Luiz Manoel Sales
/
jorge
bumba
main.cpp@0:9d16fef10591, 2019-08-11 (annotated)
- Committer:
- NeoLewis
- Date:
- Sun Aug 11 00:57:52 2019 +0000
- Revision:
- 0:9d16fef10591
- Child:
- 1:8aece97d3c78
jesus esse aqui ta comecando a funcionar
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NeoLewis | 0:9d16fef10591 | 1 | #include "mbed.h" |
NeoLewis | 0:9d16fef10591 | 2 | PwmOut Left(p25); //Definição do motor da esquerda |
NeoLewis | 0:9d16fef10591 | 3 | PwmOut Right(p23); //Definicao do motor da direita |
NeoLewis | 0:9d16fef10591 | 4 | DigitalIn Sensor1 (p17);// Sensor digital localizado na esquerda do robo |
NeoLewis | 0:9d16fef10591 | 5 | DigitalIn Sensor2 (p15);//Sensor digital localizado na diagonal esquerda do robo |
NeoLewis | 0:9d16fef10591 | 6 | DigitalIn Sensor3 (p13);//Sensor digital localizado na frente do robo |
NeoLewis | 0:9d16fef10591 | 7 | DigitalIn Sensor4 (p11); //Sensor digital localizado na diagonal direita do robo |
NeoLewis | 0:9d16fef10591 | 8 | DigitalIn Sensor5 (p9); //Sensor digital localizado na direita do robo |
NeoLewis | 0:9d16fef10591 | 9 | |
NeoLewis | 0:9d16fef10591 | 10 | |
NeoLewis | 0:9d16fef10591 | 11 | #define MIN 1060 //velocidade maxima para tras |
NeoLewis | 0:9d16fef10591 | 12 | #define MID ((MAX+MIN)/2) //valor para parar |
NeoLewis | 0:9d16fef10591 | 13 | #define BUS 12 //velocidade de busca |
NeoLewis | 0:9d16fef10591 | 14 | #define MAX 1860 //velocidade maxima para frente |
NeoLewis | 0:9d16fef10591 | 15 | #define r 2 |
NeoLewis | 0:9d16fef10591 | 16 | #define e 3 |
NeoLewis | 0:9d16fef10591 | 17 | #define d 4 |
NeoLewis | 0:9d16fef10591 | 18 | #define p 9 |
NeoLewis | 0:9d16fef10591 | 19 | #define b 5 |
NeoLewis | 0:9d16fef10591 | 20 | |
NeoLewis | 0:9d16fef10591 | 21 | |
NeoLewis | 0:9d16fef10591 | 22 | int i=MID; |
NeoLewis | 0:9d16fef10591 | 23 | int k=MID; |
NeoLewis | 0:9d16fef10591 | 24 | int total; //{right, right_diagonal, front, left_diagonal, left} valor atual da leitura |
NeoLewis | 0:9d16fef10591 | 25 | int measure[5]={0,0,0,0,0}; // vetor que grava a leitura atual |
NeoLewis | 0:9d16fef10591 | 26 | int tot=0; |
NeoLewis | 0:9d16fef10591 | 27 | |
NeoLewis | 0:9d16fef10591 | 28 | |
NeoLewis | 0:9d16fef10591 | 29 | //***************************** DEFINICOES - FINAL ***************************** |
NeoLewis | 0:9d16fef10591 | 30 | //################################################################################ |
NeoLewis | 0:9d16fef10591 | 31 | //################################################################################ |
NeoLewis | 0:9d16fef10591 | 32 | //******************************* FUNCOES - INICIO ****************************** |
NeoLewis | 0:9d16fef10591 | 33 | //Funcao que inicializa os motores |
NeoLewis | 0:9d16fef10591 | 34 | void Motors_Setup() |
NeoLewis | 0:9d16fef10591 | 35 | { |
NeoLewis | 0:9d16fef10591 | 36 | Right.period_ms(16); |
NeoLewis | 0:9d16fef10591 | 37 | Left.period_ms(16); |
NeoLewis | 0:9d16fef10591 | 38 | Right.pulsewidth_us(MID); |
NeoLewis | 0:9d16fef10591 | 39 | Left.pulsewidth_us(MID); |
NeoLewis | 0:9d16fef10591 | 40 | wait(0.1); |
NeoLewis | 0:9d16fef10591 | 41 | } |
NeoLewis | 0:9d16fef10591 | 42 | //Função que desloca os motores de acordo com o sinal PPM recebido |
NeoLewis | 0:9d16fef10591 | 43 | void Drive(int maximo,int minimo,int controle) |
NeoLewis | 0:9d16fef10591 | 44 | { |
NeoLewis | 0:9d16fef10591 | 45 | switch(controle) |
NeoLewis | 0:9d16fef10591 | 46 | { |
NeoLewis | 0:9d16fef10591 | 47 | case 1: |
NeoLewis | 0:9d16fef10591 | 48 | Left.pulsewidth_us(minimo); |
NeoLewis | 0:9d16fef10591 | 49 | Right.pulsewidth_us(minimo); |
NeoLewis | 0:9d16fef10591 | 50 | break; |
NeoLewis | 0:9d16fef10591 | 51 | case 2: |
NeoLewis | 0:9d16fef10591 | 52 | for (;k<=maximo || i<=maximo;k+=50,i+=50) |
NeoLewis | 0:9d16fef10591 | 53 | { |
NeoLewis | 0:9d16fef10591 | 54 | Left.pulsewidth_us(k); |
NeoLewis | 0:9d16fef10591 | 55 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 56 | Right.pulsewidth_us(i); |
NeoLewis | 0:9d16fef10591 | 57 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 58 | if (k>MAX) |
NeoLewis | 0:9d16fef10591 | 59 | { |
NeoLewis | 0:9d16fef10591 | 60 | k=MAX; |
NeoLewis | 0:9d16fef10591 | 61 | } |
NeoLewis | 0:9d16fef10591 | 62 | if (i>MAX) |
NeoLewis | 0:9d16fef10591 | 63 | { |
NeoLewis | 0:9d16fef10591 | 64 | i=MAX; |
NeoLewis | 0:9d16fef10591 | 65 | } |
NeoLewis | 0:9d16fef10591 | 66 | if (k<MIN) |
NeoLewis | 0:9d16fef10591 | 67 | { |
NeoLewis | 0:9d16fef10591 | 68 | k=MIN; |
NeoLewis | 0:9d16fef10591 | 69 | } |
NeoLewis | 0:9d16fef10591 | 70 | if (i<MIN) |
NeoLewis | 0:9d16fef10591 | 71 | { |
NeoLewis | 0:9d16fef10591 | 72 | i=MIN; |
NeoLewis | 0:9d16fef10591 | 73 | } |
NeoLewis | 0:9d16fef10591 | 74 | } |
NeoLewis | 0:9d16fef10591 | 75 | break; |
NeoLewis | 0:9d16fef10591 | 76 | case 3: |
NeoLewis | 0:9d16fef10591 | 77 | for (;k>=minimo || i<=maximo;k-=50,i+=50) |
NeoLewis | 0:9d16fef10591 | 78 | { |
NeoLewis | 0:9d16fef10591 | 79 | Left.pulsewidth_us(k); |
NeoLewis | 0:9d16fef10591 | 80 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 81 | Right.pulsewidth_us(i); |
NeoLewis | 0:9d16fef10591 | 82 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 83 | if (k>MAX) |
NeoLewis | 0:9d16fef10591 | 84 | { |
NeoLewis | 0:9d16fef10591 | 85 | k=MAX; |
NeoLewis | 0:9d16fef10591 | 86 | } |
NeoLewis | 0:9d16fef10591 | 87 | if (i>MAX) |
NeoLewis | 0:9d16fef10591 | 88 | { |
NeoLewis | 0:9d16fef10591 | 89 | i=MAX; |
NeoLewis | 0:9d16fef10591 | 90 | } |
NeoLewis | 0:9d16fef10591 | 91 | if (k<MIN) |
NeoLewis | 0:9d16fef10591 | 92 | { |
NeoLewis | 0:9d16fef10591 | 93 | k=MIN; |
NeoLewis | 0:9d16fef10591 | 94 | } |
NeoLewis | 0:9d16fef10591 | 95 | if (i<MIN) |
NeoLewis | 0:9d16fef10591 | 96 | { |
NeoLewis | 0:9d16fef10591 | 97 | i=MIN; |
NeoLewis | 0:9d16fef10591 | 98 | } |
NeoLewis | 0:9d16fef10591 | 99 | } |
NeoLewis | 0:9d16fef10591 | 100 | |
NeoLewis | 0:9d16fef10591 | 101 | break; |
NeoLewis | 0:9d16fef10591 | 102 | case 4: |
NeoLewis | 0:9d16fef10591 | 103 | for (;k<=maximo || i>=minimo;k+=50,i-=50) |
NeoLewis | 0:9d16fef10591 | 104 | { |
NeoLewis | 0:9d16fef10591 | 105 | Left.pulsewidth_us(k); |
NeoLewis | 0:9d16fef10591 | 106 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 107 | Right.pulsewidth_us(i); |
NeoLewis | 0:9d16fef10591 | 108 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 109 | if (k>MAX) |
NeoLewis | 0:9d16fef10591 | 110 | { |
NeoLewis | 0:9d16fef10591 | 111 | k=MAX; |
NeoLewis | 0:9d16fef10591 | 112 | } |
NeoLewis | 0:9d16fef10591 | 113 | if (i>MAX) |
NeoLewis | 0:9d16fef10591 | 114 | { |
NeoLewis | 0:9d16fef10591 | 115 | i=MAX; |
NeoLewis | 0:9d16fef10591 | 116 | } |
NeoLewis | 0:9d16fef10591 | 117 | if (k<MIN) |
NeoLewis | 0:9d16fef10591 | 118 | { |
NeoLewis | 0:9d16fef10591 | 119 | k=MIN; |
NeoLewis | 0:9d16fef10591 | 120 | } |
NeoLewis | 0:9d16fef10591 | 121 | if (i<MIN) |
NeoLewis | 0:9d16fef10591 | 122 | { |
NeoLewis | 0:9d16fef10591 | 123 | i=MIN; |
NeoLewis | 0:9d16fef10591 | 124 | } |
NeoLewis | 0:9d16fef10591 | 125 | } |
NeoLewis | 0:9d16fef10591 | 126 | |
NeoLewis | 0:9d16fef10591 | 127 | break; |
NeoLewis | 0:9d16fef10591 | 128 | case 5: |
NeoLewis | 0:9d16fef10591 | 129 | for (;k>=minimo || i>=minimo;k-=50,i-=50) |
NeoLewis | 0:9d16fef10591 | 130 | { |
NeoLewis | 0:9d16fef10591 | 131 | Left.pulsewidth_us(k); |
NeoLewis | 0:9d16fef10591 | 132 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 133 | Right.pulsewidth_us(i); |
NeoLewis | 0:9d16fef10591 | 134 | wait(0.05); |
NeoLewis | 0:9d16fef10591 | 135 | if (k>MAX) |
NeoLewis | 0:9d16fef10591 | 136 | { |
NeoLewis | 0:9d16fef10591 | 137 | k=MAX; |
NeoLewis | 0:9d16fef10591 | 138 | } |
NeoLewis | 0:9d16fef10591 | 139 | if (i>MAX) |
NeoLewis | 0:9d16fef10591 | 140 | { |
NeoLewis | 0:9d16fef10591 | 141 | i=MAX; |
NeoLewis | 0:9d16fef10591 | 142 | } |
NeoLewis | 0:9d16fef10591 | 143 | if (k<MIN) |
NeoLewis | 0:9d16fef10591 | 144 | { |
NeoLewis | 0:9d16fef10591 | 145 | k=MIN; |
NeoLewis | 0:9d16fef10591 | 146 | } |
NeoLewis | 0:9d16fef10591 | 147 | if (i<MIN) |
NeoLewis | 0:9d16fef10591 | 148 | { |
NeoLewis | 0:9d16fef10591 | 149 | i=MIN; |
NeoLewis | 0:9d16fef10591 | 150 | } |
NeoLewis | 0:9d16fef10591 | 151 | } |
NeoLewis | 0:9d16fef10591 | 152 | |
NeoLewis | 0:9d16fef10591 | 153 | break; |
NeoLewis | 0:9d16fef10591 | 154 | default: |
NeoLewis | 0:9d16fef10591 | 155 | Left.pulsewidth_us(MID); |
NeoLewis | 0:9d16fef10591 | 156 | Right.pulsewidth_us(MID); |
NeoLewis | 0:9d16fef10591 | 157 | break; |
NeoLewis | 0:9d16fef10591 | 158 | } |
NeoLewis | 0:9d16fef10591 | 159 | } |
NeoLewis | 0:9d16fef10591 | 160 | |
NeoLewis | 0:9d16fef10591 | 161 | int Search () |
NeoLewis | 0:9d16fef10591 | 162 | { |
NeoLewis | 0:9d16fef10591 | 163 | measure[0] = Sensor1.read(); |
NeoLewis | 0:9d16fef10591 | 164 | measure[1] = Sensor2.read(); |
NeoLewis | 0:9d16fef10591 | 165 | measure[2] = Sensor3.read(); |
NeoLewis | 0:9d16fef10591 | 166 | measure[3] = Sensor4.read(); |
NeoLewis | 0:9d16fef10591 | 167 | measure[4] = Sensor5.read(); |
NeoLewis | 0:9d16fef10591 | 168 | |
NeoLewis | 0:9d16fef10591 | 169 | total = measure[0]*10000 + measure[1]*1000 + measure[2]*100 + measure[3]*10 + measure[4]*1; |
NeoLewis | 0:9d16fef10591 | 170 | return total; |
NeoLewis | 0:9d16fef10591 | 171 | } |
NeoLewis | 0:9d16fef10591 | 172 | |
NeoLewis | 0:9d16fef10591 | 173 | int Action(int total) |
NeoLewis | 0:9d16fef10591 | 174 | { |
NeoLewis | 0:9d16fef10591 | 175 | switch(total) |
NeoLewis | 0:9d16fef10591 | 176 | { |
NeoLewis | 0:9d16fef10591 | 177 | case 1: //vira para a direita |
NeoLewis | 0:9d16fef10591 | 178 | Drive(MAX,MIN,d); |
NeoLewis | 0:9d16fef10591 | 179 | break; |
NeoLewis | 0:9d16fef10591 | 180 | |
NeoLewis | 0:9d16fef10591 | 181 | case 10: //vira para a direita |
NeoLewis | 0:9d16fef10591 | 182 | Drive(MAX,MIN,d); |
NeoLewis | 0:9d16fef10591 | 183 | break; |
NeoLewis | 0:9d16fef10591 | 184 | |
NeoLewis | 0:9d16fef10591 | 185 | case 11: //vira para a direita |
NeoLewis | 0:9d16fef10591 | 186 | Drive(MAX,MIN,d); |
NeoLewis | 0:9d16fef10591 | 187 | break; |
NeoLewis | 0:9d16fef10591 | 188 | |
NeoLewis | 0:9d16fef10591 | 189 | case 100: //Vai reto |
NeoLewis | 0:9d16fef10591 | 190 | Drive(MAX,MIN,r); |
NeoLewis | 0:9d16fef10591 | 191 | break; |
NeoLewis | 0:9d16fef10591 | 192 | |
NeoLewis | 0:9d16fef10591 | 193 | case 110: //direita com leiruta do sensor da diagonal direita |
NeoLewis | 0:9d16fef10591 | 194 | Drive(MAX,MIN,d); |
NeoLewis | 0:9d16fef10591 | 195 | break; |
NeoLewis | 0:9d16fef10591 | 196 | |
NeoLewis | 0:9d16fef10591 | 197 | case 1000: //vai para a esquerda |
NeoLewis | 0:9d16fef10591 | 198 | Drive(MAX,MIN,e); |
NeoLewis | 0:9d16fef10591 | 199 | break; |
NeoLewis | 0:9d16fef10591 | 200 | |
NeoLewis | 0:9d16fef10591 | 201 | case 1100: //esquerda com leitura do sensor da diagonal esquerda |
NeoLewis | 0:9d16fef10591 | 202 | Drive(MAX,MIN,e); |
NeoLewis | 0:9d16fef10591 | 203 | break; |
NeoLewis | 0:9d16fef10591 | 204 | |
NeoLewis | 0:9d16fef10591 | 205 | case 1110: //vai reto com a leitura dos sensores diagonais e o da frente |
NeoLewis | 0:9d16fef10591 | 206 | Drive(MAX,MIN,r); |
NeoLewis | 0:9d16fef10591 | 207 | break; |
NeoLewis | 0:9d16fef10591 | 208 | |
NeoLewis | 0:9d16fef10591 | 209 | case 10000: //vai para a esquerda |
NeoLewis | 0:9d16fef10591 | 210 | Drive(MAX,MIN,e); |
NeoLewis | 0:9d16fef10591 | 211 | break; |
NeoLewis | 0:9d16fef10591 | 212 | |
NeoLewis | 0:9d16fef10591 | 213 | case 11000: //vai para a esquerda |
NeoLewis | 0:9d16fef10591 | 214 | Drive(MAX,MIN,e); |
NeoLewis | 0:9d16fef10591 | 215 | break; |
NeoLewis | 0:9d16fef10591 | 216 | |
NeoLewis | 0:9d16fef10591 | 217 | case 11111: //leu todos os sensores ao mesmo tempo |
NeoLewis | 0:9d16fef10591 | 218 | Drive(MAX,MIN,p); |
NeoLewis | 0:9d16fef10591 | 219 | break; |
NeoLewis | 0:9d16fef10591 | 220 | |
NeoLewis | 0:9d16fef10591 | 221 | //todos os outros casos que são impossíveis |
NeoLewis | 0:9d16fef10591 | 222 | default:// Para |
NeoLewis | 0:9d16fef10591 | 223 | Drive(MAX,MIN,0); |
NeoLewis | 0:9d16fef10591 | 224 | break; |
NeoLewis | 0:9d16fef10591 | 225 | } |
NeoLewis | 0:9d16fef10591 | 226 | return 0; |
NeoLewis | 0:9d16fef10591 | 227 | } |
NeoLewis | 0:9d16fef10591 | 228 | |
NeoLewis | 0:9d16fef10591 | 229 | int main() |
NeoLewis | 0:9d16fef10591 | 230 | { |
NeoLewis | 0:9d16fef10591 | 231 | while(1) |
NeoLewis | 0:9d16fef10591 | 232 | { |
NeoLewis | 0:9d16fef10591 | 233 | tot=Search(); |
NeoLewis | 0:9d16fef10591 | 234 | Action(tot); |
NeoLewis | 0:9d16fef10591 | 235 | } |
NeoLewis | 0:9d16fef10591 | 236 | return 0; |
NeoLewis | 0:9d16fef10591 | 237 | } |
NeoLewis | 0:9d16fef10591 | 238 |