Chris Styles
A simple line following program
Revision 0:eb1ece444e15, committed 2010-11-01
- Comitter:
- chris
- Date:
- Mon Nov 01 23:16:57 2010 +0000
- Child:
- 1:5ddd3faed06d
- Commit message:
- Added some LEDs to show how far off the line the sensors are
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Mon Nov 01 23:16:57 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/m3pi/#330eb028e85b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 01 23:16:57 2010 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+BusOut leds(LED1,LED2,LED3,LED4);
+m3pi pi (p27,p9,p10); //nRST, TX, RX
+
+int main() {
+
+ pi.locate(0,1);
+ pi.printf("Line Flw");
+
+ float position_of_line = 0.0;
+
+ pi.sensor_auto_calibrate();
+ float speed = 0.4;
+
+ while (1) {
+
+ // -1.0 is far left, 1.0 is far right
+ position_of_line = pi.line_position();
+
+ // Line is more than 75% to the left
+ if (position_of_line < -0.25) {
+ pi.left_motor(speed + 0.3);
+ pi.right_motor(speed - 0.3);
+ leds = 0xc;
+ }
+ // Line is more than 25% to the left
+ else if (position_of_line < -0.10) {
+ pi.left_motor(speed);
+ pi.right_motor(speed - 0.3);
+ leds = 0x4;
+ }
+ // Line is more than 75% to the right
+ else if (position_of_line > 0.25) {
+ pi.right_motor(speed + 0.3);
+ pi.left_motor(speed - 0.3);
+ leds = 0x3;
+ }
+ // Line is more than 75% to the right
+ else if (position_of_line > 0.10) {
+ pi.right_motor(speed);
+ pi.left_motor(speed - 0.3);
+ leds = 0x2;
+ }
+ // Line is inthe middle
+ else {
+ pi.forward(speed);
+ leds = 0x0;
+ }
+
+ }
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 01 23:16:57 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e