Final version of Polulu M2 SETI
Dependencies: FileSystem_POPS m3PI_TP_POPS_II2015v0 m3pi mbed
Fork of m3PI_TP_POPS_II2015v0 by
main3.cpp@9:5701616e3a2c, 2018-03-13 (annotated)
- Committer:
- diogohideki
- Date:
- Tue Mar 13 23:19:52 2018 +0000
- Revision:
- 9:5701616e3a2c
- Parent:
- 8:de6ca481b136
Final
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 |
diogohideki | 9:5701616e3a2c | 6 | char *replaceWord(const char *s, const char *oldW, const char *newW); |
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 | 9:5701616e3a2c | 10 | |
diogohideki | 4:cdd8e61cd8c7 | 11 | Timer t; |
diogohideki | 4:cdd8e61cd8c7 | 12 | Ticker tick1; |
diogohideki | 8:de6ca481b136 | 13 | char affichage[3]={0}; |
diogohideki | 8:de6ca481b136 | 14 | char maze[100]={0}; |
diogohideki | 9:5701616e3a2c | 15 | char *optm; |
bouaziz | 0:398afdd73d9e | 16 | BusOut myleds(LED1, LED2, LED3, LED4); |
bouaziz | 0:398afdd73d9e | 17 | |
diogohideki | 4:cdd8e61cd8c7 | 18 | #define D_TERM 0.0 |
diogohideki | 4:cdd8e61cd8c7 | 19 | #define I_TERM 0.1 |
diogohideki | 4:cdd8e61cd8c7 | 20 | #define I_TERMO 0.1 |
diogohideki | 4:cdd8e61cd8c7 | 21 | #define P_TERM 0.9 |
diogohideki | 4:cdd8e61cd8c7 | 22 | #define MAX 0.3 |
diogohideki | 4:cdd8e61cd8c7 | 23 | #define MIN -0.2 |
diogohideki | 4:cdd8e61cd8c7 | 24 | |
diogohideki | 8:de6ca481b136 | 25 | #define seuil(x) (x>300 ? 1 : 0) |
diogohideki | 4:cdd8e61cd8c7 | 26 | |
diogohideki | 4:cdd8e61cd8c7 | 27 | float current_pos_of_line, |
diogohideki | 4:cdd8e61cd8c7 | 28 | previous_pos_of_line, |
diogohideki | 4:cdd8e61cd8c7 | 29 | derivate, |
diogohideki | 4:cdd8e61cd8c7 | 30 | proportional, |
diogohideki | 4:cdd8e61cd8c7 | 31 | power, |
diogohideki | 4:cdd8e61cd8c7 | 32 | integral, |
diogohideki | 4:cdd8e61cd8c7 | 33 | left, |
diogohideki | 4:cdd8e61cd8c7 | 34 | right, |
diogohideki | 4:cdd8e61cd8c7 | 35 | speed=0.3; |
diogohideki | 4:cdd8e61cd8c7 | 36 | |
diogohideki | 4:cdd8e61cd8c7 | 37 | char chain[10]; |
diogohideki | 9:5701616e3a2c | 38 | |
diogohideki | 9:5701616e3a2c | 39 | int j = 0; |
diogohideki | 9:5701616e3a2c | 40 | |
diogohideki | 9:5701616e3a2c | 41 | |
diogohideki | 9:5701616e3a2c | 42 | unsigned short tabsensor[5]; |
diogohideki | 4:cdd8e61cd8c7 | 43 | volatile unsigned char sensors; |
diogohideki | 4:cdd8e61cd8c7 | 44 | |
diogohideki | 4:cdd8e61cd8c7 | 45 | volatile char flag10ms; |
diogohideki | 4:cdd8e61cd8c7 | 46 | |
diogohideki | 4:cdd8e61cd8c7 | 47 | char command=1; |
diogohideki | 4:cdd8e61cd8c7 | 48 | |
diogohideki | 4:cdd8e61cd8c7 | 49 | void inter1() { |
diogohideki | 4:cdd8e61cd8c7 | 50 | flag10ms=1; |
diogohideki | 4:cdd8e61cd8c7 | 51 | } |
diogohideki | 4:cdd8e61cd8c7 | 52 | |
diogohideki | 4:cdd8e61cd8c7 | 53 | void current_state() { |
diogohideki | 4:cdd8e61cd8c7 | 54 | unsigned char i; |
diogohideki | 4:cdd8e61cd8c7 | 55 | sensors=0; |
diogohideki | 5:bc86a4fb4784 | 56 | m3pi.calibrated_sensors(tabsensor); |
diogohideki | 4:cdd8e61cd8c7 | 57 | for(i=0; i<5; i++) { |
diogohideki | 4:cdd8e61cd8c7 | 58 | sensors = (sensors << 1) | seuil(tabsensor[i]); |
diogohideki | 4:cdd8e61cd8c7 | 59 | } |
diogohideki | 4:cdd8e61cd8c7 | 60 | } |
diogohideki | 4:cdd8e61cd8c7 | 61 | |
diogohideki | 4:cdd8e61cd8c7 | 62 | void step() { |
diogohideki | 7:ca53c1bde37c | 63 | m3pi.forward(0.12); |
diogohideki | 8:de6ca481b136 | 64 | wait(0.22); |
diogohideki | 8:de6ca481b136 | 65 | } |
diogohideki | 8:de6ca481b136 | 66 | |
diogohideki | 8:de6ca481b136 | 67 | void step2() { |
diogohideki | 8:de6ca481b136 | 68 | m3pi.forward(0.12); |
diogohideki | 8:de6ca481b136 | 69 | wait(0.06); |
diogohideki | 4:cdd8e61cd8c7 | 70 | } |
diogohideki | 4:cdd8e61cd8c7 | 71 | |
diogohideki | 4:cdd8e61cd8c7 | 72 | /* |
diogohideki | 4:cdd8e61cd8c7 | 73 | * Results |
diogohideki | 4:cdd8e61cd8c7 | 74 | * 1 -> PID |
diogohideki | 4:cdd8e61cd8c7 | 75 | * 2 -> Turn back |
diogohideki | 4:cdd8e61cd8c7 | 76 | * 3 -> Turn left |
diogohideki | 4:cdd8e61cd8c7 | 77 | * 4 -> Turn right |
diogohideki | 4:cdd8e61cd8c7 | 78 | */ |
diogohideki | 4:cdd8e61cd8c7 | 79 | char PIDf(char commande) { |
diogohideki | 4:cdd8e61cd8c7 | 80 | if(commande==1) { |
diogohideki | 4:cdd8e61cd8c7 | 81 | char result; |
diogohideki | 4:cdd8e61cd8c7 | 82 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 83 | switch(sensors) { |
diogohideki | 9:5701616e3a2c | 84 | case 0x00: |
diogohideki | 4:cdd8e61cd8c7 | 85 | // Deadend |
diogohideki | 5:bc86a4fb4784 | 86 | // Back |
diogohideki | 5:bc86a4fb4784 | 87 | m3pi.cls(); |
diogohideki | 8:de6ca481b136 | 88 | strcat(maze,"B"); |
diogohideki | 8:de6ca481b136 | 89 | m3pi.locate(0,1); |
diogohideki | 8:de6ca481b136 | 90 | m3pi.printf(maze); |
diogohideki | 4:cdd8e61cd8c7 | 91 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 92 | |
diogohideki | 4:cdd8e61cd8c7 | 93 | result = 2; |
diogohideki | 4:cdd8e61cd8c7 | 94 | break; |
diogohideki | 8:de6ca481b136 | 95 | case 0x1C: case 0x18: case 0x10: |
diogohideki | 4:cdd8e61cd8c7 | 96 | // Forward/Left or Left Only |
diogohideki | 9:5701616e3a2c | 97 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 98 | current_state(); |
diogohideki | 8:de6ca481b136 | 99 | if ((sensors == 0x00) || (sensors == 0x10)) { |
diogohideki | 8:de6ca481b136 | 100 | // Turn Left |
diogohideki | 8:de6ca481b136 | 101 | m3pi.cls(); |
diogohideki | 8:de6ca481b136 | 102 | strcat(maze,"L"); |
diogohideki | 9:5701616e3a2c | 103 | m3pi.locate(0,1); |
diogohideki | 9:5701616e3a2c | 104 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 105 | |
diogohideki | 8:de6ca481b136 | 106 | result = 3; |
diogohideki | 8:de6ca481b136 | 107 | } else { |
diogohideki | 7:ca53c1bde37c | 108 | // Forward |
diogohideki | 5:bc86a4fb4784 | 109 | m3pi.cls(); |
diogohideki | 8:de6ca481b136 | 110 | strcat(maze,"F"); |
diogohideki | 9:5701616e3a2c | 111 | m3pi.locate(0,1); |
diogohideki | 9:5701616e3a2c | 112 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 113 | step(); |
diogohideki | 9:5701616e3a2c | 114 | |
diogohideki | 7:ca53c1bde37c | 115 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 116 | } |
diogohideki | 4:cdd8e61cd8c7 | 117 | break; |
diogohideki | 8:de6ca481b136 | 118 | case 0x07: case 0x03: case 0x01: |
diogohideki | 9:5701616e3a2c | 119 | // Forward/Right or Right Only |
diogohideki | 5:bc86a4fb4784 | 120 | m3pi.cls(); |
diogohideki | 8:de6ca481b136 | 121 | strcat(maze,"R"); |
diogohideki | 8:de6ca481b136 | 122 | m3pi.locate(0,1); |
diogohideki | 8:de6ca481b136 | 123 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 124 | |
diogohideki | 4:cdd8e61cd8c7 | 125 | step(); |
diogohideki | 9:5701616e3a2c | 126 | |
diogohideki | 4:cdd8e61cd8c7 | 127 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 128 | break; |
diogohideki | 8:de6ca481b136 | 129 | case 0x1F: |
diogohideki | 9:5701616e3a2c | 130 | // 'T' or Intersection or End |
diogohideki | 4:cdd8e61cd8c7 | 131 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 132 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 133 | if (sensors == 0x1F) { |
diogohideki | 4:cdd8e61cd8c7 | 134 | // End |
diogohideki | 5:bc86a4fb4784 | 135 | m3pi.cls(); |
diogohideki | 8:de6ca481b136 | 136 | strcat(maze,"E"); |
diogohideki | 9:5701616e3a2c | 137 | m3pi.locate(0,1); |
diogohideki | 9:5701616e3a2c | 138 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 139 | |
diogohideki | 9:5701616e3a2c | 140 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 141 | |
diogohideki | 9:5701616e3a2c | 142 | result = 5; |
diogohideki | 9:5701616e3a2c | 143 | } else { |
diogohideki | 9:5701616e3a2c | 144 | // 'T' -> Turn Right |
diogohideki | 9:5701616e3a2c | 145 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 146 | strcat(maze, "R"); |
diogohideki | 9:5701616e3a2c | 147 | m3pi.locate(0,1); |
diogohideki | 9:5701616e3a2c | 148 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 149 | |
diogohideki | 9:5701616e3a2c | 150 | result = 4; |
diogohideki | 9:5701616e3a2c | 151 | } |
diogohideki | 9:5701616e3a2c | 152 | break; |
diogohideki | 9:5701616e3a2c | 153 | case 0x0F: case 0x1E: |
diogohideki | 9:5701616e3a2c | 154 | // 'T' or Intersection or End -> LR or RFL |
diogohideki | 9:5701616e3a2c | 155 | step2(); |
diogohideki | 9:5701616e3a2c | 156 | current_state(); |
diogohideki | 9:5701616e3a2c | 157 | if (sensors == 0x1F) { |
diogohideki | 9:5701616e3a2c | 158 | // End |
diogohideki | 9:5701616e3a2c | 159 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 160 | strcat(maze,"E"); |
diogohideki | 8:de6ca481b136 | 161 | m3pi.locate(0,1); |
diogohideki | 8:de6ca481b136 | 162 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 163 | |
diogohideki | 9:5701616e3a2c | 164 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 165 | |
diogohideki | 9:5701616e3a2c | 166 | result = 5; |
diogohideki | 9:5701616e3a2c | 167 | } else if ((sensors == 0x10) || (sensors == 0x18)) { |
diogohideki | 9:5701616e3a2c | 168 | // Turn Left |
diogohideki | 9:5701616e3a2c | 169 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 170 | strcat(maze,"L"); |
diogohideki | 9:5701616e3a2c | 171 | m3pi.locate(0,1); |
diogohideki | 9:5701616e3a2c | 172 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 173 | |
diogohideki | 9:5701616e3a2c | 174 | step2(); |
diogohideki | 9:5701616e3a2c | 175 | step2(); |
diogohideki | 9:5701616e3a2c | 176 | |
diogohideki | 9:5701616e3a2c | 177 | result = 3; |
diogohideki | 9:5701616e3a2c | 178 | } else if ((sensors == 0x14) || (sensors == 0x16) || (sensors == 0x06) || (sensors == 0x1C)) { |
diogohideki | 9:5701616e3a2c | 179 | // Forward |
diogohideki | 9:5701616e3a2c | 180 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 181 | strcat(maze,"F"); |
diogohideki | 9:5701616e3a2c | 182 | m3pi.locate(0,1); |
diogohideki | 9:5701616e3a2c | 183 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 184 | |
diogohideki | 9:5701616e3a2c | 185 | step2(); |
diogohideki | 9:5701616e3a2c | 186 | step2(); |
diogohideki | 9:5701616e3a2c | 187 | |
diogohideki | 9:5701616e3a2c | 188 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 189 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 190 | // Turn Right |
diogohideki | 5:bc86a4fb4784 | 191 | m3pi.cls(); |
diogohideki | 8:de6ca481b136 | 192 | strcat(maze, "R"); |
diogohideki | 8:de6ca481b136 | 193 | m3pi.locate(0,1); |
diogohideki | 8:de6ca481b136 | 194 | m3pi.printf(maze); |
diogohideki | 9:5701616e3a2c | 195 | |
diogohideki | 8:de6ca481b136 | 196 | step2(); |
diogohideki | 8:de6ca481b136 | 197 | step2(); |
diogohideki | 9:5701616e3a2c | 198 | |
diogohideki | 4:cdd8e61cd8c7 | 199 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 200 | } |
diogohideki | 4:cdd8e61cd8c7 | 201 | break; |
diogohideki | 4:cdd8e61cd8c7 | 202 | case 0x04: case 0x0C: case 0x06: case 0x0E: case 0x02: case 0x08: |
diogohideki | 4:cdd8e61cd8c7 | 203 | //PID |
diogohideki | 4:cdd8e61cd8c7 | 204 | // Get the position of the line |
diogohideki | 4:cdd8e61cd8c7 | 205 | current_pos_of_line = m3pi.line_position(); |
diogohideki | 4:cdd8e61cd8c7 | 206 | proportional = current_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 207 | // Compute the derivate |
diogohideki | 4:cdd8e61cd8c7 | 208 | derivate = current_pos_of_line - previous_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 209 | // Compute the integral |
diogohideki | 4:cdd8e61cd8c7 | 210 | integral = (integral+I_TERMO*proportional)/(1+I_TERMO); |
diogohideki | 4:cdd8e61cd8c7 | 211 | // Remember the last postion |
diogohideki | 4:cdd8e61cd8c7 | 212 | previous_pos_of_line = current_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 213 | // Compute the power |
diogohideki | 4:cdd8e61cd8c7 | 214 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivate*(D_TERM)); |
diogohideki | 4:cdd8e61cd8c7 | 215 | // Compute new speeds |
diogohideki | 4:cdd8e61cd8c7 | 216 | right = speed-(power*MAX); |
diogohideki | 4:cdd8e61cd8c7 | 217 | left = speed+(power*MAX); |
diogohideki | 4:cdd8e61cd8c7 | 218 | // Limits checks on motor control |
diogohideki | 4:cdd8e61cd8c7 | 219 | right = (right>MAX ? MAX :(right<MIN ? MIN : right)); |
diogohideki | 4:cdd8e61cd8c7 | 220 | left = (left>MAX ? MAX :(left<MIN ? MIN : left)); |
diogohideki | 4:cdd8e61cd8c7 | 221 | // Send command to motors |
diogohideki | 4:cdd8e61cd8c7 | 222 | m3pi.left_motor(left); |
diogohideki | 4:cdd8e61cd8c7 | 223 | m3pi.right_motor(right); |
diogohideki | 9:5701616e3a2c | 224 | |
diogohideki | 4:cdd8e61cd8c7 | 225 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 226 | break; |
diogohideki | 4:cdd8e61cd8c7 | 227 | default: |
diogohideki | 4:cdd8e61cd8c7 | 228 | // Faire rien |
diogohideki | 4:cdd8e61cd8c7 | 229 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 230 | |
diogohideki | 4:cdd8e61cd8c7 | 231 | result = 0; |
diogohideki | 4:cdd8e61cd8c7 | 232 | break; |
diogohideki | 4:cdd8e61cd8c7 | 233 | } |
diogohideki | 8:de6ca481b136 | 234 | return result; |
diogohideki | 4:cdd8e61cd8c7 | 235 | } |
diogohideki | 4:cdd8e61cd8c7 | 236 | } |
diogohideki | 4:cdd8e61cd8c7 | 237 | |
diogohideki | 4:cdd8e61cd8c7 | 238 | |
diogohideki | 4:cdd8e61cd8c7 | 239 | /* |
diogohideki | 4:cdd8e61cd8c7 | 240 | * Results |
diogohideki | 4:cdd8e61cd8c7 | 241 | * 1 -> PID |
diogohideki | 4:cdd8e61cd8c7 | 242 | * 2 -> Turn back |
diogohideki | 4:cdd8e61cd8c7 | 243 | * 3 -> Turn left |
diogohideki | 4:cdd8e61cd8c7 | 244 | * 4 -> Turn right |
diogohideki | 4:cdd8e61cd8c7 | 245 | */ |
diogohideki | 4:cdd8e61cd8c7 | 246 | char turn(char command) { |
diogohideki | 4:cdd8e61cd8c7 | 247 | if(command > 1 && command < 5) { |
diogohideki | 4:cdd8e61cd8c7 | 248 | char result; |
diogohideki | 4:cdd8e61cd8c7 | 249 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 250 | switch(command) { |
diogohideki | 4:cdd8e61cd8c7 | 251 | case 2: |
diogohideki | 4:cdd8e61cd8c7 | 252 | // Turn Back |
diogohideki | 4:cdd8e61cd8c7 | 253 | if(sensors != 0x01) { |
diogohideki | 4:cdd8e61cd8c7 | 254 | m3pi.right(speed); |
diogohideki | 9:5701616e3a2c | 255 | |
diogohideki | 4:cdd8e61cd8c7 | 256 | result = 2; |
diogohideki | 4:cdd8e61cd8c7 | 257 | } else { |
diogohideki | 8:de6ca481b136 | 258 | do{ |
diogohideki | 8:de6ca481b136 | 259 | current_state(); |
diogohideki | 8:de6ca481b136 | 260 | m3pi.right(0.4*speed); |
diogohideki | 8:de6ca481b136 | 261 | }while(sensors!=0x04 && sensors!=0x0E && sensors!=0x0A && sensors!=0x1B && sensors!=0x1F); |
diogohideki | 4:cdd8e61cd8c7 | 262 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 263 | |
diogohideki | 4:cdd8e61cd8c7 | 264 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 265 | } |
diogohideki | 4:cdd8e61cd8c7 | 266 | break; |
diogohideki | 4:cdd8e61cd8c7 | 267 | case 3: |
diogohideki | 4:cdd8e61cd8c7 | 268 | // Turn Left |
diogohideki | 4:cdd8e61cd8c7 | 269 | if(sensors != 0x10) { |
diogohideki | 4:cdd8e61cd8c7 | 270 | m3pi.left(speed); |
diogohideki | 9:5701616e3a2c | 271 | |
diogohideki | 4:cdd8e61cd8c7 | 272 | result = 3; |
diogohideki | 4:cdd8e61cd8c7 | 273 | } else { |
diogohideki | 8:de6ca481b136 | 274 | do{ |
diogohideki | 8:de6ca481b136 | 275 | current_state(); |
diogohideki | 8:de6ca481b136 | 276 | m3pi.left(0.4*speed); |
diogohideki | 9:5701616e3a2c | 277 | }while(sensors!=0x04 && sensors!=0x0E && sensors!=0x0A && sensors!=0x1B && sensors!=0x1F); |
diogohideki | 4:cdd8e61cd8c7 | 278 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 279 | |
diogohideki | 4:cdd8e61cd8c7 | 280 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 281 | } |
diogohideki | 4:cdd8e61cd8c7 | 282 | break; |
diogohideki | 4:cdd8e61cd8c7 | 283 | case 4: |
diogohideki | 4:cdd8e61cd8c7 | 284 | // Turn Right |
diogohideki | 4:cdd8e61cd8c7 | 285 | if(sensors != 0x01) { |
diogohideki | 4:cdd8e61cd8c7 | 286 | m3pi.right(speed); |
diogohideki | 9:5701616e3a2c | 287 | |
diogohideki | 4:cdd8e61cd8c7 | 288 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 289 | } else { |
diogohideki | 8:de6ca481b136 | 290 | do{ |
diogohideki | 8:de6ca481b136 | 291 | current_state(); |
diogohideki | 8:de6ca481b136 | 292 | m3pi.right(0.4*speed); |
diogohideki | 8:de6ca481b136 | 293 | }while(sensors!=0x04 && sensors!=0x0E && sensors!=0x0A && sensors!=0x1B && sensors!=0x1F); |
diogohideki | 4:cdd8e61cd8c7 | 294 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 295 | |
diogohideki | 4:cdd8e61cd8c7 | 296 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 297 | } |
diogohideki | 8:de6ca481b136 | 298 | break; |
diogohideki | 4:cdd8e61cd8c7 | 299 | } |
diogohideki | 4:cdd8e61cd8c7 | 300 | return result; |
diogohideki | 4:cdd8e61cd8c7 | 301 | } |
diogohideki | 4:cdd8e61cd8c7 | 302 | } |
diogohideki | 4:cdd8e61cd8c7 | 303 | |
diogohideki | 9:5701616e3a2c | 304 | char find(char str[], char c) { |
diogohideki | 9:5701616e3a2c | 305 | unsigned char len = strlen(str); |
diogohideki | 9:5701616e3a2c | 306 | int i; |
diogohideki | 9:5701616e3a2c | 307 | |
diogohideki | 9:5701616e3a2c | 308 | for(i = 0; i < len; i++) { |
diogohideki | 9:5701616e3a2c | 309 | if(str[i] == c) |
diogohideki | 9:5701616e3a2c | 310 | return 1; |
diogohideki | 9:5701616e3a2c | 311 | } |
diogohideki | 9:5701616e3a2c | 312 | |
diogohideki | 9:5701616e3a2c | 313 | return 0; |
diogohideki | 8:de6ca481b136 | 314 | } |
diogohideki | 8:de6ca481b136 | 315 | |
diogohideki | 8:de6ca481b136 | 316 | |
diogohideki | 8:de6ca481b136 | 317 | char *replaceWord(const char *s, const char *oldW, const char *newW) { |
diogohideki | 8:de6ca481b136 | 318 | char *result; |
diogohideki | 8:de6ca481b136 | 319 | int i, cnt = 0; |
diogohideki | 8:de6ca481b136 | 320 | int newWlen = strlen(newW); |
diogohideki | 8:de6ca481b136 | 321 | int oldWlen = strlen(oldW); |
diogohideki | 8:de6ca481b136 | 322 | |
diogohideki | 8:de6ca481b136 | 323 | // Counting the number of times old word |
diogohideki | 8:de6ca481b136 | 324 | // occur in the string |
diogohideki | 9:5701616e3a2c | 325 | for (i = 0; s[i] != '\0'; i++) { |
diogohideki | 9:5701616e3a2c | 326 | if (strstr(&s[i], oldW) == &s[i]) { |
diogohideki | 8:de6ca481b136 | 327 | cnt++; |
diogohideki | 8:de6ca481b136 | 328 | |
diogohideki | 8:de6ca481b136 | 329 | // Jumping to index after the old word. |
diogohideki | 8:de6ca481b136 | 330 | i += oldWlen - 1; |
diogohideki | 8:de6ca481b136 | 331 | } |
diogohideki | 8:de6ca481b136 | 332 | } |
diogohideki | 8:de6ca481b136 | 333 | |
diogohideki | 8:de6ca481b136 | 334 | // Making new string of enough length |
diogohideki | 8:de6ca481b136 | 335 | result = (char *)malloc(i + cnt * (newWlen - oldWlen) + 1); |
diogohideki | 8:de6ca481b136 | 336 | |
diogohideki | 8:de6ca481b136 | 337 | i = 0; |
diogohideki | 9:5701616e3a2c | 338 | while (*s) { |
diogohideki | 8:de6ca481b136 | 339 | // compare the substring with the result |
diogohideki | 9:5701616e3a2c | 340 | if (strstr(s, oldW) == s) { |
diogohideki | 8:de6ca481b136 | 341 | strcpy(&result[i], newW); |
diogohideki | 8:de6ca481b136 | 342 | i += newWlen; |
diogohideki | 8:de6ca481b136 | 343 | s += oldWlen; |
diogohideki | 8:de6ca481b136 | 344 | } else |
diogohideki | 8:de6ca481b136 | 345 | result[i++] = *s++; |
diogohideki | 8:de6ca481b136 | 346 | } |
diogohideki | 8:de6ca481b136 | 347 | |
diogohideki | 8:de6ca481b136 | 348 | result[i] = '\0'; |
diogohideki | 8:de6ca481b136 | 349 | return result; |
diogohideki | 8:de6ca481b136 | 350 | } |
diogohideki | 8:de6ca481b136 | 351 | |
diogohideki | 9:5701616e3a2c | 352 | char *optimiser(char *str) { |
diogohideki | 8:de6ca481b136 | 353 | char *buf1 = str; |
diogohideki | 8:de6ca481b136 | 354 | char *buf2; |
diogohideki | 8:de6ca481b136 | 355 | |
diogohideki | 9:5701616e3a2c | 356 | while(find(buf1,'B')) { |
diogohideki | 8:de6ca481b136 | 357 | buf2 = replaceWord(buf1, "RBR", "F"); |
diogohideki | 8:de6ca481b136 | 358 | buf1 = replaceWord(buf2, "RBL", "B"); |
diogohideki | 8:de6ca481b136 | 359 | buf2 = replaceWord(buf1, "RBF", "L"); |
diogohideki | 8:de6ca481b136 | 360 | |
diogohideki | 8:de6ca481b136 | 361 | buf1 = replaceWord(buf2, "LBR", "B"); |
diogohideki | 8:de6ca481b136 | 362 | buf2 = replaceWord(buf1, "LBL", "F"); |
diogohideki | 8:de6ca481b136 | 363 | buf1 = replaceWord(buf2, "LBF", "R"); |
diogohideki | 8:de6ca481b136 | 364 | |
diogohideki | 8:de6ca481b136 | 365 | buf2 = replaceWord(buf1, "FBR", "L"); |
diogohideki | 8:de6ca481b136 | 366 | buf1 = replaceWord(buf2, "FBL", "R"); |
diogohideki | 8:de6ca481b136 | 367 | buf2 = replaceWord(buf1, "FBF", "B"); |
diogohideki | 8:de6ca481b136 | 368 | |
diogohideki | 8:de6ca481b136 | 369 | buf1 = buf2; |
diogohideki | 8:de6ca481b136 | 370 | } |
diogohideki | 8:de6ca481b136 | 371 | |
diogohideki | 8:de6ca481b136 | 372 | return buf1; |
diogohideki | 8:de6ca481b136 | 373 | } |
diogohideki | 9:5701616e3a2c | 374 | |
diogohideki | 9:5701616e3a2c | 375 | /* 1 -> PID |
diogohideki | 9:5701616e3a2c | 376 | * 2 -> Turn back |
diogohideki | 9:5701616e3a2c | 377 | * 3 -> Turn left |
diogohideki | 9:5701616e3a2c | 378 | * 4 -> Turn right |
diogohideki | 9:5701616e3a2c | 379 | */ |
diogohideki | 9:5701616e3a2c | 380 | char labyrinth(char commande) { |
diogohideki | 9:5701616e3a2c | 381 | if(commande==6) { |
diogohideki | 9:5701616e3a2c | 382 | int result = 6; |
diogohideki | 9:5701616e3a2c | 383 | |
diogohideki | 9:5701616e3a2c | 384 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 385 | m3pi.locate(0, 1); |
diogohideki | 9:5701616e3a2c | 386 | m3pi.printf(optm); |
diogohideki | 9:5701616e3a2c | 387 | current_state(); |
diogohideki | 9:5701616e3a2c | 388 | switch(sensors) { |
diogohideki | 9:5701616e3a2c | 389 | case 0x00: case 0x1C: case 0x18: case 0x10: case 0x07: case 0x03: case 0x1F: case 0x0F: case 0x1E: |
diogohideki | 9:5701616e3a2c | 390 | switch (optm[j]) { |
diogohideki | 9:5701616e3a2c | 391 | case 'B': |
diogohideki | 9:5701616e3a2c | 392 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 393 | m3pi.locate(0, 1); |
diogohideki | 9:5701616e3a2c | 394 | m3pi.printf("B"); |
diogohideki | 9:5701616e3a2c | 395 | step(); |
diogohideki | 9:5701616e3a2c | 396 | do{ |
diogohideki | 9:5701616e3a2c | 397 | m3pi.right(speed); |
diogohideki | 9:5701616e3a2c | 398 | current_state(); |
diogohideki | 9:5701616e3a2c | 399 | }while(sensors!=0x01); |
diogohideki | 9:5701616e3a2c | 400 | do{ |
diogohideki | 9:5701616e3a2c | 401 | m3pi.right(0.4*speed); |
diogohideki | 9:5701616e3a2c | 402 | current_state(); |
diogohideki | 9:5701616e3a2c | 403 | }while(sensors!=0x04 && sensors!=0x0E && sensors!=0x0A && sensors!=0x1B && sensors!=0x1F); |
diogohideki | 9:5701616e3a2c | 404 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 405 | |
diogohideki | 9:5701616e3a2c | 406 | break; |
diogohideki | 9:5701616e3a2c | 407 | case 'R': |
diogohideki | 9:5701616e3a2c | 408 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 409 | m3pi.locate(0, 1); |
diogohideki | 9:5701616e3a2c | 410 | m3pi.printf("R"); |
diogohideki | 9:5701616e3a2c | 411 | step(); |
diogohideki | 9:5701616e3a2c | 412 | do{ |
diogohideki | 9:5701616e3a2c | 413 | m3pi.right(speed); |
diogohideki | 9:5701616e3a2c | 414 | current_state(); |
diogohideki | 9:5701616e3a2c | 415 | }while(sensors!=0x01); |
diogohideki | 9:5701616e3a2c | 416 | do{ |
diogohideki | 9:5701616e3a2c | 417 | m3pi.right(0.4*speed); |
diogohideki | 9:5701616e3a2c | 418 | current_state(); |
diogohideki | 9:5701616e3a2c | 419 | }while(sensors!=0x04 && sensors!=0x0E && sensors!=0x0A && sensors!=0x1B && sensors!=0x1F); |
diogohideki | 9:5701616e3a2c | 420 | //wait(0.1); |
diogohideki | 9:5701616e3a2c | 421 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 422 | |
diogohideki | 9:5701616e3a2c | 423 | break; |
diogohideki | 9:5701616e3a2c | 424 | case 'L': |
diogohideki | 9:5701616e3a2c | 425 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 426 | m3pi.locate(0, 1); |
diogohideki | 9:5701616e3a2c | 427 | m3pi.printf("L"); |
diogohideki | 9:5701616e3a2c | 428 | step(); |
diogohideki | 9:5701616e3a2c | 429 | do{ |
diogohideki | 9:5701616e3a2c | 430 | m3pi.left(speed); |
diogohideki | 9:5701616e3a2c | 431 | current_state(); |
diogohideki | 9:5701616e3a2c | 432 | }while(sensors!=0x10); |
diogohideki | 9:5701616e3a2c | 433 | do{ |
diogohideki | 9:5701616e3a2c | 434 | m3pi.left(0.4*speed); |
diogohideki | 9:5701616e3a2c | 435 | current_state(); |
diogohideki | 9:5701616e3a2c | 436 | }while(sensors!=0x04 && sensors!=0x0E && sensors!=0x0A && sensors!=0x1B && sensors!=0x1F); |
diogohideki | 9:5701616e3a2c | 437 | //wait(0.1); |
diogohideki | 9:5701616e3a2c | 438 | m3pi.stop(); |
diogohideki | 9:5701616e3a2c | 439 | |
diogohideki | 9:5701616e3a2c | 440 | break; |
diogohideki | 9:5701616e3a2c | 441 | case 'F': |
diogohideki | 9:5701616e3a2c | 442 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 443 | m3pi.locate(0, 1); |
diogohideki | 9:5701616e3a2c | 444 | m3pi.printf("F"); |
diogohideki | 9:5701616e3a2c | 445 | step(); |
diogohideki | 9:5701616e3a2c | 446 | break; |
diogohideki | 9:5701616e3a2c | 447 | default: |
diogohideki | 9:5701616e3a2c | 448 | result = 0; |
diogohideki | 9:5701616e3a2c | 449 | break; |
diogohideki | 9:5701616e3a2c | 450 | } |
diogohideki | 9:5701616e3a2c | 451 | j++; |
diogohideki | 9:5701616e3a2c | 452 | break; |
diogohideki | 9:5701616e3a2c | 453 | case 0x04: case 0x0C: case 0x06: case 0x0E: case 0x02: case 0x08: |
diogohideki | 9:5701616e3a2c | 454 | //PID |
diogohideki | 9:5701616e3a2c | 455 | // Get the position of the line |
diogohideki | 9:5701616e3a2c | 456 | current_pos_of_line = m3pi.line_position(); |
diogohideki | 9:5701616e3a2c | 457 | proportional = current_pos_of_line; |
diogohideki | 9:5701616e3a2c | 458 | // Compute the derivate |
diogohideki | 9:5701616e3a2c | 459 | derivate = current_pos_of_line - previous_pos_of_line; |
diogohideki | 9:5701616e3a2c | 460 | // Compute the integral |
diogohideki | 9:5701616e3a2c | 461 | integral = (integral+I_TERMO*proportional)/(1+I_TERMO); |
diogohideki | 9:5701616e3a2c | 462 | // Remember the last postion |
diogohideki | 9:5701616e3a2c | 463 | previous_pos_of_line = current_pos_of_line; |
diogohideki | 9:5701616e3a2c | 464 | // Compute the power |
diogohideki | 9:5701616e3a2c | 465 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivate*(D_TERM)); |
diogohideki | 9:5701616e3a2c | 466 | // Compute new speeds |
diogohideki | 9:5701616e3a2c | 467 | right = speed-(power*MAX); |
diogohideki | 9:5701616e3a2c | 468 | left = speed+(power*MAX); |
diogohideki | 9:5701616e3a2c | 469 | // Limits checks on motor control |
diogohideki | 9:5701616e3a2c | 470 | right = (right>MAX ? MAX :(right<MIN ? MIN : right)); |
diogohideki | 9:5701616e3a2c | 471 | left = (left>MAX ? MAX :(left<MIN ? MIN : left)); |
diogohideki | 9:5701616e3a2c | 472 | // Send command to motors |
diogohideki | 9:5701616e3a2c | 473 | m3pi.left_motor(left); |
diogohideki | 9:5701616e3a2c | 474 | m3pi.right_motor(right); |
diogohideki | 9:5701616e3a2c | 475 | |
diogohideki | 9:5701616e3a2c | 476 | break; |
diogohideki | 9:5701616e3a2c | 477 | } |
diogohideki | 9:5701616e3a2c | 478 | return result; |
diogohideki | 9:5701616e3a2c | 479 | } |
diogohideki | 9:5701616e3a2c | 480 | } |
diogohideki | 9:5701616e3a2c | 481 | |
diogohideki | 9:5701616e3a2c | 482 | |
diogohideki | 9:5701616e3a2c | 483 | |
bouaziz | 0:398afdd73d9e | 484 | int main() { |
diogohideki | 4:cdd8e61cd8c7 | 485 | resetxbee=0; |
bouaziz | 0:398afdd73d9e | 486 | wait(0.01); |
bouaziz | 0:398afdd73d9e | 487 | resetxbee =1; |
diogohideki | 9:5701616e3a2c | 488 | |
diogohideki | 4:cdd8e61cd8c7 | 489 | // FILE *p= fopen("/fs/tt.txt","a+"); |
bouaziz | 0:398afdd73d9e | 490 | m3pi.sensor_auto_calibrate(); |
bouaziz | 0:398afdd73d9e | 491 | wait(1.); |
diogohideki | 4:cdd8e61cd8c7 | 492 | tick1.attach(&inter1,0.01); |
diogohideki | 9:5701616e3a2c | 493 | |
diogohideki | 4:cdd8e61cd8c7 | 494 | // fprintf(p,"ecrire dans la cle USB\r\n"); |
diogohideki | 4:cdd8e61cd8c7 | 495 | // fclose(p); |
diogohideki | 4:cdd8e61cd8c7 | 496 | |
bouaziz | 0:398afdd73d9e | 497 | while(1) { |
diogohideki | 4:cdd8e61cd8c7 | 498 | if(flag10ms==1) { |
diogohideki | 4:cdd8e61cd8c7 | 499 | switch(command) { |
diogohideki | 4:cdd8e61cd8c7 | 500 | case 0: |
diogohideki | 4:cdd8e61cd8c7 | 501 | // Faire Rien |
diogohideki | 4:cdd8e61cd8c7 | 502 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 503 | break; |
diogohideki | 4:cdd8e61cd8c7 | 504 | case 1: |
diogohideki | 4:cdd8e61cd8c7 | 505 | // PID |
diogohideki | 4:cdd8e61cd8c7 | 506 | command = PIDf(command); |
diogohideki | 4:cdd8e61cd8c7 | 507 | break; |
diogohideki | 4:cdd8e61cd8c7 | 508 | case 2: case 3: case 4: |
diogohideki | 4:cdd8e61cd8c7 | 509 | // 2 -> Back |
diogohideki | 4:cdd8e61cd8c7 | 510 | // 3 -> Left |
diogohideki | 4:cdd8e61cd8c7 | 511 | // 4 -> Right |
diogohideki | 4:cdd8e61cd8c7 | 512 | command = turn(command); |
diogohideki | 4:cdd8e61cd8c7 | 513 | break; |
diogohideki | 9:5701616e3a2c | 514 | case 5: |
diogohideki | 9:5701616e3a2c | 515 | // Optimisation |
diogohideki | 9:5701616e3a2c | 516 | optm = optimiser(maze); |
diogohideki | 9:5701616e3a2c | 517 | wait(5.0); |
diogohideki | 9:5701616e3a2c | 518 | m3pi.cls(); |
diogohideki | 9:5701616e3a2c | 519 | m3pi.locate(0, 1); |
diogohideki | 9:5701616e3a2c | 520 | m3pi.printf(optm); |
diogohideki | 9:5701616e3a2c | 521 | command = 6; |
diogohideki | 9:5701616e3a2c | 522 | break; |
diogohideki | 8:de6ca481b136 | 523 | case 6: |
diogohideki | 9:5701616e3a2c | 524 | // Labyrinth |
diogohideki | 8:de6ca481b136 | 525 | command = labyrinth(command); |
diogohideki | 8:de6ca481b136 | 526 | break; |
diogohideki | 9:5701616e3a2c | 527 | |
diogohideki | 8:de6ca481b136 | 528 | } |
diogohideki | 4:cdd8e61cd8c7 | 529 | } |
bouaziz | 0:398afdd73d9e | 530 | } |
diogohideki | 9:5701616e3a2c | 531 | } |