Robotics - ARM
Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
Revision 0:15664f71b21f, committed 2015-05-23
- Comitter:
- abdsha01
- Date:
- Sat May 23 14:13:09 2015 +0000
- Child:
- 1:bd88d4062c97
- Commit message:
- Draft version
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Sat May 23 14:13:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/prabhuvd/code/HCSR04/#71da0dbf4400
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sat May 23 14:13:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/functions.cpp Sat May 23 14:13:09 2015 +0000
@@ -0,0 +1,92 @@
+// The following file implements all the functions necessary
+// for the robot.
+// Please don't modify any of these functions!
+
+#include "mbed.h"
+#include "Motor.h"
+#include "hcsr04.h"
+
+// Returns value from the QRE1113
+// lower numbers mean more refleacive
+// more than 3000 means nothing was reflected.
+int read_line1()
+{
+ // Time to record how long input is active
+ Timer t;
+
+ // Activate the line sensor and then read
+ line1.output();
+ line1 = 1;
+ wait_us(15);
+ line1.input();
+
+ // Start timer
+ t.start();
+
+ // Time how long the input is HIGH, but quit
+ // after 1ms as nothing happens after that
+ while (line1 == 1 && t.read_us() < 1000);
+ return t.read_us();
+}
+
+int read_line2()
+{
+ // Time to record how long input is active
+ Timer t;
+
+ // Activate the line sensor and then read
+ line2.output();
+ line2 = 1;
+ wait_us(15);
+ line2.input();
+
+ // Start timer
+ t.start();
+
+ // Time how long the input is HIGH, but quit
+ // after 1ms as nothing happens after that
+ while (line2 == 1 && t.read_us() < 1000);
+ return t.read_us();
+}
+
+int detect_line()
+{
+ int line1val = read_line1();
+ int line2val = read_line2();
+
+ if ((line1val-line2val) > 50) {
+ printf("Line detected from front");
+ return 1;
+ } else if ((line1val-line2val) < -50) {
+ printf("Line detected from back");
+ return -1;
+ } else {
+ printf("Line not detected");
+ return 0;
+ }
+}
+
+void reverse()
+{
+ printf("Reverse\n");
+ MotorLeft.speed((chargespeed));
+ MotorRight.speed(-(chargespeed));
+ wait_ms(1000);
+ return;
+}
+
+void reverseandturn()
+{
+ printf("Reverse and turn\n");
+ MotorLeft.speed((chargespeed-0.2));
+ MotorRight.speed(-(chargespeed-0.1));
+ wait_ms(2000);
+ return;
+}
+
+void charge()
+{
+ MotorLeft.speed(chargespeed);
+ MotorRight.speed(chargespeed);
+ return;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat May 23 14:13:09 2015 +0000
@@ -0,0 +1,135 @@
+// 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
+
+// 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 charged 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) { // main loop
+ if (dist <= 35 && dist >= 1) {
+ MotorLeft.speed(-0.4);
+ MotorRight.speed(-0.4);
+ Timer t3;
+
+ t3.start();
+
+ //printf("%d,%d,%d\r\n",line1val,line2val,line1val-line2val);
+
+ while (t3.read_ms() < 100) {
+
+ if (((line1val-line2val) > 50) || ((line1val-line2val) < -50)) {
+ MotorLeft.speed(0.4);
+ MotorRight.speed(0.4);
+
+ wait_ms(500);
+
+ //return 0;
+ printf("STOP\r\n");
+ }
+ //t.reset();
+ }
+
+ } else {
+ MotorLeft.speed(motorspeed);
+ MotorRight.speed(-(motorspeed));
+ }
+
+ usensor.start();
+ if (t.read_ms() >=100) {
+ dist=usensor.get_dist_cm();
+ motorspeed = -0.8;
+ if (reverse==2) {
+ motorspeed = -0.7;
+ reverse = 0;
+ //motorspeed = -(motorspeed);
+ //reverse=0;
+ } else {
+ motorspeed = 0.0;
+
+ }
+ reverse++;
+ t.reset();
+ }
+
+ }
+
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat May 23 14:13:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/dbbf35b96557 \ No newline at end of file