Final version of Polulu M2 SETI
Dependencies: FileSystem_POPS m3PI_TP_POPS_II2015v0 m3pi mbed
Fork of m3PI_TP_POPS_II2015v0 by
main3.cpp@7:ca53c1bde37c, 2018-03-06 (annotated)
- Committer:
- diogohideki
- Date:
- Tue Mar 06 08:35:43 2018 +0000
- Revision:
- 7:ca53c1bde37c
- Parent:
- 6:9690e497319b
- Child:
- 8:de6ca481b136
before 6 mars
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bouaziz | 0:398afdd73d9e | 1 | #include "mbed.h" |
bouaziz | 0:398afdd73d9e | 2 | #include "m3pi.h" |
bouaziz | 0:398afdd73d9e | 3 | #include "MSCFileSystem.h" |
bouaziz | 0:398afdd73d9e | 4 | |
bouaziz | 0:398afdd73d9e | 5 | m3pi m3pi; // Initialise the m3pi |
bouaziz | 0:398afdd73d9e | 6 | |
bouaziz | 0:398afdd73d9e | 7 | Serial xbee(p28,p27); |
bouaziz | 0:398afdd73d9e | 8 | DigitalOut resetxbee(p26); |
bouaziz | 0:398afdd73d9e | 9 | Serial pc(USBTX, USBRX); // For debugging and pc messages, uses commented out to prevent hanging |
diogohideki | 4:cdd8e61cd8c7 | 10 | //MSCFileSystem fs("fs"); |
diogohideki | 4:cdd8e61cd8c7 | 11 | Timer t; |
diogohideki | 4:cdd8e61cd8c7 | 12 | Ticker tick1; |
bouaziz | 0:398afdd73d9e | 13 | |
bouaziz | 0:398afdd73d9e | 14 | BusOut myleds(LED1, LED2, LED3, LED4); |
bouaziz | 0:398afdd73d9e | 15 | |
diogohideki | 4:cdd8e61cd8c7 | 16 | #define D_TERM 0.0 |
diogohideki | 4:cdd8e61cd8c7 | 17 | #define I_TERM 0.1 |
diogohideki | 4:cdd8e61cd8c7 | 18 | #define I_TERMO 0.1 |
diogohideki | 4:cdd8e61cd8c7 | 19 | #define P_TERM 0.9 |
diogohideki | 4:cdd8e61cd8c7 | 20 | #define MAX 0.3 |
diogohideki | 4:cdd8e61cd8c7 | 21 | #define MIN -0.2 |
diogohideki | 4:cdd8e61cd8c7 | 22 | |
diogohideki | 7:ca53c1bde37c | 23 | #define seuil(x) (x>400 ? 1 : 0) |
diogohideki | 4:cdd8e61cd8c7 | 24 | |
diogohideki | 4:cdd8e61cd8c7 | 25 | float current_pos_of_line, |
diogohideki | 4:cdd8e61cd8c7 | 26 | previous_pos_of_line, |
diogohideki | 4:cdd8e61cd8c7 | 27 | derivate, |
diogohideki | 4:cdd8e61cd8c7 | 28 | proportional, |
diogohideki | 4:cdd8e61cd8c7 | 29 | power, |
diogohideki | 4:cdd8e61cd8c7 | 30 | integral, |
diogohideki | 4:cdd8e61cd8c7 | 31 | left, |
diogohideki | 4:cdd8e61cd8c7 | 32 | right, |
diogohideki | 4:cdd8e61cd8c7 | 33 | speed=0.3; |
diogohideki | 4:cdd8e61cd8c7 | 34 | |
diogohideki | 4:cdd8e61cd8c7 | 35 | char chain[10]; |
diogohideki | 4:cdd8e61cd8c7 | 36 | int v; |
diogohideki | 4:cdd8e61cd8c7 | 37 | |
diogohideki | 4:cdd8e61cd8c7 | 38 | unsigned short tabsensor[5]; |
diogohideki | 4:cdd8e61cd8c7 | 39 | volatile unsigned char sensors; |
diogohideki | 4:cdd8e61cd8c7 | 40 | |
diogohideki | 4:cdd8e61cd8c7 | 41 | volatile char flag10ms; |
diogohideki | 4:cdd8e61cd8c7 | 42 | |
diogohideki | 4:cdd8e61cd8c7 | 43 | char command=1; |
diogohideki | 4:cdd8e61cd8c7 | 44 | |
diogohideki | 4:cdd8e61cd8c7 | 45 | void inter1() { |
diogohideki | 4:cdd8e61cd8c7 | 46 | flag10ms=1; |
diogohideki | 4:cdd8e61cd8c7 | 47 | } |
diogohideki | 4:cdd8e61cd8c7 | 48 | |
diogohideki | 4:cdd8e61cd8c7 | 49 | void current_state() { |
diogohideki | 4:cdd8e61cd8c7 | 50 | unsigned char i; |
diogohideki | 4:cdd8e61cd8c7 | 51 | sensors=0; |
diogohideki | 5:bc86a4fb4784 | 52 | m3pi.calibrated_sensors(tabsensor); |
diogohideki | 4:cdd8e61cd8c7 | 53 | for(i=0; i<5; i++) { |
diogohideki | 4:cdd8e61cd8c7 | 54 | sensors = (sensors << 1) | seuil(tabsensor[i]); |
diogohideki | 4:cdd8e61cd8c7 | 55 | } |
diogohideki | 4:cdd8e61cd8c7 | 56 | } |
diogohideki | 4:cdd8e61cd8c7 | 57 | |
diogohideki | 4:cdd8e61cd8c7 | 58 | void step() { |
diogohideki | 7:ca53c1bde37c | 59 | m3pi.forward(0.12); |
diogohideki | 7:ca53c1bde37c | 60 | wait(0.18); |
diogohideki | 4:cdd8e61cd8c7 | 61 | // m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 62 | } |
diogohideki | 4:cdd8e61cd8c7 | 63 | |
diogohideki | 4:cdd8e61cd8c7 | 64 | /* |
diogohideki | 4:cdd8e61cd8c7 | 65 | * Results |
diogohideki | 4:cdd8e61cd8c7 | 66 | * 1 -> PID |
diogohideki | 4:cdd8e61cd8c7 | 67 | * 2 -> Turn back |
diogohideki | 4:cdd8e61cd8c7 | 68 | * 3 -> Turn left |
diogohideki | 4:cdd8e61cd8c7 | 69 | * 4 -> Turn right |
diogohideki | 4:cdd8e61cd8c7 | 70 | */ |
diogohideki | 4:cdd8e61cd8c7 | 71 | char PIDf(char commande) { |
diogohideki | 4:cdd8e61cd8c7 | 72 | if(commande==1) { |
diogohideki | 4:cdd8e61cd8c7 | 73 | char result; |
diogohideki | 4:cdd8e61cd8c7 | 74 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 75 | switch(sensors) { |
diogohideki | 4:cdd8e61cd8c7 | 76 | case 0x00: |
diogohideki | 4:cdd8e61cd8c7 | 77 | // Deadend |
diogohideki | 5:bc86a4fb4784 | 78 | // Back |
diogohideki | 5:bc86a4fb4784 | 79 | m3pi.cls(); |
diogohideki | 7:ca53c1bde37c | 80 | m3pi.print("Back", 5); |
diogohideki | 4:cdd8e61cd8c7 | 81 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 82 | result = 2; |
diogohideki | 4:cdd8e61cd8c7 | 83 | break; |
diogohideki | 7:ca53c1bde37c | 84 | case 0x18: case 0x1C: case 0x1E: |
diogohideki | 4:cdd8e61cd8c7 | 85 | // Forward/Left or Left Only |
diogohideki | 4:cdd8e61cd8c7 | 86 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 87 | current_state(); |
diogohideki | 7:ca53c1bde37c | 88 | if ((sensors == 0x04) || (sensors == 0x06) || (sensors == 0x0C) || (sensors == 0x14) || (sensors == 0x16) || (sensors == 0x07)) { |
diogohideki | 7:ca53c1bde37c | 89 | // Forward |
diogohideki | 5:bc86a4fb4784 | 90 | m3pi.cls(); |
diogohideki | 7:ca53c1bde37c | 91 | m3pi.print("Forw2", 5); |
diogohideki | 7:ca53c1bde37c | 92 | result = 1; |
diogohideki | 6:9690e497319b | 93 | } else if (sensors == 0x1F) { |
diogohideki | 6:9690e497319b | 94 | // End |
diogohideki | 6:9690e497319b | 95 | m3pi.cls(); |
diogohideki | 6:9690e497319b | 96 | m3pi.print("The End2", 8); |
diogohideki | 6:9690e497319b | 97 | result = 0; |
diogohideki | 7:ca53c1bde37c | 98 | } else if((sensors == 0x00) || (sensors == 0x10) || (sensors == 0x18)) { |
diogohideki | 7:ca53c1bde37c | 99 | // Turn Left |
diogohideki | 6:9690e497319b | 100 | m3pi.cls(); |
diogohideki | 7:ca53c1bde37c | 101 | m3pi.print("Left", 5); |
diogohideki | 7:ca53c1bde37c | 102 | result = 3; |
diogohideki | 4:cdd8e61cd8c7 | 103 | } else { |
diogohideki | 7:ca53c1bde37c | 104 | // Turn Right |
diogohideki | 5:bc86a4fb4784 | 105 | m3pi.cls(); |
diogohideki | 7:ca53c1bde37c | 106 | m3pi.print("Right2", 6); |
diogohideki | 7:ca53c1bde37c | 107 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 108 | } |
diogohideki | 4:cdd8e61cd8c7 | 109 | break; |
diogohideki | 6:9690e497319b | 110 | case 0x07: case 0x03: |
diogohideki | 4:cdd8e61cd8c7 | 111 | // Forward/Right or Right Only -> RF |
diogohideki | 4:cdd8e61cd8c7 | 112 | // m3pi.stop(); |
diogohideki | 5:bc86a4fb4784 | 113 | m3pi.cls(); |
diogohideki | 5:bc86a4fb4784 | 114 | m3pi.print("Right", 6); |
diogohideki | 4:cdd8e61cd8c7 | 115 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 116 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 117 | break; |
diogohideki | 6:9690e497319b | 118 | case 0x1F: case 0x0F: |
diogohideki | 4:cdd8e61cd8c7 | 119 | // 'T' or Intersection or End -> LR or RFL |
diogohideki | 4:cdd8e61cd8c7 | 120 | // m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 121 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 122 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 123 | if (sensors == 0x1F) { |
diogohideki | 4:cdd8e61cd8c7 | 124 | // End |
diogohideki | 5:bc86a4fb4784 | 125 | m3pi.cls(); |
diogohideki | 5:bc86a4fb4784 | 126 | m3pi.print("The End", 8); |
diogohideki | 4:cdd8e61cd8c7 | 127 | result = 0; |
diogohideki | 4:cdd8e61cd8c7 | 128 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 129 | // Turn Right |
diogohideki | 5:bc86a4fb4784 | 130 | m3pi.cls(); |
diogohideki | 5:bc86a4fb4784 | 131 | m3pi.print("Inter", 6); |
diogohideki | 4:cdd8e61cd8c7 | 132 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 133 | } |
diogohideki | 4:cdd8e61cd8c7 | 134 | break; |
diogohideki | 4:cdd8e61cd8c7 | 135 | case 0x04: case 0x0C: case 0x06: case 0x0E: case 0x02: case 0x08: |
diogohideki | 4:cdd8e61cd8c7 | 136 | //PID |
diogohideki | 4:cdd8e61cd8c7 | 137 | // Get the position of the line |
diogohideki | 4:cdd8e61cd8c7 | 138 | current_pos_of_line = m3pi.line_position(); |
diogohideki | 4:cdd8e61cd8c7 | 139 | proportional = current_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 140 | // Compute the derivate |
diogohideki | 4:cdd8e61cd8c7 | 141 | derivate = current_pos_of_line - previous_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 142 | // Compute the integral |
diogohideki | 4:cdd8e61cd8c7 | 143 | integral = (integral+I_TERMO*proportional)/(1+I_TERMO); |
diogohideki | 4:cdd8e61cd8c7 | 144 | // Remember the last postion |
diogohideki | 4:cdd8e61cd8c7 | 145 | previous_pos_of_line = current_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 146 | // Compute the power |
diogohideki | 4:cdd8e61cd8c7 | 147 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivate*(D_TERM)); |
diogohideki | 4:cdd8e61cd8c7 | 148 | // Compute new speeds |
diogohideki | 4:cdd8e61cd8c7 | 149 | right = speed-(power*MAX); |
diogohideki | 4:cdd8e61cd8c7 | 150 | left = speed+(power*MAX); |
diogohideki | 4:cdd8e61cd8c7 | 151 | // Limits checks on motor control |
diogohideki | 4:cdd8e61cd8c7 | 152 | right = (right>MAX ? MAX :(right<MIN ? MIN : right)); |
diogohideki | 4:cdd8e61cd8c7 | 153 | left = (left>MAX ? MAX :(left<MIN ? MIN : left)); |
diogohideki | 4:cdd8e61cd8c7 | 154 | // Send command to motors |
diogohideki | 4:cdd8e61cd8c7 | 155 | m3pi.left_motor(left); |
diogohideki | 4:cdd8e61cd8c7 | 156 | m3pi.right_motor(right); |
diogohideki | 4:cdd8e61cd8c7 | 157 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 158 | break; |
diogohideki | 4:cdd8e61cd8c7 | 159 | default: |
diogohideki | 4:cdd8e61cd8c7 | 160 | // Faire rien |
diogohideki | 4:cdd8e61cd8c7 | 161 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 162 | result = 0; |
diogohideki | 4:cdd8e61cd8c7 | 163 | break; |
diogohideki | 4:cdd8e61cd8c7 | 164 | } |
diogohideki | 4:cdd8e61cd8c7 | 165 | return result; |
diogohideki | 4:cdd8e61cd8c7 | 166 | } |
diogohideki | 4:cdd8e61cd8c7 | 167 | } |
diogohideki | 4:cdd8e61cd8c7 | 168 | |
diogohideki | 4:cdd8e61cd8c7 | 169 | |
diogohideki | 4:cdd8e61cd8c7 | 170 | /* |
diogohideki | 4:cdd8e61cd8c7 | 171 | * Results |
diogohideki | 4:cdd8e61cd8c7 | 172 | * 1 -> PID |
diogohideki | 4:cdd8e61cd8c7 | 173 | * 2 -> Turn back |
diogohideki | 4:cdd8e61cd8c7 | 174 | * 3 -> Turn left |
diogohideki | 4:cdd8e61cd8c7 | 175 | * 4 -> Turn right |
diogohideki | 4:cdd8e61cd8c7 | 176 | */ |
diogohideki | 4:cdd8e61cd8c7 | 177 | char turn(char command) { |
diogohideki | 4:cdd8e61cd8c7 | 178 | if(command > 1 && command < 5) { |
diogohideki | 4:cdd8e61cd8c7 | 179 | char result; |
diogohideki | 4:cdd8e61cd8c7 | 180 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 181 | switch(command) { |
diogohideki | 4:cdd8e61cd8c7 | 182 | case 2: |
diogohideki | 4:cdd8e61cd8c7 | 183 | // Turn Back |
diogohideki | 4:cdd8e61cd8c7 | 184 | if(sensors != 0x01) { |
diogohideki | 4:cdd8e61cd8c7 | 185 | m3pi.right(speed); |
diogohideki | 4:cdd8e61cd8c7 | 186 | result = 2; |
diogohideki | 4:cdd8e61cd8c7 | 187 | } else { |
diogohideki | 7:ca53c1bde37c | 188 | m3pi.right(0.12); |
diogohideki | 4:cdd8e61cd8c7 | 189 | wait(0.12); |
diogohideki | 4:cdd8e61cd8c7 | 190 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 191 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 192 | } |
diogohideki | 4:cdd8e61cd8c7 | 193 | break; |
diogohideki | 4:cdd8e61cd8c7 | 194 | case 3: |
diogohideki | 4:cdd8e61cd8c7 | 195 | // Turn Left |
diogohideki | 4:cdd8e61cd8c7 | 196 | if(sensors != 0x10) { |
diogohideki | 4:cdd8e61cd8c7 | 197 | m3pi.left(speed); |
diogohideki | 4:cdd8e61cd8c7 | 198 | result = 3; |
diogohideki | 4:cdd8e61cd8c7 | 199 | } else { |
diogohideki | 7:ca53c1bde37c | 200 | m3pi.left(0.12); |
diogohideki | 4:cdd8e61cd8c7 | 201 | wait(0.1); |
diogohideki | 4:cdd8e61cd8c7 | 202 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 203 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 204 | } |
diogohideki | 4:cdd8e61cd8c7 | 205 | break; |
diogohideki | 4:cdd8e61cd8c7 | 206 | case 4: |
diogohideki | 4:cdd8e61cd8c7 | 207 | // Turn Right |
diogohideki | 4:cdd8e61cd8c7 | 208 | if(sensors != 0x01) { |
diogohideki | 4:cdd8e61cd8c7 | 209 | m3pi.right(speed); |
diogohideki | 4:cdd8e61cd8c7 | 210 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 211 | } else { |
diogohideki | 7:ca53c1bde37c | 212 | m3pi.right(0.12); |
diogohideki | 4:cdd8e61cd8c7 | 213 | wait(0.1); |
diogohideki | 4:cdd8e61cd8c7 | 214 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 215 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 216 | } |
diogohideki | 4:cdd8e61cd8c7 | 217 | break; |
diogohideki | 4:cdd8e61cd8c7 | 218 | } |
diogohideki | 4:cdd8e61cd8c7 | 219 | return result; |
diogohideki | 4:cdd8e61cd8c7 | 220 | } |
diogohideki | 4:cdd8e61cd8c7 | 221 | } |
diogohideki | 4:cdd8e61cd8c7 | 222 | |
diogohideki | 4:cdd8e61cd8c7 | 223 | |
bouaziz | 0:398afdd73d9e | 224 | int main() { |
diogohideki | 4:cdd8e61cd8c7 | 225 | resetxbee=0; |
bouaziz | 0:398afdd73d9e | 226 | wait(0.01); |
bouaziz | 0:398afdd73d9e | 227 | resetxbee =1; |
bouaziz | 0:398afdd73d9e | 228 | |
diogohideki | 4:cdd8e61cd8c7 | 229 | // FILE *p= fopen("/fs/tt.txt","a+"); |
bouaziz | 0:398afdd73d9e | 230 | m3pi.sensor_auto_calibrate(); |
bouaziz | 0:398afdd73d9e | 231 | wait(1.); |
diogohideki | 4:cdd8e61cd8c7 | 232 | tick1.attach(&inter1,0.01); |
bouaziz | 0:398afdd73d9e | 233 | |
diogohideki | 4:cdd8e61cd8c7 | 234 | // fprintf(p,"ecrire dans la cle USB\r\n"); |
diogohideki | 4:cdd8e61cd8c7 | 235 | // fclose(p); |
diogohideki | 4:cdd8e61cd8c7 | 236 | |
bouaziz | 0:398afdd73d9e | 237 | while(1) { |
diogohideki | 4:cdd8e61cd8c7 | 238 | if(flag10ms==1) { |
diogohideki | 4:cdd8e61cd8c7 | 239 | switch(command) { |
diogohideki | 4:cdd8e61cd8c7 | 240 | case 0: |
diogohideki | 4:cdd8e61cd8c7 | 241 | // Faire Rien |
diogohideki | 4:cdd8e61cd8c7 | 242 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 243 | break; |
diogohideki | 4:cdd8e61cd8c7 | 244 | case 1: |
diogohideki | 4:cdd8e61cd8c7 | 245 | // PID |
diogohideki | 4:cdd8e61cd8c7 | 246 | command = PIDf(command); |
diogohideki | 4:cdd8e61cd8c7 | 247 | break; |
diogohideki | 4:cdd8e61cd8c7 | 248 | case 2: case 3: case 4: |
diogohideki | 4:cdd8e61cd8c7 | 249 | // 2 -> Back |
diogohideki | 4:cdd8e61cd8c7 | 250 | // 3 -> Left |
diogohideki | 4:cdd8e61cd8c7 | 251 | // 4 -> Right |
diogohideki | 4:cdd8e61cd8c7 | 252 | command = turn(command); |
diogohideki | 4:cdd8e61cd8c7 | 253 | break; |
diogohideki | 4:cdd8e61cd8c7 | 254 | } |
diogohideki | 4:cdd8e61cd8c7 | 255 | } |
bouaziz | 0:398afdd73d9e | 256 | } |
diogohideki | 4:cdd8e61cd8c7 | 257 | } |