Pirates Robocon 2017

Abdelrahmanhm23 · Aug 1, 2017 · ae22167 · ae22167
1 parent 1a1d1d1
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diff --git a/Robot 1 tiva/ADC.c → Pirates Robocon 2017/ADC.c b/Robot 1 tiva/ADC.c → Pirates Robocon 2017/ADC.c
@@ -1,3 +1,17 @@
+////////////////////////////////////////////////
+/*
+This file is used to make the robot moves straight on the line
+it includes:
+            - calibration function used to automatically calculate 
+						the values of the white line(or any other line)
+						-data acquisition function
+						-line following motion function
+						-Vertical lines counter function(intended to be used as position refrence)
+Using 8 channel ldr line follower sensor 
+*/
+////////////////////////////////////////////////
+
+
 #include "ADC.h"
 
 // passing an array to this function and its size to get the ADC FIFO's data 

diff --git a/Robot 1 tiva/ADC.h → Pirates Robocon 2017/ADC.h b/Robot 1 tiva/ADC.h → Pirates Robocon 2017/ADC.h
diff --git a/Robot 1 tiva/ExtDll.iex → Pirates Robocon 2017/ExtDll.iex b/Robot 1 tiva/ExtDll.iex → Pirates Robocon 2017/ExtDll.iex
diff --git a/Robot 1 tiva/MemMap.h → Pirates Robocon 2017/MemMap.h b/Robot 1 tiva/MemMap.h → Pirates Robocon 2017/MemMap.h
diff --git a/Robot 1 tiva/Motion.c → Pirates Robocon 2017/Motion.c b/Robot 1 tiva/Motion.c → Pirates Robocon 2017/Motion.c
@@ -1,3 +1,17 @@
+////////////////////////////////////////////////
+/*
+This file is used to control the motion of the whole robot
+
+Using 10 Motors controlled by citroen motor drivers
+4 motors for base (omni wheels)
+3 motors for lifter 
+2 motors for serving the saucer
+1 motor  for loading the saucer
+
+
+*/
+////////////////////////////////////////////////
+
 #include "Motion.h"
  /*
 M5------>M1
@@ -6,6 +20,9 @@ M7------>M3
 M8------>M4
 */
 ///
+
+////////////////////////////Each Motor has a diffrent speed in both directions//////////////////
+/*   
 unsigned long M5_CW  =63;
 unsigned long M6_CW  =276;
 unsigned long M7_CW  =63;
@@ -15,7 +32,7 @@ unsigned long M5_CCW =376;
 unsigned long M6_CCW =651;
 unsigned long M7_CCW =463;
 unsigned long M8_CCW =363;
-///////
+///////*/
 /*
 // Motor 1 CW  dir pin // Motor 2 CCW // Motor 3 CCW 	// Motor 4 CW  dir pin
 unsigned long FORWARD[4]={438,188,814,588};
@@ -77,13 +94,8 @@ void Stop()
 }
 void Forward()
 { 
-	// Motor 1 CW  dir pin
-	// Motor 2 CCW   
-	// Motor 3 CCW   
-	// Motor 4 CW  dir pin
-
-//	digitalWrite(Motor5,HIGH);
-// analogWrite(Motor5,M5_CW) ;
+		digitalWrite(Motor5,HIGH);
+	analogWrite(Motor5,FORWARD[0]) ;
 
 	digitalWrite(Motor6,LOW);
 	analogWrite(Motor6,FORWARD[1]) ;
@@ -94,20 +106,13 @@ void Forward()
 	digitalWrite(Motor8,HIGH);
 	analogWrite(Motor8,FORWARD[3]) ;	
 
-	//// delayUs(1); // delay for motor 1
-		digitalWrite(Motor5,HIGH);
-	analogWrite(Motor5,FORWARD[0]) ;
 }
 
 void Reverse()
 {
-	// Motor 1 CCW    
-	// Motor 2 CW    dir pin
-	// Motor 3 CW    dir pin
-	// Motor 4 CCW   
 
-//	digitalWrite(Motor5,LOW);
-//	analogWrite(Motor5,REVERSE[0]) ;
+	digitalWrite(Motor5,LOW);
+	analogWrite(Motor5,REVERSE[0]) ;
 
 	digitalWrite(Motor6,HIGH);
 	analogWrite(Motor6,REVERSE[1]) ;
@@ -118,21 +123,13 @@ void Reverse()
 	digitalWrite(Motor8,LOW);
 	analogWrite(Motor8,REVERSE[3]) ;
 
-		// delayUs(1); // delay for motor 1
-	digitalWrite(Motor5,LOW);
-	analogWrite(Motor5,REVERSE[0]) ;	
 }
 
 
 void Left()
 {
-	//Motor 1   CW   dir pin
-	//Motor 2   CW   dir pin
-	//Motor 3   CCW  
-	//Motor 4   CCW  
-
-//		digitalWrite(Motor5,HIGH);
-//	analogWrite(Motor5,M5_CW) ;
+			digitalWrite(Motor5,HIGH);
+	analogWrite(Motor5,LEFT[0]) ;
 
 	digitalWrite(Motor6,HIGH);
 	analogWrite(Motor6,LEFT[1]) ;
@@ -143,22 +140,14 @@ void Left()
 	digitalWrite(Motor8,LOW);
 	analogWrite(Motor8,LEFT[3]) ;
 
-			// delayUs(1); // delay for motor 1
-			digitalWrite(Motor5,HIGH);
-	analogWrite(Motor5,LEFT[0]) ;
 }
 
 
 void Right()
 {
 
-	//Motor 1   CCW   
-	//Motor 2   CCW  
-	//Motor 3   CW    dir pin
-	//Motor 4   CW    dir pin
-
-//		digitalWrite(Motor5,LOW);
-//	analogWrite(Motor5,M5_CCW) ;
+			digitalWrite(Motor5,LOW);
+	analogWrite(Motor5,RIGHT[0]) ;
 
 	digitalWrite(Motor6,LOW);
 	analogWrite(Motor6,RIGHT[1]) ;
@@ -168,20 +157,14 @@ void Right()
 
 	digitalWrite(Motor8,HIGH);
 	analogWrite(Motor8,RIGHT[3]) ;	
-
-				// delayUs(1); // delay for motor 1
-			digitalWrite(Motor5,LOW);
-	analogWrite(Motor5,RIGHT[0]) ;
+
 }
 
 
 void UpRight()
 {
 
-	//Motor 1    
-	//Motor 2   CCW   dir pin
-	//Motor 3   
-	//Motor 4   CW   dir pin
+
 
 		digitalWrite(Motor5,LOW);
 	MotorStop(Motor5) ;
@@ -200,13 +183,8 @@ void UpRight()
 
 void UpLeft()
 {
-	//Motor 1   CW    dir pin 
-	//Motor 2     
-	//Motor 3   CCW   
-	//Motor 4   
-
-	//	digitalWrite(Motor5,HIGH);
-	//analogWrite(Motor5,M5_CW) ;
+		digitalWrite(Motor5,HIGH);
+	analogWrite(Motor5,UPLEFT[0]) ;
 
 	digitalWrite(Motor6,LOW);
 		MotorStop(Motor6) ;
@@ -217,22 +195,14 @@ void UpLeft()
 	digitalWrite(Motor8,LOW);
 		MotorStop(Motor8) ;	
 
-	// delayUs(1);
-		digitalWrite(Motor5,HIGH);
-	analogWrite(Motor5,UPLEFT[0]) ;
 
 }
 
 void DownRight()
 {
 
-	//Motor 1   CCW   
-	//Motor 2     
-	//Motor 3   CW   dir pin
-	//Motor 4   
-
-//		digitalWrite(Motor5,LOW);
-//	analogWrite(Motor5,M5_CCW) ;
+		digitalWrite(Motor5,LOW);
+	analogWrite(Motor5,DOWNRIGHT[0]) ;
 
 	digitalWrite(Motor6,LOW);
 		MotorStop(Motor6) ;
@@ -243,20 +213,13 @@ void DownRight()
 	digitalWrite(Motor8,LOW);
 		MotorStop(Motor8) ;	
 
-	// delayUs(1);
-		digitalWrite(Motor5,LOW);
-	analogWrite(Motor5,DOWNRIGHT[0]) ;
+
 }
 
 
 void DownLeft()
 {
-
-
-	//Motor 1    
-	//Motor 2   CW   dir pin
-	//Motor 3   
-	//Motor 4   CCW   
+
 
 		digitalWrite(Motor5,LOW);
 	MotorStop(Motor5) ;
@@ -272,15 +235,11 @@ void DownLeft()
 }
 
 
-void ClockWise()
+void ClockWise()  // low speed rotation
 {
-	//Motor 1   CCW
-	//Motor 2   CCW   
-	//Motor 3   CCW
-	//Motor 4   CCW
-//		digitalWrite(Motor5,LOW);
-//	analogWrite(Motor5,M5_CCW) ;
-
+		digitalWrite(Motor5,LOW);
+	//analogWrite(Motor5,CLOCKWISE[0]) ;
+analogWrite(Motor5,10000) ;
 	digitalWrite(Motor6,LOW);
 	//analogWrite(Motor6,CLOCKWISE[1]) ;
 	analogWrite(Motor6,10000) ;
@@ -290,21 +249,15 @@ void ClockWise()
 	digitalWrite(Motor8,LOW);
 //	analogWrite(Motor8,CLOCKWISE[3]) ;	
 	analogWrite(Motor8,10000) ;
-	// delayUs(1);
-		digitalWrite(Motor5,LOW);
-	//analogWrite(Motor5,CLOCKWISE[0]) ;
-analogWrite(Motor5,10000) ;
+
 }
 
-void CounterClockWise()
+void CounterClockWise()  // low speed rotation
 {
-	//Motor 1   CW   dir pin
-	//Motor 2   CW   dir pin
-	//Motor 3   CW   dir pin
-	//Motor 4   CW   
-//		digitalWrite(Motor5,HIGH);
-//	analogWrite(Motor5,M5_CW) ;
-
+
+			digitalWrite(Motor5,HIGH);
+//	analogWrite(Motor5,COUNTERCLOCKWISE[0]) ;
+		analogWrite(Motor5,10000) ;
 	digitalWrite(Motor6,HIGH);
 //	analogWrite(Motor6,COUNTERCLOCKWISE[1]) ;
 		analogWrite(Motor6,10000) ;
@@ -314,10 +267,7 @@ void CounterClockWise()
 	digitalWrite(Motor8,HIGH);
 	//analogWrite(Motor8,COUNTERCLOCKWISE[3]) ;
 		analogWrite(Motor8,10000) ;
-	// delayUs(1);
-			digitalWrite(Motor5,HIGH);
-//	analogWrite(Motor5,COUNTERCLOCKWISE[0]) ;
-		analogWrite(Motor5,10000) ;
+
 }
 
 void lifter1up()
@@ -400,17 +350,10 @@ void liftersdown()
 	{
 		digitalWrite(Motor9,LOW);
 	analogWrite(Motor9,servepwm) ;
-	//			digitalWrite(Motor10,LOW);
-	//analogWrite(Motor10,servepwm) ;
-	//	Serve();
-		//delayUs(10000);
+
 	}
 	void servestop()
 		{
 			MotorStop(Motor9);
-		//	MotorStop(Motor10);
-	//		digitalWrite(ServeMotorCW,LOW);   
-//digitalWrite(ServeMotorCCW,LOW);   
-
 		}
 
diff --git a/Robot 1 tiva/Motion.h → Pirates Robocon 2017/Motion.h b/Robot 1 tiva/Motion.h → Pirates Robocon 2017/Motion.h