ishaan Agarwal
It's an obstacle avoider using mbed lpc1768
Dependencies: mbed Motordriver HC_SR04_Ultrasonic_Library
Revision 0:3c1eead7416c, committed 2019-12-13
- Comitter:
- 6221570
- Date:
- Fri Dec 13 02:22:49 2019 +0000
- Commit message:
- Its an obstacle avoider using mbed lpc1768
Changed in this revision
diff -r 000000000000 -r 3c1eead7416c HC_SR04_Ultrasonic_Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Fri Dec 13 02:22:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
diff -r 000000000000 -r 3c1eead7416c Motordriver.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Fri Dec 13 02:22:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/littlexc/code/Motordriver/#3110b9209d3c
diff -r 000000000000 -r 3c1eead7416c main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Dec 13 02:22:49 2019 +0000
@@ -0,0 +1,158 @@
+#include "ultrasonic.h"
+#include "motordriver.h"
+
+//ADXL
+SPI acc(p11,p12,p13); // set up SPI interface on pins 11,12,13
+DigitalOut cs(p14); // use pin 14 as chip select
+
+//FRONT MOTORS
+Motor FL(p22, p6, p5, 1); // pwm, fwd, rev, can brake
+Motor FR(p21, p7, p8, 1);
+
+//BACK MOTORS
+Motor BL(p23, p17, p18, 1);
+Motor BR(p24, p15, p16, 1);
+
+void drivefront(void);
+void driveback(void);
+void driveleft(void);
+void driveright(void);
+void dynamicdrivefront(void);
+
+Serial pc(USBTX, USBRX);
+
+char buffer[6]; //raw data array type char
+int16_t data[3]; // 16-bit twos-complement integer data
+float x, y, z; // floating point data, to be displayed on-screen
+
+int sl,sr; //left sensor and right sensor
+void dist(int distance)
+{
+
+ //put code here to execute when the distance has changed
+
+ sl = distance;
+ pc.printf("sl %d mm\r\n", sl);
+}
+void gist(int distance)
+{
+
+ //put code here to execute when the distance has changed
+
+ sr = distance;
+ pc.printf("sr %d mm\r\n", sr);
+}
+
+ultrasonic mu(p27, p28, .1, 1, &gist); //Set the trigger pin to p27 and the echo pin to p28
+ultrasonic lu(p10, p9, .1, 1, &dist); //have updates every .1 seconds and a timeout after 1
+ //second, and call dist when the distance changes
+
+int main()
+{
+//ADXL{
+cs=1; //initially ADXL345 is not activated
+acc.format(8,3); // 8 bit data, Mode 3
+acc.frequency(2000000); // 2MHz clock rate
+cs=0; //select the device
+acc.write(0x31); // data format register
+acc.write(0x0B); // format +/-16g, 0.004g/LSB
+cs=1; //end of transmission
+cs=0; //start a new transmission
+acc.write(0x2D); // power ctrl register
+acc.write(0x08); // measure mode
+cs=1; //end of transmission
+//}ADXL
+ lu.startUpdates();//start measuring the distance
+ mu.startUpdates();//start measuring the distance
+ while(1)
+ {
+ cs=0; //start a transmission
+ acc.write(0x80|0x40|0x32); // RW bit high, MB bit high, plus address
+ for (int i = 0;i<=5;i++) {
+ buffer[i]=acc.write(0x00); // read back 6 data bytes
+ }
+ cs=1; //end of transmission
+ data[0] = buffer[1]<<8 | buffer[0]; // combine MSB and LSB
+ data[1] = buffer[3]<<8 | buffer[2];
+ data[2] = buffer[5]<<8 | buffer[4];
+ x=0.004*data[0]; y=0.004*data[1]; z=0.004*data[2]; // convert to float,
+ //actual g value
+
+ // pc.printf("x = %+1.2fg\t y = %+1.2fg\t z = %+1.2fg\n\r", x, y,z); //print
+
+ lu.checkDistance();
+ mu.checkDistance();
+
+ if (sl>200 && sr>200){
+ if(y>=0.26){//o.26=sin(15) to signify elevation above that point
+ dynamicdrivefront();
+ }
+ else{
+ drivefront();
+ }
+ }
+ else if(sl >150 && sr<=150){
+ driveleft();
+ }
+ else if(sr >150 && sl<=150){
+ driveright();
+ }
+ else{
+ driveback();
+ wait(0.6);
+ if(sl<sr){
+ driveright();}
+ else{
+ driveleft();
+ }
+ }
+ }
+
+
+
+ }
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void drivefront(void)
+{
+FL.speed(0.4);
+FR.speed(0.4);
+BL.speed(0.4);
+BR.speed(0.4);
+//wait(0.1);
+}
+
+void driveback(void)
+{
+FL.speed(-0.4);
+FR.speed(-0.4);
+BL.speed(-0.4);
+BR.speed(-0.4);
+//wait(0.1);
+ }
+void driveleft(void)
+{
+FL.speed(-0.5);
+FR.speed(0.4);
+BL.speed(-0.5);
+BR.speed(0.3);
+//wait(0.1);
+ }
+void driveright(void)
+{
+FL.speed(0.4);
+FR.speed(-0.5);
+BL.speed(0.3);
+BR.speed(-0.5);
+//wait(0.1);
+ }
+void dynamicdrivefront(void)
+{
+FL.speed(0.5+((y-0.1)/2));
+FR.speed(0.5+((y-0.1)/2));
+BL.speed(0.5+((y-0.1)/2));
+BR.speed(0.5+((y-0.1)/2));
+//wait(0.1);
+}
\ No newline at end of file
diff -r 000000000000 -r 3c1eead7416c mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Dec 13 02:22:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file