Nico De Witte / racing_robots

Racing Robots Session

Dependencies:   MbedJSONValue m3pi

This is the library for the Racing Robots session. It supports the M3PI robot of Polulu.

It is based on the "Arduino" principle of the init and loop function.

Just add a main.cpp file which contains:

Racing Robots main file

#include "robot_logic.h"

void init()
{
   //put your initialization logic here
}

void loop()
{
    //put your robot control logic here    
}

Features include:

  1. Controlling the LEDS
  2. Move forward and backward
  3. Turn
  4. Read the sensor values
  5. Use a PID controller

robot_logic.h@4:3743cbfe031b, 2015-02-24 (annotated)

Committer:
pcordemans
Date:
Tue Feb 24 09:06:29 2015 +0000
Revision:
4:3743cbfe031b
Parent:
2:356bb8d99326
Child:
6:0dc4e4225881
removed racing_robots.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pcordemans 4:3743cbfe031b 1 #ifndef H_ROBOT_LOGIC
pcordemans 4:3743cbfe031b 2 #define H_ROBOT_LOGIC
pcordemans 4:3743cbfe031b 3
dwini 0:c0ae66a0ec7a 4 #include "mbed.h"
dwini 0:c0ae66a0ec7a 5 #include "m3pi.h"
dwini 0:c0ae66a0ec7a 6
dwini 2:356bb8d99326 7 typedef enum {
dwini 2:356bb8d99326 8 LED_1 = 0,
dwini 2:356bb8d99326 9 LED_2 = 1,
dwini 2:356bb8d99326 10 LED_3 = 2,
dwini 2:356bb8d99326 11 LED_4 = 3,
dwini 2:356bb8d99326 12 LED_5 = 4,
dwini 2:356bb8d99326 13 LED_6 = 5,
dwini 2:356bb8d99326 14 LED_7 = 6,
dwini 2:356bb8d99326 15 LED_8 = 7
dwini 2:356bb8d99326 16 } LedIndex;
dwini 0:c0ae66a0ec7a 17
dwini 0:c0ae66a0ec7a 18 typedef enum {
dwini 0:c0ae66a0ec7a 19 LED_ON = 0,
dwini 0:c0ae66a0ec7a 20 LED_OFF = 1,
dwini 0:c0ae66a0ec7a 21 LED_TOGGLE = 2
dwini 0:c0ae66a0ec7a 22 } LedState;
dwini 0:c0ae66a0ec7a 23
dwini 0:c0ae66a0ec7a 24
dwini 0:c0ae66a0ec7a 25 /*
dwini 0:c0ae66a0ec7a 26 * Drive the robot forward or backward.
dwini 2:356bb8d99326 27 * If the robot was turning it will stop turning and drive in a straight line.
dwini 0:c0ae66a0ec7a 28 *
dwini 2:356bb8d99326 29 * @speed The speed percentage with which to drive forward or backward.
dwini 2:356bb8d99326 30 * Can range from -100 (full throttle backward) to +100 (full throttle forward).
dwini 0:c0ae66a0ec7a 31 */
dwini 0:c0ae66a0ec7a 32 void drive(int speed);
dwini 0:c0ae66a0ec7a 33
dwini 2:356bb8d99326 34 /*
dwini 2:356bb8d99326 35 * Turn the robot left or right while driving.
dwini 2:356bb8d99326 36 *
dwini 2:356bb8d99326 37 * @turnspeed The percentage with which to turn the robot.
dwini 2:356bb8d99326 38 * Can range from -100 (full throttle left) to +100 (full throttle right).
dwini 2:356bb8d99326 39 */
dwini 0:c0ae66a0ec7a 40 void turn(int turnspeed);
dwini 0:c0ae66a0ec7a 41
dwini 2:356bb8d99326 42 /*
dwini 2:356bb8d99326 43 * Stop the robot.
dwini 2:356bb8d99326 44 */
dwini 2:356bb8d99326 45 void stop(void);
dwini 0:c0ae66a0ec7a 46
dwini 2:356bb8d99326 47 /*
dwini 2:356bb8d99326 48 * Calibrate the line follow sensors.
dwini 2:356bb8d99326 49 * Take note that the pololu should be placed over the line
dwini 2:356bb8d99326 50 * before this function is called and that it will rotate to
dwini 2:356bb8d99326 51 * both sides.
dwini 2:356bb8d99326 52 */
dwini 2:356bb8d99326 53 void sensor_calibrate(void);
dwini 0:c0ae66a0ec7a 54
dwini 2:356bb8d99326 55 /*
dwini 2:356bb8d99326 56 * Read the value from the line sensor. The returned value indicates the
dwini 2:356bb8d99326 57 * position of the line. The value ranges from -100 to +100 where -100 is
dwini 2:356bb8d99326 58 * fully left, +100 is fully right and 0 means the line is detected in the middle.
dwini 2:356bb8d99326 59 *
dwini 2:356bb8d99326 60 * @return The position of the line with a range of -100 to +100.
dwini 2:356bb8d99326 61 */
dwini 2:356bb8d99326 62 int line_sensor(void);
dwini 0:c0ae66a0ec7a 63
dwini 2:356bb8d99326 64 /*
dwini 2:356bb8d99326 65 * Initialize the PID drive control with
dwini 2:356bb8d99326 66 * the P, I and T factors.
dwini 2:356bb8d99326 67 *
dwini 2:356bb8d99326 68 * @p The P factor
dwini 2:356bb8d99326 69 * @i The I factor
dwini 2:356bb8d99326 70 * @d The D factor
dwini 2:356bb8d99326 71 */
dwini 0:c0ae66a0ec7a 72 void pid_init(int p, int i, int d);
dwini 0:c0ae66a0ec7a 73
dwini 2:356bb8d99326 74 /*
dwini 2:356bb8d99326 75 * Determine PID turnspeed with which the pololu should
dwini 2:356bb8d99326 76 * turn to follow the line at the given position.
dwini 2:356bb8d99326 77 *
dwini 2:356bb8d99326 78 * @line_position The position of the line in a range of [-100, +100]
dwini 2:356bb8d99326 79 *
dwini 2:356bb8d99326 80 * @returns The turnspeed in a range of [-100, +100]
dwini 2:356bb8d99326 81 */
dwini 0:c0ae66a0ec7a 82 int pid_turn(int line_position);
dwini 0:c0ae66a0ec7a 83
dwini 0:c0ae66a0ec7a 84 // Show drive speed and sensor data
dwini 2:356bb8d99326 85 void show_stats();
dwini 0:c0ae66a0ec7a 86
dwini 2:356bb8d99326 87 // Show the name of the robot on the display
dwini 2:356bb8d99326 88 void show_name(char * name);
dwini 2:356bb8d99326 89
dwini 0:c0ae66a0ec7a 90
dwini 0:c0ae66a0ec7a 91 // Turn a led on or off
dwini 2:356bb8d99326 92 void led(LedIndex i, LedState state);
dwini 0:c0ae66a0ec7a 93
dwini 0:c0ae66a0ec7a 94 // Wait for a number of milliseconds
dwini 0:c0ae66a0ec7a 95 void await(int milliseconds);
dwini 0:c0ae66a0ec7a 96
dwini 0:c0ae66a0ec7a 97 #endif