Jack Daniels / Mbed 2 deprecated SantaSeeker

IT GOES NORTH MOST OF THE TIME

Dependencies:   HMC6352 Motor mbed

main.cpp@12:204600e080c4, 2012-10-10 (annotated)

Committer:
vsavkin3
Date:
Wed Oct 10 09:05:22 2012 +0000
Revision:
12:204600e080c4
Parent:
11:0fd03f66af0d
Child:
13:76a6ce8b2116
Kinda works, kinda doesn't.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsavkin3 4:9011798d1a20 1 #include "mbed.h"
vsavkin3 4:9011798d1a20 2 #include "Motor.h"
vsavkin3 4:9011798d1a20 3 #include "HMC6352.h"
vsavkin3 4:9011798d1a20 4
vsavkin3 4:9011798d1a20 5 Motor right(p21, p23, p22); // pwm, fwd, rev
vsavkin3 4:9011798d1a20 6 Motor left(p26, p24, p25); // pwm, fwd, rev
vsavkin3 4:9011798d1a20 7 AnalogIn irLeft(p20);
vsavkin3 4:9011798d1a20 8 AnalogIn irFront(p19);
vsavkin3 4:9011798d1a20 9 AnalogIn irRight(p18);
vsavkin3 7:60e5e064698d 10 AnalogIn dirLeft(p17);
vsavkin3 7:60e5e064698d 11 AnalogIn dirRight(p16);
vsavkin3 5:99545cf4dff4 12 HMC6352 compass(p9, p10);
vsavkin3 4:9011798d1a20 13
vsavkin3 6:2b89c05628ce 14 enum direction{ Right, Forward, Left, TurnNorth };
vsavkin3 4:9011798d1a20 15
vsavkin3 4:9011798d1a20 16 int main() {
vsavkin3 4:9011798d1a20 17 enum direction dir=Forward;
vsavkin3 5:99545cf4dff4 18 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
vsavkin3 4:9011798d1a20 19
vsavkin3 11:0fd03f66af0d 20 //printf("Front Right Left\n\r");
vsavkin3 7:60e5e064698d 21 int j=0;
vsavkin3 4:9011798d1a20 22 float readLeft;
vsavkin3 4:9011798d1a20 23 float readRight;
vsavkin3 4:9011798d1a20 24 float readFront;
vsavkin3 7:60e5e064698d 25 float diagRight;
vsavkin3 7:60e5e064698d 26 float diagLeft;
vsavkin3 7:60e5e064698d 27 float stable[5][4];
vsavkin3 4:9011798d1a20 28 readLeft=irLeft;
vsavkin3 4:9011798d1a20 29 readRight=irRight;
vsavkin3 4:9011798d1a20 30 readFront=irFront;
vsavkin3 7:60e5e064698d 31 diagRight=dirRight;
vsavkin3 7:60e5e064698d 32 diagLeft=dirLeft;
vsavkin3 12:204600e080c4 33
vsavkin3 7:60e5e064698d 34 int NorthOn=0;
vsavkin3 8:c7d277d05f23 35 int NorthCount=0;
vsavkin3 9:6d663bdfee7c 36 for(j=0;j<2;j++) stable[0][j] = readLeft;
vsavkin3 9:6d663bdfee7c 37 for(j=0;j<2;j++) stable[1][j] = readRight;
vsavkin3 9:6d663bdfee7c 38 for(j=0;j<2;j++) stable[2][j] = diagLeft;
vsavkin3 9:6d663bdfee7c 39 for(j=0;j<2;j++) stable[3][j] = diagRight;
vsavkin3 9:6d663bdfee7c 40 for(j=0;j<2;j++) stable[4][j] = readFront;
vsavkin3 7:60e5e064698d 41 j=1;
vsavkin3 4:9011798d1a20 42 while (1){
vsavkin3 9:6d663bdfee7c 43 if(j>=2) j=0;
vsavkin3 7:60e5e064698d 44
vsavkin3 4:9011798d1a20 45 readLeft=irLeft;
vsavkin3 7:60e5e064698d 46 readRight=irRight;
vsavkin3 7:60e5e064698d 47 readFront=irFront;
vsavkin3 7:60e5e064698d 48 diagRight=dirRight;
vsavkin3 7:60e5e064698d 49 diagLeft=dirLeft;
vsavkin3 4:9011798d1a20 50 readLeft=21/readLeft;
vsavkin3 4:9011798d1a20 51 readRight=21/readRight;
vsavkin3 4:9011798d1a20 52 readFront=21/readFront;
vsavkin3 7:60e5e064698d 53 diagRight=21/diagRight;
vsavkin3 7:60e5e064698d 54 diagLeft=21/diagLeft;
vsavkin3 4:9011798d1a20 55 float avgFront = 0, avgRight = 0, avgLeft = 0;
vsavkin3 4:9011798d1a20 56 avgFront = readFront;
vsavkin3 4:9011798d1a20 57 avgRight = readRight;
vsavkin3 7:60e5e064698d 58 avgLeft = readLeft;
vsavkin3 7:60e5e064698d 59 stable[0][j] = avgLeft;
vsavkin3 7:60e5e064698d 60 stable[1][j] = avgRight;
vsavkin3 7:60e5e064698d 61 stable[2][j] = diagLeft;
vsavkin3 7:60e5e064698d 62 stable[3][j] = diagRight;
vsavkin3 7:60e5e064698d 63 stable[4][j] = avgFront;
vsavkin3 7:60e5e064698d 64
vsavkin3 7:60e5e064698d 65 j++;
vsavkin3 11:0fd03f66af0d 66 //printf("Front: %5f Right: %5f Left: %5f dLeft: %5f dRight: %5f", avgFront, avgRight, avgLeft,diagLeft,diagRight);
vsavkin3 6:2b89c05628ce 67 float globalDir = compass.sample()/10.0;
vsavkin3 11:0fd03f66af0d 68 //printf(" Heading: %f\n\r", globalDir);
vsavkin3 7:60e5e064698d 69
vsavkin3 4:9011798d1a20 70 switch(dir){
vsavkin3 4:9011798d1a20 71 case Forward:
vsavkin3 12:204600e080c4 72
vsavkin3 12:204600e080c4 73 NorthCount++;
vsavkin3 9:6d663bdfee7c 74 if ((avgFront<35&&stable[4][0]<35&&stable[4][1]<35)/*&&stable[4][2]<35&&stable[4][3]<35)*/||
vsavkin3 9:6d663bdfee7c 75 (diagLeft<35&&stable[2][0]<35&&stable[2][1]<35/*&&stable[2][2]<35&&stable[2][3]<35)*/
vsavkin3 9:6d663bdfee7c 76 /*(avgLeft<40&&stable[0][0]<40&&stable[0][1]<40&&stable[0][2]<40&&stable[0][3]<40)*/))
vsavkin3 4:9011798d1a20 77 {
vsavkin3 4:9011798d1a20 78 right.speed(0);
vsavkin3 4:9011798d1a20 79 left.speed(0);
vsavkin3 11:0fd03f66af0d 80 //printf("stopped!\n\r");
vsavkin3 4:9011798d1a20 81 //wait(0.1);
vsavkin3 8:c7d277d05f23 82 NorthOn=0;
vsavkin3 4:9011798d1a20 83 dir=Right;
vsavkin3 4:9011798d1a20 84 }
vsavkin3 9:6d663bdfee7c 85 else if((diagRight<35&&stable[3][0]<35&&stable[3][1]<35/*&&stable[3][2]<35&&stable[3][3]<35)*/
vsavkin3 9:6d663bdfee7c 86 /*(avgRight<40&&stable[1][0]<40&&stable[1][1]<40&&stable[1][2]<40&&stable[1][3]<40))*/))
vsavkin3 4:9011798d1a20 87 {
vsavkin3 7:60e5e064698d 88 right.speed(0);
vsavkin3 7:60e5e064698d 89 left.speed(0);
vsavkin3 11:0fd03f66af0d 90 //printf("stopped2!\n\r");
vsavkin3 7:60e5e064698d 91 //wait(0.1);
vsavkin3 8:c7d277d05f23 92 NorthOn=0;
vsavkin3 7:60e5e064698d 93 dir=Left;
vsavkin3 7:60e5e064698d 94 }
vsavkin3 10:168a1b176c77 95 else if(((globalDir > 30 && globalDir <= 180)||(globalDir > 180 && globalDir <= 330))&&NorthOn)
vsavkin3 10:168a1b176c77 96
vsavkin3 7:60e5e064698d 97 {
vsavkin3 6:2b89c05628ce 98 right.speed(0);
vsavkin3 6:2b89c05628ce 99 left.speed(0);
vsavkin3 6:2b89c05628ce 100 dir = TurnNorth;
vsavkin3 7:60e5e064698d 101 }
vsavkin3 11:0fd03f66af0d 102 else {right.speed(1); left.speed(1);
vsavkin3 11:0fd03f66af0d 103 //printf("CHARGE!\n\r");
vsavkin3 11:0fd03f66af0d 104 if((avgLeft>35&&stable[0][0]>35&&stable[0][1]>35)
vsavkin3 12:204600e080c4 105 &&(avgRight>35&&stable[1][0]>35&&stable[1][1]>35)
vsavkin3 12:204600e080c4 106 &&NorthCount>=350){ NorthOn=1; NorthCount=0;}
vsavkin3 12:204600e080c4 107
vsavkin3 4:9011798d1a20 108 }
vsavkin3 4:9011798d1a20 109 break;
vsavkin3 4:9011798d1a20 110 case Right:
vsavkin3 11:0fd03f66af0d 111 ////printf("TURN Right!\n\r");
vsavkin3 7:60e5e064698d 112 if (
vsavkin3 9:6d663bdfee7c 113 (avgFront<=35||stable[4][0]<35||stable[4][1]<35)/*||stable[4][2]<35||stable[4][3]<35)*/
vsavkin3 9:6d663bdfee7c 114 || (diagLeft<=35||stable[2][0]<35||stable[2][1]<35)/*||stable[2][2]<35||stable[2][3]<35)*/
vsavkin3 7:60e5e064698d 115 )
vsavkin3 4:9011798d1a20 116 {
vsavkin3 4:9011798d1a20 117 right.speed(-1);
vsavkin3 8:c7d277d05f23 118 left.speed(0);
vsavkin3 11:0fd03f66af0d 119 // //printf("turning!\n\r");
vsavkin3 7:60e5e064698d 120 }
vsavkin3 7:60e5e064698d 121 else
vsavkin3 9:6d663bdfee7c 122 {
vsavkin3 7:60e5e064698d 123 right.speed(0);
vsavkin3 4:9011798d1a20 124 left.speed(0);
vsavkin3 11:0fd03f66af0d 125 // //printf("stopped!\n\r");
vsavkin3 7:60e5e064698d 126 //wait(0.1);
vsavkin3 7:60e5e064698d 127 dir=Forward;
vsavkin3 7:60e5e064698d 128 }
vsavkin3 7:60e5e064698d 129 break;
vsavkin3 7:60e5e064698d 130
vsavkin3 7:60e5e064698d 131 case Left:
vsavkin3 11:0fd03f66af0d 132 //printf("TURN Left!\n\r");
vsavkin3 7:60e5e064698d 133 if (
vsavkin3 7:60e5e064698d 134 /*(avgRight<=31.7 ||stable[1][0]<30||stable[1][1]<30||stable[1][2]<30||stable[1][3]<30)||*/
vsavkin3 9:6d663bdfee7c 135 (avgFront<=35||(stable[4][0]<35||stable[4][1]<35))/*&&(stable[4][2]<35||stable[4][3]<35))*/
vsavkin3 9:6d663bdfee7c 136 ||(diagRight<=35||(stable[3][0]<35||stable[3][1]<35))/*&&(stable[3][2]<35||stable[3][3]<35))*/
vsavkin3 7:60e5e064698d 137 )
vsavkin3 7:60e5e064698d 138 {
vsavkin3 8:c7d277d05f23 139 right.speed(0);
vsavkin3 7:60e5e064698d 140 left.speed(-1);
vsavkin3 11:0fd03f66af0d 141 // //printf("turning!\n\r");
vsavkin3 4:9011798d1a20 142 }
vsavkin3 4:9011798d1a20 143 else
vsavkin3 4:9011798d1a20 144 {
vsavkin3 9:6d663bdfee7c 145
vsavkin3 4:9011798d1a20 146 right.speed(0);
vsavkin3 4:9011798d1a20 147 left.speed(0);
vsavkin3 11:0fd03f66af0d 148 // //printf("stopped!\n\r");
vsavkin3 4:9011798d1a20 149 //wait(0.1);
vsavkin3 4:9011798d1a20 150 dir=Forward;
vsavkin3 4:9011798d1a20 151 }
vsavkin3 4:9011798d1a20 152 break;
vsavkin3 6:2b89c05628ce 153 case TurnNorth:
vsavkin3 11:0fd03f66af0d 154 //printf("TO THE NORTH!\n\r");
vsavkin3 10:168a1b176c77 155 if(
vsavkin3 12:204600e080c4 156 (avgLeft<35&&stable[0][0]<35&&stable[0][1]<35)
vsavkin3 10:168a1b176c77 157 ||
vsavkin3 12:204600e080c4 158 (avgRight<35&&stable[1][0]<35&&stable[1][1]<35)
vsavkin3 10:168a1b176c77 159 ||
vsavkin3 12:204600e080c4 160 (diagLeft<35&&stable[2][0]<35&&stable[2][1]<35)
vsavkin3 10:168a1b176c77 161 ||
vsavkin3 12:204600e080c4 162 (diagRight<35&&stable[3][0]<35&&stable[3][1]<35)
vsavkin3 10:168a1b176c77 163 ||
vsavkin3 12:204600e080c4 164 (avgFront<35&&stable[4][0]<35&&stable[4][1]<35)
vsavkin3 11:0fd03f66af0d 165 )
vsavkin3 11:0fd03f66af0d 166 {right.speed(0);
vsavkin3 11:0fd03f66af0d 167 left.speed(0);
vsavkin3 11:0fd03f66af0d 168 dir=Forward;}
vsavkin3 6:2b89c05628ce 169 if (globalDir>330 || globalDir < 30)
vsavkin3 6:2b89c05628ce 170 {
vsavkin3 6:2b89c05628ce 171 //It's going north!!
vsavkin3 7:60e5e064698d 172 right.speed(0);
vsavkin3 7:60e5e064698d 173 left.speed(0);
vsavkin3 6:2b89c05628ce 174 dir=Forward;
vsavkin3 6:2b89c05628ce 175 }
vsavkin3 6:2b89c05628ce 176 else
vsavkin3 7:60e5e064698d 177 { if(globalDir<=180){
vsavkin3 7:60e5e064698d 178 right.speed(1);
vsavkin3 7:60e5e064698d 179 left.speed(-1);}
vsavkin3 7:60e5e064698d 180 else{right.speed(-1); left.speed(1);}
vsavkin3 6:2b89c05628ce 181 }
vsavkin3 6:2b89c05628ce 182 break;
vsavkin3 4:9011798d1a20 183 }
vsavkin3 4:9011798d1a20 184 wait(0.01);
vsavkin3 4:9011798d1a20 185 }
vsavkin3 4:9011798d1a20 186 }