Chris Styles / Mbed 2 deprecated m3pi_LineFollower

A simple line following program

Dependencies:   mbed

main.cpp@0:eb1ece444e15, 2010-11-01 (annotated)

Committer:
chris
Date:
Mon Nov 01 23:16:57 2010 +0000
Revision:
0:eb1ece444e15
Child:
1:5ddd3faed06d
Added some LEDs to show how far off the line the sensors are

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:eb1ece444e15 1 #include "mbed.h"
chris 0:eb1ece444e15 2 #include "m3pi.h"
chris 0:eb1ece444e15 3
chris 0:eb1ece444e15 4 BusOut leds(LED1,LED2,LED3,LED4);
chris 0:eb1ece444e15 5 m3pi pi (p27,p9,p10); //nRST, TX, RX
chris 0:eb1ece444e15 6
chris 0:eb1ece444e15 7 int main() {
chris 0:eb1ece444e15 8
chris 0:eb1ece444e15 9 pi.locate(0,1);
chris 0:eb1ece444e15 10 pi.printf("Line Flw");
chris 0:eb1ece444e15 11
chris 0:eb1ece444e15 12 float position_of_line = 0.0;
chris 0:eb1ece444e15 13
chris 0:eb1ece444e15 14 pi.sensor_auto_calibrate();
chris 0:eb1ece444e15 15 float speed = 0.4;
chris 0:eb1ece444e15 16
chris 0:eb1ece444e15 17 while (1) {
chris 0:eb1ece444e15 18
chris 0:eb1ece444e15 19 // -1.0 is far left, 1.0 is far right
chris 0:eb1ece444e15 20 position_of_line = pi.line_position();
chris 0:eb1ece444e15 21
chris 0:eb1ece444e15 22 // Line is more than 75% to the left
chris 0:eb1ece444e15 23 if (position_of_line < -0.25) {
chris 0:eb1ece444e15 24 pi.left_motor(speed + 0.3);
chris 0:eb1ece444e15 25 pi.right_motor(speed - 0.3);
chris 0:eb1ece444e15 26 leds = 0xc;
chris 0:eb1ece444e15 27 }
chris 0:eb1ece444e15 28 // Line is more than 25% to the left
chris 0:eb1ece444e15 29 else if (position_of_line < -0.10) {
chris 0:eb1ece444e15 30 pi.left_motor(speed);
chris 0:eb1ece444e15 31 pi.right_motor(speed - 0.3);
chris 0:eb1ece444e15 32 leds = 0x4;
chris 0:eb1ece444e15 33 }
chris 0:eb1ece444e15 34 // Line is more than 75% to the right
chris 0:eb1ece444e15 35 else if (position_of_line > 0.25) {
chris 0:eb1ece444e15 36 pi.right_motor(speed + 0.3);
chris 0:eb1ece444e15 37 pi.left_motor(speed - 0.3);
chris 0:eb1ece444e15 38 leds = 0x3;
chris 0:eb1ece444e15 39 }
chris 0:eb1ece444e15 40 // Line is more than 75% to the right
chris 0:eb1ece444e15 41 else if (position_of_line > 0.10) {
chris 0:eb1ece444e15 42 pi.right_motor(speed);
chris 0:eb1ece444e15 43 pi.left_motor(speed - 0.3);
chris 0:eb1ece444e15 44 leds = 0x2;
chris 0:eb1ece444e15 45 }
chris 0:eb1ece444e15 46 // Line is inthe middle
chris 0:eb1ece444e15 47 else {
chris 0:eb1ece444e15 48 pi.forward(speed);
chris 0:eb1ece444e15 49 leds = 0x0;
chris 0:eb1ece444e15 50 }
chris 0:eb1ece444e15 51
chris 0:eb1ece444e15 52 }
chris 0:eb1ece444e15 53
chris 0:eb1ece444e15 54 }