Diff: main.cpp

Revision:

13:5f08195456a4

Parent:

12:0849b16c2672

diff -r 0849b16c2672 -r 5f08195456a4 main.cpp
--- a/main.cpp	Sat Dec 05 00:26:26 2015 +0000
+++ b/main.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -1,455 +1,82 @@
 #include "mbed.h"
-#include "AVEncoder.h"
-
-// set things
-Serial pc(SERIAL_TX, SERIAL_RX);
-Ticker Systicker;
-
-PwmOut right_forward(PB_10);
-PwmOut right_reverse(PA_6);
-PwmOut left_forward(PA_7);
-PwmOut left_reverse(PB_6);
-
-// TODO: change our encoder pins from AnalogIn into:
-// otherwise, we can also use the AVEncoder thing as well.  
-AVEncoder l_enco(PA_15, PB_3);
-AVEncoder r_enco(PA_1, PA_10);
-
-// gyro
-AnalogIn _gyro(PA_0);
-// AnalogIn gyro_cal(PC_1) ?? currently this isn't connected. 
-
-//Left Front IR
-DigitalOut eLF(PC_3);
-AnalogIn rLF(PC_0);
-                                                    //PC_4 is an ADC
-//Left Side IR
-DigitalOut eLS(PC_2);
-AnalogIn rLS(PC_1);
-
-//Right Side IR
-DigitalOut eRS(PC_12);
-AnalogIn rRS(PA_4);
-
-//Right Front IR
-DigitalOut eRF(PC_15);
-AnalogIn rRF(PB_0);
-
-DigitalOut myled(LED1);
-
-volatile float gyro_offset = 0;
-
-volatile float line_prevError = 0;
-volatile float enco_prevError = 0;
-volatile float gyro_prevError = 0;
-
-volatile float line_accumulator = 0;
-volatile float line_decayFactor = 1;
-volatile float enco_accumulator = 0;
-volatile float enco_decayFactor = 1;
-volatile float gyro_accumulator = 0;
-volatile float gyro_decayFactor = 1.1;
-
-volatile float set_speed = .75;
-volatile float left_speed = .75;
-volatile float right_speed = .75;
-
-const float left_max_speed = 5; // max speed is 6 encoder pulses per ms.
-const float right_max_speed = 5; 
-
-const float gyro_propo = 6.5;
-const float gyro_integ = 0;
-const float gyro_deriv = 10;
-
-const float enco_propo = 6;
-const float enco_integ = 0;//1;
-const float enco_deriv = 1000;//.0002;
-
-const float spin_enco_weight = 1;
-const float spin_gyro_weight = 1 - spin_enco_weight;
-
-const float base_RS = 0.2;
-const float base_LS = 0.1;
-const float base_RF = 0.002;
-const float base_LF = 0.15;
-
-const float thresh_LF = 0.3;
-const float thresh_RF = 0.0045; // TODO: CAUTION USING THIS ALONE. 
-
-const float open_left = 0.22;     //calibrate these two
-const float open_right = 0.18;
-const float wall_left = 0;
-const float wall_right = 0;
-
-volatile float lf_val;
-volatile float rf_val;
-volatile float ls_val;
-volatile float rs_val;
-
-volatile float enco_error;
-volatile float enco_pid;
-volatile float gyro_error;
-volatile float gyro_pid;
-volatile float w_error;
 
-typedef enum 
-{
-    LEFT, 
-    RIGHT, 
-    INVALID
-} TURN_DIRECTION;
-volatile TURN_DIRECTION turn_direction;
-
-//volatile int turn_counter;
-volatile int right_turn_count;
-volatile int examined_left;
-volatile int examined_right;
-
-//time to make a 90 degree turn and move forward one cell length, repectively
-//should be replaced with encoder counts
-const int lmax_turn_count = 620; //I think we need different constants for left/right
-const int rmax_turn_count = 0;
-const int cell_length_count = 875;
-const float gyro_90 = 0.595;
-    
-volatile int forward_counter = 0;
-
-// this is just so that we can maintain what state our mouse is in. 
-// currently this has no real use, but it may in the future. 
-// or we could just remove this entirely. 
-typedef enum 
-{
-    STOPPED, 
-    FORWARD, 
-    TURNING,
-    MOVECELL,
-    FINISHED, 
-    UNKNOWN
-} STATE;
-volatile STATE mouse_state;
-
-volatile int wall_in_front = 0;
-volatile int opening_left_ahead = 0;
-volatile int opening_right_ahead = 0;
-volatile int opening_left = 0;
-volatile int opening_right = 0;
-
-void Scan();
-void offsetCalc();
-void stop();
+#include "pid.h"
+#include "sensors.h"
+#include "mouse.h"
 
-void encoder_reset()
-{
-    l_enco.reset();
-    r_enco.reset();
-    
-    enco_accumulator = 0;
-    gyro_accumulator = 0;
-}
-
-//combining detect opening and watch out
-bool forward_wall_detected()
-{
-    return lf_val > thresh_LF;
-}
-
-bool side_wall_detected()
-{
-    if (rs_val < open_right) 
-    {
-        mouse_state = MOVECELL;
-        turn_direction = RIGHT;
-        return true;
-    } 
-    else if (ls_val < open_left) 
-    {
-        mouse_state = MOVECELL;
-        turn_direction = LEFT;
-        return true;
-    }
-        
-    return false;
-}
-
-// updates PID values.
-void scan()
-{
-    eRS = 1;
-    wait_us(50);
-    rs_val = rRS.read();
-    eRS = 0;
-    
-    eLS  = 1;
-    wait_us(50);
-    ls_val = rLS.read();
-    eLS = 0;
-    
-    eLF = 1;
-    wait_us(50);
-    lf_val = rLF.read();
-}
-
+Ticker Systicker;
+Mouse m;
 
 void systick()
 {
-    scan(); // get the IR values.
+    m.scan(); // get the IR values.
             // these values are useful regardless of what mouse_state we are in.
-    switch (mouse_state)
+    switch (m.mouse_state)
     {
         case STOPPED: 
-            offsetCalc();
-            encoder_reset();
+            m.offsetCalc();
+            m.pid_reset();
+            m.sensor_reset();
             break;
         case FORWARD:
-            if ( forward_wall_detected() )
+            if ( m.forward_wall_detected() )
             {
-                mouse_state = STOPPED;
-                turn_direction = LEFT;
+                m.mouse_state = STOPPED;
+                m.turn_direction = LEFT;
                 return;
             }
-            
-//            if ( side_wall_detected() )
-//            {
-//                return;
-//            }
-            
-            enco_error = l_enco.getPulses() - r_enco.getPulses();
-            gyro_error = _gyro.read() - gyro_offset;
-            
-            enco_accumulator += enco_error;
-            gyro_accumulator += gyro_error;
-  
-            enco_pid = 0;
-            enco_pid += enco_propo * enco_error;
-            enco_pid += enco_integ * enco_accumulator;
-            enco_pid += enco_deriv * (enco_error - enco_prevError);
-        
-            gyro_pid = 0;
-            gyro_pid += gyro_propo * gyro_error;
-            gyro_pid += gyro_integ * gyro_accumulator;
-            gyro_pid += gyro_deriv * (gyro_error - gyro_prevError);
-        
-            w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid;
-            left_speed = set_speed + w_error;
-            right_speed = set_speed - w_error;
-        
-            enco_prevError = enco_error;
-            gyro_prevError = gyro_error;
-        
-            enco_accumulator += enco_error;
-            gyro_accumulator += gyro_error;
-        
-            enco_accumulator /= enco_decayFactor;
-            gyro_accumulator /= gyro_decayFactor;
+            m.run_pid();
+            // TODO we need to start saving walls and stuff.
             break;
         default: 
             // don't do anything. 
             break;
     }
 }
-
-// computes gyro_offset
-// uses a "weighted" average. 
-// idea is that the current gyro offset is weighted more than previous ones. 
-    // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n). 
-    // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.)
-    // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight.
-// currently this is only in the setup function. we can run this when the mouse is running in a line
-// when we figure out good line running pid.
-void offsetCalc()
-{
-    gyro_offset = gyro_offset / 2 + _gyro.read() / 2;
-}
-
-
-void stop()
-{
-    left_forward = 0;
-    left_reverse = 0;
-    right_forward = 0;
-    right_reverse = 0;
-}
+   
+void setup()
+{    
+    Mouse m;
 
-void turn() {
-    // reopen for business. 
-    
-    float angle_change = 0;
-    
-    switch(turn_direction)
-    {
-    case LEFT:
-        while (angle_change < gyro_90)
-        {
-            left_forward = 0;
-            right_forward = set_speed / right_max_speed;
-            left_reverse = set_speed / left_max_speed;
-            right_reverse = 0;
-            
-            pc.printf("gyro read: %f\r\n", _gyro.read());
-            angle_change += _gyro.read() - gyro_offset;
-        }
-        break;
-    case RIGHT:
-        while (angle_change < gyro_90)
-        {
-            left_forward = set_speed / left_max_speed;
-            right_forward = 0;
-            left_reverse = 0;
-            right_forward = set_speed / right_max_speed;
-            
-            pc.printf("gyro read: %f\r\n", _gyro.read());
-            angle_change += gyro_offset - _gyro.read();
-        }
-        break;
-    default:
-        // error state.
-        break;
-    }
-    
-//    while ( turn_counter < lmax_turn_count )
-//    {
-//        left_pulses = l_enco.getPulses();
-//        right_pulses = r_enco.getPulses();
-//        
-//        turn_counter = ((left_pulses - base_left_pulses) + (right_pulses - base_right_pulses)) / 2;
-//        
-//        switch(turn_direction)
-//        {
-//            case LEFT: 
-//                left_forward = 0;
-//                right_forward = set_speed / right_max_speed;
-//                left_reverse = set_speed / left_max_speed;
-//                right_reverse = 0;
-//                break;
-//            case RIGHT:
-//                left_forward = set_speed / left_max_speed;
-//                right_forward = 0;
-//                left_reverse = 0;
-//                right_reverse = set_speed / right_max_speed;
-//                break;
-//            default: 
-//                // invalid state. did not set a turn direction.
-//                mouse_state = STOPPED;
-//                break;
-//        }
-//        
-//    }
-}
-
-// TODO move_cell is not complete. this is copied code from systick.
-void move_cell() {
-    //bacl in business boys.
-    if (mouse_state == MOVECELL) 
-    {
-        forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses());
-        if (forward_counter > 2000) 
-        {
-            forward_counter = 0;
-            mouse_state = TURNING;
-                    if (opening_left_ahead) 
-                    { 
-                    opening_left_ahead = 0;
-                    turn_direction = LEFT;
-                    } 
-                    else if (opening_right_ahead) 
-                    {
-                    opening_right_ahead = 0;
-                    } 
-            encoder_reset();   //right? prepare for turn
-        }
-    }
-}
-    
-void setup()
-{
-    eRS = 0;
-    eRF = 0;
-    eLS = 0;
-    eLF = 0;
-    
-    mouse_state = FORWARD;
-    turn_direction = INVALID;
-    myled = 1;
-    for ( int i = 0; i < 1000; i++ )
-    {
-        offsetCalc();
-    }
+    Systicker.attach_us(&systick, 1000);
     wait(2);
-    
-    Systicker.attach_us(&systick, 1000);
 }
 
 int main() {
     setup();
     while(1) {
-        switch (mouse_state)
+        switch (m.mouse_state)
         {
         case STOPPED:
-            stop();
+            m.stop();
             wait(1);
-            if ( turn_direction == INVALID )
+            if ( m.turn_direction == INVALID )
             {
-                mouse_state = FORWARD;
+                m.mouse_state = FORWARD;
             }
             else
             {
-                mouse_state = TURNING;
+                m.mouse_state = TURNING;
             }
             break;
         case FORWARD:
-            left_forward = left_speed / left_max_speed;
-            left_reverse = 0;
-            right_forward = right_speed / right_max_speed;
-            right_reverse = 0;
+//            left_forward = left_speed / left_max_speed;
+//            left_reverse = 0;
+//            right_forward = right_speed / right_max_speed;
+//            right_reverse = 0;
             break;
         case TURNING:
-            turn();
-            mouse_state = STOPPED;
-            turn_direction = INVALID;
+            m.turn();
+            m.mouse_state = STOPPED;
+            m.turn_direction = INVALID;
             break;
         case MOVECELL:
-            move_cell();
-            mouse_state = STOPPED;
+            m.move_cell();
+            m.mouse_state = STOPPED;
             break;
         default: 
             // idk lmao. show some error message?
             break;
         }
     }
-}
-
-
-void test_IR_sensors()
-{
-    eRS = 1;
-    wait_us(50);
-    float right_side = rRS.read();
-    eRS = 0;
-    eLS = 1;
-    wait_us(50);
-    float left_side = rLS.read();
-    eLS = 0;
-    eRF = 1;
-    wait_us(50);
-    float right_front = rRF.read();
-    eRF = 0;
-    eLF = 1;
-    wait_us(50);
-    float left_front = rLF.read();
-    eLF = 0;
-    pc.printf("right side: %f, left side: %f right_front: %f, left_front: %f \r\n", right_side, left_side, right_front, left_front);
-    wait(1);
-}
-
-void test_motors()
-{
-    encoder_reset();
-    
-    right_forward = 1;
-    left_forward = 1;
-    right_reverse = 0;
-    left_reverse = 0;
-    
-    wait(10);
-    pc.printf("left pulses: %d, right pulses: %d", l_enco.getPulses(), r_enco.getPulses());
 }
\ No newline at end of file