one lap kind of works
Dependencies: FatFileSystem MSCFileSystem btbee m3pi_ng mbed
Fork of Robot by
main.cpp@16:caa77287cc25, 2015-06-10 (annotated)
- Committer:
- charwhit
- Date:
- Wed Jun 10 12:01:21 2015 +0000
- Revision:
- 16:caa77287cc25
- Parent:
- 15:3e3f1b42cc23
- Child:
- 17:5eb563904361
Course code without bluetooth
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
charwhit | 12:0422156f83f6 | 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 | 12:0422156f83f6 | 10 | #include "math.h" |
charwhit | 8:bd2f012e2f57 | 11 | |
charwhit | 8:bd2f012e2f57 | 12 | |
charwhit | 8:bd2f012e2f57 | 13 | MSCFileSystem msc(FSNAME); // Mount flash drive under the name "msc" |
charwhit | 9:030b7e4ff7be | 14 | //Serial pc(USBTX,USBRX); |
charwhit | 8:bd2f012e2f57 | 15 | |
nbtavis | 2:80a1ed62c307 | 16 | m3pi robot; |
charwhit | 4:acd0f86ed832 | 17 | btbee btbee; |
nbtavis | 3:bae8eb81a9d7 | 18 | DigitalIn m3pi_IN[]= {(p12),(p21)}; // IR sensor and Knopf |
nbtavis | 2:80a1ed62c307 | 19 | Timer timer; |
nbtavis | 2:80a1ed62c307 | 20 | Timer time_wait; |
charwhit | 16:caa77287cc25 | 21 | #define MAX .9 |
charwhit | 5:c38929c0fd95 | 22 | #define MIN 0 |
charwhit | 12:0422156f83f6 | 23 | #define PI 3.14159265 |
bbabbs | 0:17669460c6b1 | 24 | |
charwhit | 4:acd0f86ed832 | 25 | //#define P_TERM 5 |
charwhit | 4:acd0f86ed832 | 26 | //#define I_TERM 0 |
charwhit | 5:c38929c0fd95 | 27 | //#define D_TERM 20 |
nbtavis | 2:80a1ed62c307 | 28 | |
nbtavis | 2:80a1ed62c307 | 29 | |
bbabbs | 0:17669460c6b1 | 30 | |
charwhit | 5:c38929c0fd95 | 31 | int main() |
charwhit | 5:c38929c0fd95 | 32 | { |
charwhit | 16:caa77287cc25 | 33 | float P_TERM = 3; |
charwhit | 16:caa77287cc25 | 34 | float I_TERM = 0; |
charwhit | 16:caa77287cc25 | 35 | float D_TERM = 1; |
charwhit | 5:c38929c0fd95 | 36 | |
charwhit | 5:c38929c0fd95 | 37 | btbee.reset(); |
charwhit | 5:c38929c0fd95 | 38 | robot.sensor_auto_calibrate(); |
charwhit | 5:c38929c0fd95 | 39 | wait(2.0); |
charwhit | 5:c38929c0fd95 | 40 | float right; |
charwhit | 5:c38929c0fd95 | 41 | float left; |
charwhit | 5:c38929c0fd95 | 42 | //float current_pos[5]; |
charwhit | 5:c38929c0fd95 | 43 | float current_pos = 0.0; |
charwhit | 5:c38929c0fd95 | 44 | float previous_pos =0.0; |
charwhit | 5:c38929c0fd95 | 45 | float derivative, proportional, integral = 0; |
charwhit | 5:c38929c0fd95 | 46 | float power; |
charwhit | 5:c38929c0fd95 | 47 | float speed = MAX; |
charwhit | 5:c38929c0fd95 | 48 | |
charwhit | 5:c38929c0fd95 | 49 | int lap = 0; |
charwhit | 5:c38929c0fd95 | 50 | float lap_time = 0.0; |
charwhit | 5:c38929c0fd95 | 51 | float total_time = 0.0; |
charwhit | 5:c38929c0fd95 | 52 | float average_time = 0.0; |
charwhit | 5:c38929c0fd95 | 53 | int y =1; |
charwhit | 5:c38929c0fd95 | 54 | int count = 0; |
charwhit | 7:7d491b51665e | 55 | float paramChange[3]; |
charwhit | 8:bd2f012e2f57 | 56 | bool passed = false; |
charwhit | 12:0422156f83f6 | 57 | char sweepValue[100]; |
charwhit | 16:caa77287cc25 | 58 | |
charwhit | 16:caa77287cc25 | 59 | |
charwhit | 5:c38929c0fd95 | 60 | |
charwhit | 4:acd0f86ed832 | 61 | char arr_read[30]; // this should be long enough to store any reply coming in over bt. |
charwhit | 4:acd0f86ed832 | 62 | int chars_read; |
charwhit | 14:5b3cc7741bdf | 63 | vector<float> Uvalue, lineposval, setPointVals; |
charwhit | 12:0422156f83f6 | 64 | vector<float> sweepData; |
charwhit | 16:caa77287cc25 | 65 | FILE *fp = fopen( "/" FSNAME "/exper1.txt", "w"); |
charwhit | 16:caa77287cc25 | 66 | //FILE *sweep = fopen("/" FSNAME "/sweep15.txt","r"); |
charwhit | 16:caa77287cc25 | 67 | |
charwhit | 16:caa77287cc25 | 68 | |
charwhit | 16:caa77287cc25 | 69 | |
charwhit | 16:caa77287cc25 | 70 | /*if (sweep == NULL) { |
charwhit | 12:0422156f83f6 | 71 | robot.printf("Nope."); |
charwhit | 12:0422156f83f6 | 72 | y = 0; |
charwhit | 15:3e3f1b42cc23 | 73 | }*/ |
charwhit | 9:030b7e4ff7be | 74 | |
nbtavis | 2:80a1ed62c307 | 75 | |
charwhit | 5:c38929c0fd95 | 76 | /* for (int i = 0; i <5; ++i) |
charwhit | 5:c38929c0fd95 | 77 | current_pos[i] = 0.0; */ |
charwhit | 16:caa77287cc25 | 78 | |
charwhit | 16:caa77287cc25 | 79 | |
charwhit | 9:030b7e4ff7be | 80 | //wait(8); |
charwhit | 6:99d09e88924b | 81 | btbee.printf("Battery: %f\n", robot.battery()); |
charwhit | 16:caa77287cc25 | 82 | |
charwhit | 16:caa77287cc25 | 83 | |
charwhit | 16:caa77287cc25 | 84 | //btbee.printf("C: %d", sweepData.size()); |
charwhit | 5:c38929c0fd95 | 85 | |
charwhit | 5:c38929c0fd95 | 86 | |
charwhit | 5:c38929c0fd95 | 87 | time_wait.start(); |
charwhit | 16:caa77287cc25 | 88 | int x [5]; |
charwhit | 16:caa77287cc25 | 89 | //timer.start(); |
charwhit | 5:c38929c0fd95 | 90 | while(y) { |
charwhit | 5:c38929c0fd95 | 91 | time_wait.reset(); |
charwhit | 16:caa77287cc25 | 92 | //timer.reset(); |
charwhit | 5:c38929c0fd95 | 93 | //Get raw sensor values |
charwhit | 16:caa77287cc25 | 94 | |
charwhit | 5:c38929c0fd95 | 95 | robot.calibrated_sensor(x); |
charwhit | 5:c38929c0fd95 | 96 | |
charwhit | 5:c38929c0fd95 | 97 | |
charwhit | 5:c38929c0fd95 | 98 | |
charwhit | 5:c38929c0fd95 | 99 | //Check to make sure battery isn't low |
charwhit | 5:c38929c0fd95 | 100 | if (robot.battery() < 2.4) { |
charwhit | 5:c38929c0fd95 | 101 | timer.stop(); |
charwhit | 16:caa77287cc25 | 102 | robot.printf("LowBatt"); |
charwhit | 6:99d09e88924b | 103 | btbee.printf("Battery too low\n"); |
charwhit | 5:c38929c0fd95 | 104 | break; |
charwhit | 5:c38929c0fd95 | 105 | } |
charwhit | 5:c38929c0fd95 | 106 | |
charwhit | 5:c38929c0fd95 | 107 | //else if (m3pi_IN [0] == 0) |
charwhit | 5:c38929c0fd95 | 108 | //{break;} |
charwhit | 16:caa77287cc25 | 109 | |
charwhit | 14:5b3cc7741bdf | 110 | if( (x[0] > 300 && x[2]>300 && x[4]>300 & !passed)) { |
charwhit | 5:c38929c0fd95 | 111 | if (lap == 0) { |
charwhit | 8:bd2f012e2f57 | 112 | /*while( x[0]> 300 && x[4] > 300) { |
charwhit | 5:c38929c0fd95 | 113 | robot.calibrated_sensor(x); |
charwhit | 8:bd2f012e2f57 | 114 | }*/ |
charwhit | 5:c38929c0fd95 | 115 | timer.start(); |
charwhit | 5:c38929c0fd95 | 116 | lap= lap +1; |
charwhit | 5:c38929c0fd95 | 117 | } |
charwhit | 5:c38929c0fd95 | 118 | |
charwhit | 14:5b3cc7741bdf | 119 | else if (lap == 1) { |
charwhit | 16:caa77287cc25 | 120 | |
charwhit | 6:99d09e88924b | 121 | robot.stop(); |
charwhit | 16:caa77287cc25 | 122 | |
charwhit | 16:caa77287cc25 | 123 | //Print to file stuff |
charwhit | 16:caa77287cc25 | 124 | /*if(fp != NULL) { |
charwhit | 12:0422156f83f6 | 125 | for (int i = 0; i < Uvalue.size(); ++i) |
charwhit | 14:5b3cc7741bdf | 126 | fprintf(fp,"%f %f %f\n", setPointVals[i], Uvalue[i], lineposval[i]); |
charwhit | 10:83dfbc5e93ed | 127 | fclose(fp); |
charwhit | 15:3e3f1b42cc23 | 128 | //fclose(sweep); |
charwhit | 10:83dfbc5e93ed | 129 | robot.cls(); |
charwhit | 10:83dfbc5e93ed | 130 | robot.printf("Doner"); |
charwhit | 11:bb90691e5166 | 131 | } |
charwhit | 16:caa77287cc25 | 132 | break;*/ |
charwhit | 5:c38929c0fd95 | 133 | lap_time = timer.read(); |
charwhit | 5:c38929c0fd95 | 134 | total_time += lap_time; |
charwhit | 5:c38929c0fd95 | 135 | average_time = total_time/lap; |
charwhit | 5:c38929c0fd95 | 136 | robot.printf("%f",average_time); |
charwhit | 5:c38929c0fd95 | 137 | if (btbee.writeable()) { |
charwhit | 5:c38929c0fd95 | 138 | btbee.printf("Lap %d time: %f\n", lap, lap_time); |
charwhit | 5:c38929c0fd95 | 139 | btbee.printf("Avg Lap time: %f\n", average_time); |
charwhit | 5:c38929c0fd95 | 140 | } |
charwhit | 16:caa77287cc25 | 141 | |
charwhit | 16:caa77287cc25 | 142 | /*while (count < 3) { |
charwhit | 5:c38929c0fd95 | 143 | btbee.read_line(arr_read, 30, &chars_read); |
charwhit | 7:7d491b51665e | 144 | paramChange[count] = atof(arr_read); |
charwhit | 5:c38929c0fd95 | 145 | count++; |
charwhit | 5:c38929c0fd95 | 146 | } |
charwhit | 5:c38929c0fd95 | 147 | P_TERM = paramChange[0]; |
charwhit | 5:c38929c0fd95 | 148 | I_TERM = paramChange[1]; |
charwhit | 5:c38929c0fd95 | 149 | D_TERM = paramChange[2]; |
charwhit | 6:99d09e88924b | 150 | btbee.printf("PTERM %f\n", P_TERM); |
charwhit | 6:99d09e88924b | 151 | btbee.printf("ITERM %f\n", I_TERM); |
charwhit | 6:99d09e88924b | 152 | btbee.printf("DTERM %f\n", D_TERM); |
charwhit | 5:c38929c0fd95 | 153 | lap = 0; |
charwhit | 5:c38929c0fd95 | 154 | total_time = 0; |
charwhit | 5:c38929c0fd95 | 155 | count = 0; |
charwhit | 6:99d09e88924b | 156 | timer.stop(); |
charwhit | 6:99d09e88924b | 157 | timer.reset(); |
charwhit | 16:caa77287cc25 | 158 | continue;*/ |
charwhit | 16:caa77287cc25 | 159 | break; |
charwhit | 16:caa77287cc25 | 160 | |
charwhit | 5:c38929c0fd95 | 161 | } else { |
charwhit | 8:bd2f012e2f57 | 162 | /*while( x[0]> 300 && x[4] > 300) { |
charwhit | 5:c38929c0fd95 | 163 | robot.calibrated_sensor(x); |
charwhit | 8:bd2f012e2f57 | 164 | }*/ |
charwhit | 5:c38929c0fd95 | 165 | lap_time = timer.read(); |
charwhit | 5:c38929c0fd95 | 166 | if (btbee.writeable()) { |
charwhit | 5:c38929c0fd95 | 167 | btbee.printf("Lap %d time: %f\n", lap, lap_time); |
charwhit | 5:c38929c0fd95 | 168 | } |
charwhit | 5:c38929c0fd95 | 169 | total_time += lap_time; |
charwhit | 5:c38929c0fd95 | 170 | average_time = total_time/lap; |
charwhit | 5:c38929c0fd95 | 171 | lap = lap +1; |
charwhit | 16:caa77287cc25 | 172 | timer.reset(); |
charwhit | 5:c38929c0fd95 | 173 | } |
charwhit | 8:bd2f012e2f57 | 174 | passed = true; |
charwhit | 16:caa77287cc25 | 175 | } else if (x[0] > 300 && x[2]>300 && x[4]>300) |
charwhit | 8:bd2f012e2f57 | 176 | passed = true; |
charwhit | 8:bd2f012e2f57 | 177 | else |
charwhit | 8:bd2f012e2f57 | 178 | passed = false; |
charwhit | 16:caa77287cc25 | 179 | |
charwhit | 5:c38929c0fd95 | 180 | |
nbtavis | 2:80a1ed62c307 | 181 | |
charwhit | 5:c38929c0fd95 | 182 | // Get the position of the line. |
charwhit | 5:c38929c0fd95 | 183 | /* for (int i =0; i < 4; ++i) |
charwhit | 5:c38929c0fd95 | 184 | current_pos[i] = current_pos[i+1]; |
charwhit | 5:c38929c0fd95 | 185 | current_pos[4] = robot.line_position(); |
charwhit | 5:c38929c0fd95 | 186 | proportional = current_pos[4]; |
charwhit | 5:c38929c0fd95 | 187 | |
charwhit | 5:c38929c0fd95 | 188 | // compute the derivative |
charwhit | 5:c38929c0fd95 | 189 | derivative = 0; |
charwhit | 5:c38929c0fd95 | 190 | for (int i =1; i<5;++i) { |
charwhit | 5:c38929c0fd95 | 191 | if (i ==1) |
charwhit | 5:c38929c0fd95 | 192 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 193 | else if (i == 2) |
charwhit | 5:c38929c0fd95 | 194 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 195 | else if (i==3) |
charwhit | 5:c38929c0fd95 | 196 | derivative += 0*(current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 197 | else |
charwhit | 5:c38929c0fd95 | 198 | derivative += (current_pos[i] - current_pos[i-1]); |
charwhit | 5:c38929c0fd95 | 199 | } |
charwhit | 5:c38929c0fd95 | 200 | |
charwhit | 5:c38929c0fd95 | 201 | derivative = derivative; */ |
charwhit | 5:c38929c0fd95 | 202 | |
charwhit | 5:c38929c0fd95 | 203 | |
charwhit | 5:c38929c0fd95 | 204 | current_pos = robot.line_position(); |
charwhit | 16:caa77287cc25 | 205 | |
charwhit | 16:caa77287cc25 | 206 | //Performs the sweep |
charwhit | 16:caa77287cc25 | 207 | /*if (fgets(sweepValue, 100, sweep) != NULL){ |
charwhit | 16:caa77287cc25 | 208 | proportional = atof(sweepValue) + current_pos; |
charwhit | 16:caa77287cc25 | 209 | } |
charwhit | 16:caa77287cc25 | 210 | else { |
charwhit | 16:caa77287cc25 | 211 | robot.stop(); |
charwhit | 16:caa77287cc25 | 212 | //fclose(sweep); |
charwhit | 16:caa77287cc25 | 213 | if(fp != NULL) { |
charwhit | 16:caa77287cc25 | 214 | for (int i = 0; i < Uvalue.size(); ++i) |
charwhit | 16:caa77287cc25 | 215 | fprintf(fp,"%f %f %f\n", setPointVals[i], Uvalue[i], lineposval[i]); |
charwhit | 16:caa77287cc25 | 216 | fclose(fp); |
charwhit | 16:caa77287cc25 | 217 | fclose(sweep); |
charwhit | 16:caa77287cc25 | 218 | robot.cls(); |
charwhit | 16:caa77287cc25 | 219 | robot.printf("Doner"); |
charwhit | 16:caa77287cc25 | 220 | } |
charwhit | 16:caa77287cc25 | 221 | break; |
charwhit | 16:caa77287cc25 | 222 | //FILE *sweep = fopen("/" FSNAME "/sweep15.txt","r"); |
charwhit | 16:caa77287cc25 | 223 | //robot.cls(); |
charwhit | 16:caa77287cc25 | 224 | //robot.printf("Done."); |
charwhit | 16:caa77287cc25 | 225 | // break; |
charwhit | 15:3e3f1b42cc23 | 226 | }*/ |
charwhit | 16:caa77287cc25 | 227 | |
charwhit | 16:caa77287cc25 | 228 | proportional = current_pos; |
charwhit | 16:caa77287cc25 | 229 | |
charwhit | 16:caa77287cc25 | 230 | |
charwhit | 5:c38929c0fd95 | 231 | |
charwhit | 5:c38929c0fd95 | 232 | derivative = current_pos - previous_pos; |
charwhit | 5:c38929c0fd95 | 233 | |
charwhit | 5:c38929c0fd95 | 234 | |
charwhit | 5:c38929c0fd95 | 235 | //compute the integral |
charwhit | 5:c38929c0fd95 | 236 | integral =+ proportional; |
charwhit | 5:c38929c0fd95 | 237 | |
charwhit | 5:c38929c0fd95 | 238 | //remember the last position. |
charwhit | 5:c38929c0fd95 | 239 | previous_pos = current_pos; |
charwhit | 5:c38929c0fd95 | 240 | |
charwhit | 5:c38929c0fd95 | 241 | // compute the power |
charwhit | 5:c38929c0fd95 | 242 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM)); |
charwhit | 16:caa77287cc25 | 243 | /*if (fgets(sweepValue, 100, sweep) != NULL){ |
charwhit | 16:caa77287cc25 | 244 | power = atof(sweepValue) + power; |
charwhit | 16:caa77287cc25 | 245 | } |
charwhit | 16:caa77287cc25 | 246 | else { |
charwhit | 16:caa77287cc25 | 247 | robot.stop(); |
charwhit | 16:caa77287cc25 | 248 | fclose(sweep); |
charwhit | 16:caa77287cc25 | 249 | if(fp != NULL) { |
charwhit | 16:caa77287cc25 | 250 | for (int i = 0; i < Uvalue.size(); ++i) |
charwhit | 16:caa77287cc25 | 251 | fprintf(fp,"%f %f %f\n", setPointVals[i], Uvalue[i], lineposval[i]); |
charwhit | 16:caa77287cc25 | 252 | fclose(fp); |
charwhit | 16:caa77287cc25 | 253 | fclose(sweep); |
charwhit | 16:caa77287cc25 | 254 | robot.cls(); |
charwhit | 16:caa77287cc25 | 255 | robot.printf("Doner"); |
charwhit | 16:caa77287cc25 | 256 | } |
charwhit | 16:caa77287cc25 | 257 | break; |
charwhit | 16:caa77287cc25 | 258 | }*/ |
charwhit | 5:c38929c0fd95 | 259 | //computer new speeds |
charwhit | 5:c38929c0fd95 | 260 | right = speed+power; |
charwhit | 5:c38929c0fd95 | 261 | left = speed-power; |
charwhit | 5:c38929c0fd95 | 262 | |
charwhit | 5:c38929c0fd95 | 263 | //limit checks |
charwhit | 5:c38929c0fd95 | 264 | if(right<MIN) |
charwhit | 5:c38929c0fd95 | 265 | right = MIN; |
charwhit | 5:c38929c0fd95 | 266 | else if (right > MAX) |
charwhit | 5:c38929c0fd95 | 267 | right = MAX; |
charwhit | 5:c38929c0fd95 | 268 | |
charwhit | 5:c38929c0fd95 | 269 | if(left<MIN) |
charwhit | 5:c38929c0fd95 | 270 | left = MIN; |
charwhit | 5:c38929c0fd95 | 271 | else if (left>MIN) |
charwhit | 5:c38929c0fd95 | 272 | left = MAX; |
charwhit | 5:c38929c0fd95 | 273 | |
charwhit | 5:c38929c0fd95 | 274 | //set speed |
charwhit | 5:c38929c0fd95 | 275 | |
charwhit | 5:c38929c0fd95 | 276 | robot.left_motor(left); |
charwhit | 5:c38929c0fd95 | 277 | robot.right_motor(right); |
charwhit | 16:caa77287cc25 | 278 | |
charwhit | 16:caa77287cc25 | 279 | |
charwhit | 16:caa77287cc25 | 280 | |
charwhit | 16:caa77287cc25 | 281 | Uvalue.push_back(power); |
charwhit | 16:caa77287cc25 | 282 | lineposval.push_back(robot.line_position()); |
charwhit | 16:caa77287cc25 | 283 | setPointVals.push_back(0); |
charwhit | 16:caa77287cc25 | 284 | //setPointVals.push_back(0.5); |
charwhit | 16:caa77287cc25 | 285 | |
charwhit | 16:caa77287cc25 | 286 | |
charwhit | 16:caa77287cc25 | 287 | |
charwhit | 5:c38929c0fd95 | 288 | wait((5-time_wait.read_ms())/1000); |
bbabbs | 0:17669460c6b1 | 289 | } |
charwhit | 5:c38929c0fd95 | 290 | |
charwhit | 5:c38929c0fd95 | 291 | |
charwhit | 5:c38929c0fd95 | 292 | |
charwhit | 5:c38929c0fd95 | 293 | robot.stop(); |
charwhit | 5:c38929c0fd95 | 294 | |
charwhit | 16:caa77287cc25 | 295 | /*char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8' |
charwhit | 5:c38929c0fd95 | 296 | ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G' |
charwhit | 5:c38929c0fd95 | 297 | ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8' |
charwhit | 5:c38929c0fd95 | 298 | ,'G','8','E','8','D','8','C','4' |
charwhit | 5:c38929c0fd95 | 299 | }; |
nbtavis | 2:80a1ed62c307 | 300 | int numb = 59; |
charwhit | 5:c38929c0fd95 | 301 | |
charwhit | 16:caa77287cc25 | 302 | robot.playtune(hail,numb);*/ |
charwhit | 5:c38929c0fd95 | 303 | |
charwhit | 5:c38929c0fd95 | 304 | |
charwhit | 5:c38929c0fd95 | 305 | |
charwhit | 5:c38929c0fd95 | 306 | |
charwhit | 5:c38929c0fd95 | 307 | } |