Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of ICRSEurobot13 by
main.cpp@1:8119211eae14, 2013-03-29 (annotated)
- Committer:
- twighk
- Date:
- Fri Mar 29 16:28:56 2013 +0000
- Revision:
- 1:8119211eae14
- Parent:
- 0:200635fa1b08
- Child:
- 2:45da48fab346
Arms / servos
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 0:200635fa1b08 | 1 | |
twighk | 0:200635fa1b08 | 2 | // Eurobot13 main.cpp |
twighk | 0:200635fa1b08 | 3 | |
twighk | 0:200635fa1b08 | 4 | #include "mbed.h" |
twighk | 0:200635fa1b08 | 5 | |
twighk | 1:8119211eae14 | 6 | #include "Actuators/MainMotors/MainMotor.h" |
twighk | 1:8119211eae14 | 7 | #include "Sensors/Encoders/Encoder.h" |
twighk | 1:8119211eae14 | 8 | #include "Actuators/Arms/Arm.h" |
twighk | 0:200635fa1b08 | 9 | |
twighk | 0:200635fa1b08 | 10 | PwmOut Led(LED1); |
twighk | 0:200635fa1b08 | 11 | |
twighk | 0:200635fa1b08 | 12 | void motortest(); |
twighk | 0:200635fa1b08 | 13 | void encodertest(); |
twighk | 0:200635fa1b08 | 14 | void motorencodetest(); |
twighk | 0:200635fa1b08 | 15 | void motorencodetestline(); |
twighk | 0:200635fa1b08 | 16 | void motorsandservostest(); |
twighk | 1:8119211eae14 | 17 | void armtest(); |
twighk | 0:200635fa1b08 | 18 | |
twighk | 0:200635fa1b08 | 19 | int main() { |
twighk | 0:200635fa1b08 | 20 | //motortest(); |
twighk | 0:200635fa1b08 | 21 | //encodertest(); |
twighk | 0:200635fa1b08 | 22 | //motorencodetest(); |
twighk | 1:8119211eae14 | 23 | //motorencodetestline(); |
twighk | 0:200635fa1b08 | 24 | //motorsandservostest(); |
twighk | 1:8119211eae14 | 25 | armtest(); |
twighk | 0:200635fa1b08 | 26 | } |
twighk | 0:200635fa1b08 | 27 | |
twighk | 1:8119211eae14 | 28 | void armtest(){ |
twighk | 1:8119211eae14 | 29 | Arm white(p26), black(p25, false,0.0005, 180); |
twighk | 1:8119211eae14 | 30 | while(1){ |
twighk | 1:8119211eae14 | 31 | white(0); |
twighk | 1:8119211eae14 | 32 | black(0); |
twighk | 1:8119211eae14 | 33 | wait(1); |
twighk | 1:8119211eae14 | 34 | white(1); |
twighk | 1:8119211eae14 | 35 | black(1); |
twighk | 1:8119211eae14 | 36 | wait(1); |
twighk | 1:8119211eae14 | 37 | } |
twighk | 1:8119211eae14 | 38 | } |
twighk | 1:8119211eae14 | 39 | |
twighk | 1:8119211eae14 | 40 | |
twighk | 0:200635fa1b08 | 41 | void motorsandservostest(){ |
twighk | 0:200635fa1b08 | 42 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 43 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 1:8119211eae14 | 44 | Arm sTop(p25), sBottom(p26); |
twighk | 0:200635fa1b08 | 45 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 46 | const float speed = 0.0; |
twighk | 0:200635fa1b08 | 47 | const float dspeed = 0.0; |
twighk | 0:200635fa1b08 | 48 | |
twighk | 0:200635fa1b08 | 49 | Timer servoTimer; |
twighk | 0:200635fa1b08 | 50 | mleft(speed); mright(speed); |
twighk | 0:200635fa1b08 | 51 | servoTimer.start(); |
twighk | 0:200635fa1b08 | 52 | while (true){ |
twighk | 0:200635fa1b08 | 53 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 54 | if (Eleft.getPoint() < Eright.getPoint()){ |
twighk | 0:200635fa1b08 | 55 | mleft(speed); |
twighk | 0:200635fa1b08 | 56 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 57 | } else { |
twighk | 0:200635fa1b08 | 58 | mright(speed); |
twighk | 0:200635fa1b08 | 59 | mleft(speed - dspeed); |
twighk | 0:200635fa1b08 | 60 | } |
twighk | 0:200635fa1b08 | 61 | if (servoTimer.read() < 1){ |
twighk | 0:200635fa1b08 | 62 | sTop.clockwise(); |
twighk | 0:200635fa1b08 | 63 | } else if (servoTimer.read() < 4) { |
twighk | 0:200635fa1b08 | 64 | sTop.relax(); |
twighk | 0:200635fa1b08 | 65 | } else if (servoTimer.read() < 5) { |
twighk | 0:200635fa1b08 | 66 | sBottom.anticlockwise(); |
twighk | 0:200635fa1b08 | 67 | //Led=1; |
twighk | 0:200635fa1b08 | 68 | } else if (servoTimer.read() < 6) { |
twighk | 0:200635fa1b08 | 69 | sBottom.clockwise(); |
twighk | 0:200635fa1b08 | 70 | //Led=0; |
twighk | 0:200635fa1b08 | 71 | } else if (servoTimer.read() < 7) { |
twighk | 0:200635fa1b08 | 72 | sBottom.relax(); |
twighk | 0:200635fa1b08 | 73 | }else { |
twighk | 0:200635fa1b08 | 74 | sTop.anticlockwise(); |
twighk | 0:200635fa1b08 | 75 | } |
twighk | 0:200635fa1b08 | 76 | if (servoTimer.read() >= 9) servoTimer.reset(); |
twighk | 0:200635fa1b08 | 77 | } |
twighk | 0:200635fa1b08 | 78 | } |
twighk | 0:200635fa1b08 | 79 | |
twighk | 0:200635fa1b08 | 80 | void motorencodetestline(){ |
twighk | 0:200635fa1b08 | 81 | Encoder Eleft(p27, p28), Eright(p30, p29); |
twighk | 0:200635fa1b08 | 82 | MainMotor mleft(p24,p23), mright(p21,p22); |
twighk | 0:200635fa1b08 | 83 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 84 | const float speed = 0.2; |
twighk | 0:200635fa1b08 | 85 | const float dspeed = 0.1; |
twighk | 0:200635fa1b08 | 86 | |
twighk | 0:200635fa1b08 | 87 | mleft(speed); mright(speed); |
twighk | 0:200635fa1b08 | 88 | while (true){ |
twighk | 0:200635fa1b08 | 89 | //left 27 cm = 113 -> 0.239 cm/pulse |
twighk | 0:200635fa1b08 | 90 | //right 27 cm = 72 -> 0.375 cm/pulse |
twighk | 0:200635fa1b08 | 91 | pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375)); |
twighk | 0:200635fa1b08 | 92 | if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){ |
twighk | 0:200635fa1b08 | 93 | mright(speed - dspeed); |
twighk | 0:200635fa1b08 | 94 | } else { |
twighk | 0:200635fa1b08 | 95 | mright(speed + dspeed); |
twighk | 0:200635fa1b08 | 96 | } |
twighk | 0:200635fa1b08 | 97 | } |
twighk | 0:200635fa1b08 | 98 | |
twighk | 0:200635fa1b08 | 99 | } |
twighk | 0:200635fa1b08 | 100 | |
twighk | 0:200635fa1b08 | 101 | void motorencodetest(){ |
twighk | 0:200635fa1b08 | 102 | Encoder Eleft(p28, p27), Eright(p29, p30); |
twighk | 0:200635fa1b08 | 103 | MainMotor mleft(p23,p24), mright(p22,p21); |
twighk | 0:200635fa1b08 | 104 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 105 | |
twighk | 0:200635fa1b08 | 106 | const float speed = -0.3; |
twighk | 0:200635fa1b08 | 107 | const int enc = -38; |
twighk | 0:200635fa1b08 | 108 | while(true){ |
twighk | 0:200635fa1b08 | 109 | mleft(speed); mright(0); |
twighk | 0:200635fa1b08 | 110 | while(Eleft.getPoint()>enc){ |
twighk | 0:200635fa1b08 | 111 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 112 | } |
twighk | 0:200635fa1b08 | 113 | Eleft.reset(); Eright.reset(); |
twighk | 0:200635fa1b08 | 114 | mleft(0); mright(speed); |
twighk | 0:200635fa1b08 | 115 | while(Eright.getPoint()>enc){ |
twighk | 0:200635fa1b08 | 116 | pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint()); |
twighk | 0:200635fa1b08 | 117 | } |
twighk | 0:200635fa1b08 | 118 | Eleft.reset(); Eright.reset(); |
twighk | 0:200635fa1b08 | 119 | } |
twighk | 0:200635fa1b08 | 120 | } |
twighk | 0:200635fa1b08 | 121 | |
twighk | 0:200635fa1b08 | 122 | void encodertest(){ |
twighk | 0:200635fa1b08 | 123 | Encoder E1(p28, p27); |
twighk | 0:200635fa1b08 | 124 | Encoder E2(p29, p30); |
twighk | 0:200635fa1b08 | 125 | Serial pc(USBTX, USBRX); |
twighk | 0:200635fa1b08 | 126 | while(1){ |
twighk | 0:200635fa1b08 | 127 | wait(0.1); |
twighk | 0:200635fa1b08 | 128 | pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint()); |
twighk | 0:200635fa1b08 | 129 | } |
twighk | 0:200635fa1b08 | 130 | |
twighk | 0:200635fa1b08 | 131 | } |
twighk | 0:200635fa1b08 | 132 | void motortest(){ |
twighk | 0:200635fa1b08 | 133 | MainMotor mright(p22,p21), mleft(p23,p24); |
twighk | 0:200635fa1b08 | 134 | while(1) { |
twighk | 0:200635fa1b08 | 135 | wait(1); |
twighk | 0:200635fa1b08 | 136 | mleft(0.8); mright(0.8); |
twighk | 0:200635fa1b08 | 137 | wait(1); |
twighk | 0:200635fa1b08 | 138 | mleft(-0.2); mright(0.2); |
twighk | 0:200635fa1b08 | 139 | wait(1); |
twighk | 0:200635fa1b08 | 140 | mleft(0); mright(0); |
twighk | 0:200635fa1b08 | 141 | } |
twighk | 0:200635fa1b08 | 142 | } |