Mobile Robot Project
Dependencies: RGB_LED m3pi mbed
main.cpp@0:541dc12fcbf0, 2015-10-29 (annotated)
- Committer:
- wqz9822
- Date:
- Thu Oct 29 16:19:19 2015 +0000
- Revision:
- 0:541dc12fcbf0
Mobile Robot Project
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
wqz9822 | 0:541dc12fcbf0 | 1 | #include "mbed.h" |
wqz9822 | 0:541dc12fcbf0 | 2 | #include "m3pi.h" |
wqz9822 | 0:541dc12fcbf0 | 3 | #include "rgbLed.h" |
wqz9822 | 0:541dc12fcbf0 | 4 | #include "color.h" |
wqz9822 | 0:541dc12fcbf0 | 5 | |
wqz9822 | 0:541dc12fcbf0 | 6 | m3pi m3pi; |
wqz9822 | 0:541dc12fcbf0 | 7 | Timer timerA; |
wqz9822 | 0:541dc12fcbf0 | 8 | Serial Wixel(p28, p27); // tx, rx |
wqz9822 | 0:541dc12fcbf0 | 9 | AnalogIn analog (p20); // Randomness generator |
wqz9822 | 0:541dc12fcbf0 | 10 | AnalogIn resistorAin (p16); // Voltage divider reads |
wqz9822 | 0:541dc12fcbf0 | 11 | |
wqz9822 | 0:541dc12fcbf0 | 12 | //Setup RGB led using PWM pins and class |
wqz9822 | 0:541dc12fcbf0 | 13 | RGBLed myRGBled(p23,p22,p21); //RGB PWM pins |
wqz9822 | 0:541dc12fcbf0 | 14 | |
wqz9822 | 0:541dc12fcbf0 | 15 | //setup some color objects in flash using const's |
wqz9822 | 0:541dc12fcbf0 | 16 | const LEDColor red (255, 0, 0); |
wqz9822 | 0:541dc12fcbf0 | 17 | const LEDColor green (0, 255, 0); |
wqz9822 | 0:541dc12fcbf0 | 18 | const LEDColor blue (0, 0, 255); |
wqz9822 | 0:541dc12fcbf0 | 19 | const LEDColor yellow(255 ,255 ,0); |
wqz9822 | 0:541dc12fcbf0 | 20 | const LEDColor white (255 ,255, 255); |
wqz9822 | 0:541dc12fcbf0 | 21 | |
wqz9822 | 0:541dc12fcbf0 | 22 | DigitalOut PIN15 (p15); |
wqz9822 | 0:541dc12fcbf0 | 23 | DigitalOut PIN17 (p17); |
wqz9822 | 0:541dc12fcbf0 | 24 | DigitalOut PIN18 (p18); |
wqz9822 | 0:541dc12fcbf0 | 25 | DigitalOut PIN19 (p19); |
wqz9822 | 0:541dc12fcbf0 | 26 | DigitalOut PIN20 (p20); |
wqz9822 | 0:541dc12fcbf0 | 27 | |
wqz9822 | 0:541dc12fcbf0 | 28 | int behaviour; // Behaviour switcher |
wqz9822 | 0:541dc12fcbf0 | 29 | float voltage; |
wqz9822 | 0:541dc12fcbf0 | 30 | int voltageCounter = 0; // To elmimate ADC spike noise |
wqz9822 | 0:541dc12fcbf0 | 31 | float timerThreshold; |
wqz9822 | 0:541dc12fcbf0 | 32 | |
wqz9822 | 0:541dc12fcbf0 | 33 | |
wqz9822 | 0:541dc12fcbf0 | 34 | unsigned int random_generator (void){ |
wqz9822 | 0:541dc12fcbf0 | 35 | unsigned int x = 0; |
wqz9822 | 0:541dc12fcbf0 | 36 | unsigned int iRandom = 0; |
wqz9822 | 0:541dc12fcbf0 | 37 | |
wqz9822 | 0:541dc12fcbf0 | 38 | for (x = 0; x <= 32; x += 2) |
wqz9822 | 0:541dc12fcbf0 | 39 | { |
wqz9822 | 0:541dc12fcbf0 | 40 | iRandom += ((analog.read_u16() % 3) << x); |
wqz9822 | 0:541dc12fcbf0 | 41 | wait_us (10); |
wqz9822 | 0:541dc12fcbf0 | 42 | } |
wqz9822 | 0:541dc12fcbf0 | 43 | |
wqz9822 | 0:541dc12fcbf0 | 44 | return iRandom; |
wqz9822 | 0:541dc12fcbf0 | 45 | } |
wqz9822 | 0:541dc12fcbf0 | 46 | |
wqz9822 | 0:541dc12fcbf0 | 47 | void forward(float amount) { |
wqz9822 | 0:541dc12fcbf0 | 48 | float speed = amount/5.0 + .075; |
wqz9822 | 0:541dc12fcbf0 | 49 | m3pi.left_motor(-speed); |
wqz9822 | 0:541dc12fcbf0 | 50 | m3pi.right_motor(-speed); |
wqz9822 | 0:541dc12fcbf0 | 51 | timerThreshold = 1; |
wqz9822 | 0:541dc12fcbf0 | 52 | } |
wqz9822 | 0:541dc12fcbf0 | 53 | |
wqz9822 | 0:541dc12fcbf0 | 54 | void backward(float amount) { |
wqz9822 | 0:541dc12fcbf0 | 55 | float speed = amount/5.0 + .075; |
wqz9822 | 0:541dc12fcbf0 | 56 | m3pi.left_motor(speed); |
wqz9822 | 0:541dc12fcbf0 | 57 | m3pi.right_motor(speed); |
wqz9822 | 0:541dc12fcbf0 | 58 | timerThreshold = 1; |
wqz9822 | 0:541dc12fcbf0 | 59 | } |
wqz9822 | 0:541dc12fcbf0 | 60 | |
wqz9822 | 0:541dc12fcbf0 | 61 | void turnLeft(float amount) { |
wqz9822 | 0:541dc12fcbf0 | 62 | // try to anchor it so that 1 means 90 degree turn |
wqz9822 | 0:541dc12fcbf0 | 63 | float right_speed = amount/5.0 + .075; |
wqz9822 | 0:541dc12fcbf0 | 64 | m3pi.left_motor(right_speed); |
wqz9822 | 0:541dc12fcbf0 | 65 | |
wqz9822 | 0:541dc12fcbf0 | 66 | m3pi.right_motor(-right_speed); |
wqz9822 | 0:541dc12fcbf0 | 67 | timerThreshold=.5; |
wqz9822 | 0:541dc12fcbf0 | 68 | } |
wqz9822 | 0:541dc12fcbf0 | 69 | |
wqz9822 | 0:541dc12fcbf0 | 70 | void turnRight(float amount) { |
wqz9822 | 0:541dc12fcbf0 | 71 | float left_speed = amount/5.0 + .075; |
wqz9822 | 0:541dc12fcbf0 | 72 | m3pi.right_motor(left_speed); |
wqz9822 | 0:541dc12fcbf0 | 73 | m3pi.left_motor(-left_speed); |
wqz9822 | 0:541dc12fcbf0 | 74 | timerThreshold=.5; |
wqz9822 | 0:541dc12fcbf0 | 75 | } |
wqz9822 | 0:541dc12fcbf0 | 76 | |
wqz9822 | 0:541dc12fcbf0 | 77 | /*void shakeHead() { |
wqz9822 | 0:541dc12fcbf0 | 78 | m3pi.left_motor(.15); |
wqz9822 | 0:541dc12fcbf0 | 79 | m3pi.right_motor(-.15); |
wqz9822 | 0:541dc12fcbf0 | 80 | wait(.3); |
wqz9822 | 0:541dc12fcbf0 | 81 | for(int i = 0; i < 3; i++) { |
wqz9822 | 0:541dc12fcbf0 | 82 | if(i % 2 == 0) { |
wqz9822 | 0:541dc12fcbf0 | 83 | m3pi.left_motor(-.15); |
wqz9822 | 0:541dc12fcbf0 | 84 | m3pi.right_motor(.15); |
wqz9822 | 0:541dc12fcbf0 | 85 | } else { |
wqz9822 | 0:541dc12fcbf0 | 86 | m3pi.left_motor(.15); |
wqz9822 | 0:541dc12fcbf0 | 87 | m3pi.right_motor(-.15); |
wqz9822 | 0:541dc12fcbf0 | 88 | } |
wqz9822 | 0:541dc12fcbf0 | 89 | timerThreshold = .6); |
wqz9822 | 0:541dc12fcbf0 | 90 | } |
wqz9822 | 0:541dc12fcbf0 | 91 | m3pi.left_motor(.15); |
wqz9822 | 0:541dc12fcbf0 | 92 | m3pi.right_motor(-.15); |
wqz9822 | 0:541dc12fcbf0 | 93 | wait(.3); |
wqz9822 | 0:541dc12fcbf0 | 94 | }*/ |
wqz9822 | 0:541dc12fcbf0 | 95 | |
wqz9822 | 0:541dc12fcbf0 | 96 | void actLikeYoureInLove() { |
wqz9822 | 0:541dc12fcbf0 | 97 | myRGBled = red; |
wqz9822 | 0:541dc12fcbf0 | 98 | m3pi.left_motor(0.0); |
wqz9822 | 0:541dc12fcbf0 | 99 | m3pi.right_motor(0.0); |
wqz9822 | 0:541dc12fcbf0 | 100 | wait(1); |
wqz9822 | 0:541dc12fcbf0 | 101 | m3pi.left_motor(-0.1); |
wqz9822 | 0:541dc12fcbf0 | 102 | m3pi.right_motor(-0.1); |
wqz9822 | 0:541dc12fcbf0 | 103 | wait(.5); |
wqz9822 | 0:541dc12fcbf0 | 104 | while(1) { |
wqz9822 | 0:541dc12fcbf0 | 105 | m3pi.left_motor(.2); |
wqz9822 | 0:541dc12fcbf0 | 106 | m3pi.right_motor(-.2); |
wqz9822 | 0:541dc12fcbf0 | 107 | |
wqz9822 | 0:541dc12fcbf0 | 108 | } |
wqz9822 | 0:541dc12fcbf0 | 109 | } |
wqz9822 | 0:541dc12fcbf0 | 110 | |
wqz9822 | 0:541dc12fcbf0 | 111 | void init() |
wqz9822 | 0:541dc12fcbf0 | 112 | { |
wqz9822 | 0:541dc12fcbf0 | 113 | Wixel.baud(9600); |
wqz9822 | 0:541dc12fcbf0 | 114 | timerA.start(); |
wqz9822 | 0:541dc12fcbf0 | 115 | myRGBled = green; |
wqz9822 | 0:541dc12fcbf0 | 116 | srand (random_generator()); // Using ADC value to generate random seed |
wqz9822 | 0:541dc12fcbf0 | 117 | } |
wqz9822 | 0:541dc12fcbf0 | 118 | |
wqz9822 | 0:541dc12fcbf0 | 119 | int main() |
wqz9822 | 0:541dc12fcbf0 | 120 | { |
wqz9822 | 0:541dc12fcbf0 | 121 | |
wqz9822 | 0:541dc12fcbf0 | 122 | init(); |
wqz9822 | 0:541dc12fcbf0 | 123 | |
wqz9822 | 0:541dc12fcbf0 | 124 | while(1) |
wqz9822 | 0:541dc12fcbf0 | 125 | { |
wqz9822 | 0:541dc12fcbf0 | 126 | voltage = resistorAin; |
wqz9822 | 0:541dc12fcbf0 | 127 | Wixel.printf("Voltage %f \n",voltage); |
wqz9822 | 0:541dc12fcbf0 | 128 | |
wqz9822 | 0:541dc12fcbf0 | 129 | if (( voltage > 0.45) & ( voltage < 0.7)) |
wqz9822 | 0:541dc12fcbf0 | 130 | { |
wqz9822 | 0:541dc12fcbf0 | 131 | voltageCounter ++; |
wqz9822 | 0:541dc12fcbf0 | 132 | if (voltageCounter == 2){ |
wqz9822 | 0:541dc12fcbf0 | 133 | actLikeYoureInLove(); |
wqz9822 | 0:541dc12fcbf0 | 134 | } |
wqz9822 | 0:541dc12fcbf0 | 135 | } |
wqz9822 | 0:541dc12fcbf0 | 136 | |
wqz9822 | 0:541dc12fcbf0 | 137 | //Wixel.printf("%f seconds\n", timerA.read()); |
wqz9822 | 0:541dc12fcbf0 | 138 | |
wqz9822 | 0:541dc12fcbf0 | 139 | if( timerA.read() >= timerThreshold) |
wqz9822 | 0:541dc12fcbf0 | 140 | { |
wqz9822 | 0:541dc12fcbf0 | 141 | behaviour = rand() % 5 + 1; // Generate num between 1 and 5 |
wqz9822 | 0:541dc12fcbf0 | 142 | //Wixel.printf("Behavior &d\n", behaviour); |
wqz9822 | 0:541dc12fcbf0 | 143 | float speed = rand()/double(RAND_MAX); |
wqz9822 | 0:541dc12fcbf0 | 144 | |
wqz9822 | 0:541dc12fcbf0 | 145 | switch (behaviour) |
wqz9822 | 0:541dc12fcbf0 | 146 | { |
wqz9822 | 0:541dc12fcbf0 | 147 | case 1: |
wqz9822 | 0:541dc12fcbf0 | 148 | forward(1); |
wqz9822 | 0:541dc12fcbf0 | 149 | break; |
wqz9822 | 0:541dc12fcbf0 | 150 | case 2: |
wqz9822 | 0:541dc12fcbf0 | 151 | turnLeft(speed); |
wqz9822 | 0:541dc12fcbf0 | 152 | break; |
wqz9822 | 0:541dc12fcbf0 | 153 | case 3: |
wqz9822 | 0:541dc12fcbf0 | 154 | turnRight(speed); |
wqz9822 | 0:541dc12fcbf0 | 155 | break; |
wqz9822 | 0:541dc12fcbf0 | 156 | case 4: |
wqz9822 | 0:541dc12fcbf0 | 157 | backward(1); |
wqz9822 | 0:541dc12fcbf0 | 158 | break; |
wqz9822 | 0:541dc12fcbf0 | 159 | case 5: |
wqz9822 | 0:541dc12fcbf0 | 160 | //Do noting |
wqz9822 | 0:541dc12fcbf0 | 161 | break; |
wqz9822 | 0:541dc12fcbf0 | 162 | } |
wqz9822 | 0:541dc12fcbf0 | 163 | timerA.reset(); |
wqz9822 | 0:541dc12fcbf0 | 164 | } |
wqz9822 | 0:541dc12fcbf0 | 165 | } |
wqz9822 | 0:541dc12fcbf0 | 166 | } |