Tools Section Navigation Calibrated slightly
Dependencies: HCSR04 PID PololuQik2 QEI mbed-rtos
Fork of NavigationTest by
main.cpp@6:109f46d3cb96, 2014-03-20 (annotated)
- Committer:
- jjcarr2
- Date:
- Thu Mar 20 17:21:28 2014 +0000
- Revision:
- 6:109f46d3cb96
- Parent:
- 2:0351277ee5dd
- Child:
- 7:0b7897232e93
Whatever;
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" |
jjcarr2 | 2:0351277ee5dd | 9 | |
jjcarr2 | 2:0351277ee5dd | 10 | #define PIN_TRIGGERL (p12) |
jjcarr2 | 2:0351277ee5dd | 11 | #define PIN_ECHOL (p11) |
jjcarr2 | 2:0351277ee5dd | 12 | #define PIN_TRIGGERR (p29) |
jjcarr2 | 2:0351277ee5dd | 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) |
jjcarr2 | 2:0351277ee5dd | 19 | #define PPR (4331/4) |
jjcarr2 | 2:0351277ee5dd | 20 | #define LEFT (1) |
jjcarr2 | 2:0351277ee5dd | 21 | #define RIGHT (0) |
jjcarr2 | 2:0351277ee5dd | 22 | #define FORWARD (1) |
jjcarr2 | 2:0351277ee5dd | 23 | #define BACKWARD (0) |
jjcarr2 | 2:0351277ee5dd | 24 | #define TOOLS (0) |
jjcarr2 | 2:0351277ee5dd | 25 | #define MID (1) |
jjcarr2 | 2:0351277ee5dd | 26 | #define RIGS (2) |
jjcarr2 | 2:0351277ee5dd | 27 | |
Fairy_Paolina | 0:ff94cc47fef7 | 28 | float range, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 29 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 30 | bool cRc; |
jjcarr2 | 2:0351277ee5dd | 31 | |
Fairy_Paolina | 0:ff94cc47fef7 | 32 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 33 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 34 | Serial pc(USBTX,USBRX); |
jjcarr2 | 2:0351277ee5dd | 35 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
jjcarr2 | 2:0351277ee5dd | 36 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
jjcarr2 | 2:0351277ee5dd | 37 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 38 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
jjcarr2 | 2:0351277ee5dd | 39 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
jjcarr2 | 2:0351277ee5dd | 40 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 1:801f0b9a862a | 41 | //InterruptIn encoder(p29); |
jjcarr2 | 2:0351277ee5dd | 42 | |
jjcarr2 | 2:0351277ee5dd | 43 | |
Fairy_Paolina | 0:ff94cc47fef7 | 44 | //Functions |
jjcarr2 | 2:0351277ee5dd | 45 | |
jjcarr2 | 2:0351277ee5dd | 46 | float wall_follow(int side, int direction, int section); |
jjcarr2 | 2:0351277ee5dd | 47 | void wall_follow2(int side, int direction, int section); |
Fairy_Paolina | 0:ff94cc47fef7 | 48 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 1:801f0b9a862a | 49 | void leftTurn(void); |
Fairy_Paolina | 1:801f0b9a862a | 50 | void rightTurn(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 51 | void us_distance(void); |
jjcarr2 | 2:0351277ee5dd | 52 | void tools_section(float *location, float ¤t); |
jjcarr2 | 2:0351277ee5dd | 53 | void overBump(void); |
jjcarr2 | 2:0351277ee5dd | 54 | |
Fairy_Paolina | 1:801f0b9a862a | 55 | //Variables |
jjcarr2 | 2:0351277ee5dd | 56 | |
jjcarr2 | 2:0351277ee5dd | 57 | int main(void) |
jjcarr2 | 2:0351277ee5dd | 58 | { |
jjcarr2 | 2:0351277ee5dd | 59 | float location[3], current=0; |
jjcarr2 | 2:0351277ee5dd | 60 | int direction[3]; |
jjcarr2 | 2:0351277ee5dd | 61 | |
Fairy_Paolina | 0:ff94cc47fef7 | 62 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 63 | bt.baud(115200); |
jjcarr2 | 2:0351277ee5dd | 64 | motors.begin(); |
jjcarr2 | 6:109f46d3cb96 | 65 | |
jjcarr2 | 2:0351277ee5dd | 66 | // Very Consistent Turn |
jjcarr2 | 2:0351277ee5dd | 67 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 68 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 69 | |
jjcarr2 | 2:0351277ee5dd | 70 | motors.setMotor0Speed(-MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 71 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 72 | float usValue = 0; |
jjcarr2 | 2:0351277ee5dd | 73 | while(1){ |
jjcarr2 | 2:0351277ee5dd | 74 | rangeFinderLeft.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 75 | wait_ms(100); |
jjcarr2 | 2:0351277ee5dd | 76 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 2:0351277ee5dd | 77 | bt.printf("Range %f \t OldValue %f\n\r",range, usValue); |
jjcarr2 | 2:0351277ee5dd | 78 | if(range > usValue && usValue != 0 && range < 10){ |
jjcarr2 | 2:0351277ee5dd | 79 | break; |
jjcarr2 | 2:0351277ee5dd | 80 | } else { |
jjcarr2 | 2:0351277ee5dd | 81 | usValue = range; |
jjcarr2 | 2:0351277ee5dd | 82 | } |
jjcarr2 | 2:0351277ee5dd | 83 | } |
jjcarr2 | 6:109f46d3cb96 | 84 | |
jjcarr2 | 2:0351277ee5dd | 85 | motors.stopBothMotors(); |
jjcarr2 | 6:109f46d3cb96 | 86 | while(1){} |
jjcarr2 | 2:0351277ee5dd | 87 | /* |
jjcarr2 | 2:0351277ee5dd | 88 | |
jjcarr2 | 2:0351277ee5dd | 89 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 90 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 91 | motors.setMotor0Speed(MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 92 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 93 | |
jjcarr2 | 2:0351277ee5dd | 94 | while(leftEncoder.getPulses()/(PPR) < 3); |
Fairy_Paolina | 1:801f0b9a862a | 95 | */ |
jjcarr2 | 2:0351277ee5dd | 96 | |
jjcarr2 | 2:0351277ee5dd | 97 | //leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 98 | //rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 99 | //motors.setMotor0Speed(MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 100 | //motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 101 | |
jjcarr2 | 2:0351277ee5dd | 102 | //while((abs(leftEncoder.getPulses())/(PPR) + abs(rightEncoder.getPulses())/(PPR))/2 < 3) |
jjcarr2 | 2:0351277ee5dd | 103 | |
jjcarr2 | 2:0351277ee5dd | 104 | |
jjcarr2 | 2:0351277ee5dd | 105 | |
jjcarr2 | 2:0351277ee5dd | 106 | //Go to tools |
jjcarr2 | 2:0351277ee5dd | 107 | tools_section(location, current); |
jjcarr2 | 2:0351277ee5dd | 108 | bt.printf("Location 0 = %f", location[0]); |
Fairy_Paolina | 0:ff94cc47fef7 | 109 | |
jjcarr2 | 2:0351277ee5dd | 110 | /* |
jjcarr2 | 2:0351277ee5dd | 111 | //////////////////////////////// without predefined wavegaps////////////////////////////////////////////// |
jjcarr2 | 2:0351277ee5dd | 112 | current=0; |
jjcarr2 | 2:0351277ee5dd | 113 | if(location[0]< 75){ |
jjcarr2 | 2:0351277ee5dd | 114 | turnRight(); |
jjcarr2 | 2:0351277ee5dd | 115 | current=wall_follow(LEFT,FORWARD); |
jjcarr2 | 2:0351277ee5dd | 116 | if(current == 0)turnLeft(); |
jjcarr2 | 2:0351277ee5dd | 117 | else{ |
jjcarr2 | 2:0351277ee5dd | 118 | direction[0]= RIGHT; |
jjcarr2 | 2:0351277ee5dd | 119 | turnLeft(); |
jjcarr2 | 2:0351277ee5dd | 120 | overBump(); |
jjcarr2 | 2:0351277ee5dd | 121 | } |
jjcarr2 | 2:0351277ee5dd | 122 | } |
jjcarr2 | 2:0351277ee5dd | 123 | else if(location[0]>=75 || current == 0){ |
jjcarr2 | 2:0351277ee5dd | 124 | turnLeft(); |
jjcarr2 | 2:0351277ee5dd | 125 | wall_follow2(RIGHT,FORWARD); |
jjcarr2 | 2:0351277ee5dd | 126 | } |
jjcarr2 | 2:0351277ee5dd | 127 | |
jjcarr2 | 2:0351277ee5dd | 128 | |
jjcarr2 | 2:0351277ee5dd | 129 | |
jjcarr2 | 2:0351277ee5dd | 130 | |
jjcarr2 | 2:0351277ee5dd | 131 | |
jjcarr2 | 2:0351277ee5dd | 132 | |
jjcarr2 | 2:0351277ee5dd | 133 | // left or right |
jjcarr2 | 2:0351277ee5dd | 134 | |
jjcarr2 | 2:0351277ee5dd | 135 | |
jjcarr2 | 2:0351277ee5dd | 136 | location[1]=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 2:0351277ee5dd | 137 | |
jjcarr2 | 2:0351277ee5dd | 138 | |
jjcarr2 | 2:0351277ee5dd | 139 | |
jjcarr2 | 2:0351277ee5dd | 140 | |
jjcarr2 | 2:0351277ee5dd | 141 | |
jjcarr2 | 2:0351277ee5dd | 142 | |
jjcarr2 | 2:0351277ee5dd | 143 | |
Fairy_Paolina | 1:801f0b9a862a | 144 | leftTurn(); |
jjcarr2 | 2:0351277ee5dd | 145 | //wall_follow2(RIGHT); |
Fairy_Paolina | 1:801f0b9a862a | 146 | rightTurn(); |
Fairy_Paolina | 0:ff94cc47fef7 | 147 | |
jjcarr2 | 2:0351277ee5dd | 148 | |
jjcarr2 | 2:0351277ee5dd | 149 | |
jjcarr2 | 2:0351277ee5dd | 150 | bt.printf("LOCATION %f\n\r",location); |
jjcarr2 | 2:0351277ee5dd | 151 | |
jjcarr2 | 2:0351277ee5dd | 152 | motors.stopBothMotors(); |
jjcarr2 | 2:0351277ee5dd | 153 | // leftTurn(); |
jjcarr2 | 2:0351277ee5dd | 154 | // wait(1); |
jjcarr2 | 2:0351277ee5dd | 155 | // rightTurn(); |
jjcarr2 | 2:0351277ee5dd | 156 | */ |
jjcarr2 | 2:0351277ee5dd | 157 | |
Fairy_Paolina | 0:ff94cc47fef7 | 158 | } |
jjcarr2 | 2:0351277ee5dd | 159 | |
jjcarr2 | 2:0351277ee5dd | 160 | void errFunction(void) |
jjcarr2 | 2:0351277ee5dd | 161 | { |
jjcarr2 | 2:0351277ee5dd | 162 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 163 | } |
jjcarr2 | 2:0351277ee5dd | 164 | |
Fairy_Paolina | 0:ff94cc47fef7 | 165 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 166 | { |
jjcarr2 | 2:0351277ee5dd | 167 | pc.printf("Ultra Sonic\n\r"); |
jjcarr2 | 2:0351277ee5dd | 168 | rangeFinderLeft.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 169 | wait_us(20); |
jjcarr2 | 2:0351277ee5dd | 170 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
jjcarr2 | 2:0351277ee5dd | 171 | pc.printf("Range = %f\n\r", range); |
jjcarr2 | 2:0351277ee5dd | 172 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 173 | } |
jjcarr2 | 2:0351277ee5dd | 174 | |
jjcarr2 | 2:0351277ee5dd | 175 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 176 | { |
jjcarr2 | 2:0351277ee5dd | 177 | float location, wavegap; |
jjcarr2 | 2:0351277ee5dd | 178 | int dir=1, set=5; |
jjcarr2 | 2:0351277ee5dd | 179 | |
jjcarr2 | 2:0351277ee5dd | 180 | pid1.reset(); |
jjcarr2 | 2:0351277ee5dd | 181 | |
jjcarr2 | 2:0351277ee5dd | 182 | if(direction == BACKWARD) dir=-1; |
jjcarr2 | 2:0351277ee5dd | 183 | if(section == TOOLS)set= 5; |
jjcarr2 | 2:0351277ee5dd | 184 | |
jjcarr2 | 2:0351277ee5dd | 185 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 186 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 187 | |
jjcarr2 | 2:0351277ee5dd | 188 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 2:0351277ee5dd | 189 | |
jjcarr2 | 2:0351277ee5dd | 190 | while(location< 75) { |
jjcarr2 | 2:0351277ee5dd | 191 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 2:0351277ee5dd | 192 | |
jjcarr2 | 2:0351277ee5dd | 193 | pid1.setInputLimits(0, set); |
jjcarr2 | 2:0351277ee5dd | 194 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
jjcarr2 | 2:0351277ee5dd | 195 | pid1.setSetPoint(set); |
jjcarr2 | 2:0351277ee5dd | 196 | if(side){ //Side = 1 for Left |
jjcarr2 | 2:0351277ee5dd | 197 | rangeFinderLeft.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 198 | wait_ms(20); |
jjcarr2 | 2:0351277ee5dd | 199 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 2:0351277ee5dd | 200 | } |
jjcarr2 | 2:0351277ee5dd | 201 | else{ //Use right Ultrasonic |
jjcarr2 | 2:0351277ee5dd | 202 | rangeFinderRight.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 203 | wait_ms(20); |
jjcarr2 | 2:0351277ee5dd | 204 | rangeFinderRight.getMeas(range); |
jjcarr2 | 2:0351277ee5dd | 205 | pc.printf("%d\r\n",range); |
jjcarr2 | 2:0351277ee5dd | 206 | } |
jjcarr2 | 2:0351277ee5dd | 207 | |
jjcarr2 | 2:0351277ee5dd | 208 | if(range > 20) { |
jjcarr2 | 2:0351277ee5dd | 209 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 2:0351277ee5dd | 210 | bt.printf("wavegap %f\r\n",wavegap); |
jjcarr2 | 2:0351277ee5dd | 211 | // AT WAVE OPENING!!!! |
jjcarr2 | 2:0351277ee5dd | 212 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 2:0351277ee5dd | 213 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 2:0351277ee5dd | 214 | |
jjcarr2 | 2:0351277ee5dd | 215 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 216 | |
jjcarr2 | 2:0351277ee5dd | 217 | pid1.setProcessValue(range); |
jjcarr2 | 2:0351277ee5dd | 218 | pid_return = pid1.compute(); |
jjcarr2 | 2:0351277ee5dd | 219 | |
jjcarr2 | 2:0351277ee5dd | 220 | if(pid_return > 0) { |
jjcarr2 | 2:0351277ee5dd | 221 | if(side){ |
jjcarr2 | 2:0351277ee5dd | 222 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 2:0351277ee5dd | 223 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 2:0351277ee5dd | 224 | } |
jjcarr2 | 2:0351277ee5dd | 225 | else{ |
jjcarr2 | 2:0351277ee5dd | 226 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
jjcarr2 | 2:0351277ee5dd | 227 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 2:0351277ee5dd | 228 | } |
jjcarr2 | 2:0351277ee5dd | 229 | }else if(pid_return < 0) { |
jjcarr2 | 2:0351277ee5dd | 230 | if(side){ |
jjcarr2 | 2:0351277ee5dd | 231 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 2:0351277ee5dd | 232 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
jjcarr2 | 2:0351277ee5dd | 233 | } |
jjcarr2 | 2:0351277ee5dd | 234 | else{ |
jjcarr2 | 2:0351277ee5dd | 235 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 2:0351277ee5dd | 236 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
jjcarr2 | 2:0351277ee5dd | 237 | } |
jjcarr2 | 2:0351277ee5dd | 238 | }else { |
jjcarr2 | 2:0351277ee5dd | 239 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 2:0351277ee5dd | 240 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 2:0351277ee5dd | 241 | } |
jjcarr2 | 2:0351277ee5dd | 242 | }} |
jjcarr2 | 2:0351277ee5dd | 243 | return wavegap; |
jjcarr2 | 2:0351277ee5dd | 244 | } |
jjcarr2 | 2:0351277ee5dd | 245 | |
jjcarr2 | 2:0351277ee5dd | 246 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
jjcarr2 | 2:0351277ee5dd | 247 | |
jjcarr2 | 2:0351277ee5dd | 248 | void wall_follow2(int side, int direction, int section) |
jjcarr2 | 2:0351277ee5dd | 249 | { |
jjcarr2 | 2:0351277ee5dd | 250 | int SeeWaveGap = false, count=0, dir=1, set=5; |
jjcarr2 | 2:0351277ee5dd | 251 | |
jjcarr2 | 2:0351277ee5dd | 252 | pid1.reset(); |
jjcarr2 | 2:0351277ee5dd | 253 | |
jjcarr2 | 2:0351277ee5dd | 254 | if(direction == BACKWARD) dir=-1; |
jjcarr2 | 2:0351277ee5dd | 255 | if(section == TOOLS)set= 5; |
jjcarr2 | 2:0351277ee5dd | 256 | |
jjcarr2 | 2:0351277ee5dd | 257 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 258 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 259 | |
jjcarr2 | 2:0351277ee5dd | 260 | while(1) { |
jjcarr2 | 2:0351277ee5dd | 261 | |
jjcarr2 | 2:0351277ee5dd | 262 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 263 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
jjcarr2 | 2:0351277ee5dd | 264 | pid1.setSetPoint(set); |
jjcarr2 | 2:0351277ee5dd | 265 | |
jjcarr2 | 2:0351277ee5dd | 266 | if(side){ |
jjcarr2 | 2:0351277ee5dd | 267 | rangeFinderLeft.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 268 | wait_ms(20); |
jjcarr2 | 2:0351277ee5dd | 269 | rangeFinderLeft.getMeas(range); |
jjcarr2 | 2:0351277ee5dd | 270 | } |
jjcarr2 | 2:0351277ee5dd | 271 | else{ |
jjcarr2 | 2:0351277ee5dd | 272 | rangeFinderRight.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 273 | wait_ms(20); |
jjcarr2 | 2:0351277ee5dd | 274 | rangeFinderRight.getMeas(range); |
jjcarr2 | 2:0351277ee5dd | 275 | } |
jjcarr2 | 2:0351277ee5dd | 276 | |
jjcarr2 | 2:0351277ee5dd | 277 | |
jjcarr2 | 2:0351277ee5dd | 278 | /*************CHECK FOR WAVE OPENING*****************/ |
jjcarr2 | 2:0351277ee5dd | 279 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
jjcarr2 | 2:0351277ee5dd | 280 | /* then robot is at wave opening */ |
jjcarr2 | 2:0351277ee5dd | 281 | |
jjcarr2 | 2:0351277ee5dd | 282 | pc.printf("range %f\r\n",range); |
jjcarr2 | 2:0351277ee5dd | 283 | if(range > 20) { |
jjcarr2 | 2:0351277ee5dd | 284 | motors.stopBothMotors(); |
jjcarr2 | 2:0351277ee5dd | 285 | bt.printf("wavegap\r\n"); |
jjcarr2 | 2:0351277ee5dd | 286 | // AT WAVE OPENING!!!! |
jjcarr2 | 2:0351277ee5dd | 287 | break; |
jjcarr2 | 2:0351277ee5dd | 288 | } |
jjcarr2 | 2:0351277ee5dd | 289 | |
Fairy_Paolina | 0:ff94cc47fef7 | 290 | pid1.setProcessValue(range); |
jjcarr2 | 2:0351277ee5dd | 291 | pid_return = pid1.compute(); |
jjcarr2 | 2:0351277ee5dd | 292 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
jjcarr2 | 2:0351277ee5dd | 293 | |
jjcarr2 | 2:0351277ee5dd | 294 | if(pid_return > 0) { |
jjcarr2 | 2:0351277ee5dd | 295 | if(side){ |
jjcarr2 | 2:0351277ee5dd | 296 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
jjcarr2 | 2:0351277ee5dd | 297 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 2:0351277ee5dd | 298 | } |
jjcarr2 | 2:0351277ee5dd | 299 | else{ |
jjcarr2 | 2:0351277ee5dd | 300 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
jjcarr2 | 2:0351277ee5dd | 301 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 2:0351277ee5dd | 302 | } |
jjcarr2 | 2:0351277ee5dd | 303 | }else if(pid_return < 0) { |
jjcarr2 | 2:0351277ee5dd | 304 | if(side){ |
jjcarr2 | 2:0351277ee5dd | 305 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
jjcarr2 | 2:0351277ee5dd | 306 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
jjcarr2 | 2:0351277ee5dd | 307 | } |
jjcarr2 | 2:0351277ee5dd | 308 | else{ |
jjcarr2 | 2:0351277ee5dd | 309 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
jjcarr2 | 2:0351277ee5dd | 310 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
jjcarr2 | 2:0351277ee5dd | 311 | } |
jjcarr2 | 2:0351277ee5dd | 312 | } else { |
jjcarr2 | 2:0351277ee5dd | 313 | motors.setMotor0Speed(dir*MAX_SPEED); |
jjcarr2 | 2:0351277ee5dd | 314 | motors.setMotor1Speed(dir*MAX_SPEED); |
jjcarr2 | 2:0351277ee5dd | 315 | } |
jjcarr2 | 2:0351277ee5dd | 316 | } |
jjcarr2 | 2:0351277ee5dd | 317 | } |
jjcarr2 | 2:0351277ee5dd | 318 | |
jjcarr2 | 2:0351277ee5dd | 319 | |
jjcarr2 | 2:0351277ee5dd | 320 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION WITH WAVE OPENINGS PASSED IN */ |
jjcarr2 | 2:0351277ee5dd | 321 | /* MEANT FOR RETURNING FROM OIL RIGS */ |
jjcarr2 | 2:0351277ee5dd | 322 | |
jjcarr2 | 2:0351277ee5dd | 323 | void wall_follow3(int ¤tLocation, int &WaveOpening) |
jjcarr2 | 2:0351277ee5dd | 324 | { |
jjcarr2 | 2:0351277ee5dd | 325 | while(1) { |
jjcarr2 | 2:0351277ee5dd | 326 | |
jjcarr2 | 2:0351277ee5dd | 327 | |
jjcarr2 | 2:0351277ee5dd | 328 | pid1.setInputLimits(0, 5); |
jjcarr2 | 2:0351277ee5dd | 329 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
jjcarr2 | 2:0351277ee5dd | 330 | pid1.setSetPoint(5.0); |
jjcarr2 | 2:0351277ee5dd | 331 | |
jjcarr2 | 2:0351277ee5dd | 332 | rangeFinderLeft.startMeas(); |
jjcarr2 | 2:0351277ee5dd | 333 | wait_ms(100); |
jjcarr2 | 2:0351277ee5dd | 334 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) { |
jjcarr2 | 2:0351277ee5dd | 335 | //bt.printf("Range = %f\n", range); |
jjcarr2 | 2:0351277ee5dd | 336 | } |
jjcarr2 | 2:0351277ee5dd | 337 | |
jjcarr2 | 2:0351277ee5dd | 338 | /*************CHECK FOR WAVE OPENING*****************/ |
jjcarr2 | 2:0351277ee5dd | 339 | /* If after 100 ms the ultrasonic still sees 20+ cm */ |
jjcarr2 | 2:0351277ee5dd | 340 | /* then robot is at wave opening */ |
jjcarr2 | 2:0351277ee5dd | 341 | |
jjcarr2 | 2:0351277ee5dd | 342 | |
jjcarr2 | 2:0351277ee5dd | 343 | if(range > 20 ) { |
jjcarr2 | 2:0351277ee5dd | 344 | currentLocation--; |
jjcarr2 | 2:0351277ee5dd | 345 | } |
jjcarr2 | 2:0351277ee5dd | 346 | |
jjcarr2 | 2:0351277ee5dd | 347 | if( currentLocation == WaveOpening) { |
jjcarr2 | 2:0351277ee5dd | 348 | // AT WAVE OPENING!!!! |
jjcarr2 | 2:0351277ee5dd | 349 | |
jjcarr2 | 2:0351277ee5dd | 350 | break; |
jjcarr2 | 2:0351277ee5dd | 351 | } |
jjcarr2 | 2:0351277ee5dd | 352 | |
jjcarr2 | 2:0351277ee5dd | 353 | |
jjcarr2 | 2:0351277ee5dd | 354 | pid1.setProcessValue(range); |
jjcarr2 | 2:0351277ee5dd | 355 | pid_return = pid1.compute(); |
jjcarr2 | 2:0351277ee5dd | 356 | bt.printf("Range: %f\n PID: %f", range, pid_return); |
jjcarr2 | 2:0351277ee5dd | 357 | |
jjcarr2 | 2:0351277ee5dd | 358 | if(pid_return > 0) { |
jjcarr2 | 2:0351277ee5dd | 359 | motors.setMotor0Speed(MAX_SPEED - pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 360 | motors.setMotor1Speed(MAX_SPEED); |
jjcarr2 | 2:0351277ee5dd | 361 | } else if(pid_return < 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 362 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 363 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
jjcarr2 | 2:0351277ee5dd | 364 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 365 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 366 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 367 | } |
jjcarr2 | 2:0351277ee5dd | 368 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 369 | } |
jjcarr2 | 2:0351277ee5dd | 370 | |
Fairy_Paolina | 1:801f0b9a862a | 371 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 372 | { |
jjcarr2 | 2:0351277ee5dd | 373 | float speedL, speedR; |
jjcarr2 | 2:0351277ee5dd | 374 | |
jjcarr2 | 2:0351277ee5dd | 375 | speedL=speedR= 0.4; |
jjcarr2 | 2:0351277ee5dd | 376 | |
Fairy_Paolina | 1:801f0b9a862a | 377 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 378 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 379 | motors.setMotor0Speed(-speedR*127);//right |
jjcarr2 | 2:0351277ee5dd | 380 | motors.setMotor1Speed(speedL*127);//left |
jjcarr2 | 2:0351277ee5dd | 381 | while(leftEncoder.getPulses()<1050 || rightEncoder.getPulses()>-1050); |
Fairy_Paolina | 1:801f0b9a862a | 382 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 383 | } |
jjcarr2 | 2:0351277ee5dd | 384 | |
Fairy_Paolina | 1:801f0b9a862a | 385 | void leftTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 386 | { |
Fairy_Paolina | 1:801f0b9a862a | 387 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 388 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 389 | motors.setMotor0Speed(0.4*127);// right |
jjcarr2 | 2:0351277ee5dd | 390 | motors.setMotor1Speed(-0.4*127);// left |
jjcarr2 | 2:0351277ee5dd | 391 | while(leftEncoder.getPulses()>-1200 || rightEncoder.getPulses()<1200); |
jjcarr2 | 2:0351277ee5dd | 392 | motors.stopBothMotors(); |
jjcarr2 | 2:0351277ee5dd | 393 | } |
jjcarr2 | 2:0351277ee5dd | 394 | |
jjcarr2 | 2:0351277ee5dd | 395 | void overBump(void){ |
jjcarr2 | 2:0351277ee5dd | 396 | |
jjcarr2 | 2:0351277ee5dd | 397 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 398 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 399 | motors.setMotor0Speed(MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 400 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 401 | while(abs(leftEncoder.getPulses()/PPR) + abs(rightEncoder.getPulses()/PPR)/2 < 1); |
jjcarr2 | 2:0351277ee5dd | 402 | /* |
jjcarr2 | 2:0351277ee5dd | 403 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 404 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 405 | motors.setMotor0Speed(MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 406 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 407 | while(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR)/2 <3); |
jjcarr2 | 2:0351277ee5dd | 408 | */ |
Fairy_Paolina | 1:801f0b9a862a | 409 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 410 | } |
jjcarr2 | 2:0351277ee5dd | 411 | |
jjcarr2 | 2:0351277ee5dd | 412 | void tools_section(float *location, float ¤t){ |
jjcarr2 | 2:0351277ee5dd | 413 | |
jjcarr2 | 2:0351277ee5dd | 414 | location[0]=wall_follow(LEFT,FORWARD, TOOLS); //location from the left edge of the field |
jjcarr2 | 2:0351277ee5dd | 415 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 2:0351277ee5dd | 416 | bt.printf("left Encoder : %d \t right Encoder %d \r\n",leftEncoder.getPulses(),rightEncoder.getPulses()); |
jjcarr2 | 2:0351277ee5dd | 417 | |
jjcarr2 | 2:0351277ee5dd | 418 | bt.printf("wavegap %f \t current %f \r\n",location[0],current); |
jjcarr2 | 2:0351277ee5dd | 419 | |
jjcarr2 | 2:0351277ee5dd | 420 | motors.stopBothMotors(); |
jjcarr2 | 2:0351277ee5dd | 421 | ////////////////////////////////////////// determine shape and pick up tool /////////////////////////////////////////////////////// |
jjcarr2 | 2:0351277ee5dd | 422 | |
jjcarr2 | 2:0351277ee5dd | 423 | if(current >location[0]){ |
jjcarr2 | 2:0351277ee5dd | 424 | wall_follow2(LEFT,BACKWARD,TOOLS); |
jjcarr2 | 2:0351277ee5dd | 425 | wait_ms(100); |
jjcarr2 | 2:0351277ee5dd | 426 | // forward |
jjcarr2 | 2:0351277ee5dd | 427 | |
jjcarr2 | 2:0351277ee5dd | 428 | /* leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 429 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 430 | motors.setMotor0Speed(-MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 431 | motors.setMotor1Speed(-MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 432 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
jjcarr2 | 2:0351277ee5dd | 433 | motors.stopBothMotors(); |
jjcarr2 | 2:0351277ee5dd | 434 | wait_ms(500);*/ |
jjcarr2 | 2:0351277ee5dd | 435 | current = (abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
jjcarr2 | 2:0351277ee5dd | 436 | // REMOVED += because current should just be current pulses? |
jjcarr2 | 2:0351277ee5dd | 437 | } |
jjcarr2 | 2:0351277ee5dd | 438 | else{/* |
jjcarr2 | 2:0351277ee5dd | 439 | wall_follow2(LEFT,FORWARD); |
jjcarr2 | 2:0351277ee5dd | 440 | // backward |
jjcarr2 | 2:0351277ee5dd | 441 | leftEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 442 | rightEncoder.reset(); |
jjcarr2 | 2:0351277ee5dd | 443 | motors.setMotor0Speed(MAX_SPEED); //right |
jjcarr2 | 2:0351277ee5dd | 444 | motors.setMotor1Speed(MAX_SPEED); //left |
jjcarr2 | 2:0351277ee5dd | 445 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
jjcarr2 | 2:0351277ee5dd | 446 | motors.stopBothMotors(); |
jjcarr2 | 2:0351277ee5dd | 447 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;*/ |
jjcarr2 | 2:0351277ee5dd | 448 | } |
jjcarr2 | 2:0351277ee5dd | 449 | |
jjcarr2 | 2:0351277ee5dd | 450 | leftTurn(); |
jjcarr2 | 2:0351277ee5dd | 451 | |
jjcarr2 | 2:0351277ee5dd | 452 | //Go over |
jjcarr2 | 2:0351277ee5dd | 453 | overBump(); |
jjcarr2 | 2:0351277ee5dd | 454 | |
jjcarr2 | 2:0351277ee5dd | 455 | } |
jjcarr2 | 2:0351277ee5dd | 456 |