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)

Files at this revision

API Documentation at this revision

Revision 0:466ee63955df, committed 2016-07-14

Comitter:
DanArgust
Date:
Thu Jul 14 09:09:52 2016 +0000
Child:
1:fefc1e3f0093
Commit message:
First commit; Basic Line follower using two sensors; This commit contains highly sensitive algorithm and exhibits twitchy behaviour

Changed in this revision

SevenSegmentDisplay.lib Show annotated file Show diff for this revision Revisions of this file
USBDevice.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SevenSegmentDisplay.lib	Thu Jul 14 09:09:52 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/jf1452/code/SevenSegmentDisplay/#cb7339a2e196

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Thu Jul 14 09:09:52 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/USBDevice/#01321bd6ff89

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 14 09:09:52 2016 +0000
@@ -0,0 +1,79 @@
+/*********************************************************
+*RenBuggyLineFollower                                    *
+*Author: Dan Argust                                      *
+*                                                        *  
+*This program demonstates the use of two sensors to      *
+*detect and follow a thin black line.                    *
+*********************************************************/
+
+#include "mbed.h" //"mbed.h" is a library that makes it easier to program microcontrollers
+#include "USBSerial.h"
+//#include "TimedMovement.h" //"TimedMovement.h" contains the functions that we will use to move the buggy
+
+AnalogIn ain0(p15);
+AnalogIn ain1(p16);
+
+PwmOut pwm0(p25);
+PwmOut pwm1(p10);
+
+float Lmotor;
+float Rmotor;
+float newLine;
+float oldLine;
+
+//USBSerial USB;
+Ticker timer;
+
+void getMotorSpeeds(float a,float b){
+    float inputs[2] = {a,b};
+    float max_speed = 1.0;
+    Lmotor = 0;
+    Rmotor = 0;
+    newLine = 0;
+    float line_to_speed_factor = 5;
+    for(int i = 0;i<2;++i){
+        newLine += inputs[i]*(i+1);
+    }
+    float sum = 0;
+    for (int i = 0;i<2;++i){
+        sum += inputs[i];
+    }
+    newLine = newLine / sum;
+    if((a<0.2)&&(b<0.2)){
+        if(oldLine>1.5)
+            newLine = 2;
+        else
+            newLine = 1;
+    }
+    oldLine = newLine;
+    /*USB.printf("\033[2J");
+    USB.printf("\033[0;0H");
+    USB.printf("input a = %f\n\rinput b = %f\n\r",a,b);
+    USB.printf("%f\n",line);*/
+    Lmotor = newLine*line_to_speed_factor-6.5;
+    Rmotor = 2-(newLine*line_to_speed_factor-6.5);
+    if(Lmotor>max_speed){
+        Lmotor = max_speed;
+    }
+    if(Rmotor>max_speed){
+        Rmotor = max_speed;
+    }
+}
+
+/*void PrintOutputs(){
+    USB.printf("\033[2J");
+    USB.printf("\033[0;0H");
+    USB.printf("Left  : %f\n\r",Lmotor);
+    USB.printf("Right : %f\n\r",Rmotor);
+}*/
+
+int main()
+{
+    //timer.attach(&PrintOutputs,0.1);
+    while(true){
+        getMotorSpeeds(ain0.read(),ain1.read());
+        pwm0 = Lmotor;
+        pwm1 = Rmotor;
+        wait_ms(10);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jul 14 09:09:52 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file