Yeah
Dependencies: HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of NavigationTest by
main.cpp@4:f2333e66ec2c, 2014-03-18 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Tue Mar 18 23:11:28 2014 +0000
- Revision:
- 4:f2333e66ec2c
- Parent:
- 3:58726d2e11f0
- Child:
- 5:70ccef3734ae
revise 3/18;
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 | 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 | 0:ff94cc47fef7 | 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 | 0:ff94cc47fef7 | 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 | 1:801f0b9a862a | 42 | |
Fairy_Paolina | 0:ff94cc47fef7 | 43 | |
Fairy_Paolina | 0:ff94cc47fef7 | 44 | //Functions |
Fairy_Paolina | 0:ff94cc47fef7 | 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 | 0:ff94cc47fef7 | 54 | |
Fairy_Paolina | 1:801f0b9a862a | 55 | //Variables |
Fairy_Paolina | 0:ff94cc47fef7 | 56 | |
Fairy_Paolina | 2:3d0be48abcf2 | 57 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 58 | { |
Fairy_Paolina | 3:58726d2e11f0 | 59 | float location[3], current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 60 | int direction[3]; |
Fairy_Paolina | 0:ff94cc47fef7 | 61 | |
Fairy_Paolina | 0:ff94cc47fef7 | 62 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 63 | bt.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 64 | motors.begin(); |
Fairy_Paolina | 2:3d0be48abcf2 | 65 | |
Fairy_Paolina | 2:3d0be48abcf2 | 66 | |
Fairy_Paolina | 4:f2333e66ec2c | 67 | //leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 68 | //rightEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 69 | //motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 4:f2333e66ec2c | 70 | //motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 3:58726d2e11f0 | 71 | |
Fairy_Paolina | 4:f2333e66ec2c | 72 | //while((abs(leftEncoder.getPulses())/(PPR) + abs(rightEncoder.getPulses())/(PPR))/2 < 3) |
Fairy_Paolina | 4:f2333e66ec2c | 73 | |
Fairy_Paolina | 3:58726d2e11f0 | 74 | |
Fairy_Paolina | 2:3d0be48abcf2 | 75 | |
Fairy_Paolina | 3:58726d2e11f0 | 76 | //Go to tools |
Fairy_Paolina | 4:f2333e66ec2c | 77 | tools_section(location, current); |
Fairy_Paolina | 4:f2333e66ec2c | 78 | /* |
Fairy_Paolina | 3:58726d2e11f0 | 79 | //////////////////////////////// without predefined wavegaps////////////////////////////////////////////// |
Fairy_Paolina | 3:58726d2e11f0 | 80 | current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 81 | if(location[0]< 75){ |
Fairy_Paolina | 3:58726d2e11f0 | 82 | turnRight(); |
Fairy_Paolina | 3:58726d2e11f0 | 83 | current=wall_follow(LEFT,FORWARD); |
Fairy_Paolina | 3:58726d2e11f0 | 84 | if(current == 0)turnLeft(); |
Fairy_Paolina | 3:58726d2e11f0 | 85 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 86 | direction[0]= RIGHT; |
Fairy_Paolina | 3:58726d2e11f0 | 87 | turnLeft(); |
Fairy_Paolina | 3:58726d2e11f0 | 88 | overBump(); |
Fairy_Paolina | 3:58726d2e11f0 | 89 | } |
Fairy_Paolina | 3:58726d2e11f0 | 90 | } |
Fairy_Paolina | 3:58726d2e11f0 | 91 | else if(location[0]>=75 || current == 0){ |
Fairy_Paolina | 3:58726d2e11f0 | 92 | turnLeft(); |
Fairy_Paolina | 3:58726d2e11f0 | 93 | wall_follow2(RIGHT,FORWARD); |
Fairy_Paolina | 3:58726d2e11f0 | 94 | } |
Fairy_Paolina | 3:58726d2e11f0 | 95 | |
Fairy_Paolina | 3:58726d2e11f0 | 96 | |
Fairy_Paolina | 3:58726d2e11f0 | 97 | |
Fairy_Paolina | 3:58726d2e11f0 | 98 | |
Fairy_Paolina | 3:58726d2e11f0 | 99 | |
Fairy_Paolina | 3:58726d2e11f0 | 100 | |
Fairy_Paolina | 3:58726d2e11f0 | 101 | // left or right |
Fairy_Paolina | 3:58726d2e11f0 | 102 | |
Fairy_Paolina | 3:58726d2e11f0 | 103 | |
Fairy_Paolina | 4:f2333e66ec2c | 104 | location[1]=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 105 | |
Fairy_Paolina | 3:58726d2e11f0 | 106 | |
Fairy_Paolina | 3:58726d2e11f0 | 107 | |
Fairy_Paolina | 3:58726d2e11f0 | 108 | |
Fairy_Paolina | 3:58726d2e11f0 | 109 | |
Fairy_Paolina | 3:58726d2e11f0 | 110 | |
Fairy_Paolina | 3:58726d2e11f0 | 111 | |
Fairy_Paolina | 2:3d0be48abcf2 | 112 | leftTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 113 | //wall_follow2(RIGHT); |
Fairy_Paolina | 1:801f0b9a862a | 114 | rightTurn(); |
Fairy_Paolina | 0:ff94cc47fef7 | 115 | |
Fairy_Paolina | 2:3d0be48abcf2 | 116 | |
Fairy_Paolina | 2:3d0be48abcf2 | 117 | |
Fairy_Paolina | 2:3d0be48abcf2 | 118 | bt.printf("LOCATION %f\n\r",location); |
Fairy_Paolina | 2:3d0be48abcf2 | 119 | |
Fairy_Paolina | 2:3d0be48abcf2 | 120 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 121 | // leftTurn(); |
Fairy_Paolina | 2:3d0be48abcf2 | 122 | // wait(1); |
Fairy_Paolina | 2:3d0be48abcf2 | 123 | // rightTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 124 | */ |
Fairy_Paolina | 2:3d0be48abcf2 | 125 | |
Fairy_Paolina | 0:ff94cc47fef7 | 126 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 127 | |
Fairy_Paolina | 2:3d0be48abcf2 | 128 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 129 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 130 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 131 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 132 | |
Fairy_Paolina | 0:ff94cc47fef7 | 133 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 134 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 135 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 136 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 137 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 138 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 139 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 140 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 141 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 142 | |
Fairy_Paolina | 3:58726d2e11f0 | 143 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 144 | { |
Fairy_Paolina | 3:58726d2e11f0 | 145 | float location, wavegap; |
Fairy_Paolina | 3:58726d2e11f0 | 146 | int dir=1, set=5; |
Fairy_Paolina | 3:58726d2e11f0 | 147 | |
Fairy_Paolina | 4:f2333e66ec2c | 148 | pid1.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 149 | |
Fairy_Paolina | 3:58726d2e11f0 | 150 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 3:58726d2e11f0 | 151 | if(section == TOOLS)set= 9; |
Fairy_Paolina | 3:58726d2e11f0 | 152 | |
Fairy_Paolina | 3:58726d2e11f0 | 153 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 154 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 155 | |
Fairy_Paolina | 4:f2333e66ec2c | 156 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 157 | |
Fairy_Paolina | 3:58726d2e11f0 | 158 | while(location< 75) { |
Fairy_Paolina | 4:f2333e66ec2c | 159 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 160 | |
Fairy_Paolina | 3:58726d2e11f0 | 161 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 162 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 163 | pid1.setSetPoint(set); |
Fairy_Paolina | 2:3d0be48abcf2 | 164 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 165 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 166 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 167 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 168 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 169 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 170 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 171 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 172 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 173 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 174 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 175 | |
Fairy_Paolina | 3:58726d2e11f0 | 176 | if(range > 20) { |
Fairy_Paolina | 4:f2333e66ec2c | 177 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 178 | bt.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 179 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 3:58726d2e11f0 | 180 | } |
Fairy_Paolina | 3:58726d2e11f0 | 181 | |
Fairy_Paolina | 0:ff94cc47fef7 | 182 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 183 | pid_return = pid1.compute(); |
Fairy_Paolina | 2:3d0be48abcf2 | 184 | |
Fairy_Paolina | 2:3d0be48abcf2 | 185 | if(pid_return > 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 186 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 187 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 188 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 189 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 190 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 191 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 192 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 193 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 194 | }else if(pid_return < 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 195 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 196 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 197 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 198 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 199 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 200 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 201 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 202 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 203 | }else { |
Fairy_Paolina | 3:58726d2e11f0 | 204 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 205 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 0:ff94cc47fef7 | 206 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 207 | } |
Fairy_Paolina | 3:58726d2e11f0 | 208 | return wavegap; |
Fairy_Paolina | 0:ff94cc47fef7 | 209 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 210 | |
Fairy_Paolina | 0:ff94cc47fef7 | 211 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 0:ff94cc47fef7 | 212 | |
Fairy_Paolina | 4:f2333e66ec2c | 213 | void wall_follow2(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 214 | { |
Fairy_Paolina | 4:f2333e66ec2c | 215 | int SeeWaveGap = false, count=0, dir=1, set=5; |
Fairy_Paolina | 4:f2333e66ec2c | 216 | |
Fairy_Paolina | 4:f2333e66ec2c | 217 | pid1.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 218 | |
Fairy_Paolina | 3:58726d2e11f0 | 219 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 4:f2333e66ec2c | 220 | if(section == TOOLS)set= 9; |
Fairy_Paolina | 3:58726d2e11f0 | 221 | |
Fairy_Paolina | 3:58726d2e11f0 | 222 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 223 | rightEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 224 | |
Fairy_Paolina | 2:3d0be48abcf2 | 225 | while(1) { |
Fairy_Paolina | 2:3d0be48abcf2 | 226 | |
Fairy_Paolina | 2:3d0be48abcf2 | 227 | pid1.setInputLimits(0.0, 5.0); |
Fairy_Paolina | 1:801f0b9a862a | 228 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 229 | pid1.setSetPoint(5.0); |
Fairy_Paolina | 2:3d0be48abcf2 | 230 | |
Fairy_Paolina | 2:3d0be48abcf2 | 231 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 232 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 233 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 234 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 235 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 236 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 237 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 238 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 239 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 240 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 241 | |
Fairy_Paolina | 2:3d0be48abcf2 | 242 | |
Fairy_Paolina | 0:ff94cc47fef7 | 243 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 3:58726d2e11f0 | 244 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 245 | /* then robot is at wave opening */ |
Fairy_Paolina | 2:3d0be48abcf2 | 246 | |
Fairy_Paolina | 1:801f0b9a862a | 247 | pc.printf("range %f\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 248 | if(range > 20) { |
Fairy_Paolina | 2:3d0be48abcf2 | 249 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 250 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 2:3d0be48abcf2 | 251 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 252 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 253 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 254 | |
Fairy_Paolina | 0:ff94cc47fef7 | 255 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 256 | pid_return = pid1.compute(); |
Fairy_Paolina | 2:3d0be48abcf2 | 257 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 2:3d0be48abcf2 | 258 | |
Fairy_Paolina | 2:3d0be48abcf2 | 259 | if(pid_return > 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 260 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 261 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 262 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 263 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 264 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 265 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 266 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 267 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 268 | }else if(pid_return < 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 269 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 270 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 271 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 272 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 273 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 274 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 275 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 276 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 277 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 278 | motors.setMotor0Speed(dir*MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 279 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 280 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 281 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 282 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 283 | |
Fairy_Paolina | 0:ff94cc47fef7 | 284 | |
Fairy_Paolina | 0:ff94cc47fef7 | 285 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION WITH WAVE OPENINGS PASSED IN */ |
Fairy_Paolina | 0:ff94cc47fef7 | 286 | /* MEANT FOR RETURNING FROM OIL RIGS */ |
Fairy_Paolina | 0:ff94cc47fef7 | 287 | |
Fairy_Paolina | 0:ff94cc47fef7 | 288 | void wall_follow3(int ¤tLocation, int &WaveOpening) |
Fairy_Paolina | 0:ff94cc47fef7 | 289 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 290 | while(1) { |
Fairy_Paolina | 2:3d0be48abcf2 | 291 | |
Fairy_Paolina | 2:3d0be48abcf2 | 292 | |
Fairy_Paolina | 2:3d0be48abcf2 | 293 | pid1.setInputLimits(0, 5); |
Fairy_Paolina | 1:801f0b9a862a | 294 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 295 | pid1.setSetPoint(5.0); |
Fairy_Paolina | 2:3d0be48abcf2 | 296 | |
Fairy_Paolina | 2:3d0be48abcf2 | 297 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 0:ff94cc47fef7 | 298 | wait_ms(100); |
Fairy_Paolina | 2:3d0be48abcf2 | 299 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID) && (range < 100.0) && (range > 3.0)) { |
Fairy_Paolina | 0:ff94cc47fef7 | 300 | //bt.printf("Range = %f\n", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 301 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 302 | |
Fairy_Paolina | 0:ff94cc47fef7 | 303 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 0:ff94cc47fef7 | 304 | /* If after 100 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 305 | /* then robot is at wave opening */ |
Fairy_Paolina | 2:3d0be48abcf2 | 306 | |
Fairy_Paolina | 2:3d0be48abcf2 | 307 | |
Fairy_Paolina | 2:3d0be48abcf2 | 308 | if(range > 20 ) { |
Fairy_Paolina | 0:ff94cc47fef7 | 309 | currentLocation--; |
Fairy_Paolina | 0:ff94cc47fef7 | 310 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 311 | |
Fairy_Paolina | 2:3d0be48abcf2 | 312 | if( currentLocation == WaveOpening) { |
Fairy_Paolina | 0:ff94cc47fef7 | 313 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 314 | |
Fairy_Paolina | 0:ff94cc47fef7 | 315 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 316 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 317 | |
Fairy_Paolina | 2:3d0be48abcf2 | 318 | |
Fairy_Paolina | 0:ff94cc47fef7 | 319 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 320 | pid_return = pid1.compute(); |
Fairy_Paolina | 0:ff94cc47fef7 | 321 | bt.printf("Range: %f\n PID: %f", range, pid_return); |
Fairy_Paolina | 2:3d0be48abcf2 | 322 | |
Fairy_Paolina | 2:3d0be48abcf2 | 323 | if(pid_return > 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 324 | motors.setMotor0Speed(MAX_SPEED - pid_return); |
Fairy_Paolina | 0:ff94cc47fef7 | 325 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 2:3d0be48abcf2 | 326 | } else if(pid_return < 0) { |
Fairy_Paolina | 0:ff94cc47fef7 | 327 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 328 | motors.setMotor1Speed(MAX_SPEED + pid_return); |
Fairy_Paolina | 2:3d0be48abcf2 | 329 | } else { |
Fairy_Paolina | 0:ff94cc47fef7 | 330 | motors.setMotor0Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 331 | motors.setMotor1Speed(MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 332 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 333 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 334 | } |
Fairy_Paolina | 1:801f0b9a862a | 335 | |
Fairy_Paolina | 1:801f0b9a862a | 336 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 337 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 338 | float speedL, speedR; |
Fairy_Paolina | 2:3d0be48abcf2 | 339 | |
Fairy_Paolina | 2:3d0be48abcf2 | 340 | speedL=speedR= 0.4; |
Fairy_Paolina | 2:3d0be48abcf2 | 341 | |
Fairy_Paolina | 1:801f0b9a862a | 342 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 343 | rightEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 344 | motors.setMotor0Speed(-speedR*127);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 345 | motors.setMotor1Speed(speedL*127);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 346 | while(leftEncoder.getPulses()<1050 || rightEncoder.getPulses()>-1050); |
Fairy_Paolina | 1:801f0b9a862a | 347 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 348 | } |
Fairy_Paolina | 1:801f0b9a862a | 349 | |
Fairy_Paolina | 1:801f0b9a862a | 350 | void leftTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 351 | { |
Fairy_Paolina | 1:801f0b9a862a | 352 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 353 | rightEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 354 | motors.setMotor0Speed(0.4*127);// right |
Fairy_Paolina | 2:3d0be48abcf2 | 355 | motors.setMotor1Speed(-0.4*127);// left |
Fairy_Paolina | 2:3d0be48abcf2 | 356 | while(leftEncoder.getPulses()>-1200 || rightEncoder.getPulses()<1200); |
Fairy_Paolina | 1:801f0b9a862a | 357 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 358 | } |
Fairy_Paolina | 3:58726d2e11f0 | 359 | |
Fairy_Paolina | 3:58726d2e11f0 | 360 | void overBump(void){ |
Fairy_Paolina | 3:58726d2e11f0 | 361 | |
Fairy_Paolina | 3:58726d2e11f0 | 362 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 363 | rightEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 364 | motors.setMotor0Speed(127*.15); //right |
Fairy_Paolina | 4:f2333e66ec2c | 365 | motors.setMotor1Speed(127*.15); //left |
Fairy_Paolina | 4:f2333e66ec2c | 366 | while(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR)/2 <9); |
Fairy_Paolina | 4:f2333e66ec2c | 367 | |
Fairy_Paolina | 4:f2333e66ec2c | 368 | leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 369 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 370 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 3:58726d2e11f0 | 371 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 4:f2333e66ec2c | 372 | while(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR)/2 <3); |
Fairy_Paolina | 4:f2333e66ec2c | 373 | |
Fairy_Paolina | 3:58726d2e11f0 | 374 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 375 | } |
Fairy_Paolina | 3:58726d2e11f0 | 376 | |
Fairy_Paolina | 3:58726d2e11f0 | 377 | void tools_section(float* location, float ¤t){ |
Fairy_Paolina | 3:58726d2e11f0 | 378 | |
Fairy_Paolina | 3:58726d2e11f0 | 379 | location[0]=wall_follow(LEFT,FORWARD, TOOLS); //location from the left edge of the field |
Fairy_Paolina | 4:f2333e66ec2c | 380 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 381 | bt.printf("wavegap %f \t current %f \r\n",location[0],current); |
Fairy_Paolina | 3:58726d2e11f0 | 382 | |
Fairy_Paolina | 3:58726d2e11f0 | 383 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 384 | ////////////////////////////////////////// determine shape and pick up tool /////////////////////////////////////////////////////// |
Fairy_Paolina | 4:f2333e66ec2c | 385 | |
Fairy_Paolina | 3:58726d2e11f0 | 386 | if(current >location[0]){ |
Fairy_Paolina | 4:f2333e66ec2c | 387 | wall_follow2(LEFT,BACKWARD,TOOLS); |
Fairy_Paolina | 4:f2333e66ec2c | 388 | wait_ms(500); |
Fairy_Paolina | 3:58726d2e11f0 | 389 | // forward |
Fairy_Paolina | 4:f2333e66ec2c | 390 | /* leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 391 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 392 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 3:58726d2e11f0 | 393 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 3:58726d2e11f0 | 394 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
Fairy_Paolina | 3:58726d2e11f0 | 395 | motors.stopBothMotors(); |
Fairy_Paolina | 4:f2333e66ec2c | 396 | wait_ms(500);*/ |
Fairy_Paolina | 4:f2333e66ec2c | 397 | current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 4:f2333e66ec2c | 398 | } |
Fairy_Paolina | 4:f2333e66ec2c | 399 | else{/* |
Fairy_Paolina | 4:f2333e66ec2c | 400 | wall_follow2(LEFT,FORWARD); |
Fairy_Paolina | 4:f2333e66ec2c | 401 | // backward |
Fairy_Paolina | 4:f2333e66ec2c | 402 | leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 403 | rightEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 404 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 4:f2333e66ec2c | 405 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 4:f2333e66ec2c | 406 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
Fairy_Paolina | 4:f2333e66ec2c | 407 | motors.stopBothMotors(); |
Fairy_Paolina | 4:f2333e66ec2c | 408 | current-=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;*/ |
Fairy_Paolina | 3:58726d2e11f0 | 409 | } |
Fairy_Paolina | 3:58726d2e11f0 | 410 | |
Fairy_Paolina | 3:58726d2e11f0 | 411 | leftTurn(); |
Fairy_Paolina | 3:58726d2e11f0 | 412 | |
Fairy_Paolina | 3:58726d2e11f0 | 413 | //Go over |
Fairy_Paolina | 3:58726d2e11f0 | 414 | overBump(); |
Fairy_Paolina | 4:f2333e66ec2c | 415 | |
Fairy_Paolina | 3:58726d2e11f0 | 416 | } |