one lap kind of works
Dependencies: FatFileSystem MSCFileSystem btbee m3pi_ng mbed
Fork of Robot by
main.cpp
- Committer:
- charwhit
- Date:
- 2015-06-01
- Revision:
- 15:3e3f1b42cc23
- Parent:
- 14:5b3cc7741bdf
- Child:
- 16:caa77287cc25
File content as of revision 15:3e3f1b42cc23:
#include "mbed.h" #include "MSCFileSystem.h" #include "btbee.h" #include "m3pi_ng.h" #include <fstream> #define FSNAME "msc" #include <string> #include <sstream> #include <vector> #include "math.h" MSCFileSystem msc(FSNAME); // Mount flash drive under the name "msc" //Serial pc(USBTX,USBRX); m3pi robot; btbee btbee; DigitalIn m3pi_IN[]= {(p12),(p21)}; // IR sensor and Knopf Timer timer; Timer time_wait; #define MAX .95 #define MIN 0 #define PI 3.14159265 //#define P_TERM 5 //#define I_TERM 0 //#define D_TERM 20 int main() { float P_TERM = 2.5; float I_TERM = .5; float D_TERM = 25; btbee.reset(); robot.sensor_auto_calibrate(); wait(2.0); float right; float left; //float current_pos[5]; float current_pos = 0.0; float previous_pos =0.0; float derivative, proportional, integral = 0; float power; float speed = MAX; int lap = 0; float lap_time = 0.0; float total_time = 0.0; float average_time = 0.0; int y =1; int count = 0; float paramChange[3]; bool passed = false; char sweepValue[100]; //string hallo = "Idk what is going on...\n"; //stringstream ss; char arr_read[30]; // this should be long enough to store any reply coming in over bt. int chars_read; vector<float> Uvalue, lineposval, setPointVals; vector<float> sweepData; FILE *fp = fopen( "/" FSNAME "/data.txt", "w"); //FILE *sweep = fopen("/" FSNAME "/sweep1.txt","r"); //Manual implementation of sweep function /*if (sweep == NULL){ robot.printf("Nope."); y = 0; }*/ /* for (int i = 0; i <5; ++i) current_pos[i] = 0.0; */ //wait(8); btbee.printf("Battery: %f\n", robot.battery()); //timer.start(); /*while (fgets(sweepValue, 100, sweep) != NULL){ sweepData.push_back(atof(sweepValue)); }*/ btbee.printf("C: %d", sweepData.size()); time_wait.start(); while(y) { time_wait.reset(); //Get raw sensor values int x [5]; robot.calibrated_sensor(x); //Check to make sure battery isn't low if (robot.battery() < 2.4) { timer.stop(); btbee.printf("Battery too low\n"); break; } //else if (m3pi_IN [0] == 0) //{break;} if( (x[0] > 300 && x[2]>300 && x[4]>300 & !passed)) { if (lap == 0) { /*while( x[0]> 300 && x[4] > 300) { robot.calibrated_sensor(x); }*/ timer.start(); lap= lap +1; } else if (lap == 1) { robot.printf("Success."); robot.stop(); robot.printf("Size: %d", Uvalue.size()); if(fp != NULL){ for (int i = 0; i < Uvalue.size(); ++i) fprintf(fp,"%f %f %f\n", setPointVals[i], Uvalue[i], lineposval[i]); fclose(fp); //fclose(sweep); robot.cls(); robot.locate(0,0); robot.printf("Doner"); } lap_time = timer.read(); total_time += lap_time; average_time = total_time/lap; robot.printf("%f",average_time); if (btbee.writeable()) { btbee.printf("Lap %d time: %f\n", lap, lap_time); btbee.printf("Avg Lap time: %f\n", average_time); } while (count < 3){ //btbee.printf("Input parameter\n"); btbee.read_line(arr_read, 30, &chars_read); paramChange[count] = atof(arr_read); //btbee.printf("%d", arr_read); count++; } P_TERM = paramChange[0]; I_TERM = paramChange[1]; D_TERM = paramChange[2]; btbee.printf("PTERM %f\n", P_TERM); btbee.printf("ITERM %f\n", I_TERM); btbee.printf("DTERM %f\n", D_TERM); lap = 0; total_time = 0; count = 0; timer.stop(); timer.reset(); y = 0; continue; } else { /*while( x[0]> 300 && x[4] > 300) { robot.calibrated_sensor(x); }*/ lap_time = timer.read(); if (btbee.writeable()) { btbee.printf("Lap %d time: %f\n", lap, lap_time); } total_time += lap_time; average_time = total_time/lap; lap = lap +1; //timer.reset(); } passed = true; } else if (x[0] > 300 && x[2]>300 && x[4]>300) passed = true; else passed = false; // Get the position of the line. /* for (int i =0; i < 4; ++i) current_pos[i] = current_pos[i+1]; current_pos[4] = robot.line_position(); proportional = current_pos[4]; // compute the derivative derivative = 0; for (int i =1; i<5;++i) { if (i ==1) derivative += 0*(current_pos[i] - current_pos[i-1]); else if (i == 2) derivative += 0*(current_pos[i] - current_pos[i-1]); else if (i==3) derivative += 0*(current_pos[i] - current_pos[i-1]); else derivative += (current_pos[i] - current_pos[i-1]); } derivative = derivative; */ current_pos = robot.line_position(); //if (fgets(sweepValue, 100, sweep) != NULL){ // proportional = atof(sweepValue) + current_pos; proportional = current_pos; /* } else{ fclose(sweep); FILE *sweep = fopen("/" FSNAME "/sweep1.txt","r"); }*/ derivative = current_pos - previous_pos; //compute the integral integral =+ proportional; //remember the last position. previous_pos = current_pos; // compute the power power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM)); //computer new speeds right = speed+power; left = speed-power; //limit checks if(right<MIN) right = MIN; else if (right > MAX) right = MAX; if(left<MIN) left = MIN; else if (left>MIN) left = MAX; //set speed robot.left_motor(left); robot.right_motor(right); //if (myFile.is_open()) //{ //btbee.printf("%f %f %f\n", left, right, robot.line_position()); Uvalue.push_back(power); lineposval.push_back(robot.line_position()); setPointVals.push_back(0); //} wait((5-time_wait.read_ms())/1000); } robot.stop(); char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8' ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G' ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8' ,'G','8','E','8','D','8','C','4' }; int numb = 59; robot.playtune(hail,numb); }