Chris Styles / Mbed 2 deprecated m3pi_LineFollower

A simple line following program

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 0:eb1ece444e15, committed 2010-11-01

Comitter:
chris
Date:
Mon Nov 01 23:16:57 2010 +0000
Child:
1:5ddd3faed06d
Commit message:
Added some LEDs to show how far off the line the sensors are

Changed in this revision

m3pi.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/m3pi.lib	Mon Nov 01 23:16:57 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/chris/code/m3pi/#330eb028e85b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 01 23:16:57 2010 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+BusOut leds(LED1,LED2,LED3,LED4);
+m3pi pi (p27,p9,p10); //nRST, TX, RX
+
+int main() {
+
+    pi.locate(0,1);
+    pi.printf("Line Flw");
+
+    float position_of_line = 0.0;
+
+    pi.sensor_auto_calibrate();
+    float speed = 0.4;
+
+    while (1) {
+        
+        // -1.0 is far left, 1.0 is far right
+        position_of_line = pi.line_position();
+        
+        // Line is more than 75% to the left
+        if (position_of_line < -0.25) {
+            pi.left_motor(speed + 0.3);
+            pi.right_motor(speed - 0.3);
+            leds = 0xc;
+        } 
+        // Line is more than 25% to the left
+        else if (position_of_line < -0.10) {
+            pi.left_motor(speed);
+            pi.right_motor(speed - 0.3);
+            leds = 0x4;
+        } 
+        // Line is more than 75% to the right
+        else if (position_of_line > 0.25) {
+            pi.right_motor(speed + 0.3);
+            pi.left_motor(speed - 0.3);            
+            leds = 0x3;
+        } 
+        // Line is more than 75% to the right        
+        else if (position_of_line > 0.10) {
+            pi.right_motor(speed);
+            pi.left_motor(speed - 0.3);
+            leds = 0x2;
+        } 
+        // Line is inthe middle        
+        else {
+            pi.forward(speed);
+            leds = 0x0;
+        }
+
+    }
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Nov 01 23:16:57 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e