Ephantus Mugo / Mbed 2 deprecated Kenya_2019

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Dependencies:   mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy

Files at this revision

API Documentation at this revision

Revision 11:31564089b41c, committed 2019-10-25

Comitter:
tuk4
Date:
Fri Oct 25 12:40:27 2019 +0000
Parent:
10:6c3653c53eca
Child:
12:548cdc49cdba
Commit message:
latest 25102019 1540

Changed in this revision

PID.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.lib	Fri Oct 25 11:19:43 2019 +0000
+++ b/PID.lib	Fri Oct 25 12:40:27 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/FRC-Hackathon/code/PID/#a852385c6a34
+https://os.mbed.com/teams/FRC-Hackathon/code/PID/#5dfa92698884

--- a/main.cpp	Fri Oct 25 11:19:43 2019 +0000
+++ b/main.cpp	Fri Oct 25 12:40:27 2019 +0000
@@ -10,7 +10,7 @@
 #define PI  3.1415926535898
 
 Serial      pc          (PA_2, PA_3, 115200);
-TIM
+
 PID         motor       (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);
 
 CMPS03      boussole    (PC_4);
@@ -21,7 +21,7 @@
 
 VMA306      ultraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
 
-PIXY        pixy        (PA_0, PA_1, 115200);
+PIXY        pixy        (PA_0, PA_1, 50000);
 
 DigitalIn   bp          (PC_13);
 
@@ -49,18 +49,37 @@
     motor.setProportionnalValue(2.0);
     motor.setintegralValue(0.4);
     motor.setDerivativeValue(1.0);
-    
+    double speed_L = -50, speed_R = -50;
     while (1) {
         if (pixy.checkNewImage()) {
             pixy.detectedObject(&numberOfObjects,&dummy);
             if (numberOfObjects==1) {
                 file=pixy.getNMBloc();
-                if (file.x >160){
+                pc.printf("\r x = %d", file.x);
+                if (file.x >165){
+                    motor.setSpeed(-speed_L,speed_R);// turn right
+                    pc.printf(" - Turning right");
+                }
+                else if (file.x <155){
+                    motor.setSpeed(speed_L,-speed_R);// turn left
+                    pc.printf(" - Turning left");
+                }
+                else {
+                    motor.setSpeed(0,0);
                 }
             }
-        }else numberOfObjects = 0;
-            
-        double speed_L = -100, speed_R = -100;
+            else {
+                motor.setSpeed(0,0);   
+                pc.printf(" - No object");
+                }
+        }
+        else 
+            {
+                numberOfObjects = 0;
+               // motor.setSpeed(0,0);    
+            }
+        //continue;    
+
         motor.getPosition(&x, &y, &theta);
         pc.printf("\r x is %.2lf, y is %.2lf, theta is %.2lf",x,y,theta);
         switch (current_state)