Revision 0:ac150fd4158e, committed 2022-03-24

Comitter:

simon9987

Date:

Thu Mar 24 23:32:08 2022 +0000

Commit message:

New;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Buzzer.h	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,46 @@
+#ifndef BUZZER_BUZZER_H
+#define BUZZER_BUZZER_H
+
+#include "mbed.h"
+
+DigitalOut Buzzer(p13);
+
+const float bREVERSE = 0.4, bTERMINATE = 1, bSTUCK = 0.4, bFLIPPED = 0.15;
+
+void buzzerReverse(){
+    Buzzer = 1;
+    wait(bREVERSE);
+    Buzzer= 0;
+    wait(bREVERSE);
+}
+
+void buzzerTerminate(){
+    Buzzer = 1;
+    wait(bTERMINATE);
+    Buzzer= 0;
+    wait(bTERMINATE);
+}
+
+void buzzerStuck(){
+    Buzzer = 1;
+    wait(bSTUCK);
+    Buzzer= 0;
+    wait(bSTUCK);
+}
+
+void buzzerFlipped(){
+    Buzzer = 1;
+    wait(bFLIPPED);
+    Buzzer= 0;
+    wait(bFLIPPED);
+}
+
+//used for reverse when getting to close to an object
+void buzz(const float &speed){
+    Buzzer = 1;
+    wait(speed);
+    Buzzer= 0;
+    wait(speed);
+}
+
+#endif //BUZZER_BUZZER_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CarHistory.h	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,38 @@
+#ifndef TEMPLATE_PROGRAM_CARHISTORY_H
+#define TEMPLATE_PROGRAM_CARHISTORY_H
+
+#include <list>
+
+//store's a single car movement
+struct Value{
+    Value(){
+        action = 0;
+        value = 0.0;
+    }
+    Value(const int &action, const float &value){
+        this->action = action;
+        this->value = value;
+    }
+    int action;
+    float value;
+};
+
+std::list<Value> history;
+Value FORWARD, REVERSE, STOP, RIGHT, LEFT;
+bool toggleHistory = true;
+
+//store's values at the BEGINNING of list
+void add(const Value &value){
+    history.push_front(value);
+}
+
+//remove last added element from history
+void remove(){
+    history.erase(history.begin());
+}
+
+void clearHistory(){
+    history.clear();
+}
+
+#endif //TEMPLATE_PROGRAM_CARHISTORY_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Common.h	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,5 @@
+#include "mbed.h"
+#include "Buzzer.h"
+#include "CarHistory.h"
+#include "Movement.h"
+#include "Sonar.h"

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.lib	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/prabhuvd/code/HCSR04/#71da0dbf4400

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Movement.cpp	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,118 @@
+#include "Movement.h"
+
+PwmOut steering(p21);
+PwmOut velocity(p22);
+
+float forwardSpeed = 0.3, reverseSpeed = -0.3, turnAngleRight = 1, turnAngleLeft = -1, vo = 0.0;
+
+void Velocity(float v) {
+    v=v+1;
+    if (v>=0 && v<=2) {
+        if (vo>=1 && v<1) {
+            velocity.pulsewidth(0.0014);
+            wait(0.1);
+            velocity.pulsewidth(0.0015);    // move into reverseSpeed
+            wait(0.1);
+        }
+        velocity.pulsewidth(v/2000+0.001);
+        vo=v;
+    }
+}
+
+// Steering expects -1 (left) to +1 (right)
+void Steering(float s) {
+    s=s+1;
+    if (s>=0 && s<=2) {
+        steering.pulsewidth(s/2000+0.001);
+    }
+}
+
+//Always run this function!! Enables you to drive
+void setUpMovement(const float &forwardSpeedInput, const float &reverseSpeedInput, const float &turnAngleInput){
+    forwardSpeed = forwardSpeedInput;
+    reverseSpeed = reverseSpeedInput;
+
+    if(turnAngleInput > 0)
+        turnAngleRight = turnAngleInput;
+    else
+        turnAngleRight *= turnAngleInput;
+
+    turnAngleLeft = (float)(turnAngleRight*-1.0);
+
+    velocity.period(0.02);
+    steering.period(0.02);
+    Velocity(0); // initiate the drive motor (this must be done)
+    Steering(0); // centre steering
+    wait(0.5);
+}
+
+
+void moveForward() {
+    Velocity(forwardSpeed);
+    wait(0.1);
+}
+
+void moveReverse() {
+    Velocity(reverseSpeed);
+    wait(0.1);
+}
+
+void move(const float &speed) {
+    Velocity(reverseSpeed);
+    wait(0.1);
+}
+
+
+void steerLeft() {
+    Steering(turnAngleLeft);
+    wait(0.2);
+}
+
+void steerRight() {
+    Steering(turnAngleRight);
+    wait(0.2);
+}
+
+void steer(const float &angle) {
+    Steering(turnAngleRight);
+    wait(0.2);
+}
+
+
+void setReverseSpeed(const float &speed) {
+    reverseSpeed = speed;
+}
+
+void setForwardSpeed(const float &speed) {
+    forwardSpeed = speed;
+}
+
+void setTurnAngle(const float &angle) {
+    if(angle>=0)
+        turnAngleRight = angle;
+    else
+        turnAngleRight = angle*-1;
+    
+    turnAngleLeft = turnAngleRight*1;
+}
+
+void stop() {
+    Velocity(0.0);
+    wait(0.5);
+}
+
+void resetVelocity() {
+    Velocity(0.0);
+    wait(0.5);
+}
+
+void resetSteering() {
+    Steering(0);
+    wait(0.5);
+}
+
+void resetAll() {
+    Velocity(0); // initiate the drive motor (this must be done)
+    Steering(0); // centre steering
+    wait(0.5);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Movement.h	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,37 @@
+//#ifndef HEADER_AND_CPP_FILES_MOVEMENT_H
+//#define HEADER_AND_CPP_FILES_MOVEMENT_H
+#pragma once
+#include "mbed.h"
+
+void Velocity(float v);
+void Steering(float s);
+void setUpMovement(const float &forwardSpeedInput, const float &reverseSpeedInput, const float &turnAngleInput);
+
+
+void moveForward();
+void moveReverse();
+void move(const float &speed);
+
+
+void steerLeft();
+void steerRight();
+void steer(const float &angle);
+
+/*
+void turnLeft();
+void turnRight();
+void turn(const float &angle);
+*/
+
+//set accelerate, de-accelerate and turn angle value
+void setForwardSpeed(const float &speed);
+void setReverseSpeed(const float &speed);
+void setTurnAngle(const float &angle);
+
+
+void stop();
+void resetSteering();
+void resetVelocity();
+void resetAll();
+
+//#endif //HEADER_AND_CPP_FILES_MOVEMENT_H
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sonar.h	Thu Mar 24 23:32:08 2022 +0000
@@ -0,0 +1,61 @@
+#ifndef SONAR_SENSOR_SONAR_H
+#define SONAR_SENSOR_SONAR_H
+
+#include "mbed.h"
+#include "hcsr04.h"
+//#include "Print.h"
+#include <string>
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+
+//trigger is bigger number and echo is smaller
+HCSR04  frontCenter(p26, p9);
+HCSR04  frontRight(p26, p8);
+HCSR04  frontLeft(p26, p7);
+HCSR04  rear(p26, p6);
+
+const unsigned int waitDuration = 55; //ms
+const unsigned int MaxDistance = 40;
+
+unsigned int sensorDistance[4] = {9999, 9999 ,9999, 9999};
+
+void getDistance(){
+    for(int i = 0; i<4; ++i)
+        sensorDistance[i] = 9999;
+
+    frontRight.start();
+
+    wait_ms(waitDuration);
+
+    sensorDistance[0] = frontCenter.get_dist_cm();
+    sensorDistance[1] = frontRight.get_dist_cm();
+    sensorDistance[2] = frontLeft.get_dist_cm();
+    sensorDistance[3] = rear.get_dist_cm();
+}
+
+void printDistance(){
+    const string SENSOR[] = {"CENTER", "RIGHT", "LEFT", "REAR"};
+    
+    for(int i = 0; i<4; ++i)
+        pc.printf("%s: %dcm\r\n", SENSOR[i] ,sensorDistance[i]);
+    
+    pc.printf("\n\r");
+}
+
+void printDistance2(int maxSensor){
+    const string SENSOR[] = {"CENTER", "RIGHT", "LEFT", "REAR"};
+    if(maxSensor>3)
+        maxSensor = 3;
+        
+    for(int i = 0; i<maxSensor; ++i)
+        pc.printf("%s: %dcm\r\n", SENSOR[i] ,sensorDistance[i]);
+    pc.printf("\n\r");    
+}
+
+//return true if obstacle is to close and car needs to dodge
+bool avoidObstacle(const unsigned int &distance){
+    return distance<MaxDistance;
+}
+
+#endif //SONAR_SENSOR_SONAR_H
\ No newline at end of file