Kiyoteru Hayama
This micromouse is for educational use in our College. The hardware and software is very simple.
/media/uploads/hayama/mbedmicromouse-manual-japanese-only.pdf
/media/uploads/hayama/eagle-design-micromouse.zip
details (in Japanese), http://plaza.rakuten.co.jp/CPU4Edu/20018
you can see the movie on youtube (for education) -> http://youtu.be/UYi81i8WVtI
(for competition using high torque motor) -> http://youtu.be/fJDyqnC91YY
Diff: main.cpp
- Revision:
- 1:4f623bfc5fdd
- Parent:
- 0:c154c65c5cc7
--- a/main.cpp Thu Jul 04 16:01:36 2013 +0000
+++ b/main.cpp Wed Nov 13 09:48:01 2013 +0000
@@ -8,22 +8,23 @@
// run parameters
#define LSPD 5 // timer count for low speed
-#define HSPD 3 // timer count for high speed
-#define STEP1 665 // number of step for 1 maze area
-#define R90 265 // number of step for 90 degree right turn
-#define L90 265 // number of step for 90 degree left turn
-#define R180 530 // number of step for 180 degree u-turn
-#define DISFR 16 // front right sensor value in normal micromouse position
-#define DISFL 16 // front left sensor value in normal micromouse position
-#define DISR 8 // right sensor value in normal micromouse position
-#define DISL 8 // left sensor value in normal micromouse position
-#define DISFMAX 2 // threshold of sensor value for front wall detection
-#define DISRMAX 2 // threshold of sensor value for right wall detection
-#define DISLMAX 2 // threshold of sensor value for left wall detection
+#define HSPD 4 // timer count for high speed
+#define STEP0 20 // munber of step for slow start
+#define STEP1 500 // number of step for 1 maze area
+#define R90 207 // number of step for 90 degree right turn
+#define L90 207 // number of step for 90 degree left turn
+#define R180 414 // number of step for 180 degree u-turn
+#define DISFR 2.6 // front right sensor value in normal micromouse position
+#define DISFL 2.6 // front left sensor value in normal micromouse position
+#define DISR 0.75 // right sensor value in normal micromouse position
+#define DISL 0.75 // left sensor value in normal micromouse position
+#define DISFMAX 0.3 // threshold of sensor value for front wall detection
+#define DISRMAX 0.3 // threshold of sensor value for right wall detection
+#define DISLMAX 0.3 // threshold of sensor value for left wall detection
// pattern table for stepping motor
-const unsigned char RMOTOR[]={0x03, 0x06, 0x0C, 0x09, 0x00}; // magnetization pattern for right motor
-const unsigned char LMOTOR[]={0x09, 0x0C, 0x06, 0x03, 0x00}; // magnetization pattern for left motor
+const unsigned char RMOTOR[]={0x09, 0x0C, 0x06, 0x03, 0x00}; // magnetization pattern for left motor
+const unsigned char LMOTOR[]={0x03, 0x06, 0x0C, 0x09, 0x00}; // magnetization pattern for right motor
const unsigned char DtoR[]={0,2,4,0,8,0,0,0,1}; // table indicating to the right direction
const unsigned char DtoL[]={0,8,1,0,2,0,0,0,4}; // table indicating to the left direction
@@ -113,19 +114,29 @@
if (timS<20) timS++; else timS=0; // set counter timS
if (timS==0){
ptFRB=ptFR; // measure all background values
+ ledFout=1; // LED-ON
+ wait_us(20); // delay
+ sensFR=(ptFR-ptFRB)*20;
+ ledFout=0; // LED-OFF
+ }
+ if (timS==5){
ptFLB=ptFL; // measure all background values
ledFout=1; // LED-ON
- wait_us(100); // delay
- sensFR=(ptFR-ptFRB)*20;
+ wait_us(20); // delay
sensFL=(ptFL-ptFLB)*20;
ledFout=0; // LED-OFF
}
if (timS==10){
ptRB=ptR;
+ ledRLout=1;
+ wait_us(20);
+ sensR=(ptR-ptRB)*20;
+ ledRLout=0;
+ }
+ if (timS==15){
ptLB=ptL;
ledRLout=1;
- wait_us(100);
- sensR=(ptR-ptRB)*20;
+ wait_us(20);
sensL=(ptL-ptLB)*20;
ledRLout=0;
}
@@ -135,11 +146,11 @@
if (fS==1){ // do the following process, when flag fS=1
fR=fL=1; // set high speed for both motor
if(sensR>DISRMAX){ // when right wall exists,
- if ((sensR-DISR)>4) fL=0; // set low speed for left moter, when close to the right wall
- if ((sensR-DISR)<-4) fR=0; // set low speed for right moter, when close to the left wall
+ if ((sensR-DISR)>0.2) fL=0; // set low speed for left moter, when close to the right wall
+ if ((sensR-DISR)<-0.2) fR=0; // set low speed for right moter, when close to the left wall
} else if(sensL>DISLMAX){ // when existing left wall only,
- if ((sensL-DISL)>4) fR=0; // similar to the control by right wall.
- if ((sensL-DISL)<-4) fL=0;
+ if ((sensL-DISL)>-0.2) fR=0; // similar to the control by right wall.
+ if ((sensL-DISL)<-0.2) fL=0;
}
} else { fR=fL=0; } // when fS=0, set low speed for both motor
}
@@ -150,7 +161,7 @@
void check_sens(){
while (1){
pc.printf("\f");
- pc.printf("Sensor FR:%f \n",sensFR);
+ pc.printf("Sensor FR:%f \n",sensFR);
pc.printf("Sensor FL:%f \n",sensFL);
pc.printf("Sensor R:%f \n",sensR);
pc.printf("Sensor L:%f \n",sensL);
@@ -170,7 +181,7 @@
//--------------------------------------------------------------------------
void adjust(){
fS=0; // set low speed
- while(abs((sensFR-DISFR)-(sensFL-DISFL))>4){ // do adjustment when difference of sensor value larger than threshold(20)
+ while(abs((sensFR-DISFR)-(sensFL-DISFL))>0.4){ // do adjustment when difference of sensor value larger than threshold(20)
if ((sensFR-DISFR)>(sensFL-DISFL)) {
modeR=2; modeL=1; // turn right
} else {
@@ -186,7 +197,7 @@
void slow_start(){
fS=0; // set low speed
modeR=modeL=1; // set mode for run forward
- cntR=0; stepR=20; // run 20 step at low speed
+ cntR=0; stepR=STEP0; // run 20 step at low speed
while (cntR<stepR);
}
@@ -196,7 +207,7 @@
void run_step(){
slow_start();
fS=1; // change to high speed
- cntR=0; stepR=STEP1-20;
+ cntR=0; stepR=STEP1-STEP0;
while (cntR<stepR);
run_break();
}
@@ -298,7 +309,7 @@
// go forward and detect walls
wS=0; wF=0; wR=0; wL=0; // reset of wall flags
slow_start(); // slow start
- stepR=STEP1;
+ stepR=STEP1-STEP0;
fS=1; // change high speed
while (cntR<stepR){ // go forward
if (cntR > (STEP1*2/3) && wS==0){ // wall detection when the mouse run 2/3 step of area
@@ -310,7 +321,7 @@
}
// go forwrd to adjust distanse of front wall, when exit the above loop by front wall detection.
- if (wF==1){
+ if (wF==1){
while (sensFR<DISFR); // go forward to have normal distance to front wall
adjust(); // adjustment by front wall
}
@@ -352,7 +363,7 @@
// write steps to smap from goal position
// goal position set to m=1, find same value of m in smap and put m+1 to no wall direction, increment of m,
// go out roop when reach to stat position.
- smap[7][7]=1; smap[7][8]=1; smap[8][7]=1; smap[8][8]=1; // goal position set to 1
+ smap[7][7]=1; smap[7][8]=1; smap[8][7]=1; smap[8][8]=1; // goal position set to 1
m=1; // set m=1
for(k=0;k<255;k++){ // repeat maximun 255 times
for(i=0;i<16;i++){