int kkkk(void)
{
velocity(255,255);
forward();
while(1)
{
servo_1(0);
servo_2(0);
servo_3(0);
forward();
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
lcd_wr_command(0x01);
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,1,11);
servo_1(100);
servo_2(100);
servo_3(100);
_delay_ms(7000);
}
}
/**
Prints White line sensor values on the screen
*/
void print_sensor_data()
{
lcd_clear();
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
}
void get_vector() {
Left_white_line = ADC_Conversion(3);
Center_white_line = ADC_Conversion(4);
Right_white_line = ADC_Conversion(5);
print_sensor(2,1,3); //Prints value of White Line Sensor Left
print_sensor(2,5,4); //Prints value of White Line Sensor Center
print_sensor(2,9,5); //Prints Value of White Line Sensor Right
}
//-------------------------------------------------------------------------------
//Main Function
//-------------------------------------------------------------------------------
int main(void)
{
init_devices();
while(1)
{
sensor_data_interpretation();
//print_sensor(1,1,1); //Prints IR Proximity Sensor 1
BATT_V = ADC_Conversion(0);
BATT_Voltage = ((ADC_Conversion(0)*100)*0.07902) + 0.7; //Prints Battery Voltage Status
lcd_print(1,1,BATT_Voltage,4);
//print_sensor(1,1,0); //Prints Battery voltage binary value
print_sensor(1,6,5); //Prints IR Proximity Sensor 1
print_sensor(1,10,6); //Prints vlaue of Analog IR Proximity Sensor 2
print_sensor(1,14,7); //Prints value of Analog IR Proximity Sensor 3
print_sensor(2,2,3); //Prints value of White Line Sensor1
print_sensor(2,6,2); //Prints Value of White Line Sensor2
print_sensor(2,10,1); //Prints Value of White Line Sensor3
//print_sensor(2,9,11); //Analog Value Of Front Sharp Sensor
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(2,14,value,3);
}
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1)
{
while (my_signal==0x01)
{
PORTA = PORTA & 0x00;
};
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
flag=1;
forward();
velocity(0,0);
UDR0=0x34;
}
if(Center_white_line<0x10)
{
flag=1;
forward();
velocity(105,100);
UDR0=0x36;
}
if((Left_white_line>0x10) && (flag==0))
{
flag=1;
forward();
velocity(105,70);
UDR0=0x36;
}
if((Right_white_line>0x10) && (flag==0))
{
flag=1;
forward();
velocity(75,100);
UDR0=0x36;
}
_delay_ms(250);
PORTA=0x00;
_delay_ms(500);
}
}
// MAIN FUNCTION
int main()
{
//init_devices2();
// White Line Following
while(1)
{
init_devices_motion();
init_devices_adc();
lcd_set_4bit();
lcd_init();
unsigned char flag = 0;
unsigned char Left_white_line = 0;
unsigned char Center_white_line = 0;
unsigned char Right_white_line = 0;
unsigned char lwl=0;
unsigned char cwl=0;
unsigned char rwl=0;
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line<0x10)
{
flag=1;
forward();
velocity(100,100);
//_delay_ms(10000);
}
if((Left_white_line>0x10) && (flag==0))
{
//bot_charging_process();
flag=1;
forward();
velocity(130,30);
}
if((Right_white_line>0x10) && (flag==0))
{
//bot_charging_process();
flag=1;
forward();
velocity(30,130);
}
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
forward();
velocity(0,0);
}
if((((Center_white_line-Right_white_line>0)&&(Center_white_line-Right_white_line<=10))||((Right_white_line-Center_white_line>0)&&(Right_white_line-Center_white_line<=10)))&&
(((Center_white_line-Left_white_line>0)&&(Center_white_line-Left_white_line<=10))||((Left_white_line-Center_white_line>0)&&(Left_white_line-Center_white_line<=10)))&&
(((Left_white_line-Right_white_line>0)&&(Left_white_line-Right_white_line<=10))||((Right_white_line-Left_white_line>0)&&(Right_white_line-Left_white_line<=10)))
) // recognising node position that is if the reading at all three white line sensors differ maximum by 10 then that point will be node
{
lwl=Left_white_line;
cwl=Center_white_line;
rwl=Right_white_line;
stop();
_delay_ms(500);
break;
}
}
bot_charging_process();
//buzzer();
for(int t=max_angle_of_bot;t>=0;t--)
{
soft_left_2(); //left wheel forward leaving the right wheel at rest to get
//soft rotation at the axis of right wheel
_delay_ms(rot_time);
stop();
_delay_ms(100);
}
forward();
_delay_ms(100);
}
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
forward();
velocity(253,255);
_delay_ms(50);
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line>0x30)
{
flag=1;
forward();
velocity(253,255);
}
if((Left_white_line>0x30) && (flag==0))
{
flag=1;
forward();
velocity(200,255);
}
if((Right_white_line>0x30) && (flag==0))
{
flag=1;
forward();
velocity(255,200);
}
if(Center_white_line>0x30 && Left_white_line>0x30 && Right_white_line>0x30)
{
forward();
velocity(253,255);
_delay_ms(100);
}
if(Center_white_line<0x30 && Left_white_line<0x30 && Right_white_line<0x30)
{
stop();
velocity(0,0);
_delay_ms(100);
}
}
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
int max = 100 ;
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
senser_value_L = print_sensor(1,5,3); //Prints value of White Line Sensor1
senser_value_C = print_sensor(1,1,2); //Prints Value of White Line Sensor2
senser_value_R = print_sensor(1,9,1); //Prints Value of White Line Sensor3
SetTunings();
pid = PID(senser_value_L-senser_value_R);
if (pid < 30)
{
forward();
velocity(max+pid,max);
}
if (pid > 30)
{
forward();
velocity(max,max+pid);
}
/*else if((Left_white_line < 0x30) && (flag==0))
{
pid = PID(senser_value_L);
flag=1;
forward();
velocity(max,max+pid);
}
else if((Right_white_line<0x30) && (flag==0))
{
pid = PID(senser_value_R);
flag=1;
forward();
velocity(max+pid,max);
}
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
forward();
velocity(0,0);
}*/
lcd_print(1,13,pid,3);
}
}
void show_color()
{
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
}
//Main Function
int main(void)
{
unsigned char flag ;
init_devices();
lcd_set_4bit();
lcd_init();
velocity(VELOCITY_MAX,VELOCITY_MAX); // Set the speed to max velocity
forward(); // start to move froward
unsigned char lch=0;
unsigned char rch=0;
unsigned char cch=0;
int ler=0;
int rer=0;
float thd=10;
int per=0;
int thdh=80;
int thdl=20;
float kp=10;
int kd=50;
int rl=0,old_rl=0;
int PWM_ratio_1 = 10;
int PWM_ratio_2 = 25;
unsigned char old_ler=0;
unsigned char old_rer=0;
unsigned char old_per=100;
while(1)
{
lch=ADC_Conversion(3);
rch=ADC_Conversion(5);
cch=ADC_Conversion(4);
ler=lch-cch;
rer=rch-cch;
per=lch-rch;
rl=rch-lch;
print_sensor(1,1,3); //Prints value of White Line Sensor Left
print_sensor(1,5,4); //Prints value of White Line Sensor Center
print_sensor(1,9,5); //Prints value of White Line Sensor Right
if(rl>0)
{
thd = 120 - (kp*rl+kd*(rl-old_rl));
}
else
{
thd = -120 - (kp*rl+kd*(rl-old_rl));
}
lcd_print (2,1,abs(rl),3);
lcd_print (2,5,(unsigned char)abs(thd),3);
if(rl>(-thd) && rl<(thd))
{
forward();
//velocity(255,255);
}
else
{
if(rl>0)
{
if(rl<thd+30)
soft_right();
//velocity(min(255,rl*PWM_ratio_1),0);
else
right();
//velocity(min(255,rl*PWM_ratio_2),0);
}
else
{
if(rl>-thd-30)
soft_left();
//velocity(0,min(255,-rl*PWM_ratio_1));
else
left();
//velocity(0,min(255,-rl*PWM_ratio_2));
}
}
old_rl=rl;
}
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
Front_Sharp_Sensor = ADC_Conversion(11);
Front_IR_Sensor = ADC_Conversion(6);
flag1=0;
flag2=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,4,11); //Prints Value of Front Sharp Sensor
print_sensor(2,8,6); //Prints Value of Front IR Sensor
if(Front_Sharp_Sensor>0x82 || Front_IR_Sensor<0xF0)
{
flag2=1;
stop();
buzzer_on();
}
if((Center_white_line<0x28) && (flag2==0))
{
flag1=1;
buzzer_off();
forward();
velocity(150,150);
}
if((Left_white_line>0x28) && (flag1==0) && (flag2==0))
{
flag1=1;
buzzer_off();
forward();
velocity(150,50);
}
if((Right_white_line>0x28) && (flag1==0) && (flag2==0))
{
flag1=1;
buzzer_off();
forward();
velocity(50,150);
}
if((Center_white_line>0x28) && (Left_white_line>0x28) && (Right_white_line>0x28) && (flag2==0))
{
buzzer_off();
forward();
velocity(0,0);
}
}
}
/**
* Main Function
*/
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1)
{
Left_white_line = ADC_Conversion(3); ///< Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2);///< Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); ///< Getting data of Right WL Sensor
Front_Sharp_Sensor = ADC_Conversion(11);///< Getting data of Front Sharp sensor
Front_IR_Sensor = ADC_Conversion(6); ///< Getting data of Front IR sensor
flag1=0;
flag2=0;
print_sensor(1,1,3); ///< Prints value of White Line Sensor1
print_sensor(1,5,2); ///< Prints Value of White Line Sensor2
print_sensor(1,9,1); ///< Prints Value of White Line Sensor3
lcd_print(1, 13, timer_flag, 4);
if((Center_white_line<0x28))
{
flag1=1;
forward();
velocity(RegSpeed,RegSpeed);
}
if((Left_white_line>0x28) && (flag1==0))
{
flag1=1;
forward();
velocity(100,50);
}
if((Right_white_line>0x28) && (flag1==0))
{
flag1=1;
forward();
velocity(50,100);
}
if((Center_white_line>0x28) && (Left_white_line>0x28) && (Right_white_line>0x28))
{
forward();
velocity(RegSpeed,RegSpeed);
if (timer_flag == 0) ///< vehicle at first black patch
{
timer_flag=1;
while(StartTheBot==0)
{
stop();
}
if (StartTheBot == 1)
{
forward();
velocity(RegSpeed,RegSpeed);
TCCR1B = 0x01; ///< Timer 1 start witrh no prescaler
while(Center_white_line>0x28 && Left_white_line>0x28 && Right_white_line>0x28)//wait till the time the entire red line is crossed.
{
Left_white_line = ADC_Conversion(3); ///< Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); ///< Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); ///< Getting data of Right WL Sensor
}
timer_flag=2;
}
}
else if (timer_flag == 2) ///< vehicle at second black patch
{
TCCR1B = 0x00; ///< Timer 1 stop
timer_flag=3;
lcd_print(2, 1, TCNT1H, 4);
lcd_print(2, 6, TCNT1L, 4);
lcd_print(2, 11, speed_cnt, 5);
speed = 27/ (((unsigned int) speed_cnt * 65536 * 90.9E-9) + ((unsigned int) TCNT1H * 256 * 90.9E-9) + ((unsigned int) TCNT1L * 90.9E-9));
f=1;
speed_int= speed;
speed_dec=(speed-speed_int)*100;
}
else if (timer_flag ==3) ///< vehicle at third black patch
{
timer_flag=4;
while (vehicle_stop==0) ///< Capturing photo in progress
{
stop();
}
if(vehicle_stop==1) ///< photograph taken. Vehicle can go ahead now
{
forward();
}
}
}
if((Front_Sharp_Sensor>0x80)|| (Front_IR_Sensor<0xF0)) ///< Obstacle detection
{
flag2=1;
stop();
}
}
}
//Main Function
int main(void)
{
unsigned char flag ;
init_devices();
lcd_set_4bit();
lcd_init();
threshold();//set threshold before getting into path.Keep it in white surface.
velocity(VELOCITY_MAX,VELOCITY_MAX); // Set the speed to max velocity lcd_print (2,1,VELOCITY_MAX,3);
//lcd_print (2,5,VELOCITY_MAX,3);
forward(); // start to move froward
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(4); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(5); //Getting data of Right WL Sensor
print_sensor(1,1,3); //Prints value of White Line Sensor Left
print_sensor(1,5,4); //Prints value of White Line Sensor Center
print_sensor(1,9,5); //Prints value of White Line Sensor Right
flag=0;
if(Left_white_line>THRESHOLD && Center_white_line>THRESHOLD && Right_white_line>THRESHOLD )
{
velocity(0,0);
_delay_ms(6000);
velocity(50,50);
_delay_ms(300);
}
if(Left_white_line>THRESHOLD && Center_white_line>THRESHOLD && Right_white_line<=THRESHOLD )
{
velocity(40,50);
}
if(Left_white_line>THRESHOLD && Center_white_line<=THRESHOLD && Right_white_line<=THRESHOLD )
{
velocity(30,50);
}
if(Left_white_line<=THRESHOLD && Center_white_line<=THRESHOLD && Right_white_line<=THRESHOLD )
{
velocity(30,55);
}
if(Left_white_line<=THRESHOLD && Center_white_line<=THRESHOLD && Right_white_line>THRESHOLD )
{
velocity(50,30);
}
if(Left_white_line<=THRESHOLD && Center_white_line>THRESHOLD && Right_white_line>THRESHOLD )
{
velocity(50,40);
}
if(Left_white_line<=THRESHOLD && Center_white_line>THRESHOLD && Right_white_line<THRESHOLD )
{
velocity(40,50);
}
}
}
//Main Function
int main()
{
unsigned char flag ;
init_devices();
lcd_set_4bit();
lcd_init();
velocity(VELOCITY_MAX,VELOCITY_MAX); // Set the speed to max velocity
lcd_print (2,1,VELOCITY_MAX,3);
lcd_print (2,5,VELOCITY_MAX,3);
forward(); // start to move froward
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(4); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(5); //Getting data of Right WL Sensor
print_sensor(1,1,3); //Prints value of White Line Sensor Left
print_sensor(1,5,4); //Prints value of White Line Sensor Center
print_sensor(1,9,5); //Prints value of White Line Sensor Right
flag=0;
if(Center_white_line<THRESHOLD) // Is middle Whiteline is within threshold limit
{
USART_Transmit(0x32);
flag=1;
velocity(VELOCITY_MAX,VELOCITY_MAX); // Run robot at max velocity
lcd_print (2,1,VELOCITY_MAX,3);
lcd_print (2,5,VELOCITY_MAX,3);
}
if((Left_white_line>THRESHOLD) && (flag==0)) // Is left Whiteline is not within threshold limit
//if((Left_white_line>THRESHOLD) && (flag==0)) // Is left Whiteline is not within threshold limit
{
USART_Transmit(0x34);
flag=1;
velocity(VELOCITY_MAX,VELOCITY_MIN); // Run robot left wheel at max velocity and right wheel
lcd_print (2,1,VELOCITY_MAX,3); // at min velocity
lcd_print (2,5,VELOCITY_MIN,3);
/* velocity(VELOCITY_MIN,60); // Run robot right wheel at max velocity and left wheel
lcd_print (2,1,VELOCITY_MIN,3); // at min velocity
lcd_print (2,5,VELOCITY_MAX,3);*/
}
if((Right_white_line>THRESHOLD) && (flag==0)) // Is right Whiteline is not within threshold limit
//if((Right_white_line>THRESHOLD) && (flag==0)) // Is right Whiteline is not within threshold limit
{
USART_Transmit(0x36);
flag=1;
velocity(VELOCITY_MIN,VELOCITY_MAX); // Run robot right wheel at max velocity and left wheel
lcd_print (2,1,VELOCITY_MIN,3); // at min velocity
lcd_print (2,5,VELOCITY_MAX,3);
/* velocity(60,VELOCITY_MIN); // Run robot left wheel at max velocity and right wheel
lcd_print (2,1,VELOCITY_MAX,3); // at min velocity
lcd_print (2,5,VELOCITY_MIN,3);*/
}
if(Center_white_line>THRESHOLD && Left_white_line>THRESHOLD && Right_white_line>THRESHOLD && (flag == 0))
// if all Whiteline sensor are not within threshold limit
{
USART_Transmit(0x38);
flag=1;
velocity(VELOCITY_LOW,VELOCITY_LOW); // stop the robot
lcd_print (2,1,VELOCITY_LOW,3);
lcd_print (2,5,VELOCITY_LOW,3);
}
}
}
