File content as of revision 2:0351277ee5dd:

#include "rtos.h"
#include "PID.h"
#include "PololuQik2.h"
#include "QEI.h"
#include "mbed.h"
#include "HCSR04.h"
#include "stdio.h"
#include "LPC17xx.h"
 
#define PIN_TRIGGERL    (p12)
#define PIN_ECHOL       (p11)
#define PIN_TRIGGERR    (p29)
#define PIN_ECHOR       (p30)
#define PULSE_PER_REV  (1192)
#define WHEEL_CIRCUM   (12.56637)
#define DIST_PER_PULSE (0.01054225722682)
#define MTRS_TO_INCH   (39.3701)
#define MAX_SPEED      (0.3*127)
#define PPR            (4331/4)
#define LEFT           (1)
#define RIGHT          (0)
#define FORWARD        (1)
#define BACKWARD       (0) 
#define TOOLS          (0)
#define MID            (1)
#define RIGS           (2)  
 
float range, pid_return;
void errFunction(void);
bool cRc;
 
//Hardware Initialization
Serial bt(p13,p14);
Serial pc(USBTX,USBRX);
HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL );
HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR );
PID pid1(15.0,0.0,4.0,0.02);
PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc);
QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING);
QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING);
//InterruptIn encoder(p29);
 
 
//Functions
 
float wall_follow(int side, int direction, int section);
void wall_follow2(int side, int direction, int section);
void wall_follow3(int &currentLocation, int &WaveOpening);
void leftTurn(void);
void rightTurn(void);
void us_distance(void);
void tools_section(float *location, float &current);
void overBump(void);
 
//Variables
 
int main(void)
{
    float location[3], current=0;
    int direction[3];
 
    pc.baud(115200);
    bt.baud(115200);
    motors.begin();
    /*
    //  Very Consistent Turn
    leftEncoder.reset();
    rightEncoder.reset();
    
    motors.setMotor0Speed(-MAX_SPEED); //right
    motors.setMotor1Speed(MAX_SPEED); //left
    float usValue = 0;
    while(1){
        rangeFinderLeft.startMeas();
        wait_ms(100);
        rangeFinderLeft.getMeas(range);
        bt.printf("Range %f \t OldValue %f\n\r",range, usValue);
        if(range > usValue && usValue != 0 && range < 10){
            break;
        } else {
            usValue = range;    
        }
    }
    */
    motors.stopBothMotors();
    /*
    
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(MAX_SPEED); //right
    motors.setMotor1Speed(MAX_SPEED); //left

    while(leftEncoder.getPulses()/(PPR) < 3);
    */
    
    //leftEncoder.reset();
    //rightEncoder.reset();
    //motors.setMotor0Speed(MAX_SPEED); //right
    //motors.setMotor1Speed(MAX_SPEED); //left
    
    //while((abs(leftEncoder.getPulses())/(PPR) + abs(rightEncoder.getPulses())/(PPR))/2 < 3)
 
    
    
    //Go to tools
    tools_section(location, current);
    bt.printf("Location 0 = %f", location[0]);
    
 /*   
    //////////////////////////////// without predefined wavegaps//////////////////////////////////////////////
    current=0;
    if(location[0]< 75){
        turnRight();
        current=wall_follow(LEFT,FORWARD);
        if(current == 0)turnLeft();
        else{
            direction[0]= RIGHT;
            turnLeft();
            overBump();
        }
    }
    else if(location[0]>=75 || current == 0){  
        turnLeft();
        wall_follow2(RIGHT,FORWARD);  
    }
        
    
    
    
    
    
    // left or right
    
    
    location[1]=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
    
    
    
    
     
    
    
    leftTurn();
    //wall_follow2(RIGHT);
    rightTurn();
    
 
 
    bt.printf("LOCATION %f\n\r",location);
 
    motors.stopBothMotors();
//   leftTurn();
//   wait(1);
//   rightTurn();
*/
 
}
 
void errFunction(void)
{
    //Nothing
}
 
void us_distance(void)
{
    pc.printf("Ultra Sonic\n\r");
    rangeFinderLeft.startMeas();
    wait_us(20);
    if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) {
        pc.printf("Range = %f\n\r", range);
    }
}
 
float wall_follow(int side, int direction, int section)
{
    float location, wavegap;
    int dir=1, set=5;
    
    pid1.reset();
    
    if(direction == BACKWARD) dir=-1;
    if(section == TOOLS)set= 5;
    
    leftEncoder.reset();
    rightEncoder.reset();
    
    location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
    
    while(location< 75) {
        location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
        
        pid1.setInputLimits(0, set);
        pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
        pid1.setSetPoint(set);
        if(side){   //Side = 1 for Left
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range);
        }
        else{       //Use right Ultrasonic
            rangeFinderRight.startMeas();
            wait_ms(20);
            rangeFinderRight.getMeas(range);
            pc.printf("%d\r\n",range);
        }
        
        if(range > 20) {
            wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
            bt.printf("wavegap %f\r\n",wavegap);
            // AT WAVE OPENING!!!!
            motors.setMotor0Speed(dir*MAX_SPEED);//right
            motors.setMotor1Speed(dir*MAX_SPEED);//left
            
        } else {
        
        pid1.setProcessValue(range);
        pid_return = pid1.compute();
 
        if(pid_return > 0) {
            if(side){
                motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
                motors.setMotor1Speed(dir*MAX_SPEED);//left
            }
            else{
                motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
                motors.setMotor0Speed(dir*MAX_SPEED);//right
            }
        }else if(pid_return < 0) {
            if(side){
                motors.setMotor0Speed(dir*MAX_SPEED);//right
                motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
            }
            else{
                motors.setMotor1Speed(dir*MAX_SPEED);//left
                motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
            }
        }else {
            motors.setMotor0Speed(dir*MAX_SPEED);//right
            motors.setMotor1Speed(dir*MAX_SPEED);//left
        }
    }}
    return wavegap;
}
 
/* MODIFIED WALL_FOLLOW FOR NAVIGATION */
 
void wall_follow2(int side, int direction, int section)
{
    int SeeWaveGap = false, count=0, dir=1, set=5;
    
    pid1.reset();
    
    if(direction == BACKWARD) dir=-1;
    if(section == TOOLS)set= 5;
    
    leftEncoder.reset();
    rightEncoder.reset();
 
    while(1) {
 
        pid1.setInputLimits(0.0, set);
        pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
        pid1.setSetPoint(set);
 
        if(side){
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range);
        }
        else{
            rangeFinderRight.startMeas();
            wait_ms(20);
            rangeFinderRight.getMeas(range);
        }
 
 
        /*************CHECK FOR WAVE OPENING*****************/
        /* If after 20 ms the ultrasonic still sees 20+ cm */
        /*      then robot is at wave opening               */
 
        pc.printf("range %f\r\n",range);
        if(range > 20) {
            motors.stopBothMotors();
            bt.printf("wavegap\r\n");
            // AT WAVE OPENING!!!!
            break;
        }
 
        pid1.setProcessValue(range);
        pid_return = pid1.compute();
        //bt.printf("Range: %f\n      PID:   %f\r\n", range, pid_return);
 
               if(pid_return > 0) {
            if(side){
                motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
                motors.setMotor1Speed(dir*MAX_SPEED);//left
            }
            else{
                motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
                motors.setMotor0Speed(dir*MAX_SPEED);//right
            }
        }else if(pid_return < 0) {
            if(side){
                motors.setMotor0Speed(dir*MAX_SPEED);//right
                motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
            }
            else{
                motors.setMotor1Speed(dir*MAX_SPEED);//left
                motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
            }
        } else {
            motors.setMotor0Speed(dir*MAX_SPEED);
            motors.setMotor1Speed(dir*MAX_SPEED);
        }
    }
}
 
 
/* MODIFIED WALL_FOLLOW FOR NAVIGATION WITH WAVE OPENINGS PASSED IN */
/* MEANT FOR RETURNING FROM OIL RIGS */
 
void wall_follow3(int &currentLocation, int &WaveOpening)
{
    while(1) {
 
 
        pid1.setInputLimits(0, 5);
        pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
        pid1.setSetPoint(5.0);
 
        rangeFinderLeft.startMeas();
        wait_ms(100);
        if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) {
            //bt.printf("Range = %f\n", range);
        }
 
        /*************CHECK FOR WAVE OPENING*****************/
        /* If after 100 ms the ultrasonic still sees 20+ cm */
        /*      then robot is at wave opening               */
 
 
        if(range > 20 ) {
            currentLocation--;
        }
 
        if( currentLocation == WaveOpening) {
            // AT WAVE OPENING!!!!
 
            break;
        }
 
 
        pid1.setProcessValue(range);
        pid_return = pid1.compute();
        bt.printf("Range: %f\n      PID:   %f", range, pid_return);
 
        if(pid_return > 0) {
            motors.setMotor0Speed(MAX_SPEED - pid_return);
            motors.setMotor1Speed(MAX_SPEED);
        } else if(pid_return < 0) {
            motors.setMotor0Speed(MAX_SPEED);
            motors.setMotor1Speed(MAX_SPEED + pid_return);
        } else {
            motors.setMotor0Speed(MAX_SPEED);
            motors.setMotor1Speed(MAX_SPEED);
        }
    }
}
 
void rightTurn(void)
{
    float speedL, speedR;
 
    speedL=speedR= 0.4;
 
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(-speedR*127);//right
    motors.setMotor1Speed(speedL*127);//left
    while(leftEncoder.getPulses()<1050 || rightEncoder.getPulses()>-1050);
    motors.stopBothMotors();
}
 
void leftTurn(void)
{
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.4*127);// right
    motors.setMotor1Speed(-0.4*127);// left
    while(leftEncoder.getPulses()>-1200 || rightEncoder.getPulses()<1200);
    motors.stopBothMotors();
}
 
void overBump(void){
    
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(MAX_SPEED); //right
    motors.setMotor1Speed(MAX_SPEED); //left
    while(abs(leftEncoder.getPulses()/PPR) + abs(rightEncoder.getPulses()/PPR)/2 < 1);
    /*
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(MAX_SPEED); //right
    motors.setMotor1Speed(MAX_SPEED); //left
    while(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR)/2 <3);
    */
    motors.stopBothMotors();
}
 
void tools_section(float *location, float &current){
    
    location[0]=wall_follow(LEFT,FORWARD, TOOLS); //location from the left edge of the field
    current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
    bt.printf("left Encoder : %d \t right Encoder %d \r\n",leftEncoder.getPulses(),rightEncoder.getPulses());
    
    bt.printf("wavegap %f \t current %f \r\n",location[0],current);
    
     motors.stopBothMotors();
    ////////////////////////////////////////// determine shape and pick up tool ///////////////////////////////////////////////////////
    
    if(current >location[0]){
        wall_follow2(LEFT,BACKWARD,TOOLS);
        wait_ms(100);
        // forward 
        
 /*       leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-MAX_SPEED); //right
        motors.setMotor1Speed(-MAX_SPEED); //left
        while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300);
        motors.stopBothMotors();
        wait_ms(500);*/
        current = (abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; 
        // REMOVED += because current should just be current pulses?
    }
    else{/*
        wall_follow2(LEFT,FORWARD);   
        // backward 
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(MAX_SPEED); //right
        motors.setMotor1Speed(MAX_SPEED); //left
        while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300);
        motors.stopBothMotors();
        current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;*/
    }
    
    leftTurn();
    
    //Go over 
    overBump();
    
}