Renishaw / Mbed 2 deprecated RenBuggyLineFollower

Basic Line Following Program motors: p25, p10 inputs: p15, p16 Current settings: lineToSpeedFactor = 10 / 3 speedModifier = -4

Dependencies:   mbed

Fork of RenBuggyLineFollower by Dan Argust

This small program lets a buggy follow a line (black line on white background)

main.cpp@2:2439f5a4a93d, 2016-07-14 (annotated)

Committer:
DanArgust
Date:
Thu Jul 14 10:55:33 2016 +0000
Revision:
2:2439f5a4a93d
Parent:
0:466ee63955df
Child:
3:936111f70e37
added 'searching' functionality

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanArgust 0:466ee63955df 1 /*********************************************************
DanArgust 0:466ee63955df 2 *RenBuggyLineFollower *
DanArgust 0:466ee63955df 3 *Author: Dan Argust *
DanArgust 0:466ee63955df 4 * *
DanArgust 0:466ee63955df 5 *This program demonstates the use of two sensors to *
DanArgust 0:466ee63955df 6 *detect and follow a thin black line. *
DanArgust 0:466ee63955df 7 *********************************************************/
DanArgust 0:466ee63955df 8
DanArgust 2:2439f5a4a93d 9 #include "mbed.h"
DanArgust 0:466ee63955df 10
DanArgust 0:466ee63955df 11 AnalogIn ain0(p15);
DanArgust 0:466ee63955df 12 AnalogIn ain1(p16);
DanArgust 0:466ee63955df 13
DanArgust 0:466ee63955df 14 PwmOut pwm0(p25);
DanArgust 0:466ee63955df 15 PwmOut pwm1(p10);
DanArgust 0:466ee63955df 16
DanArgust 0:466ee63955df 17 float Lmotor;
DanArgust 0:466ee63955df 18 float Rmotor;
DanArgust 0:466ee63955df 19 float newLine;
DanArgust 0:466ee63955df 20 float oldLine;
DanArgust 2:2439f5a4a93d 21 bool searching;
DanArgust 2:2439f5a4a93d 22 int counter;
DanArgust 0:466ee63955df 23
DanArgust 0:466ee63955df 24 void getMotorSpeeds(float a,float b){
DanArgust 0:466ee63955df 25 float inputs[2] = {a,b};
DanArgust 0:466ee63955df 26 float max_speed = 1.0;
DanArgust 0:466ee63955df 27 Lmotor = 0;
DanArgust 0:466ee63955df 28 Rmotor = 0;
DanArgust 0:466ee63955df 29 newLine = 0;
DanArgust 2:2439f5a4a93d 30 float line_to_speed_factor = max_speed/0.3;
DanArgust 0:466ee63955df 31 for(int i = 0;i<2;++i){
DanArgust 0:466ee63955df 32 newLine += inputs[i]*(i+1);
DanArgust 0:466ee63955df 33 }
DanArgust 0:466ee63955df 34 float sum = 0;
DanArgust 0:466ee63955df 35 for (int i = 0;i<2;++i){
DanArgust 0:466ee63955df 36 sum += inputs[i];
DanArgust 0:466ee63955df 37 }
DanArgust 0:466ee63955df 38 newLine = newLine / sum;
DanArgust 0:466ee63955df 39 if((a<0.2)&&(b<0.2)){
DanArgust 0:466ee63955df 40 if(oldLine>1.5)
DanArgust 0:466ee63955df 41 newLine = 2;
DanArgust 0:466ee63955df 42 else
DanArgust 0:466ee63955df 43 newLine = 1;
DanArgust 2:2439f5a4a93d 44 searching = true
DanArgust 2:2439f5a4a93d 45 }
DanArgust 2:2439f5a4a93d 46 if(searching){
DanArgust 2:2439f5a4a93d 47 if(abs(a - b)<0.2){
DanArgust 2:2439f5a4a93d 48 newLine = oldLine;
DanArgust 2:2439f5a4a93d 49 }
DanArgust 2:2439f5a4a93d 50 counter++
DanArgust 2:2439f5a4a93d 51 if(counter>300){
DanArgust 2:2439f5a4a93d 52 newLine = 3 - oldLine;
DanArgust 2:2439f5a4a93d 53 counter = 0;
DanArgust 2:2439f5a4a93d 54 }
DanArgust 2:2439f5a4a93d 55 else{
DanArgust 2:2439f5a4a93d 56 searching = false;
DanArgust 2:2439f5a4a93d 57 }
DanArgust 0:466ee63955df 58 }
DanArgust 0:466ee63955df 59 oldLine = newLine;
DanArgust 2:2439f5a4a93d 60 Lmotor = newLine*line_to_speed_factor-4;
DanArgust 2:2439f5a4a93d 61 Rmotor = 2-(newLine*line_to_speed_factor-4);
DanArgust 0:466ee63955df 62 if(Lmotor>max_speed){
DanArgust 0:466ee63955df 63 Lmotor = max_speed;
DanArgust 0:466ee63955df 64 }
DanArgust 0:466ee63955df 65 if(Rmotor>max_speed){
DanArgust 0:466ee63955df 66 Rmotor = max_speed;
DanArgust 0:466ee63955df 67 }
DanArgust 0:466ee63955df 68 }
DanArgust 0:466ee63955df 69
DanArgust 0:466ee63955df 70 int main()
DanArgust 0:466ee63955df 71 {
DanArgust 2:2439f5a4a93d 72 searching = false
DanArgust 2:2439f5a4a93d 73 counter = 0
DanArgust 0:466ee63955df 74 while(true){
DanArgust 0:466ee63955df 75 getMotorSpeeds(ain0.read(),ain1.read());
DanArgust 0:466ee63955df 76 pwm0 = Lmotor;
DanArgust 0:466ee63955df 77 pwm1 = Rmotor;
DanArgust 0:466ee63955df 78 wait_ms(10);
DanArgust 0:466ee63955df 79 }
DanArgust 0:466ee63955df 80 }