Llenard Gonzalo
/
Racing_14050239
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Revision 0:4bb3dfde1219, committed 2021-10-30
- Comitter:
- Llenard
- Date:
- Sat Oct 30 18:14:38 2021 +0000
- Commit message:
- Submission
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SRF05.lib Sat Oct 30 18:14:38 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/SRF05/#e758665e072c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Oct 30 18:14:38 2021 +0000
@@ -0,0 +1,171 @@
+#include "mbed.h"
+#include "variables.h"
+#include "SRF05.h"
+
+DigitalOut myled(LED1);
+#include <vector> //Tracker data
+
+
+#define TESTING 1 //for TDD
+
+
+// Forwards and backwards
+void driveWheels(int direction, float pause)
+{
+
+#if TESTING
+ pc.printf("Driving\n");
+#endif
+
+ if(direction == forward)
+ {
+ drive = 1;
+ turnRight = 0;
+ wait(pause);
+ }
+ else
+ {
+ drive = 0;
+ turnRight = 1;
+ wait(pause);
+ }
+ drive = 0;
+ turnRight = 0;
+
+#if TESTING
+ wait(0.01);
+#endif
+}
+
+// Steering function
+void turnWheels(int direction)
+{
+#if TESTING
+ pc.printf("Turning\n");
+#endif
+ switch(direction)
+ {
+ case left:
+ turnLeft = 0;
+ turnRight = 1;
+ break;
+ case right:
+ turnLeft = 1;
+ turnRight = 0;
+ break;
+ case center:
+ defauturnLeft:
+ turnLeft = 0;
+ turnRight = 0;
+ break;
+ }
+}
+
+//Robot location
+std::vector <float> readPos()
+{
+#if TESTING
+ pc.printf("Reading\n");
+#endif
+ std::vector<float> pos;
+ pos.push_back(ir1.read());
+ pos.push_back(ir2.read());
+ pos.push_back(ir3.read());
+ pos.push_back(ir4.read());
+ pos.push_back(ir5.read());
+ return pos;
+}
+
+int wheelDir(std::vector<float> line)
+{
+#if TESTING
+ pc.printf("Locating\n");
+#endif
+ int ret = 100;
+ float low = 1;
+ for (unsigned i=0; i<line.size(); ++i)
+ {
+#if TESTING
+ pc.printf("%.1f", line[i]);
+ pc.printf("\n");
+#endif
+ if(line[i] < low && line[i] < 0.7)
+ {
+ ret = i;
+ low = line[i];
+ }
+
+ }
+
+#if TESTING
+ pc.printf("%u", ret);
+ pc.printf("\n");
+#endif
+ return ret;
+}
+//Collision handling
+float collision(float col){
+ col = srf.read();
+#if TESTING
+ pc.printf("Distance = %.1f\n", col);
+#endif
+ return col;
+}
+
+//Main Loop
+int main()
+{
+#if TESTING
+ pc.printf("Set_up_variables\n");
+#endif
+ std::vector <float>line;
+ std::vector <float> pturnRightLine = readPos();
+ int dir;
+ int pos;
+ float col;
+ while(1)
+ {
+#if TESTING
+ pc.printf("Main\n");
+#endif
+ line = readPos();
+ pos = wheelDir(line);
+#if TESTING
+ pc.printf("%u",pos);
+#endif
+
+ if(pos == 100)
+ {
+ driveWheels(backward, fulldrive);
+ }
+ else
+ {
+ if(pturnRightLine != line)
+ {
+ switch(pos)
+ {
+ case 0:
+ case 1:
+ dir = left;
+ break;
+ case 2:
+ dir = center;
+ break;
+ case 3:
+ case 4:
+ dir = right;
+ break;
+ }
+ pturnRightLine.clear();
+ std::vector<float> pturnRightLine(line);
+ turnWheels(dir);
+ collision(col);
+ }
+ driveWheels(forward, fulldrive);
+ //Collision handling
+ if(col <= 200){
+ driveWheels(backward, fulldrive);
+ }
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Oct 30 18:14:38 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/variables.h Sat Oct 30 18:14:38 2021 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+#include "SRF05.h"
+
+#define fulldrive 0.0115
+#define halfdrive 0.6
+
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+AnalogIn ir1(PA_1);
+AnalogIn ir2(PA_4);
+AnalogIn ir3(PB_0);
+AnalogIn ir4(PC_1);
+AnalogIn ir5(PC_0);
+
+DigitalOut turnLeft(PA_10); //left turn
+DigitalOut turnRight(PA_8); //right turn
+DigitalOut back(PA_9); //reverse
+DigitalOut drive(PA_6); //forward
+
+bool setupFlag = false;
+SRF05 srf(PA_2, PA_3);
+
+
+enum direction{forward, backward, left = 77, right = 99, center = 88};
+enum trackersensor{sen1_left, sen2_left, sen3_mid, sen4_right, sen5_right};
\ No newline at end of file