Tools Section Navigation Calibrated slightly
Dependencies: HCSR04 PID PololuQik2 QEI mbed-rtos
Fork of NavigationTest by
main.cpp@3:3d0be48abcf2, 2014-03-15 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Sat Mar 15 22:37:06 2014 +0000
- Revision:
- 3:3d0be48abcf2
- Parent:
- 1:801f0b9a862a
- Child:
- 4:58726d2e11f0
3/15;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Fairy_Paolina | 0:ff94cc47fef7 | 1 | #include "rtos.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 2 | #include "PID.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 3 | #include "PololuQik2.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 4 | #include "QEI.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 5 | #include "mbed.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 6 | #include "HCSR04.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 7 | #include "stdio.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 8 | #include "LPC17xx.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 9 | |
Fairy_Paolina | 3:3d0be48abcf2 | 10 | #define PIN_TRIGGERL (p12) |
Fairy_Paolina | 3:3d0be48abcf2 | 11 | #define PIN_ECHOL (p11) |
Fairy_Paolina | 3:3d0be48abcf2 | 12 | #define PIN_TRIGGERR (p29) |
Fairy_Paolina | 3:3d0be48abcf2 | 13 | #define PIN_ECHOR (p30) |
Fairy_Paolina | 0:ff94cc47fef7 | 14 | #define PULSE_PER_REV (1192) |
Fairy_Paolina | 0:ff94cc47fef7 | 15 | #define WHEEL_CIRCUM (12.56637) |
Fairy_Paolina | 0:ff94cc47fef7 | 16 | #define DIST_PER_PULSE (0.01054225722682) |
Fairy_Paolina | 0:ff94cc47fef7 | 17 | #define MTRS_TO_INCH (39.3701) |
Fairy_Paolina | 1:801f0b9a862a | 18 | #define MAX_SPEED (0.3*127) |
Fairy_Paolina | 3:3d0be48abcf2 | 19 | #define PPRL (965) |
Fairy_Paolina | 3:3d0be48abcf2 | 20 | #define PPRR (1075) |
Fairy_Paolina | 3:3d0be48abcf2 | 21 | #define LEFT (1) |
Fairy_Paolina | 3:3d0be48abcf2 | 22 | #define RIGHT (0) |
Fairy_Paolina | 0:ff94cc47fef7 | 23 | |
Fairy_Paolina | 0:ff94cc47fef7 | 24 | float range, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 25 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 26 | bool cRc; |
Fairy_Paolina | 0:ff94cc47fef7 | 27 | |
Fairy_Paolina | 0:ff94cc47fef7 | 28 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 29 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 30 | Serial pc(USBTX,USBRX); |
Fairy_Paolina | 3:3d0be48abcf2 | 31 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
Fairy_Paolina | 3:3d0be48abcf2 | 32 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 3:3d0be48abcf2 | 33 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 34 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 3:3d0be48abcf2 | 35 | QEI rightEncoder(p17,p18,NC,PPRR,QEI::X4_ENCODING); |
Fairy_Paolina | 3:3d0be48abcf2 | 36 | QEI leftEncoder(p16,p15,NC,PPRR,QEI::X4_ENCODING); |
Fairy_Paolina | 1:801f0b9a862a | 37 | //InterruptIn encoder(p29); |
Fairy_Paolina | 1:801f0b9a862a | 38 | |
Fairy_Paolina | 0:ff94cc47fef7 | 39 | |
Fairy_Paolina | 0:ff94cc47fef7 | 40 | //Functions |
Fairy_Paolina | 0:ff94cc47fef7 | 41 | |
Fairy_Paolina | 3:3d0be48abcf2 | 42 | void wall_follow(int side); |
Fairy_Paolina | 3:3d0be48abcf2 | 43 | void wall_follow2(int side); |
Fairy_Paolina | 0:ff94cc47fef7 | 44 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 1:801f0b9a862a | 45 | void leftTurn(void); |
Fairy_Paolina | 1:801f0b9a862a | 46 | void rightTurn(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 47 | void us_distance(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 48 | |
Fairy_Paolina | 1:801f0b9a862a | 49 | //Variables |
Fairy_Paolina | 0:ff94cc47fef7 | 50 | |
Fairy_Paolina | 3:3d0be48abcf2 | 51 | int main(void) |
Fairy_Paolina | 3:3d0be48abcf2 | 52 | { |
Fairy_Paolina | 3:3d0be48abcf2 | 53 | float location=0; |
Fairy_Paolina | 0:ff94cc47fef7 | 54 | |
Fairy_Paolina | 0:ff94cc47fef7 | 55 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 56 | bt.baud(115200); |
Fairy_Paolina | 3:3d0be48abcf2 | 57 | motors.begin(); |
Fairy_Paolina | 3:3d0be48abcf2 | 58 | |
Fairy_Paolina | 3:3d0be48abcf2 | 59 | //motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 3:3d0be48abcf2 | 60 | //motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 0:ff94cc47fef7 | 61 | |
Fairy_Paolina | 3:3d0be48abcf2 | 62 | //motors.stopBothMotors(); |
Fairy_Paolina | 3:3d0be48abcf2 | 63 | |
Fairy_Paolina | 3:3d0be48abcf2 | 64 | |
Fairy_Paolina | 3:3d0be48abcf2 | 65 | //wall_follow(RIGHT); |
Fairy_Paolina | 3:3d0be48abcf2 | 66 | leftEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 67 | rightEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 68 | wall_follow2(LEFT); |
Fairy_Paolina | 3:3d0be48abcf2 | 69 | location=(abs(leftEncoder.getPulses()*11.12/PPRL) + abs(rightEncoder.getPulses()*11.12/PPRR))/2; |
Fairy_Paolina | 3:3d0be48abcf2 | 70 | |
Fairy_Paolina | 3:3d0be48abcf2 | 71 | leftEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 72 | rightEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 73 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 3:3d0be48abcf2 | 74 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 3:3d0be48abcf2 | 75 | while(leftEncoder.getPulses()<300 || rightEncoder.getPulses()<300); |
Fairy_Paolina | 0:ff94cc47fef7 | 76 | motors.stopBothMotors(); |
Fairy_Paolina | 3:3d0be48abcf2 | 77 | |
Fairy_Paolina | 1:801f0b9a862a | 78 | leftTurn(); |
Fairy_Paolina | 3:3d0be48abcf2 | 79 | |
Fairy_Paolina | 3:3d0be48abcf2 | 80 | leftEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 81 | rightEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 82 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 3:3d0be48abcf2 | 83 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 3:3d0be48abcf2 | 84 | while(abs(leftEncoder.getPulses()*11.12/PPRL) + abs(rightEncoder.getPulses()*11.12/PPRR)/2 <30); |
Fairy_Paolina | 3:3d0be48abcf2 | 85 | motors.stopBothMotors(); |
Fairy_Paolina | 3:3d0be48abcf2 | 86 | |
Fairy_Paolina | 3:3d0be48abcf2 | 87 | leftTurn(); |
Fairy_Paolina | 3:3d0be48abcf2 | 88 | wall_follow2(RIGHT); |
Fairy_Paolina | 1:801f0b9a862a | 89 | rightTurn(); |
Fairy_Paolina | 0:ff94cc47fef7 | 90 | |
Fairy_Paolina | 3:3d0be48abcf2 | 91 | |
Fairy_Paolina | 3:3d0be48abcf2 | 92 | |
Fairy_Paolina | 3:3d0be48abcf2 | 93 | bt.printf("LOCATION %f\n\r",location); |
Fairy_Paolina | 3:3d0be48abcf2 | 94 | |
Fairy_Paolina | 3:3d0be48abcf2 | 95 | motors.stopBothMotors(); |
Fairy_Paolina | 3:3d0be48abcf2 | 96 | // leftTurn(); |
Fairy_Paolina | 3:3d0be48abcf2 | 97 | // wait(1); |
Fairy_Paolina | 3:3d0be48abcf2 | 98 | // rightTurn(); |
Fairy_Paolina | 3:3d0be48abcf2 | 99 | |
Fairy_Paolina | 3:3d0be48abcf2 | 100 | |
Fairy_Paolina | 0:ff94cc47fef7 | 101 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 102 | |
Fairy_Paolina | 3:3d0be48abcf2 | 103 | void errFunction(void) |
Fairy_Paolina | 3:3d0be48abcf2 | 104 | { |
Fairy_Paolina | 3:3d0be48abcf2 | 105 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 106 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 107 | |
Fairy_Paolina | 0:ff94cc47fef7 | 108 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 109 | { |
Fairy_Paolina | 3:3d0be48abcf2 | 110 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 3:3d0be48abcf2 | 111 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 3:3d0be48abcf2 | 112 | wait_us(20); |
Fairy_Paolina | 3:3d0be48abcf2 | 113 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 3:3d0be48abcf2 | 114 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 3:3d0be48abcf2 | 115 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 116 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 117 | |
Fairy_Paolina | 3:3d0be48abcf2 | 118 | void wall_follow(int side) |
Fairy_Paolina | 0:ff94cc47fef7 | 119 | { |
Fairy_Paolina | 3:3d0be48abcf2 | 120 | while(1) { |
Fairy_Paolina | 3:3d0be48abcf2 | 121 | |
Fairy_Paolina | 3:3d0be48abcf2 | 122 | pid1.setInputLimits(0, 5.0); |
Fairy_Paolina | 1:801f0b9a862a | 123 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:3d0be48abcf2 | 124 | pid1.setSetPoint(5.0); |
Fairy_Paolina | 3:3d0be48abcf2 | 125 | if(side){ |
Fairy_Paolina | 3:3d0be48abcf2 | 126 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 3:3d0be48abcf2 | 127 | wait_ms(20); |
Fairy_Paolina | 3:3d0be48abcf2 | 128 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 129 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 130 | else{ |
Fairy_Paolina | 3:3d0be48abcf2 | 131 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 3:3d0be48abcf2 | 132 | wait_ms(20); |
Fairy_Paolina | 3:3d0be48abcf2 | 133 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 134 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 3:3d0be48abcf2 | 135 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 136 | |
Fairy_Paolina | 0:ff94cc47fef7 | 137 | pid1.setProcessValue(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 138 | pid_return = pid1.compute(); |
Fairy_Paolina | 3:3d0be48abcf2 | 139 | |
Fairy_Paolina | 3:3d0be48abcf2 | 140 | if(pid_return > 0) { |
Fairy_Paolina | 3:3d0be48abcf2 | 141 | if(side){ |
Fairy_Paolina | 3:3d0be48abcf2 | 142 | motors.setMotor0Speed(MAX_SPEED - pid_return);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 143 | motors.setMotor1Speed(MAX_SPEED);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 144 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 145 | else{ |
Fairy_Paolina | 3:3d0be48abcf2 | 146 | motors.setMotor1Speed(MAX_SPEED - pid_return);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 147 | motors.setMotor0Speed(MAX_SPEED);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 148 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 149 | }else if(pid_return < 0) { |
Fairy_Paolina | 3:3d0be48abcf2 | 150 | if(side){ |
Fairy_Paolina | 3:3d0be48abcf2 | 151 | motors.setMotor0Speed(MAX_SPEED);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 152 | motors.setMotor1Speed(MAX_SPEED + pid_return);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 153 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 154 | else{ |
Fairy_Paolina | 3:3d0be48abcf2 | 155 | motors.setMotor1Speed(MAX_SPEED);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 156 | motors.setMotor0Speed(MAX_SPEED + pid_return);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 157 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 158 | }else { |
Fairy_Paolina | 3:3d0be48abcf2 | 159 | motors.setMotor0Speed(MAX_SPEED);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 160 | motors.setMotor1Speed(MAX_SPEED);//left |
Fairy_Paolina | 0:ff94cc47fef7 | 161 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 162 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 163 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 164 | |
Fairy_Paolina | 0:ff94cc47fef7 | 165 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 0:ff94cc47fef7 | 166 | |
Fairy_Paolina | 3:3d0be48abcf2 | 167 | void wall_follow2(int side) |
Fairy_Paolina | 0:ff94cc47fef7 | 168 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 169 | int SeeWaveGap = false; |
Fairy_Paolina | 1:801f0b9a862a | 170 | int count=0; |
Fairy_Paolina | 3:3d0be48abcf2 | 171 | |
Fairy_Paolina | 3:3d0be48abcf2 | 172 | while(1) { |
Fairy_Paolina | 3:3d0be48abcf2 | 173 | |
Fairy_Paolina | 3:3d0be48abcf2 | 174 | pid1.setInputLimits(0.0, 5.0); |
Fairy_Paolina | 1:801f0b9a862a | 175 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:3d0be48abcf2 | 176 | pid1.setSetPoint(5.0); |
Fairy_Paolina | 3:3d0be48abcf2 | 177 | |
Fairy_Paolina | 3:3d0be48abcf2 | 178 | if(side){ |
Fairy_Paolina | 3:3d0be48abcf2 | 179 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 3:3d0be48abcf2 | 180 | wait_ms(20); |
Fairy_Paolina | 3:3d0be48abcf2 | 181 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 182 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 183 | else{ |
Fairy_Paolina | 3:3d0be48abcf2 | 184 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 3:3d0be48abcf2 | 185 | wait_ms(20); |
Fairy_Paolina | 3:3d0be48abcf2 | 186 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 187 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 188 | |
Fairy_Paolina | 3:3d0be48abcf2 | 189 | |
Fairy_Paolina | 0:ff94cc47fef7 | 190 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 1:801f0b9a862a | 191 | /* If after 60 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 192 | /* then robot is at wave opening */ |
Fairy_Paolina | 3:3d0be48abcf2 | 193 | |
Fairy_Paolina | 1:801f0b9a862a | 194 | pc.printf("range %f\r\n",range); |
Fairy_Paolina | 3:3d0be48abcf2 | 195 | if(range > 20) { |
Fairy_Paolina | 3:3d0be48abcf2 | 196 | motors.stopBothMotors(); |
Fairy_Paolina | 3:3d0be48abcf2 | 197 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 3:3d0be48abcf2 | 198 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 3:3d0be48abcf2 | 199 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 200 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 201 | |
Fairy_Paolina | 0:ff94cc47fef7 | 202 | pid1.setProcessValue(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 203 | pid_return = pid1.compute(); |
Fairy_Paolina | 3:3d0be48abcf2 | 204 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 3:3d0be48abcf2 | 205 | |
Fairy_Paolina | 3:3d0be48abcf2 | 206 | if(pid_return > 0) { |
Fairy_Paolina | 3:3d0be48abcf2 | 207 | if(side){ |
Fairy_Paolina | 3:3d0be48abcf2 | 208 | motors.setMotor0Speed(MAX_SPEED - pid_return);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 209 | motors.setMotor1Speed(MAX_SPEED);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 210 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 211 | else{ |
Fairy_Paolina | 3:3d0be48abcf2 | 212 | motors.setMotor1Speed(MAX_SPEED - pid_return);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 213 | motors.setMotor0Speed(MAX_SPEED);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 214 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 215 | }else if(pid_return < 0) { |
Fairy_Paolina | 3:3d0be48abcf2 | 216 | if(side){ |
Fairy_Paolina | 3:3d0be48abcf2 | 217 | motors.setMotor0Speed(MAX_SPEED);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 218 | motors.setMotor1Speed(MAX_SPEED + pid_return);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 219 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 220 | else{ |
Fairy_Paolina | 3:3d0be48abcf2 | 221 | motors.setMotor1Speed(MAX_SPEED);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 222 | motors.setMotor0Speed(MAX_SPEED + pid_return);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 223 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 224 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 225 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 226 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 227 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 228 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 229 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 230 | |
Fairy_Paolina | 0:ff94cc47fef7 | 231 | |
Fairy_Paolina | 0:ff94cc47fef7 | 232 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION WITH WAVE OPENINGS PASSED IN */ |
Fairy_Paolina | 0:ff94cc47fef7 | 233 | /* MEANT FOR RETURNING FROM OIL RIGS */ |
Fairy_Paolina | 0:ff94cc47fef7 | 234 | |
Fairy_Paolina | 0:ff94cc47fef7 | 235 | void wall_follow3(int ¤tLocation, int &WaveOpening) |
Fairy_Paolina | 0:ff94cc47fef7 | 236 | { |
Fairy_Paolina | 3:3d0be48abcf2 | 237 | while(1) { |
Fairy_Paolina | 3:3d0be48abcf2 | 238 | |
Fairy_Paolina | 3:3d0be48abcf2 | 239 | |
Fairy_Paolina | 3:3d0be48abcf2 | 240 | pid1.setInputLimits(0, 5); |
Fairy_Paolina | 1:801f0b9a862a | 241 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:3d0be48abcf2 | 242 | pid1.setSetPoint(5.0); |
Fairy_Paolina | 3:3d0be48abcf2 | 243 | |
Fairy_Paolina | 3:3d0be48abcf2 | 244 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 245 | wait_ms(100); |
Fairy_Paolina | 3:3d0be48abcf2 | 246 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) { |
Fairy_Paolina | 0:ff94cc47fef7 | 247 | //bt.printf("Range = %f\n", range); |
Fairy_Paolina | 3:3d0be48abcf2 | 248 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 249 | |
Fairy_Paolina | 0:ff94cc47fef7 | 250 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 0:ff94cc47fef7 | 251 | /* If after 100 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 252 | /* then robot is at wave opening */ |
Fairy_Paolina | 3:3d0be48abcf2 | 253 | |
Fairy_Paolina | 3:3d0be48abcf2 | 254 | |
Fairy_Paolina | 3:3d0be48abcf2 | 255 | if(range > 20 ) { |
Fairy_Paolina | 0:ff94cc47fef7 | 256 | currentLocation--; |
Fairy_Paolina | 0:ff94cc47fef7 | 257 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 258 | |
Fairy_Paolina | 3:3d0be48abcf2 | 259 | if( currentLocation == WaveOpening) { |
Fairy_Paolina | 0:ff94cc47fef7 | 260 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 3:3d0be48abcf2 | 261 | |
Fairy_Paolina | 0:ff94cc47fef7 | 262 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 263 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 264 | |
Fairy_Paolina | 3:3d0be48abcf2 | 265 | |
Fairy_Paolina | 0:ff94cc47fef7 | 266 | pid1.setProcessValue(range); |
Fairy_Paolina | 3:3d0be48abcf2 | 267 | pid_return = pid1.compute(); |
Fairy_Paolina | 0:ff94cc47fef7 | 268 | bt.printf("Range: %f\n PID: %f", range, pid_return); |
Fairy_Paolina | 3:3d0be48abcf2 | 269 | |
Fairy_Paolina | 3:3d0be48abcf2 | 270 | if(pid_return > 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 271 | motors.setMotor0Speed(MAX_SPEED - pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 272 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 3:3d0be48abcf2 | 273 | } else if(pid_return < 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 274 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 275 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
Fairy_Paolina | 3:3d0be48abcf2 | 276 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 277 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 278 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 279 | } |
Fairy_Paolina | 3:3d0be48abcf2 | 280 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 281 | } |
Fairy_Paolina | 1:801f0b9a862a | 282 | |
Fairy_Paolina | 1:801f0b9a862a | 283 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 284 | { |
Fairy_Paolina | 3:3d0be48abcf2 | 285 | float speedL, speedR; |
Fairy_Paolina | 3:3d0be48abcf2 | 286 | |
Fairy_Paolina | 3:3d0be48abcf2 | 287 | speedL=speedR= 0.4; |
Fairy_Paolina | 3:3d0be48abcf2 | 288 | |
Fairy_Paolina | 1:801f0b9a862a | 289 | leftEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 290 | rightEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 291 | motors.setMotor0Speed(-speedR*127);//right |
Fairy_Paolina | 3:3d0be48abcf2 | 292 | motors.setMotor1Speed(speedL*127);//left |
Fairy_Paolina | 3:3d0be48abcf2 | 293 | while(leftEncoder.getPulses()<1050 || rightEncoder.getPulses()>-1050); |
Fairy_Paolina | 1:801f0b9a862a | 294 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 295 | } |
Fairy_Paolina | 1:801f0b9a862a | 296 | |
Fairy_Paolina | 1:801f0b9a862a | 297 | void leftTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 298 | { |
Fairy_Paolina | 1:801f0b9a862a | 299 | leftEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 300 | rightEncoder.reset(); |
Fairy_Paolina | 3:3d0be48abcf2 | 301 | motors.setMotor0Speed(0.4*127);// right |
Fairy_Paolina | 3:3d0be48abcf2 | 302 | motors.setMotor1Speed(-0.4*127);// left |
Fairy_Paolina | 3:3d0be48abcf2 | 303 | while(leftEncoder.getPulses()>-1200 || rightEncoder.getPulses()<1200); |
Fairy_Paolina | 1:801f0b9a862a | 304 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 305 | } |