2015-2016_Mouserat / Restructured_Test

this code is completely restructured, but should do the same thing. did not want to directly commit, since it may not work at all. compiles though.

Dependencies:   AVEncoder mbed-src-AV

Fork of Test by 2015-2016_Mouserat

mouse.cpp@13:5f08195456a4, 2015-12-15 (annotated)

Committer:
jimmery
Date:
Tue Dec 15 08:56:36 2015 +0000
Revision:
13:5f08195456a4
HUGE RESTRUCTURING OF THE CODE.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jimmery 13:5f08195456a4 1 // CONTAINS ALL MOUSE MOTOR MOVEMENTS. AND LOGIC RELATING TO MOVEMENT.
jimmery 13:5f08195456a4 2
jimmery 13:5f08195456a4 3 #include "mouse.h"
jimmery 13:5f08195456a4 4 #include "pinouts.h"
jimmery 13:5f08195456a4 5 #include "sensors.h"
jimmery 13:5f08195456a4 6
jimmery 13:5f08195456a4 7 Mouse::Mouse()
jimmery 13:5f08195456a4 8 {
jimmery 13:5f08195456a4 9 sensor_init();
jimmery 13:5f08195456a4 10 pid_reset();
jimmery 13:5f08195456a4 11
jimmery 13:5f08195456a4 12 mouse_state = STOPPED;
jimmery 13:5f08195456a4 13 turn_direction = INVALID;
jimmery 13:5f08195456a4 14 // TODO complete.
jimmery 13:5f08195456a4 15 }
jimmery 13:5f08195456a4 16
jimmery 13:5f08195456a4 17 void Mouse::stop()
jimmery 13:5f08195456a4 18 {
jimmery 13:5f08195456a4 19 left_forward = 0;
jimmery 13:5f08195456a4 20 left_reverse = 0;
jimmery 13:5f08195456a4 21 right_forward = 0;
jimmery 13:5f08195456a4 22 right_reverse = 0;
jimmery 13:5f08195456a4 23 }
jimmery 13:5f08195456a4 24
jimmery 13:5f08195456a4 25 // TODO: consider a logic change. whether it's curve turns or whatever.
jimmery 13:5f08195456a4 26 // or just a change from x_speed to w_speed or something. but we should maybe try to
jimmery 13:5f08195456a4 27 // separate the x_speed from the w_speed.
jimmery 13:5f08195456a4 28
jimmery 13:5f08195456a4 29 // TODO: consider having separate conditions for turning around as well. added in TURN_DIRECTION.
jimmery 13:5f08195456a4 30 void Mouse::turn(TURN_DIRECTION dir, int n_times)
jimmery 13:5f08195456a4 31 {
jimmery 13:5f08195456a4 32 float angle_change = 0;
jimmery 13:5f08195456a4 33
jimmery 13:5f08195456a4 34 switch(dir)
jimmery 13:5f08195456a4 35 {
jimmery 13:5f08195456a4 36 case LEFT:
jimmery 13:5f08195456a4 37 while (angle_change < gyro_90)
jimmery 13:5f08195456a4 38 {
jimmery 13:5f08195456a4 39 left_forward = 0;
jimmery 13:5f08195456a4 40 right_forward = set_x_speed / right_max_speed;
jimmery 13:5f08195456a4 41 left_reverse = set_x_speed / left_max_speed;
jimmery 13:5f08195456a4 42 right_reverse = 0;
jimmery 13:5f08195456a4 43
jimmery 13:5f08195456a4 44 pc.printf("gyro read: %f\r\n", _gyro.read());
jimmery 13:5f08195456a4 45 angle_change += _gyro.read() - gyro_offset;
jimmery 13:5f08195456a4 46 }
jimmery 13:5f08195456a4 47 break;
jimmery 13:5f08195456a4 48 case RIGHT:
jimmery 13:5f08195456a4 49 while (angle_change < gyro_90)
jimmery 13:5f08195456a4 50 {
jimmery 13:5f08195456a4 51 left_forward = set_x_speed / left_max_speed;
jimmery 13:5f08195456a4 52 right_forward = 0;
jimmery 13:5f08195456a4 53 left_reverse = 0;
jimmery 13:5f08195456a4 54 right_forward = set_x_speed / right_max_speed;
jimmery 13:5f08195456a4 55
jimmery 13:5f08195456a4 56 pc.printf("gyro read: %f\r\n", _gyro.read());
jimmery 13:5f08195456a4 57 angle_change += gyro_offset - _gyro.read();
jimmery 13:5f08195456a4 58 }
jimmery 13:5f08195456a4 59 break;
jimmery 13:5f08195456a4 60 default:
jimmery 13:5f08195456a4 61 // error state.
jimmery 13:5f08195456a4 62 break;
jimmery 13:5f08195456a4 63 }
jimmery 13:5f08195456a4 64 }
jimmery 13:5f08195456a4 65
jimmery 13:5f08195456a4 66 // TODO move_cell is not complete. this is copied code from systick.
jimmery 13:5f08195456a4 67 void Mouse::move_cell() {
jimmery 13:5f08195456a4 68 //bacl in business boys.
jimmery 13:5f08195456a4 69 // if (mouse_state == MOVECELL)
jimmery 13:5f08195456a4 70 // {
jimmery 13:5f08195456a4 71 // forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses());
jimmery 13:5f08195456a4 72 // if (forward_counter > 2000)
jimmery 13:5f08195456a4 73 // {
jimmery 13:5f08195456a4 74 // forward_counter = 0;
jimmery 13:5f08195456a4 75 // mouse_state = TURNING;
jimmery 13:5f08195456a4 76 // if (opening_left_ahead)
jimmery 13:5f08195456a4 77 // {
jimmery 13:5f08195456a4 78 // opening_left_ahead = 0;
jimmery 13:5f08195456a4 79 // turn_direction = LEFT;
jimmery 13:5f08195456a4 80 // }
jimmery 13:5f08195456a4 81 // else if (opening_right_ahead)
jimmery 13:5f08195456a4 82 // {
jimmery 13:5f08195456a4 83 // opening_right_ahead = 0;
jimmery 13:5f08195456a4 84 // }
jimmery 13:5f08195456a4 85 // sensor_reset(); //right? prepare for turn
jimmery 13:5f08195456a4 86 // }
jimmery 13:5f08195456a4 87 // }
jimmery 13:5f08195456a4 88 }