-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathCode.cpp
More file actions
246 lines (193 loc) Β· 4.91 KB
/
Code.cpp
File metadata and controls
246 lines (193 loc) Β· 4.91 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
#include<PID_v1.h>
//Settings
double Kp = 1, Ki = 0.05, Kd = 0.01;
// propoprtional gain, differential gain and integral gain for PID
int LturnTime = 500;
int RturnTime = 560;
int UturnTime = 1050;
int FATTime =575;
int FBRTTime = 960;
int FBLTTime =790;
// FORWARD AFTER TURN TIME
int goFowdTime = 25;
int lExtspeed = 10;
double threshold = 0; //initial threshold value for deciding turn
double fThreshold = 0;
int outLowLim = 100;
int outHigLim = 225;
int rled = 2;
int lled = 8;
int lTrig = A4;
int lEcho = A5;
int fTrig = A2;
int fEcho = A3;
int rTrig = A0;
int rEcho = A1;
const int lFowd = 6; //Left Forward pwm
const int lBack = 3; //left backward PWM
const int rBack = 10; //Right Backward PWM
const int rFowd = 5; //Right Forward pwm
const int En_A = 9;
const int En_B = 11;
bool hascounteddist = false;
void readSensors();
void lTurn();
void rTurn();
void stopAll();
void stabilize();
void goFowd();
void decide();
void uTurn();
void Print();
void lledblink();
void rledblink();
double lDist, rDist, fDist;
double mean;
double lms = 150, rms = 150;
long lastPrintTime = 0;
int printInterval = 500;
PID lPid(&lDist, &lms, &mean, Kp, Ki, Kd, DIRECT);
PID rPid(&rDist, &rms, &mean, Kp, Ki, Kd, DIRECT);
void setup() {
Serial.begin(9600);
pinMode(En_A, OUTPUT);
pinMode(En_B, OUTPUT);
pinMode(rBack, OUTPUT);
pinMode(rFowd, OUTPUT);
pinMode(lBack, OUTPUT);
pinMode(lFowd, OUTPUT);
pinMode(lTrig, OUTPUT);
pinMode(rTrig, OUTPUT);
pinMode(fTrig, OUTPUT);
pinMode(lEcho, INPUT);
pinMode(rEcho, INPUT);
pinMode(fEcho, INPUT);
lPid.SetMode(AUTOMATIC);
rPid.SetMode(AUTOMATIC);
lPid.SetOutputLimits(outLowLim, outHigLim);
rPid.SetOutputLimits(outLowLim, outHigLim);
analogWrite(En_A, 180);
analogWrite(En_B, 180);
pinMode(rled, OUTPUT);
pinMode(lled, OUTPUT);
}
void loop() {
readSensors(); // used if condition for serial print taking delay between consecutive serial output such that loop wont get any delay
if (millis() - lastPrintTime >= printInterval) {
Print();
lastPrintTime = millis();}
stabilize();
if (hascounteddist == false){ //to decide fthreshold and side threshold value by calculating size of maze
fThreshold = lDist + rDist + 10;
threshold = mean*4;
hascounteddist = true; // will run initially once
}
decide();
}
void readSensors() {
lDist = getDistance(lTrig, lEcho);
fDist = getDistance(fTrig, fEcho);
rDist = getDistance(rTrig, rEcho);
}
double getDistance(int triggerPin, int echoPin) {
digitalWrite(triggerPin, LOW);
delayMicroseconds(2);
digitalWrite(triggerPin, HIGH);
delayMicroseconds(10);
digitalWrite(triggerPin, LOW);
long duration = pulseIn(echoPin, HIGH);
double distance = duration * 0.034 / 2;
return distance;
}
void lTurn() {
digitalWrite(lFowd, LOW);
digitalWrite(lBack, HIGH);
digitalWrite(rFowd, HIGH);
digitalWrite(rBack, LOW);
delay(LturnTime);
}
void rTurn() {
digitalWrite(rFowd, LOW);
digitalWrite(rBack, HIGH);
digitalWrite(lFowd, HIGH);
digitalWrite(lBack, LOW);
delay(RturnTime);
}
void uTurn() {
digitalWrite(rFowd, LOW);
digitalWrite(rBack, HIGH);
digitalWrite(lFowd, HIGH);
digitalWrite(lBack, LOW);
delay(UturnTime);
}
void stabilize() {
mean = (lDist + rDist)/2;
lPid.Compute();
rPid.Compute();
}
void goFowd() {
analogWrite(lFowd, lms + lExtspeed);
digitalWrite(lBack, LOW);
digitalWrite(rBack, LOW);
analogWrite(rFowd, rms);
delay(goFowdTime);
}
void FAT() { //to go some steps forward after turn
analogWrite(lFowd, 150);
digitalWrite(lBack, LOW);
digitalWrite(rBack, LOW);
analogWrite(rFowd, 150);
delay(FATTime);
}
void FBT() { //to go forward untill forward dist is 13 cm in case of turning
analogWrite(lFowd, 180);
digitalWrite(lBack, LOW);
digitalWrite(rBack, LOW);
analogWrite(rFowd, 180);
}
void decide() {
if (rDist > threshold){
FBT();
delay(FBRTTime);
rTurn();
FAT();
}
else if (fDist > fThreshold){
if (fDist > fThreshold + 7){
goFowd();
}
else {
FBT();
}
}
else if (lDist > threshold){
FBT();
delay(FBLTTime);
lTurn();
FAT();
}
else
{
uTurn();
// taking uturn
}
}
void Print() {
Serial.print("Leftdistance = ");
Serial.println(lDist);
Serial.print("Rightdistance = ");
Serial.println(rDist);
Serial.print("Frontdistance = ");
Serial.println(fDist);
Serial.print("Mean = ");
Serial.println(mean);
Serial.print("Lms = ");
Serial.println(lms);
Serial.print("Rms = ");
Serial.println(rms);
Serial.print("thershold = ");
Serial.println(threshold);
Serial.print("fThershold = ");
Serial.println(fThreshold);
Serial.print("\n");
}