Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
main.cpp@9:7770a84228c0, 2015-05-23 (annotated)
- Committer:
- abdsha01
- Date:
- Sat May 23 17:09:28 2015 +0000
- Revision:
- 9:7770a84228c0
- Parent:
- 6:af897173cb75
- Child:
- 10:cec68ef272cd
Improved main loop
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 | |
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 | // |
abdsha01 | 5:68a2b79cf204 | 15 | // charge(speed) |
abdsha01 | 5:68a2b79cf204 | 16 | // - used to charge 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 |
abdsha01 | 5:68a2b79cf204 | 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 | // |
abdsha01 | 5:68a2b79cf204 | 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 | // |
abdsha01 | 5:68a2b79cf204 | 35 | // reverse(speed) |
abdsha01 | 5:68a2b79cf204 | 36 | // - reverses the robot with chargespeed in same position |
abdsha01 | 5:68a2b79cf204 | 37 | |
abdsha01 | 5:68a2b79cf204 | 38 | // reverseandturn(speed) |
abdsha01 | 5:68a2b79cf204 | 39 | // - reverses whie moving in a circular direction |
abdsha01 | 5:68a2b79cf204 | 40 | // |
abdsha01 | 0:15664f71b21f | 41 | |
abdsha01 | 0:15664f71b21f | 42 | // Libraries for using the above functions and more ... |
abdsha01 | 0:15664f71b21f | 43 | #include "mbed.h" |
abdsha01 | 4:0507835a3dce | 44 | #include "Motor.h" |
abdsha01 | 4:0507835a3dce | 45 | #include "hcsr04.h" |
abdsha01 | 0:15664f71b21f | 46 | #include "functions.h" |
abdsha01 | 0:15664f71b21f | 47 | |
abdsha01 | 0:15664f71b21f | 48 | // Set for debugging purpose |
abdsha01 | 0:15664f71b21f | 49 | // Example: pc(TX, RX) |
abdsha01 | 0:15664f71b21f | 50 | //Serial pc(USBTX, USBRX); |
abdsha01 | 0:15664f71b21f | 51 | |
abdsha01 | 0:15664f71b21f | 52 | |
abdsha01 | 0:15664f71b21f | 53 | // Global parameters |
abdsha01 | 1:bd88d4062c97 | 54 | // Speed at which it charges an object |
abdsha01 | 0:15664f71b21f | 55 | // optimum value: 0.4 to 0.8 |
abdsha01 | 0:15664f71b21f | 56 | float chargespeed; |
abdsha01 | 0:15664f71b21f | 57 | // Speed at which it rotates to find an object |
abdsha01 | 0:15664f71b21f | 58 | // optimum value: 0.3 to 0.5 |
abdsha01 | 0:15664f71b21f | 59 | float searchspeed; |
abdsha01 | 0:15664f71b21f | 60 | // Range of detection |
abdsha01 | 0:15664f71b21f | 61 | // optimum value: 30 to 50 |
abdsha01 | 6:af897173cb75 | 62 | unsigned int range; |
abdsha01 | 0:15664f71b21f | 63 | |
abdsha01 | 6:af897173cb75 | 64 | void initialise() { |
abdsha01 | 6:af897173cb75 | 65 | chargespeed = 0.6; |
abdsha01 | 6:af897173cb75 | 66 | searchspeed = 0.5; |
abdsha01 | 6:af897173cb75 | 67 | range = 30; |
abdsha01 | 0:15664f71b21f | 68 | |
abdsha01 | 0:15664f71b21f | 69 | // Wait for 5 seconds to move away from robot |
abdsha01 | 0:15664f71b21f | 70 | wait(5); |
abdsha01 | 0:15664f71b21f | 71 | } |
abdsha01 | 0:15664f71b21f | 72 | |
abdsha01 | 0:15664f71b21f | 73 | // The main loop - please write your code here |
abdsha01 | 6:af897173cb75 | 74 | int main() { |
abdsha01 | 0:15664f71b21f | 75 | // Initialise the code |
abdsha01 | 0:15664f71b21f | 76 | initialise(); |
abdsha01 | 0:15664f71b21f | 77 | |
abdsha01 | 0:15664f71b21f | 78 | printf("Starting the robot..."); |
abdsha01 | 0:15664f71b21f | 79 | |
abdsha01 | 0:15664f71b21f | 80 | Timer t; |
abdsha01 | 0:15664f71b21f | 81 | t.start(); |
abdsha01 | 9:7770a84228c0 | 82 | |
abdsha01 | 9:7770a84228c0 | 83 | int detect = 0; |
abdsha01 | 0:15664f71b21f | 84 | |
abdsha01 | 6:af897173cb75 | 85 | //while(1) { |
abdsha01 | 6:af897173cb75 | 86 | // Sample code to detect and object and charge at it |
abdsha01 | 6:af897173cb75 | 87 | if (detect_object(range, searchspeed)) { |
abdsha01 | 9:7770a84228c0 | 88 | while (true) { |
abdsha01 | 9:7770a84228c0 | 89 | charge(chargespeed); |
abdsha01 | 9:7770a84228c0 | 90 | |
abdsha01 | 9:7770a84228c0 | 91 | detect = detect_line(); |
abdsha01 | 9:7770a84228c0 | 92 | // If line is detected from front then reverse |
abdsha01 | 9:7770a84228c0 | 93 | if(detect == 1) { |
abdsha01 | 9:7770a84228c0 | 94 | reverse(chargespeed); |
abdsha01 | 9:7770a84228c0 | 95 | wait(2); |
abdsha01 | 9:7770a84228c0 | 96 | stop(); |
abdsha01 | 9:7770a84228c0 | 97 | break; |
abdsha01 | 9:7770a84228c0 | 98 | // If line is detected from back just keep on moving forward |
abdsha01 | 9:7770a84228c0 | 99 | } else if (detect == -1) { |
abdsha01 | 9:7770a84228c0 | 100 | wait(2); |
abdsha01 | 9:7770a84228c0 | 101 | stop(); |
abdsha01 | 9:7770a84228c0 | 102 | break; |
abdsha01 | 9:7770a84228c0 | 103 | } |
abdsha01 | 9:7770a84228c0 | 104 | } |
abdsha01 | 6:af897173cb75 | 105 | |
abdsha01 | 6:af897173cb75 | 106 | } else { |
abdsha01 | 6:af897173cb75 | 107 | |
abdsha01 | 0:15664f71b21f | 108 | } |
abdsha01 | 6:af897173cb75 | 109 | |
abdsha01 | 6:af897173cb75 | 110 | stop(); |
abdsha01 | 6:af897173cb75 | 111 | //} |
abdsha01 | 0:15664f71b21f | 112 | } |
abdsha01 | 0:15664f71b21f | 113 |