Nico De Witte
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:
- Controlling the LEDS
- Move forward and backward
- Turn
- Read the sensor values
- Use a PID controller
Revision 7:a72215b1910b, committed 2015-02-25
- Comitter:
- pcordemans
- Date:
- Wed Feb 25 15:56:14 2015 +0000
- Parent:
- 6:0dc4e4225881
- Child:
- 8:597ce8a7d34b
- Commit message:
- PID works, updated the comments
Changed in this revision
| robot_logic.cpp | Show annotated file Show diff for this revision Revisions of this file |
| robot_logic.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/robot_logic.cpp Wed Feb 25 09:10:13 2015 +0000
+++ b/robot_logic.cpp Wed Feb 25 15:56:14 2015 +0000
@@ -3,8 +3,8 @@
// Some defines
#define MAX_SPEED 100
#define MAX_SENSOR 100
-#define MAX_REAL_SPEED 0.3
-#define MAX 0.3
+#define MAX_REAL_SPEED 0.75
+
#define MIN 0
// Static scope variables
@@ -22,7 +22,7 @@
void drive(int speed)
{
if (speed > MAX_SPEED || speed < -MAX_SPEED) {
- printf("[ERROR] Drive speed out of range");
+ error("Speed out of range");
return;
}
@@ -40,7 +40,7 @@
void turn(int turnspeed)
{
if (turnspeed > MAX_SPEED || turnspeed < -MAX_SPEED) {
- error("Speed out of range");
+ error("Turn out of range");
return;
}
internal_turnspeed = turnspeed;
@@ -89,14 +89,10 @@
int pid_turn(int line_position)
{
- float right;
- float left;
-
float derivative, proportional, integral = 0;
float power;
- float speed = internal_speed;
- proportional = line_position;
+ proportional = line_position / 100.0;
// Compute the derivative
derivative = line_position - internal_previous_pos_of_line;
@@ -110,12 +106,14 @@
// Compute the power
power = (proportional * (internal_p) ) + (integral*(internal_i)) + (derivative*(internal_d)) ;
- return power;
+ power = power * MAX_SPEED;
+ if (power < -MAX_SPEED)
+ power = -MAX_SPEED;
+ else if (power > MAX_SPEED)
+ power = MAX_SPEED;
+ return power ;
}
-/**
- *Show speed, turn and sensor data
- */
void show_stats(void)
{
m3pi.cls(); // Clear display
--- a/robot_logic.h Wed Feb 25 09:10:13 2015 +0000 +++ b/robot_logic.h Wed Feb 25 15:56:14 2015 +0000 @@ -46,7 +46,7 @@ /** * Calibrate the line follow sensors. - * Take note that the pololu should be placed over the line + * Take note that the robot should be placed over the line * before this function is called and that it will rotate to * both sides. */ @@ -72,7 +72,7 @@ void pid_init(int p, int i, int d); /** - * Determine PID turnspeed with which the pololu should + * Determine PID turnspeed with which the robot should * turn to follow the line at the given position. * * @param line_position The position of the line in a range of [-100, +100] @@ -98,6 +98,7 @@ * Turn on, off or toggle a specific LED * @param i the LED number LED_0 .. LED_7 * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE + * @example led(LED_0, LED_ON); turns LED 0 on. */ void led(LedIndex i, LedState state);
