main.cpp

00001 // Code written by:
00002 // Jon Baker
00003 // Alessandro Grande
00004 // Abdul-Rehman Sharif
00005 // Lucinda Hartfield
00006 
00007 // Circuitry made by:
00008 // Jon Baker
00009 // Yucando Navarrete
00010 // Vivekanand Gupta
00011 
00012 // The following code controls a robotic car
00013 // by detetecting an object and charging towards it.
00014 // It uses the following basic functions:
00015 //
00016 // forwards(speed)
00017 //                      -   Sets the motor speeds in order to go forwards.
00018 //
00019 // reverse(speed)
00020 //                      -   Sets the motor speeds in order to go backwards.
00021 //
00022 // turn_left(speed)
00023 //                      -   Sets the motor speeds to turn the robot to the left.
00024 //
00025 // turn_right(speed)
00026 //                      -   Sets the motor speeds to turn the robot to the right.
00027 //
00028 // stop()
00029 //                      -   Sets the motor speeds to 0.
00030 //
00031 // turn_led_on(LED)
00032 //                      -   Turns on the LED on the mbed specified by the 
00033 //                          number passed as the argument
00034 //                              Values need to be between 1 and 4
00035 //
00036 // detect_object(range, speed)
00037 //                      -   Used to detect an object, the robot will
00038 //                          move in a circle to find an object. This function
00039 //                          returns 1 if an object is detected, otherwise it will 
00040 //                          return 0. The search will be carried out for 15 seconds.
00041 //
00042 // detect_line ()
00043 //                      -   Used to detect a line, it returns the following values:
00044 //                              0  - if no line is detected
00045 //                              1  - if line detected from the front
00046 //                              -1 - if line detected from the back
00047 //
00048 // move_random(speed)
00049 //                      -   Used to move the robot randomly: the robot will either
00050 //                          move forward, move backward, or turn around. The movement 
00051 //                          will be carried out for a random time.
00052 //
00053 
00054 // Libraries for using the above functions and more ...
00055 #include "mbed.h"
00056 #include "Motor.h"
00057 #include "hcsr04.h"
00058 #include "functions.h"
00059 
00060 // Set for debugging purpose
00061 // Example: pc(TX, RX)
00062 //Serial pc(USBTX, USBRX);
00063 
00064 // Global parameters
00065 
00066 float forwardspeed;
00067 float reversespeed;
00068 float searchspeed;
00069 unsigned int range;
00070 
00071 void initialise()
00072 {
00073     // Each speed value can be set from 0 to 1
00074     
00075     // Speed at which it moves forward
00076     // optimum value: 0.5 to 0.8
00077     forwardspeed = 0.6;
00078     // Speed at which it reverses
00079     // optimum value: 0.4 to 0.6
00080     reversespeed = 0.5;
00081     // Speed at which it rotates to find an object
00082     // optimum value: 0.4 to 0.6
00083     searchspeed = 0.5;
00084     // Range of detection
00085     // optimum value: 30 to 50
00086     range = 30;
00087 
00088     // Wait for 5 seconds to move away from robot
00089     wait(5);
00090 }
00091 
00092 // The main loop - please write your code here
00093 int main()
00094 {
00095     // Initialise the code
00096     initialise();
00097 
00098     printf("Starting the robot...");
00099 
00100     Timer t;
00101     t.start();
00102 
00103     int detect_l = 0;
00104     int detect_o = 0;
00105 
00106     while(true) {
00107         // Sample code to detect and object and move_forward at it
00108         
00109         wait(1);
00110         
00111         detect_o = detect_object(range, searchspeed);
00112 
00113         if (detect_o == 1) {
00114 
00115             forwards(forwardspeed);
00116 
00117             while (true) {
00118 
00119                 detect_l = detect_line();
00120                 // If line is detected from front then reverse
00121                 if(detect_l == 1 || detect_l == -1) {
00122                     stop();
00123                     turn_led_right();
00124                     reverse(reversespeed);
00125                     wait(1);
00126                     detect_l = 0;
00127                     break;
00128                 }
00129             }
00130 
00131         } else {
00132 
00133             move_random();
00134 
00135         }
00136 
00137         detect_o = 0;
00138         stop();
00139     } 
00140 }
00141