line(); |
abdsha01 | 10:cec68ef272cd | 111 | // If line is detected from front then reverse |
abdsha01 | 28:71781431b010 | 112 | if(detect_l == 1 || detect_l == -1) { |
alex0612 | 19:67ea4e8be9e1 | 113 | stop(); |
abdsha01 | 26:5ee2a32949e6 | 114 | turn_led_right(); |
alex0612 | 30:8a5570b2de68 | 115 | reverse(reversespeed); |
alex0612 | 19:67ea4e8be9e1 | 116 | wait(1.5); |
alex0612 | 18:7bd638e3926d | 117 | detect_l = 0; |
abdsha01 | 10:cec68ef272cd | 118 | break; |
abdsha01 | 10:cec68ef272cd | 119 | } |
abdsha01 | 9:7770a84228c0 | 120 | } |
alex0612 | 18:7bd638e3926d | 121 | |
abdsha01 | 10:cec68ef272cd | 122 | } else { |
alex0612 | 18:7bd638e3926d | 123 | |
lhartfield | 22:e808fb71847d | 124 | move_random(); |
alex0612 | 18:7bd638e3926d | 125 | |
abdsha01 | 9:7770a84228c0 | 126 | } |
alex0612 | 18:7bd638e3926d | 127 | |
alex0612 | 16:02e533e3a91c | 128 | detect_o = 0; |
abdsha01 | 6:af897173cb75 | 129 | stop(); |
lhartfield | 27:96a0ff2f474c | 130 | } |
abdsha01 | 0:15664f71b21f | 131 | } |
abdsha01 | 0:15664f71b21f | 132 |