Janus Bo Andersen / Mbed 2 deprecated T2PRO1_master

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Dependencies:   mbed m3pi

main.cpp@10:d18768e771ac, 2018-11-21 (annotated)

Committer:
Blunsdon
Date:
Wed Nov 21 12:23:52 2018 +0000
Revision:
10:d18768e771ac
Parent:
9:fa745d3afcac
Child:
11:394ab193971f
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 9:fa745d3afcac 15 void 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 1:47ea51d9e25d 29 }
chris 0:78f9794620a3 30
chris 0:78f9794620a3 31 int main() {
janusboandersen 2:d22dcc2bfcc1 32
chris 0:78f9794620a3 33 m3pi.locate(0,1);
chris 0:78f9794620a3 34 m3pi.printf("Line PID");
chris 0:78f9794620a3 35
Blunsdon 1:47ea51d9e25d 36 wait(1.0);
chris 0:78f9794620a3 37
chris 0:78f9794620a3 38 m3pi.sensor_auto_calibrate();
chris 0:78f9794620a3 39
chris 0:78f9794620a3 40 float right;
chris 0:78f9794620a3 41 float left;
chris 0:78f9794620a3 42 float current_pos_of_line = 0.0;
chris 0:78f9794620a3 43 float previous_pos_of_line = 0.0;
chris 0:78f9794620a3 44 float derivative,proportional,integral = 0;
chris 0:78f9794620a3 45 float power;
chris 0:78f9794620a3 46 float speed = MAX;
chris 0:78f9794620a3 47
chris 0:78f9794620a3 48 while (1) {
chris 0:78f9794620a3 49 // Get the position of the line.
chris 0:78f9794620a3 50 current_pos_of_line = m3pi.line_position();
chris 0:78f9794620a3 51 proportional = current_pos_of_line;
chris 0:78f9794620a3 52
chris 0:78f9794620a3 53 // Compute the derivative
chris 0:78f9794620a3 54 derivative = current_pos_of_line - previous_pos_of_line;
chris 0:78f9794620a3 55
chris 0:78f9794620a3 56 // Compute the integral
chris 0:78f9794620a3 57 integral += proportional;
chris 0:78f9794620a3 58
chris 0:78f9794620a3 59 // Remember the last position.
chris 0:78f9794620a3 60 previous_pos_of_line = current_pos_of_line;
chris 0:78f9794620a3 61
chris 0:78f9794620a3 62 // Compute the power
chris 0:78f9794620a3 63 power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
chris 0:78f9794620a3 64
chris 0:78f9794620a3 65 // Compute new speeds
chris 0:78f9794620a3 66 right = speed+power;
chris 0:78f9794620a3 67 left = speed-power;
chris 0:78f9794620a3 68
chris 0:78f9794620a3 69 // limit checks
chris 0:78f9794620a3 70 if (right < MIN)
chris 0:78f9794620a3 71 right = MIN;
chris 0:78f9794620a3 72 else if (right > MAX)
chris 0:78f9794620a3 73 right = MAX;
chris 0:78f9794620a3 74
chris 0:78f9794620a3 75 if (left < MIN)
chris 0:78f9794620a3 76 left = MIN;
chris 0:78f9794620a3 77 else if (left > MAX)
chris 0:78f9794620a3 78 left = MAX;
chris 0:78f9794620a3 79
chris 0:78f9794620a3 80 // set speed
chris 0:78f9794620a3 81 m3pi.left_motor(left);
chris 0:78f9794620a3 82 m3pi.right_motor(right);
Blunsdon 1:47ea51d9e25d 83
janusboandersen 2:d22dcc2bfcc1 84 //Marc's sensor test
Blunsdon 10:d18768e771ac 85 sensor_all(); // sensor_value gets fkt value
janusboandersen 5:527c046c7b8a 86 /*
janusboandersen 2:d22dcc2bfcc1 87 sensor_value4 = sensor_all(4); // sensor_value gets fkt value
janusboandersen 6:3be33adda32d 88 */
janusboandersen 7:30c63d6460f6 89
janusboandersen 6:3be33adda32d 90 /*
janusboandersen 2:d22dcc2bfcc1 91 m3pi.printf("%d", sensor_value0); // prints one of sidesensors value
janusboandersen 2:d22dcc2bfcc1 92 m3pi.locate(0,1);
janusboandersen 2:d22dcc2bfcc1 93 m3pi.printf("%d", sensor_value4); // prints the other sidesensor value
janusboandersen 3:47968be0df37 94 */
chris 0:78f9794620a3 95
chris 0:78f9794620a3 96 }
chris 0:78f9794620a3 97 }