Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@5:70ccef3734ae, 2014-03-20 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Thu Mar 20 17:47:31 2014 +0000
- Revision:
- 5:70ccef3734ae
- Parent:
- 4:f2333e66ec2c
- Child:
- 6:f5c26372b2d0
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 | 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 | 3:58726d2e11f0 | 26 | #define RIGS (2) |
Fairy_Paolina | 5:70ccef3734ae | 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; |
Fairy_Paolina | 5:70ccef3734ae | 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); |
Fairy_Paolina | 2:3d0be48abcf2 | 35 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
Fairy_Paolina | 2:3d0be48abcf2 | 36 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 2:3d0be48abcf2 | 37 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 38 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 4:f2333e66ec2c | 39 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 4:f2333e66ec2c | 40 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 1:801f0b9a862a | 41 | //InterruptIn encoder(p29); |
Fairy_Paolina | 5:70ccef3734ae | 42 | |
Fairy_Paolina | 5:70ccef3734ae | 43 | |
Fairy_Paolina | 0:ff94cc47fef7 | 44 | //Functions |
Fairy_Paolina | 5:70ccef3734ae | 45 | |
Fairy_Paolina | 3:58726d2e11f0 | 46 | float wall_follow(int side, int direction, int section); |
Fairy_Paolina | 4:f2333e66ec2c | 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); |
Fairy_Paolina | 3:58726d2e11f0 | 52 | void tools_section(float* location, float ¤t); |
Fairy_Paolina | 3:58726d2e11f0 | 53 | void overBump(void); |
Fairy_Paolina | 5:70ccef3734ae | 54 | void align(float speed); |
Fairy_Paolina | 5:70ccef3734ae | 55 | |
Fairy_Paolina | 1:801f0b9a862a | 56 | //Variables |
Fairy_Paolina | 5:70ccef3734ae | 57 | |
Fairy_Paolina | 2:3d0be48abcf2 | 58 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 59 | { |
Fairy_Paolina | 3:58726d2e11f0 | 60 | float location[3], current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 61 | int direction[3]; |
Fairy_Paolina | 5:70ccef3734ae | 62 | |
Fairy_Paolina | 0:ff94cc47fef7 | 63 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 64 | bt.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 65 | motors.begin(); |
Fairy_Paolina | 2:3d0be48abcf2 | 66 | |
Fairy_Paolina | 2:3d0be48abcf2 | 67 | |
Fairy_Paolina | 4:f2333e66ec2c | 68 | //leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 69 | //rightEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 70 | //motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 4:f2333e66ec2c | 71 | //motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 3:58726d2e11f0 | 72 | |
Fairy_Paolina | 4:f2333e66ec2c | 73 | //while((abs(leftEncoder.getPulses())/(PPR) + abs(rightEncoder.getPulses())/(PPR))/2 < 3) |
Fairy_Paolina | 5:70ccef3734ae | 74 | |
Fairy_Paolina | 3:58726d2e11f0 | 75 | |
Fairy_Paolina | 2:3d0be48abcf2 | 76 | |
Fairy_Paolina | 3:58726d2e11f0 | 77 | //Go to tools |
Fairy_Paolina | 4:f2333e66ec2c | 78 | tools_section(location, current); |
Fairy_Paolina | 5:70ccef3734ae | 79 | |
Fairy_Paolina | 3:58726d2e11f0 | 80 | //////////////////////////////// without predefined wavegaps////////////////////////////////////////////// |
Fairy_Paolina | 5:70ccef3734ae | 81 | /* current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 82 | if(location[0]< 75){ |
Fairy_Paolina | 5:70ccef3734ae | 83 | rightTurn(); |
Fairy_Paolina | 5:70ccef3734ae | 84 | current=wall_follow(LEFT,FORWARD,MID); |
Fairy_Paolina | 5:70ccef3734ae | 85 | if(current != 0) direction[0]= RIGHT; |
Fairy_Paolina | 3:58726d2e11f0 | 86 | else{ |
Fairy_Paolina | 5:70ccef3734ae | 87 | direction[0]= LEFT; |
Fairy_Paolina | 5:70ccef3734ae | 88 | wall_follow2(LEFT,BACKWARD,MID); |
Fairy_Paolina | 5:70ccef3734ae | 89 | location[1]=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 5:70ccef3734ae | 90 | |
Fairy_Paolina | 5:70ccef3734ae | 91 | leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 92 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 93 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 5:70ccef3734ae | 94 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 5:70ccef3734ae | 95 | while(abs(leftEncoder.getPulses())<75 || abs(rightEncoder.getPulses())<75); |
Fairy_Paolina | 5:70ccef3734ae | 96 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 97 | } |
Fairy_Paolina | 5:70ccef3734ae | 98 | leftTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 99 | } |
Fairy_Paolina | 5:70ccef3734ae | 100 | else{ |
Fairy_Paolina | 5:70ccef3734ae | 101 | leftTurn(); |
Fairy_Paolina | 5:70ccef3734ae | 102 | direction[0]= LEFT; |
Fairy_Paolina | 5:70ccef3734ae | 103 | wall_follow2(RIGHT,FORWARD,MID); |
Fairy_Paolina | 5:70ccef3734ae | 104 | location[1]=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 5:70ccef3734ae | 105 | rightTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 106 | } |
Fairy_Paolina | 3:58726d2e11f0 | 107 | |
Fairy_Paolina | 5:70ccef3734ae | 108 | overBump(); |
Fairy_Paolina | 3:58726d2e11f0 | 109 | |
Fairy_Paolina | 5:70ccef3734ae | 110 | */ |
Fairy_Paolina | 3:58726d2e11f0 | 111 | |
Fairy_Paolina | 3:58726d2e11f0 | 112 | |
Fairy_Paolina | 3:58726d2e11f0 | 113 | // left or right |
Fairy_Paolina | 3:58726d2e11f0 | 114 | |
Fairy_Paolina | 3:58726d2e11f0 | 115 | |
Fairy_Paolina | 3:58726d2e11f0 | 116 | |
Fairy_Paolina | 3:58726d2e11f0 | 117 | |
Fairy_Paolina | 3:58726d2e11f0 | 118 | |
Fairy_Paolina | 3:58726d2e11f0 | 119 | |
Fairy_Paolina | 3:58726d2e11f0 | 120 | |
Fairy_Paolina | 3:58726d2e11f0 | 121 | |
Fairy_Paolina | 3:58726d2e11f0 | 122 | |
Fairy_Paolina | 5:70ccef3734ae | 123 | //leftTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 124 | //wall_follow2(RIGHT); |
Fairy_Paolina | 5:70ccef3734ae | 125 | // rightTurn(); |
Fairy_Paolina | 0:ff94cc47fef7 | 126 | |
Fairy_Paolina | 5:70ccef3734ae | 127 | |
Fairy_Paolina | 5:70ccef3734ae | 128 | |
Fairy_Paolina | 2:3d0be48abcf2 | 129 | bt.printf("LOCATION %f\n\r",location); |
Fairy_Paolina | 5:70ccef3734ae | 130 | |
Fairy_Paolina | 5:70ccef3734ae | 131 | //overBump(); |
Fairy_Paolina | 5:70ccef3734ae | 132 | //motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 133 | //leftTurn(); |
Fairy_Paolina | 5:70ccef3734ae | 134 | //wait(1); |
Fairy_Paolina | 5:70ccef3734ae | 135 | //rightTurn(); |
Fairy_Paolina | 5:70ccef3734ae | 136 | |
Fairy_Paolina | 5:70ccef3734ae | 137 | |
Fairy_Paolina | 0:ff94cc47fef7 | 138 | } |
Fairy_Paolina | 5:70ccef3734ae | 139 | |
Fairy_Paolina | 2:3d0be48abcf2 | 140 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 141 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 142 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 143 | } |
Fairy_Paolina | 5:70ccef3734ae | 144 | |
Fairy_Paolina | 0:ff94cc47fef7 | 145 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 146 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 147 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 148 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 149 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 150 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 151 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 152 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 153 | } |
Fairy_Paolina | 5:70ccef3734ae | 154 | |
Fairy_Paolina | 3:58726d2e11f0 | 155 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 156 | { |
Fairy_Paolina | 5:70ccef3734ae | 157 | float location, wavegap=0, set=5; |
Fairy_Paolina | 5:70ccef3734ae | 158 | int dir=1; |
Fairy_Paolina | 3:58726d2e11f0 | 159 | |
Fairy_Paolina | 4:f2333e66ec2c | 160 | pid1.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 161 | |
Fairy_Paolina | 3:58726d2e11f0 | 162 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 163 | if(section == TOOLS)set= 10; |
Fairy_Paolina | 3:58726d2e11f0 | 164 | |
Fairy_Paolina | 3:58726d2e11f0 | 165 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 166 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 167 | |
Fairy_Paolina | 4:f2333e66ec2c | 168 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 169 | |
Fairy_Paolina | 3:58726d2e11f0 | 170 | while(location< 75) { |
Fairy_Paolina | 4:f2333e66ec2c | 171 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 172 | |
Fairy_Paolina | 3:58726d2e11f0 | 173 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 174 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 175 | pid1.setSetPoint(set); |
Fairy_Paolina | 2:3d0be48abcf2 | 176 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 177 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 178 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 179 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 180 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 181 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 182 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 183 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 184 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 185 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 186 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 187 | |
Fairy_Paolina | 3:58726d2e11f0 | 188 | if(range > 20) { |
Fairy_Paolina | 4:f2333e66ec2c | 189 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 190 | bt.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 191 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 3:58726d2e11f0 | 192 | } |
Fairy_Paolina | 3:58726d2e11f0 | 193 | |
Fairy_Paolina | 0:ff94cc47fef7 | 194 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 195 | pid_return = pid1.compute(); |
Fairy_Paolina | 5:70ccef3734ae | 196 | |
Fairy_Paolina | 2:3d0be48abcf2 | 197 | if(pid_return > 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 198 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 199 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 200 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 201 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 202 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 203 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 204 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 205 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 206 | }else if(pid_return < 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 207 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 208 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 209 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 210 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 211 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 212 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 213 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 214 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 215 | }else { |
Fairy_Paolina | 3:58726d2e11f0 | 216 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 217 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 0:ff94cc47fef7 | 218 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 219 | } |
Fairy_Paolina | 3:58726d2e11f0 | 220 | return wavegap; |
Fairy_Paolina | 0:ff94cc47fef7 | 221 | } |
Fairy_Paolina | 5:70ccef3734ae | 222 | |
Fairy_Paolina | 0:ff94cc47fef7 | 223 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 5:70ccef3734ae | 224 | |
Fairy_Paolina | 4:f2333e66ec2c | 225 | void wall_follow2(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 226 | { |
Fairy_Paolina | 5:70ccef3734ae | 227 | int SeeWaveGap = false, dir=1; |
Fairy_Paolina | 5:70ccef3734ae | 228 | float set=5; |
Fairy_Paolina | 4:f2333e66ec2c | 229 | |
Fairy_Paolina | 4:f2333e66ec2c | 230 | pid1.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 231 | |
Fairy_Paolina | 3:58726d2e11f0 | 232 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 233 | if(section == TOOLS)set= 6.5; |
Fairy_Paolina | 3:58726d2e11f0 | 234 | |
Fairy_Paolina | 3:58726d2e11f0 | 235 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 236 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 237 | |
Fairy_Paolina | 2:3d0be48abcf2 | 238 | while(1) { |
Fairy_Paolina | 5:70ccef3734ae | 239 | |
Fairy_Paolina | 5:70ccef3734ae | 240 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 241 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 5:70ccef3734ae | 242 | pid1.setSetPoint(set); |
Fairy_Paolina | 5:70ccef3734ae | 243 | |
Fairy_Paolina | 2:3d0be48abcf2 | 244 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 245 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 246 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 247 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 248 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 249 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 250 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 251 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 252 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 253 | } |
Fairy_Paolina | 5:70ccef3734ae | 254 | |
Fairy_Paolina | 5:70ccef3734ae | 255 | |
Fairy_Paolina | 0:ff94cc47fef7 | 256 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 3:58726d2e11f0 | 257 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 258 | /* then robot is at wave opening */ |
Fairy_Paolina | 5:70ccef3734ae | 259 | |
Fairy_Paolina | 1:801f0b9a862a | 260 | pc.printf("range %f\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 261 | if(range > 20) { |
Fairy_Paolina | 2:3d0be48abcf2 | 262 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 263 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 2:3d0be48abcf2 | 264 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 265 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 266 | } |
Fairy_Paolina | 5:70ccef3734ae | 267 | |
Fairy_Paolina | 0:ff94cc47fef7 | 268 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 269 | pid_return = pid1.compute(); |
Fairy_Paolina | 2:3d0be48abcf2 | 270 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 5:70ccef3734ae | 271 | |
Fairy_Paolina | 2:3d0be48abcf2 | 272 | if(pid_return > 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 273 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 274 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 275 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 276 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 277 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 278 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 279 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 280 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 281 | }else if(pid_return < 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 282 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 283 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 284 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 285 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 286 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 287 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 288 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 289 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 290 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 291 | motors.setMotor0Speed(dir*MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 292 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 293 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 294 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 295 | } |
Fairy_Paolina | 5:70ccef3734ae | 296 | |
Fairy_Paolina | 5:70ccef3734ae | 297 | |
Fairy_Paolina | 0:ff94cc47fef7 | 298 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION WITH WAVE OPENINGS PASSED IN */ |
Fairy_Paolina | 0:ff94cc47fef7 | 299 | /* MEANT FOR RETURNING FROM OIL RIGS */ |
Fairy_Paolina | 5:70ccef3734ae | 300 | |
Fairy_Paolina | 0:ff94cc47fef7 | 301 | void wall_follow3(int ¤tLocation, int &WaveOpening) |
Fairy_Paolina | 0:ff94cc47fef7 | 302 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 303 | while(1) { |
Fairy_Paolina | 5:70ccef3734ae | 304 | |
Fairy_Paolina | 5:70ccef3734ae | 305 | |
Fairy_Paolina | 2:3d0be48abcf2 | 306 | pid1.setInputLimits(0, 5); |
Fairy_Paolina | 1:801f0b9a862a | 307 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 308 | pid1.setSetPoint(5.0); |
Fairy_Paolina | 5:70ccef3734ae | 309 | |
Fairy_Paolina | 2:3d0be48abcf2 | 310 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 311 | wait_ms(100); |
Fairy_Paolina | 2:3d0be48abcf2 | 312 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) { |
Fairy_Paolina | 0:ff94cc47fef7 | 313 | //bt.printf("Range = %f\n", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 314 | } |
Fairy_Paolina | 5:70ccef3734ae | 315 | |
Fairy_Paolina | 0:ff94cc47fef7 | 316 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 0:ff94cc47fef7 | 317 | /* If after 100 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 318 | /* then robot is at wave opening */ |
Fairy_Paolina | 5:70ccef3734ae | 319 | |
Fairy_Paolina | 5:70ccef3734ae | 320 | |
Fairy_Paolina | 2:3d0be48abcf2 | 321 | if(range > 20 ) { |
Fairy_Paolina | 0:ff94cc47fef7 | 322 | currentLocation--; |
Fairy_Paolina | 0:ff94cc47fef7 | 323 | } |
Fairy_Paolina | 5:70ccef3734ae | 324 | |
Fairy_Paolina | 2:3d0be48abcf2 | 325 | if( currentLocation == WaveOpening) { |
Fairy_Paolina | 0:ff94cc47fef7 | 326 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 5:70ccef3734ae | 327 | |
Fairy_Paolina | 0:ff94cc47fef7 | 328 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 329 | } |
Fairy_Paolina | 5:70ccef3734ae | 330 | |
Fairy_Paolina | 5:70ccef3734ae | 331 | |
Fairy_Paolina | 0:ff94cc47fef7 | 332 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 333 | pid_return = pid1.compute(); |
Fairy_Paolina | 0:ff94cc47fef7 | 334 | bt.printf("Range: %f\n PID: %f", range, pid_return); |
Fairy_Paolina | 5:70ccef3734ae | 335 | |
Fairy_Paolina | 2:3d0be48abcf2 | 336 | if(pid_return > 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 337 | motors.setMotor0Speed(MAX_SPEED - pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 338 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 339 | } else if(pid_return < 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 340 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 341 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
Fairy_Paolina | 2:3d0be48abcf2 | 342 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 343 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 344 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 345 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 346 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 347 | } |
Fairy_Paolina | 5:70ccef3734ae | 348 | |
Fairy_Paolina | 5:70ccef3734ae | 349 | void align(float speed){ |
Fairy_Paolina | 5:70ccef3734ae | 350 | float left, right; |
Fairy_Paolina | 5:70ccef3734ae | 351 | left=right=speed; |
Fairy_Paolina | 5:70ccef3734ae | 352 | |
Fairy_Paolina | 5:70ccef3734ae | 353 | if(abs(leftEncoder.getPulses())> rightEncoder.getPulses()){ |
Fairy_Paolina | 5:70ccef3734ae | 354 | if(speed>0)left-=.01; |
Fairy_Paolina | 5:70ccef3734ae | 355 | else left+=.01; |
Fairy_Paolina | 5:70ccef3734ae | 356 | } |
Fairy_Paolina | 5:70ccef3734ae | 357 | else{ |
Fairy_Paolina | 5:70ccef3734ae | 358 | if(speed>0) right+=.01; |
Fairy_Paolina | 5:70ccef3734ae | 359 | else right-=.01; |
Fairy_Paolina | 5:70ccef3734ae | 360 | } |
Fairy_Paolina | 5:70ccef3734ae | 361 | motors.setMotor0Speed(right*127);//right |
Fairy_Paolina | 5:70ccef3734ae | 362 | motors.setMotor1Speed(left*127);//left |
Fairy_Paolina | 5:70ccef3734ae | 363 | pc.printf("speed left %f right %f\r\n\n",left, right); |
Fairy_Paolina | 5:70ccef3734ae | 364 | |
Fairy_Paolina | 5:70ccef3734ae | 365 | } |
Fairy_Paolina | 5:70ccef3734ae | 366 | |
Fairy_Paolina | 1:801f0b9a862a | 367 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 368 | { |
Fairy_Paolina | 1:801f0b9a862a | 369 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 370 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 371 | motors.setMotor0Speed(-0.4*127);//right |
Fairy_Paolina | 5:70ccef3734ae | 372 | motors.setMotor1Speed(0.4*127);//left |
Fairy_Paolina | 5:70ccef3734ae | 373 | while(leftEncoder.getPulses()<1030 || rightEncoder.getPulses()>-1030); |
Fairy_Paolina | 1:801f0b9a862a | 374 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 375 | } |
Fairy_Paolina | 5:70ccef3734ae | 376 | |
Fairy_Paolina | 1:801f0b9a862a | 377 | void leftTurn(void) |
Fairy_Paolina | 5:70ccef3734ae | 378 | { |
Fairy_Paolina | 1:801f0b9a862a | 379 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 380 | rightEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 381 | motors.setMotor0Speed(0.4*127);// right |
Fairy_Paolina | 2:3d0be48abcf2 | 382 | motors.setMotor1Speed(-0.4*127);// left |
Fairy_Paolina | 5:70ccef3734ae | 383 | while(abs(leftEncoder.getPulses())<1120 || rightEncoder.getPulses()<1120); //align(0.4); |
Fairy_Paolina | 5:70ccef3734ae | 384 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 385 | } |
Fairy_Paolina | 5:70ccef3734ae | 386 | |
Fairy_Paolina | 5:70ccef3734ae | 387 | void slightRight(void) |
Fairy_Paolina | 5:70ccef3734ae | 388 | { |
Fairy_Paolina | 5:70ccef3734ae | 389 | leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 390 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 391 | motors.setMotor0Speed(-0.4*127);//right |
Fairy_Paolina | 5:70ccef3734ae | 392 | motors.setMotor1Speed(0.4*127);//left |
Fairy_Paolina | 5:70ccef3734ae | 393 | while(leftEncoder.getPulses()<515 || rightEncoder.getPulses()>-515); |
Fairy_Paolina | 5:70ccef3734ae | 394 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 395 | } |
Fairy_Paolina | 5:70ccef3734ae | 396 | void slightLeft(void) |
Fairy_Paolina | 5:70ccef3734ae | 397 | { |
Fairy_Paolina | 5:70ccef3734ae | 398 | leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 399 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 400 | motors.setMotor0Speed(0.4*127);// right |
Fairy_Paolina | 5:70ccef3734ae | 401 | motors.setMotor1Speed(-0.4*127);// left |
Fairy_Paolina | 5:70ccef3734ae | 402 | while(abs(leftEncoder.getPulses())<400 || rightEncoder.getPulses()< 400); //align(0.4); |
Fairy_Paolina | 1:801f0b9a862a | 403 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 404 | } |
Fairy_Paolina | 3:58726d2e11f0 | 405 | |
Fairy_Paolina | 3:58726d2e11f0 | 406 | void overBump(void){ |
Fairy_Paolina | 3:58726d2e11f0 | 407 | |
Fairy_Paolina | 3:58726d2e11f0 | 408 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 409 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 410 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 5:70ccef3734ae | 411 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 5:70ccef3734ae | 412 | while(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR)/2 <9)//align(MAX_SPEED); |
Fairy_Paolina | 4:f2333e66ec2c | 413 | |
Fairy_Paolina | 4:f2333e66ec2c | 414 | leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 415 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 416 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 3:58726d2e11f0 | 417 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 5:70ccef3734ae | 418 | while(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR)/2 <6); |
Fairy_Paolina | 4:f2333e66ec2c | 419 | |
Fairy_Paolina | 3:58726d2e11f0 | 420 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 421 | } |
Fairy_Paolina | 5:70ccef3734ae | 422 | |
Fairy_Paolina | 3:58726d2e11f0 | 423 | void tools_section(float* location, float ¤t){ |
Fairy_Paolina | 3:58726d2e11f0 | 424 | |
Fairy_Paolina | 3:58726d2e11f0 | 425 | location[0]=wall_follow(LEFT,FORWARD, TOOLS); //location from the left edge of the field |
Fairy_Paolina | 4:f2333e66ec2c | 426 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 427 | bt.printf("wavegap %f \t current %f \r\n",location[0],current); |
Fairy_Paolina | 3:58726d2e11f0 | 428 | |
Fairy_Paolina | 5:70ccef3734ae | 429 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 430 | |
Fairy_Paolina | 5:70ccef3734ae | 431 | slightRight(); |
Fairy_Paolina | 5:70ccef3734ae | 432 | //backward |
Fairy_Paolina | 5:70ccef3734ae | 433 | leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 434 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 435 | motors.setMotor0Speed(-MAX_SPEED);//right |
Fairy_Paolina | 5:70ccef3734ae | 436 | motors.setMotor1Speed(-MAX_SPEED);//left |
Fairy_Paolina | 5:70ccef3734ae | 437 | while(abs(leftEncoder.getPulses())<500 || abs(rightEncoder.getPulses())<500); |
Fairy_Paolina | 5:70ccef3734ae | 438 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 439 | |
Fairy_Paolina | 5:70ccef3734ae | 440 | slightLeft(); |
Fairy_Paolina | 5:70ccef3734ae | 441 | |
Fairy_Paolina | 5:70ccef3734ae | 442 | /*leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 443 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 444 | motors.setMotor0Speed(MAX_SPEED);//right |
Fairy_Paolina | 5:70ccef3734ae | 445 | motors.setMotor1Speed(MAX_SPEED);//left |
Fairy_Paolina | 5:70ccef3734ae | 446 | while(abs(leftEncoder.getPulses())<100 || abs(rightEncoder.getPulses())<100);*/ |
Fairy_Paolina | 5:70ccef3734ae | 447 | |
Fairy_Paolina | 5:70ccef3734ae | 448 | |
Fairy_Paolina | 5:70ccef3734ae | 449 | |
Fairy_Paolina | 3:58726d2e11f0 | 450 | ////////////////////////////////////////// determine shape and pick up tool /////////////////////////////////////////////////////// |
Fairy_Paolina | 4:f2333e66ec2c | 451 | |
Fairy_Paolina | 5:70ccef3734ae | 452 | wall_follow2(LEFT,BACKWARD,TOOLS); |
Fairy_Paolina | 5:70ccef3734ae | 453 | /* |
Fairy_Paolina | 3:58726d2e11f0 | 454 | if(current >location[0]){ |
Fairy_Paolina | 4:f2333e66ec2c | 455 | wall_follow2(LEFT,BACKWARD,TOOLS); |
Fairy_Paolina | 5:70ccef3734ae | 456 | wait_ms(1000); |
Fairy_Paolina | 5:70ccef3734ae | 457 | // back |
Fairy_Paolina | 5:70ccef3734ae | 458 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 459 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 460 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 3:58726d2e11f0 | 461 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 5:70ccef3734ae | 462 | while(abs(leftEncoder.getPulses())<75 || abs(rightEncoder.getPulses())<75); |
Fairy_Paolina | 3:58726d2e11f0 | 463 | motors.stopBothMotors(); |
Fairy_Paolina | 4:f2333e66ec2c | 464 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 4:f2333e66ec2c | 465 | } |
Fairy_Paolina | 5:70ccef3734ae | 466 | else{ |
Fairy_Paolina | 5:70ccef3734ae | 467 | wall_follow2(LEFT,FORWARD,TOOLS); |
Fairy_Paolina | 4:f2333e66ec2c | 468 | // backward |
Fairy_Paolina | 5:70ccef3734ae | 469 | wait_ms(1000); |
Fairy_Paolina | 4:f2333e66ec2c | 470 | leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 471 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 472 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 5:70ccef3734ae | 473 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 5:70ccef3734ae | 474 | while(abs(leftEncoder.getPulses())<150 || abs(rightEncoder.getPulses())<150); |
Fairy_Paolina | 4:f2333e66ec2c | 475 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 476 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 5:70ccef3734ae | 477 | }*/ |
Fairy_Paolina | 5:70ccef3734ae | 478 | wait_ms(1000); |
Fairy_Paolina | 3:58726d2e11f0 | 479 | leftTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 480 | |
Fairy_Paolina | 3:58726d2e11f0 | 481 | //Go over |
Fairy_Paolina | 3:58726d2e11f0 | 482 | overBump(); |
Fairy_Paolina | 4:f2333e66ec2c | 483 | |
Fairy_Paolina | 5:70ccef3734ae | 484 | } |