This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
main.cpp@0:200635fa1b08, 2013-03-29 (annotated)
- Committer:
- twighk
- Date:
- Fri Mar 29 11:35:34 2013 +0000
- Revision:
- 0:200635fa1b08
- Child:
- 1:8119211eae14
Main motors and motor encoders
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 0:200635fa1b08 | 1 | |
twighk | 0:200635fa1b08 | 2 | // Eurobot13 main.cpp |
twighk | 0:200635fa1b08 | 3 | |
twighk | 0:200635fa1b08 | 4 | #include "mbed.h" |
twighk | 0:200635fa1b08 | 5 | |
twighk | 0:200635fa1b08 | 6 | #include "Actuators/MainMotor/MainMotor.h" |
twighk | 0:200635fa1b08 | 7 | #include "Sensors/Encoder/Encoder.h" |
twighk | 0:200635fa1b08 | 8 | #include "Actuators/Servo/Servo.h" |
twighk | 0:200635fa1b08 | 9 | |
twighk | 0:200635fa1b08 | 10 | PwmOut Led(LED1); |
twighk | 0:200635fa1b08 | 11 | |
twighk | 0:200635fa1b08 | 12 | void motortest(); |
twighk | 0:200635fa1b08 | 13 | void encodertest(); |
twighk | 0:200635fa1b08 | 14 | void motorencodetest(); |
twighk | 0:200635fa1b08 | 15 | void motorencodetestline(); |
twighk | 0:200635fa1b08 | 16 | void motorsandservostest(); |
twighk | 0:200635fa1b08 | 17 | |
twighk | 0:200635fa1b08 | 18 | int main() { |
twighk | 0:200635fa1b08 | 19 | //motortest(); |
twighk | 0:200635fa1b08 | 20 | //encodertest(); |
twighk | 0:200635fa1b08 | 21 | //motorencodetest(); |
twighk | 0:200635fa1b08 | 22 | motorencodetestline(); |
twighk | 0:200635fa1b08 | 23 | //motorsandservostest(); |
twighk | 0:200635fa1b08 | 24 | } |
twighk | 0:200635fa1b08 | 25 | |
twighk | 0:200635fa1b08 | 26 | void motorsandservostest(){ |
twighk | 0:200635fa1b08 | 27 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 28 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 0:200635fa1b08 | 29 | Servo sTop(p25), sBottom(p26); |
twighk | 0:200635fa1b08 | 30 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 31 | const float speed = 0.0; |
twighk | 0:200635fa1b08 | 32 | const float dspeed = 0.0; |
twighk | 0:200635fa1b08 | 33 | |
twighk | 0:200635fa1b08 | 34 | Timer servoTimer; |
twighk | 0:200635fa1b08 | 35 | mleft(speed); mright(speed); |
twighk | 0:200635fa1b08 | 36 | servoTimer.start(); |
twighk | 0:200635fa1b08 | 37 | while (true){ |
twighk | 0:200635fa1b08 | 38 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 39 | if (Eleft.getPoint() < Eright.getPoint()){ |
twighk | 0:200635fa1b08 | 40 | mleft(speed); |
twighk | 0:200635fa1b08 | 41 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 42 | } else { |
twighk | 0:200635fa1b08 | 43 | mright(speed); |
twighk | 0:200635fa1b08 | 44 | mleft(speed - dspeed); |
twighk | 0:200635fa1b08 | 45 | } |
twighk | 0:200635fa1b08 | 46 | if (servoTimer.read() < 1){ |
twighk | 0:200635fa1b08 | 47 | sTop.clockwise(); |
twighk | 0:200635fa1b08 | 48 | } else if (servoTimer.read() < 4) { |
twighk | 0:200635fa1b08 | 49 | sTop.relax(); |
twighk | 0:200635fa1b08 | 50 | } else if (servoTimer.read() < 5) { |
twighk | 0:200635fa1b08 | 51 | sBottom.anticlockwise(); |
twighk | 0:200635fa1b08 | 52 | //Led=1; |
twighk | 0:200635fa1b08 | 53 | } else if (servoTimer.read() < 6) { |
twighk | 0:200635fa1b08 | 54 | sBottom.clockwise(); |
twighk | 0:200635fa1b08 | 55 | //Led=0; |
twighk | 0:200635fa1b08 | 56 | } else if (servoTimer.read() < 7) { |
twighk | 0:200635fa1b08 | 57 | sBottom.relax(); |
twighk | 0:200635fa1b08 | 58 | }else { |
twighk | 0:200635fa1b08 | 59 | sTop.anticlockwise(); |
twighk | 0:200635fa1b08 | 60 | } |
twighk | 0:200635fa1b08 | 61 | if (servoTimer.read() >= 9) servoTimer.reset(); |
twighk | 0:200635fa1b08 | 62 | } |
twighk | 0:200635fa1b08 | 63 | } |
twighk | 0:200635fa1b08 | 64 | |
twighk | 0:200635fa1b08 | 65 | void motorencodetestline(){ |
twighk | 0:200635fa1b08 | 66 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 67 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 0:200635fa1b08 | 68 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 69 | const float speed = 0.2; |
twighk | 0:200635fa1b08 | 70 | const float dspeed = 0.1; |
twighk | 0:200635fa1b08 | 71 | |
twighk | 0:200635fa1b08 | 72 | mleft(speed); mright(speed); |
twighk | 0:200635fa1b08 | 73 | while (true){ |
twighk | 0:200635fa1b08 | 74 | //left 27 cm = 113 -> 0.239 cm/pulse |
twighk | 0:200635fa1b08 | 75 | //right 27 cm = 72 -> 0.375 cm/pulse |
twighk | 0:200635fa1b08 | 76 | pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375)); |
twighk | 0:200635fa1b08 | 77 | if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){ |
twighk | 0:200635fa1b08 | 78 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 79 | } else { |
twighk | 0:200635fa1b08 | 80 | mright(speed + dspeed); |
twighk | 0:200635fa1b08 | 81 | } |
twighk | 0:200635fa1b08 | 82 | } |
twighk | 0:200635fa1b08 | 83 | |
twighk | 0:200635fa1b08 | 84 | } |
twighk | 0:200635fa1b08 | 85 | |
twighk | 0:200635fa1b08 | 86 | void motorencodetest(){ |
twighk | 0:200635fa1b08 | 87 | Encoder Eleft(p28, p27), Eright(p29, p30); |
twighk | 0:200635fa1b08 | 88 | MainMotor mleft(p23,p24), mright(p22,p21); |
twighk | 0:200635fa1b08 | 89 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 90 | |
twighk | 0:200635fa1b08 | 91 | const float speed = -0.3; |
twighk | 0:200635fa1b08 | 92 | const int enc = -38; |
twighk | 0:200635fa1b08 | 93 | while(true){ |
twighk | 0:200635fa1b08 | 94 | mleft(speed); mright(0); |
twighk | 0:200635fa1b08 | 95 | while(Eleft.getPoint()>enc){ |
twighk | 0:200635fa1b08 | 96 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 97 | } |
twighk | 0:200635fa1b08 | 98 | Eleft.reset(); Eright.reset(); |
twighk | 0:200635fa1b08 | 99 | mleft(0); mright(speed); |
twighk | 0:200635fa1b08 | 100 | while(Eright.getPoint()>enc){ |
twighk | 0:200635fa1b08 | 101 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 102 | } |
twighk | 0:200635fa1b08 | 103 | Eleft.reset(); Eright.reset(); |
twighk | 0:200635fa1b08 | 104 | } |
twighk | 0:200635fa1b08 | 105 | } |
twighk | 0:200635fa1b08 | 106 | |
twighk | 0:200635fa1b08 | 107 | void encodertest(){ |
twighk | 0:200635fa1b08 | 108 | Encoder E1(p28, p27); |
twighk | 0:200635fa1b08 | 109 | Encoder E2(p29, p30); |
twighk | 0:200635fa1b08 | 110 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 111 | while(1){ |
twighk | 0:200635fa1b08 | 112 | wait(0.1); |
twighk | 0:200635fa1b08 | 113 | pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint()); |
twighk | 0:200635fa1b08 | 114 | } |
twighk | 0:200635fa1b08 | 115 | |
twighk | 0:200635fa1b08 | 116 | } |
twighk | 0:200635fa1b08 | 117 | void motortest(){ |
twighk | 0:200635fa1b08 | 118 | MainMotor mright(p22,p21), mleft(p23,p24); |
twighk | 0:200635fa1b08 | 119 | while(1) { |
twighk | 0:200635fa1b08 | 120 | wait(1); |
twighk | 0:200635fa1b08 | 121 | mleft(0.8); mright(0.8); |
twighk | 0:200635fa1b08 | 122 | wait(1); |
twighk | 0:200635fa1b08 | 123 | mleft(-0.2); mright(0.2); |
twighk | 0:200635fa1b08 | 124 | wait(1); |
twighk | 0:200635fa1b08 | 125 | mleft(0); mright(0); |
twighk | 0:200635fa1b08 | 126 | } |
twighk | 0:200635fa1b08 | 127 | } |