Bert Gereels / Mbed 2 deprecated ProjectTwo

Program that combines a linefollower program with visible ligt communication.

Dependencies:   m3pi_custom mbed

linefollower.h@1:243ec35fafcd, 2018-05-16 (annotated)

Committer:
bertgereels
Date:
Wed May 16 19:12:20 2018 +0000
Revision:
1:243ec35fafcd
Parent:
0:1f5782fc5ca3 
Part two of the 'projectlab' course.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bertgereels 0:1f5782fc5ca3 1 #include "mbed.h"
bertgereels 0:1f5782fc5ca3 2 #include "m3pi.h"
bertgereels 0:1f5782fc5ca3 3 #include "manchester.h"
bertgereels 1:243ec35fafcd 4 #include "analoog.h"
bertgereels 0:1f5782fc5ca3 5
bertgereels 0:1f5782fc5ca3 6 #pragma once
bertgereels 0:1f5782fc5ca3 7
bertgereels 0:1f5782fc5ca3 8 // Minimum and maximum motor speeds
bertgereels 1:243ec35fafcd 9 #define MAX_SPEED 0.22
bertgereels 0:1f5782fc5ca3 10 #define MIN_SPEED 0
bertgereels 0:1f5782fc5ca3 11
bertgereels 0:1f5782fc5ca3 12 // PID terms
bertgereels 0:1f5782fc5ca3 13 #define P_TERM 1
bertgereels 0:1f5782fc5ca3 14 #define I_TERM 0
bertgereels 0:1f5782fc5ca3 15 #define D_TERM 10
bertgereels 0:1f5782fc5ca3 16
bertgereels 0:1f5782fc5ca3 17 namespace ProjectTwo{
bertgereels 0:1f5782fc5ca3 18
bertgereels 0:1f5782fc5ca3 19 class LineFollower{
bertgereels 0:1f5782fc5ca3 20 public:
bertgereels 1:243ec35fafcd 21 /*
bertgereels 1:243ec35fafcd 22 * Constructor for LineFollower class.
bertgereels 1:243ec35fafcd 23 *
bertgereels 1:243ec35fafcd 24 @param Nothing.
bertgereels 1:243ec35fafcd 25 @return Nothing.
bertgereels 1:243ec35fafcd 26 */
bertgereels 0:1f5782fc5ca3 27 LineFollower(void);
bertgereels 1:243ec35fafcd 28
bertgereels 1:243ec35fafcd 29 /*
bertgereels 1:243ec35fafcd 30 * Most important method of this class, contains the state machine.
bertgereels 1:243ec35fafcd 31 *
bertgereels 1:243ec35fafcd 32 @param Nothing.
bertgereels 1:243ec35fafcd 33 @return Nothing.
bertgereels 1:243ec35fafcd 34 */
bertgereels 0:1f5782fc5ca3 35 void followTheLine(void);
bertgereels 0:1f5782fc5ca3 36 private:
bertgereels 1:243ec35fafcd 37
bertgereels 0:1f5782fc5ca3 38 m3pi m3pi;
bertgereels 1:243ec35fafcd 39 Manchester vlcDecoder;
bertgereels 1:243ec35fafcd 40 AnalogReader analogSensor;
bertgereels 0:1f5782fc5ca3 41
bertgereels 0:1f5782fc5ca3 42 enum lineFollowerStates{
bertgereels 0:1f5782fc5ca3 43 STATE_INIT,
bertgereels 0:1f5782fc5ca3 44 STATE_COMPUTE,
bertgereels 0:1f5782fc5ca3 45 STATE_FORWARD,
bertgereels 1:243ec35fafcd 46 STATE_LONG_FORWARD,
bertgereels 0:1f5782fc5ca3 47 STATE_LEFT,
bertgereels 0:1f5782fc5ca3 48 STATE_RIGHT,
bertgereels 1:243ec35fafcd 49 STATE_TURN180,
bertgereels 0:1f5782fc5ca3 50 STATE_STOP,
bertgereels 0:1f5782fc5ca3 51 STATE_VLC
bertgereels 0:1f5782fc5ca3 52 };
bertgereels 0:1f5782fc5ca3 53 lineFollowerStates CurrentLineFollowerState;
bertgereels 0:1f5782fc5ca3 54
bertgereels 1:243ec35fafcd 55 /*
bertgereels 1:243ec35fafcd 56 * Method that computes the derivative.
bertgereels 1:243ec35fafcd 57 *
bertgereels 1:243ec35fafcd 58 @param Nothing.
bertgereels 1:243ec35fafcd 59 @return The derivate as a float.
bertgereels 1:243ec35fafcd 60 */
bertgereels 0:1f5782fc5ca3 61 float computeDerivative(void);
bertgereels 1:243ec35fafcd 62
bertgereels 1:243ec35fafcd 63 /*
bertgereels 1:243ec35fafcd 64 * Method that computes the integral.
bertgereels 1:243ec35fafcd 65 *
bertgereels 1:243ec35fafcd 66 @param Nothing.
bertgereels 1:243ec35fafcd 67 @return The integral as a float.
bertgereels 1:243ec35fafcd 68 */
bertgereels 0:1f5782fc5ca3 69 float computeIntegral(void);
bertgereels 1:243ec35fafcd 70
bertgereels 1:243ec35fafcd 71 /*
bertgereels 1:243ec35fafcd 72 * Method that computes the power.
bertgereels 1:243ec35fafcd 73 *
bertgereels 1:243ec35fafcd 74 @param Nothing.
bertgereels 1:243ec35fafcd 75 @return The power as a float.
bertgereels 1:243ec35fafcd 76 */
bertgereels 0:1f5782fc5ca3 77 float computePower(void);
bertgereels 1:243ec35fafcd 78
bertgereels 1:243ec35fafcd 79 /*
bertgereels 1:243ec35fafcd 80 * Method that computes the new speeds for the robot, after the calculations.
bertgereels 1:243ec35fafcd 81 *
bertgereels 1:243ec35fafcd 82 @param Nothing.
bertgereels 1:243ec35fafcd 83 @return Nothing.
bertgereels 1:243ec35fafcd 84 */
bertgereels 0:1f5782fc5ca3 85 void computeNewSpeeds(void);
bertgereels 1:243ec35fafcd 86
bertgereels 1:243ec35fafcd 87 /*
bertgereels 1:243ec35fafcd 88 * Method that checks the limits of the robot.
bertgereels 1:243ec35fafcd 89 *
bertgereels 1:243ec35fafcd 90 @param Nothing.
bertgereels 1:243ec35fafcd 91 @return Nothing.
bertgereels 1:243ec35fafcd 92 */
bertgereels 0:1f5782fc5ca3 93 void limitChecks(void);
bertgereels 0:1f5782fc5ca3 94
bertgereels 1:243ec35fafcd 95 /*
bertgereels 1:243ec35fafcd 96 * Method that makes the robot turn left 90 degrees.
bertgereels 1:243ec35fafcd 97 *
bertgereels 1:243ec35fafcd 98 @param Nothing.
bertgereels 1:243ec35fafcd 99 @return Nothing.
bertgereels 1:243ec35fafcd 100 */
bertgereels 0:1f5782fc5ca3 101 void turnLeft90(void);
bertgereels 1:243ec35fafcd 102
bertgereels 1:243ec35fafcd 103 /*
bertgereels 1:243ec35fafcd 104 * Method that makes the robot turn right 90 degrees.
bertgereels 1:243ec35fafcd 105 *
bertgereels 1:243ec35fafcd 106 @param Nothing.
bertgereels 1:243ec35fafcd 107 @return Nothing.
bertgereels 1:243ec35fafcd 108 */
bertgereels 0:1f5782fc5ca3 109 void turnRight90(void);
bertgereels 1:243ec35fafcd 110
bertgereels 1:243ec35fafcd 111 /*
bertgereels 1:243ec35fafcd 112 * Method that makes the robot go backward.
bertgereels 1:243ec35fafcd 113 *
bertgereels 1:243ec35fafcd 114 @param Nothing.
bertgereels 1:243ec35fafcd 115 @return Nothing.
bertgereels 1:243ec35fafcd 116 */
bertgereels 0:1f5782fc5ca3 117 void goBackwards(void);
bertgereels 1:243ec35fafcd 118
bertgereels 1:243ec35fafcd 119 /*
bertgereels 1:243ec35fafcd 120 * Method that makes the robot go forward.
bertgereels 1:243ec35fafcd 121 *
bertgereels 1:243ec35fafcd 122 @param Nothing.
bertgereels 1:243ec35fafcd 123 @return Nothing.
bertgereels 1:243ec35fafcd 124 */
bertgereels 0:1f5782fc5ca3 125 void goForwards(void);
bertgereels 0:1f5782fc5ca3 126
bertgereels 1:243ec35fafcd 127 /*
bertgereels 1:243ec35fafcd 128 * Method that makes the robot 'jiggle'.
bertgereels 1:243ec35fafcd 129 * The purpose of this is to make the robot search the area for a LED.
bertgereels 1:243ec35fafcd 130 *
bertgereels 1:243ec35fafcd 131 @param Nothing.
bertgereels 1:243ec35fafcd 132 @return Nothing.
bertgereels 1:243ec35fafcd 133 */
bertgereels 1:243ec35fafcd 134 void Scan(void);
bertgereels 1:243ec35fafcd 135
bertgereels 1:243ec35fafcd 136 /*
bertgereels 1:243ec35fafcd 137 * Method that uses the 2 leftmost and 2 rightmost IR sensors
bertgereels 1:243ec35fafcd 138 * to determine if an intersection is ahead.
bertgereels 1:243ec35fafcd 139 *
bertgereels 1:243ec35fafcd 140 @param Nothing.
bertgereels 1:243ec35fafcd 141 @return Nothing.
bertgereels 1:243ec35fafcd 142 */
bertgereels 1:243ec35fafcd 143 bool checkForIntersection(void);
bertgereels 0:1f5782fc5ca3 144
bertgereels 0:1f5782fc5ca3 145 float right;
bertgereels 0:1f5782fc5ca3 146 float left;
bertgereels 0:1f5782fc5ca3 147 float current_pos_of_line;
bertgereels 0:1f5782fc5ca3 148 float previous_pos_of_line;
bertgereels 0:1f5782fc5ca3 149 float derivative,proportional,integral;
bertgereels 0:1f5782fc5ca3 150 float power;
bertgereels 0:1f5782fc5ca3 151 float speed;
bertgereels 0:1f5782fc5ca3 152 };
bertgereels 0:1f5782fc5ca3 153 };