one lap kind of works
Dependencies: FatFileSystem MSCFileSystem btbee m3pi_ng mbed
Fork of Robot by
main.cpp@11:bb90691e5166, 2015-05-29 (annotated)
- Committer:
- charwhit
- Date:
- Fri May 29 13:37:39 2015 +0000
- Revision:
- 11:bb90691e5166
- Parent:
- 10:83dfbc5e93ed
- Child:
- 12:0422156f83f6
Essentially finished working code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
charwhit | 11:bb90691e5166 | 1 | #include =-pokm rtfg"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 | 11:bb90691e5166 | 20 | #define MAX .15 |
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 | 11:bb90691e5166 | 31 | float P_TERM = 1; |
charwhit | 11:bb90691e5166 | 32 | float I_TERM = 0; |
charwhit | 11:bb90691e5166 | 33 | float D_TERM = 0; |
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 | 10:83dfbc5e93ed | 61 | FILE *fp = fopen( "/" FSNAME "/data.txt", "w"); |
charwhit | 8:bd2f012e2f57 | 62 | |
charwhit | 9:030b7e4ff7be | 63 | //int check = msc.disk_initialize(); |
charwhit | 8:bd2f012e2f57 | 64 | |
charwhit | 9:030b7e4ff7be | 65 | |
charwhit | 10:83dfbc5e93ed | 66 | //ofstream myFile ("/" FSNAME "/data.txt"); |
charwhit | 9:030b7e4ff7be | 67 | //myFile << hallo << "\n"; |
charwhit | 9:030b7e4ff7be | 68 | |
nbtavis | 2:80a1ed62c307 | 69 | |
charwhit | 5:c38929c0fd95 | 70 | /* for (int i = 0; i <5; ++i) |
charwhit | 5:c38929c0fd95 | 71 | current_pos[i] = 0.0; */ |
charwhit | 6:99d09e88924b | 72 | |
charwhit | 6:99d09e88924b | 73 | |
charwhit | 9:030b7e4ff7be | 74 | //wait(8); |
charwhit | 6:99d09e88924b | 75 | btbee.printf("Battery: %f\n", robot.battery()); |
charwhit | 6:99d09e88924b | 76 | //timer.start(); |
charwhit | 5:c38929c0fd95 | 77 | |
charwhit | 5:c38929c0fd95 | 78 | |
charwhit | 5:c38929c0fd95 | 79 | time_wait.start(); |
charwhit | 5:c38929c0fd95 | 80 | while(y) { |
charwhit | 5:c38929c0fd95 | 81 | time_wait.reset(); |
charwhit | 5:c38929c0fd95 | 82 | //Get raw sensor values |
charwhit | 5:c38929c0fd95 | 83 | int x [5]; |
charwhit | 5:c38929c0fd95 | 84 | robot.calibrated_sensor(x); |
charwhit | 5:c38929c0fd95 | 85 | |
charwhit | 5:c38929c0fd95 | 86 | |
charwhit | 5:c38929c0fd95 | 87 | |
charwhit | 5:c38929c0fd95 | 88 | //Check to make sure battery isn't low |
charwhit | 5:c38929c0fd95 | 89 | if (robot.battery() < 2.4) { |
charwhit | 5:c38929c0fd95 | 90 | timer.stop(); |
charwhit | 6:99d09e88924b | 91 | btbee.printf("Battery too low\n"); |
charwhit | 5:c38929c0fd95 | 92 | break; |
charwhit | 5:c38929c0fd95 | 93 | } |
charwhit | 5:c38929c0fd95 | 94 | |
charwhit | 5:c38929c0fd95 | 95 | //else if (m3pi_IN [0] == 0) |
charwhit | 5:c38929c0fd95 | 96 | //{break;} |
charwhit | 11:bb90691e5166 | 97 | |
charwhit | 11:bb90691e5166 | 98 | if( (x[0] > 300 && x[2]>300 && x[4]>300 & !passed) || timer.read() > 5) { |
charwhit | 5:c38929c0fd95 | 99 | if (lap == 0) { |
charwhit | 8:bd2f012e2f57 | 100 | /*while( x[0]> 300 && x[4] > 300) { |
charwhit | 5:c38929c0fd95 | 101 | robot.calibrated_sensor(x); |
charwhit | 8:bd2f012e2f57 | 102 | }*/ |
charwhit | 5:c38929c0fd95 | 103 | timer.start(); |
charwhit | 5:c38929c0fd95 | 104 | lap= lap +1; |
charwhit | 5:c38929c0fd95 | 105 | } |
charwhit | 5:c38929c0fd95 | 106 | |
charwhit | 11:bb90691e5166 | 107 | else if (lap == 1 || timer.read() > 5) { |
charwhit | 6:99d09e88924b | 108 | robot.stop(); |
charwhit | 9:030b7e4ff7be | 109 | robot.printf("Size: %d", rightval.size()); |
charwhit | 11:bb90691e5166 | 110 | if(fp != NULL){ |
charwhit | 9:030b7e4ff7be | 111 | for (int i = 0; i < rightval.size(); ++i) |
charwhit | 10:83dfbc5e93ed | 112 | fprintf(fp,"%f %f %f\n",leftval[i], rightval[i], lineposval[i]); |
charwhit | 10:83dfbc5e93ed | 113 | fclose(fp); |
charwhit | 10:83dfbc5e93ed | 114 | robot.cls(); |
charwhit | 10:83dfbc5e93ed | 115 | robot.locate(0,0); |
charwhit | 10:83dfbc5e93ed | 116 | robot.printf("Doner"); |
charwhit | 11:bb90691e5166 | 117 | } |
charwhit | 5:c38929c0fd95 | 118 | lap_time = timer.read(); |
charwhit | 5:c38929c0fd95 | 119 | total_time += lap_time; |
charwhit | 5:c38929c0fd95 | 120 | average_time = total_time/lap; |
charwhit | 5:c38929c0fd95 | 121 | robot.printf("%f",average_time); |
charwhit | 5:c38929c0fd95 | 122 | if (btbee.writeable()) { |
charwhit | 5:c38929c0fd95 | 123 | btbee.printf("Lap %d time: %f\n", lap, lap_time); |
charwhit | 5:c38929c0fd95 | 124 | btbee.printf("Avg Lap time: %f\n", average_time); |
charwhit | 5:c38929c0fd95 | 125 | } |
charwhit | 6:99d09e88924b | 126 | |
charwhit | 5:c38929c0fd95 | 127 | while (count < 3){ |
charwhit | 5:c38929c0fd95 | 128 | //btbee.printf("Input parameter\n"); |
charwhit | 5:c38929c0fd95 | 129 | btbee.read_line(arr_read, 30, &chars_read); |
charwhit | 7:7d491b51665e | 130 | paramChange[count] = atof(arr_read); |
charwhit | 6:99d09e88924b | 131 | //btbee.printf("%d", arr_read); |
charwhit | 5:c38929c0fd95 | 132 | count++; |
charwhit | 5:c38929c0fd95 | 133 | } |
charwhit | 5:c38929c0fd95 | 134 | P_TERM = paramChange[0]; |
charwhit | 5:c38929c0fd95 | 135 | I_TERM = paramChange[1]; |
charwhit | 5:c38929c0fd95 | 136 | D_TERM = paramChange[2]; |
charwhit | 6:99d09e88924b | 137 | btbee.printf("PTERM %f\n", P_TERM); |
charwhit | 6:99d09e88924b | 138 | btbee.printf("ITERM %f\n", I_TERM); |
charwhit | 6:99d09e88924b | 139 | btbee.printf("DTERM %f\n", D_TERM); |
charwhit | 5:c38929c0fd95 | 140 | lap = 0; |
charwhit | 5:c38929c0fd95 | 141 | total_time = 0; |
charwhit | 5:c38929c0fd95 | 142 | count = 0; |
charwhit | 6:99d09e88924b | 143 | timer.stop(); |
charwhit | 6:99d09e88924b | 144 | timer.reset(); |
charwhit | 5:c38929c0fd95 | 145 | continue; |
charwhit | 5:c38929c0fd95 | 146 | |
charwhit | 5:c38929c0fd95 | 147 | } else { |
charwhit | 8:bd2f012e2f57 | 148 | /*while( x[0]> 300 && x[4] > 300) { |
charwhit | 5:c38929c0fd95 | 149 | robot.calibrated_sensor(x); |
charwhit | 8:bd2f012e2f57 | 150 | }*/ |
charwhit | 5:c38929c0fd95 | 151 | lap_time = timer.read(); |
charwhit | 5:c38929c0fd95 | 152 | if (btbee.writeable()) { |
charwhit | 5:c38929c0fd95 | 153 | btbee.printf("Lap %d time: %f\n", lap, lap_time); |
charwhit | 5:c38929c0fd95 | 154 | } |
charwhit | 5:c38929c0fd95 | 155 | total_time += lap_time; |
charwhit | 5:c38929c0fd95 | 156 | average_time = total_time/lap; |
charwhit | 5:c38929c0fd95 | 157 | lap = lap +1; |
charwhit | 11:bb90691e5166 | 158 | //timer.reset(); |
charwhit | 5:c38929c0fd95 | 159 | } |
charwhit | 8:bd2f012e2f57 | 160 | passed = true; |
charwhit | 5:c38929c0fd95 | 161 | } |
charwhit | 8:bd2f012e2f57 | 162 | else if (x[0] > 300 && x[2]>300 && x[4]>300) |
charwhit | 8:bd2f012e2f57 | 163 | passed = true; |
charwhit | 8:bd2f012e2f57 | 164 | else |
charwhit | 8:bd2f012e2f57 | 165 | passed = false; |
charwhit | 8:bd2f012e2f57 | 166 | |
charwhit | 5:c38929c0fd95 | 167 | |
nbtavis | 2:80a1ed62c307 | 168 | |
charwhit | 5:c38929c0fd95 | 169 | // Get the position of the line. |
charwhit | 5:c38929c0fd95 | 170 | /* for (int i =0; i < 4; ++i) |
charwhit | 5:c38929c0fd95 | 171 | current_pos[i] = current_pos[i+1]; |
charwhit | 5:c38929c0fd95 | 172 | current_pos[4] = robot.line_position(); |
charwhit | 5:c38929c0fd95 | 173 | proportional = current_pos[4]; |
charwhit | 5:c38929c0fd95 | 174 | |
charwhit | 5:c38929c0fd95 | 175 | // compute the derivative |
charwhit | 5:c38929c0fd95 | 176 | derivative = 0; |
charwhit | 5:c38929c0fd95 | 177 | for (int i =1; i<5;++i) { |
charwhit | 5:c38929c0fd95 | 178 | if (i ==1) |
charwhit | 5:c38929c0fd95 | 179 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 180 | else if (i == 2) |
charwhit | 5:c38929c0fd95 | 181 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 182 | else if (i==3) |
charwhit | 5:c38929c0fd95 | 183 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 184 | else |
charwhit | 5:c38929c0fd95 | 185 | derivative += (current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 186 | } |
charwhit | 5:c38929c0fd95 | 187 | |
charwhit | 5:c38929c0fd95 | 188 | derivative = derivative; */ |
charwhit | 5:c38929c0fd95 | 189 | |
charwhit | 5:c38929c0fd95 | 190 | |
charwhit | 5:c38929c0fd95 | 191 | current_pos = robot.line_position(); |
charwhit | 5:c38929c0fd95 | 192 | proportional = current_pos; |
charwhit | 5:c38929c0fd95 | 193 | |
charwhit | 5:c38929c0fd95 | 194 | derivative = current_pos - previous_pos; |
charwhit | 5:c38929c0fd95 | 195 | |
charwhit | 5:c38929c0fd95 | 196 | |
charwhit | 5:c38929c0fd95 | 197 | //compute the integral |
charwhit | 5:c38929c0fd95 | 198 | integral =+ proportional; |
charwhit | 5:c38929c0fd95 | 199 | |
charwhit | 5:c38929c0fd95 | 200 | //remember the last position. |
charwhit | 5:c38929c0fd95 | 201 | previous_pos = current_pos; |
charwhit | 5:c38929c0fd95 | 202 | |
charwhit | 5:c38929c0fd95 | 203 | // compute the power |
charwhit | 5:c38929c0fd95 | 204 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM)); |
charwhit | 5:c38929c0fd95 | 205 | //computer new speeds |
charwhit | 5:c38929c0fd95 | 206 | right = speed+power; |
charwhit | 5:c38929c0fd95 | 207 | left = speed-power; |
charwhit | 5:c38929c0fd95 | 208 | |
charwhit | 5:c38929c0fd95 | 209 | //limit checks |
charwhit | 5:c38929c0fd95 | 210 | if(right<MIN) |
charwhit | 5:c38929c0fd95 | 211 | right = MIN; |
charwhit | 5:c38929c0fd95 | 212 | else if (right > MAX) |
charwhit | 5:c38929c0fd95 | 213 | right = MAX; |
charwhit | 5:c38929c0fd95 | 214 | |
charwhit | 5:c38929c0fd95 | 215 | if(left<MIN) |
charwhit | 5:c38929c0fd95 | 216 | left = MIN; |
charwhit | 5:c38929c0fd95 | 217 | else if (left>MIN) |
charwhit | 5:c38929c0fd95 | 218 | left = MAX; |
charwhit | 5:c38929c0fd95 | 219 | |
charwhit | 5:c38929c0fd95 | 220 | //set speed |
charwhit | 5:c38929c0fd95 | 221 | |
charwhit | 5:c38929c0fd95 | 222 | robot.left_motor(left); |
charwhit | 5:c38929c0fd95 | 223 | robot.right_motor(right); |
charwhit | 8:bd2f012e2f57 | 224 | |
charwhit | 8:bd2f012e2f57 | 225 | |
charwhit | 9:030b7e4ff7be | 226 | //if (myFile.is_open()) |
charwhit | 9:030b7e4ff7be | 227 | //{ |
charwhit | 9:030b7e4ff7be | 228 | //btbee.printf("%f %f %f\n", left, right, robot.line_position()); |
charwhit | 9:030b7e4ff7be | 229 | leftval.push_back(left); |
charwhit | 9:030b7e4ff7be | 230 | rightval.push_back(right); |
charwhit | 9:030b7e4ff7be | 231 | lineposval.push_back(robot.line_position()); |
charwhit | 9:030b7e4ff7be | 232 | //} |
charwhit | 9:030b7e4ff7be | 233 | |
charwhit | 5:c38929c0fd95 | 234 | |
charwhit | 5:c38929c0fd95 | 235 | wait((5-time_wait.read_ms())/1000); |
bbabbs | 0:17669460c6b1 | 236 | } |
charwhit | 5:c38929c0fd95 | 237 | |
charwhit | 5:c38929c0fd95 | 238 | |
charwhit | 5:c38929c0fd95 | 239 | |
charwhit | 5:c38929c0fd95 | 240 | robot.stop(); |
charwhit | 5:c38929c0fd95 | 241 | |
charwhit | 5:c38929c0fd95 | 242 | char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8' |
charwhit | 5:c38929c0fd95 | 243 | ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G' |
charwhit | 5:c38929c0fd95 | 244 | ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8' |
charwhit | 5:c38929c0fd95 | 245 | ,'G','8','E','8','D','8','C','4' |
charwhit | 5:c38929c0fd95 | 246 | }; |
nbtavis | 2:80a1ed62c307 | 247 | int numb = 59; |
charwhit | 5:c38929c0fd95 | 248 | |
nbtavis | 2:80a1ed62c307 | 249 | robot.playtune(hail,numb); |
charwhit | 5:c38929c0fd95 | 250 | |
charwhit | 5:c38929c0fd95 | 251 | |
charwhit | 5:c38929c0fd95 | 252 | |
charwhit | 5:c38929c0fd95 | 253 | |
charwhit | 5:c38929c0fd95 | 254 | } |