Blake Babbs / RobotB

one lap kind of works

Dependencies:   FatFileSystem MSCFileSystem btbee m3pi_ng mbed

Fork of Robot by IESS

main.cpp@9:030b7e4ff7be, 2015-05-29 (annotated)

Committer:
charwhit
Date:
Fri May 29 11:29:53 2015 +0000
Revision:
9:030b7e4ff7be
Parent:
8:bd2f012e2f57
Child:
10:83dfbc5e93ed
Still trying to get USB write to work for closed loop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bbabbs 0:17669460c6b1 1 #include "mbed.h"
charwhit 8:bd2f012e2f57 2 #include "MSCFileSystem.h"
bbabbs 0:17669460c6b1 3 #include "btbee.h"
bbabbs 0:17669460c6b1 4 #include "m3pi_ng.h"
charwhit 8:bd2f012e2f57 5 #include <fstream>
charwhit 8:bd2f012e2f57 6 #define FSNAME "msc"
charwhit 9:030b7e4ff7be 7 #include <string>
charwhit 9:030b7e4ff7be 8 #include <sstream>
charwhit 9:030b7e4ff7be 9 #include <vector>
charwhit 8:bd2f012e2f57 10
charwhit 8:bd2f012e2f57 11
charwhit 8:bd2f012e2f57 12 MSCFileSystem msc(FSNAME); // Mount flash drive under the name "msc"
charwhit 9:030b7e4ff7be 13 //Serial pc(USBTX,USBRX);
charwhit 8:bd2f012e2f57 14
nbtavis 2:80a1ed62c307 15 m3pi robot;
charwhit 4:acd0f86ed832 16 btbee btbee;
nbtavis 3:bae8eb81a9d7 17 DigitalIn m3pi_IN[]= {(p12),(p21)}; // IR sensor and Knopf
nbtavis 2:80a1ed62c307 18 Timer timer;
nbtavis 2:80a1ed62c307 19 Timer time_wait;
charwhit 9:030b7e4ff7be 20 #define MAX .5
charwhit 5:c38929c0fd95 21 #define MIN 0
bbabbs 0:17669460c6b1 22
charwhit 4:acd0f86ed832 23 //#define P_TERM 5
charwhit 4:acd0f86ed832 24 //#define I_TERM 0
charwhit 5:c38929c0fd95 25 //#define D_TERM 20
nbtavis 2:80a1ed62c307 26
nbtavis 2:80a1ed62c307 27
bbabbs 0:17669460c6b1 28
charwhit 5:c38929c0fd95 29 int main()
charwhit 5:c38929c0fd95 30 {
charwhit 8:bd2f012e2f57 31 float P_TERM = 2.5;
charwhit 8:bd2f012e2f57 32 float I_TERM = .5;
charwhit 6:99d09e88924b 33 float D_TERM = 20;
charwhit 5:c38929c0fd95 34
charwhit 5:c38929c0fd95 35 btbee.reset();
charwhit 5:c38929c0fd95 36 robot.sensor_auto_calibrate();
charwhit 5:c38929c0fd95 37 wait(2.0);
charwhit 5:c38929c0fd95 38 float right;
charwhit 5:c38929c0fd95 39 float left;
charwhit 5:c38929c0fd95 40 //float current_pos[5];
charwhit 5:c38929c0fd95 41 float current_pos = 0.0;
charwhit 5:c38929c0fd95 42 float previous_pos =0.0;
charwhit 5:c38929c0fd95 43 float derivative, proportional, integral = 0;
charwhit 5:c38929c0fd95 44 float power;
charwhit 5:c38929c0fd95 45 float speed = MAX;
charwhit 5:c38929c0fd95 46
charwhit 5:c38929c0fd95 47 int lap = 0;
charwhit 5:c38929c0fd95 48 float lap_time = 0.0;
charwhit 5:c38929c0fd95 49 float total_time = 0.0;
charwhit 5:c38929c0fd95 50 float average_time = 0.0;
charwhit 5:c38929c0fd95 51 int y =1;
charwhit 5:c38929c0fd95 52 int count = 0;
charwhit 7:7d491b51665e 53 float paramChange[3];
charwhit 8:bd2f012e2f57 54 bool passed = false;
charwhit 9:030b7e4ff7be 55 //string hallo = "Idk what is going on...\n";
charwhit 9:030b7e4ff7be 56 //stringstream ss;
charwhit 5:c38929c0fd95 57
charwhit 4:acd0f86ed832 58 char arr_read[30]; // this should be long enough to store any reply coming in over bt.
charwhit 4:acd0f86ed832 59 int chars_read;
charwhit 9:030b7e4ff7be 60 vector<float> leftval, rightval, lineposval;
charwhit 8:bd2f012e2f57 61
charwhit 9:030b7e4ff7be 62 //int check = msc.disk_initialize();
charwhit 8:bd2f012e2f57 63
charwhit 9:030b7e4ff7be 64
charwhit 8:bd2f012e2f57 65 ofstream myFile ("/" FSNAME "/data.txt");
charwhit 9:030b7e4ff7be 66 //myFile << hallo << "\n";
charwhit 9:030b7e4ff7be 67
nbtavis 2:80a1ed62c307 68
charwhit 5:c38929c0fd95 69 /* for (int i = 0; i <5; ++i)
charwhit 5:c38929c0fd95 70 current_pos[i] = 0.0; */
charwhit 6:99d09e88924b 71
charwhit 6:99d09e88924b 72
charwhit 9:030b7e4ff7be 73 //wait(8);
charwhit 6:99d09e88924b 74 btbee.printf("Battery: %f\n", robot.battery());
charwhit 6:99d09e88924b 75 //timer.start();
charwhit 5:c38929c0fd95 76
charwhit 5:c38929c0fd95 77
charwhit 5:c38929c0fd95 78 time_wait.start();
charwhit 5:c38929c0fd95 79 while(y) {
charwhit 5:c38929c0fd95 80 time_wait.reset();
charwhit 5:c38929c0fd95 81 //Get raw sensor values
charwhit 5:c38929c0fd95 82 int x [5];
charwhit 5:c38929c0fd95 83 robot.calibrated_sensor(x);
charwhit 5:c38929c0fd95 84
charwhit 5:c38929c0fd95 85
charwhit 5:c38929c0fd95 86
charwhit 5:c38929c0fd95 87 //Check to make sure battery isn't low
charwhit 5:c38929c0fd95 88 if (robot.battery() < 2.4) {
charwhit 5:c38929c0fd95 89 timer.stop();
charwhit 6:99d09e88924b 90 btbee.printf("Battery too low\n");
charwhit 5:c38929c0fd95 91 break;
charwhit 5:c38929c0fd95 92 }
charwhit 5:c38929c0fd95 93
charwhit 5:c38929c0fd95 94 //else if (m3pi_IN [0] == 0)
charwhit 5:c38929c0fd95 95 //{break;}
charwhit 5:c38929c0fd95 96
charwhit 8:bd2f012e2f57 97 if( x[0] > 300 && x[2]>300 && x[4]>300 & !passed) {
charwhit 5:c38929c0fd95 98 if (lap == 0) {
charwhit 8:bd2f012e2f57 99 /*while( x[0]> 300 && x[4] > 300) {
charwhit 5:c38929c0fd95 100 robot.calibrated_sensor(x);
charwhit 8:bd2f012e2f57 101 }*/
charwhit 5:c38929c0fd95 102 timer.start();
charwhit 5:c38929c0fd95 103 lap= lap +1;
charwhit 5:c38929c0fd95 104 }
charwhit 5:c38929c0fd95 105
charwhit 9:030b7e4ff7be 106 else if (lap == 1) {
charwhit 6:99d09e88924b 107 robot.stop();
charwhit 9:030b7e4ff7be 108 robot.printf("Size: %d", rightval.size());
charwhit 9:030b7e4ff7be 109 if(myFile.is_open()){
charwhit 9:030b7e4ff7be 110 for (int i = 0; i < rightval.size(); ++i)
charwhit 9:030b7e4ff7be 111 myFile << leftval[i] << " " << rightval[i] << " " << lineposval[i] << endl;
charwhit 9:030b7e4ff7be 112 }
charwhit 5:c38929c0fd95 113 lap_time = timer.read();
charwhit 5:c38929c0fd95 114 total_time += lap_time;
charwhit 5:c38929c0fd95 115 average_time = total_time/lap;
charwhit 5:c38929c0fd95 116 robot.printf("%f",average_time);
charwhit 5:c38929c0fd95 117 if (btbee.writeable()) {
charwhit 5:c38929c0fd95 118 btbee.printf("Lap %d time: %f\n", lap, lap_time);
charwhit 5:c38929c0fd95 119 btbee.printf("Avg Lap time: %f\n", average_time);
charwhit 5:c38929c0fd95 120 }
charwhit 6:99d09e88924b 121
charwhit 5:c38929c0fd95 122 while (count < 3){
charwhit 5:c38929c0fd95 123 //btbee.printf("Input parameter\n");
charwhit 5:c38929c0fd95 124 btbee.read_line(arr_read, 30, &chars_read);
charwhit 7:7d491b51665e 125 paramChange[count] = atof(arr_read);
charwhit 6:99d09e88924b 126 //btbee.printf("%d", arr_read);
charwhit 5:c38929c0fd95 127 count++;
charwhit 5:c38929c0fd95 128 }
charwhit 5:c38929c0fd95 129 P_TERM = paramChange[0];
charwhit 5:c38929c0fd95 130 I_TERM = paramChange[1];
charwhit 5:c38929c0fd95 131 D_TERM = paramChange[2];
charwhit 6:99d09e88924b 132 btbee.printf("PTERM %f\n", P_TERM);
charwhit 6:99d09e88924b 133 btbee.printf("ITERM %f\n", I_TERM);
charwhit 6:99d09e88924b 134 btbee.printf("DTERM %f\n", D_TERM);
charwhit 5:c38929c0fd95 135 lap = 0;
charwhit 5:c38929c0fd95 136 total_time = 0;
charwhit 5:c38929c0fd95 137 count = 0;
charwhit 6:99d09e88924b 138 timer.stop();
charwhit 6:99d09e88924b 139 timer.reset();
charwhit 5:c38929c0fd95 140 continue;
charwhit 5:c38929c0fd95 141
charwhit 5:c38929c0fd95 142 } else {
charwhit 8:bd2f012e2f57 143 /*while( x[0]> 300 && x[4] > 300) {
charwhit 5:c38929c0fd95 144 robot.calibrated_sensor(x);
charwhit 8:bd2f012e2f57 145 }*/
charwhit 5:c38929c0fd95 146 lap_time = timer.read();
charwhit 5:c38929c0fd95 147 if (btbee.writeable()) {
charwhit 5:c38929c0fd95 148 btbee.printf("Lap %d time: %f\n", lap, lap_time);
charwhit 5:c38929c0fd95 149 }
charwhit 5:c38929c0fd95 150 total_time += lap_time;
charwhit 5:c38929c0fd95 151 average_time = total_time/lap;
charwhit 5:c38929c0fd95 152 lap = lap +1;
charwhit 5:c38929c0fd95 153 timer.reset();
charwhit 5:c38929c0fd95 154 }
charwhit 8:bd2f012e2f57 155 passed = true;
charwhit 5:c38929c0fd95 156 }
charwhit 8:bd2f012e2f57 157 else if (x[0] > 300 && x[2]>300 && x[4]>300)
charwhit 8:bd2f012e2f57 158 passed = true;
charwhit 8:bd2f012e2f57 159 else
charwhit 8:bd2f012e2f57 160 passed = false;
charwhit 8:bd2f012e2f57 161
charwhit 5:c38929c0fd95 162
nbtavis 2:80a1ed62c307 163
charwhit 5:c38929c0fd95 164 // Get the position of the line.
charwhit 5:c38929c0fd95 165 /* for (int i =0; i < 4; ++i)
charwhit 5:c38929c0fd95 166 current_pos[i] = current_pos[i+1];
charwhit 5:c38929c0fd95 167 current_pos[4] = robot.line_position();
charwhit 5:c38929c0fd95 168 proportional = current_pos[4];
charwhit 5:c38929c0fd95 169
charwhit 5:c38929c0fd95 170 // compute the derivative
charwhit 5:c38929c0fd95 171 derivative = 0;
charwhit 5:c38929c0fd95 172 for (int i =1; i<5;++i) {
charwhit 5:c38929c0fd95 173 if (i ==1)
charwhit 5:c38929c0fd95 174 derivative += 0*(current_pos[i] - current_pos[i-1]);
charwhit 5:c38929c0fd95 175 else if (i == 2)
charwhit 5:c38929c0fd95 176 derivative += 0*(current_pos[i] - current_pos[i-1]);
charwhit 5:c38929c0fd95 177 else if (i==3)
charwhit 5:c38929c0fd95 178 derivative += 0*(current_pos[i] - current_pos[i-1]);
charwhit 5:c38929c0fd95 179 else
charwhit 5:c38929c0fd95 180 derivative += (current_pos[i] - current_pos[i-1]);
charwhit 5:c38929c0fd95 181 }
charwhit 5:c38929c0fd95 182
charwhit 5:c38929c0fd95 183 derivative = derivative; */
charwhit 5:c38929c0fd95 184
charwhit 5:c38929c0fd95 185
charwhit 5:c38929c0fd95 186 current_pos = robot.line_position();
charwhit 5:c38929c0fd95 187 proportional = current_pos;
charwhit 5:c38929c0fd95 188
charwhit 5:c38929c0fd95 189 derivative = current_pos - previous_pos;
charwhit 5:c38929c0fd95 190
charwhit 5:c38929c0fd95 191
charwhit 5:c38929c0fd95 192 //compute the integral
charwhit 5:c38929c0fd95 193 integral =+ proportional;
charwhit 5:c38929c0fd95 194
charwhit 5:c38929c0fd95 195 //remember the last position.
charwhit 5:c38929c0fd95 196 previous_pos = current_pos;
charwhit 5:c38929c0fd95 197
charwhit 5:c38929c0fd95 198 // compute the power
charwhit 5:c38929c0fd95 199 power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM));
charwhit 5:c38929c0fd95 200 //computer new speeds
charwhit 5:c38929c0fd95 201 right = speed+power;
charwhit 5:c38929c0fd95 202 left = speed-power;
charwhit 5:c38929c0fd95 203
charwhit 5:c38929c0fd95 204 //limit checks
charwhit 5:c38929c0fd95 205 if(right<MIN)
charwhit 5:c38929c0fd95 206 right = MIN;
charwhit 5:c38929c0fd95 207 else if (right > MAX)
charwhit 5:c38929c0fd95 208 right = MAX;
charwhit 5:c38929c0fd95 209
charwhit 5:c38929c0fd95 210 if(left<MIN)
charwhit 5:c38929c0fd95 211 left = MIN;
charwhit 5:c38929c0fd95 212 else if (left>MIN)
charwhit 5:c38929c0fd95 213 left = MAX;
charwhit 5:c38929c0fd95 214
charwhit 5:c38929c0fd95 215 //set speed
charwhit 5:c38929c0fd95 216
charwhit 5:c38929c0fd95 217 robot.left_motor(left);
charwhit 5:c38929c0fd95 218 robot.right_motor(right);
charwhit 8:bd2f012e2f57 219
charwhit 8:bd2f012e2f57 220
charwhit 9:030b7e4ff7be 221 //if (myFile.is_open())
charwhit 9:030b7e4ff7be 222 //{
charwhit 9:030b7e4ff7be 223 //btbee.printf("%f %f %f\n", left, right, robot.line_position());
charwhit 9:030b7e4ff7be 224 leftval.push_back(left);
charwhit 9:030b7e4ff7be 225 rightval.push_back(right);
charwhit 9:030b7e4ff7be 226 lineposval.push_back(robot.line_position());
charwhit 9:030b7e4ff7be 227 //}
charwhit 9:030b7e4ff7be 228
charwhit 5:c38929c0fd95 229
charwhit 5:c38929c0fd95 230 wait((5-time_wait.read_ms())/1000);
bbabbs 0:17669460c6b1 231 }
charwhit 5:c38929c0fd95 232
charwhit 5:c38929c0fd95 233
charwhit 5:c38929c0fd95 234
charwhit 5:c38929c0fd95 235 robot.stop();
charwhit 5:c38929c0fd95 236
charwhit 5:c38929c0fd95 237 char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8'
charwhit 5:c38929c0fd95 238 ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G'
charwhit 5:c38929c0fd95 239 ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8'
charwhit 5:c38929c0fd95 240 ,'G','8','E','8','D','8','C','4'
charwhit 5:c38929c0fd95 241 };
nbtavis 2:80a1ed62c307 242 int numb = 59;
charwhit 5:c38929c0fd95 243
nbtavis 2:80a1ed62c307 244 robot.playtune(hail,numb);
charwhit 5:c38929c0fd95 245
charwhit 5:c38929c0fd95 246
charwhit 5:c38929c0fd95 247
charwhit 5:c38929c0fd95 248
charwhit 5:c38929c0fd95 249 }