Route Fix
Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
main.cpp@6:d25157f50f14, 2018-11-21 (annotated)
- Committer:
- cbrice6
- Date:
- Wed Nov 21 20:32:01 2018 +0000
- Revision:
- 6:d25157f50f14
- Parent:
- 5:85951362fd6d
- Child:
- 7:5667ce16d526
yee changes
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; |
cbrice6 | 1:92f6242c0196 | 11 | |
cbrice6 | 0:9e014841f2b7 | 12 | //---------------------| |
cbrice6 | 0:9e014841f2b7 | 13 | // PIN INITIALIZATIONS | |
cbrice6 | 0:9e014841f2b7 | 14 | //---------------------| |
cbrice6 | 3:c07ea8bf242e | 15 | // Debug LED pin: |
cbrice6 | 3:c07ea8bf242e | 16 | //DigitalOut led(p25); |
cbrice6 | 6:d25157f50f14 | 17 | DigitalIn sw(p20); |
cbrice6 | 6:d25157f50f14 | 18 | Serial pc(USBTX,USBRX); |
cbrice6 | 0:9e014841f2b7 | 19 | // Setup Motor Driver pins: |
cbrice6 | 0:9e014841f2b7 | 20 | Motor Lfront(p21, p6, p5); // PWM to p21, forward to p6, reverse to p5... |
cbrice6 | 1:92f6242c0196 | 21 | Motor Rfront(p22, p8, p7); // PWM to p22, forward to p8, reverse to p7... |
cbrice6 | 1:92f6242c0196 | 22 | Motor Lback(p23, p10, p9); // PWM to p23, forward to p10, reverse to p9... |
cbrice6 | 0:9e014841f2b7 | 23 | Motor Rback(p24, p12, p11); // PWM to p24, forward to p12, reverse to p11... |
cbrice6 | 0:9e014841f2b7 | 24 | |
cbrice6 | 0:9e014841f2b7 | 25 | Timer t; |
cbrice6 | 0:9e014841f2b7 | 26 | |
cbrice6 | 0:9e014841f2b7 | 27 | //-----------------------| |
cbrice6 | 0:9e014841f2b7 | 28 | // CLASS INITIALIZATIONS | |
cbrice6 | 0:9e014841f2b7 | 29 | //-----------------------| |
cbrice6 | 0:9e014841f2b7 | 30 | class mctrl { |
cbrice6 | 0:9e014841f2b7 | 31 | public: |
cbrice6 | 1:92f6242c0196 | 32 | // Stop all motors: |
cbrice6 | 1:92f6242c0196 | 33 | void stop(void) { |
cbrice6 | 1:92f6242c0196 | 34 | Lfront.speed(0); |
cbrice6 | 1:92f6242c0196 | 35 | Lback.speed(0); |
cbrice6 | 1:92f6242c0196 | 36 | Rfront.speed(0); |
cbrice6 | 1:92f6242c0196 | 37 | Rback.speed(0); |
cbrice6 | 1:92f6242c0196 | 38 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 39 | }; |
cbrice6 | 3:c07ea8bf242e | 40 | |
cbrice6 | 1:92f6242c0196 | 41 | // Go forward at constant speed: |
cbrice6 | 1:92f6242c0196 | 42 | void fwd(void){ |
cbrice6 | 1:92f6242c0196 | 43 | stop(); |
cbrice6 | 1:92f6242c0196 | 44 | |
cbrice6 | 1:92f6242c0196 | 45 | Lfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 46 | Lback.speed(1); |
cbrice6 | 1:92f6242c0196 | 47 | Rfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 48 | Rback.speed(1); |
cbrice6 | 1:92f6242c0196 | 49 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 50 | }; |
cbrice6 | 3:c07ea8bf242e | 51 | |
cbrice6 | 1:92f6242c0196 | 52 | // Reverse at constant speed: |
cbrice6 | 1:92f6242c0196 | 53 | void rev(void){ |
cbrice6 | 1:92f6242c0196 | 54 | stop(); |
cbrice6 | 1:92f6242c0196 | 55 | Lfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 56 | Lback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 57 | Rfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 58 | Rback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 59 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 60 | }; |
cbrice6 | 3:c07ea8bf242e | 61 | |
cbrice6 | 1:92f6242c0196 | 62 | // Turn left 90 degrees: |
cbrice6 | 4:6546c17ac0a6 | 63 | void turnLeft(float currt){ |
cbrice6 | 1:92f6242c0196 | 64 | stop(); |
cbrice6 | 5:85951362fd6d | 65 | while ((t.read()-currt) < 1.4) { |
cbrice6 | 1:92f6242c0196 | 66 | Lfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 67 | Lback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 68 | Rfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 69 | Rback.speed(1); |
cbrice6 | 1:92f6242c0196 | 70 | } |
cbrice6 | 1:92f6242c0196 | 71 | stop(); |
cbrice6 | 1:92f6242c0196 | 72 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 73 | }; |
cbrice6 | 3:c07ea8bf242e | 74 | |
cbrice6 | 1:92f6242c0196 | 75 | // Turn right 90 degrees: |
cbrice6 | 4:6546c17ac0a6 | 76 | void turnRight(float currt){ |
cbrice6 | 1:92f6242c0196 | 77 | stop(); |
cbrice6 | 5:85951362fd6d | 78 | while ((t.read()-currt) < 1.4) { |
cbrice6 | 1:92f6242c0196 | 79 | Lfront.speed(1); |
cbrice6 | 1:92f6242c0196 | 80 | Lback.speed(1); |
cbrice6 | 1:92f6242c0196 | 81 | Rfront.speed(-1); |
cbrice6 | 1:92f6242c0196 | 82 | Rback.speed(-1); |
cbrice6 | 1:92f6242c0196 | 83 | } |
cbrice6 | 1:92f6242c0196 | 84 | stop(); |
cbrice6 | 1:92f6242c0196 | 85 | wait(0.02); |
cbrice6 | 1:92f6242c0196 | 86 | }; |
cbrice6 | 1:92f6242c0196 | 87 | } mctrl; |
cbrice6 | 0:9e014841f2b7 | 88 | |
cbrice6 | 0:9e014841f2b7 | 89 | //------------------| |
cbrice6 | 0:9e014841f2b7 | 90 | // HELPER FUNCTIONS | |
cbrice6 | 0:9e014841f2b7 | 91 | //------------------| |
cbrice6 | 0:9e014841f2b7 | 92 | void dist(int distance) // NOTE: by default "distance" is in mm... |
cbrice6 | 0:9e014841f2b7 | 93 | { |
cbrice6 | 3:c07ea8bf242e | 94 | if (distance < 150) { |
cbrice6 | 3:c07ea8bf242e | 95 | // PUT CODE HERE TO TRIGGER WHEN DISTANCE READS LESS THAN 15cm |
cbrice6 | 5:85951362fd6d | 96 | // 1) Turn 90 degrees (hardcoded => 1.4 seconds). |
cbrice6 | 5:85951362fd6d | 97 | // 2) Go forward 1.5 seconds. |
cbrice6 | 5:85951362fd6d | 98 | // 3) Turn 90 degrees (hardcoded => 1.4 seconds). |
cbrice6 | 3:c07ea8bf242e | 99 | // 4) Continue forward until wall. |
cbrice6 | 3:c07ea8bf242e | 100 | // [Step 1] |
cbrice6 | 1:92f6242c0196 | 101 | float currt = t.read(); |
cbrice6 | 4:6546c17ac0a6 | 102 | if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} |
cbrice6 | 3:c07ea8bf242e | 103 | // [Step 2] |
cbrice6 | 3:c07ea8bf242e | 104 | currt = t.read(); |
cbrice6 | 5:85951362fd6d | 105 | while ((t.read()-currt) < 1.5) {mctrl.fwd();} |
cbrice6 | 3:c07ea8bf242e | 106 | // [Step 3] |
cbrice6 | 3:c07ea8bf242e | 107 | currt = t.read(); |
cbrice6 | 4:6546c17ac0a6 | 108 | if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} |
cbrice6 | 3:c07ea8bf242e | 109 | // [End] |
cbrice6 | 3:c07ea8bf242e | 110 | tr = !tr; |
cbrice6 | 1:92f6242c0196 | 111 | } |
cbrice6 | 1:92f6242c0196 | 112 | else { |
cbrice6 | 1:92f6242c0196 | 113 | mctrl.fwd(); |
cbrice6 | 0:9e014841f2b7 | 114 | } |
cbrice6 | 0:9e014841f2b7 | 115 | } |
cbrice6 | 0:9e014841f2b7 | 116 | |
cbrice6 | 0:9e014841f2b7 | 117 | //------------------------------| |
cbrice6 | 0:9e014841f2b7 | 118 | // PIN INITIALIZATIONS (cont'd) | |
cbrice6 | 0:9e014841f2b7 | 119 | //------------------------------| |
cbrice6 | 0:9e014841f2b7 | 120 | // Setup Ultrasonic Sensor pins: |
cbrice6 | 0:9e014841f2b7 | 121 | ultrasonic usensor(p13, p14, .07, 1, &dist); // trigger to p13, echo to p14... |
cbrice6 | 0:9e014841f2b7 | 122 | // update every .07 secs w/ timeout after 1 sec... |
cbrice6 | 0:9e014841f2b7 | 123 | // call "dist" when the distance changes... |
cbrice6 | 0:9e014841f2b7 | 124 | |
cbrice6 | 0:9e014841f2b7 | 125 | //---------------| |
cbrice6 | 0:9e014841f2b7 | 126 | // MAIN FUNCTION | |
cbrice6 | 0:9e014841f2b7 | 127 | //---------------| |
cbrice6 | 0:9e014841f2b7 | 128 | int main() { |
cbrice6 | 3:c07ea8bf242e | 129 | // Use internal pullup for the switch: |
cbrice6 | 6:d25157f50f14 | 130 | sw.mode(PullUp); |
cbrice6 | 0:9e014841f2b7 | 131 | // Initialize the Ultrasonic Sensor: |
cbrice6 | 0:9e014841f2b7 | 132 | usensor.startUpdates(); |
cbrice6 | 0:9e014841f2b7 | 133 | |
cbrice6 | 0:9e014841f2b7 | 134 | // Initialize the Timer: |
cbrice6 | 0:9e014841f2b7 | 135 | t.start(); |
cbrice6 | 6:d25157f50f14 | 136 | pc.printf("sw is : %d", sw); |
cbrice6 | 6:d25157f50f14 | 137 | while(!sw) { |
cbrice6 | 0:9e014841f2b7 | 138 | |
cbrice6 | 0:9e014841f2b7 | 139 | usensor.checkDistance(); |
cbrice6 | 0:9e014841f2b7 | 140 | |
cbrice6 | 0:9e014841f2b7 | 141 | wait(0.1); |
cbrice6 | 0:9e014841f2b7 | 142 | } |
cbrice6 | 0:9e014841f2b7 | 143 | } |
cbrice6 | 3:c07ea8bf242e | 144 |