University of Derby - MSc Control and Instrumentation
The Program for our autonomous vehicle which we built for our course project
Dependencies: mbed
Fork of
Moon_Buggy_Light
by 
Jamie Gibson
Diff: main.cpp
- Revision:
- 0:773f692587e0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 10 15:11:42 2015 +0000
@@ -0,0 +1,247 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX);
+Serial async_port(p9, p10); //set up TX and RX on pins 9 and 10
+PwmOut PWM1(p25); //create a PWM output called PWM1 on pin 25
+PwmOut PWM2(p26);
+AnalogIn LDR_Fin(p17); //Front LDR In
+AnalogIn LDR_Rin(p18); //Right LDR In
+AnalogIn LDR_Bin(p19); //Back LDR In
+AnalogIn LDR_Lin(p20); //Left LDR In
+AnalogIn LDR_5in(p16); //LDR_5
+
+DigitalOut LED_F(p5);
+DigitalOut LED_R(p6);
+DigitalOut LED_B(p7);
+DigitalOut LED_L(p8);
+DigitalOut LED5_hi(p21); //LED5_hi
+DigitalOut LED5_lo(p22); //LED5_lo
+DigitalOut LED5_run(p23); //LED5_run
+
+char switch_word ; //the word we will send
+char recd_val; //the received value
+
+float LDR_Fdata;
+float LDR_Rdata;
+float LDR_Bdata;
+float LDR_Ldata;
+float LDR_5data;
+
+int F;
+int R;
+int B;
+int L;
+int LDR5_hi;
+int LDR5_lo;
+int LDR5_run;
+
+int main()
+{
+ async_port.baud(9600); //set baud rate to 9600 (ie default) accept default format, of 8 bits, no parity
+ while(1)
+ {
+ LDR_Fdata=LDR_Fin*3.3; //Convert Ain to Voltage value
+ LDR_Rdata=LDR_Rin*3.3;
+ LDR_Bdata=LDR_Bin*3.3;
+ LDR_Ldata=LDR_Lin*3.3;
+ LDR_5data=LDR_5in*3.3;
+ switch_word=0xf0;
+ if(LDR_5data>3)
+ {
+ LDR5_hi=1;
+ LDR5_lo=0;
+ LDR5_run=0;
+ }
+ else if(LDR_5data<1.5)
+ {
+ LDR5_hi=0;
+ LDR5_lo=1;
+ LDR5_run=0;
+ }
+ else
+ {
+ LDR5_hi=0;
+ LDR5_lo=0;
+ LDR5_run=1;
+ }
+ if(LDR5_hi==1)
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=0;
+ LED_L=0;
+ LED5_hi=1;
+ LED5_lo=0;
+ LED5_run=0;
+ switch_word=switch_word|0x09;
+ async_port.putc(switch_word);
+ wait(1);
+ PWM1=0.12;
+ PWM2=0.12;
+ }
+ if(LDR5_lo==1)
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=0;
+ LED_L=0;
+ LED5_hi=0;
+ LED5_lo=1;
+ LED5_run=0;
+ switch_word=switch_word|0x00;
+ async_port.putc(switch_word);
+ PWM1=0.03;
+ PWM2=0.026;
+ }
+ if(LDR5_run==1)
+ {
+ recd_val=0;
+ LED5_hi=0;
+ LED5_lo=0;
+ LED5_run=1;
+ PWM1=0.03;
+ PWM2=0.026;
+ if(LDR_Fdata>LDR_Bdata) //Block 1 - Check between F&B, L&R and set flags
+ {
+ F=1;
+ B=0;
+ }
+ else if(LDR_Fdata<LDR_Bdata)
+ {
+ F=0;
+ B=1;
+ }
+ if(LDR_Rdata>LDR_Ldata)
+ {
+ R=1;
+ L=0;
+ }
+ else if(LDR_Rdata<LDR_Ldata)
+ {
+ R=0;
+ L=1;
+ } //Block 1 - Finished
+
+ if(F==1 && R==1) //Block 2 - Check according to flags and set LEDs/transmit direction
+ {
+ if(LDR_Fdata>LDR_Rdata)
+ {
+ LED_F=1;
+ LED_R=0;
+ LED_B=0;
+ LED_L=0;
+ switch_word=switch_word|0x01;
+ async_port.putc(switch_word);
+ }
+ else if(LDR_Fdata<LDR_Rdata)
+ {
+ LED_F=0;
+ LED_R=1;
+ LED_B=0;
+ LED_L=0;
+ switch_word=switch_word|0x03;
+ async_port.putc(switch_word);
+ }
+ else
+ {
+ LED_F=1;
+ LED_R=1;
+ LED_B=0;
+ LED_L=0;
+ switch_word=switch_word|0x02;
+ async_port.putc(switch_word);
+ }
+ }
+ if(F==1 && L==1)
+ {
+ if(LDR_Fdata>LDR_Ldata)
+ {
+ LED_F=1;
+ LED_R=0;
+ LED_B=0;
+ LED_L=0;
+ switch_word=switch_word|0x01;
+ async_port.putc(switch_word);
+ }
+ else if(LDR_Fdata<LDR_Ldata)
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=0;
+ LED_L=1;
+ switch_word=switch_word|0x07;
+ async_port.putc(switch_word);
+ }
+ else
+ {
+ LED_F=1;
+ LED_R=0;
+ LED_B=0;
+ LED_L=1;
+ switch_word=switch_word|0x08;
+ async_port.putc(switch_word);
+ }
+ }
+ if(B==1 && R==1)
+ {
+ if(LDR_Bdata>LDR_Rdata)
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=1;
+ LED_L=0;
+ switch_word=switch_word|0x05;
+ async_port.putc(switch_word);
+ }
+ else if(LDR_Bdata<LDR_Rdata)
+ {
+ LED_F=0;
+ LED_R=1;
+ LED_B=0;
+ LED_L=0;
+ switch_word=switch_word|0x03;
+ async_port.putc(switch_word);
+ }
+ else
+ {
+ LED_F=0;
+ LED_R=1;
+ LED_B=1;
+ LED_L=0;
+ switch_word=switch_word|0x04;
+ async_port.putc(switch_word);
+ }
+ }
+ if(B==1 && L==1)
+ {
+ if(LDR_Bdata>LDR_Ldata)
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=1;
+ LED_L=0;
+ switch_word=switch_word|0x05;
+ async_port.putc(switch_word);
+ }
+ else if(LDR_Bdata<LDR_Ldata)
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=0;
+ LED_L=1;
+ switch_word=switch_word|0x07;
+ async_port.putc(switch_word);
+ }
+ else
+ {
+ LED_F=0;
+ LED_R=0;
+ LED_B=1;
+ LED_L=1;
+ switch_word=switch_word|0x06;
+ async_port.putc(switch_word);
+ }
+ } //Block 2 - Finished
+ }
+ }
+}