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

main.cpp@9:ad6f60953086, 2015-12-04 (annotated)

Committer:
jimmery
Date:
Fri Dec 04 07:23:38 2015 +0000
Revision:
9:ad6f60953086
Parent:
8:03e5c3aaa9c9
Child:
10:d2907773f9a3
kla;sdjfal;sdkfjal;skdjfasdf fixed integral controller (aka it sucked so i removed it) plus i restructured the code.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jimmery 0:13d8a77fb1d7 1 #include "mbed.h"
jimmery 0:13d8a77fb1d7 2 #include "AVEncoder.h"
jimmery 0:13d8a77fb1d7 3
jimmery 0:13d8a77fb1d7 4 // set things
jimmery 0:13d8a77fb1d7 5 Serial pc(SERIAL_TX, SERIAL_RX);
jimmery 0:13d8a77fb1d7 6 Ticker Systicker;
jimmery 0:13d8a77fb1d7 7 Timer timer;
aduriseti 6:61b503990cd6 8 Ticker action_ticker;
aduriseti 6:61b503990cd6 9 Ticker algorithm_ticker;
jimmery 0:13d8a77fb1d7 10
jimmery 0:13d8a77fb1d7 11 PwmOut right_forward(PB_10);
jimmery 0:13d8a77fb1d7 12 PwmOut right_reverse(PA_6);
jimmery 0:13d8a77fb1d7 13 PwmOut left_forward(PA_7);
jimmery 0:13d8a77fb1d7 14 PwmOut left_reverse(PB_6);
jimmery 0:13d8a77fb1d7 15
jimmery 0:13d8a77fb1d7 16 // TODO: change our encoder pins from AnalogIn into:
jimmery 0:13d8a77fb1d7 17 // otherwise, we can also use the AVEncoder thing as well.
jimmery 0:13d8a77fb1d7 18 AVEncoder l_enco(PA_15, PB_3);
jimmery 0:13d8a77fb1d7 19 AVEncoder r_enco(PA_1, PA_10);
jimmery 0:13d8a77fb1d7 20
jimmery 0:13d8a77fb1d7 21 // gyro
jimmery 0:13d8a77fb1d7 22 AnalogIn _gyro(PA_0);
jimmery 0:13d8a77fb1d7 23 // AnalogIn gyro_cal(PC_1) ?? currently this isn't connected.
jimmery 0:13d8a77fb1d7 24
jimmery 0:13d8a77fb1d7 25 //Left Front IR
jimmery 0:13d8a77fb1d7 26 DigitalOut eLF(PC_3);
jimmery 0:13d8a77fb1d7 27 AnalogIn rLF(PC_0);
jimmery 0:13d8a77fb1d7 28 //PC_4 is an ADC
jimmery 0:13d8a77fb1d7 29 //Left Side IR
jimmery 0:13d8a77fb1d7 30 DigitalOut eLS(PC_2);
jimmery 0:13d8a77fb1d7 31 AnalogIn rLS(PC_1);
jimmery 0:13d8a77fb1d7 32
intgsull 3:40333f38771d 33 //Right Side IR
intgsull 3:40333f38771d 34 DigitalOut eRS(PC_12);
intgsull 3:40333f38771d 35 AnalogIn rRS(PA_4);
jimmery 0:13d8a77fb1d7 36
intgsull 3:40333f38771d 37 //Right Front IR
intgsull 3:40333f38771d 38 DigitalOut eRF(PC_15);
intgsull 3:40333f38771d 39 AnalogIn rRF(PB_0);
jimmery 0:13d8a77fb1d7 40
jimmery 0:13d8a77fb1d7 41 DigitalOut myled(LED1);
jimmery 0:13d8a77fb1d7 42
jimmery 0:13d8a77fb1d7 43 volatile float gyro_offset = 0;
jimmery 0:13d8a77fb1d7 44
jimmery 0:13d8a77fb1d7 45 volatile float line_prevError = 0;
jimmery 0:13d8a77fb1d7 46 volatile float enco_prevError = 0;
jimmery 0:13d8a77fb1d7 47 volatile float gyro_prevError = 0;
jimmery 0:13d8a77fb1d7 48
jimmery 0:13d8a77fb1d7 49 volatile float line_accumulator = 0;
jimmery 0:13d8a77fb1d7 50 volatile float line_decayFactor = 1;
jimmery 0:13d8a77fb1d7 51 volatile float enco_accumulator = 0;
jimmery 9:ad6f60953086 52 volatile float enco_decayFactor = 1;
jimmery 0:13d8a77fb1d7 53 volatile float gyro_accumulator = 0;
intgsull 3:40333f38771d 54 volatile float gyro_decayFactor = 1;
jimmery 0:13d8a77fb1d7 55
intgsull 4:112f3d35bd2d 56 volatile float set_speed = .75;
intgsull 4:112f3d35bd2d 57 volatile float left_speed = .75;
intgsull 4:112f3d35bd2d 58 volatile float right_speed = .75;
jimmery 0:13d8a77fb1d7 59
intgsull 4:112f3d35bd2d 60 const float left_max_speed = 5; // max speed is 6 encoder pulses per ms.
intgsull 4:112f3d35bd2d 61 const float right_max_speed = 5;
jimmery 0:13d8a77fb1d7 62
jimmery 2:82a11e992619 63 const float gyro_propo = 6.5;
jimmery 0:13d8a77fb1d7 64 const float gyro_integ = 0;
jimmery 2:82a11e992619 65 const float gyro_deriv = 10;
jimmery 0:13d8a77fb1d7 66
aduriseti 6:61b503990cd6 67 const float enco_propo = 6;
jimmery 9:ad6f60953086 68 const float enco_integ = 0;//1;
jimmery 7:b866e3aae05f 69 const float enco_deriv = 1000;//.0002;
jimmery 0:13d8a77fb1d7 70
intgsull 3:40333f38771d 71 const float spin_enco_weight = 1;
jimmery 0:13d8a77fb1d7 72 const float spin_gyro_weight = 1 - spin_enco_weight;
jimmery 0:13d8a77fb1d7 73
jimmery 7:b866e3aae05f 74 const float base_RS = 0.2;
jimmery 7:b866e3aae05f 75 const float base_LS = 0.1;
jimmery 7:b866e3aae05f 76 const float base_RF = 0.002;
jimmery 7:b866e3aae05f 77 const float base_LF = 0.15;
jimmery 7:b866e3aae05f 78
jimmery 7:b866e3aae05f 79 const float thresh_LF = 0.25;
jimmery 7:b866e3aae05f 80 const float thresh_RF = 0.0045; // TODO: CAUTION USING THIS ALONE.
intgsull 8:03e5c3aaa9c9 81
intgsull 8:03e5c3aaa9c9 82 const float open_left = 0.22; //calibrate these two
intgsull 8:03e5c3aaa9c9 83 const float open_right = 0.18;
intgsull 8:03e5c3aaa9c9 84 const float wall_left = 0;
intgsull 8:03e5c3aaa9c9 85 const float wall_right = 0;
intgsull 8:03e5c3aaa9c9 86
intgsull 1:98efd8dd9077 87
jimmery 0:13d8a77fb1d7 88 volatile float enco_error;
jimmery 0:13d8a77fb1d7 89 volatile float enco_pid;
jimmery 0:13d8a77fb1d7 90 volatile float gyro_error;
jimmery 0:13d8a77fb1d7 91 volatile float gyro_pid;
jimmery 0:13d8a77fb1d7 92 volatile float w_error;
jimmery 0:13d8a77fb1d7 93
intgsull 8:03e5c3aaa9c9 94 typedef enum
intgsull 8:03e5c3aaa9c9 95 {
intgsull 8:03e5c3aaa9c9 96 LEFT,
jimmery 9:ad6f60953086 97 RIGHT,
jimmery 9:ad6f60953086 98 INVALID
intgsull 8:03e5c3aaa9c9 99 } TURN_DIRECTION;
intgsull 8:03e5c3aaa9c9 100 volatile TURN_DIRECTION turn_direction;
aduriseti 5:f704940c9c7e 101
jimmery 9:ad6f60953086 102 //volatile int turn_counter;
intgsull 8:03e5c3aaa9c9 103 volatile int right_turn_count;
intgsull 8:03e5c3aaa9c9 104 volatile int examined_left;
intgsull 8:03e5c3aaa9c9 105 volatile int examined_right;
intgsull 8:03e5c3aaa9c9 106
intgsull 8:03e5c3aaa9c9 107 //time to make a 90 degree turn and move forward one cell length, repectively
intgsull 8:03e5c3aaa9c9 108 //should be replaced with encoder counts
intgsull 8:03e5c3aaa9c9 109 volatile int max_turn_count = 800;
intgsull 8:03e5c3aaa9c9 110 volatile int cell_length_count = 800;
intgsull 4:112f3d35bd2d 111
intgsull 8:03e5c3aaa9c9 112 volatile int forward_counter = 0;
intgsull 4:112f3d35bd2d 113
jimmery 2:82a11e992619 114 // this is just so that we can maintain what state our mouse is in.
jimmery 2:82a11e992619 115 // currently this has no real use, but it may in the future.
jimmery 2:82a11e992619 116 // or we could just remove this entirely.
jimmery 2:82a11e992619 117 typedef enum
jimmery 2:82a11e992619 118 {
jimmery 2:82a11e992619 119 STOPPED,
jimmery 2:82a11e992619 120 FORWARD,
aduriseti 5:f704940c9c7e 121 TURNING,
intgsull 8:03e5c3aaa9c9 122 MOVECELL,
aduriseti 5:f704940c9c7e 123 FINISHED,
jimmery 2:82a11e992619 124 UNKNOWN
jimmery 2:82a11e992619 125 } STATE;
jimmery 2:82a11e992619 126 volatile STATE mouse_state;
jimmery 2:82a11e992619 127
aduriseti 6:61b503990cd6 128 volatile int wall_in_front = 0;
aduriseti 6:61b503990cd6 129 volatile int opening_left_ahead = 0;
aduriseti 6:61b503990cd6 130 volatile int opening_right_ahead = 0;
intgsull 8:03e5c3aaa9c9 131 volatile int opening_left = 0;
intgsull 8:03e5c3aaa9c9 132 volatile int opening_right = 0;
aduriseti 6:61b503990cd6 133
intgsull 8:03e5c3aaa9c9 134 void Scan();
jimmery 2:82a11e992619 135 void offsetCalc();
jimmery 2:82a11e992619 136 void stop();
jimmery 2:82a11e992619 137
aduriseti 5:f704940c9c7e 138 void encoder_reset()
jimmery 0:13d8a77fb1d7 139 {
jimmery 0:13d8a77fb1d7 140 l_enco.reset();
jimmery 0:13d8a77fb1d7 141 r_enco.reset();
jimmery 0:13d8a77fb1d7 142 }
jimmery 0:13d8a77fb1d7 143
intgsull 8:03e5c3aaa9c9 144 //combining detect opening and watch out
intgsull 8:03e5c3aaa9c9 145 void Scan()
intgsull 8:03e5c3aaa9c9 146 {
jimmery 9:ad6f60953086 147 eRS = 1;
jimmery 9:ad6f60953086 148 wait_us(50);
aduriseti 6:61b503990cd6 149 float right_side = rRS.read();
aduriseti 6:61b503990cd6 150 eRS = 0;
intgsull 8:03e5c3aaa9c9 151
aduriseti 6:61b503990cd6 152 eLS = 1;
intgsull 8:03e5c3aaa9c9 153 wait_us(50);
aduriseti 6:61b503990cd6 154 float left_side = rLS.read();
aduriseti 6:61b503990cd6 155 eLS = 0;
intgsull 8:03e5c3aaa9c9 156 //eRF = 1;
intgsull 8:03e5c3aaa9c9 157 // wait_us(50);
intgsull 8:03e5c3aaa9c9 158 // float right_front = rRF.read(); //right front not working so screw it
intgsull 8:03e5c3aaa9c9 159 // eRF = 0;
intgsull 8:03e5c3aaa9c9 160 eLF = 1;
jimmery 9:ad6f60953086 161 wait_us(50);
intgsull 8:03e5c3aaa9c9 162 float left_front = rLF.read();
intgsull 8:03e5c3aaa9c9 163 eLF = 0;
intgsull 8:03e5c3aaa9c9 164
jimmery 9:ad6f60953086 165 if ( left_front > thresh_LF )
jimmery 9:ad6f60953086 166 {
jimmery 9:ad6f60953086 167 mouse_state = STOPPED;
jimmery 9:ad6f60953086 168 }
jimmery 9:ad6f60953086 169
jimmery 9:ad6f60953086 170 /*if (right_side < open_right) {
intgsull 8:03e5c3aaa9c9 171 mouse_state = MOVECELL;
intgsull 8:03e5c3aaa9c9 172 opening_right_ahead = 1;
aduriseti 6:61b503990cd6 173 } else if (left_side < open_left) {
intgsull 8:03e5c3aaa9c9 174 mouse_state = MOVECELL;
intgsull 8:03e5c3aaa9c9 175 opening_left_ahead = 1;
aduriseti 6:61b503990cd6 176 }
intgsull 8:03e5c3aaa9c9 177
intgsull 8:03e5c3aaa9c9 178 if(left_front > thresh_LF )
intgsull 8:03e5c3aaa9c9 179 {
intgsull 8:03e5c3aaa9c9 180 mouse_state = STOPPED; // does this actually do anything tho
intgsull 8:03e5c3aaa9c9 181 wall_in_front = 1; //I don't think we're using this and it's not getting reset?
intgsull 8:03e5c3aaa9c9 182
intgsull 8:03e5c3aaa9c9 183 encoder_reset();
intgsull 8:03e5c3aaa9c9 184 mouse_state = TURNING;
intgsull 8:03e5c3aaa9c9 185 turn_direction = LEFT;
jimmery 9:ad6f60953086 186 } */
intgsull 8:03e5c3aaa9c9 187 }
intgsull 8:03e5c3aaa9c9 188
aduriseti 6:61b503990cd6 189
jimmery 0:13d8a77fb1d7 190 void systick()
jimmery 0:13d8a77fb1d7 191 {
jimmery 9:ad6f60953086 192 Scan(); // get the IR values.
jimmery 9:ad6f60953086 193 // these values are useful regardless of what mouse_state we are in.
jimmery 9:ad6f60953086 194 switch (mouse_state)
jimmery 2:82a11e992619 195 {
jimmery 9:ad6f60953086 196 case STOPPED:
jimmery 9:ad6f60953086 197 offsetCalc();
jimmery 9:ad6f60953086 198 encoder_reset();
jimmery 9:ad6f60953086 199 break;
jimmery 9:ad6f60953086 200 case FORWARD:
jimmery 9:ad6f60953086 201 enco_error = l_enco.getPulses() - r_enco.getPulses();
jimmery 9:ad6f60953086 202 gyro_error = _gyro.read() - gyro_offset;
jimmery 9:ad6f60953086 203
jimmery 9:ad6f60953086 204 enco_accumulator += enco_error;
jimmery 9:ad6f60953086 205 gyro_accumulator += gyro_error;
jimmery 9:ad6f60953086 206
jimmery 9:ad6f60953086 207 enco_pid = 0;
jimmery 9:ad6f60953086 208 enco_pid += enco_propo * enco_error;
jimmery 9:ad6f60953086 209 enco_pid += enco_integ * enco_accumulator;
jimmery 9:ad6f60953086 210 enco_pid += enco_deriv * (enco_error - enco_prevError);
aduriseti 5:f704940c9c7e 211
jimmery 9:ad6f60953086 212 gyro_pid = 0;
jimmery 9:ad6f60953086 213 gyro_pid += gyro_propo * gyro_error;
jimmery 9:ad6f60953086 214 gyro_pid += gyro_integ * gyro_accumulator;
jimmery 9:ad6f60953086 215 gyro_pid += gyro_deriv * (gyro_error - gyro_prevError);
jimmery 9:ad6f60953086 216
jimmery 9:ad6f60953086 217 w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid;
jimmery 9:ad6f60953086 218 left_speed = set_speed + w_error;
jimmery 9:ad6f60953086 219 right_speed = set_speed - w_error;
jimmery 9:ad6f60953086 220
jimmery 9:ad6f60953086 221 enco_prevError = enco_error;
jimmery 9:ad6f60953086 222 gyro_prevError = gyro_error;
jimmery 9:ad6f60953086 223
jimmery 9:ad6f60953086 224 enco_accumulator += enco_error;
jimmery 9:ad6f60953086 225 gyro_accumulator += gyro_error;
jimmery 9:ad6f60953086 226
jimmery 9:ad6f60953086 227 enco_accumulator /= enco_decayFactor;
jimmery 9:ad6f60953086 228 gyro_accumulator /= gyro_decayFactor;
jimmery 9:ad6f60953086 229 break;
jimmery 9:ad6f60953086 230 default:
jimmery 9:ad6f60953086 231 // don't do anything.
jimmery 9:ad6f60953086 232 break;
jimmery 2:82a11e992619 233 }
jimmery 0:13d8a77fb1d7 234 }
jimmery 0:13d8a77fb1d7 235
jimmery 0:13d8a77fb1d7 236 // computes gyro_offset
jimmery 0:13d8a77fb1d7 237 // uses a "weighted" average.
jimmery 0:13d8a77fb1d7 238 // idea is that the current gyro offset is weighted more than previous ones.
jimmery 0:13d8a77fb1d7 239 // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n).
jimmery 0:13d8a77fb1d7 240 // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.)
jimmery 0:13d8a77fb1d7 241 // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight.
jimmery 0:13d8a77fb1d7 242 // currently this is only in the setup function. we can run this when the mouse is running in a line
jimmery 0:13d8a77fb1d7 243 // when we figure out good line running pid.
jimmery 0:13d8a77fb1d7 244 void offsetCalc()
jimmery 0:13d8a77fb1d7 245 {
jimmery 0:13d8a77fb1d7 246 gyro_offset = gyro_offset / 2 + _gyro.read() / 2;
jimmery 0:13d8a77fb1d7 247 }
jimmery 0:13d8a77fb1d7 248
jimmery 0:13d8a77fb1d7 249
intgsull 1:98efd8dd9077 250 void stop()
intgsull 1:98efd8dd9077 251 {
intgsull 1:98efd8dd9077 252 left_forward = 1;
intgsull 1:98efd8dd9077 253 left_reverse = 1;
intgsull 1:98efd8dd9077 254 right_forward = 1;
intgsull 1:98efd8dd9077 255 right_reverse = 1;
jimmery 2:82a11e992619 256 }
aduriseti 6:61b503990cd6 257
aduriseti 5:f704940c9c7e 258 void turn() {
jimmery 9:ad6f60953086 259 // reopen for business.
jimmery 9:ad6f60953086 260
jimmery 9:ad6f60953086 261 int turn_counter = 0;
jimmery 9:ad6f60953086 262 int base_left_pulses = l_enco.getPulses();
jimmery 9:ad6f60953086 263 int base_right_pulses = r_enco.getPulses();
jimmery 9:ad6f60953086 264
jimmery 9:ad6f60953086 265 int left_pulses;
jimmery 9:ad6f60953086 266 int right_pulses;
jimmery 9:ad6f60953086 267
jimmery 9:ad6f60953086 268 while ( turn_counter < max_turn_count )
jimmery 9:ad6f60953086 269 {
jimmery 9:ad6f60953086 270 left_pulses = l_enco.getPulses();
jimmery 9:ad6f60953086 271 right_pulses = r_enco.getPulses();
jimmery 9:ad6f60953086 272
jimmery 9:ad6f60953086 273 turn_counter = ((left_pulses - base_left_pulses) + (right_pulses - base_right_pulses)) / 2;
jimmery 9:ad6f60953086 274
jimmery 9:ad6f60953086 275 switch(turn_direction)
jimmery 9:ad6f60953086 276 {
jimmery 9:ad6f60953086 277 case LEFT:
jimmery 9:ad6f60953086 278 left_forward = 0;
jimmery 9:ad6f60953086 279 right_forward = set_speed / right_max_speed;
jimmery 9:ad6f60953086 280 left_reverse = set_speed / left_max_speed;
jimmery 9:ad6f60953086 281 right_reverse = 0;
jimmery 9:ad6f60953086 282 break;
jimmery 9:ad6f60953086 283 case RIGHT:
jimmery 9:ad6f60953086 284 left_forward = set_speed / left_max_speed;
jimmery 9:ad6f60953086 285 right_forward = 0;
jimmery 9:ad6f60953086 286 left_reverse = 0;
jimmery 9:ad6f60953086 287 right_reverse = set_speed / right_max_speed;
jimmery 9:ad6f60953086 288 break;
jimmery 9:ad6f60953086 289 default:
jimmery 9:ad6f60953086 290 // invalid state. did not set a turn direction.
jimmery 9:ad6f60953086 291 mouse_state = STOPPED;
jimmery 9:ad6f60953086 292 }
jimmery 9:ad6f60953086 293
jimmery 9:ad6f60953086 294 }
aduriseti 5:f704940c9c7e 295 }
aduriseti 6:61b503990cd6 296
intgsull 8:03e5c3aaa9c9 297
aduriseti 6:61b503990cd6 298
aduriseti 6:61b503990cd6 299 void move_cell() {
intgsull 8:03e5c3aaa9c9 300 //out of business moved to algorithm
jimmery 9:ad6f60953086 301 if (mouse_state == MOVECELL)
jimmery 9:ad6f60953086 302 {
jimmery 9:ad6f60953086 303 forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses());
jimmery 9:ad6f60953086 304 if (forward_counter > 2000)
jimmery 9:ad6f60953086 305 {
jimmery 9:ad6f60953086 306 forward_counter = 0;
jimmery 9:ad6f60953086 307 mouse_state = TURNING;
jimmery 9:ad6f60953086 308 if (opening_left_ahead)
jimmery 9:ad6f60953086 309 {
jimmery 9:ad6f60953086 310 opening_left_ahead = 0;
jimmery 9:ad6f60953086 311 turn_direction = LEFT;
jimmery 9:ad6f60953086 312 }
jimmery 9:ad6f60953086 313 else if (opening_right_ahead)
jimmery 9:ad6f60953086 314 {
jimmery 9:ad6f60953086 315 opening_right_ahead = 0;
jimmery 9:ad6f60953086 316 }
jimmery 9:ad6f60953086 317 encoder_reset(); //right? prepare for turn
jimmery 9:ad6f60953086 318 }
jimmery 9:ad6f60953086 319 }
aduriseti 6:61b503990cd6 320 }
aduriseti 5:f704940c9c7e 321
aduriseti 6:61b503990cd6 322
intgsull 8:03e5c3aaa9c9 323 void algorithm() { //moved to systick
intgsull 8:03e5c3aaa9c9 324 //encoder_reset();
intgsull 8:03e5c3aaa9c9 325 // mouse_state = TURNING;
intgsull 8:03e5c3aaa9c9 326 // turn_direction = LEFT;
aduriseti 6:61b503990cd6 327 //action_ticker.attach_us(&turn, 1000);
aduriseti 6:61b503990cd6 328
aduriseti 6:61b503990cd6 329 /*if (opening_left_ahead || opening_right_ahead) {
aduriseti 6:61b503990cd6 330 action_ticker.attach_us(&move_cell, 1000);
aduriseti 6:61b503990cd6 331 }
aduriseti 6:61b503990cd6 332 if (opening_left) {
aduriseti 5:f704940c9c7e 333 mouse_state = TURNING;
aduriseti 6:61b503990cd6 334 turn_direction = LEFT;
aduriseti 6:61b503990cd6 335 action_ticker.attach_us(&turn, 1000);
aduriseti 5:f704940c9c7e 336 }
aduriseti 6:61b503990cd6 337 if (opening_right) {
aduriseti 6:61b503990cd6 338 mouse_state = TURNING;
aduriseti 6:61b503990cd6 339 turn_direction = RIGHT;
aduriseti 6:61b503990cd6 340 action_ticker.attach_us(&turn, 1000);
aduriseti 6:61b503990cd6 341 }*/
intgsull 8:03e5c3aaa9c9 342
intgsull 1:98efd8dd9077 343 }
intgsull 1:98efd8dd9077 344
jimmery 0:13d8a77fb1d7 345 void setup()
jimmery 0:13d8a77fb1d7 346 {
jimmery 9:ad6f60953086 347 eRS = 0;
jimmery 9:ad6f60953086 348 eRF = 0;
jimmery 9:ad6f60953086 349 eLS = 0;
jimmery 9:ad6f60953086 350 eLF = 0;
jimmery 0:13d8a77fb1d7 351
jimmery 2:82a11e992619 352 mouse_state = FORWARD;
jimmery 9:ad6f60953086 353 turn_direction = INVALID;
jimmery 0:13d8a77fb1d7 354 myled = 1;
jimmery 0:13d8a77fb1d7 355 for ( int i = 0; i < 1000; i++ )
jimmery 0:13d8a77fb1d7 356 {
jimmery 0:13d8a77fb1d7 357 offsetCalc();
jimmery 0:13d8a77fb1d7 358 }
jimmery 0:13d8a77fb1d7 359 wait(2);
jimmery 0:13d8a77fb1d7 360
jimmery 0:13d8a77fb1d7 361 Systicker.attach_us(&systick, 1000);
intgsull 8:03e5c3aaa9c9 362 //action_ticker.attach_us(&turn, 1000);
intgsull 8:03e5c3aaa9c9 363 //algorithm_ticker.attach_us(&algorithm, 1000); let's try to stick with one ticker
jimmery 0:13d8a77fb1d7 364 }
jimmery 9:ad6f60953086 365
jimmery 9:ad6f60953086 366 void test_IR_sensors()
jimmery 9:ad6f60953086 367 {
jimmery 9:ad6f60953086 368 eRS = 1;
jimmery 9:ad6f60953086 369 wait_us(50);
jimmery 9:ad6f60953086 370 float right_side = rRS.read();
jimmery 9:ad6f60953086 371 eRS = 0;
jimmery 9:ad6f60953086 372 eLS = 1;
jimmery 9:ad6f60953086 373 wait_us(50);
jimmery 9:ad6f60953086 374 float left_side = rLS.read();
jimmery 9:ad6f60953086 375 eLS = 0;
jimmery 9:ad6f60953086 376 eRF = 1;
jimmery 9:ad6f60953086 377 wait_us(50);
jimmery 9:ad6f60953086 378 float right_front = rRF.read();
jimmery 9:ad6f60953086 379 eRF = 0;
jimmery 9:ad6f60953086 380 eLF = 1;
jimmery 9:ad6f60953086 381 wait_us(50);
jimmery 9:ad6f60953086 382 float left_front = rLF.read();
jimmery 9:ad6f60953086 383 eLF = 0;
jimmery 9:ad6f60953086 384 pc.printf("right side: %f, left side: %f right_front: %f, left_front: %f \r\n", right_side, left_side, right_front, left_front);
jimmery 9:ad6f60953086 385 wait(1);
jimmery 9:ad6f60953086 386 }
jimmery 0:13d8a77fb1d7 387
jimmery 0:13d8a77fb1d7 388 int main() {
jimmery 0:13d8a77fb1d7 389 setup();
jimmery 0:13d8a77fb1d7 390 while(1) {
jimmery 9:ad6f60953086 391 switch (mouse_state)
jimmery 9:ad6f60953086 392 {
jimmery 9:ad6f60953086 393 case STOPPED:
jimmery 9:ad6f60953086 394 stop();
jimmery 9:ad6f60953086 395 break;
jimmery 9:ad6f60953086 396 case FORWARD:
jimmery 9:ad6f60953086 397 left_forward = left_speed / left_max_speed;
jimmery 9:ad6f60953086 398 left_reverse = 0;
jimmery 9:ad6f60953086 399 right_forward = right_speed / right_max_speed;
jimmery 9:ad6f60953086 400 right_reverse = 0;
jimmery 9:ad6f60953086 401 break;
jimmery 9:ad6f60953086 402 case TURNING:
jimmery 9:ad6f60953086 403 turn();
jimmery 9:ad6f60953086 404 break;
jimmery 9:ad6f60953086 405 case MOVECELL:
jimmery 9:ad6f60953086 406 break;
jimmery 9:ad6f60953086 407 default:
jimmery 9:ad6f60953086 408 // idk lmao
jimmery 9:ad6f60953086 409 break;
jimmery 9:ad6f60953086 410 }
intgsull 3:40333f38771d 411 }
jimmery 0:13d8a77fb1d7 412 }