Lu-Hsuan Chen / Mbed OS autocar_3sensor_mbed

An auto car with 3 IR sensors.

Dependencies:   Ping

autocar/autocar.h@21:093c8525349a, 2018-07-19 (annotated)

Committer:
cudaChen
Date:
Thu Jul 19 07:41:10 2018 +0000
Revision:
21:093c8525349a
Parent:
19:d06f5a3ed0bc 
[change] merge "PID control" and "obstacle avoidance" feature

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cudaChen 12:e95ed962be7a 1 #ifndef AUTOCAR_H
cudaChen 12:e95ed962be7a 2 #define AUTOCAR_H
cudaChen 12:e95ed962be7a 3
cudaChen 12:e95ed962be7a 4 #include "mbed.h"
cudaChen 12:e95ed962be7a 5
cudaChen 18:d7509436e9ef 6 #include "Ping.h"
cudaChen 18:d7509436e9ef 7
cudaChen 15:1d440beb24d3 8 // used for motors
cudaChen 15:1d440beb24d3 9 extern DigitalOut M1_enable;
cudaChen 15:1d440beb24d3 10 extern DigitalOut M2_enable;
cudaChen 15:1d440beb24d3 11 extern DigitalOut M1_in1;
cudaChen 15:1d440beb24d3 12 extern DigitalOut M1_in2;
cudaChen 15:1d440beb24d3 13 extern DigitalOut M2_in3;
cudaChen 15:1d440beb24d3 14 extern DigitalOut M2_in4;
cudaChen 12:e95ed962be7a 15
cudaChen 12:e95ed962be7a 16 // used for IR sensors
cudaChen 15:1d440beb24d3 17 extern AnalogIn leftIR;
cudaChen 15:1d440beb24d3 18 extern AnalogIn middleIR;
cudaChen 15:1d440beb24d3 19 extern AnalogIn rightIR;
cudaChen 15:1d440beb24d3 20
cudaChen 18:d7509436e9ef 21 // used for ultrasonic sensors
cudaChen 18:d7509436e9ef 22 extern Ping ultrasonic;
cudaChen 18:d7509436e9ef 23
cudaChen 15:1d440beb24d3 24 // read the value of IR sensors
cudaChen 12:e95ed962be7a 25 void readIR(bool* left, bool* middle, bool* right, int threshold);
cudaChen 13:87cd0ae37e06 26 int readIRValues();
cudaChen 18:d7509436e9ef 27 void readSensor(bool* left, bool* middle, bool* right, bool* hasObstacle, int threshold, int range);
cudaChen 21:093c8525349a 28 void readSensorValues(int *values, bool *hasObstacle, int range);
cudaChen 12:e95ed962be7a 29
cudaChen 12:e95ed962be7a 30 long map(long x, long in_min, long in_max, long out_min, long out_max);
cudaChen 12:e95ed962be7a 31
cudaChen 12:e95ed962be7a 32 // used for controlling the direction of auto car
cudaChen 12:e95ed962be7a 33 void DriveSingleMotor(int m, int speed, int dir);
cudaChen 12:e95ed962be7a 34 void driveMotor(bool left, bool middle, bool right);
cudaChen 18:d7509436e9ef 35 void driveMotor(bool left, bool middle, bool right, bool hasObstacle);
cudaChen 19:d06f5a3ed0bc 36 void driveMotorPID(int values, float Kp, float Ki, float Kd);
cudaChen 21:093c8525349a 37 void run(int values, float Kp, float Ki, float Kd, bool hasObstacle);
cudaChen 13:87cd0ae37e06 38
cudaChen 12:e95ed962be7a 39 void init();
cudaChen 18:d7509436e9ef 40 void stop();
cudaChen 12:e95ed962be7a 41 void forward();
cudaChen 12:e95ed962be7a 42 void turnLeft();
cudaChen 12:e95ed962be7a 43 void turnRight();
cudaChen 12:e95ed962be7a 44
cudaChen 12:e95ed962be7a 45 #endif