Revision 0:086810854173, committed 2014-07-17

Comitter:

Privias

Date:

Thu Jul 17 12:17:49 2014 +0000

Commit message:

Line Trace
;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 17 12:17:49 2014 +0000
@@ -0,0 +1,92 @@
+#include "mbed.h"
+
+PwmOut Right1(p24);
+PwmOut Right(p23);
+PwmOut Left1(p22);
+PwmOut Left(p21);
+
+AnalogIn ainL1(p17) ;  //Left Sencer IN
+AnalogIn ainR1(p18) ;  //Right Sencor IN
+AnalogIn ain(p16);      //Sensor
+Serial pc(USBTX,USBRX) ;
+
+int main(){
+wait_ms(2000);
+pc.baud ( 115200 ) ;
+
+Right.period(0.020);
+Right1.period(0.020);
+Left.period(0.020);
+Left1.period(0.020);
+double p ;
+while(1){
+double L1 = ainL1.read() ;
+double adVL = L1*100 ;  
+double R1 = ainR1.read() ;
+double adVR = R1*100 ;   
+double ai=ain*100;
+double t=1.0;
+     if(ai>60.0){
+     p=0.001;
+     double t=0;
+   }
+   if(ai>58.0 && ai<=60.0){
+     p=0.005;
+   }
+   if(ai>57.0 && ai<=58.0){
+     p=0.006;
+   }
+   if(ai>55.0 && ai<=57.0){
+     p=0.007;
+   }
+   if(ai>=50.0 && ai<=55.0){
+     p=0.008;
+   }
+   if(ai<50.0 && ai<=30.0){
+     p=0.010;
+   }
+   if(ai<30.0){
+     p=0.018;
+   }                         //Speed
+ double p1=0.007;     
+//double p=0.007; //speed
+//Line Found
+double adRR= 1.0  ;
+double adLL= 2.1;
+       if(t==0){
+        Right.pulsewidth(0.004);
+        Left.pulsewidth(0.004);
+        Right1.pulsewidth(0.004); 
+        Left1.pulsewidth(0.004); 
+       }
+
+       if(adVR <adRR && adVL> adLL){          //if  Right sensor found Brack Line
+        Right.pulsewidth(0); 
+        Left1.pulsewidth(0);
+        Right1.pulsewidth(p1); //Left Motor on AND Roght Motor off
+        Left.pulsewidth(p1);
+  
+        }
+        if(adVL<adLL && adVR>adRR){          //if  Left sensor found Brack Line
+        Right1.pulsewidth(0); 
+        Left.pulsewidth(0);
+        Left1.pulsewidth(p1); //Left Motor off AND Roght Motor on
+        Right.pulsewidth(p1);
+        }
+        if(adVR>adRR && adVL>adLL){ // if Vihicle in White Line
+        Right1.pulsewidth(0); 
+        Left1.pulsewidth(0);
+        Right.pulsewidth(p); 
+        Left.pulsewidth(p); //Go Strait
+        }
+        if(adVR<adRR && adVL<adLL){ // if Vihicle in Black Line
+        Right.pulsewidth(0); 
+        Left.pulsewidth(0);
+        Right1.pulsewidth(p); 
+        Left1.pulsewidth(p); //Go Back
+        wait_ms(50);
+         }
+
+pc.printf( "L-Sensor = %4.2f   R-Sensor = %4.2f \r\n ", adVL, adVR ) ;
+  }//while
+}//main
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jul 17 12:17:49 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f
\ No newline at end of file