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ultra_funcs.ino
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void getSonar(){
/*
this func gets distance from the five ultrasonic sensors and
convert it into boolean values based on the distance threshold
*/
dL = sonar[0].ping_cm(); // left distance
dF = sonar[1].ping_cm(); // front distance
dR = sonar[2].ping_cm(); // right distance
dFr = sonar[3].ping_cm(); // front right
dFl = sonar[4].ping_cm(); // front left
//--------------------------------------------
// sensor values filtration and walls detection
//----------------------------------------------
// left
if(dL > 0.00 && dL < 10.00){
sonarLeft = true; // left wall detected
dist_left = dL;
}else if (dL >= 10.00){
sonarLeft = false;
dist_left = 0.00;
}
//---------------
// front left
if(dFl > 0.00 && dFl < 10.00){
dist_frontLeft = dFl;
}else if (dL >= 10.00){
dist_frontLeft = dFl;
}
//--------------
// front
if(dF > 0.00 && dF <= 6.00){
sonarFront = true;
dist_front = dF; // front wall detected
}else if (dF > 6.00){
sonarFront = false;
dist_front = dF;
}
//----------------
// front right
if(dFr > 0.00 && dFr < 10.00){
dist_frontRight = dFr;
}else if (dFr >= 10.00){
dist_frontRight = dFr;
}
//---------------
// right
if(dR > 0.00 && dR < 8.00){
sonarRight = true; // right wall detected
dist_right = dR;
}else if(dR >= 8.00){
sonarRight = false;
dist_right = 0.00;
}
}
void sonarGuided(){
/*
the desire left and right speeds are calculated based on
the left and right wall distance from the robot
*/
dist_error = dist_left - dist_right;
if(sonarLeft == true && sonarRight == true){
desire_dist_error = 0.0;
}
if(sonarLeft == false && sonarRight == true){
desire_dist_error = -3.0;
}
if(sonarLeft == true && sonarRight == false){
desire_dist_error = 3.0;
}
error_diff = desire_dist_error - dist_error;
sonar_pid = (0.9 * error_diff) + (0.1* (error_diff - prv_error_diff)) ; // 4.0 oscillates alot
// left veering scenerio
if (sonar_pid < 0){
desire_left_speed = desire_speed - (-1.0*sonar_pid);
desire_right_speed = desire_speed;
// right veering scenerio
}else if (sonar_pid > 0){
desire_right_speed = desire_speed - sonar_pid;
desire_left_speed = desire_speed;
// robot in the center scenerio
}else if(sonar_pid == 0){
desire_right_speed = desire_speed;
desire_left_speed = desire_speed;
}
prv_error_diff = error_diff;
}
void sonarGuided2(){
/*
the desire left and right speed are calculated based on
the left and right wall distance from the robot
*/
dist_error = dist_left - dist_right;
sonar_pid = 0.8 * dist_error;
// left veering scenerio
if (sonar_pid < 0){
desire_right_speed = desire_speed - (-1.0*sonar_pid);
desire_left_speed = desire_speed;
}else if (sonar_pid > 0){
desire_left_speed = desire_speed - sonar_pid;
desire_right_speed = desire_speed;
}else if (sonar_pid == 0){
desire_left_speed = desire_speed;
desire_right_speed = desire_speed;
}
}
void displayDist(){
/*
display the distances from the ultrasonic sensors
*/
getSonar();
Serial.print(dist_left);
Serial.print(" ");
Serial.print(dFl);
Serial.print(" ");
Serial.print(dist_front);
Serial.print(" ");
Serial.print(dFr);
Serial.print(" ");
Serial.println(dist_right);
}