Oluwagbemiga Mabogunje
/
4180_Lab4_ScaredBot
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Dependencies: HALLFX_ENCODER Motor SDFileSystem mbed-rtos mbed wave_player
Revision 0:d341b3ad1e2e, committed 2016-11-03
- Comitter:
- omabogunje3
- Date:
- Thu Nov 03 20:50:10 2016 +0000
- Commit message:
- Code that implements 'ScaredBot' behavior.; Reacts to loud sounds (microphone) by rapidly moving away; Reacts to objects (IR sensor) by turning away; Uses Hall effect motor encoder to achieve more accurate motion
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HALLFX_ENCODER.lib Thu Nov 03 20:50:10 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/electromotivated/code/HALLFX_ENCODER/#f10558519825
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Thu Nov 03 20:50:10 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Thu Nov 03 20:50:10 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Nov 03 20:50:10 2016 +0000
@@ -0,0 +1,173 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Motor.h"
+#include "HALLFX_ENCODER.h"
+//#include "SDFileSystem.h"
+//#include "wave_player.h"
+
+class microphone
+{
+public :
+ microphone(PinName pin);
+ float read();
+ operator float ();
+private :
+ AnalogIn _pin;
+};
+microphone::microphone (PinName pin):
+ _pin(pin)
+{
+}
+float microphone::read()
+{
+ return _pin.read();
+}
+inline microphone::operator float ()
+{
+ return _pin.read();
+}
+
+
+// Declare Components
+
+//Adafruit MEMs SPW2430 microphone demo - LEDs display audio level
+BusOut myleds(LED1,LED2,LED3,LED4);
+microphone mymicrophone(p16);
+Mutex movement_mutex;
+Motor left_motor(p26,p24,p25); // pwm, fwd, rev
+Motor right_motor(p21, p23, p22); // pwm, fwd, rev
+HALLFX_ENCODER hall_left(p13);
+HALLFX_ENCODER hall_right(p14);
+AnalogIn IRSound(p17);
+
+
+
+// Robot functions
+/* For debugging IR sensor
+void IRsoundRead() {
+ distance = IRSound.read();
+ if (distance >= 0.0f && distance <= .5f/3.3f) { // Furthest away
+ myleds = 1;
+ } else if (distance >= .5f/3.3f && distance <= .75f/3.3f) {
+ myleds = 3;
+ } else if (distance >= .75f/3.3f && distance <= 1.25f/3.3f) {
+ myleds = 7;
+ } else if (distance >= 1.25f/3.3f ) { // closest
+ myleds = 15;
+ tooClose = 1;
+ }
+}
+*/
+// forward
+void forward( float vol ){
+ long diff = hall_left.read()-hall_right.read();
+ float k = 0.8;
+ if (diff < 0) { // left has moved less than right
+ left_motor.speed(vol);
+ right_motor.speed(k*vol);
+ }else if (diff > 0) { // right has moved less than left
+ left_motor.speed(k*vol);
+ right_motor.speed(vol);
+ } else {
+ left_motor.speed(vol);
+ right_motor.speed(vol);
+ }
+}
+
+// spin
+void panicSpin() {
+ //Spin really scaredly
+ left_motor.speed(1);
+ right_motor.speed(-1);
+ Thread::wait(2000);
+
+ //Try to avoid ojbect
+ left_motor.speed(0.5);
+ right_motor.speed(-0.5);
+ while(IRSound.read()>= 1.25f/3.3f ) {};
+ Thread::wait(100);
+ forward(0);
+}
+
+
+// Listen mic Function (Continuous, thread)
+float listen() {
+ //read in sample value using AC coupled input option
+ float sample = mymicrophone;
+
+ int a = int(abs((sample-0.5)*300.0));
+ if (a < 15 ) {
+ myleds = a;
+ } else {
+ myleds = 12;
+ }
+ //myleds = int(abs((sample-0.5)*300.0)); //scale to around 15 for LEDs
+ return abs((sample-0.5)*300.0/15.0);
+}
+
+// IRsound Function (Continuous, thread)
+// When run everything else supspended
+void ActScared(void)
+{
+ Thread::wait(1000);
+ float loudnessBuffer[10] = {0,0,0,0,0,0,0,0,0,0};
+ float volume = 0, currentVal = 0;
+ int i = 0;
+ //float speed = 0;
+ while(1) {
+ currentVal = listen();
+ volume += (currentVal-loudnessBuffer[i])/10;
+ loudnessBuffer[i] = currentVal;
+ i++;
+ if (i==10) {i=0;}
+ if(2.0*volume>0.1){
+ movement_mutex.lock();
+ forward(1);
+ movement_mutex.unlock();
+ } else {
+ hall_left.reset(); hall_right.reset();
+ movement_mutex.lock();
+ forward(0.1);
+ movement_mutex.unlock();
+ }
+ Thread::wait(100);
+ /**/
+ }
+}
+
+void AvoidObject(void)
+{
+ Thread::wait(500);
+ float closenessBuffer[10] = {0,0,0,0,0,0,0,0,0,0};
+ float closeness = 0, currentVal = 0;
+ int i = 0;
+ while(1) {
+ // average 10 values over 1 seconds.
+ currentVal = IRSound.read();
+ closeness += (currentVal-closenessBuffer[i])/10;
+ closenessBuffer[i] = currentVal;
+ i++;
+ if (i==10) {i=0;}
+ //float distance = IRSound.read();
+ movement_mutex.lock();
+ if (closeness >= 1.0f/3.3f ) { // close object detected
+ for (int j = 0; j < 10; j++) {
+ closenessBuffer[j] = 0;
+ }
+ closeness = 0;
+ forward(0);
+ Thread::wait(250);
+ panicSpin();
+ }
+ movement_mutex.unlock();
+ Thread::wait(50);
+ }
+}
+
+int main()
+{
+ Thread t2(ActScared);
+ while(1) {
+ AvoidObject();
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Thu Nov 03 20:50:10 2016 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed-rtos/#3da5f554d8bf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 03 20:50:10 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9bcdf88f62b0 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player.lib Thu Nov 03 20:50:10 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/sravet/code/wave_player/#acc3e18e77ad