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Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
main.cpp
- Committer:
- cbrice6
- Date:
- 2018-11-19
- Revision:
- 1:92f6242c0196
- Parent:
- 0:9e014841f2b7
- Child:
- 3:c07ea8bf242e
File content as of revision 1:92f6242c0196:
#include "mbed.h" #include "LSM9DS1.h" // IMU #include "ultrasonic.h" // Ultrasonic Sensor #include "Motor.h" // Motor Drivers // Global Variables: float start; float heading; bool turnflag = false; //---------------------| // PIN INITIALIZATIONS | //---------------------| // Setup IMU pins: LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); // SDA to p28, SCL to p27.. // Setup Motor Driver pins: Motor Lfront(p21, p6, p5); // PWM to p21, forward to p6, reverse to p5... Motor Rfront(p22, p8, p7); // PWM to p22, forward to p8, reverse to p7... Motor Lback(p23, p10, p9); // PWM to p23, forward to p10, reverse to p9... Motor Rback(p24, p12, p11); // PWM to p24, forward to p12, reverse to p11... Timer t; //-----------------------| // CLASS INITIALIZATIONS | //-----------------------| class mctrl { public: int LeftCount; int RightCount; // Stop all motors: void stop(void) { Lfront.speed(0); Lback.speed(0); Rfront.speed(0); Rback.speed(0); wait(0.02); }; // Go forward at constant speed: void fwd(void){ stop(); Lfront.speed(1); Lback.speed(1); Rfront.speed(1); Rback.speed(1); wait(0.02); }; // Reverse at constant speed: void rev(void){ stop(); Lfront.speed(-1); Lback.speed(-1); Rfront.speed(-1); Rback.speed(-1); wait(0.02); }; // Turn left 90 degrees: void turnLeft(void){ stop(); while ((heading-start) < 90) { Lfront.speed(-1); Lback.speed(-1); Rfront.speed(1); Rback.speed(1); } LeftCount++; stop(); wait(0.02); }; // Turn right 90 degrees: void turnRight(void){ stop(); while ((heading-start) < 90) { Lfront.speed(1); Lback.speed(1); Rfront.speed(-1); Rback.speed(-1); } RightCount++; stop(); wait(0.02); }; } mctrl; //------------------| // HELPER FUNCTIONS | //------------------| void dist(int distance) // NOTE: by default "distance" is in mm... { if (distance < 150 || turnflag == true) { turnflag = true; mctrl.stop(); // PUT CODE HERE TO TRIGGER WHEN DISTANCE READS LESS THAN 15cm // 1) Turn right. // 2) Go forward __ seconds. // 3) Turn right. // 4) Continue forward until wall. mctrl.turnRight(); float currt = t.read(); while ((t.read()-currt) < 3) { mctrl.fwd(); } mctrl.turnRight(); if (mctrl.RightCount == 2) { turnflag = false; mctrl.RightCount = 0; } } else { mctrl.fwd(); } } //------------------------------| // PIN INITIALIZATIONS (cont'd) | //------------------------------| // Setup Ultrasonic Sensor pins: ultrasonic usensor(p13, p14, .07, 1, &dist); // trigger to p13, echo to p14... // update every .07 secs w/ timeout after 1 sec... // call "dist" when the distance changes... //---------------| // MAIN FUNCTION | //---------------| int main() { // Initialize and calibrate the IMU: //IMU.begin(); //if (!IMU.begin()) { // Do something if it doesn't detect the IMU... //} //IMU.calibrate(); //IMU.readGyro(); //start = IMU.calcGyro(IMU.gx); // Initialize the Ultrasonic Sensor: usensor.startUpdates(); // Initialize the Motor turn counts: mctrl.LeftCount = 0; mctrl.RightCount = 0; // Initialize the Timer: t.start(); while(1) { // Read IMU gyro: //while(!IMU.gyroAvailable()); //IMU.readGyro(); //heading = IMU.calcGyro(IMU.gx); // X - IMU.calcGyro(IMU.gx) // Y - IMU.calcGyro(IMU.gy) // Z - IMU.calcGyro(IMU.gz) // Read Ultrasonic Sensor: usensor.checkDistance(); wait(0.1); } }