Yelfie
/
TDP_main
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed Motor_Driver Sensors MMA8451Q LocalPositionSystem
Fork of
TDP_main
by 
Ivelin Kozarev
Revision 38:02ef89edd828, committed 2015-03-25
- Comitter:
- Bartas
- Date:
- Wed Mar 25 10:45:08 2015 +0000
- Parent:
- 37:c0fddc75c862
- Commit message:
- asd
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Mar 24 22:34:52 2015 +0000
+++ b/main.cpp Wed Mar 25 10:45:08 2015 +0000
@@ -51,15 +51,16 @@
motors.setSteeringMode(NORMAL);
motors.disableHardBraking();
motors.forward();
- motors.setSpeed (0.07f);
- motors.start();
+ motors.setSpeed (0.1f);
+ motors.start();
+ wait(1);
//motors.enableSlew();
while (1) {
measureSensors();
oldValuesFlag = USE;
switch (sensorsCheckSum) {
- case 0: //all black >> turn around by 180 degrees or a possible turn on the left
+/* case 0: //all black >> turn around by 180 degrees or a possible turn on the left
for (k=0;k<5;k++) { //left turn situation >> stop, go backwards
if (oldValues[k] == 194) {
motors.stop();
@@ -90,12 +91,12 @@
motors.stop();
}
}
- break;
+ break; */
case 30: //all right sensors are white, left all black >> turn right
motors.setSteeringMode(NORMAL);
motors.forward();
motors.setRightSpeed(0.02f);
- motors.setLeftSpeed(0.07f);
+ motors.setLeftSpeed(0.04f);
do
{
motors.start();
@@ -103,11 +104,11 @@
} while (sensorsCheckSum == 30);
motors.stop();
break;
- case 46: //robot is facing north-west >> turn left
+ case 46: //robot is facing north-west >> turn right
motors.setSteeringMode(NORMAL);
motors.forward();
- motors.setRightSpeed(0.03f);
- motors.setLeftSpeed(0.07f);
+ motors.setRightSpeed(0.02f);
+ motors.setLeftSpeed(0.05f);
do
{
motors.start();
@@ -118,8 +119,8 @@
case 94: //normal <<STARTING POSITION>>, half of right and half of left are white
motors.setSteeringMode(NORMAL);
motors.forward();
- motors.setRightSpeed(0.02f);
- motors.setLeftSpeed(0.06f);
+ motors.setRightSpeed(0.08f);
+ motors.setLeftSpeed(0.08f);
do
{
motors.start();
@@ -148,11 +149,11 @@
} while (measure(sensorArray[0]) == 0);
motors.stop();
break;
- case 154: //robot is facing north-east >> turn right
+ case 154: //robot is facing north-east >> turn left
motors.setSteeringMode(NORMAL);
motors.forward();
- motors.setRightSpeed(0.07f);
- motors.setLeftSpeed(0.03f);
+ motors.setRightSpeed(0.05f);
+ motors.setLeftSpeed(0.02f);
do
{
motors.start();
@@ -163,8 +164,8 @@
case 174: //left all white, right all black >> turn left (move right wheel)
motors.setSteeringMode(NORMAL);
motors.forward();
- motors.setRightSpeed(0.07f);
- motors.setLeftSpeed(0.03f);
+ motors.setRightSpeed(0.06f);
+ motors.setLeftSpeed(0.02f);
do
{
motors.start();
@@ -176,8 +177,8 @@
case 194: //left all white, right half white >> go straight, turn right if 194 goes to 204
motors.setSteeringMode(NORMAL);
motors.forward();
- motors.setRightSpeed(0.04f);
- motors.setLeftSpeed(0.07f);
+ motors.setRightSpeed(0.01f);
+ motors.setLeftSpeed(0.02f);
do
{
motors.start();
@@ -185,7 +186,7 @@
} while (sensorsCheckSum == 194);
motors.stop(); //do while left is white
break;
- case 204: //all sensors are white
+/* case 204: //all sensors are white
for (k=0;k<6;k++) { //situation when a square is entered, need to follow right line
if (oldValues[k] == 194) { //checks whether black line on the right was present before
motors.setSteeringMode(NORMAL);
@@ -220,16 +221,24 @@
break;
}
}
- break;
- default:
- motors.start();
+ break; */
+ default:
+ /* if (sensorsCheckSum < 96) {
+ motors.setSpeed(0.0);
+ motors.setLeftSpeed(0.02);
+ }
+ else if (sensorsCheckSum > 96) {
+ motors.setSpeed (0.0);
+ motors.setRightSpeed(0.02);
+ }
+ } */
+ //motors.start();
oldValuesFlag = SKIP;
break;
- }
- } // while() statement
-
-} //while loop
+ } // switch statement
+ } //while loop
+} // main
/*
motors.setSpeed (normalSpeed);
while(1){
@@ -239,36 +248,6 @@
// printBluetooth();
// }
- switch (sensorsCheckSum) {
- case 94:
- motors.setSpeed (normalSpeed*2);
- wait(0.4);
- break;
-
- case 104:
- turnRight ();
- break;
- default:
- testOtherCases =1;
- break;
- }
- if (testOtherCases == 1) {
- if (sensorsCheckSum < 96) {
- motors.setSpeed (0.0);
- motors.setLeftSpeed(normalSpeed*2);
- wait(0.1);
- }
- else if (sensorsCheckSum > 96) {
- motors.setSpeed (0.0);
- motors.setRightSpeed(normalSpeed*2);
- wait(0.1);
- }
-
- }
- motors.setSpeed(0.0);
- wait(0.2);
-
- }
} //int main
void turnRight () {
@@ -324,7 +303,7 @@
if (oldValues[k] == sensorsCheckSum) {
for (i = k; i > 0; i--) {
oldValues[i] = oldValues[i-1];
- }
+ }
} else {
oldValues[k] = oldValues[k-1];
}
@@ -332,4 +311,4 @@
}
}
}
-} //measureSensors end
+}
