James Heavey / Mbed 2 deprecated 3875_DISSERTATION

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed 3875_Individualproject

main/main.h@58:cb32aa0f4116, 2020-04-18 (annotated)

Committer:
jamesheavey
Date:
Sat Apr 18 17:33:31 2020 +0000
Revision:
58:cb32aa0f4116
Parent:
55:18ea9529afb2
Child:
59:11e31ce4d675
everything works. need to make the robot retrun to start for looping. Also try changing the back track so it finds the closest available unexplored node not the last one in the path

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jamesheavey 0:df5216b20861 1 #ifndef MAIN_H
jamesheavey 0:df5216b20861 2 #define MAIN_H
jamesheavey 0:df5216b20861 3
jamesheavey 0:df5216b20861 4 #include "m3pi.h"
jamesheavey 0:df5216b20861 5 #include "mbed.h"
jamesheavey 29:ecf497c3fdc0 6 #include <stdlib.h>
jamesheavey 20:5cf6a378801d 7
jamesheavey 20:5cf6a378801d 8 // Constants
jamesheavey 20:5cf6a378801d 9 #define A 0.5 // 20
jamesheavey 20:5cf6a378801d 10 #define B 1/10000 // 10000
jamesheavey 20:5cf6a378801d 11 #define C 1.5 // 2/3
jamesheavey 20:5cf6a378801d 12
jamesheavey 20:5cf6a378801d 13 #define SENS_THRESH 500 // >500 = black
jamesheavey 20:5cf6a378801d 14 #define TURN_SPEED 0.2
jamesheavey 0:df5216b20861 15
jamesheavey 0:df5216b20861 16 // API
jamesheavey 0:df5216b20861 17 extern m3pi robot;
jamesheavey 0:df5216b20861 18
jamesheavey 0:df5216b20861 19 // LEDs
jamesheavey 0:df5216b20861 20 extern BusOut leds;
jamesheavey 0:df5216b20861 21
jamesheavey 0:df5216b20861 22 // Buttons
jamesheavey 0:df5216b20861 23 extern DigitalIn button_A;
jamesheavey 0:df5216b20861 24 extern DigitalIn button_B;
jamesheavey 0:df5216b20861 25 extern DigitalIn button_X;
jamesheavey 0:df5216b20861 26 extern DigitalIn button_Y;
jamesheavey 0:df5216b20861 27 extern DigitalIn button_enter;
jamesheavey 0:df5216b20861 28 extern DigitalIn button_back;
jamesheavey 0:df5216b20861 29
jamesheavey 0:df5216b20861 30 // Potentiometers
jamesheavey 0:df5216b20861 31 extern AnalogIn pot_P;
jamesheavey 0:df5216b20861 32 extern AnalogIn pot_I;
jamesheavey 0:df5216b20861 33 extern AnalogIn pot_D;
jamesheavey 0:df5216b20861 34 extern AnalogIn pot_S;
jamesheavey 0:df5216b20861 35
jamesheavey 18:991658b628fc 36 // Sensors
jamesheavey 18:991658b628fc 37 extern DigitalInOut QTRA; //connected to digital P26
jamesheavey 18:991658b628fc 38 extern DigitalInOut QTRB; //connected to digital P25
jamesheavey 18:991658b628fc 39
jamesheavey 20:5cf6a378801d 40 // Timers
jamesheavey 21:54ea75f7984f 41 Timer t_L; // left encoder
jamesheavey 21:54ea75f7984f 42 Timer t_R; // right encoder
jamesheavey 21:54ea75f7984f 43 Timer t_coord; // coordinate timer
jamesheavey 0:df5216b20861 44
jamesheavey 0:df5216b20861 45 // Prototypes
jamesheavey 21:54ea75f7984f 46
jamesheavey 20:5cf6a378801d 47 void read_encoders();
jamesheavey 20:5cf6a378801d 48 void init();
jamesheavey 20:5cf6a378801d 49 void calibrate();
jamesheavey 20:5cf6a378801d 50 void follow_line();
jamesheavey 20:5cf6a378801d 51 bool junction_detect();
jamesheavey 20:5cf6a378801d 52 char junction_logic();
jamesheavey 20:5cf6a378801d 53 void turn_select( char turn );
jamesheavey 20:5cf6a378801d 54 void left();
jamesheavey 20:5cf6a378801d 55 void right();
jamesheavey 20:5cf6a378801d 56 void back();
jamesheavey 20:5cf6a378801d 57 void goal();
jamesheavey 29:ecf497c3fdc0 58 void looped_goal();
jamesheavey 20:5cf6a378801d 59 void simplify();
jamesheavey 20:5cf6a378801d 60 void invert_path();
jamesheavey 20:5cf6a378801d 61 void non_looped();
jamesheavey 20:5cf6a378801d 62 void looped();
jamesheavey 21:54ea75f7984f 63 void node_logic();
jamesheavey 24:adb946be4ce5 64 bool coord_check();
jamesheavey 25:7523239a2fc1 65 void update_index();
jamesheavey 28:63ff8290964a 66 void choose_turn();
jamesheavey 28:63ff8290964a 67 void back_track();
jamesheavey 29:ecf497c3fdc0 68 int path_to_point_index( int path_point );
jamesheavey 37:2967f3f9c936 69 void print_data( char *word );
jamesheavey 55:18ea9529afb2 70 bool dead_end_removal(int index1, int index2);
jamesheavey 58:cb32aa0f4116 71 void looped_goal_simplification();
jamesheavey 58:cb32aa0f4116 72 void goal_path_explored( bool inverse );
jamesheavey 0:df5216b20861 73
jamesheavey 20:5cf6a378801d 74 // Global Variables
jamesheavey 20:5cf6a378801d 75 char path[100];
jamesheavey 20:5cf6a378801d 76 char inv_path[100];
jamesheavey 20:5cf6a378801d 77 int path_length = 0;
jamesheavey 20:5cf6a378801d 78 unsigned int *sensor;
jamesheavey 20:5cf6a378801d 79 float speed;
jamesheavey 20:5cf6a378801d 80 float proportional = 0.0;
jamesheavey 20:5cf6a378801d 81 float prev_proportional = 0.0;
jamesheavey 20:5cf6a378801d 82 float integral = 0.0;
jamesheavey 20:5cf6a378801d 83 float derivative = 0.0;
jamesheavey 20:5cf6a378801d 84 int encoder[2];
jamesheavey 20:5cf6a378801d 85 int dist_est_1 = 0;
jamesheavey 20:5cf6a378801d 86 int dist_est_2 = 0;
jamesheavey 0:df5216b20861 87
jamesheavey 41:2b6b73dd897c 88 bool loop_check;
jamesheavey 38:b5b06625d06e 89 int dist = 0;
jamesheavey 23:71e84953b3f3 90 bool first = true;
jamesheavey 27:0a3f028f9365 91 bool goal_node = false;
jamesheavey 21:54ea75f7984f 92 bool t_restart = true;
jamesheavey 23:71e84953b3f3 93 char dir;
jamesheavey 25:7523239a2fc1 94 int curr_index;
jamesheavey 21:54ea75f7984f 95 int curr_coords[2];
jamesheavey 23:71e84953b3f3 96 int total_points;
jamesheavey 24:adb946be4ce5 97 unsigned int looped_path[100];
jamesheavey 27:0a3f028f9365 98 unsigned int point[100]; // use a struct
jamesheavey 22:02dda79d50b4 99 unsigned int type[100];
jamesheavey 22:02dda79d50b4 100 unsigned int explored[100];
jamesheavey 21:54ea75f7984f 101 int coords_x[100];
jamesheavey 21:54ea75f7984f 102 int coords_y[100];
jamesheavey 48:76cf4521d342 103 int shortest[100];
jamesheavey 55:18ea9529afb2 104 int short_length;
jamesheavey 58:cb32aa0f4116 105 int goal_path1[100];
jamesheavey 58:cb32aa0f4116 106 int goal_length1;
jamesheavey 58:cb32aa0f4116 107 int goal_path2[100];
jamesheavey 58:cb32aa0f4116 108 int goal_length2;
jamesheavey 0:df5216b20861 109 #endif