Ephantus Mugo / Mbed 2 deprecated Kenya_2019

Test code 29-10-2019

Dependencies:   mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy

main.cpp@12:548cdc49cdba, 2019-10-25 (annotated)

Committer:
tuk4
Date:
Fri Oct 25 13:18:15 2019 +0000
Revision:
12:548cdc49cdba
Parent:
11:31564089b41c
Child:
13:f81c8451d601
25102019 1619

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 12:548cdc49cdba 54
tuk4 12:548cdc49cdba 55 motor.getPosition(&x, &y, &theta);
tuk4 12:548cdc49cdba 56 pc.printf("\r x is %.2lf, y is %.2lf, theta is %.2lf",x,y,theta);
tuk4 12:548cdc49cdba 57 switch (current_state)
tuk4 12:548cdc49cdba 58 {
tuk4 12:548cdc49cdba 59 case IDLE :
tuk4 12:548cdc49cdba 60 motor.setSpeed(0,0);
tuk4 12:548cdc49cdba 61 if (bp == 0) current_state = LOOK_FOR_FILE;
tuk4 12:548cdc49cdba 62 break;
tuk4 12:548cdc49cdba 63
tuk4 12:548cdc49cdba 64 case TURN_RIGHT :
tuk4 12:548cdc49cdba 65 motor.setSpeed(speed_L,-speed_R);
tuk4 12:548cdc49cdba 66
tuk4 12:548cdc49cdba 67 if (theta <= -PI/3) {
tuk4 12:548cdc49cdba 68 motor.resetPosition();
tuk4 12:548cdc49cdba 69 current_state = FORWARD;
tuk4 12:548cdc49cdba 70 }
tuk4 12:548cdc49cdba 71 break;
tuk4 12:548cdc49cdba 72
tuk4 12:548cdc49cdba 73 case SAFEMODE :
tuk4 12:548cdc49cdba 74 motor.setSpeed(0,0);
tuk4 12:548cdc49cdba 75 if (ultraSon.readUSB() >= 20) current_state = FORWARD;
tuk4 12:548cdc49cdba 76 if (ultraSon.readUSB() <= 15) current_state = BACKWARD;
tuk4 12:548cdc49cdba 77 break;
tuk4 12:548cdc49cdba 78
tuk4 12:548cdc49cdba 79 case FORWARD :
tuk4 12:548cdc49cdba 80 motor.setSpeed(speed_L,speed_R);
tuk4 12:548cdc49cdba 81 if (ultraSon.readUSB() <= 20) {
tuk4 12:548cdc49cdba 82 current_state = SAFEMODE;
tuk4 12:548cdc49cdba 83 }
tuk4 12:548cdc49cdba 84 if (x<=-2000) current_state = IDLE;
tuk4 12:548cdc49cdba 85 break;
tuk4 12:548cdc49cdba 86
tuk4 12:548cdc49cdba 87 case BACKWARD :
tuk4 12:548cdc49cdba 88 motor.setSpeed(-speed_L,-speed_R);
tuk4 12:548cdc49cdba 89 if (ultraSon.readUSB() >= 15) current_state = SAFEMODE;
tuk4 12:548cdc49cdba 90 break;
tuk4 12:548cdc49cdba 91
tuk4 12:548cdc49cdba 92 case LOOK_FOR_FILE :
tuk4 12:548cdc49cdba 93 if (pixy.checkNewImage()) {
tuk4 10:6c3653c53eca 94 pixy.detectedObject(&numberOfObjects,&dummy);
tuk4 10:6c3653c53eca 95 if (numberOfObjects==1) {
tuk4 10:6c3653c53eca 96 file=pixy.getNMBloc();
tuk4 11:31564089b41c 97 pc.printf("\r x = %d", file.x);
tuk4 11:31564089b41c 98 if (file.x >165){
tuk4 11:31564089b41c 99 motor.setSpeed(-speed_L,speed_R);// turn right
tuk4 11:31564089b41c 100 pc.printf(" - Turning right");
tuk4 11:31564089b41c 101 }
tuk4 11:31564089b41c 102 else if (file.x <155){
tuk4 11:31564089b41c 103 motor.setSpeed(speed_L,-speed_R);// turn left
tuk4 11:31564089b41c 104 pc.printf(" - Turning left");
tuk4 11:31564089b41c 105 }
tuk4 11:31564089b41c 106 else {
tuk4 11:31564089b41c 107 motor.setSpeed(0,0);
tuk4 12:548cdc49cdba 108 current_state = FORWARD;
tuk4 10:6c3653c53eca 109 }
tuk4 10:6c3653c53eca 110 }
tuk4 11:31564089b41c 111 else {
tuk4 12:548cdc49cdba 112 motor.setSpeed(-speed_L,speed_R);// turn right
tuk4 11:31564089b41c 113 pc.printf(" - No object");
tuk4 11:31564089b41c 114 }
tuk4 11:31564089b41c 115 }
tuk4 12:548cdc49cdba 116 else
tuk4 12:548cdc49cdba 117 {
tuk4 12:548cdc49cdba 118 numberOfObjects = 0;
tuk4 12:548cdc49cdba 119 //motor.setSpeed(-speed_L,speed_R);// turn right
tuk4 12:548cdc49cdba 120 // motor.setSpeed(0,0);
tuk4 12:548cdc49cdba 121 } // end of pixy.checkNewImage
tuk4 12:548cdc49cdba 122
tuk4 10:6c3653c53eca 123 break;
tuk4 10:6c3653c53eca 124
tuk4 10:6c3653c53eca 125 default :
tuk4 10:6c3653c53eca 126 //do something
tuk4 10:6c3653c53eca 127 break;
tuk4 10:6c3653c53eca 128 }
haarkon 3:0221daeeaa86 129 }
tuk4 9:4053b5217339 130
tuk4 9:4053b5217339 131 return 0;
haarkon 0:4902b3f17137 132 }