Janus Bo Andersen / Mbed 2 deprecated T2PRO1_master

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Dependencies:   mbed m3pi

main.cpp@11:394ab193971f, 2018-11-21 (annotated)

Committer:
Blunsdon
Date:
Wed Nov 21 13:02:46 2018 +0000
Revision:
11:394ab193971f
Parent:
10:d18768e771ac
Child:
12:dfc717775297
v 3 marc;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:78f9794620a3 1 #include "mbed.h"
chris 0:78f9794620a3 2 #include "m3pi.h"
chris 0:78f9794620a3 3
chris 0:78f9794620a3 4 m3pi m3pi;
chris 0:78f9794620a3 5
chris 0:78f9794620a3 6 // Minimum and maximum motor speeds
Blunsdon 1:47ea51d9e25d 7 #define MAX 0.5
chris 0:78f9794620a3 8 #define MIN 0
chris 0:78f9794620a3 9
chris 0:78f9794620a3 10 // PID terms
chris 0:78f9794620a3 11 #define P_TERM 1
chris 0:78f9794620a3 12 #define I_TERM 0
Blunsdon 1:47ea51d9e25d 13 #define D_TERM 8
Blunsdon 1:47ea51d9e25d 14
Blunsdon 11:394ab193971f 15 int sensor_all(void) //lav en funktion? ved ikke hvad jeg skal her
Blunsdon 1:47ea51d9e25d 16 {
Blunsdon 1:47ea51d9e25d 17 int sensor_value[5]; // sensor int
Blunsdon 1:47ea51d9e25d 18 m3pi.putc(0x86); // send noget sensor data
Blunsdon 1:47ea51d9e25d 19
janusboandersen 4:5939f9ad88ca 20 for(int n=0; n < 5; n++) // forloop så sensor for data
Blunsdon 1:47ea51d9e25d 21 {
Blunsdon 1:47ea51d9e25d 22 char lowbyte = m3pi.getc();
Blunsdon 1:47ea51d9e25d 23 char hibyte = m3pi.getc();
Blunsdon 1:47ea51d9e25d 24 sensor_value[n] = ((lowbyte + (hibyte << 8))); // sensor value
Blunsdon 1:47ea51d9e25d 25 }
Blunsdon 9:fa745d3afcac 26 m3pi.cls();
Blunsdon 9:fa745d3afcac 27 m3pi.locate(0,1);
Blunsdon 9:fa745d3afcac 28 m3pi.printf("%d", sensor_value[0]);
Blunsdon 11:394ab193971f 29 return sensor_value[0];
Blunsdon 11:394ab193971f 30 }
Blunsdon 11:394ab193971f 31
Blunsdon 11:394ab193971f 32 int sensor_all2(void) //lav en funktion? ved ikke hvad jeg skal her
Blunsdon 11:394ab193971f 33 {
Blunsdon 11:394ab193971f 34 int sensor_value[5]; // sensor int
Blunsdon 11:394ab193971f 35 m3pi.putc(0x86); // send noget sensor data
Blunsdon 11:394ab193971f 36
Blunsdon 11:394ab193971f 37 for(int n=0; n < 5; n++) // forloop så sensor for data
Blunsdon 11:394ab193971f 38 {
Blunsdon 11:394ab193971f 39 char lowbyte = m3pi.getc();
Blunsdon 11:394ab193971f 40 char hibyte = m3pi.getc();
Blunsdon 11:394ab193971f 41 sensor_value[n] = ((lowbyte + (hibyte << 8))); // sensor value
Blunsdon 11:394ab193971f 42 }
Blunsdon 11:394ab193971f 43 m3pi.cls();
Blunsdon 11:394ab193971f 44 m3pi.locate(0,0);
Blunsdon 11:394ab193971f 45 m3pi.printf("%d", sensor_value[4]);
Blunsdon 11:394ab193971f 46 return sensor_value[4];
Blunsdon 11:394ab193971f 47 }
chris 0:78f9794620a3 48
chris 0:78f9794620a3 49 int main() {
janusboandersen 2:d22dcc2bfcc1 50
chris 0:78f9794620a3 51 m3pi.locate(0,1);
chris 0:78f9794620a3 52 m3pi.printf("Line PID");
chris 0:78f9794620a3 53
Blunsdon 1:47ea51d9e25d 54 wait(1.0);
chris 0:78f9794620a3 55
chris 0:78f9794620a3 56 m3pi.sensor_auto_calibrate();
chris 0:78f9794620a3 57
chris 0:78f9794620a3 58 float right;
chris 0:78f9794620a3 59 float left;
chris 0:78f9794620a3 60 float current_pos_of_line = 0.0;
chris 0:78f9794620a3 61 float previous_pos_of_line = 0.0;
chris 0:78f9794620a3 62 float derivative,proportional,integral = 0;
chris 0:78f9794620a3 63 float power;
chris 0:78f9794620a3 64 float speed = MAX;
Blunsdon 11:394ab193971f 65 int sensor_val = 0;
Blunsdon 11:394ab193971f 66 int sensor_val2 = 0;
chris 0:78f9794620a3 67
chris 0:78f9794620a3 68 while (1) {
Blunsdon 11:394ab193971f 69 // Get the position of the line.
chris 0:78f9794620a3 70 current_pos_of_line = m3pi.line_position();
chris 0:78f9794620a3 71 proportional = current_pos_of_line;
chris 0:78f9794620a3 72
chris 0:78f9794620a3 73 // Compute the derivative
chris 0:78f9794620a3 74 derivative = current_pos_of_line - previous_pos_of_line;
chris 0:78f9794620a3 75
chris 0:78f9794620a3 76 // Compute the integral
chris 0:78f9794620a3 77 integral += proportional;
chris 0:78f9794620a3 78
chris 0:78f9794620a3 79 // Remember the last position.
chris 0:78f9794620a3 80 previous_pos_of_line = current_pos_of_line;
chris 0:78f9794620a3 81
chris 0:78f9794620a3 82 // Compute the power
chris 0:78f9794620a3 83 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
chris 0:78f9794620a3 84
chris 0:78f9794620a3 85 // Compute new speeds
chris 0:78f9794620a3 86 right = speed+power;
chris 0:78f9794620a3 87 left = speed-power;
chris 0:78f9794620a3 88
chris 0:78f9794620a3 89 // limit checks
chris 0:78f9794620a3 90 if (right < MIN)
chris 0:78f9794620a3 91 right = MIN;
chris 0:78f9794620a3 92 else if (right > MAX)
chris 0:78f9794620a3 93 right = MAX;
chris 0:78f9794620a3 94
chris 0:78f9794620a3 95 if (left < MIN)
chris 0:78f9794620a3 96 left = MIN;
chris 0:78f9794620a3 97 else if (left > MAX)
chris 0:78f9794620a3 98 left = MAX;
chris 0:78f9794620a3 99
chris 0:78f9794620a3 100 // set speed
chris 0:78f9794620a3 101 m3pi.left_motor(left);
chris 0:78f9794620a3 102 m3pi.right_motor(right);
Blunsdon 11:394ab193971f 103
janusboandersen 2:d22dcc2bfcc1 104 //Marc's sensor test
Blunsdon 11:394ab193971f 105 sensor_val = sensor_all(); // sensor_value gets fkt value
Blunsdon 11:394ab193971f 106 sensor_val2 = sensor_all(); // sensor_value gets fkt value
Blunsdon 11:394ab193971f 107 if ((sensor_val > 1500) && (sensor_val2 > 1500))
Blunsdon 11:394ab193971f 108 {
Blunsdon 11:394ab193971f 109 speed = 0.2;
Blunsdon 11:394ab193971f 110 }
janusboandersen 5:527c046c7b8a 111 /*
janusboandersen 2:d22dcc2bfcc1 112 sensor_value4 = sensor_all(4); // sensor_value gets fkt value
janusboandersen 6:3be33adda32d 113 */
janusboandersen 7:30c63d6460f6 114
janusboandersen 6:3be33adda32d 115 /*
janusboandersen 2:d22dcc2bfcc1 116 m3pi.printf("%d", sensor_value0); // prints one of sidesensors value
janusboandersen 2:d22dcc2bfcc1 117 m3pi.locate(0,1);
janusboandersen 2:d22dcc2bfcc1 118 m3pi.printf("%d", sensor_value4); // prints the other sidesensor value
janusboandersen 3:47968be0df37 119 */
chris 0:78f9794620a3 120
chris 0:78f9794620a3 121 }
chris 0:78f9794620a3 122 }