Lu-Hsuan Chen / Mbed OS autocar_3sensor_mbed

An auto car with 3 IR sensors.

Dependencies:   Ping

autocar/autocar.cpp@15:1d440beb24d3, 2018-07-05 (annotated)

Committer:
cudaChen
Date:
Thu Jul 05 09:33:33 2018 +0000
Revision:
15:1d440beb24d3
Parent:
14:28cae134a304
Child:
18:d7509436e9ef
[add] add statements which user can define the pins they want to use

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cudaChen 12:e95ed962be7a 1 #include "mbed.h"
cudaChen 12:e95ed962be7a 2
cudaChen 12:e95ed962be7a 3 #include "autocar.h"
cudaChen 12:e95ed962be7a 4
cudaChen 12:e95ed962be7a 5 const int MOTOR_M1 = 0;
cudaChen 12:e95ed962be7a 6 const int MOTOR_M2 = 1;
cudaChen 12:e95ed962be7a 7 const int DIR_FORWARD = 0;
cudaChen 12:e95ed962be7a 8 const int DIR_BACKWARD = 1;
cudaChen 12:e95ed962be7a 9 const int PWR_STOP = 0;
cudaChen 12:e95ed962be7a 10
cudaChen 12:e95ed962be7a 11 // used for IR sensors
cudaChen 13:87cd0ae37e06 12 int left, middle, right;
cudaChen 13:87cd0ae37e06 13
cudaChen 13:87cd0ae37e06 14 // PID factors
cudaChen 13:87cd0ae37e06 15 int interror = 0;
cudaChen 13:87cd0ae37e06 16 int olderror = 0;
cudaChen 15:1d440beb24d3 17 int limit = 4095; // 12-bit ADC in STM32
cudaChen 12:e95ed962be7a 18
cudaChen 12:e95ed962be7a 19 // used for output message via serial
cudaChen 12:e95ed962be7a 20 Serial pc(SERIAL_TX, SERIAL_RX);
cudaChen 12:e95ed962be7a 21
cudaChen 12:e95ed962be7a 22 long map(long x, long in_min, long in_max, long out_min, long out_max)
cudaChen 12:e95ed962be7a 23 {
cudaChen 12:e95ed962be7a 24 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cudaChen 12:e95ed962be7a 25 }
cudaChen 12:e95ed962be7a 26
cudaChen 12:e95ed962be7a 27 void readIR(bool* left, bool* middle, bool* right, int threshold)
cudaChen 12:e95ed962be7a 28 {
cudaChen 12:e95ed962be7a 29 // not on track: > 500
cudaChen 12:e95ed962be7a 30 // on track (black): < 500
cudaChen 12:e95ed962be7a 31 *left = leftIR.read_u16() < threshold ? true : false;
cudaChen 12:e95ed962be7a 32 *middle = middleIR.read_u16() < threshold ? true : false;
cudaChen 12:e95ed962be7a 33 *right = rightIR.read_u16() < threshold ? true : false;
cudaChen 12:e95ed962be7a 34 }
cudaChen 12:e95ed962be7a 35
cudaChen 13:87cd0ae37e06 36 int readIRValues()
cudaChen 13:87cd0ae37e06 37 {
cudaChen 13:87cd0ae37e06 38 left = leftIR.read_u16();
cudaChen 13:87cd0ae37e06 39 middle = middleIR.read_u16();
cudaChen 13:87cd0ae37e06 40 right = rightIR.read_u16();
cudaChen 13:87cd0ae37e06 41
cudaChen 13:87cd0ae37e06 42 int ret = left * (-1) + middle * 0 + right * 1;
cudaChen 13:87cd0ae37e06 43
cudaChen 14:28cae134a304 44 pc.printf("left middle right: %d %d %d\r\n", left, middle, right);
cudaChen 13:87cd0ae37e06 45 pc.printf("IR values: %d\r\n", ret);
cudaChen 13:87cd0ae37e06 46
cudaChen 13:87cd0ae37e06 47 return ret;
cudaChen 13:87cd0ae37e06 48 }
cudaChen 13:87cd0ae37e06 49
cudaChen 12:e95ed962be7a 50 // m: 0 => M1 1 => M2
cudaChen 12:e95ed962be7a 51 // power 0~10 dir: 0=>正向　1=>反向
cudaChen 12:e95ed962be7a 52 void DriveSingleMotor(int m, int speed, int dir)
cudaChen 12:e95ed962be7a 53 {
cudaChen 12:e95ed962be7a 54 /*int _speed = 0;
cudaChen 12:e95ed962be7a 55
cudaChen 12:e95ed962be7a 56 //　設定速度
cudaChen 12:e95ed962be7a 57 if (speed>10) speed=10;
cudaChen 12:e95ed962be7a 58 _speed = map(speed, 1, 10, 100, 255);
cudaChen 12:e95ed962be7a 59
cudaChen 12:e95ed962be7a 60 if (speed<=0) {
cudaChen 12:e95ed962be7a 61 speed=0;
cudaChen 12:e95ed962be7a 62 _speed=0;
cudaChen 12:e95ed962be7a 63 } else
cudaChen 12:e95ed962be7a 64 _speed = map(speed, 1, 10, 100, 255);*/
cudaChen 12:e95ed962be7a 65
cudaChen 12:e95ed962be7a 66 if (m == MOTOR_M1) {
cudaChen 12:e95ed962be7a 67 //　設定方向
cudaChen 12:e95ed962be7a 68 if (speed == PWR_STOP) {
cudaChen 12:e95ed962be7a 69 M1_in1 = 0;
cudaChen 12:e95ed962be7a 70 M1_in2 = 0;
cudaChen 12:e95ed962be7a 71 } else if (dir == DIR_FORWARD) {
cudaChen 12:e95ed962be7a 72 // right wheel go forward
cudaChen 12:e95ed962be7a 73 M1_in1 = 1;
cudaChen 12:e95ed962be7a 74 M1_in2 = 0;
cudaChen 12:e95ed962be7a 75 } else {
cudaChen 12:e95ed962be7a 76 // right wheel go backward
cudaChen 12:e95ed962be7a 77 M1_in1 = 0;
cudaChen 12:e95ed962be7a 78 M1_in2 = 1;
cudaChen 12:e95ed962be7a 79 }
cudaChen 12:e95ed962be7a 80 //M1_enable.write_u16(_speed); // 驅動馬達 右輪
cudaChen 12:e95ed962be7a 81 M1_enable.write(1);
cudaChen 12:e95ed962be7a 82
cudaChen 12:e95ed962be7a 83 } else if (m == MOTOR_M2) {
cudaChen 12:e95ed962be7a 84 //　設定方向
cudaChen 12:e95ed962be7a 85 if (speed == PWR_STOP) {
cudaChen 12:e95ed962be7a 86 M2_in3 = 0;
cudaChen 12:e95ed962be7a 87 M2_in4 = 0;
cudaChen 12:e95ed962be7a 88 } else if (dir == DIR_FORWARD) {
cudaChen 12:e95ed962be7a 89 //左輪前進
cudaChen 12:e95ed962be7a 90 M2_in3 = 1;
cudaChen 12:e95ed962be7a 91 M2_in4 = 0;
cudaChen 12:e95ed962be7a 92 } else {
cudaChen 12:e95ed962be7a 93 //左輪倒轉
cudaChen 12:e95ed962be7a 94 M2_in3 = 0;
cudaChen 12:e95ed962be7a 95 M2_in4 = 1;
cudaChen 12:e95ed962be7a 96 }
cudaChen 12:e95ed962be7a 97 //M2_enable.write_u16(_speed); // 驅動馬達 左輪
cudaChen 12:e95ed962be7a 98 M2_enable.write(1);
cudaChen 12:e95ed962be7a 99 } else {
cudaChen 12:e95ed962be7a 100 //M1_enable.write_u16(PWR_STOP); // right wheel
cudaChen 12:e95ed962be7a 101 //M2_enable.write_u16(PWR_STOP); // left wheel
cudaChen 12:e95ed962be7a 102 M1_enable.write(0);
cudaChen 12:e95ed962be7a 103 M2_enable.write(0);
cudaChen 12:e95ed962be7a 104 }
cudaChen 12:e95ed962be7a 105 }
cudaChen 12:e95ed962be7a 106
cudaChen 12:e95ed962be7a 107 void driveMotor(bool left, bool middle, bool right)
cudaChen 12:e95ed962be7a 108 {
cudaChen 12:e95ed962be7a 109 int status = left * 4 + middle * 2 + right;
cudaChen 12:e95ed962be7a 110 switch(status) {
cudaChen 12:e95ed962be7a 111 case 7: // go straight
cudaChen 12:e95ed962be7a 112 pc.printf("7. go straight\r\n");
cudaChen 12:e95ed962be7a 113 forward();
cudaChen 12:e95ed962be7a 114 break;
cudaChen 12:e95ed962be7a 115 case 6: // turn left
cudaChen 12:e95ed962be7a 116 pc.printf("6. turn left\r\n");
cudaChen 12:e95ed962be7a 117 turnLeft();
cudaChen 12:e95ed962be7a 118 break;
cudaChen 12:e95ed962be7a 119 case 5: // go straight
cudaChen 12:e95ed962be7a 120 pc.printf("5. go straight\r\n");
cudaChen 12:e95ed962be7a 121 forward();
cudaChen 12:e95ed962be7a 122 break;
cudaChen 12:e95ed962be7a 123 case 4: // turn left
cudaChen 12:e95ed962be7a 124 pc.printf("4. turn left\r\n");
cudaChen 12:e95ed962be7a 125 turnLeft();
cudaChen 12:e95ed962be7a 126 break;
cudaChen 12:e95ed962be7a 127 case 3: // turn right
cudaChen 12:e95ed962be7a 128 pc.printf("3. turn right\r\n");
cudaChen 12:e95ed962be7a 129 turnRight();
cudaChen 12:e95ed962be7a 130 break;
cudaChen 12:e95ed962be7a 131 case 2: // go straight
cudaChen 12:e95ed962be7a 132 pc.printf("2. go straight\r\n");
cudaChen 12:e95ed962be7a 133 forward();
cudaChen 12:e95ed962be7a 134 break;
cudaChen 12:e95ed962be7a 135 case 1: // turn right
cudaChen 12:e95ed962be7a 136 pc.printf("1. turn right\r\n");
cudaChen 12:e95ed962be7a 137 turnRight();
cudaChen 12:e95ed962be7a 138 break;
cudaChen 12:e95ed962be7a 139 case 0: // go straight
cudaChen 12:e95ed962be7a 140 pc.printf("0. go straight\r\n");
cudaChen 12:e95ed962be7a 141 forward();
cudaChen 12:e95ed962be7a 142 break;
cudaChen 12:e95ed962be7a 143 default:
cudaChen 12:e95ed962be7a 144 pc.printf("invalid\r\n");
cudaChen 12:e95ed962be7a 145 break;
cudaChen 12:e95ed962be7a 146 }
cudaChen 12:e95ed962be7a 147 }
cudaChen 12:e95ed962be7a 148
cudaChen 13:87cd0ae37e06 149 void driveMotorPID(int values, float Kp, float Ki, float Kd)
cudaChen 13:87cd0ae37e06 150 {
cudaChen 13:87cd0ae37e06 151 int error = values; // 'P'
cudaChen 13:87cd0ae37e06 152 interror += error;
cudaChen 13:87cd0ae37e06 153 int lasterror = error - olderror;
cudaChen 13:87cd0ae37e06 154 olderror = error; // 注意olderror的順序
cudaChen 13:87cd0ae37e06 155 int power = error * Kp + interror * Ki + lasterror * Kd;
cudaChen 13:87cd0ae37e06 156 /* error(P值)、interror(I值)、lasterror(D值)、olderror用來取D值的 */
cudaChen 13:87cd0ae37e06 157
cudaChen 13:87cd0ae37e06 158 // limit PID output value (for 12-bit ADC in STM32)
cudaChen 13:87cd0ae37e06 159 if(power > limit) {
cudaChen 13:87cd0ae37e06 160 power = limit;
cudaChen 13:87cd0ae37e06 161 } else if(power < -limit) {
cudaChen 13:87cd0ae37e06 162 power = -limit;
cudaChen 13:87cd0ae37e06 163 }
cudaChen 13:87cd0ae37e06 164
cudaChen 13:87cd0ae37e06 165 // control the direction of auto car
cudaChen 13:87cd0ae37e06 166 if(power < -900) {
cudaChen 13:87cd0ae37e06 167 turnLeft();
cudaChen 13:87cd0ae37e06 168 } else if (power > 900) {
cudaChen 13:87cd0ae37e06 169 turnRight();
cudaChen 13:87cd0ae37e06 170 } else {
cudaChen 13:87cd0ae37e06 171 forward();
cudaChen 13:87cd0ae37e06 172 }
cudaChen 13:87cd0ae37e06 173 }
cudaChen 13:87cd0ae37e06 174
cudaChen 12:e95ed962be7a 175 void init()
cudaChen 12:e95ed962be7a 176 {
cudaChen 12:e95ed962be7a 177 DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
cudaChen 12:e95ed962be7a 178 DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
cudaChen 12:e95ed962be7a 179 }
cudaChen 12:e95ed962be7a 180
cudaChen 12:e95ed962be7a 181 void forward()
cudaChen 12:e95ed962be7a 182 {
cudaChen 12:e95ed962be7a 183 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 12:e95ed962be7a 184 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 12:e95ed962be7a 185 }
cudaChen 12:e95ed962be7a 186
cudaChen 12:e95ed962be7a 187 void turnLeft()
cudaChen 12:e95ed962be7a 188 {
cudaChen 12:e95ed962be7a 189 DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
cudaChen 12:e95ed962be7a 190 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 12:e95ed962be7a 191 }
cudaChen 12:e95ed962be7a 192
cudaChen 12:e95ed962be7a 193 void turnRight()
cudaChen 12:e95ed962be7a 194 {
cudaChen 12:e95ed962be7a 195 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 12:e95ed962be7a 196 DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
cudaChen 12:e95ed962be7a 197 }