Ephantus Mugo / Mbed 2 deprecated Kenya_2019

Test code 29-10-2019

Dependencies:   mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy

main.cpp@11:31564089b41c, 2019-10-25 (annotated)

Committer:
tuk4
Date:
Fri Oct 25 12:40:27 2019 +0000
Revision:
11:31564089b41c
Parent:
10:6c3653c53eca
Child:
12:548cdc49cdba
latest 25102019 1540

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:4902b3f17137 1 #include "mbed.h"
haarkon 0:4902b3f17137 2 #include "CMPS03.h"
haarkon 0:4902b3f17137 3 #include "CNY70.h"
haarkon 0:4902b3f17137 4 #include "GP2A.h"
haarkon 0:4902b3f17137 5 #include "VMA306.h"
haarkon 3:0221daeeaa86 6 #include "Pixy.h"
haarkon 4:5038b4cd1088 7 #include "PID.h"
tuk4 10:6c3653c53eca 8 #include "motor_state.h"
haarkon 4:5038b4cd1088 9
haarkon 4:5038b4cd1088 10 #define PI 3.1415926535898
haarkon 0:4902b3f17137 11
haarkon 8:2d4887624f94 12 Serial pc (PA_2, PA_3, 115200);
tuk4 11:31564089b41c 13
haarkon 7:6d58adc26b78 14 PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);
haarkon 0:4902b3f17137 15
haarkon 3:0221daeeaa86 16 CMPS03 boussole (PC_4);
haarkon 0:4902b3f17137 17
haarkon 3:0221daeeaa86 18 CNY70 ligneD (PC_3);
haarkon 3:0221daeeaa86 19 CNY70 ligneG (PC_2);
haarkon 3:0221daeeaa86 20 CNY70 exterior (PA_7);
haarkon 0:4902b3f17137 21
haarkon 8:2d4887624f94 22 VMA306 ultraSon (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
haarkon 0:4902b3f17137 23
tuk4 11:31564089b41c 24 PIXY pixy (PA_0, PA_1, 50000);
haarkon 0:4902b3f17137 25
tuk4 10:6c3653c53eca 26 DigitalIn bp (PC_13);
haarkon 4:5038b4cd1088 27
haarkon 0:4902b3f17137 28 DigitalOut led1 (PA_5);
haarkon 0:4902b3f17137 29 DigitalOut led2 (PD_2);
haarkon 8:2d4887624f94 30 DigitalOut unused1 (PB_10);
haarkon 8:2d4887624f94 31 DigitalOut unused2 (PA_15);
haarkon 8:2d4887624f94 32 DigitalOut unused3 (PA_12);
haarkon 8:2d4887624f94 33
haarkon 8:2d4887624f94 34 DigitalIn unused4 (PA_4, PullUp);
haarkon 8:2d4887624f94 35 DigitalIn unused5 (PB_0, PullUp);
haarkon 8:2d4887624f94 36 DigitalIn unused6 (PC_1, PullUp);
haarkon 8:2d4887624f94 37 DigitalIn unused7 (PC_0, PullUp);
haarkon 8:2d4887624f94 38
haarkon 8:2d4887624f94 39 Timer temps;
haarkon 0:4902b3f17137 40
tuk4 10:6c3653c53eca 41 motor_state current_state = IDLE;
tuk4 10:6c3653c53eca 42
tuk4 9:4053b5217339 43 int main ()
haarkon 3:0221daeeaa86 44 {
tuk4 10:6c3653c53eca 45 int numberOfObjects=0, dummy=0;
tuk4 10:6c3653c53eca 46 T_pixyNMBloc file;
tuk4 9:4053b5217339 47 motor.resetPosition();
tuk4 10:6c3653c53eca 48 double x=0, y=0, theta = 0;
tuk4 10:6c3653c53eca 49 motor.setProportionnalValue(2.0);
tuk4 10:6c3653c53eca 50 motor.setintegralValue(0.4);
tuk4 10:6c3653c53eca 51 motor.setDerivativeValue(1.0);
tuk4 11:31564089b41c 52 double speed_L = -50, speed_R = -50;
haarkon 3:0221daeeaa86 53 while (1) {
tuk4 10:6c3653c53eca 54 if (pixy.checkNewImage()) {
tuk4 10:6c3653c53eca 55 pixy.detectedObject(&numberOfObjects,&dummy);
tuk4 10:6c3653c53eca 56 if (numberOfObjects==1) {
tuk4 10:6c3653c53eca 57 file=pixy.getNMBloc();
tuk4 11:31564089b41c 58 pc.printf("\r x = %d", file.x);
tuk4 11:31564089b41c 59 if (file.x >165){
tuk4 11:31564089b41c 60 motor.setSpeed(-speed_L,speed_R);// turn right
tuk4 11:31564089b41c 61 pc.printf(" - Turning right");
tuk4 11:31564089b41c 62 }
tuk4 11:31564089b41c 63 else if (file.x <155){
tuk4 11:31564089b41c 64 motor.setSpeed(speed_L,-speed_R);// turn left
tuk4 11:31564089b41c 65 pc.printf(" - Turning left");
tuk4 11:31564089b41c 66 }
tuk4 11:31564089b41c 67 else {
tuk4 11:31564089b41c 68 motor.setSpeed(0,0);
tuk4 10:6c3653c53eca 69 }
tuk4 10:6c3653c53eca 70 }
tuk4 11:31564089b41c 71 else {
tuk4 11:31564089b41c 72 motor.setSpeed(0,0);
tuk4 11:31564089b41c 73 pc.printf(" - No object");
tuk4 11:31564089b41c 74 }
tuk4 11:31564089b41c 75 }
tuk4 11:31564089b41c 76 else
tuk4 11:31564089b41c 77 {
tuk4 11:31564089b41c 78 numberOfObjects = 0;
tuk4 11:31564089b41c 79 // motor.setSpeed(0,0);
tuk4 11:31564089b41c 80 }
tuk4 11:31564089b41c 81 //continue;
tuk4 11:31564089b41c 82
tuk4 10:6c3653c53eca 83 motor.getPosition(&x, &y, &theta);
tuk4 10:6c3653c53eca 84 pc.printf("\r x is %.2lf, y is %.2lf, theta is %.2lf",x,y,theta);
tuk4 10:6c3653c53eca 85 switch (current_state)
tuk4 9:4053b5217339 86 {
tuk4 10:6c3653c53eca 87 case IDLE :
tuk4 10:6c3653c53eca 88 motor.setSpeed(0,0);
tuk4 10:6c3653c53eca 89 if (bp == 0) current_state = FORWARD;
tuk4 10:6c3653c53eca 90 break;
tuk4 10:6c3653c53eca 91
tuk4 10:6c3653c53eca 92 case TURN_RIGHT :
tuk4 10:6c3653c53eca 93 motor.setSpeed(speed_L,-speed_R);
tuk4 10:6c3653c53eca 94
tuk4 10:6c3653c53eca 95 if (theta <= -PI/3) {
tuk4 10:6c3653c53eca 96 motor.resetPosition();
tuk4 10:6c3653c53eca 97 current_state = FORWARD;
tuk4 10:6c3653c53eca 98 }
tuk4 10:6c3653c53eca 99 break;
tuk4 10:6c3653c53eca 100
tuk4 10:6c3653c53eca 101 case SAFEMODE :
tuk4 10:6c3653c53eca 102 motor.setSpeed(0,0);
tuk4 10:6c3653c53eca 103 if (ultraSon.readUSB() >= 20) current_state = FORWARD;
tuk4 10:6c3653c53eca 104 break;
tuk4 10:6c3653c53eca 105
tuk4 10:6c3653c53eca 106 case FORWARD :
tuk4 10:6c3653c53eca 107 motor.setSpeed(speed_L,speed_R);
tuk4 10:6c3653c53eca 108 if (ultraSon.readUSB() <= 20) {
tuk4 10:6c3653c53eca 109 current_state = SAFEMODE;
tuk4 10:6c3653c53eca 110 }
tuk4 10:6c3653c53eca 111 if (x<=-1000) current_state = IDLE;
tuk4 10:6c3653c53eca 112 break;
tuk4 10:6c3653c53eca 113
tuk4 10:6c3653c53eca 114 case BACKWARD :
tuk4 10:6c3653c53eca 115 motor.setSpeed(-speed_L,-speed_R);
tuk4 10:6c3653c53eca 116 if (x <= 0) {
tuk4 10:6c3653c53eca 117 current_state = IDLE;
tuk4 10:6c3653c53eca 118 }
tuk4 10:6c3653c53eca 119 break;
tuk4 10:6c3653c53eca 120
tuk4 10:6c3653c53eca 121
tuk4 10:6c3653c53eca 122 default :
tuk4 10:6c3653c53eca 123 //do something
tuk4 10:6c3653c53eca 124 break;
tuk4 10:6c3653c53eca 125 }
haarkon 3:0221daeeaa86 126 }
tuk4 9:4053b5217339 127
tuk4 9:4053b5217339 128 return 0;
haarkon 0:4902b3f17137 129 }