Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@0:ff94cc47fef7, 2014-03-12 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Wed Mar 12 21:55:44 2014 +0000
- Revision:
- 0:ff94cc47fef7
- Child:
- 1:801f0b9a862a
revise;
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 | 0:ff94cc47fef7 | 10 | #define PIN_TRIGGER (p12) |
Fairy_Paolina | 0:ff94cc47fef7 | 11 | #define PIN_ECHO (p11) |
Fairy_Paolina | 0:ff94cc47fef7 | 12 | #define PULSE_PER_REV (1192) |
Fairy_Paolina | 0:ff94cc47fef7 | 13 | #define WHEEL_CIRCUM (12.56637) |
Fairy_Paolina | 0:ff94cc47fef7 | 14 | #define DIST_PER_PULSE (0.01054225722682) |
Fairy_Paolina | 0:ff94cc47fef7 | 15 | #define MTRS_TO_INCH (39.3701) |
Fairy_Paolina | 0:ff94cc47fef7 | 16 | #define MAX_SPEED (0.2*127) |
Fairy_Paolina | 0:ff94cc47fef7 | 17 | |
Fairy_Paolina | 0:ff94cc47fef7 | 18 | float range, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 19 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 20 | bool cRc; |
Fairy_Paolina | 0:ff94cc47fef7 | 21 | |
Fairy_Paolina | 0:ff94cc47fef7 | 22 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 23 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 24 | Serial pc(USBTX,USBRX); |
Fairy_Paolina | 0:ff94cc47fef7 | 25 | HCSR04 rangeFinder( PIN_TRIGGER, PIN_ECHO ); |
Fairy_Paolina | 0:ff94cc47fef7 | 26 | PID pid1(1.0,0.0,0.0,0.1); |
Fairy_Paolina | 0:ff94cc47fef7 | 27 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 0:ff94cc47fef7 | 28 | |
Fairy_Paolina | 0:ff94cc47fef7 | 29 | //Functions |
Fairy_Paolina | 0:ff94cc47fef7 | 30 | |
Fairy_Paolina | 0:ff94cc47fef7 | 31 | void wall_follow(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 32 | void wall_follow2(int ¤tLocation); |
Fairy_Paolina | 0:ff94cc47fef7 | 33 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 0:ff94cc47fef7 | 34 | |
Fairy_Paolina | 0:ff94cc47fef7 | 35 | void us_distance(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 36 | |
Fairy_Paolina | 0:ff94cc47fef7 | 37 | |
Fairy_Paolina | 0:ff94cc47fef7 | 38 | int main(void){ |
Fairy_Paolina | 0:ff94cc47fef7 | 39 | |
Fairy_Paolina | 0:ff94cc47fef7 | 40 | pc.baud(115200); |
Fairy_Paolina | 0:ff94cc47fef7 | 41 | motors.begin(); |
Fairy_Paolina | 0:ff94cc47fef7 | 42 | |
Fairy_Paolina | 0:ff94cc47fef7 | 43 | //motors.setMotor0Speed(MAX_SPEED); //left |
Fairy_Paolina | 0:ff94cc47fef7 | 44 | //motors.setMotor1Speed(MAX_SPEED); //right |
Fairy_Paolina | 0:ff94cc47fef7 | 45 | //wait(10); |
Fairy_Paolina | 0:ff94cc47fef7 | 46 | |
Fairy_Paolina | 0:ff94cc47fef7 | 47 | wall_follow(); |
Fairy_Paolina | 0:ff94cc47fef7 | 48 | |
Fairy_Paolina | 0:ff94cc47fef7 | 49 | motors.stopBothMotors(); |
Fairy_Paolina | 0:ff94cc47fef7 | 50 | |
Fairy_Paolina | 0:ff94cc47fef7 | 51 | |
Fairy_Paolina | 0:ff94cc47fef7 | 52 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 53 | |
Fairy_Paolina | 0:ff94cc47fef7 | 54 | void errFunction(void){ |
Fairy_Paolina | 0:ff94cc47fef7 | 55 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 56 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 57 | |
Fairy_Paolina | 0:ff94cc47fef7 | 58 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 59 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 60 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 0:ff94cc47fef7 | 61 | rangeFinder.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 62 | wait_us(20); |
Fairy_Paolina | 0:ff94cc47fef7 | 63 | if ( (rangeFinder.getMeas(range) == RANGE_MEAS_VALID)) |
Fairy_Paolina | 0:ff94cc47fef7 | 64 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 65 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 0:ff94cc47fef7 | 66 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 67 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 68 | |
Fairy_Paolina | 0:ff94cc47fef7 | 69 | void wall_follow(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 70 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 71 | while(1){ |
Fairy_Paolina | 0:ff94cc47fef7 | 72 | |
Fairy_Paolina | 0:ff94cc47fef7 | 73 | pid1.setInputLimits(1.0, 20.0); |
Fairy_Paolina | 0:ff94cc47fef7 | 74 | pid1.setOutputLimits( -0.3*127, 0.3*127); |
Fairy_Paolina | 0:ff94cc47fef7 | 75 | pid1.setSetPoint(10.0); |
Fairy_Paolina | 0:ff94cc47fef7 | 76 | |
Fairy_Paolina | 0:ff94cc47fef7 | 77 | rangeFinder.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 78 | wait_ms(100); |
Fairy_Paolina | 0:ff94cc47fef7 | 79 | if ( (rangeFinder.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) |
Fairy_Paolina | 0:ff94cc47fef7 | 80 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 81 | //pc.printf("Range = %f\n", range); |
Fairy_Paolina | 0:ff94cc47fef7 | 82 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 83 | pid1.setProcessValue(range); |
Fairy_Paolina | 0:ff94cc47fef7 | 84 | pid_return = pid1.compute(); |
Fairy_Paolina | 0:ff94cc47fef7 | 85 | pc.printf("Range: %f\n PID: %f", range, pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 86 | |
Fairy_Paolina | 0:ff94cc47fef7 | 87 | if(pid_return > 0){ |
Fairy_Paolina | 0:ff94cc47fef7 | 88 | motors.setMotor0Speed(MAX_SPEED - pid_return);//left |
Fairy_Paolina | 0:ff94cc47fef7 | 89 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 90 | }else if(pid_return < 0){ |
Fairy_Paolina | 0:ff94cc47fef7 | 91 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 92 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 93 | }else{ |
Fairy_Paolina | 0:ff94cc47fef7 | 94 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 95 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 96 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 97 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 98 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 99 | |
Fairy_Paolina | 0:ff94cc47fef7 | 100 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 0:ff94cc47fef7 | 101 | |
Fairy_Paolina | 0:ff94cc47fef7 | 102 | void wall_follow2(int ¤tLocation) |
Fairy_Paolina | 0:ff94cc47fef7 | 103 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 104 | int SeeWaveGap = false; |
Fairy_Paolina | 0:ff94cc47fef7 | 105 | while(1){ |
Fairy_Paolina | 0:ff94cc47fef7 | 106 | |
Fairy_Paolina | 0:ff94cc47fef7 | 107 | pid1.setInputLimits(4.0, 20.0); |
Fairy_Paolina | 0:ff94cc47fef7 | 108 | pid1.setOutputLimits( -0.6, 0.6); |
Fairy_Paolina | 0:ff94cc47fef7 | 109 | pid1.setSetPoint(20.0); |
Fairy_Paolina | 0:ff94cc47fef7 | 110 | |
Fairy_Paolina | 0:ff94cc47fef7 | 111 | rangeFinder.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 112 | wait_ms(100); |
Fairy_Paolina | 0:ff94cc47fef7 | 113 | if ( (rangeFinder.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) |
Fairy_Paolina | 0:ff94cc47fef7 | 114 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 115 | //bt.printf("Range = %f\n", range); |
Fairy_Paolina | 0:ff94cc47fef7 | 116 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 117 | |
Fairy_Paolina | 0:ff94cc47fef7 | 118 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 0:ff94cc47fef7 | 119 | /* If after 100 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 120 | /* then robot is at wave opening */ |
Fairy_Paolina | 0:ff94cc47fef7 | 121 | |
Fairy_Paolina | 0:ff94cc47fef7 | 122 | |
Fairy_Paolina | 0:ff94cc47fef7 | 123 | if(range > 20 && !SeeWaveGap){ |
Fairy_Paolina | 0:ff94cc47fef7 | 124 | currentLocation++; |
Fairy_Paolina | 0:ff94cc47fef7 | 125 | SeeWaveGap = true; |
Fairy_Paolina | 0:ff94cc47fef7 | 126 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 127 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 0:ff94cc47fef7 | 128 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 129 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 130 | |
Fairy_Paolina | 0:ff94cc47fef7 | 131 | |
Fairy_Paolina | 0:ff94cc47fef7 | 132 | pid1.setProcessValue(range); |
Fairy_Paolina | 0:ff94cc47fef7 | 133 | pid_return = pid1.compute(); |
Fairy_Paolina | 0:ff94cc47fef7 | 134 | bt.printf("Range: %f\n PID: %f", range, pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 135 | |
Fairy_Paolina | 0:ff94cc47fef7 | 136 | if(pid_return > 0){ |
Fairy_Paolina | 0:ff94cc47fef7 | 137 | motors.setMotor0Speed(MAX_SPEED - pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 138 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 139 | }else if(pid_return < 0){ |
Fairy_Paolina | 0:ff94cc47fef7 | 140 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 141 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 142 | }else{ |
Fairy_Paolina | 0:ff94cc47fef7 | 143 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 144 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 145 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 146 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 147 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 148 | |
Fairy_Paolina | 0:ff94cc47fef7 | 149 | |
Fairy_Paolina | 0:ff94cc47fef7 | 150 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION WITH WAVE OPENINGS PASSED IN */ |
Fairy_Paolina | 0:ff94cc47fef7 | 151 | /* MEANT FOR RETURNING FROM OIL RIGS */ |
Fairy_Paolina | 0:ff94cc47fef7 | 152 | |
Fairy_Paolina | 0:ff94cc47fef7 | 153 | void wall_follow3(int ¤tLocation, int &WaveOpening) |
Fairy_Paolina | 0:ff94cc47fef7 | 154 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 155 | while(1){ |
Fairy_Paolina | 0:ff94cc47fef7 | 156 | |
Fairy_Paolina | 0:ff94cc47fef7 | 157 | |
Fairy_Paolina | 0:ff94cc47fef7 | 158 | pid1.setInputLimits(4.0, 20.0); |
Fairy_Paolina | 0:ff94cc47fef7 | 159 | pid1.setOutputLimits( -0.6, 0.6); |
Fairy_Paolina | 0:ff94cc47fef7 | 160 | pid1.setSetPoint(20.0); |
Fairy_Paolina | 0:ff94cc47fef7 | 161 | |
Fairy_Paolina | 0:ff94cc47fef7 | 162 | rangeFinder.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 163 | wait_ms(100); |
Fairy_Paolina | 0:ff94cc47fef7 | 164 | if ( (rangeFinder.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) |
Fairy_Paolina | 0:ff94cc47fef7 | 165 | { |
Fairy_Paolina | 0:ff94cc47fef7 | 166 | //bt.printf("Range = %f\n", range); |
Fairy_Paolina | 0:ff94cc47fef7 | 167 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 168 | |
Fairy_Paolina | 0:ff94cc47fef7 | 169 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 0:ff94cc47fef7 | 170 | /* If after 100 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 171 | /* then robot is at wave opening */ |
Fairy_Paolina | 0:ff94cc47fef7 | 172 | |
Fairy_Paolina | 0:ff94cc47fef7 | 173 | |
Fairy_Paolina | 0:ff94cc47fef7 | 174 | if(range > 20 ){ |
Fairy_Paolina | 0:ff94cc47fef7 | 175 | currentLocation--; |
Fairy_Paolina | 0:ff94cc47fef7 | 176 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 177 | |
Fairy_Paolina | 0:ff94cc47fef7 | 178 | if( currentLocation == WaveOpening){ |
Fairy_Paolina | 0:ff94cc47fef7 | 179 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 0:ff94cc47fef7 | 180 | |
Fairy_Paolina | 0:ff94cc47fef7 | 181 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 182 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 183 | |
Fairy_Paolina | 0:ff94cc47fef7 | 184 | |
Fairy_Paolina | 0:ff94cc47fef7 | 185 | pid1.setProcessValue(range); |
Fairy_Paolina | 0:ff94cc47fef7 | 186 | pid_return = pid1.compute(); |
Fairy_Paolina | 0:ff94cc47fef7 | 187 | bt.printf("Range: %f\n PID: %f", range, pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 188 | |
Fairy_Paolina | 0:ff94cc47fef7 | 189 | if(pid_return > 0){ |
Fairy_Paolina | 0:ff94cc47fef7 | 190 | motors.setMotor0Speed(MAX_SPEED - pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 191 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 192 | }else if(pid_return < 0){ |
Fairy_Paolina | 0:ff94cc47fef7 | 193 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 194 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 195 | }else{ |
Fairy_Paolina | 0:ff94cc47fef7 | 196 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 197 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 198 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 199 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 200 | } |