Tuk ZeroFour / Mbed 2 deprecated Kenya_2019

Tuk workshop

Dependencies:   mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy

main.cpp@15:415c38c93b89, 2019-10-29 (annotated)

Committer:
tuk4
Date:
Tue Oct 29 16:48:03 2019 +0000
Revision:
15:415c38c93b89
Parent:
14:899c6d29c0a8
Child:
16:c0b098c83233
Final Robot code 29/10/2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:4902b3f17137 1 #include "mbed.h"
haarkon 0:4902b3f17137 2 #include "CMPS03.h"
haarkon 0:4902b3f17137 3 #include "CNY70.h"
haarkon 0:4902b3f17137 4 #include "GP2A.h"
haarkon 0:4902b3f17137 5 #include "VMA306.h"
haarkon 3:0221daeeaa86 6 #include "Pixy.h"
haarkon 4:5038b4cd1088 7 #include "PID.h"
tuk4 10:6c3653c53eca 8 #include "motor_state.h"
haarkon 4:5038b4cd1088 9
haarkon 4:5038b4cd1088 10 #define PI 3.1415926535898
haarkon 0:4902b3f17137 11
haarkon 8:2d4887624f94 12 Serial pc (PA_2, PA_3, 115200);
tuk4 11:31564089b41c 13
haarkon 7:6d58adc26b78 14 PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);
haarkon 0:4902b3f17137 15
haarkon 3:0221daeeaa86 16 CMPS03 boussole (PC_4);
haarkon 0:4902b3f17137 17
haarkon 3:0221daeeaa86 18 CNY70 ligneD (PC_3);
haarkon 3:0221daeeaa86 19 CNY70 ligneG (PC_2);
haarkon 3:0221daeeaa86 20 CNY70 exterior (PA_7);
haarkon 0:4902b3f17137 21
haarkon 8:2d4887624f94 22 VMA306 ultraSon (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
haarkon 0:4902b3f17137 23
tuk4 11:31564089b41c 24 PIXY pixy (PA_0, PA_1, 50000);
haarkon 0:4902b3f17137 25
tuk4 10:6c3653c53eca 26 DigitalIn bp (PC_13);
haarkon 4:5038b4cd1088 27
haarkon 0:4902b3f17137 28 DigitalOut led1 (PA_5);
haarkon 0:4902b3f17137 29 DigitalOut led2 (PD_2);
haarkon 8:2d4887624f94 30 DigitalOut unused1 (PB_10);
haarkon 8:2d4887624f94 31 DigitalOut unused2 (PA_15);
haarkon 8:2d4887624f94 32 DigitalOut unused3 (PA_12);
haarkon 8:2d4887624f94 33
haarkon 8:2d4887624f94 34 DigitalIn unused4 (PA_4, PullUp);
haarkon 8:2d4887624f94 35 DigitalIn unused5 (PB_0, PullUp);
haarkon 8:2d4887624f94 36 DigitalIn unused6 (PC_1, PullUp);
haarkon 8:2d4887624f94 37 DigitalIn unused7 (PC_0, PullUp);
haarkon 8:2d4887624f94 38
haarkon 8:2d4887624f94 39 Timer temps;
haarkon 0:4902b3f17137 40
tuk4 10:6c3653c53eca 41 motor_state current_state = IDLE;
tuk4 10:6c3653c53eca 42
tuk4 9:4053b5217339 43 int main ()
haarkon 3:0221daeeaa86 44 {
tuk4 10:6c3653c53eca 45 int numberOfObjects=0, dummy=0;
tuk4 15:415c38c93b89 46 T_pixyNMBloc file;
tuk4 9:4053b5217339 47 motor.resetPosition();
tuk4 10:6c3653c53eca 48 double x=0, y=0, theta = 0;
tuk4 10:6c3653c53eca 49 motor.setProportionnalValue(2.0);
tuk4 10:6c3653c53eca 50 motor.setintegralValue(0.4);
tuk4 10:6c3653c53eca 51 motor.setDerivativeValue(1.0);
tuk4 14:899c6d29c0a8 52 double speed_L = -200, speed_R = -200;
haarkon 3:0221daeeaa86 53 while (1) {
tuk4 15:415c38c93b89 54
tuk4 12:548cdc49cdba 55 motor.getPosition(&x, &y, &theta);
tuk4 15:415c38c93b89 56 pc.printf("\r state is %d x is %.2lf, y is %.2lf, theta is %.2lf",current_state,x,y,theta);
tuk4 15:415c38c93b89 57 switch (current_state) {
tuk4 15:415c38c93b89 58 case IDLE :
tuk4 15:415c38c93b89 59 motor.setSpeed(0,0);
tuk4 15:415c38c93b89 60 if (bp == 0) current_state = TURN_RIGHT;
tuk4 15:415c38c93b89 61 break;
tuk4 15:415c38c93b89 62
tuk4 15:415c38c93b89 63 case TURN_RIGHT :
tuk4 15:415c38c93b89 64 motor.setSpeed(-speed_L/10.0,speed_R/10.0);// turn right
tuk4 15:415c38c93b89 65
tuk4 15:415c38c93b89 66 if (pixy.checkNewImage()) {
tuk4 15:415c38c93b89 67 pixy.detectedObject(&numberOfObjects,&dummy);
tuk4 15:415c38c93b89 68 if (numberOfObjects==1) {
tuk4 15:415c38c93b89 69 current_state = LOOK_FOR_FILE;
tuk4 15:415c38c93b89 70 }
tuk4 12:548cdc49cdba 71 }
tuk4 15:415c38c93b89 72 break;
tuk4 15:415c38c93b89 73
tuk4 15:415c38c93b89 74 case SAFEMODE :
tuk4 15:415c38c93b89 75 motor.setSpeed(0,0);
tuk4 15:415c38c93b89 76 if (ultraSon.readUSB() >= 20) current_state = FORWARD;
tuk4 15:415c38c93b89 77 if (ultraSon.readUSB() <= 15) current_state = BACKWARD;
tuk4 15:415c38c93b89 78 break;
tuk4 15:415c38c93b89 79
tuk4 15:415c38c93b89 80 case FORWARD :
tuk4 12:548cdc49cdba 81 motor.setSpeed(speed_L,speed_R);
tuk4 12:548cdc49cdba 82 if (ultraSon.readUSB() <= 20) {
tuk4 12:548cdc49cdba 83 current_state = SAFEMODE;
tuk4 12:548cdc49cdba 84 }
tuk4 15:415c38c93b89 85 if (x<=-1400) current_state = STUPID1;
tuk4 15:415c38c93b89 86 break;
tuk4 15:415c38c93b89 87
tuk4 15:415c38c93b89 88 case BACKWARD :
tuk4 12:548cdc49cdba 89 motor.setSpeed(-speed_L,-speed_R);
tuk4 12:548cdc49cdba 90 if (ultraSon.readUSB() >= 15) current_state = SAFEMODE;
tuk4 15:415c38c93b89 91 break;
tuk4 15:415c38c93b89 92
tuk4 15:415c38c93b89 93 case LOOK_FOR_FILE :
tuk4 15:415c38c93b89 94 if (pixy.checkNewImage()) {
tuk4 15:415c38c93b89 95 pixy.detectedObject(&numberOfObjects,&dummy);
tuk4 15:415c38c93b89 96 if (numberOfObjects==1) {
tuk4 15:415c38c93b89 97 file=pixy.getNMBloc();
tuk4 15:415c38c93b89 98 pc.printf("\r x = %d", file.x);
tuk4 15:415c38c93b89 99 if (file.x >165) {
tuk4 15:415c38c93b89 100 motor.setSpeed(-speed_L/10.0,speed_R/10.0);// turn right
tuk4 15:415c38c93b89 101 pc.printf(" - Turning right");
tuk4 15:415c38c93b89 102 } else if (file.x <155) {
tuk4 15:415c38c93b89 103 motor.setSpeed(speed_L/10.0,-speed_R/10.0);// turn left
tuk4 15:415c38c93b89 104 pc.printf(" - Turning left");
tuk4 15:415c38c93b89 105 } else {
tuk4 15:415c38c93b89 106 motor.setSpeed(0,0);
tuk4 15:415c38c93b89 107 motor.resetPosition();
tuk4 15:415c38c93b89 108 current_state = FORWARD;
tuk4 15:415c38c93b89 109 }
tuk4 15:415c38c93b89 110 } else {
tuk4 15:415c38c93b89 111 //motor.setSpeed(-speed_L,speed_R);// turn right
tuk4 15:415c38c93b89 112 pc.printf(" - No object");
tuk4 15:415c38c93b89 113 }
tuk4 11:31564089b41c 114 }
tuk4 15:415c38c93b89 115 break;
tuk4 15:415c38c93b89 116
tuk4 15:415c38c93b89 117 case STUPID1 :
tuk4 15:415c38c93b89 118 wait(0.2);
tuk4 15:415c38c93b89 119 current_state = HARVEST1;
tuk4 15:415c38c93b89 120 break;
tuk4 15:415c38c93b89 121
tuk4 15:415c38c93b89 122 case STUPID2 :
tuk4 15:415c38c93b89 123 wait(0.2);
tuk4 15:415c38c93b89 124 current_state = HARVEST2;
tuk4 15:415c38c93b89 125 break;
tuk4 15:415c38c93b89 126
tuk4 15:415c38c93b89 127 case STUPID3 :
tuk4 15:415c38c93b89 128 wait(0.2);
tuk4 15:415c38c93b89 129 current_state = HARVEST3;
tuk4 15:415c38c93b89 130 break;
tuk4 15:415c38c93b89 131
tuk4 15:415c38c93b89 132
tuk4 15:415c38c93b89 133
tuk4 15:415c38c93b89 134 case HARVEST1 :
tuk4 15:415c38c93b89 135 motor.setSpeed(-speed_L,0.0);
tuk4 15:415c38c93b89 136 if (theta < (-2*PI)) current_state = STUPID2;
tuk4 15:415c38c93b89 137 break;
tuk4 15:415c38c93b89 138
tuk4 15:415c38c93b89 139 case HARVEST2 :
tuk4 15:415c38c93b89 140 motor.setSpeed(0.0,-speed_R);
tuk4 15:415c38c93b89 141 if (theta > 0) current_state = STUPID3;
tuk4 15:415c38c93b89 142 break;
tuk4 15:415c38c93b89 143
tuk4 15:415c38c93b89 144 case HARVEST3 :
tuk4 15:415c38c93b89 145 motor.setSpeed(speed_L,-speed_R);
tuk4 15:415c38c93b89 146 if (theta > (2*PI)) current_state = IDLE;
tuk4 15:415c38c93b89 147 break;
tuk4 15:415c38c93b89 148
tuk4 15:415c38c93b89 149 default :
tuk4 15:415c38c93b89 150 //do something
tuk4 15:415c38c93b89 151 break;
tuk4 10:6c3653c53eca 152 }
haarkon 3:0221daeeaa86 153 }
tuk4 15:415c38c93b89 154
tuk4 9:4053b5217339 155 return 0;
haarkon 0:4902b3f17137 156 }