The objective is to have the Robot “SEARCH” for a black line. When a black line
ID: 3822317 • Letter: T
Question
The objective is to have the Robot “SEARCH” for a black line. When a black line is detected the robot will then “FOLLOW” the black line. If the line ends the robot will turn around and go back following the black line again. This will go on forever.
I have the code completed up to the point where I have simple control of both motors and some driving functions.
I NEAD YOU TO COMPLET THE LOGIC PORTION OF THIS ROBOT.
The CODE IS IN C
I am USING THE chipKIT Pro MX4 : Embedded Systems Trainer Board. With The Microchip® PIC32MX460F512L.
I am Programing in MPLAB X IDE V3.50
I am using 4 IR Proximity Sensors. When the Line is black, the reading is 0 and when it is white the sensor reads 1.
The motors are controlled using a PWM ISR operation and are controlled using the OC2 and OC3 registers.
Please comment all the code so I can follow along.
Please post the entire Code when finished. The robot must make it all the way around.
Bellow is a picture of the course the robot will be running.
My CODE:
/*
* Included Libraries
*/
#include <xc.h> /* contains Vector Name/Number Macros */
#include <sys/attribs.h> /* contains __ISR() Macros */
#include <stdio.h>
/*
* Oscillator Settings
* Timer Set up PLL
*/
#pragma config FNOSC = PRIPLL // Oscillator selection
#pragma config POSCMOD = EC // Primary oscillator mode
#pragma config FPLLIDIV = DIV_2 // PLL input divider
#pragma config FPLLMUL = MUL_20 // PLL multiplier
#pragma config FPLLODIV = DIV_1 // PLL output divider
#pragma config FPBDIV = DIV_8 // Peripheral bus clock divider
/*
*
*/
void InitializeSystem();
void Initialize_IO();
void Initialize_Timer1();
void Initialize_Timer2();
void Initialize_Timer3();
void Initialize_OC();
void Initialize_IC();
void Interrupts_enable();
void Motor_Forward();
void Stop();
void TurnLeft();
void TurnRight();
void Motor_Backward();
void Check_Min_OC();
/*
* Main Driver
*/
void main(){
InitializeSystem();
Initialize_IO();
Initialize_Timer1();
Initialize_Timer2();
Initialize_Timer3();
Initialize_OC();
Initialize_IC();
Interrupts_enable();
/*
* Infinit loop
*/
while(1){
/*
IR sensor registers on board
F13 = 1;//LL
F4 = 1;//LC
F5 = 1;//RC
F12 = 1;//RR
*/
/*
Motor Registers on Board
D6 = left Motor
D7 = Right Motor
*/
/*
Logic section the make robot follow the line
*/
//Left sensor black, right sensor white, turn left
if (PORTFbits.RF13 == 1 && PORTFbits.RF12 == 0)
{
LATBbits.LATB5 = 1;
TurnLeft();
}
//Left sensor white, right sensor black, turn right
else if (PORTFbits.RF13 == 0 && PORTFbits.RF12 == 1)
{
LATBbits.LATB6 = 1;
TurnRight();
}
//Both sensors Black, go forward
else if (PORTFbits.RF4 == 0 && PORTFbits.RF5 == 0)
{
LATBbits.LATB5 = 1;
LATBbits.LATB6 = 1;
Motor_Forward();
}
}
}
void InitializeSystem(){
Initialize_IO();
Initialize_Timer1();
Initialize_Timer2();
Initialize_Timer3();
Initialize_OC();
Initialize_IC();
}
void Initialize_IO(){
// Motor Direction bits
TRISDbits.TRISD6 =0;
LATDbits.LATD6 = 0;
TRISDbits.TRISD7 =0;
LATDbits.LATD7 = 0;
TRISDbits.TRISD1 =0;
LATDbits.LATD1 = 0;
TRISDbits.TRISD2 =0;
LATDbits.LATD2 =0;
// truns on IR sensor;
TRISFbits.TRISF13 = 1;//LL
TRISFbits.TRISF4 = 1;//LC
TRISFbits.TRISF5 = 1;//RC
TRISFbits.TRISF12 = 1;//RR
}
void Initialize_Timer1(){
T1CONbits.TON = 0;
T1CONbits.TCKPS = 3;
PR1 = 0xFFFF;
TMR1 = 0;
T1CONbits.ON =1;;
}
void Initialize_Timer2(){
T2CONbits.TON = 0;
T2CONbits.TCKPS = 7;
PR2 = 500;
TMR2 = 0;
T2CONbits.ON =1;;
}
void Initialize_Timer3(){
T3CONbits.TON = 0;
T3CONbits.TCKPS = 7;
PR3 = 0xFFFF;
TMR3 = 0;
T3CONbits.ON =1;;
}
void Initialize_OC(){
// output compare
OC2CONbits.OCM =6;
OC2R = 100;
OC2RS = 100;
OC2CONbits.ON=1;
OC3CONbits.OCM =6;
OC3R = 100;
OC3RS = 100;
OC3CONbits.ON = 1;
/* Set Interrupt Controller for multi-vector mode */
}
void Initialize_IC(){
// Initialize IC2
TRISDbits.TRISD9 = 1;
IC2CON= 0x0000;
IC2CONbits.SIDL = 1; // halt in CPU Idle Mode
IC2CONbits.C32 = 0; // 16bit timer;
IC2CONbits.ICTMR = 0; // select Timer 3;
IC2CONbits.ICI = 3; // interrupt every 4 events
IC2CONbits.ICM = 5; // increment every 16 rising edge
// Initialize IC3
TRISDbits.TRISD10 = 1;
IC3CON= 0x0000;
IC3CONbits.SIDL = 1; // halt in CPU Idle Mode
IC3CONbits.C32 = 0; // 16bit timer;
IC3CONbits.ICTMR = 0; // select Timer 3;
IC3CONbits.ICI = 3; // interrupt every fourth event
IC3CONbits.ICM = 5; // increment every 16 rising edge
}
void Interrupts_enable(){
// Timer one interrupt is enabled when it enters the Path search mode
IPC1bits.T1IP = 7;
IFS0bits.T1IF = 0;
IEC0bits.T1IE = 0;
// Interrupt for IC2
IFS0bits.IC2IF =0;
IPC2bits.IC2IP = 7;
IEC0bits.IC2IE = 1;
// Interrupt for IC3
IFS0bits.IC3IF =0;
IPC3bits.IC3IP = 7;
IEC0bits.IC3IE = 1;
// turn ON IC2 & IC3
IC2CONbits.ON = 1;
IC3CONbits.ON= 1;
//// Interrupt for Timer1
IFS0bits.T1IF =0;
IPC1bits.T1IP = 7;
IEC0bits.T1IE = 1;
INTCONbits.MVEC = 1;
__builtin_enable_interrupts();
}
void Motor_Forward(){
LATDbits.LATD6 = 0;
LATDbits.LATD7 = 1;
}
void Stop(){
OC2RS = 0;
OC3RS = 0;
}
void TurnLeft(){
OC2RS = 300;
OC3RS = 0;
}
void TurnRight(){
OC2RS = 0;
OC3RS = 300;
}
void Motor_Backward(){
LATDbits.LATD6 = 1;
LATDbits.LATD7 = 0;
OC2RS = 500;
OC3RS = 500;
}
void Check_Min_OC(){
if (OC2RS < 500)
OC2RS = 500;
if (OC3RS<500)
OC3RS = 500;
}
Explanation / Answer
//main.c
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