Janus Bo Andersen / Mbed 2 deprecated T2PRO1_master

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Dependencies:   mbed m3pi

main.cpp@15:fd6886ab896a, 2018-11-29 (annotated)

Committer:
Blunsdon
Date:
Thu Nov 29 12:46:33 2018 +0000
Revision:
15:fd6886ab896a
Parent:
14:408d9d087d0f
Child:
16:48b81a9246e6
vers 42

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 13:6a8689f601cd 7 #define MAX 0.3
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 12:dfc717775297 15 void sensor_all(int arr[]) //lav en funktion? ved ikke hvad jeg skal her
Blunsdon 1:47ea51d9e25d 16 {
Blunsdon 12:dfc717775297 17 m3pi.putc(0x87); // send noget sensor data
Blunsdon 1:47ea51d9e25d 18
janusboandersen 4:5939f9ad88ca 19 for(int n=0; n < 5; n++) // forloop så sensor for data
Blunsdon 1:47ea51d9e25d 20 {
Blunsdon 1:47ea51d9e25d 21 char lowbyte = m3pi.getc();
Blunsdon 1:47ea51d9e25d 22 char hibyte = m3pi.getc();
Blunsdon 12:dfc717775297 23 arr[n] = ((lowbyte + (hibyte << 8))); // sensor value
Blunsdon 1:47ea51d9e25d 24 }
Blunsdon 9:fa745d3afcac 25 m3pi.cls();
Blunsdon 9:fa745d3afcac 26 m3pi.locate(0,1);
Blunsdon 12:dfc717775297 27 m3pi.printf("%d", arr[0]);
Blunsdon 12:dfc717775297 28 m3pi.locate(0,0);
Blunsdon 12:dfc717775297 29 m3pi.printf("%d", arr[4]);
Blunsdon 11:394ab193971f 30 }
Blunsdon 13:6a8689f601cd 31
Blunsdon 13:6a8689f601cd 32 int maze (void)
Blunsdon 13:6a8689f601cd 33 {
Blunsdon 13:6a8689f601cd 34
Blunsdon 13:6a8689f601cd 35 return 1;
Blunsdon 14:408d9d087d0f 36 }
Blunsdon 14:408d9d087d0f 37
Blunsdon 14:408d9d087d0f 38 void turn_left (void)
Blunsdon 14:408d9d087d0f 39 {
Blunsdon 14:408d9d087d0f 40 m3pi.left(0.3);
Blunsdon 14:408d9d087d0f 41 wait (0.22);
Blunsdon 14:408d9d087d0f 42 }
Blunsdon 14:408d9d087d0f 43
Blunsdon 13:6a8689f601cd 44 void turn_right (void)
Blunsdon 13:6a8689f601cd 45 {
Blunsdon 13:6a8689f601cd 46 m3pi.right (0.3);
Blunsdon 14:408d9d087d0f 47 wait (0.22);
Blunsdon 13:6a8689f601cd 48 }
chris 0:78f9794620a3 49
chris 0:78f9794620a3 50 int main() {
janusboandersen 2:d22dcc2bfcc1 51
chris 0:78f9794620a3 52 m3pi.locate(0,1);
chris 0:78f9794620a3 53 m3pi.printf("Line PID");
chris 0:78f9794620a3 54
Blunsdon 1:47ea51d9e25d 55 wait(1.0);
chris 0:78f9794620a3 56
chris 0:78f9794620a3 57 m3pi.sensor_auto_calibrate();
chris 0:78f9794620a3 58
chris 0:78f9794620a3 59 float right;
chris 0:78f9794620a3 60 float left;
chris 0:78f9794620a3 61 float current_pos_of_line = 0.0;
chris 0:78f9794620a3 62 float previous_pos_of_line = 0.0;
chris 0:78f9794620a3 63 float derivative,proportional,integral = 0;
chris 0:78f9794620a3 64 float power;
chris 0:78f9794620a3 65 float speed = MAX;
Blunsdon 12:dfc717775297 66 int sensor_val[5];
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 12:dfc717775297 105 sensor_all(sensor_val); // sensor_value gets fkt value
Blunsdon 13:6a8689f601cd 106 if (sensor_val[0] > 350 && sensor_val[4] > 350)
Blunsdon 12:dfc717775297 107 {
Blunsdon 13:6a8689f601cd 108
Blunsdon 13:6a8689f601cd 109 m3pi.stop();
Blunsdon 13:6a8689f601cd 110 turn_right();
Blunsdon 13:6a8689f601cd 111 m3pi.stop();
Blunsdon 13:6a8689f601cd 112 m3pi.forward(0.2);
Blunsdon 15:fd6886ab896a 113 wait (1);
Blunsdon 14:408d9d087d0f 114 m3pi.stop();
Blunsdon 14:408d9d087d0f 115 m3pi.backward(0.2);
Blunsdon 15:fd6886ab896a 116 wait (1);
Blunsdon 14:408d9d087d0f 117 m3pi.stop();
Blunsdon 14:408d9d087d0f 118 turn_left();
Blunsdon 13:6a8689f601cd 119 m3pi.stop();
Blunsdon 12:dfc717775297 120 }
janusboandersen 5:527c046c7b8a 121 /*
janusboandersen 2:d22dcc2bfcc1 122 sensor_value4 = sensor_all(4); // sensor_value gets fkt value
janusboandersen 6:3be33adda32d 123 */
janusboandersen 7:30c63d6460f6 124
janusboandersen 6:3be33adda32d 125 /*
janusboandersen 2:d22dcc2bfcc1 126 m3pi.printf("%d", sensor_value0); // prints one of sidesensors value
janusboandersen 2:d22dcc2bfcc1 127 m3pi.locate(0,1);
janusboandersen 2:d22dcc2bfcc1 128 m3pi.printf("%d", sensor_value4); // prints the other sidesensor value
janusboandersen 3:47968be0df37 129 */
chris 0:78f9794620a3 130
chris 0:78f9794620a3 131 }
chris 0:78f9794620a3 132 }