Lu-Hsuan Chen / Mbed OS autocar_3sensor_mbed

An auto car with 3 IR sensors.

Dependencies:   Ping

main.cpp@7:4edd049209a6, 2018-06-30 (annotated)

Committer:
cudaChen
Date:
Sat Jun 30 01:45:13 2018 +0000
Revision:
7:4edd049209a6
Parent:
6:f34538eea724
Child:
9:ce1dd89ff5e8
add trigger button feature

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cudaChen 0:190c4784b6f4 1 #include "mbed.h"
cudaChen 0:190c4784b6f4 2
cudaChen 7:4edd049209a6 3 // trigger button and triggered LED
cudaChen 0:190c4784b6f4 4 DigitalOut led1(LED1);
cudaChen 7:4edd049209a6 5 DigitalIn pb(PC_13);
cudaChen 7:4edd049209a6 6 int lastButtonState = 0;
cudaChen 7:4edd049209a6 7 bool ledState = false;
cudaChen 0:190c4784b6f4 8
cudaChen 0:190c4784b6f4 9 Serial pc(SERIAL_TX, SERIAL_RX);
cudaChen 0:190c4784b6f4 10
cudaChen 0:190c4784b6f4 11 // used for motor
cudaChen 0:190c4784b6f4 12 //AnalogOut M1_enable(D6);
cudaChen 0:190c4784b6f4 13 //AnalogOut M2_enable(D5);
cudaChen 0:190c4784b6f4 14 DigitalOut M1_enable(D6);
cudaChen 0:190c4784b6f4 15 DigitalOut M2_enable(D5);
cudaChen 0:190c4784b6f4 16 DigitalOut M1_in1(D12);
cudaChen 0:190c4784b6f4 17 DigitalOut M1_in2(D11);
cudaChen 0:190c4784b6f4 18 DigitalOut M2_in3(D10);
cudaChen 0:190c4784b6f4 19 DigitalOut M2_in4(D9);
cudaChen 0:190c4784b6f4 20 const int MOTOR_M1=0;
cudaChen 0:190c4784b6f4 21 const int MOTOR_M2=1;
cudaChen 0:190c4784b6f4 22 const int DIR_FORWARD= 0;
cudaChen 0:190c4784b6f4 23 const int DIR_BACKWARD=1;
cudaChen 0:190c4784b6f4 24 const int PWR_STOP = 0;
cudaChen 0:190c4784b6f4 25
cudaChen 0:190c4784b6f4 26 // used for IR sensors
cudaChen 0:190c4784b6f4 27 AnalogIn leftIR(A1);
cudaChen 0:190c4784b6f4 28 AnalogIn middleIR(A3);
cudaChen 0:190c4784b6f4 29 AnalogIn rightIR(A5);
cudaChen 0:190c4784b6f4 30
cudaChen 0:190c4784b6f4 31 long map(long x, long in_min, long in_max, long out_min, long out_max)
cudaChen 0:190c4784b6f4 32 {
cudaChen 0:190c4784b6f4 33 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cudaChen 0:190c4784b6f4 34 }
cudaChen 0:190c4784b6f4 35
cudaChen 0:190c4784b6f4 36 void DriveSingleMotor(int m, int speed, int dir);
cudaChen 5:25faf509ee9b 37 void driveMotor(bool left, bool middle, bool right);
cudaChen 0:190c4784b6f4 38
cudaChen 0:190c4784b6f4 39 // main() runs in its own thread in the OS
cudaChen 0:190c4784b6f4 40 int main()
cudaChen 0:190c4784b6f4 41 {
cudaChen 0:190c4784b6f4 42 bool left = false;
cudaChen 0:190c4784b6f4 43 bool middle = false;
cudaChen 0:190c4784b6f4 44 bool right = false;
cudaChen 4:76b9213714cc 45
cudaChen 2:e0a553b64315 46 // here I use 500 as threshold
cudaChen 2:e0a553b64315 47 int threshold = 500;
cudaChen 0:190c4784b6f4 48
cudaChen 4:76b9213714cc 49 while (true) {
cudaChen 7:4edd049209a6 50 int reading1 = pb.read();
cudaChen 7:4edd049209a6 51
cudaChen 7:4edd049209a6 52 if(reading1 != lastButtonState) {
cudaChen 7:4edd049209a6 53 wait_ms(20);
cudaChen 7:4edd049209a6 54
cudaChen 7:4edd049209a6 55 int reading2 = pb.read();
cudaChen 7:4edd049209a6 56
cudaChen 7:4edd049209a6 57 if(reading2 == reading1) {
cudaChen 7:4edd049209a6 58 lastButtonState = reading2;
cudaChen 7:4edd049209a6 59 }
cudaChen 7:4edd049209a6 60
cudaChen 7:4edd049209a6 61 if(lastButtonState == 1) {
cudaChen 7:4edd049209a6 62 ledState = !ledState;
cudaChen 7:4edd049209a6 63 }
cudaChen 7:4edd049209a6 64 }
cudaChen 7:4edd049209a6 65
cudaChen 7:4edd049209a6 66 led1.write(ledState);
cudaChen 7:4edd049209a6 67
cudaChen 7:4edd049209a6 68 if(ledState) {
cudaChen 2:e0a553b64315 69 // not on track: > 500
cudaChen 2:e0a553b64315 70 // on track (black): < 500
cudaChen 2:e0a553b64315 71 left = leftIR.read_u16() < threshold ? true : false;
cudaChen 2:e0a553b64315 72 middle = middleIR.read_u16() < threshold ? true : false;
cudaChen 2:e0a553b64315 73 right = rightIR.read_u16() < threshold ? true : false;
cudaChen 0:190c4784b6f4 74
cudaChen 5:25faf509ee9b 75 driveMotor(left, middle, right);
cudaChen 7:4edd049209a6 76 }
cudaChen 0:190c4784b6f4 77 }
cudaChen 0:190c4784b6f4 78 }
cudaChen 0:190c4784b6f4 79
cudaChen 0:190c4784b6f4 80 // m: 0 => M1 1 => M2
cudaChen 0:190c4784b6f4 81 // power 0~10 dir: 0=>正向　1=>反向
cudaChen 0:190c4784b6f4 82 void DriveSingleMotor(int m, int speed, int dir)
cudaChen 0:190c4784b6f4 83 {
cudaChen 0:190c4784b6f4 84 /*int _speed = 0;
cudaChen 0:190c4784b6f4 85
cudaChen 0:190c4784b6f4 86 //　設定速度
cudaChen 0:190c4784b6f4 87 if (speed>10) speed=10;
cudaChen 0:190c4784b6f4 88 _speed = map(speed, 1, 10, 100, 255);
cudaChen 0:190c4784b6f4 89
cudaChen 0:190c4784b6f4 90 if (speed<=0) {
cudaChen 0:190c4784b6f4 91 speed=0;
cudaChen 0:190c4784b6f4 92 _speed=0;
cudaChen 0:190c4784b6f4 93 } else
cudaChen 0:190c4784b6f4 94 _speed = map(speed, 1, 10, 100, 255);*/
cudaChen 0:190c4784b6f4 95
cudaChen 0:190c4784b6f4 96 if (m == MOTOR_M1) {
cudaChen 0:190c4784b6f4 97 //　設定方向
cudaChen 0:190c4784b6f4 98 if (speed == PWR_STOP) {
cudaChen 0:190c4784b6f4 99 M1_in1 = 0;
cudaChen 0:190c4784b6f4 100 M1_in2 = 0;
cudaChen 0:190c4784b6f4 101 } else if (dir == DIR_FORWARD) {
cudaChen 0:190c4784b6f4 102 // right wheel go forward
cudaChen 0:190c4784b6f4 103 M1_in1 = 1;
cudaChen 0:190c4784b6f4 104 M1_in2 = 0;
cudaChen 0:190c4784b6f4 105 } else {
cudaChen 0:190c4784b6f4 106 // right wheel go backward
cudaChen 0:190c4784b6f4 107 M1_in1 = 0;
cudaChen 0:190c4784b6f4 108 M1_in2 = 1;
cudaChen 0:190c4784b6f4 109 }
cudaChen 0:190c4784b6f4 110 //M1_enable.write_u16(_speed); // 驅動馬達 右輪
cudaChen 0:190c4784b6f4 111 M1_enable.write(1);
cudaChen 0:190c4784b6f4 112
cudaChen 0:190c4784b6f4 113 } else if (m == MOTOR_M2) {
cudaChen 0:190c4784b6f4 114 //　設定方向
cudaChen 0:190c4784b6f4 115 if (speed == PWR_STOP) {
cudaChen 0:190c4784b6f4 116 M2_in3 = 0;
cudaChen 0:190c4784b6f4 117 M2_in4 = 0;
cudaChen 0:190c4784b6f4 118 } else if (dir == DIR_FORWARD) {
cudaChen 0:190c4784b6f4 119 //左輪前進
cudaChen 0:190c4784b6f4 120 M2_in3 = 1;
cudaChen 0:190c4784b6f4 121 M2_in4 = 0;
cudaChen 0:190c4784b6f4 122 } else {
cudaChen 0:190c4784b6f4 123 //左輪倒轉
cudaChen 0:190c4784b6f4 124 M2_in3 = 0;
cudaChen 0:190c4784b6f4 125 M2_in4 = 1;
cudaChen 0:190c4784b6f4 126 }
cudaChen 0:190c4784b6f4 127 //M2_enable.write_u16(_speed); // 驅動馬達 左輪
cudaChen 0:190c4784b6f4 128 M2_enable.write(1);
cudaChen 0:190c4784b6f4 129 } else {
cudaChen 0:190c4784b6f4 130 //M1_enable.write_u16(PWR_STOP); // right wheel
cudaChen 0:190c4784b6f4 131 //M2_enable.write_u16(PWR_STOP); // left wheel
cudaChen 0:190c4784b6f4 132 M1_enable.write(0);
cudaChen 0:190c4784b6f4 133 M2_enable.write(0);
cudaChen 0:190c4784b6f4 134 }
cudaChen 0:190c4784b6f4 135 }
cudaChen 0:190c4784b6f4 136
cudaChen 5:25faf509ee9b 137 void driveMotor(bool left, bool middle, bool right)
cudaChen 5:25faf509ee9b 138 {
cudaChen 6:f34538eea724 139 int status = left * 4 + middle * 2 + right;
cudaChen 6:f34538eea724 140 switch(status) {
cudaChen 6:f34538eea724 141 case 7: // go straight
cudaChen 6:f34538eea724 142 pc.printf("7. go straight\r\n");
cudaChen 6:f34538eea724 143 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 144 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 145 break;
cudaChen 6:f34538eea724 146 case 6: // turn left
cudaChen 6:f34538eea724 147 pc.printf("6. turn left\r\n");
cudaChen 6:f34538eea724 148 DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
cudaChen 6:f34538eea724 149 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 150 break;
cudaChen 6:f34538eea724 151 case 5: // go straight
cudaChen 6:f34538eea724 152 pc.printf("5. go straight\r\n");
cudaChen 6:f34538eea724 153 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 154 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 155 break;
cudaChen 6:f34538eea724 156 case 4: // turn left
cudaChen 6:f34538eea724 157 pc.printf("4. turn left\r\n");
cudaChen 6:f34538eea724 158 DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
cudaChen 6:f34538eea724 159 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 160 break;
cudaChen 6:f34538eea724 161 case 3: // turn right
cudaChen 6:f34538eea724 162 pc.printf("3. turn right\r\n");
cudaChen 6:f34538eea724 163 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 164 DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
cudaChen 6:f34538eea724 165 break;
cudaChen 6:f34538eea724 166 case 2: // go straight
cudaChen 6:f34538eea724 167 pc.printf("2. go straight\r\n");
cudaChen 6:f34538eea724 168 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 169 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 170 break;
cudaChen 6:f34538eea724 171 case 1: // turn right
cudaChen 6:f34538eea724 172 pc.printf("1. turn right\r\n");
cudaChen 6:f34538eea724 173 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 174 DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
cudaChen 6:f34538eea724 175 break;
cudaChen 6:f34538eea724 176 case 0: // go straight
cudaChen 6:f34538eea724 177 pc.printf("0. go straight\r\n");
cudaChen 6:f34538eea724 178 DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 179 DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
cudaChen 6:f34538eea724 180 break;
cudaChen 6:f34538eea724 181 default:
cudaChen 6:f34538eea724 182 pc.printf("invalid\r\n");
cudaChen 6:f34538eea724 183 break;
cudaChen 6:f34538eea724 184 }
cudaChen 5:25faf509ee9b 185 }
cudaChen 5:25faf509ee9b 186