Final version of Polulu M2 SETI
Dependencies: FileSystem_POPS m3PI_TP_POPS_II2015v0 m3pi mbed
Fork of m3PI_TP_POPS_II2015v0 by
main3.cpp@4:cdd8e61cd8c7, 2018-02-22 (annotated)
- Committer:
- diogohideki
- Date:
- Thu Feb 22 08:21:12 2018 +0000
- Revision:
- 4:cdd8e61cd8c7
- Parent:
- 0:398afdd73d9e
- Child:
- 5:bc86a4fb4784
initial state - last class
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 | 4:cdd8e61cd8c7 | 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 | 4:cdd8e61cd8c7 | 52 | for(i=0; i<5; i++) { |
diogohideki | 4:cdd8e61cd8c7 | 53 | sensors = (sensors << 1) | seuil(tabsensor[i]); |
diogohideki | 4:cdd8e61cd8c7 | 54 | } |
diogohideki | 4:cdd8e61cd8c7 | 55 | } |
diogohideki | 4:cdd8e61cd8c7 | 56 | |
diogohideki | 4:cdd8e61cd8c7 | 57 | void step() { |
diogohideki | 4:cdd8e61cd8c7 | 58 | m3pi.forward(0.4*speed); |
diogohideki | 4:cdd8e61cd8c7 | 59 | wait(0.2); |
diogohideki | 4:cdd8e61cd8c7 | 60 | // m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 61 | } |
diogohideki | 4:cdd8e61cd8c7 | 62 | |
diogohideki | 4:cdd8e61cd8c7 | 63 | /* |
diogohideki | 4:cdd8e61cd8c7 | 64 | * Results |
diogohideki | 4:cdd8e61cd8c7 | 65 | * 1 -> PID |
diogohideki | 4:cdd8e61cd8c7 | 66 | * 2 -> Turn back |
diogohideki | 4:cdd8e61cd8c7 | 67 | * 3 -> Turn left |
diogohideki | 4:cdd8e61cd8c7 | 68 | * 4 -> Turn right |
diogohideki | 4:cdd8e61cd8c7 | 69 | */ |
diogohideki | 4:cdd8e61cd8c7 | 70 | char PIDf(char commande) { |
diogohideki | 4:cdd8e61cd8c7 | 71 | if(commande==1) { |
diogohideki | 4:cdd8e61cd8c7 | 72 | char result; |
diogohideki | 4:cdd8e61cd8c7 | 73 | m3pi.calibrated_sensors(tabsensor); |
diogohideki | 4:cdd8e61cd8c7 | 74 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 75 | switch(sensors) { |
diogohideki | 4:cdd8e61cd8c7 | 76 | case 0x00: |
diogohideki | 4:cdd8e61cd8c7 | 77 | // Deadend |
diogohideki | 4:cdd8e61cd8c7 | 78 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 79 | // Back |
diogohideki | 4:cdd8e61cd8c7 | 80 | result = 2; |
diogohideki | 4:cdd8e61cd8c7 | 81 | break; |
diogohideki | 4:cdd8e61cd8c7 | 82 | case 0x1C: case 0x18: case 0x1E: |
diogohideki | 4:cdd8e61cd8c7 | 83 | // Forward/Left or Left Only |
diogohideki | 4:cdd8e61cd8c7 | 84 | // m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 85 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 86 | m3pi.calibrated_sensors(tabsensor); |
diogohideki | 4:cdd8e61cd8c7 | 87 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 88 | if ((sensors == 0x00) || (sensors == 0x10)) { |
diogohideki | 4:cdd8e61cd8c7 | 89 | // Turn Left |
diogohideki | 4:cdd8e61cd8c7 | 90 | result = 3; |
diogohideki | 4:cdd8e61cd8c7 | 91 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 92 | // Forward |
diogohideki | 4:cdd8e61cd8c7 | 93 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 94 | } |
diogohideki | 4:cdd8e61cd8c7 | 95 | break; |
diogohideki | 4:cdd8e61cd8c7 | 96 | case 0x07: case 0x03: case 0x0F: |
diogohideki | 4:cdd8e61cd8c7 | 97 | // Forward/Right or Right Only -> RF |
diogohideki | 4:cdd8e61cd8c7 | 98 | // m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 99 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 100 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 101 | break; |
diogohideki | 4:cdd8e61cd8c7 | 102 | case 0x1F: |
diogohideki | 4:cdd8e61cd8c7 | 103 | // 'T' or Intersection or End -> LR or RFL |
diogohideki | 4:cdd8e61cd8c7 | 104 | // m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 105 | step(); |
diogohideki | 4:cdd8e61cd8c7 | 106 | m3pi.calibrated_sensors(tabsensor); |
diogohideki | 4:cdd8e61cd8c7 | 107 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 108 | if (sensors == 0x1F) { |
diogohideki | 4:cdd8e61cd8c7 | 109 | // End |
diogohideki | 4:cdd8e61cd8c7 | 110 | result = 0; |
diogohideki | 4:cdd8e61cd8c7 | 111 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 112 | // Turn Right |
diogohideki | 4:cdd8e61cd8c7 | 113 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 114 | } |
diogohideki | 4:cdd8e61cd8c7 | 115 | /* |
diogohideki | 4:cdd8e61cd8c7 | 116 | if ((sensors == 0x00) || (sensors == 0x01) || (sensors == 0x10) || (sensors == 0x11)) { |
diogohideki | 4:cdd8e61cd8c7 | 117 | // Turn Right |
diogohideki | 4:cdd8e61cd8c7 | 118 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 119 | } else if (sensors == 0x1F) { |
diogohideki | 4:cdd8e61cd8c7 | 120 | // End |
diogohideki | 4:cdd8e61cd8c7 | 121 | result = 0; |
diogohideki | 4:cdd8e61cd8c7 | 122 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 123 | // Turn Right |
diogohideki | 4:cdd8e61cd8c7 | 124 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 125 | } |
diogohideki | 4:cdd8e61cd8c7 | 126 | */ |
diogohideki | 4:cdd8e61cd8c7 | 127 | break; |
diogohideki | 4:cdd8e61cd8c7 | 128 | case 0x04: case 0x0C: case 0x06: case 0x0E: case 0x02: case 0x08: |
diogohideki | 4:cdd8e61cd8c7 | 129 | //PID |
diogohideki | 4:cdd8e61cd8c7 | 130 | // Get the position of the line |
diogohideki | 4:cdd8e61cd8c7 | 131 | current_pos_of_line = m3pi.line_position(); |
diogohideki | 4:cdd8e61cd8c7 | 132 | proportional = current_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 133 | // Compute the derivate |
diogohideki | 4:cdd8e61cd8c7 | 134 | derivate = current_pos_of_line - previous_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 135 | // Compute the integral |
diogohideki | 4:cdd8e61cd8c7 | 136 | integral = (integral+I_TERMO*proportional)/(1+I_TERMO); |
diogohideki | 4:cdd8e61cd8c7 | 137 | // Remember the last postion |
diogohideki | 4:cdd8e61cd8c7 | 138 | previous_pos_of_line = current_pos_of_line; |
diogohideki | 4:cdd8e61cd8c7 | 139 | // Compute the power |
diogohideki | 4:cdd8e61cd8c7 | 140 | power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivate*(D_TERM)); |
diogohideki | 4:cdd8e61cd8c7 | 141 | // Compute new speeds |
diogohideki | 4:cdd8e61cd8c7 | 142 | right = speed-(power*MAX); |
diogohideki | 4:cdd8e61cd8c7 | 143 | left = speed+(power*MAX); |
diogohideki | 4:cdd8e61cd8c7 | 144 | // Limits checks on motor control |
diogohideki | 4:cdd8e61cd8c7 | 145 | right = (right>MAX ? MAX :(right<MIN ? MIN : right)); |
diogohideki | 4:cdd8e61cd8c7 | 146 | left = (left>MAX ? MAX :(left<MIN ? MIN : left)); |
diogohideki | 4:cdd8e61cd8c7 | 147 | // Send command to motors |
diogohideki | 4:cdd8e61cd8c7 | 148 | m3pi.left_motor(left); |
diogohideki | 4:cdd8e61cd8c7 | 149 | m3pi.right_motor(right); |
diogohideki | 4:cdd8e61cd8c7 | 150 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 151 | break; |
diogohideki | 4:cdd8e61cd8c7 | 152 | default: |
diogohideki | 4:cdd8e61cd8c7 | 153 | // Faire rien |
diogohideki | 4:cdd8e61cd8c7 | 154 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 155 | result = 0; |
diogohideki | 4:cdd8e61cd8c7 | 156 | break; |
diogohideki | 4:cdd8e61cd8c7 | 157 | } |
diogohideki | 4:cdd8e61cd8c7 | 158 | return result; |
diogohideki | 4:cdd8e61cd8c7 | 159 | } |
diogohideki | 4:cdd8e61cd8c7 | 160 | } |
diogohideki | 4:cdd8e61cd8c7 | 161 | |
diogohideki | 4:cdd8e61cd8c7 | 162 | |
diogohideki | 4:cdd8e61cd8c7 | 163 | /* |
diogohideki | 4:cdd8e61cd8c7 | 164 | * Results |
diogohideki | 4:cdd8e61cd8c7 | 165 | * 1 -> PID |
diogohideki | 4:cdd8e61cd8c7 | 166 | * 2 -> Turn back |
diogohideki | 4:cdd8e61cd8c7 | 167 | * 3 -> Turn left |
diogohideki | 4:cdd8e61cd8c7 | 168 | * 4 -> Turn right |
diogohideki | 4:cdd8e61cd8c7 | 169 | */ |
diogohideki | 4:cdd8e61cd8c7 | 170 | char turn(char command) { |
diogohideki | 4:cdd8e61cd8c7 | 171 | if(command > 1 && command < 5) { |
diogohideki | 4:cdd8e61cd8c7 | 172 | char result; |
diogohideki | 4:cdd8e61cd8c7 | 173 | m3pi.calibrated_sensors(tabsensor); |
diogohideki | 4:cdd8e61cd8c7 | 174 | current_state(); |
diogohideki | 4:cdd8e61cd8c7 | 175 | switch(command) { |
diogohideki | 4:cdd8e61cd8c7 | 176 | case 2: |
diogohideki | 4:cdd8e61cd8c7 | 177 | // Turn Back |
diogohideki | 4:cdd8e61cd8c7 | 178 | if(sensors != 0x01) { |
diogohideki | 4:cdd8e61cd8c7 | 179 | m3pi.right(speed); |
diogohideki | 4:cdd8e61cd8c7 | 180 | result = 2; |
diogohideki | 4:cdd8e61cd8c7 | 181 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 182 | m3pi.right(0.4*speed); |
diogohideki | 4:cdd8e61cd8c7 | 183 | wait(0.12); |
diogohideki | 4:cdd8e61cd8c7 | 184 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 185 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 186 | } |
diogohideki | 4:cdd8e61cd8c7 | 187 | break; |
diogohideki | 4:cdd8e61cd8c7 | 188 | case 3: |
diogohideki | 4:cdd8e61cd8c7 | 189 | // Turn Left |
diogohideki | 4:cdd8e61cd8c7 | 190 | if(sensors != 0x10) { |
diogohideki | 4:cdd8e61cd8c7 | 191 | m3pi.left(speed); |
diogohideki | 4:cdd8e61cd8c7 | 192 | result = 3; |
diogohideki | 4:cdd8e61cd8c7 | 193 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 194 | m3pi.left(0.4*speed); |
diogohideki | 4:cdd8e61cd8c7 | 195 | wait(0.1); |
diogohideki | 4:cdd8e61cd8c7 | 196 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 197 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 198 | } |
diogohideki | 4:cdd8e61cd8c7 | 199 | break; |
diogohideki | 4:cdd8e61cd8c7 | 200 | case 4: |
diogohideki | 4:cdd8e61cd8c7 | 201 | // Turn Right |
diogohideki | 4:cdd8e61cd8c7 | 202 | if(sensors != 0x01) { |
diogohideki | 4:cdd8e61cd8c7 | 203 | m3pi.right(speed); |
diogohideki | 4:cdd8e61cd8c7 | 204 | result = 4; |
diogohideki | 4:cdd8e61cd8c7 | 205 | } else { |
diogohideki | 4:cdd8e61cd8c7 | 206 | m3pi.right(0.4*speed); |
diogohideki | 4:cdd8e61cd8c7 | 207 | wait(0.1); |
diogohideki | 4:cdd8e61cd8c7 | 208 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 209 | result = 1; |
diogohideki | 4:cdd8e61cd8c7 | 210 | } |
diogohideki | 4:cdd8e61cd8c7 | 211 | break; |
diogohideki | 4:cdd8e61cd8c7 | 212 | } |
diogohideki | 4:cdd8e61cd8c7 | 213 | return result; |
diogohideki | 4:cdd8e61cd8c7 | 214 | } |
diogohideki | 4:cdd8e61cd8c7 | 215 | } |
diogohideki | 4:cdd8e61cd8c7 | 216 | |
diogohideki | 4:cdd8e61cd8c7 | 217 | |
bouaziz | 0:398afdd73d9e | 218 | int main() { |
diogohideki | 4:cdd8e61cd8c7 | 219 | resetxbee=0; |
bouaziz | 0:398afdd73d9e | 220 | wait(0.01); |
bouaziz | 0:398afdd73d9e | 221 | resetxbee =1; |
bouaziz | 0:398afdd73d9e | 222 | |
diogohideki | 4:cdd8e61cd8c7 | 223 | // FILE *p= fopen("/fs/tt.txt","a+"); |
bouaziz | 0:398afdd73d9e | 224 | m3pi.sensor_auto_calibrate(); |
bouaziz | 0:398afdd73d9e | 225 | wait(1.); |
diogohideki | 4:cdd8e61cd8c7 | 226 | tick1.attach(&inter1,0.01); |
bouaziz | 0:398afdd73d9e | 227 | |
diogohideki | 4:cdd8e61cd8c7 | 228 | // fprintf(p,"ecrire dans la cle USB\r\n"); |
diogohideki | 4:cdd8e61cd8c7 | 229 | // fclose(p); |
diogohideki | 4:cdd8e61cd8c7 | 230 | |
bouaziz | 0:398afdd73d9e | 231 | while(1) { |
diogohideki | 4:cdd8e61cd8c7 | 232 | if(flag10ms==1) { |
diogohideki | 4:cdd8e61cd8c7 | 233 | switch(command) { |
diogohideki | 4:cdd8e61cd8c7 | 234 | case 0: |
diogohideki | 4:cdd8e61cd8c7 | 235 | // Faire Rien |
diogohideki | 4:cdd8e61cd8c7 | 236 | m3pi.stop(); |
diogohideki | 4:cdd8e61cd8c7 | 237 | break; |
diogohideki | 4:cdd8e61cd8c7 | 238 | case 1: |
diogohideki | 4:cdd8e61cd8c7 | 239 | // PID |
diogohideki | 4:cdd8e61cd8c7 | 240 | command = PIDf(command); |
diogohideki | 4:cdd8e61cd8c7 | 241 | break; |
diogohideki | 4:cdd8e61cd8c7 | 242 | case 2: case 3: case 4: |
diogohideki | 4:cdd8e61cd8c7 | 243 | // 2 -> Back |
diogohideki | 4:cdd8e61cd8c7 | 244 | // 3 -> Left |
diogohideki | 4:cdd8e61cd8c7 | 245 | // 4 -> Right |
diogohideki | 4:cdd8e61cd8c7 | 246 | command = turn(command); |
diogohideki | 4:cdd8e61cd8c7 | 247 | break; |
diogohideki | 4:cdd8e61cd8c7 | 248 | } |
diogohideki | 4:cdd8e61cd8c7 | 249 | } |
bouaziz | 0:398afdd73d9e | 250 | } |
diogohideki | 4:cdd8e61cd8c7 | 251 | } |