Curtis Sellier / Mbed 2 deprecated Project_Car_Curtis_Non_Tested

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   Servo mbed

main.cpp@8:07464acc8a85, 2016-10-14 (annotated)

Committer:
csellier
Date:
Fri Oct 14 09:53:56 2016 +0000
Revision:
8:07464acc8a85
Parent:
7:5da0ff9752d5
Child:
9:a543d0cdfce9
LDR value 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 3:581d391d248c 5
csellier 3:581d391d248c 6
csellier 2:0b86e6482e4b 7 Serial pc (USBTX, USBRX); // USB serial interface
csellier 3:581d391d248c 8
csellier 1:8c1e3382b4d7 9 Servo ServoRight(p21); // continuous rotation hobby servo right
csellier 1:8c1e3382b4d7 10 Servo ServoLeft(p22); // continuous rotation hobby servo left
csellier 3:581d391d248c 11
csellier 2:0b86e6482e4b 12 PwmOut LEDleft(p23);
csellier 2:0b86e6482e4b 13 PwmOut LEDright(p24);
csellier 3:581d391d248c 14
csellier 2:0b86e6482e4b 15 AnalogIn IRfront(p15);
csellier 2:0b86e6482e4b 16 AnalogIn IRleft(p16);
csellier 2:0b86e6482e4b 17 AnalogIn IRright(p17);
csellier 2:0b86e6482e4b 18 AnalogIn LDRleft(p18);
csellier 2:0b86e6482e4b 19 AnalogIn LDRright(p19);
kmarangi 0:65fd20a989e9 20
kmarangi 0:65fd20a989e9 21 void init_servo() {
csellier 3:581d391d248c 22 // calibrate the servos for +/-5ms over +/-45deg
csellier 3:581d391d248c 23 ServoRight.calibrate(0.0005,45);
csellier 3:581d391d248c 24 ServoLeft.calibrate(0.0005,45);
kmarangi 0:65fd20a989e9 25 }
kmarangi 0:65fd20a989e9 26
csellier 3:581d391d248c 27 int main() {
csellier 3:581d391d248c 28 float front;
csellier 3:581d391d248c 29 float left;
csellier 3:581d391d248c 30 float right;
csellier 8:07464acc8a85 31 float LDRleft;
csellier 8:07464acc8a85 32 float LDRright;
kmarangi 0:65fd20a989e9 33
csellier 3:581d391d248c 34 // set the USB serial interface baud rate
csellier 3:581d391d248c 35 pc.baud(921600);
csellier 3:581d391d248c 36 init_servo();
kmarangi 0:65fd20a989e9 37
kmarangi 0:65fd20a989e9 38 while(1) {
csellier 3:581d391d248c 39
csellier 3:581d391d248c 40 // Auto drive
csellier 3:581d391d248c 41 front = IRfront.read();
csellier 3:581d391d248c 42 left = IRleft.read();
csellier 3:581d391d248c 43 right = IRright.read();
csellier 8:07464acc8a85 44 LDRvalueright = LDRright.read();
csellier 8:07464acc8a85 45 LDRvalueleft = LDRleft.read()
csellier 3:581d391d248c 46
csellier 3:581d391d248c 47 if (front > DISTANCE) {
csellier 3:581d391d248c 48 if (left > DISTANCE) {
csellier 5:40033f403d50 49 ServoRight.write(0.5); //turn right
csellier 4:c1f9aaf55e8b 50 ServoLeft.write(0.4);
csellier 3:581d391d248c 51 } else {
csellier 7:5da0ff9752d5 52 ServoRight.write(0.6); // turn left
csellier 7:5da0ff9752d5 53 ServoLeft.write(0.5);
csellier 3:581d391d248c 54 }
csellier 3:581d391d248c 55 } else if (left > DISTANCE) {
csellier 3:581d391d248c 56 if (right < DISTANCE) {
csellier 7:5da0ff9752d5 57 ServoRight.write(0.5); // right
csellier 7:5da0ff9752d5 58 ServoLeft.write(0.4);
csellier 3:581d391d248c 59 } else {
csellier 7:5da0ff9752d5 60 ServoRight.write(0.6); // forward
csellier 7:5da0ff9752d5 61 ServoLeft.write(0.4);
csellier 3:581d391d248c 62 }
csellier 3:581d391d248c 63 }
csellier 3:581d391d248c 64
csellier 3:581d391d248c 65 //Turn both LED's on for the line following feature
csellier 3:581d391d248c 66 LEDleft=1;
csellier 3:581d391d248c 67 LEDright=1;
csellier 3:581d391d248c 68
csellier 6:550027985c6c 69 // send the servo command to the servos themselves
csellier 3:581d391d248c 70 ServoRight.write(0.6); // write to the continuous rotation servo1
csellier 3:581d391d248c 71 ServoLeft.write(0.4); // write to the continous servo2
kmarangi 0:65fd20a989e9 72
csellier 3:581d391d248c 73 }
kmarangi 0:65fd20a989e9 74 }
kmarangi 0:65fd20a989e9 75
kmarangi 0:65fd20a989e9 76