Curtis Sellier / Mbed 2 deprecated Project_Car_Curtis_Non_Tested

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Dependencies:   Servo mbed

main.cpp@11:055ee1a3cb75, 2016-10-21 (annotated)

Committer:
csellier
Date:
Fri Oct 21 10:30:20 2016 +0000
Revision:
11:055ee1a3cb75
Parent:
10:57a0c57cabac
Child:
12:8ae6609a66bf
line following added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kmarangi 0:65fd20a989e9 1 #include "mbed.h"
kmarangi 0:65fd20a989e9 2 #include "Servo.h"
csellier 3:581d391d248c 3
csellier 3:581d391d248c 4 #define DISTANCE 0.45
csellier 11:055ee1a3cb75 5 #define VBORDER 0.5 //VBORDER being the LDR voltage value when going from the black line to the white surface and vice versa
csellier 11:055ee1a3cb75 6
csellier 3:581d391d248c 7
csellier 3:581d391d248c 8
csellier 2:0b86e6482e4b 9 Serial pc (USBTX, USBRX); // USB serial interface
csellier 3:581d391d248c 10
csellier 1:8c1e3382b4d7 11 Servo ServoRight(p21); // continuous rotation hobby servo right
csellier 1:8c1e3382b4d7 12 Servo ServoLeft(p22); // continuous rotation hobby servo left
csellier 3:581d391d248c 13
csellier 2:0b86e6482e4b 14 PwmOut LEDleft(p23);
csellier 2:0b86e6482e4b 15 PwmOut LEDright(p24);
csellier 3:581d391d248c 16
csellier 2:0b86e6482e4b 17 AnalogIn IRfront(p15);
csellier 2:0b86e6482e4b 18 AnalogIn IRleft(p16);
csellier 2:0b86e6482e4b 19 AnalogIn IRright(p17);
csellier 2:0b86e6482e4b 20 AnalogIn LDRleft(p18);
csellier 2:0b86e6482e4b 21 AnalogIn LDRright(p19);
kmarangi 0:65fd20a989e9 22
kmarangi 0:65fd20a989e9 23 void init_servo() {
csellier 3:581d391d248c 24 // calibrate the servos for +/-5ms over +/-45deg
csellier 3:581d391d248c 25 ServoRight.calibrate(0.0005,45);
csellier 3:581d391d248c 26 ServoLeft.calibrate(0.0005,45);
kmarangi 0:65fd20a989e9 27 }
kmarangi 0:65fd20a989e9 28
csellier 3:581d391d248c 29 int main() {
csellier 3:581d391d248c 30 float front;
csellier 3:581d391d248c 31 float left;
csellier 10:57a0c57cabac 32 // float right;
csellier 11:055ee1a3cb75 33 float LDRvalueleft;
csellier 11:055ee1a3cb75 34 float LDRvalueright;
kmarangi 0:65fd20a989e9 35
csellier 3:581d391d248c 36 // set the USB serial interface baud rate
csellier 3:581d391d248c 37 pc.baud(921600);
csellier 3:581d391d248c 38 init_servo();
kmarangi 0:65fd20a989e9 39
kmarangi 0:65fd20a989e9 40 while(1) {
csellier 3:581d391d248c 41
csellier 9:a543d0cdfce9 42 // Auto drive : the car will avoid all obstacles aroiund it and get away from them
csellier 3:581d391d248c 43 front = IRfront.read();
csellier 3:581d391d248c 44 left = IRleft.read();
csellier 10:57a0c57cabac 45 // right = IRright.read();
csellier 11:055ee1a3cb75 46 LDRvalueright = LDRright.read();
csellier 11:055ee1a3cb75 47 LDRvalueleft = LDRleft.read(); //output voltage of the LDR used for line following feature
csellier 3:581d391d248c 48
csellier 9:a543d0cdfce9 49 /*****************************************************************************
csellier 11:055ee1a3cb75 50 / if (front > DISTANCE) { Collision avoidance system only,the robot will move away from an obstacle/wall if getting to close to it, backup program if the following doesn't work
csellier 9:a543d0cdfce9 51 / if (left > DISTANCE) {
csellier 9:a543d0cdfce9 52 / ServoRight.write(0.5); //turn right
csellier 9:a543d0cdfce9 53 / ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 54 / } else {
csellier 9:a543d0cdfce9 55 / ServoRight.write(0.6); // turn left
csellier 9:a543d0cdfce9 56 / ServoLeft.write(0.5);
csellier 9:a543d0cdfce9 57 / }
csellier 9:a543d0cdfce9 58 / } else if (left > DISTANCE) {
csellier 9:a543d0cdfce9 59 / if (right < DISTANCE) {
csellier 9:a543d0cdfce9 60 / ServoRight.write(0.5); // right
csellier 9:a543d0cdfce9 61 / ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 62 / } else {
csellier 9:a543d0cdfce9 63 / ServoRight.write(0.6); // forward
csellier 9:a543d0cdfce9 64 / ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 65 / }
csellier 9:a543d0cdfce9 66 / }
csellier 10:57a0c57cabac 67 *****************************************************************************/
csellier 10:57a0c57cabac 68
csellier 3:581d391d248c 69 //Turn both LED's on for the line following feature
csellier 3:581d391d248c 70 LEDleft=1;
csellier 3:581d391d248c 71 LEDright=1;
csellier 3:581d391d248c 72
csellier 6:550027985c6c 73 // send the servo command to the servos themselves
csellier 9:a543d0cdfce9 74 //ServoRight.write(0.6); // write to the continuous rotation servo1
csellier 9:a543d0cdfce9 75 // ServoLeft.write(0.4); // write to the continous servo2
csellier 9:a543d0cdfce9 76
csellier 9:a543d0cdfce9 77 if (front > DISTANCE) {
csellier 9:a543d0cdfce9 78 // turn right
csellier 9:a543d0cdfce9 79 ServoRight.write(0.5); // stop servoright
csellier 9:a543d0cdfce9 80 ServoLeft.write(0.4); // turn on servoleft
csellier 9:a543d0cdfce9 81 wait(2.0); //wait 2 seconds to allow the robot to turn approximately 90 degrees
csellier 10:57a0c57cabac 82 // go straight for a second to establish separation from the object
csellier 10:57a0c57cabac 83 ServoRight.write(0.6);
csellier 10:57a0c57cabac 84 ServoLeft.write(0.4);
csellier 10:57a0c57cabac 85 wait(1.0);
csellier 9:a543d0cdfce9 86 if (left > DISTANCE) {
csellier 9:a543d0cdfce9 87 // keep going straight for 1 second
csellier 9:a543d0cdfce9 88 ServoRight.write(0.6); // write to the continuous rotation servo1
csellier 9:a543d0cdfce9 89 ServoLeft.write(0.4); // write to the continous servo2
csellier 9:a543d0cdfce9 90 wait(1.0);
csellier 9:a543d0cdfce9 91 } else {
csellier 9:a543d0cdfce9 92 // turn left 90 degrees
csellier 9:a543d0cdfce9 93 ServoRight.write(0.5);
csellier 9:a543d0cdfce9 94 ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 95 wait(2.0); // wait 2 seconds to allow the robot to turn approx. 90 degrees
csellier 9:a543d0cdfce9 96 ServoRight.write(0.6); //go straight for 1 second
csellier 9:a543d0cdfce9 97 ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 98 if (left > DISTANCE) {
csellier 9:a543d0cdfce9 99 //keep going straight for 1 second
csellier 9:a543d0cdfce9 100 ServoRight.write(0.6);
csellier 9:a543d0cdfce9 101 ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 102 wait(1.0); //wait for 1 second
csellier 9:a543d0cdfce9 103 } else {
csellier 9:a543d0cdfce9 104 // turn left 90 degrees
csellier 9:a543d0cdfce9 105 ServoRight.write(0.6);
csellier 9:a543d0cdfce9 106 ServoLeft.write(0.5);
csellier 9:a543d0cdfce9 107 wait(2.0); //wait 2 seconds to allow robot to turn 90 degrees
csellier 10:57a0c57cabac 108 ServoRight.write(0.6); //after turning 90 deg turn both servos on so the robot goes straight ahead
csellier 10:57a0c57cabac 109 ServoLeft.write(0.4);
csellier 9:a543d0cdfce9 110 }
csellier 9:a543d0cdfce9 111 }
csellier 10:57a0c57cabac 112 }
csellier 10:57a0c57cabac 113 else if (front < DISTANCE) {
csellier 10:57a0c57cabac 114 //follow line
csellier 11:055ee1a3cb75 115 if (LDRvalueright < VBORDER && LDRvalueleft > VBORDER){
csellier 11:055ee1a3cb75 116 // turn right
csellier 11:055ee1a3cb75 117
csellier 11:055ee1a3cb75 118 }
csellier 11:055ee1a3cb75 119 if (LDRvalueright > VBORDER && LDRvalueleft < VBORDER){
csellier 11:055ee1a3cb75 120 //turn left
csellier 11:055ee1a3cb75 121
csellier 11:055ee1a3cb75 122 }
csellier 11:055ee1a3cb75 123 if LDRvalueright = VBORDER && LDRvalueright = VBORDER) {
csellier 11:055ee1a3cb75 124 //go straight
csellier 11:055ee1a3cb75 125
csellier 11:055ee1a3cb75 126 }
csellier 11:055ee1a3cb75 127
csellier 11:055ee1a3cb75 128
csellier 11:055ee1a3cb75 129
csellier 11:055ee1a3cb75 130
csellier 10:57a0c57cabac 131 }
kmarangi 0:65fd20a989e9 132 }
csellier 10:57a0c57cabac 133 }