Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@6:f5c26372b2d0, 2014-03-21 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Fri Mar 21 21:26:50 2014 +0000
- Revision:
- 6:f5c26372b2d0
- Parent:
- 5:70ccef3734ae
- Child:
- 7:78745a518957
revise 3/21;
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 | 5:70ccef3734ae | 9 | |
Fairy_Paolina | 2:3d0be48abcf2 | 10 | #define PIN_TRIGGERL (p12) |
Fairy_Paolina | 2:3d0be48abcf2 | 11 | #define PIN_ECHOL (p11) |
Fairy_Paolina | 2:3d0be48abcf2 | 12 | #define PIN_TRIGGERR (p29) |
Fairy_Paolina | 2:3d0be48abcf2 | 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 | 4:f2333e66ec2c | 19 | #define PPR (4331/4) |
Fairy_Paolina | 2:3d0be48abcf2 | 20 | #define LEFT (1) |
Fairy_Paolina | 2:3d0be48abcf2 | 21 | #define RIGHT (0) |
Fairy_Paolina | 3:58726d2e11f0 | 22 | #define FORWARD (1) |
Fairy_Paolina | 3:58726d2e11f0 | 23 | #define BACKWARD (0) |
Fairy_Paolina | 3:58726d2e11f0 | 24 | #define TOOLS (0) |
Fairy_Paolina | 3:58726d2e11f0 | 25 | #define MID (1) |
Fairy_Paolina | 6:f5c26372b2d0 | 26 | #define FIRST_WAVE (0) |
Fairy_Paolina | 6:f5c26372b2d0 | 27 | #define FAR (1) |
Fairy_Paolina | 6:f5c26372b2d0 | 28 | |
Fairy_Paolina | 5:70ccef3734ae | 29 | |
Fairy_Paolina | 0:ff94cc47fef7 | 30 | float range, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 31 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 32 | bool cRc; |
Fairy_Paolina | 5:70ccef3734ae | 33 | |
Fairy_Paolina | 0:ff94cc47fef7 | 34 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 35 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 36 | Serial pc(USBTX,USBRX); |
Fairy_Paolina | 2:3d0be48abcf2 | 37 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
Fairy_Paolina | 2:3d0be48abcf2 | 38 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 2:3d0be48abcf2 | 39 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 40 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 4:f2333e66ec2c | 41 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 4:f2333e66ec2c | 42 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 1:801f0b9a862a | 43 | //InterruptIn encoder(p29); |
Fairy_Paolina | 5:70ccef3734ae | 44 | |
Fairy_Paolina | 5:70ccef3734ae | 45 | |
Fairy_Paolina | 0:ff94cc47fef7 | 46 | //Functions |
Fairy_Paolina | 5:70ccef3734ae | 47 | |
Fairy_Paolina | 3:58726d2e11f0 | 48 | float wall_follow(int side, int direction, int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 49 | void wall_follow2(int side, int direction, int section, float location); |
Fairy_Paolina | 0:ff94cc47fef7 | 50 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 1:801f0b9a862a | 51 | void leftTurn(void); |
Fairy_Paolina | 1:801f0b9a862a | 52 | void rightTurn(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 53 | void us_distance(void); |
Fairy_Paolina | 3:58726d2e11f0 | 54 | void tools_section(float* location, float ¤t); |
Fairy_Paolina | 6:f5c26372b2d0 | 55 | void mid_section(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 56 | void mid_section2(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 57 | void rig_section(float* location, float ¤t, int* direction, int rig); |
Fairy_Paolina | 6:f5c26372b2d0 | 58 | void overBump(int wave); |
Fairy_Paolina | 6:f5c26372b2d0 | 59 | void alignWithWall(int section); |
Fairy_Paolina | 5:70ccef3734ae | 60 | |
Fairy_Paolina | 1:801f0b9a862a | 61 | //Variables |
Fairy_Paolina | 5:70ccef3734ae | 62 | |
Fairy_Paolina | 2:3d0be48abcf2 | 63 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 64 | { |
Fairy_Paolina | 3:58726d2e11f0 | 65 | float location[3], current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 66 | int direction[3]; |
Fairy_Paolina | 5:70ccef3734ae | 67 | |
Fairy_Paolina | 0:ff94cc47fef7 | 68 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 69 | bt.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 70 | motors.begin(); |
Fairy_Paolina | 2:3d0be48abcf2 | 71 | |
Fairy_Paolina | 3:58726d2e11f0 | 72 | //Go to tools |
Fairy_Paolina | 4:f2333e66ec2c | 73 | tools_section(location, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 74 | mid_section(location, current, direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 75 | mid_section2(location, current, direction); |
Fairy_Paolina | 5:70ccef3734ae | 76 | |
Fairy_Paolina | 5:70ccef3734ae | 77 | |
Fairy_Paolina | 5:70ccef3734ae | 78 | |
Fairy_Paolina | 0:ff94cc47fef7 | 79 | } |
Fairy_Paolina | 5:70ccef3734ae | 80 | |
Fairy_Paolina | 2:3d0be48abcf2 | 81 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 82 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 83 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 84 | } |
Fairy_Paolina | 5:70ccef3734ae | 85 | |
Fairy_Paolina | 0:ff94cc47fef7 | 86 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 87 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 88 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 89 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 90 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 91 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 92 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 93 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 94 | } |
Fairy_Paolina | 5:70ccef3734ae | 95 | |
Fairy_Paolina | 3:58726d2e11f0 | 96 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 97 | { |
Fairy_Paolina | 6:f5c26372b2d0 | 98 | float location, wavegap=0, set=4; |
Fairy_Paolina | 5:70ccef3734ae | 99 | int dir=1; |
Fairy_Paolina | 3:58726d2e11f0 | 100 | |
Fairy_Paolina | 4:f2333e66ec2c | 101 | pid1.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 102 | |
Fairy_Paolina | 3:58726d2e11f0 | 103 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 104 | if(section == TOOLS)set= 10; |
Fairy_Paolina | 3:58726d2e11f0 | 105 | |
Fairy_Paolina | 3:58726d2e11f0 | 106 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 107 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 108 | |
Fairy_Paolina | 4:f2333e66ec2c | 109 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 110 | |
Fairy_Paolina | 6:f5c26372b2d0 | 111 | while(location< 78) { |
Fairy_Paolina | 4:f2333e66ec2c | 112 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 113 | |
Fairy_Paolina | 3:58726d2e11f0 | 114 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 115 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 116 | pid1.setSetPoint(set); |
Fairy_Paolina | 2:3d0be48abcf2 | 117 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 118 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 119 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 120 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 121 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 122 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 123 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 124 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 125 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 126 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 127 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 128 | |
Fairy_Paolina | 3:58726d2e11f0 | 129 | if(range > 20) { |
Fairy_Paolina | 4:f2333e66ec2c | 130 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 131 | bt.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 132 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 6:f5c26372b2d0 | 133 | motors.setMotor1Speed(dir*0.3*127);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 134 | motors.setMotor0Speed(dir*0.3*127);//right |
Fairy_Paolina | 3:58726d2e11f0 | 135 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 136 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 137 | |
Fairy_Paolina | 6:f5c26372b2d0 | 138 | pid1.setProcessValue(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 139 | pid_return = pid1.compute(); |
Fairy_Paolina | 5:70ccef3734ae | 140 | |
Fairy_Paolina | 6:f5c26372b2d0 | 141 | if(pid_return > 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 142 | if(side){ |
Fairy_Paolina | 6:f5c26372b2d0 | 143 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 144 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 145 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 146 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 147 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 148 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 149 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 150 | }else if(pid_return < 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 151 | if(side){ |
Fairy_Paolina | 6:f5c26372b2d0 | 152 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 153 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 154 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 155 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 156 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 157 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 158 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 159 | }else { |
Fairy_Paolina | 6:f5c26372b2d0 | 160 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 161 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 162 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 163 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 164 | } |
Fairy_Paolina | 3:58726d2e11f0 | 165 | return wavegap; |
Fairy_Paolina | 0:ff94cc47fef7 | 166 | } |
Fairy_Paolina | 5:70ccef3734ae | 167 | |
Fairy_Paolina | 0:ff94cc47fef7 | 168 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 5:70ccef3734ae | 169 | |
Fairy_Paolina | 6:f5c26372b2d0 | 170 | void wall_follow2(int side, int direction, int section, float location) |
Fairy_Paolina | 0:ff94cc47fef7 | 171 | { |
Fairy_Paolina | 5:70ccef3734ae | 172 | int SeeWaveGap = false, dir=1; |
Fairy_Paolina | 6:f5c26372b2d0 | 173 | float set=4, loc; |
Fairy_Paolina | 4:f2333e66ec2c | 174 | |
Fairy_Paolina | 4:f2333e66ec2c | 175 | pid1.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 176 | |
Fairy_Paolina | 3:58726d2e11f0 | 177 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 6:f5c26372b2d0 | 178 | if(section == TOOLS)set= 5; |
Fairy_Paolina | 3:58726d2e11f0 | 179 | |
Fairy_Paolina | 3:58726d2e11f0 | 180 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 181 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 182 | |
Fairy_Paolina | 6:f5c26372b2d0 | 183 | while(loc - location ) { |
Fairy_Paolina | 6:f5c26372b2d0 | 184 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 6:f5c26372b2d0 | 185 | |
Fairy_Paolina | 5:70ccef3734ae | 186 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 187 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 5:70ccef3734ae | 188 | pid1.setSetPoint(set); |
Fairy_Paolina | 5:70ccef3734ae | 189 | |
Fairy_Paolina | 2:3d0be48abcf2 | 190 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 191 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 192 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 193 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 194 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 195 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 196 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 197 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 198 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 199 | } |
Fairy_Paolina | 5:70ccef3734ae | 200 | |
Fairy_Paolina | 5:70ccef3734ae | 201 | |
Fairy_Paolina | 0:ff94cc47fef7 | 202 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 3:58726d2e11f0 | 203 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 204 | /* then robot is at wave opening */ |
Fairy_Paolina | 5:70ccef3734ae | 205 | |
Fairy_Paolina | 1:801f0b9a862a | 206 | pc.printf("range %f\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 207 | if(range > 20) { |
Fairy_Paolina | 2:3d0be48abcf2 | 208 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 209 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 2:3d0be48abcf2 | 210 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 211 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 212 | } |
Fairy_Paolina | 5:70ccef3734ae | 213 | |
Fairy_Paolina | 0:ff94cc47fef7 | 214 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 215 | pid_return = pid1.compute(); |
Fairy_Paolina | 2:3d0be48abcf2 | 216 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 5:70ccef3734ae | 217 | |
Fairy_Paolina | 2:3d0be48abcf2 | 218 | if(pid_return > 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 219 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 220 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 221 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 222 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 223 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 224 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 225 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 226 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 227 | }else if(pid_return < 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 228 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 229 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 230 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 231 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 232 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 233 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 234 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 235 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 236 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 237 | motors.setMotor0Speed(dir*MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 238 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 239 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 240 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 241 | motors.stopBothMotors(); |
Fairy_Paolina | 0:ff94cc47fef7 | 242 | } |
Fairy_Paolina | 5:70ccef3734ae | 243 | |
Fairy_Paolina | 5:70ccef3734ae | 244 | |
Fairy_Paolina | 6:f5c26372b2d0 | 245 | void alignWithWall(int section){ |
Fairy_Paolina | 6:f5c26372b2d0 | 246 | float usValue = 0; |
Fairy_Paolina | 6:f5c26372b2d0 | 247 | |
Fairy_Paolina | 6:f5c26372b2d0 | 248 | if(section == TOOLS){ |
Fairy_Paolina | 6:f5c26372b2d0 | 249 | // turn at an angle |
Fairy_Paolina | 6:f5c26372b2d0 | 250 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 251 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 252 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 253 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 254 | while(rightEncoder.getPulses()>-1000); |
Fairy_Paolina | 6:f5c26372b2d0 | 255 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 256 | |
Fairy_Paolina | 6:f5c26372b2d0 | 257 | //go backwards toward wall |
Fairy_Paolina | 6:f5c26372b2d0 | 258 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 259 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 260 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 261 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 262 | while(abs(leftEncoder.getPulses()) < 350 || abs(rightEncoder.getPulses()) < 350); |
Fairy_Paolina | 6:f5c26372b2d0 | 263 | |
Fairy_Paolina | 6:f5c26372b2d0 | 264 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 265 | |
Fairy_Paolina | 6:f5c26372b2d0 | 266 | // turn left towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 267 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 268 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 269 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 270 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 271 | while(rightEncoder.getPulses() < 100); |
Fairy_Paolina | 6:f5c26372b2d0 | 272 | |
Fairy_Paolina | 6:f5c26372b2d0 | 273 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 274 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 275 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 276 | // turn right towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 277 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 278 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 279 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 280 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 281 | while(abs(rightEncoder.getPulses()) < 300); |
Fairy_Paolina | 6:f5c26372b2d0 | 282 | |
Fairy_Paolina | 6:f5c26372b2d0 | 283 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 284 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 285 | |
Fairy_Paolina | 6:f5c26372b2d0 | 286 | // align using the distance of the wall |
Fairy_Paolina | 6:f5c26372b2d0 | 287 | motors.setMotor0Speed(0.7*MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 288 | motors.setMotor1Speed(-0.7*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 289 | |
Fairy_Paolina | 6:f5c26372b2d0 | 290 | usValue = 0; |
Fairy_Paolina | 6:f5c26372b2d0 | 291 | while(1){ |
Fairy_Paolina | 2:3d0be48abcf2 | 292 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 293 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 294 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 295 | bt.printf("Range %f \t OldValue %f\n\r",range, usValue); |
Fairy_Paolina | 6:f5c26372b2d0 | 296 | if(range > usValue && usValue != 0 && range < 25){ |
Fairy_Paolina | 0:ff94cc47fef7 | 297 | break; |
Fairy_Paolina | 2:3d0be48abcf2 | 298 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 299 | usValue = range; |
Fairy_Paolina | 0:ff94cc47fef7 | 300 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 301 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 302 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 303 | } |
Fairy_Paolina | 5:70ccef3734ae | 304 | |
Fairy_Paolina | 1:801f0b9a862a | 305 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 306 | { |
Fairy_Paolina | 1:801f0b9a862a | 307 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 308 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 309 | motors.setMotor0Speed(-0.4*127);//right |
Fairy_Paolina | 5:70ccef3734ae | 310 | motors.setMotor1Speed(0.4*127);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 311 | while(leftEncoder.getPulses()<1000 || rightEncoder.getPulses()>-1000); |
Fairy_Paolina | 1:801f0b9a862a | 312 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 313 | } |
Fairy_Paolina | 5:70ccef3734ae | 314 | |
Fairy_Paolina | 1:801f0b9a862a | 315 | void leftTurn(void) |
Fairy_Paolina | 5:70ccef3734ae | 316 | { |
Fairy_Paolina | 1:801f0b9a862a | 317 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 318 | rightEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 319 | motors.setMotor0Speed(0.4*127);// right |
Fairy_Paolina | 2:3d0be48abcf2 | 320 | motors.setMotor1Speed(-0.4*127);// left |
Fairy_Paolina | 6:f5c26372b2d0 | 321 | while(abs(leftEncoder.getPulses())<1075 || rightEncoder.getPulses()<1075); |
Fairy_Paolina | 5:70ccef3734ae | 322 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 323 | } |
Fairy_Paolina | 5:70ccef3734ae | 324 | |
Fairy_Paolina | 3:58726d2e11f0 | 325 | |
Fairy_Paolina | 6:f5c26372b2d0 | 326 | void overBump(int wave){ |
Fairy_Paolina | 6:f5c26372b2d0 | 327 | int preLeft=5000, preRight=5000 ; |
Fairy_Paolina | 3:58726d2e11f0 | 328 | |
Fairy_Paolina | 3:58726d2e11f0 | 329 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 330 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 331 | motors.setMotor0Speed(0.15*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 332 | motors.setMotor1Speed(0.15*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 333 | while((abs(leftEncoder.getPulses()) < 700 || abs(rightEncoder.getPulses())< 700) && preLeft!=0){ |
Fairy_Paolina | 6:f5c26372b2d0 | 334 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 335 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 336 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 337 | if(leftEncoder.getPulses() == preLeft && rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
Fairy_Paolina | 6:f5c26372b2d0 | 338 | } |
Fairy_Paolina | 4:f2333e66ec2c | 339 | |
Fairy_Paolina | 6:f5c26372b2d0 | 340 | if(wave == FAR){ |
Fairy_Paolina | 6:f5c26372b2d0 | 341 | while(leftEncoder.getPulses() != preLeft && rightEncoder.getPulses()!= preRight){ |
Fairy_Paolina | 6:f5c26372b2d0 | 342 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 343 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 344 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 345 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 346 | |
Fairy_Paolina | 6:f5c26372b2d0 | 347 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 348 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 349 | |
Fairy_Paolina | 4:f2333e66ec2c | 350 | leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 351 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 352 | motors.setMotor0Speed(0.4*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 353 | motors.setMotor1Speed(0.4*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 354 | while(abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200); |
Fairy_Paolina | 6:f5c26372b2d0 | 355 | |
Fairy_Paolina | 3:58726d2e11f0 | 356 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 357 | } |
Fairy_Paolina | 5:70ccef3734ae | 358 | |
Fairy_Paolina | 3:58726d2e11f0 | 359 | void tools_section(float* location, float ¤t){ |
Fairy_Paolina | 3:58726d2e11f0 | 360 | |
Fairy_Paolina | 6:f5c26372b2d0 | 361 | wall_follow(LEFT,FORWARD, TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 362 | // current position in reference to the starting position |
Fairy_Paolina | 4:f2333e66ec2c | 363 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 6:f5c26372b2d0 | 364 | bt.printf("current %f \r\n",current); |
Fairy_Paolina | 3:58726d2e11f0 | 365 | |
Fairy_Paolina | 5:70ccef3734ae | 366 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 367 | |
Fairy_Paolina | 6:f5c26372b2d0 | 368 | //Tool aquiring |
Fairy_Paolina | 6:f5c26372b2d0 | 369 | wait(2); |
Fairy_Paolina | 6:f5c26372b2d0 | 370 | // After tool is aquired |
Fairy_Paolina | 6:f5c26372b2d0 | 371 | |
Fairy_Paolina | 6:f5c26372b2d0 | 372 | alignWithWall(TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 373 | current-=8; |
Fairy_Paolina | 6:f5c26372b2d0 | 374 | wait_ms(100); |
Fairy_Paolina | 6:f5c26372b2d0 | 375 | |
Fairy_Paolina | 6:f5c26372b2d0 | 376 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 377 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 378 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 379 | |
Fairy_Paolina | 6:f5c26372b2d0 | 380 | if(range < 20){ |
Fairy_Paolina | 6:f5c26372b2d0 | 381 | wall_follow2(LEFT,BACKWARD,TOOLS, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 382 | location[0]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 383 | current= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 384 | |
Fairy_Paolina | 6:f5c26372b2d0 | 385 | /* // go backwards |
Fairy_Paolina | 6:f5c26372b2d0 | 386 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 387 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 388 | motors.setMotor0Speed(-0.3*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 389 | motors.setMotor1Speed(-0.3*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 390 | while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150); |
Fairy_Paolina | 6:f5c26372b2d0 | 391 | |
Fairy_Paolina | 6:f5c26372b2d0 | 392 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 393 | */ |
Fairy_Paolina | 6:f5c26372b2d0 | 394 | |
Fairy_Paolina | 6:f5c26372b2d0 | 395 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 396 | overBump(FAR); |
Fairy_Paolina | 6:f5c26372b2d0 | 397 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 398 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 399 | location[0]= 77; |
Fairy_Paolina | 6:f5c26372b2d0 | 400 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 401 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 402 | overBump(FIRST_WAVE); |
Fairy_Paolina | 6:f5c26372b2d0 | 403 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 404 | |
Fairy_Paolina | 6:f5c26372b2d0 | 405 | bt.printf("wavegap = %f\r\n",location[0]); |
Fairy_Paolina | 6:f5c26372b2d0 | 406 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 407 | |
Fairy_Paolina | 6:f5c26372b2d0 | 408 | void mid_section(float* location, float ¤t, int* direction){ |
Fairy_Paolina | 6:f5c26372b2d0 | 409 | |
Fairy_Paolina | 6:f5c26372b2d0 | 410 | motors.begin(); |
Fairy_Paolina | 6:f5c26372b2d0 | 411 | rightTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 412 | alignWithWall(MID); |
Fairy_Paolina | 6:f5c26372b2d0 | 413 | /* |
Fairy_Paolina | 5:70ccef3734ae | 414 | leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 415 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 416 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 417 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 418 | while(abs(leftEncoder.getPulses())<75 || abs(rightEncoder.getPulses())<75); |
Fairy_Paolina | 6:f5c26372b2d0 | 419 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 420 | */ |
Fairy_Paolina | 6:f5c26372b2d0 | 421 | bt.printf("mid section current = %f\r\n",current); |
Fairy_Paolina | 6:f5c26372b2d0 | 422 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 423 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 424 | bt.printf("after wf2 current = %f\r\n",current); |
Fairy_Paolina | 6:f5c26372b2d0 | 425 | |
Fairy_Paolina | 6:f5c26372b2d0 | 426 | if(current != 0){ |
Fairy_Paolina | 6:f5c26372b2d0 | 427 | direction[0]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 428 | current+= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 429 | location[1]= current; |
Fairy_Paolina | 6:f5c26372b2d0 | 430 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 431 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 432 | current=location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 433 | direction[0]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 434 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 435 | location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 436 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 437 | |
Fairy_Paolina | 6:f5c26372b2d0 | 438 | bt.printf("wavegap2 = %f\r\n",location[1]); |
Fairy_Paolina | 6:f5c26372b2d0 | 439 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 440 | overBump(FAR); |
Fairy_Paolina | 6:f5c26372b2d0 | 441 | // go forward |
Fairy_Paolina | 6:f5c26372b2d0 | 442 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 443 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 444 | motors.setMotor0Speed(0.2*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 445 | motors.setMotor1Speed(0.2*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 446 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
Fairy_Paolina | 5:70ccef3734ae | 447 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 448 | |
Fairy_Paolina | 6:f5c26372b2d0 | 449 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 450 | |
Fairy_Paolina | 6:f5c26372b2d0 | 451 | void mid_section2(float* location, float ¤t, int* direction){ |
Fairy_Paolina | 6:f5c26372b2d0 | 452 | |
Fairy_Paolina | 6:f5c26372b2d0 | 453 | motors.begin(); |
Fairy_Paolina | 6:f5c26372b2d0 | 454 | rightTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 455 | alignWithWall(MID); |
Fairy_Paolina | 6:f5c26372b2d0 | 456 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 457 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 5:70ccef3734ae | 458 | |
Fairy_Paolina | 6:f5c26372b2d0 | 459 | if(current != 0){ |
Fairy_Paolina | 6:f5c26372b2d0 | 460 | direction[1]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 461 | current+= location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 462 | location[2]= current; |
Fairy_Paolina | 6:f5c26372b2d0 | 463 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 464 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 465 | current=location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 466 | direction[1]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 467 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 468 | location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 469 | } |
Fairy_Paolina | 5:70ccef3734ae | 470 | |
Fairy_Paolina | 6:f5c26372b2d0 | 471 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 472 | overBump(FAR); |
Fairy_Paolina | 6:f5c26372b2d0 | 473 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 474 | |
Fairy_Paolina | 6:f5c26372b2d0 | 475 | void rig_section(float* location, float ¤t, int* direction, int rig){ |
Fairy_Paolina | 5:70ccef3734ae | 476 | |
Fairy_Paolina | 5:70ccef3734ae | 477 | |
Fairy_Paolina | 6:f5c26372b2d0 | 478 | } |