Jack Daniels / Mbed 2 deprecated SantaSeeker

IT GOES NORTH MOST OF THE TIME

Dependencies:   HMC6352 Motor mbed

main.cpp@8:c7d277d05f23, 2012-10-10 (annotated)

Committer:
vsavkin3
Date:
Wed Oct 10 06:48:16 2012 +0000
Revision:
8:c7d277d05f23
Parent:
7:60e5e064698d
Child:
9:6d663bdfee7c
;_;

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 4:9011798d1a20 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 4:9011798d1a20 33
vsavkin3 7:60e5e064698d 34 int NorthOn=0;
vsavkin3 8:c7d277d05f23 35 int NorthCount=0;
vsavkin3 7:60e5e064698d 36 for(j=0;j<4;j++) stable[0][j] = readLeft;
vsavkin3 7:60e5e064698d 37 for(j=0;j<4;j++) stable[1][j] = readRight;
vsavkin3 7:60e5e064698d 38 for(j=0;j<4;j++) stable[2][j] = diagLeft;
vsavkin3 7:60e5e064698d 39 for(j=0;j<4;j++) stable[3][j] = diagRight;
vsavkin3 7:60e5e064698d 40 for(j=0;j<4;j++) stable[4][j] = readFront;
vsavkin3 7:60e5e064698d 41 j=1;
vsavkin3 4:9011798d1a20 42 while (1){
vsavkin3 7:60e5e064698d 43 if(j>=4) 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 7:60e5e064698d 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 6:2b89c05628ce 68 printf(" Heading: %f\n\r", globalDir);
vsavkin3 7:60e5e064698d 69
vsavkin3 4:9011798d1a20 70 switch(dir){
vsavkin3 4:9011798d1a20 71 case Forward:
vsavkin3 8:c7d277d05f23 72 if(
vsavkin3 8:c7d277d05f23 73 ((stable[0][0]+stable[0][1]+stable[0][2]+stable[0][3])>=160)&&
vsavkin3 8:c7d277d05f23 74 ((stable[1][0]+stable[1][1]+stable[1][2]+stable[1][3])>=160)&&
vsavkin3 8:c7d277d05f23 75 ((stable[2][0]+stable[2][1]+stable[2][2]+stable[2][3])>=160)&&
vsavkin3 8:c7d277d05f23 76 ((stable[3][0]+stable[3][1]+stable[3][2]+stable[3][3])>=160)&&
vsavkin3 8:c7d277d05f23 77 ((stable[4][0]+stable[4][1]+stable[4][2]+stable[4][3])>=160)) NorthCount++;
vsavkin3 8:c7d277d05f23 78 else NorthCount=0;
vsavkin3 8:c7d277d05f23 79 if (NorthCount>3){ NorthOn=1; NorthCount=0;}
vsavkin3 8:c7d277d05f23 80
vsavkin3 7:60e5e064698d 81 if ((avgFront<40&&stable[4][0]<40&&stable[4][1]<40&&stable[4][2]<40&&stable[4][3]<40)||
vsavkin3 8:c7d277d05f23 82 (diagLeft<40&&stable[2][0]<40&&stable[2][1]<40&&stable[2][2]<40&&stable[2][3]<40)
vsavkin3 7:60e5e064698d 83 /*(avgLeft<40&&stable[0][0]<40&&stable[0][1]<40&&stable[0][2]<40&&stable[0][3]<40)*/)
vsavkin3 4:9011798d1a20 84 {
vsavkin3 4:9011798d1a20 85 right.speed(0);
vsavkin3 4:9011798d1a20 86 left.speed(0);
vsavkin3 6:2b89c05628ce 87 printf("stopped!\n\r");
vsavkin3 4:9011798d1a20 88 //wait(0.1);
vsavkin3 8:c7d277d05f23 89 NorthOn=0;
vsavkin3 4:9011798d1a20 90 dir=Right;
vsavkin3 4:9011798d1a20 91 }
vsavkin3 8:c7d277d05f23 92 else if((diagRight<40&&stable[3][0]<40&&stable[3][1]<40&&stable[3][2]<40&&stable[3][3]<40)
vsavkin3 8:c7d277d05f23 93 /*(avgRight<40&&stable[1][0]<40&&stable[1][1]<40&&stable[1][2]<40&&stable[1][3]<40))*/)
vsavkin3 4:9011798d1a20 94 {
vsavkin3 7:60e5e064698d 95 right.speed(0);
vsavkin3 7:60e5e064698d 96 left.speed(0);
vsavkin3 7:60e5e064698d 97 printf("stopped2!\n\r");
vsavkin3 7:60e5e064698d 98 //wait(0.1);
vsavkin3 8:c7d277d05f23 99 NorthOn=0;
vsavkin3 7:60e5e064698d 100 dir=Left;
vsavkin3 7:60e5e064698d 101 }
vsavkin3 7:60e5e064698d 102 else if(
vsavkin3 8:c7d277d05f23 103 (((globalDir > 30 && globalDir <= 180)||(globalDir > 180 && globalDir <= 330)&&NorthOn)
vsavkin3 7:60e5e064698d 104 )
vsavkin3 7:60e5e064698d 105 )
vsavkin3 7:60e5e064698d 106 {
vsavkin3 6:2b89c05628ce 107 right.speed(0);
vsavkin3 6:2b89c05628ce 108 left.speed(0);
vsavkin3 6:2b89c05628ce 109 dir = TurnNorth;
vsavkin3 7:60e5e064698d 110 }
vsavkin3 7:60e5e064698d 111 else {right.speed(0.95); left.speed(1);
vsavkin3 7:60e5e064698d 112 printf("CHARGE!\n\r");
vsavkin3 4:9011798d1a20 113 }
vsavkin3 4:9011798d1a20 114 break;
vsavkin3 4:9011798d1a20 115 case Right:
vsavkin3 7:60e5e064698d 116 printf("TURN Right!\n\r");
vsavkin3 7:60e5e064698d 117 if (
vsavkin3 7:60e5e064698d 118 ((avgFront<=31.7||stable[4][0]<30||stable[4][1]<30||stable[4][2]<30||stable[4][3]<30)
vsavkin3 8:c7d277d05f23 119 || (diagLeft<=31.7||stable[2][0]<30||stable[2][1]<30||stable[2][2]<30||stable[2][3]<30))
vsavkin3 7:60e5e064698d 120 )
vsavkin3 4:9011798d1a20 121 {
vsavkin3 4:9011798d1a20 122 right.speed(-1);
vsavkin3 8:c7d277d05f23 123 left.speed(0);
vsavkin3 7:60e5e064698d 124 // printf("turning!\n\r");
vsavkin3 7:60e5e064698d 125 }
vsavkin3 7:60e5e064698d 126 else
vsavkin3 8:c7d277d05f23 127 { for(j=0;j<4;j++) stable[0][j] = avgLeft;
vsavkin3 8:c7d277d05f23 128 for(j=0;j<4;j++) stable[1][j] = avgRight;
vsavkin3 8:c7d277d05f23 129 for(j=0;j<4;j++) stable[2][j] = diagLeft;
vsavkin3 8:c7d277d05f23 130 for(j=0;j<4;j++) stable[3][j] = diagRight;
vsavkin3 8:c7d277d05f23 131 for(j=0;j<4;j++) stable[4][j] = avgFront;
vsavkin3 7:60e5e064698d 132 right.speed(0);
vsavkin3 4:9011798d1a20 133 left.speed(0);
vsavkin3 7:60e5e064698d 134 // printf("stopped!\n\r");
vsavkin3 7:60e5e064698d 135 //wait(0.1);
vsavkin3 7:60e5e064698d 136 dir=Forward;
vsavkin3 7:60e5e064698d 137 }
vsavkin3 7:60e5e064698d 138 break;
vsavkin3 7:60e5e064698d 139
vsavkin3 7:60e5e064698d 140 case Left:
vsavkin3 7:60e5e064698d 141 printf("TURN Left!\n\r");
vsavkin3 7:60e5e064698d 142 if (
vsavkin3 7:60e5e064698d 143 /*(avgRight<=31.7 ||stable[1][0]<30||stable[1][1]<30||stable[1][2]<30||stable[1][3]<30)||*/
vsavkin3 8:c7d277d05f23 144 (avgFront<=31.7||stable[4][0]<30||stable[4][1]<30||stable[4][2]<30||stable[4][3]<30)
vsavkin3 7:60e5e064698d 145 || (diagRight<=31.7||stable[3][0]<30||stable[3][1]<30||stable[3][2]<30||stable[3][3]<30)
vsavkin3 7:60e5e064698d 146 )
vsavkin3 7:60e5e064698d 147 {
vsavkin3 8:c7d277d05f23 148 right.speed(0);
vsavkin3 7:60e5e064698d 149 left.speed(-1);
vsavkin3 4:9011798d1a20 150 // printf("turning!\n\r");
vsavkin3 4:9011798d1a20 151 }
vsavkin3 4:9011798d1a20 152 else
vsavkin3 4:9011798d1a20 153 {
vsavkin3 8:c7d277d05f23 154 for(j=0;j<4;j++) stable[0][j] = avgLeft;
vsavkin3 8:c7d277d05f23 155 for(j=0;j<4;j++) stable[1][j] = avgRight;
vsavkin3 8:c7d277d05f23 156 for(j=0;j<4;j++) stable[2][j] = diagLeft;
vsavkin3 8:c7d277d05f23 157 for(j=0;j<4;j++) stable[3][j] = diagRight;
vsavkin3 8:c7d277d05f23 158 for(j=0;j<4;j++) stable[4][j] = avgFront;
vsavkin3 4:9011798d1a20 159 right.speed(0);
vsavkin3 4:9011798d1a20 160 left.speed(0);
vsavkin3 4:9011798d1a20 161 // printf("stopped!\n\r");
vsavkin3 4:9011798d1a20 162 //wait(0.1);
vsavkin3 4:9011798d1a20 163 dir=Forward;
vsavkin3 4:9011798d1a20 164 }
vsavkin3 4:9011798d1a20 165 break;
vsavkin3 6:2b89c05628ce 166 case TurnNorth:
vsavkin3 6:2b89c05628ce 167 printf("TO THE NORTH!\n\r");
vsavkin3 6:2b89c05628ce 168 if (globalDir>330 || globalDir < 30)
vsavkin3 6:2b89c05628ce 169 {
vsavkin3 6:2b89c05628ce 170 //It's going north!!
vsavkin3 7:60e5e064698d 171 right.speed(0);
vsavkin3 7:60e5e064698d 172 left.speed(0);
vsavkin3 6:2b89c05628ce 173 dir=Forward;
vsavkin3 6:2b89c05628ce 174 }
vsavkin3 6:2b89c05628ce 175 else
vsavkin3 7:60e5e064698d 176 { if(globalDir<=180){
vsavkin3 7:60e5e064698d 177 right.speed(1);
vsavkin3 7:60e5e064698d 178 left.speed(-1);}
vsavkin3 7:60e5e064698d 179 else{right.speed(-1); left.speed(1);}
vsavkin3 6:2b89c05628ce 180 }
vsavkin3 6:2b89c05628ce 181 break;
vsavkin3 4:9011798d1a20 182 }
vsavkin3 4:9011798d1a20 183 wait(0.01);
vsavkin3 4:9011798d1a20 184 }
vsavkin3 4:9011798d1a20 185 }