anusha tottempudi
obstacle avoidance with sensors and servo installed
Dependencies: Adafruit_GFX GPS QEI Servo mbed
Revision 0:21a2de59d16f, committed 2014-10-02
- Comitter:
- anushachowdary16
- Date:
- Thu Oct 02 06:41:36 2014 +0000
- Commit message:
- need to revise
Changed in this revision
diff -r 000000000000 -r 21a2de59d16f Adafruit_GFX.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_GFX.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/nkhorman/code/Adafruit_GFX/#969ca9fe5e2b
diff -r 000000000000 -r 21a2de59d16f FatFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FatFileSystem.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/DrCoyle/code/FatFileSystem/#88f22c32a456
diff -r 000000000000 -r 21a2de59d16f GPS.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GPS.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/8fromPi/code/GPS/#1d60e6a0ffd9
diff -r 000000000000 -r 21a2de59d16f LSM303D.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303D.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/DrCoyle/code/LSM303D/#f186dd92c836
diff -r 000000000000 -r 21a2de59d16f MSCFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MSCFileSystem.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/DrCoyle/code/MSCFileSystem/#49f6277bdead
diff -r 000000000000 -r 21a2de59d16f PololuQik2.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PololuQik2.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/DrCoyle/code/PololuQik2/#a87506b24191
diff -r 000000000000 -r 21a2de59d16f QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r 21a2de59d16f SDHCFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDHCFileSystem.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/DrCoyle/code/SDHCFileSystem/#248d03543f5f
diff -r 000000000000 -r 21a2de59d16f Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r 21a2de59d16f main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Oct 02 06:41:36 2014 +0000
@@ -0,0 +1,183 @@
+#include "mbed.h"
+#include "Adafruit_SSD1306.h"
+#include "LSM303D.h"
+#include "QEI.h"
+#include "MSCFileSystem.h"
+#include "SDHCFileSystem.h"
+#include "PololuQik2.h"
+#include "GPS.h"
+#include "Servo.h"
+
+// an SPI sub-class that provides a constructed default format and frequency
+class SPI2 : public SPI
+{
+public:
+ SPI2(PinName mosi, PinName miso, PinName clk) : SPI(mosi,miso,clk)
+ {
+ format(8,3);
+ frequency(2000000);
+ };
+};
+
+//Serial pc(USBTX,USBRX);
+SPI2 gSpi(p5,p6,p7);
+Adafruit_SSD1306 gOled(gSpi,p8,p11,p12);
+LSM303D comp(gSpi,p15);
+QEI Left(p30,p29,NC,48,QEI::X4_ENCODING); // encoder object for Left wheel
+QEI Right(p17,p16,NC,48,QEI::X4_ENCODING); // encoder object for Left wheel
+SDFileSystem sd(p5, p6, p7, p26, "sd"); // mosi, miso, sclk, cs
+PololuQik2 motors(p13,NC);
+Serial computer(p28, p27); // tx, rx read from bluetooth module
+GPS gpsAda(NC,p14,9600);
+AnalogIn IR(p18);
+
+Timer t;
+
+int main()
+{
+ int pulses[2], check, mag[3], acc[3], i=0;
+ float hdg;
+ int distance; //Variable to store the distance calculated from the sensor
+ int triggerDistance = 30; //The distance we want the robot to look for a new path
+ int fDistance; //Variable to store the distance in front of the robot
+ int lDistance; //Variable to store the distance on the left side of the robot
+ int rDistance; //Variable to store the distance on the right side of the robot
+
+ computer.baud(115200);
+ motors.begin();
+
+ //display CoyleBot Logo
+ gOled.display();
+ wait(1.0);
+
+ //Initialization returns 1 if talking to right device
+ check=comp.initialize();
+
+ //Set scales and offset for compass, could spin at start-up to get
+ comp.setOffset(0, 0, 0); // example calibration
+ comp.setScale(1.00, 1.00, 1.00); // example calibration
+
+ t.reset();
+ t.start();
+
+ while(1)
+ {
+ //Compass, Accelerometer Data
+ mag[0]=comp.magnitometer(1000);
+ mag[1]=comp.magnitometer(1000);
+ mag[2]=comp.magnitometer(1000);
+ acc[0]=comp.accelerometer(1000);
+ acc[1]=comp.accelerometer(1000);
+ acc[2]=comp.accelerometer(1000);
+ hdg=comp.heading();
+
+ //Get Wheel Encoder Pulses
+ pulses[0]=Left.getPulses();
+ pulses[1]=Right.getPulses();
+
+ //Clear screen information so it can be written to
+ gOled.clearDisplay();
+
+ //Go to top of screen
+ gOled.setCursor(20,20);
+ void moveForward();
+ {
+ //Print RC Commands to SCREEN
+ gOled.printf("Forward :");
+ gOled.printf("%d %d %d %d %d %d %d %d %d %d %f %f \r\n", i, t.read_ms(),mag[0],mag[1],mag[2],acc[0],acc[1],acc[2],pulses[0],pulses[1],gpsAda.latitude,gpsAda.longitude);
+ gOled.display();
+ //sets the speed of the motor 0, must be a value between -255 and 255
+ motors.setMotor0Speed(100);
+ //sets the speed of the motor 0, must be a value between -255 and 255
+ motors.setMotor1Speed(100);
+ }
+ void moveBackward();
+ {
+ //Print RC Commands to SCREEN
+ gOled.printf("Backward :");
+ gOled.printf("%d %d %d %d %d %d %d %d %d %d %f %f \r\n", i, t.read_ms(),mag[0],mag[1],mag[2],acc[0],acc[1],acc[2],pulses[0],pulses[1],gpsAda.latitude,gpsAda.longitude);
+ gOled.display();
+ //sets the speed of the motor 0, must be a value between -255 and 255
+ motors.setMotor0Speed(-100);
+ //sets the speed of the motor 0, must be a value between -255 and 255
+ motors.setMotor1Speed(-100);
+ }
+
+ int scan(); //Get the distance retrieved
+ fDistance = distance; //Set that distance to the front distance
+ if(fDistance < triggerDistance){ //If there is something closer than 30cm in front of us
+ moveBackward(); //Move Backward for a second
+ wait(1000);
+ void moveRight(); //Turn Right for half a second
+ wait(500);
+ void moveStop(); //Stop
+ scan(); //Take a reading
+ rDistance = distance; //Store that to the distance on the right side
+ void moveLeft();
+ wait(1000); //Turn left for a second
+ moveStop(); //Stop
+ scan(); //Take a reading
+ lDistance = distance; //Store that to the distance on the left side
+ if(lDistance < rDistance){ //If the distance on the left is smaller than that of the right
+ moveRight(); //Move right for a second
+ wait(1000);
+ moveForward(); //Then move forward
+ }
+ else
+ {
+ moveForward(); //If the left side is larger than the right side move forward
+ }
+ }
+ else
+ {
+ moveForward(); //If there is nothing infront of the robot move forward
+ }
+}
+
+ int scan()
+ {
+ time = sonar.ping(); //Send out a ping and store the time it took for it to come back in the time variable
+ distance = time / US_ROUNDTRIP_CM; //Convert that time into a distance
+ if(distance == 0){ //If no ping was recieved
+ distance = 100; //Set the distance to max
+ }
+ delay(10);
+
+
+ void moveBackward()
+ {
+ rightServo.write(180);
+ leftServo.write(0);
+ }
+
+ void moveForward()
+ {
+ rightServo.write(0);
+ leftServo.write(180);
+ }
+
+ void moveRight()
+ {
+ rightServo.write(0);
+ leftServo.write(0);
+ }
+
+ void moveLeft()
+ {
+ rightServo.write(180);
+ leftServo.write(180);
+ }
+
+ void moveStop()
+ {
+ rightServo.write(90);
+ leftServo.write(95);
+ }
+
+
+
+ i++;
+
+
+ }
+}
diff -r 000000000000 -r 21a2de59d16f mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 02 06:41:36 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1 \ No newline at end of file