File content as of revision 6:f5c26372b2d0:

#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 FIRST_WAVE     (0)
#define FAR            (1)

 
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, float location);
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 mid_section(float* location, float &current, int* direction);
void mid_section2(float* location, float &current, int* direction);
void rig_section(float* location, float &current, int* direction, int rig);
void overBump(int wave);
void alignWithWall(int section);
 
//Variables
 
int main(void)
{
    float location[3], current=0;
    int direction[3];
 
    pc.baud(115200);
    bt.baud(115200);
    motors.begin();
    
    //Go to tools
    tools_section(location, current);
    mid_section(location, current, direction);
    mid_section2(location, current, direction);
 
   
 
}
 
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=0, set=4;
    int dir=1;
    
    pid1.reset();
    
    if(direction == BACKWARD) dir=-1;
    if(section == TOOLS)set= 10;
    
    leftEncoder.reset();
    rightEncoder.reset();
    
    location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
    
    while(location< 78) {
        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){
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range);
        }
        else{
            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.setMotor1Speed(dir*0.3*127);//left
            motors.setMotor0Speed(dir*0.3*127);//right
        }
        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, float location)
{
    int SeeWaveGap = false, dir=1;
    float set=4, loc;
    
    pid1.reset();
    
    if(direction == BACKWARD) dir=-1;
    if(section == TOOLS)set= 5;
    
    leftEncoder.reset();
    rightEncoder.reset();
 
    while(loc - location ) {
        location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
        
        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);
        }
    }
    motors.stopBothMotors();
}
 
 
void alignWithWall(int section){
    float usValue = 0;
    
    if(section == TOOLS){
        // turn at an angle
        leftEncoder.reset();
        rightEncoder.reset(); 
        motors.setMotor0Speed(-MAX_SPEED); //right
        motors.setMotor1Speed(0.4*MAX_SPEED); //left
        while(rightEncoder.getPulses()>-1000);
        motors.stopBothMotors();
        
        //go backwards toward wall
        leftEncoder.reset();
        rightEncoder.reset(); 
        motors.setMotor0Speed(-MAX_SPEED); //right
        motors.setMotor1Speed(-MAX_SPEED); //left
        while(abs(leftEncoder.getPulses()) < 350 || abs(rightEncoder.getPulses()) < 350);
        
        motors.stopBothMotors();
    
        // turn left towards wall 
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(MAX_SPEED); //right
        motors.setMotor1Speed(-MAX_SPEED); //left
        while(rightEncoder.getPulses() < 100);
        
        motors.stopBothMotors();   
    }
    else{
        // turn right towards wall 
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-MAX_SPEED); //right
        motors.setMotor1Speed(MAX_SPEED); //left
        while(abs(rightEncoder.getPulses()) < 300);
        
        motors.stopBothMotors();
    }
    
    // align using the distance of the wall   
    motors.setMotor0Speed(0.7*MAX_SPEED); //right
    motors.setMotor1Speed(-0.7*MAX_SPEED); //left
    
    usValue = 0;
    while(1){
        rangeFinderLeft.startMeas();
        wait_ms(20);
        rangeFinderLeft.getMeas(range);
        bt.printf("Range %f \t OldValue %f\n\r",range, usValue);
        if(range > usValue && usValue != 0 && range < 25){
            break;
        } else {
            usValue = range;    
        }
    }
    motors.stopBothMotors();
}
 
void rightTurn(void)
{
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(-0.4*127);//right
    motors.setMotor1Speed(0.4*127);//left
    while(leftEncoder.getPulses()<1000 || rightEncoder.getPulses()>-1000);
    motors.stopBothMotors();
}
 
void leftTurn(void)
{ 
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.4*127);// right
    motors.setMotor1Speed(-0.4*127);// left
    while(abs(leftEncoder.getPulses())<1075 || rightEncoder.getPulses()<1075);
    motors.stopBothMotors();
}
 

void overBump(int wave){
    int preLeft=5000, preRight=5000 ;
    
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.15*127); //right
    motors.setMotor1Speed(0.15*127); //left
    while((abs(leftEncoder.getPulses()) < 700 || abs(rightEncoder.getPulses())< 700) && preLeft!=0){
        preLeft=leftEncoder.getPulses();
        preRight=rightEncoder.getPulses();
        wait_ms(20);
        if(leftEncoder.getPulses() == preLeft && rightEncoder.getPulses()== preRight) preLeft=preRight=0;
    } 
    
    if(wave == FAR){
        while(leftEncoder.getPulses() != preLeft && rightEncoder.getPulses()!= preRight){
            preLeft=leftEncoder.getPulses();
            preRight=rightEncoder.getPulses();
            wait_ms(20);
        }
        
        motors.stopBothMotors();
    }
        
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.4*127); //right
    motors.setMotor1Speed(0.4*127); //left
    while(abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200);

    motors.stopBothMotors();
}
 
void tools_section(float* location, float &current){
    
    wall_follow(LEFT,FORWARD, TOOLS); 
    // current position in reference to the starting position
    current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
    bt.printf("current %f \r\n",current);
    
    motors.stopBothMotors();
    
    //Tool aquiring
    wait(2);
    // After tool is aquired
    
    alignWithWall(TOOLS);
    current-=8;
    wait_ms(100);
    
    rangeFinderLeft.startMeas();
    wait_ms(20);
    rangeFinderLeft.getMeas(range);
    
    if(range < 20){
        wall_follow2(LEFT,BACKWARD,TOOLS, current);
        location[0]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        current= location[0];
        
  /*      // go backwards
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-0.3*127); //right
        motors.setMotor1Speed(-0.3*127); //left
        while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150);
        
        motors.stopBothMotors();
        */
        
        leftTurn();
        overBump(FAR);
    }
    else{   
        location[0]= 77;     
        leftTurn();
        wait_ms(20);
        overBump(FIRST_WAVE);
    } 
    
    bt.printf("wavegap = %f\r\n",location[0]);
}

void mid_section(float* location, float &current, int* direction){
    
    motors.begin();
    rightTurn();
    alignWithWall(MID);
 /*   
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(MAX_SPEED); //right
    motors.setMotor1Speed(MAX_SPEED); //left
    while(abs(leftEncoder.getPulses())<75 || abs(rightEncoder.getPulses())<75);
    motors.stopBothMotors();
    */
    bt.printf("mid section current = %f\r\n",current);
    wall_follow2(LEFT,FORWARD,MID, current);
    current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    bt.printf("after wf2 current = %f\r\n",current);
     
    if(current != 0){
        direction[0]= RIGHT;
        current+= location[0];
        location[1]= current;
    }
    else{
        current=location[0]; 
        direction[0]= LEFT;
        wall_follow2(LEFT,BACKWARD,MID,current);
        location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    }
    
    bt.printf("wavegap2 = %f\r\n",location[1]);
    leftTurn();    
    overBump(FAR);
    // go forward
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.2*127); //right
    motors.setMotor1Speed(0.2*127); //left
    while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300);
    motors.stopBothMotors();
    
}
    
void mid_section2(float* location, float &current, int* direction){
    
    motors.begin();
    rightTurn();
    alignWithWall(MID);
    wall_follow2(LEFT,FORWARD,MID, current);
    current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    
    if(current != 0){
        direction[1]= RIGHT;
        current+= location[1];
        location[2]= current;
    }
    else{
        current=location[1]; 
        direction[1]= LEFT;
        wall_follow2(LEFT,BACKWARD,MID,current);
        location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    }
    
    leftTurn();    
    overBump(FAR);
}    

void rig_section(float* location, float &current, int* direction, int rig){
    
    
}