Route Fix
Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
main.cpp
- Committer:
- cbrice6
- Date:
- 2018-11-21
- Revision:
- 4:6546c17ac0a6
- Parent:
- 3:c07ea8bf242e
- Child:
- 5:85951362fd6d
File content as of revision 4:6546c17ac0a6:
#include "mbed.h" #include "LSM9DS1.h" // IMU #include "ultrasonic.h" // Ultrasonic Sensor #include "Motor.h" // Motor Drivers #include "PinDetect.h" // Pin Detect (for switch) // Global Variables: bool tr = true; bool turnflag = false; //---------------------| // PIN INITIALIZATIONS | //---------------------| // Debug LED pin: //DigitalOut led(p25); // Motor Power Control pins: /* DigitalOut Ctrl1(p29); DigitalOut Ctrl2(p30); PinDetect sw(p20); */ // Setup Motor Driver pins: Motor Lfront(p21, p6, p5); // PWM to p21, forward to p6, reverse to p5... Motor Rfront(p22, p8, p7); // PWM to p22, forward to p8, reverse to p7... Motor Lback(p23, p10, p9); // PWM to p23, forward to p10, reverse to p9... Motor Rback(p24, p12, p11); // PWM to p24, forward to p12, reverse to p11... Timer t; //-----------------------| // CLASS INITIALIZATIONS | //-----------------------| class mctrl { public: // Stop all motors: void stop(void) { Lfront.speed(0); Lback.speed(0); Rfront.speed(0); Rback.speed(0); wait(0.02); }; // Go forward at constant speed: void fwd(void){ stop(); Lfront.speed(1); Lback.speed(1); Rfront.speed(1); Rback.speed(1); wait(0.02); }; // Reverse at constant speed: void rev(void){ stop(); Lfront.speed(-1); Lback.speed(-1); Rfront.speed(-1); Rback.speed(-1); wait(0.02); }; // Turn left 90 degrees: void turnLeft(float currt){ stop(); while ((t.read()-currt) < 2) { Lfront.speed(-1); Lback.speed(-1); Rfront.speed(1); Rback.speed(1); } stop(); wait(0.02); }; // Turn right 90 degrees: void turnRight(float currt){ stop(); while ((t.read()-currt) < 2) { Lfront.speed(1); Lback.speed(1); Rfront.speed(-1); Rback.speed(-1); } stop(); wait(0.02); }; } mctrl; //------------------| // HELPER FUNCTIONS | //------------------| void dist(int distance) // NOTE: by default "distance" is in mm... { if (distance < 150) { // PUT CODE HERE TO TRIGGER WHEN DISTANCE READS LESS THAN 15cm // 1) Turn 90 degrees (hardcoded => 2 seconds). // 2) Go forward 2 seconds. // 3) Turn 90 degrees (hardcoded => 2 seconds). // 4) Continue forward until wall. // [Step 1] float currt = t.read(); if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} // [Step 2] currt = t.read(); while ((t.read()-currt) < 2) {mctrl.fwd();} // [Step 3] currt = t.read(); if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} // [End] tr = !tr; } else { mctrl.fwd(); } } //------------------------------| // PIN INITIALIZATIONS (cont'd) | //------------------------------| // Setup Ultrasonic Sensor pins: ultrasonic usensor(p13, p14, .07, 1, &dist); // trigger to p13, echo to p14... // update every .07 secs w/ timeout after 1 sec... // call "dist" when the distance changes... //---------------| // MAIN FUNCTION | //---------------| int main() { // Use internal pullup for the switch: //sw.mode(PullUp); // Delay for initial pullups to take effect: //wait(0.01); // Initialize and calibrate the IMU: /* LSM9DS1 imu(p28, p27, 0xD6, 0x3C); // SDA to p28, SCL to p27... imu.begin(); imu.calibrate(1); imu.calibrateMag(0); imu.readGyro(); start = imu.gz; */ // Initialize the Ultrasonic Sensor: usensor.startUpdates(); // Initialize the Timer: t.start(); while(1) { // Toggle motor battery banks: /* if (!sw == 1) { Ctrl1 = 1; Ctrl2 = 1; wait(0.2); } else { Ctrl1 = 0; Ctrl2 = 0; wait(0.2); } */ // Read IMU gyro: //while(!imu.gyroAvailable()); //imu.readGyro(); //heading = imu.calcGyro(imu.gz); // X - imu.calcGyro(imu.gx) // Y - imu.calcGyro(imu.gy) // Z - imu.calcGyro(imu.gz) //if (heading > 90) {led=1;} else {led=0;} // Read Ultrasonic Sensor: usensor.checkDistance(); wait(0.1); } }