this robot uses ultrasonic sensors to detect the obstacles and the servo motor acts as the neck for the robot in checking the obstacles in right and left directions
Dependencies: HCSR04 Servo mbed
Fork of Obstacle_avoidance by
main.cpp@1:43568a9d4323, 2017-03-24 (annotated)
- Committer:
- monikakakani
- Date:
- Fri Mar 24 01:02:04 2017 +0000
- Revision:
- 1:43568a9d4323
- Parent:
- 0:a87600bebf7b
obstacle avoiding and detecting robot using ultrasonic and servo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kit3 | 0:a87600bebf7b | 1 | #include "mbed.h" |
kit3 | 0:a87600bebf7b | 2 | #include "hcsr04.h" |
kit3 | 0:a87600bebf7b | 3 | #include "Servo.h" |
monikakakani | 1:43568a9d4323 | 4 | #include "string.h" |
monikakakani | 1:43568a9d4323 | 5 | #define HIGH 1 |
monikakakani | 1:43568a9d4323 | 6 | #define LOW 0 |
monikakakani | 1:43568a9d4323 | 7 | |
monikakakani | 1:43568a9d4323 | 8 | void forward(); |
monikakakani | 1:43568a9d4323 | 9 | void backward(); |
monikakakani | 1:43568a9d4323 | 10 | void right(); |
monikakakani | 1:43568a9d4323 | 11 | void left(); |
monikakakani | 1:43568a9d4323 | 12 | void stop(); |
monikakakani | 1:43568a9d4323 | 13 | void loop(); |
monikakakani | 1:43568a9d4323 | 14 | |
monikakakani | 1:43568a9d4323 | 15 | void blueInterrupt(); |
monikakakani | 1:43568a9d4323 | 16 | void timerInterrupt(); |
monikakakani | 1:43568a9d4323 | 17 | void bluecheck(); |
monikakakani | 1:43568a9d4323 | 18 | |
monikakakani | 1:43568a9d4323 | 19 | int distance; //Variable to store distance from an object |
monikakakani | 1:43568a9d4323 | 20 | int checkRight; |
monikakakani | 1:43568a9d4323 | 21 | int checkLeft; |
monikakakani | 1:43568a9d4323 | 22 | int function=1; //Variable to store function of robot: '1' running or '0' stoped. By |
monikakakani | 1:43568a9d4323 | 23 | int pos=90; |
monikakakani | 1:43568a9d4323 | 24 | int flagBlue=0; |
monikakakani | 1:43568a9d4323 | 25 | int flagTimer=0; |
monikakakani | 1:43568a9d4323 | 26 | |
monikakakani | 1:43568a9d4323 | 27 | Ticker timer; |
monikakakani | 1:43568a9d4323 | 28 | |
monikakakani | 1:43568a9d4323 | 29 | |
monikakakani | 1:43568a9d4323 | 30 | int c; |
monikakakani | 1:43568a9d4323 | 31 | |
monikakakani | 1:43568a9d4323 | 32 | |
monikakakani | 1:43568a9d4323 | 33 | Serial pc(USBTX,USBRX); |
monikakakani | 1:43568a9d4323 | 34 | Serial blue(PTC15,PTC14); |
monikakakani | 1:43568a9d4323 | 35 | PwmOut servo(D6); |
monikakakani | 1:43568a9d4323 | 36 | |
monikakakani | 1:43568a9d4323 | 37 | char send[512],rcv[1000];//Variables |
monikakakani | 1:43568a9d4323 | 38 | |
monikakakani | 1:43568a9d4323 | 39 | int main() |
monikakakani | 1:43568a9d4323 | 40 | { |
monikakakani | 1:43568a9d4323 | 41 | |
monikakakani | 1:43568a9d4323 | 42 | blue.baud(9600); |
monikakakani | 1:43568a9d4323 | 43 | |
monikakakani | 1:43568a9d4323 | 44 | while(1) |
monikakakani | 1:43568a9d4323 | 45 | { |
monikakakani | 1:43568a9d4323 | 46 | if(!blue.readable()) |
monikakakani | 1:43568a9d4323 | 47 | { |
monikakakani | 1:43568a9d4323 | 48 | !blue.gets(rcv,1000); |
monikakakani | 1:43568a9d4323 | 49 | if(strstr(rcv,"forward")!=NULL) |
monikakakani | 1:43568a9d4323 | 50 | { |
monikakakani | 1:43568a9d4323 | 51 | forward(); |
monikakakani | 1:43568a9d4323 | 52 | } |
monikakakani | 1:43568a9d4323 | 53 | else if(strstr(rcv,"backward")!=NULL) |
monikakakani | 1:43568a9d4323 | 54 | { |
monikakakani | 1:43568a9d4323 | 55 | backward(); |
monikakakani | 1:43568a9d4323 | 56 | } |
monikakakani | 1:43568a9d4323 | 57 | else if(strstr(rcv,"right")!=NULL) |
monikakakani | 1:43568a9d4323 | 58 | { |
monikakakani | 1:43568a9d4323 | 59 | right(); |
monikakakani | 1:43568a9d4323 | 60 | } |
monikakakani | 1:43568a9d4323 | 61 | else if(strstr(rcv,"left")!=NULL) |
monikakakani | 1:43568a9d4323 | 62 | { |
monikakakani | 1:43568a9d4323 | 63 | left(); |
monikakakani | 1:43568a9d4323 | 64 | } |
monikakakani | 1:43568a9d4323 | 65 | } |
monikakakani | 1:43568a9d4323 | 66 | else |
monikakakani | 1:43568a9d4323 | 67 | { |
monikakakani | 1:43568a9d4323 | 68 | stop(); |
monikakakani | 1:43568a9d4323 | 69 | } |
monikakakani | 1:43568a9d4323 | 70 | } |
monikakakani | 1:43568a9d4323 | 71 | } |
monikakakani | 1:43568a9d4323 | 72 | |
monikakakani | 1:43568a9d4323 | 73 | void forward(){ |
monikakakani | 1:43568a9d4323 | 74 | |
monikakakani | 1:43568a9d4323 | 75 | |
monikakakani | 1:43568a9d4323 | 76 | |
monikakakani | 1:43568a9d4323 | 77 | pc.printf("fwd"); |
monikakakani | 1:43568a9d4323 | 78 | |
monikakakani | 1:43568a9d4323 | 79 | DigitalOut(D3,1); |
monikakakani | 1:43568a9d4323 | 80 | |
monikakakani | 1:43568a9d4323 | 81 | DigitalOut(D5, 0); |
monikakakani | 1:43568a9d4323 | 82 | |
monikakakani | 1:43568a9d4323 | 83 | DigitalOut(D10, 1); |
monikakakani | 1:43568a9d4323 | 84 | |
monikakakani | 1:43568a9d4323 | 85 | DigitalOut(D11, 0); |
monikakakani | 1:43568a9d4323 | 86 | |
monikakakani | 1:43568a9d4323 | 87 | } |
monikakakani | 1:43568a9d4323 | 88 | |
monikakakani | 1:43568a9d4323 | 89 | void backward(){ |
monikakakani | 1:43568a9d4323 | 90 | |
monikakakani | 1:43568a9d4323 | 91 | DigitalOut(D3,0); |
monikakakani | 1:43568a9d4323 | 92 | |
monikakakani | 1:43568a9d4323 | 93 | DigitalOut(D5, 1); |
monikakakani | 1:43568a9d4323 | 94 | |
monikakakani | 1:43568a9d4323 | 95 | DigitalOut(D10, 0); |
monikakakani | 1:43568a9d4323 | 96 | |
monikakakani | 1:43568a9d4323 | 97 | DigitalOut(D11, 1); |
monikakakani | 1:43568a9d4323 | 98 | |
monikakakani | 1:43568a9d4323 | 99 | } |
monikakakani | 1:43568a9d4323 | 100 | |
monikakakani | 1:43568a9d4323 | 101 | |
monikakakani | 1:43568a9d4323 | 102 | void right() |
monikakakani | 1:43568a9d4323 | 103 | |
monikakakani | 1:43568a9d4323 | 104 | |
monikakakani | 1:43568a9d4323 | 105 | { |
monikakakani | 1:43568a9d4323 | 106 | |
monikakakani | 1:43568a9d4323 | 107 | |
monikakakani | 1:43568a9d4323 | 108 | DigitalOut(D3,0); |
monikakakani | 1:43568a9d4323 | 109 | |
monikakakani | 1:43568a9d4323 | 110 | DigitalOut(D5, 1); |
monikakakani | 1:43568a9d4323 | 111 | |
monikakakani | 1:43568a9d4323 | 112 | DigitalOut(D10, 1); |
monikakakani | 1:43568a9d4323 | 113 | |
monikakakani | 1:43568a9d4323 | 114 | DigitalOut(D11, 0); |
monikakakani | 1:43568a9d4323 | 115 | |
monikakakani | 1:43568a9d4323 | 116 | |
monikakakani | 1:43568a9d4323 | 117 | } |
monikakakani | 1:43568a9d4323 | 118 | |
monikakakani | 1:43568a9d4323 | 119 | |
monikakakani | 1:43568a9d4323 | 120 | void left() |
monikakakani | 1:43568a9d4323 | 121 | |
monikakakani | 1:43568a9d4323 | 122 | |
monikakakani | 1:43568a9d4323 | 123 | { |
monikakakani | 1:43568a9d4323 | 124 | |
monikakakani | 1:43568a9d4323 | 125 | DigitalOut(D3,1); |
monikakakani | 1:43568a9d4323 | 126 | |
monikakakani | 1:43568a9d4323 | 127 | DigitalOut(D5, 0); |
monikakakani | 1:43568a9d4323 | 128 | |
monikakakani | 1:43568a9d4323 | 129 | DigitalOut(D10, 0); |
monikakakani | 1:43568a9d4323 | 130 | |
monikakakani | 1:43568a9d4323 | 131 | DigitalOut(D11, 1); |
monikakakani | 1:43568a9d4323 | 132 | |
monikakakani | 1:43568a9d4323 | 133 | |
monikakakani | 1:43568a9d4323 | 134 | } |
monikakakani | 1:43568a9d4323 | 135 | |
monikakakani | 1:43568a9d4323 | 136 | |
monikakakani | 1:43568a9d4323 | 137 | |
monikakakani | 1:43568a9d4323 | 138 | void stop() |
monikakakani | 1:43568a9d4323 | 139 | |
monikakakani | 1:43568a9d4323 | 140 | |
monikakakani | 1:43568a9d4323 | 141 | { |
kit3 | 0:a87600bebf7b | 142 | |
kit3 | 0:a87600bebf7b | 143 | |
monikakakani | 1:43568a9d4323 | 144 | DigitalOut(D3,0); |
kit3 | 0:a87600bebf7b | 145 | |
monikakakani | 1:43568a9d4323 | 146 | DigitalOut(D5, 0); |
kit3 | 0:a87600bebf7b | 147 | |
monikakakani | 1:43568a9d4323 | 148 | DigitalOut(D10,0); |
monikakakani | 1:43568a9d4323 | 149 | |
monikakakani | 1:43568a9d4323 | 150 | DigitalOut(D11, 0); |
monikakakani | 1:43568a9d4323 | 151 | |
monikakakani | 1:43568a9d4323 | 152 | |
kit3 | 0:a87600bebf7b | 153 | } |
monikakakani | 1:43568a9d4323 | 154 | |
monikakakani | 1:43568a9d4323 | 155 | /* |
monikakakani | 1:43568a9d4323 | 156 | void loop() |
monikakakani | 1:43568a9d4323 | 157 | |
monikakakani | 1:43568a9d4323 | 158 | { |
kit3 | 0:a87600bebf7b | 159 | |
monikakakani | 1:43568a9d4323 | 160 | servo.period(0.020); |
monikakakani | 1:43568a9d4323 | 161 | usensor.start(); |
monikakakani | 1:43568a9d4323 | 162 | wait_ms(500); |
monikakakani | 1:43568a9d4323 | 163 | distance = usensor.get_dist_cm(); //Tip: Use 'CM' for centimeters or 'INC' for inches |
monikakakani | 1:43568a9d4323 | 164 | pc.printf("Dist: %d ",distance); |
kit3 | 0:a87600bebf7b | 165 | |
monikakakani | 1:43568a9d4323 | 166 | //Check for objects... |
monikakakani | 1:43568a9d4323 | 167 | if (distance > 50){ |
monikakakani | 1:43568a9d4323 | 168 | pc.printf(" No Object \n"); |
monikakakani | 1:43568a9d4323 | 169 | forward(); //All clear, move forward! |
monikakakani | 1:43568a9d4323 | 170 | //noTone(buzzer); |
monikakakani | 1:43568a9d4323 | 171 | // digitalOut LED(0); |
monikakakani | 1:43568a9d4323 | 172 | } |
monikakakani | 1:43568a9d4323 | 173 | else if (distance <=50){ |
monikakakani | 1:43568a9d4323 | 174 | pc.printf("Halt - Object on the Way \n"); |
monikakakani | 1:43568a9d4323 | 175 | stop(); |
monikakakani | 1:43568a9d4323 | 176 | |
monikakakani | 1:43568a9d4323 | 177 | |
monikakakani | 1:43568a9d4323 | 178 | for(float offset=0.0016; offset<=0.0020; offset+=0.0001) // turning RIGHT |
monikakakani | 1:43568a9d4323 | 179 | |
monikakakani | 1:43568a9d4323 | 180 | { |
monikakakani | 1:43568a9d4323 | 181 | |
monikakakani | 1:43568a9d4323 | 182 | pc.printf("Turning Right"); |
monikakakani | 1:43568a9d4323 | 183 | |
monikakakani | 1:43568a9d4323 | 184 | servo.pulsewidth(offset); // servo position determined by a pulsewidth between |
monikakakani | 1:43568a9d4323 | 185 | |
monikakakani | 1:43568a9d4323 | 186 | wait_ms(0.10); |
monikakakani | 1:43568a9d4323 | 187 | |
monikakakani | 1:43568a9d4323 | 188 | } |
monikakakani | 1:43568a9d4323 | 189 | |
monikakakani | 1:43568a9d4323 | 190 | wait_ms(200); // stopping at RIGHTMOST position for 2 seconds |
monikakakani | 1:43568a9d4323 | 191 | |
monikakakani | 1:43568a9d4323 | 192 | |
monikakakani | 1:43568a9d4323 | 193 | usensor.start(); |
monikakakani | 1:43568a9d4323 | 194 | |
monikakakani | 1:43568a9d4323 | 195 | wait_ms(500); |
monikakakani | 1:43568a9d4323 | 196 | |
monikakakani | 1:43568a9d4323 | 197 | checkRight = usensor.get_dist_cm(); //Take distance from the left side |
monikakakani | 1:43568a9d4323 | 198 | |
monikakakani | 1:43568a9d4323 | 199 | pc.printf("DistL: %d ",checkRight); |
monikakakani | 1:43568a9d4323 | 200 | |
monikakakani | 1:43568a9d4323 | 201 | |
monikakakani | 1:43568a9d4323 | 202 | for (float offset=0.0020; offset>=0.0016;) // turning back to theCENTER position |
monikakakani | 1:43568a9d4323 | 203 | { |
monikakakani | 1:43568a9d4323 | 204 | pc.printf("Turning Center"); |
monikakakani | 1:43568a9d4323 | 205 | |
monikakakani | 1:43568a9d4323 | 206 | servo.pulsewidth(offset); // servo position determined by a pulsewidth between |
monikakakani | 1:43568a9d4323 | 207 | offset=offset-0.0001; |
monikakakani | 1:43568a9d4323 | 208 | |
monikakakani | 1:43568a9d4323 | 209 | wait_ms(0.10); |
monikakakani | 1:43568a9d4323 | 210 | |
monikakakani | 1:43568a9d4323 | 211 | } |
monikakakani | 1:43568a9d4323 | 212 | |
monikakakani | 1:43568a9d4323 | 213 | wait_ms(200); |
monikakakani | 1:43568a9d4323 | 214 | |
monikakakani | 1:43568a9d4323 | 215 | |
monikakakani | 1:43568a9d4323 | 216 | for (float offset=0.0016; offset>=0.0012; offset=offset-0.0001) // Turning towards LEFT |
monikakakani | 1:43568a9d4323 | 217 | |
monikakakani | 1:43568a9d4323 | 218 | { |
monikakakani | 1:43568a9d4323 | 219 | |
monikakakani | 1:43568a9d4323 | 220 | pc.printf("Turning Left"); |
monikakakani | 1:43568a9d4323 | 221 | servo.pulsewidth(offset); // servo position determined by a pulsewidth between |
monikakakani | 1:43568a9d4323 | 222 | |
monikakakani | 1:43568a9d4323 | 223 | wait_ms(0.10); |
monikakakani | 1:43568a9d4323 | 224 | |
monikakakani | 1:43568a9d4323 | 225 | } |
monikakakani | 1:43568a9d4323 | 226 | |
monikakakani | 1:43568a9d4323 | 227 | wait_ms(200); // stopping at LEFTMOST position for 2 |
monikakakani | 1:43568a9d4323 | 228 | |
monikakakani | 1:43568a9d4323 | 229 | |
monikakakani | 1:43568a9d4323 | 230 | usensor.start(); |
monikakakani | 1:43568a9d4323 | 231 | |
monikakakani | 1:43568a9d4323 | 232 | wait_ms(500); |
monikakakani | 1:43568a9d4323 | 233 | |
monikakakani | 1:43568a9d4323 | 234 | checkLeft= usensor.get_dist_cm(); |
monikakakani | 1:43568a9d4323 | 235 | |
monikakakani | 1:43568a9d4323 | 236 | pc.printf("DistR: %d ",checkLeft); |
monikakakani | 1:43568a9d4323 | 237 | |
monikakakani | 1:43568a9d4323 | 238 | |
monikakakani | 1:43568a9d4323 | 239 | for(float offset=0.0012; offset<=0.0016; offset=offset+0.0001) |
monikakakani | 1:43568a9d4323 | 240 | |
monikakakani | 1:43568a9d4323 | 241 | { |
monikakakani | 1:43568a9d4323 | 242 | pc.printf("Turning Center"); |
monikakakani | 1:43568a9d4323 | 243 | |
monikakakani | 1:43568a9d4323 | 244 | servo.pulsewidth(offset); // servo position determined by a pulsewidth between |
monikakakani | 1:43568a9d4323 | 245 | |
monikakakani | 1:43568a9d4323 | 246 | wait_ms(0.10); |
monikakakani | 1:43568a9d4323 | 247 | |
monikakakani | 1:43568a9d4323 | 248 | } |
monikakakani | 1:43568a9d4323 | 249 | |
monikakakani | 1:43568a9d4323 | 250 | |
monikakakani | 1:43568a9d4323 | 251 | //Finally, take the right decision, turn left or right? |
monikakakani | 1:43568a9d4323 | 252 | |
monikakakani | 1:43568a9d4323 | 253 | if (checkLeft < checkRight){ |
monikakakani | 1:43568a9d4323 | 254 | |
monikakakani | 1:43568a9d4323 | 255 | backward(); |
monikakakani | 1:43568a9d4323 | 256 | wait_ms(1000); |
monikakakani | 1:43568a9d4323 | 257 | |
monikakakani | 1:43568a9d4323 | 258 | |
monikakakani | 1:43568a9d4323 | 259 | left(); |
monikakakani | 1:43568a9d4323 | 260 | pc.printf("goingleft"); |
monikakakani | 1:43568a9d4323 | 261 | wait_ms(400); |
monikakakani | 1:43568a9d4323 | 262 | |
monikakakani | 1:43568a9d4323 | 263 | // wait_ms, change value if necessary to make robot turn. |
monikakakani | 1:43568a9d4323 | 264 | forward(); |
monikakakani | 1:43568a9d4323 | 265 | pc.printf("now going straight"); |
monikakakani | 1:43568a9d4323 | 266 | } |
monikakakani | 1:43568a9d4323 | 267 | |
monikakakani | 1:43568a9d4323 | 268 | else if (checkLeft > checkRight){ |
monikakakani | 1:43568a9d4323 | 269 | |
monikakakani | 1:43568a9d4323 | 270 | backward(); |
monikakakani | 1:43568a9d4323 | 271 | wait_ms(1000); |
monikakakani | 1:43568a9d4323 | 272 | |
monikakakani | 1:43568a9d4323 | 273 | right(); |
kit3 | 0:a87600bebf7b | 274 | |
kit3 | 0:a87600bebf7b | 275 | |
monikakakani | 1:43568a9d4323 | 276 | |
monikakakani | 1:43568a9d4323 | 277 | wait_ms(400); |
monikakakani | 1:43568a9d4323 | 278 | forward(); |
monikakakani | 1:43568a9d4323 | 279 | // wait_ms, change value if necessary to make robot turn. |
monikakakani | 1:43568a9d4323 | 280 | |
kit3 | 0:a87600bebf7b | 281 | } |
kit3 | 0:a87600bebf7b | 282 | |
monikakakani | 1:43568a9d4323 | 283 | else if (checkLeft <=10 && checkRight <=10){ |
kit3 | 0:a87600bebf7b | 284 | |
monikakakani | 1:43568a9d4323 | 285 | backward(); |
monikakakani | 1:43568a9d4323 | 286 | wait_ms(1000); //The road is closed... go back and then left ;) |
kit3 | 0:a87600bebf7b | 287 | |
monikakakani | 1:43568a9d4323 | 288 | left(); |
monikakakani | 1:43568a9d4323 | 289 | wait_ms(400); |
monikakakani | 1:43568a9d4323 | 290 | forward(); |
monikakakani | 1:43568a9d4323 | 291 | |
monikakakani | 1:43568a9d4323 | 292 | } |
monikakakani | 1:43568a9d4323 | 293 | |
monikakakani | 1:43568a9d4323 | 294 | } |
monikakakani | 1:43568a9d4323 | 295 | */ |
monikakakani | 1:43568a9d4323 | 296 |