Revision 30:8a5570b2de68, committed 2015-06-07

Comitter:

alex0612

Date:

Sun Jun 07 18:35:04 2015 +0000

Parent:

29:977f47331d85

Child:

32:775eec44ba4f

Child:

33:4d0fe8fbed68

Commit message:

Minor changes

Changed in this revision

--- a/functions.cpp	Sun Jun 07 17:34:17 2015 +0000
+++ b/functions.cpp	Sun Jun 07 18:35:04 2015 +0000
@@ -21,8 +21,8 @@
 
 // Setting pins for motor, as follows:
 // Example: Motor____(PWM, Forward, Reverse)
-Motor MotorLeft(p23, p27, p28);
-Motor MotorRight(p22, p30, p29);
+Motor MotorRight(p23, p27, p28);
+Motor MotorLeft(p22, p30, p29);
 
 // Setting pins for ultrasonic sensor, as follows:
 // Example: usensor(Trigger, Echo)
@@ -140,10 +140,10 @@
     }
 }
 
-void reverse(float speed) {
+void reverse(float speed, float adj) {
     //printf("Reverse\n");
     MotorLeft.speed(-(speed));
-    MotorRight.speed(-(speed));
+    MotorRight.speed(-(speed)-adj);
 }
 
 void turn(float speed) {
@@ -158,9 +158,9 @@
     MotorRight.speed(-(speed-0.1));
 }
 
-void move_forward(float speed) {
+void move_forward(float speed, float adj) {
     MotorLeft.speed(speed);
-    MotorRight.speed(speed);
+    MotorRight.speed(speed+adj);
 }
 
 void move_random(float speed)
@@ -216,7 +216,7 @@
     dist = 0;
     reverse = 0;
     
-    while (usensor_t.read_ms() < 15000) {
+    while (usensor_t.read_ms() < 10000) {
         // Start the ultrasonic sensor
         usensor.start();
         inner_t.start();
@@ -270,14 +270,14 @@
         if(detect == 1) {
             stop();
             turn_leds_on();
-            move_detect(-moveforwardspeed,1,1000,300);
+            move_detect(-forwardspeed,1,1000,300);
             stop();
             break;
         // If line is detected from back just keep on moving forward
         } else if (detect == -1) {
             stop();
             turn_leds_on();
-            move_detect(moveforwardspeed,1,1000,300);
+            move_detect(forwardspeed,1,1000,300);
             stop();
             break;
         }

--- a/functions.h	Sun Jun 07 17:34:17 2015 +0000
+++ b/functions.h	Sun Jun 07 18:35:04 2015 +0000
@@ -1,9 +1,17 @@
 // Header file for functions.cpp
 
+// Speed adjustment to take into account different motor speeds
+// Changes speed of left motor
+#define ADJUSTMENT 0.1
+
 // Global parameters
-// Speed at which it move_forwards an object
+// Speed at which it moves forward
 // optimum value: 0.4 to 0.8
-extern float moveforwardspeed;
+extern float forwardspeed;
+// Global parameters
+// Speed at which it reverses
+// optimum value: 0.4 to 0.6
+extern float reversespeed;
 // Speed at which it rotates to find an object
 // optimum value: 0.3 to 0.5
 extern float searchspeed;
@@ -11,6 +19,8 @@
 // optimum value: 30 to 50
 extern unsigned int range;
 
+
+
 void flash_leds();
 void turn_leds_on();
 void turn_led_right();
@@ -18,11 +28,11 @@
 int read_line1();
 int read_line2();
 int detect_line();
-void move_random(float speed=moveforwardspeed);
-void reverse(float speed = moveforwardspeed);
-void turn(float speed = moveforwardspeed);
-void reverse_and_turn(float speed = moveforwardspeed);
-void move_forward(float speed = moveforwardspeed);
+void move_random(float speed = forwardspeed);
+void reverse(float speed = reversespeed, float adj = ADJUSTMENT);
+void turn(float speed = forwardspeed);
+void reverse_and_turn(float speed = reversespeed);
+void move_forward(float speed = forwardspeed, float adj = ADJUSTMENT);
 void stop();
-int detect_object(int range_t = range, float speed = moveforwardspeed);
+int detect_object(int range_t = range, float speed = searchspeed);
 void move_detect(float speed, int fwd_bck, int time, int wait=0);
\ No newline at end of file

--- a/main.cpp	Sun Jun 07 17:34:17 2015 +0000
+++ b/main.cpp	Sun Jun 07 18:35:04 2015 +0000
@@ -33,7 +33,7 @@
 //                          -1 - if line detected from the back
 //
 // reverse(speed)
-//                      -   reverses the robot with moveforwardspeed in same position
+//                      -   reverses the robot with forwardspeed in same position
 //
 // stop()
 //                      -   stops the robot
@@ -55,20 +55,27 @@
 //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 forwardspeed;
+float reversespeed;
 float searchspeed;
-// Range of detection
-// optimum value: 30 to 50
 unsigned int range;
 
 void initialise()
 {
-    moveforwardspeed = 0.6;
+    // Each speed value can be set from 0 to 1
+    
+    // Speed at which it moves forward
+    // optimum value: 0.5 to 0.8
+    forwardspeed = 0.6;
+    // Speed at which it reverses
+    // optimum value: 0.4 to 0.6
+    reversespeed = 0.5;
+    // Speed at which it rotates to find an object
+    // optimum value: 0.4 to 0.6
     searchspeed = 0.5;
+    // Range of detection
+    // optimum value: 30 to 50
     range = 30;
 
     // Wait for 5 seconds to move away from robot
@@ -98,7 +105,7 @@
 
         if (detect_o == 1) {
 
-            move_forward(moveforwardspeed);
+            move_forward(forwardspeed);
 
             while (true) {
 
@@ -107,7 +114,7 @@
                 if(detect_l == 1 || detect_l == -1) {
                     stop();
                     turn_led_right();
-                    reverse(searchspeed);
+                    reverse(reversespeed);
                     wait(1.5);
                     detect_l = 0;
                     break;