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
main.cpp
- Committer:
- JamieGibson
- Date:
- 2015-12-10
- Revision:
- 0:773f692587e0
File content as of revision 0:773f692587e0:
#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
}
}
}