Route Fix
Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
main.cpp@8:2d0fc244cc65, 2018-11-28 (annotated)
- Committer:
- Arkantos1695
- Date:
- Wed Nov 28 18:28:04 2018 +0000
- Revision:
- 8:2d0fc244cc65
- Parent:
- 7:5667ce16d526
- Child:
- 9:ec0ceec8f5f5
installed the side sensors
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cbrice6 | 0:9e014841f2b7 | 1 | #include "mbed.h" |
cbrice6 | 0:9e014841f2b7 | 2 | #include "LSM9DS1.h" // IMU |
cbrice6 | 0:9e014841f2b7 | 3 | #include "ultrasonic.h" // Ultrasonic Sensor |
cbrice6 | 0:9e014841f2b7 | 4 | #include "Motor.h" // Motor Drivers |
cbrice6 | 3:c07ea8bf242e | 5 | #include "PinDetect.h" // Pin Detect (for switch) |
cbrice6 | 0:9e014841f2b7 | 6 | |
cbrice6 | 0:9e014841f2b7 | 7 | |
cbrice6 | 1:92f6242c0196 | 8 | // Global Variables: |
cbrice6 | 3:c07ea8bf242e | 9 | bool tr = true; |
cbrice6 | 1:92f6242c0196 | 10 | bool turnflag = false; |
Arkantos1695 | 8:2d0fc244cc65 | 11 | int leftdistance= 0; |
Arkantos1695 | 8:2d0fc244cc65 | 12 | int rightdistance = 0; |
cbrice6 | 0:9e014841f2b7 | 13 | //---------------------| |
cbrice6 | 0:9e014841f2b7 | 14 | // PIN INITIALIZATIONS | |
cbrice6 | 0:9e014841f2b7 | 15 | //---------------------| |
cbrice6 | 3:c07ea8bf242e | 16 | // Debug LED pin: |
cbrice6 | 3:c07ea8bf242e | 17 | //DigitalOut led(p25); |
cbrice6 | 6:d25157f50f14 | 18 | DigitalIn sw(p20); |
cbrice6 | 6:d25157f50f14 | 19 | Serial pc(USBTX,USBRX); |
cbrice6 | 0:9e014841f2b7 | 20 | // Setup Motor Driver pins: |
cbrice6 | 0:9e014841f2b7 | 21 | Motor Lfront(p21, p6, p5); // PWM to p21, forward to p6, reverse to p5... |
cbrice6 | 1:92f6242c0196 | 22 | Motor Rfront(p22, p8, p7); // PWM to p22, forward to p8, reverse to p7... |
cbrice6 | 1:92f6242c0196 | 23 | Motor Lback(p23, p10, p9); // PWM to p23, forward to p10, reverse to p9... |
cbrice6 | 0:9e014841f2b7 | 24 | Motor Rback(p24, p12, p11); // PWM to p24, forward to p12, reverse to p11... |
cbrice6 | 0:9e014841f2b7 | 25 | |
cbrice6 | 0:9e014841f2b7 | 26 | Timer t; |
cbrice6 | 0:9e014841f2b7 | 27 | |
cbrice6 | 0:9e014841f2b7 | 28 | //-----------------------| |
cbrice6 | 0:9e014841f2b7 | 29 | // CLASS INITIALIZATIONS | |
cbrice6 | 0:9e014841f2b7 | 30 | //-----------------------| |
cbrice6 | 0:9e014841f2b7 | 31 | class mctrl { |
cbrice6 | 0:9e014841f2b7 | 32 | public: |
cbrice6 | 1:92f6242c0196 | 33 | // Stop all motors: |
cbrice6 | 1:92f6242c0196 | 34 | void stop(void) { |
cbrice6 | 1:92f6242c0196 | 35 | Lfront.speed(0); |
cbrice6 | 1:92f6242c0196 | 36 | Lback.speed(0); |
cbrice6 | 1:92f6242c0196 | 37 | Rfront.speed(0); |
cbrice6 | 1:92f6242c0196 | 38 | Rback.speed(0); |
Arkantos1695 | 7:5667ce16d526 | 39 | wait(0.55); |
cbrice6 | 1:92f6242c0196 | 40 | }; |
cbrice6 | 3:c07ea8bf242e | 41 | |
cbrice6 | 1:92f6242c0196 | 42 | // Go forward at constant speed: |
cbrice6 | 1:92f6242c0196 | 43 | void fwd(void){ |
Arkantos1695 | 7:5667ce16d526 | 44 | //stop(); |
cbrice6 | 1:92f6242c0196 | 45 | |
cbrice6 | 1:92f6242c0196 | 46 | Lfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 47 | Lback.speed(1); |
cbrice6 | 1:92f6242c0196 | 48 | Rfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 49 | Rback.speed(1); |
cbrice6 | 1:92f6242c0196 | 50 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 51 | }; |
cbrice6 | 3:c07ea8bf242e | 52 | |
cbrice6 | 1:92f6242c0196 | 53 | // Reverse at constant speed: |
cbrice6 | 1:92f6242c0196 | 54 | void rev(void){ |
cbrice6 | 1:92f6242c0196 | 55 | stop(); |
cbrice6 | 1:92f6242c0196 | 56 | Lfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 57 | Lback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 58 | Rfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 59 | Rback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 60 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 61 | }; |
cbrice6 | 3:c07ea8bf242e | 62 | |
cbrice6 | 1:92f6242c0196 | 63 | // Turn left 90 degrees: |
cbrice6 | 4:6546c17ac0a6 | 64 | void turnLeft(float currt){ |
cbrice6 | 1:92f6242c0196 | 65 | stop(); |
Arkantos1695 | 7:5667ce16d526 | 66 | while ((t.read()-currt) < 1.30) { |
cbrice6 | 1:92f6242c0196 | 67 | Lfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 68 | Lback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 69 | Rfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 70 | Rback.speed(1); |
cbrice6 | 1:92f6242c0196 | 71 | } |
cbrice6 | 1:92f6242c0196 | 72 | stop(); |
Arkantos1695 | 7:5667ce16d526 | 73 | //wait(0.02); |
cbrice6 | 1:92f6242c0196 | 74 | }; |
cbrice6 | 3:c07ea8bf242e | 75 | |
cbrice6 | 1:92f6242c0196 | 76 | // Turn right 90 degrees: |
cbrice6 | 4:6546c17ac0a6 | 77 | void turnRight(float currt){ |
cbrice6 | 1:92f6242c0196 | 78 | stop(); |
Arkantos1695 | 7:5667ce16d526 | 79 | while ((t.read()-currt) < 1.30) { |
cbrice6 | 1:92f6242c0196 | 80 | Lfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 81 | Lback.speed(1); |
cbrice6 | 1:92f6242c0196 | 82 | Rfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 83 | Rback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 84 | } |
cbrice6 | 1:92f6242c0196 | 85 | stop(); |
Arkantos1695 | 7:5667ce16d526 | 86 | //wait(0.02); |
cbrice6 | 1:92f6242c0196 | 87 | }; |
cbrice6 | 1:92f6242c0196 | 88 | } mctrl; |
cbrice6 | 0:9e014841f2b7 | 89 | |
cbrice6 | 0:9e014841f2b7 | 90 | //------------------| |
cbrice6 | 0:9e014841f2b7 | 91 | // HELPER FUNCTIONS | |
cbrice6 | 0:9e014841f2b7 | 92 | //------------------| |
cbrice6 | 0:9e014841f2b7 | 93 | void dist(int distance) // NOTE: by default "distance" is in mm... |
cbrice6 | 0:9e014841f2b7 | 94 | { |
cbrice6 | 3:c07ea8bf242e | 95 | if (distance < 150) { |
cbrice6 | 3:c07ea8bf242e | 96 | // PUT CODE HERE TO TRIGGER WHEN DISTANCE READS LESS THAN 15cm |
cbrice6 | 5:85951362fd6d | 97 | // 1) Turn 90 degrees (hardcoded => 1.4 seconds). |
cbrice6 | 5:85951362fd6d | 98 | // 2) Go forward 1.5 seconds. |
cbrice6 | 5:85951362fd6d | 99 | // 3) Turn 90 degrees (hardcoded => 1.4 seconds). |
cbrice6 | 3:c07ea8bf242e | 100 | // 4) Continue forward until wall. |
cbrice6 | 3:c07ea8bf242e | 101 | // [Step 1] |
cbrice6 | 1:92f6242c0196 | 102 | float currt = t.read(); |
cbrice6 | 4:6546c17ac0a6 | 103 | if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} |
cbrice6 | 3:c07ea8bf242e | 104 | // [Step 2] |
cbrice6 | 3:c07ea8bf242e | 105 | currt = t.read(); |
Arkantos1695 | 7:5667ce16d526 | 106 | while ((t.read()-currt) < .5) {mctrl.fwd();} |
cbrice6 | 3:c07ea8bf242e | 107 | // [Step 3] |
cbrice6 | 3:c07ea8bf242e | 108 | currt = t.read(); |
cbrice6 | 4:6546c17ac0a6 | 109 | if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} |
cbrice6 | 3:c07ea8bf242e | 110 | // [End] |
cbrice6 | 3:c07ea8bf242e | 111 | tr = !tr; |
cbrice6 | 1:92f6242c0196 | 112 | } |
cbrice6 | 1:92f6242c0196 | 113 | else { |
cbrice6 | 1:92f6242c0196 | 114 | mctrl.fwd(); |
cbrice6 | 0:9e014841f2b7 | 115 | } |
cbrice6 | 0:9e014841f2b7 | 116 | } |
cbrice6 | 0:9e014841f2b7 | 117 | |
Arkantos1695 | 8:2d0fc244cc65 | 118 | void dist2(int distance) // left sensor interrupt |
Arkantos1695 | 8:2d0fc244cc65 | 119 | { |
Arkantos1695 | 8:2d0fc244cc65 | 120 | /*if (distance < 150) { |
Arkantos1695 | 8:2d0fc244cc65 | 121 | pc.printf("Left Sensor trigg"); |
Arkantos1695 | 8:2d0fc244cc65 | 122 | } |
Arkantos1695 | 8:2d0fc244cc65 | 123 | else { |
Arkantos1695 | 8:2d0fc244cc65 | 124 | pc.printf("Left Sensor echo"); |
Arkantos1695 | 8:2d0fc244cc65 | 125 | }*/ |
Arkantos1695 | 8:2d0fc244cc65 | 126 | leftdistance = distance; |
Arkantos1695 | 8:2d0fc244cc65 | 127 | } |
Arkantos1695 | 8:2d0fc244cc65 | 128 | |
Arkantos1695 | 8:2d0fc244cc65 | 129 | void dist3(int distance) // right sensor interrupt |
Arkantos1695 | 8:2d0fc244cc65 | 130 | { |
Arkantos1695 | 8:2d0fc244cc65 | 131 | /*if (distance < 150) { |
Arkantos1695 | 8:2d0fc244cc65 | 132 | pc.printf("Right Sensor trigg"); |
Arkantos1695 | 8:2d0fc244cc65 | 133 | } |
Arkantos1695 | 8:2d0fc244cc65 | 134 | else { |
Arkantos1695 | 8:2d0fc244cc65 | 135 | pc.printf("Right Sensor echo"); |
Arkantos1695 | 8:2d0fc244cc65 | 136 | }*/ |
Arkantos1695 | 8:2d0fc244cc65 | 137 | rightdistance = distance; |
Arkantos1695 | 8:2d0fc244cc65 | 138 | } |
Arkantos1695 | 8:2d0fc244cc65 | 139 | |
Arkantos1695 | 8:2d0fc244cc65 | 140 | |
cbrice6 | 0:9e014841f2b7 | 141 | //------------------------------| |
cbrice6 | 0:9e014841f2b7 | 142 | // PIN INITIALIZATIONS (cont'd) | |
cbrice6 | 0:9e014841f2b7 | 143 | //------------------------------| |
cbrice6 | 0:9e014841f2b7 | 144 | // Setup Ultrasonic Sensor pins: |
cbrice6 | 0:9e014841f2b7 | 145 | ultrasonic usensor(p13, p14, .07, 1, &dist); // trigger to p13, echo to p14... |
Arkantos1695 | 8:2d0fc244cc65 | 146 | // update every .07 secs w/ timeout after 1 sec... |
cbrice6 | 0:9e014841f2b7 | 147 | // call "dist" when the distance changes... |
Arkantos1695 | 8:2d0fc244cc65 | 148 | ultrasonic usensor2(p13, p26, .07, 1, &dist2); // left trigger |
Arkantos1695 | 8:2d0fc244cc65 | 149 | ultrasonic usensor3(p13, p25, .07, 1, &dist3); //right trigger |
cbrice6 | 0:9e014841f2b7 | 150 | |
cbrice6 | 0:9e014841f2b7 | 151 | //---------------| |
cbrice6 | 0:9e014841f2b7 | 152 | // MAIN FUNCTION | |
cbrice6 | 0:9e014841f2b7 | 153 | //---------------| |
cbrice6 | 0:9e014841f2b7 | 154 | int main() { |
cbrice6 | 3:c07ea8bf242e | 155 | // Use internal pullup for the switch: |
cbrice6 | 6:d25157f50f14 | 156 | sw.mode(PullUp); |
cbrice6 | 0:9e014841f2b7 | 157 | // Initialize the Ultrasonic Sensor: |
cbrice6 | 0:9e014841f2b7 | 158 | usensor.startUpdates(); |
Arkantos1695 | 8:2d0fc244cc65 | 159 | usensor2.startUpdates(); |
Arkantos1695 | 8:2d0fc244cc65 | 160 | usensor3.startUpdates(); |
cbrice6 | 0:9e014841f2b7 | 161 | // Initialize the Timer: |
cbrice6 | 0:9e014841f2b7 | 162 | t.start(); |
cbrice6 | 6:d25157f50f14 | 163 | while(!sw) { |
cbrice6 | 0:9e014841f2b7 | 164 | |
cbrice6 | 0:9e014841f2b7 | 165 | usensor.checkDistance(); |
Arkantos1695 | 8:2d0fc244cc65 | 166 | usensor2.checkDistance(); |
Arkantos1695 | 8:2d0fc244cc65 | 167 | usensor3.checkDistance(); |
Arkantos1695 | 8:2d0fc244cc65 | 168 | pc.printf("Left Distance %d mm\r\n", leftdistance); |
Arkantos1695 | 8:2d0fc244cc65 | 169 | pc.printf("Right Distance %d mm\r\n", rightdistance); |
Arkantos1695 | 8:2d0fc244cc65 | 170 | wait(1); |
cbrice6 | 0:9e014841f2b7 | 171 | } |
cbrice6 | 0:9e014841f2b7 | 172 | } |
cbrice6 | 3:c07ea8bf242e | 173 |