PID Test
Dependencies: AVEncoder mbed-src-AV
main.cpp@10:d2907773f9a3, 2015-12-04 (annotated)
- Committer:
- jimmery
- Date:
- Fri Dec 04 09:38:25 2015 +0000
- Revision:
- 10:d2907773f9a3
- Parent:
- 9:ad6f60953086
- Child:
- 11:cde87eaf3f0f
changed code structure up a lot. (no need to account for systick other things, gave more clear definitions to mouse_state and turn_direction); removed i-controller because it created a large amount of drift.
Who changed what in which revision?
User | Revision | Line number | New 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 | |
jimmery | 10:d2907773f9a3 | 87 | volatile float lf_val; |
jimmery | 10:d2907773f9a3 | 88 | volatile float rf_val; |
jimmery | 10:d2907773f9a3 | 89 | volatile float ls_val; |
jimmery | 10:d2907773f9a3 | 90 | volatile float rs_val; |
intgsull | 1:98efd8dd9077 | 91 | |
jimmery | 0:13d8a77fb1d7 | 92 | volatile float enco_error; |
jimmery | 0:13d8a77fb1d7 | 93 | volatile float enco_pid; |
jimmery | 0:13d8a77fb1d7 | 94 | volatile float gyro_error; |
jimmery | 0:13d8a77fb1d7 | 95 | volatile float gyro_pid; |
jimmery | 0:13d8a77fb1d7 | 96 | volatile float w_error; |
jimmery | 0:13d8a77fb1d7 | 97 | |
intgsull | 8:03e5c3aaa9c9 | 98 | typedef enum |
intgsull | 8:03e5c3aaa9c9 | 99 | { |
intgsull | 8:03e5c3aaa9c9 | 100 | LEFT, |
jimmery | 9:ad6f60953086 | 101 | RIGHT, |
jimmery | 9:ad6f60953086 | 102 | INVALID |
intgsull | 8:03e5c3aaa9c9 | 103 | } TURN_DIRECTION; |
intgsull | 8:03e5c3aaa9c9 | 104 | volatile TURN_DIRECTION turn_direction; |
aduriseti | 5:f704940c9c7e | 105 | |
jimmery | 9:ad6f60953086 | 106 | //volatile int turn_counter; |
intgsull | 8:03e5c3aaa9c9 | 107 | volatile int right_turn_count; |
intgsull | 8:03e5c3aaa9c9 | 108 | volatile int examined_left; |
intgsull | 8:03e5c3aaa9c9 | 109 | volatile int examined_right; |
intgsull | 8:03e5c3aaa9c9 | 110 | |
intgsull | 8:03e5c3aaa9c9 | 111 | //time to make a 90 degree turn and move forward one cell length, repectively |
intgsull | 8:03e5c3aaa9c9 | 112 | //should be replaced with encoder counts |
intgsull | 8:03e5c3aaa9c9 | 113 | volatile int max_turn_count = 800; |
intgsull | 8:03e5c3aaa9c9 | 114 | volatile int cell_length_count = 800; |
intgsull | 4:112f3d35bd2d | 115 | |
intgsull | 8:03e5c3aaa9c9 | 116 | volatile int forward_counter = 0; |
intgsull | 4:112f3d35bd2d | 117 | |
jimmery | 2:82a11e992619 | 118 | // this is just so that we can maintain what state our mouse is in. |
jimmery | 2:82a11e992619 | 119 | // currently this has no real use, but it may in the future. |
jimmery | 2:82a11e992619 | 120 | // or we could just remove this entirely. |
jimmery | 2:82a11e992619 | 121 | typedef enum |
jimmery | 2:82a11e992619 | 122 | { |
jimmery | 2:82a11e992619 | 123 | STOPPED, |
jimmery | 2:82a11e992619 | 124 | FORWARD, |
aduriseti | 5:f704940c9c7e | 125 | TURNING, |
intgsull | 8:03e5c3aaa9c9 | 126 | MOVECELL, |
aduriseti | 5:f704940c9c7e | 127 | FINISHED, |
jimmery | 2:82a11e992619 | 128 | UNKNOWN |
jimmery | 2:82a11e992619 | 129 | } STATE; |
jimmery | 2:82a11e992619 | 130 | volatile STATE mouse_state; |
jimmery | 2:82a11e992619 | 131 | |
aduriseti | 6:61b503990cd6 | 132 | volatile int wall_in_front = 0; |
aduriseti | 6:61b503990cd6 | 133 | volatile int opening_left_ahead = 0; |
aduriseti | 6:61b503990cd6 | 134 | volatile int opening_right_ahead = 0; |
intgsull | 8:03e5c3aaa9c9 | 135 | volatile int opening_left = 0; |
intgsull | 8:03e5c3aaa9c9 | 136 | volatile int opening_right = 0; |
aduriseti | 6:61b503990cd6 | 137 | |
intgsull | 8:03e5c3aaa9c9 | 138 | void Scan(); |
jimmery | 2:82a11e992619 | 139 | void offsetCalc(); |
jimmery | 2:82a11e992619 | 140 | void stop(); |
jimmery | 2:82a11e992619 | 141 | |
aduriseti | 5:f704940c9c7e | 142 | void encoder_reset() |
jimmery | 0:13d8a77fb1d7 | 143 | { |
jimmery | 0:13d8a77fb1d7 | 144 | l_enco.reset(); |
jimmery | 0:13d8a77fb1d7 | 145 | r_enco.reset(); |
jimmery | 0:13d8a77fb1d7 | 146 | } |
jimmery | 0:13d8a77fb1d7 | 147 | |
intgsull | 8:03e5c3aaa9c9 | 148 | //combining detect opening and watch out |
jimmery | 10:d2907773f9a3 | 149 | bool forward_wall_detected() |
jimmery | 10:d2907773f9a3 | 150 | { |
jimmery | 10:d2907773f9a3 | 151 | return lf_val > thresh_LF; |
jimmery | 10:d2907773f9a3 | 152 | } |
jimmery | 10:d2907773f9a3 | 153 | |
jimmery | 10:d2907773f9a3 | 154 | bool side_wall_detected() |
jimmery | 10:d2907773f9a3 | 155 | { |
jimmery | 10:d2907773f9a3 | 156 | if (rs_val < open_right) |
jimmery | 10:d2907773f9a3 | 157 | { |
jimmery | 10:d2907773f9a3 | 158 | mouse_state = MOVECELL; |
jimmery | 10:d2907773f9a3 | 159 | turn_direction = RIGHT; |
jimmery | 10:d2907773f9a3 | 160 | return true; |
jimmery | 10:d2907773f9a3 | 161 | } |
jimmery | 10:d2907773f9a3 | 162 | else if (ls_val < open_left) |
jimmery | 10:d2907773f9a3 | 163 | { |
jimmery | 10:d2907773f9a3 | 164 | mouse_state = MOVECELL; |
jimmery | 10:d2907773f9a3 | 165 | turn_direction = LEFT; |
jimmery | 10:d2907773f9a3 | 166 | return true; |
jimmery | 10:d2907773f9a3 | 167 | } |
jimmery | 10:d2907773f9a3 | 168 | |
jimmery | 10:d2907773f9a3 | 169 | return false; |
jimmery | 10:d2907773f9a3 | 170 | } |
jimmery | 10:d2907773f9a3 | 171 | |
jimmery | 10:d2907773f9a3 | 172 | // updates PID values. |
jimmery | 10:d2907773f9a3 | 173 | void scan() |
intgsull | 8:03e5c3aaa9c9 | 174 | { |
jimmery | 9:ad6f60953086 | 175 | eRS = 1; |
jimmery | 9:ad6f60953086 | 176 | wait_us(50); |
jimmery | 10:d2907773f9a3 | 177 | rs_val = rRS.read(); |
aduriseti | 6:61b503990cd6 | 178 | eRS = 0; |
intgsull | 8:03e5c3aaa9c9 | 179 | |
aduriseti | 6:61b503990cd6 | 180 | eLS = 1; |
intgsull | 8:03e5c3aaa9c9 | 181 | wait_us(50); |
jimmery | 10:d2907773f9a3 | 182 | ls_val = rLS.read(); |
aduriseti | 6:61b503990cd6 | 183 | eLS = 0; |
jimmery | 10:d2907773f9a3 | 184 | |
intgsull | 8:03e5c3aaa9c9 | 185 | eLF = 1; |
jimmery | 9:ad6f60953086 | 186 | wait_us(50); |
jimmery | 10:d2907773f9a3 | 187 | lf_val = rLF.read(); |
intgsull | 8:03e5c3aaa9c9 | 188 | } |
intgsull | 8:03e5c3aaa9c9 | 189 | |
aduriseti | 6:61b503990cd6 | 190 | |
jimmery | 0:13d8a77fb1d7 | 191 | void systick() |
jimmery | 0:13d8a77fb1d7 | 192 | { |
jimmery | 10:d2907773f9a3 | 193 | scan(); // get the IR values. |
jimmery | 9:ad6f60953086 | 194 | // these values are useful regardless of what mouse_state we are in. |
jimmery | 9:ad6f60953086 | 195 | switch (mouse_state) |
jimmery | 2:82a11e992619 | 196 | { |
jimmery | 9:ad6f60953086 | 197 | case STOPPED: |
jimmery | 9:ad6f60953086 | 198 | offsetCalc(); |
jimmery | 9:ad6f60953086 | 199 | encoder_reset(); |
jimmery | 9:ad6f60953086 | 200 | break; |
jimmery | 9:ad6f60953086 | 201 | case FORWARD: |
jimmery | 10:d2907773f9a3 | 202 | if ( forward_wall_detected() ) |
jimmery | 10:d2907773f9a3 | 203 | { |
jimmery | 10:d2907773f9a3 | 204 | mouse_state = STOPPED; |
jimmery | 10:d2907773f9a3 | 205 | turn_direction = LEFT; |
jimmery | 10:d2907773f9a3 | 206 | return; |
jimmery | 10:d2907773f9a3 | 207 | } |
jimmery | 10:d2907773f9a3 | 208 | |
jimmery | 10:d2907773f9a3 | 209 | // if ( side_wall_detected() ) |
jimmery | 10:d2907773f9a3 | 210 | // { |
jimmery | 10:d2907773f9a3 | 211 | // return; |
jimmery | 10:d2907773f9a3 | 212 | // } |
jimmery | 10:d2907773f9a3 | 213 | |
jimmery | 9:ad6f60953086 | 214 | enco_error = l_enco.getPulses() - r_enco.getPulses(); |
jimmery | 9:ad6f60953086 | 215 | gyro_error = _gyro.read() - gyro_offset; |
jimmery | 9:ad6f60953086 | 216 | |
jimmery | 9:ad6f60953086 | 217 | enco_accumulator += enco_error; |
jimmery | 9:ad6f60953086 | 218 | gyro_accumulator += gyro_error; |
jimmery | 9:ad6f60953086 | 219 | |
jimmery | 9:ad6f60953086 | 220 | enco_pid = 0; |
jimmery | 9:ad6f60953086 | 221 | enco_pid += enco_propo * enco_error; |
jimmery | 9:ad6f60953086 | 222 | enco_pid += enco_integ * enco_accumulator; |
jimmery | 9:ad6f60953086 | 223 | enco_pid += enco_deriv * (enco_error - enco_prevError); |
aduriseti | 5:f704940c9c7e | 224 | |
jimmery | 9:ad6f60953086 | 225 | gyro_pid = 0; |
jimmery | 9:ad6f60953086 | 226 | gyro_pid += gyro_propo * gyro_error; |
jimmery | 9:ad6f60953086 | 227 | gyro_pid += gyro_integ * gyro_accumulator; |
jimmery | 9:ad6f60953086 | 228 | gyro_pid += gyro_deriv * (gyro_error - gyro_prevError); |
jimmery | 9:ad6f60953086 | 229 | |
jimmery | 9:ad6f60953086 | 230 | w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid; |
jimmery | 9:ad6f60953086 | 231 | left_speed = set_speed + w_error; |
jimmery | 9:ad6f60953086 | 232 | right_speed = set_speed - w_error; |
jimmery | 9:ad6f60953086 | 233 | |
jimmery | 9:ad6f60953086 | 234 | enco_prevError = enco_error; |
jimmery | 9:ad6f60953086 | 235 | gyro_prevError = gyro_error; |
jimmery | 9:ad6f60953086 | 236 | |
jimmery | 9:ad6f60953086 | 237 | enco_accumulator += enco_error; |
jimmery | 9:ad6f60953086 | 238 | gyro_accumulator += gyro_error; |
jimmery | 9:ad6f60953086 | 239 | |
jimmery | 9:ad6f60953086 | 240 | enco_accumulator /= enco_decayFactor; |
jimmery | 9:ad6f60953086 | 241 | gyro_accumulator /= gyro_decayFactor; |
jimmery | 9:ad6f60953086 | 242 | break; |
jimmery | 9:ad6f60953086 | 243 | default: |
jimmery | 9:ad6f60953086 | 244 | // don't do anything. |
jimmery | 9:ad6f60953086 | 245 | break; |
jimmery | 2:82a11e992619 | 246 | } |
jimmery | 0:13d8a77fb1d7 | 247 | } |
jimmery | 0:13d8a77fb1d7 | 248 | |
jimmery | 0:13d8a77fb1d7 | 249 | // computes gyro_offset |
jimmery | 0:13d8a77fb1d7 | 250 | // uses a "weighted" average. |
jimmery | 0:13d8a77fb1d7 | 251 | // idea is that the current gyro offset is weighted more than previous ones. |
jimmery | 0:13d8a77fb1d7 | 252 | // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n). |
jimmery | 0:13d8a77fb1d7 | 253 | // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.) |
jimmery | 0:13d8a77fb1d7 | 254 | // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight. |
jimmery | 0:13d8a77fb1d7 | 255 | // currently this is only in the setup function. we can run this when the mouse is running in a line |
jimmery | 0:13d8a77fb1d7 | 256 | // when we figure out good line running pid. |
jimmery | 0:13d8a77fb1d7 | 257 | void offsetCalc() |
jimmery | 0:13d8a77fb1d7 | 258 | { |
jimmery | 0:13d8a77fb1d7 | 259 | gyro_offset = gyro_offset / 2 + _gyro.read() / 2; |
jimmery | 0:13d8a77fb1d7 | 260 | } |
jimmery | 0:13d8a77fb1d7 | 261 | |
jimmery | 0:13d8a77fb1d7 | 262 | |
intgsull | 1:98efd8dd9077 | 263 | void stop() |
intgsull | 1:98efd8dd9077 | 264 | { |
intgsull | 1:98efd8dd9077 | 265 | left_forward = 1; |
intgsull | 1:98efd8dd9077 | 266 | left_reverse = 1; |
intgsull | 1:98efd8dd9077 | 267 | right_forward = 1; |
intgsull | 1:98efd8dd9077 | 268 | right_reverse = 1; |
jimmery | 2:82a11e992619 | 269 | } |
aduriseti | 6:61b503990cd6 | 270 | |
aduriseti | 5:f704940c9c7e | 271 | void turn() { |
jimmery | 9:ad6f60953086 | 272 | // reopen for business. |
jimmery | 9:ad6f60953086 | 273 | |
jimmery | 9:ad6f60953086 | 274 | int turn_counter = 0; |
jimmery | 9:ad6f60953086 | 275 | int base_left_pulses = l_enco.getPulses(); |
jimmery | 9:ad6f60953086 | 276 | int base_right_pulses = r_enco.getPulses(); |
jimmery | 9:ad6f60953086 | 277 | |
jimmery | 9:ad6f60953086 | 278 | int left_pulses; |
jimmery | 9:ad6f60953086 | 279 | int right_pulses; |
jimmery | 9:ad6f60953086 | 280 | |
jimmery | 9:ad6f60953086 | 281 | while ( turn_counter < max_turn_count ) |
jimmery | 9:ad6f60953086 | 282 | { |
jimmery | 9:ad6f60953086 | 283 | left_pulses = l_enco.getPulses(); |
jimmery | 9:ad6f60953086 | 284 | right_pulses = r_enco.getPulses(); |
jimmery | 9:ad6f60953086 | 285 | |
jimmery | 9:ad6f60953086 | 286 | turn_counter = ((left_pulses - base_left_pulses) + (right_pulses - base_right_pulses)) / 2; |
jimmery | 9:ad6f60953086 | 287 | |
jimmery | 9:ad6f60953086 | 288 | switch(turn_direction) |
jimmery | 9:ad6f60953086 | 289 | { |
jimmery | 9:ad6f60953086 | 290 | case LEFT: |
jimmery | 9:ad6f60953086 | 291 | left_forward = 0; |
jimmery | 9:ad6f60953086 | 292 | right_forward = set_speed / right_max_speed; |
jimmery | 9:ad6f60953086 | 293 | left_reverse = set_speed / left_max_speed; |
jimmery | 9:ad6f60953086 | 294 | right_reverse = 0; |
jimmery | 9:ad6f60953086 | 295 | break; |
jimmery | 9:ad6f60953086 | 296 | case RIGHT: |
jimmery | 9:ad6f60953086 | 297 | left_forward = set_speed / left_max_speed; |
jimmery | 9:ad6f60953086 | 298 | right_forward = 0; |
jimmery | 9:ad6f60953086 | 299 | left_reverse = 0; |
jimmery | 9:ad6f60953086 | 300 | right_reverse = set_speed / right_max_speed; |
jimmery | 9:ad6f60953086 | 301 | break; |
jimmery | 9:ad6f60953086 | 302 | default: |
jimmery | 9:ad6f60953086 | 303 | // invalid state. did not set a turn direction. |
jimmery | 9:ad6f60953086 | 304 | mouse_state = STOPPED; |
jimmery | 9:ad6f60953086 | 305 | } |
jimmery | 9:ad6f60953086 | 306 | |
jimmery | 9:ad6f60953086 | 307 | } |
aduriseti | 5:f704940c9c7e | 308 | } |
aduriseti | 6:61b503990cd6 | 309 | |
jimmery | 10:d2907773f9a3 | 310 | // TODO move_cell is not complete. this is copied code from systick. |
aduriseti | 6:61b503990cd6 | 311 | void move_cell() { |
jimmery | 10:d2907773f9a3 | 312 | //bacl in business boys. |
jimmery | 9:ad6f60953086 | 313 | if (mouse_state == MOVECELL) |
jimmery | 9:ad6f60953086 | 314 | { |
jimmery | 9:ad6f60953086 | 315 | forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses()); |
jimmery | 9:ad6f60953086 | 316 | if (forward_counter > 2000) |
jimmery | 9:ad6f60953086 | 317 | { |
jimmery | 9:ad6f60953086 | 318 | forward_counter = 0; |
jimmery | 9:ad6f60953086 | 319 | mouse_state = TURNING; |
jimmery | 9:ad6f60953086 | 320 | if (opening_left_ahead) |
jimmery | 9:ad6f60953086 | 321 | { |
jimmery | 9:ad6f60953086 | 322 | opening_left_ahead = 0; |
jimmery | 9:ad6f60953086 | 323 | turn_direction = LEFT; |
jimmery | 9:ad6f60953086 | 324 | } |
jimmery | 9:ad6f60953086 | 325 | else if (opening_right_ahead) |
jimmery | 9:ad6f60953086 | 326 | { |
jimmery | 9:ad6f60953086 | 327 | opening_right_ahead = 0; |
jimmery | 9:ad6f60953086 | 328 | } |
jimmery | 9:ad6f60953086 | 329 | encoder_reset(); //right? prepare for turn |
jimmery | 9:ad6f60953086 | 330 | } |
jimmery | 9:ad6f60953086 | 331 | } |
aduriseti | 6:61b503990cd6 | 332 | } |
aduriseti | 5:f704940c9c7e | 333 | |
aduriseti | 6:61b503990cd6 | 334 | |
intgsull | 8:03e5c3aaa9c9 | 335 | void algorithm() { //moved to systick |
intgsull | 8:03e5c3aaa9c9 | 336 | //encoder_reset(); |
intgsull | 8:03e5c3aaa9c9 | 337 | // mouse_state = TURNING; |
intgsull | 8:03e5c3aaa9c9 | 338 | // turn_direction = LEFT; |
aduriseti | 6:61b503990cd6 | 339 | //action_ticker.attach_us(&turn, 1000); |
aduriseti | 6:61b503990cd6 | 340 | |
aduriseti | 6:61b503990cd6 | 341 | /*if (opening_left_ahead || opening_right_ahead) { |
aduriseti | 6:61b503990cd6 | 342 | action_ticker.attach_us(&move_cell, 1000); |
aduriseti | 6:61b503990cd6 | 343 | } |
aduriseti | 6:61b503990cd6 | 344 | if (opening_left) { |
aduriseti | 5:f704940c9c7e | 345 | mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 346 | turn_direction = LEFT; |
aduriseti | 6:61b503990cd6 | 347 | action_ticker.attach_us(&turn, 1000); |
aduriseti | 5:f704940c9c7e | 348 | } |
aduriseti | 6:61b503990cd6 | 349 | if (opening_right) { |
aduriseti | 6:61b503990cd6 | 350 | mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 351 | turn_direction = RIGHT; |
aduriseti | 6:61b503990cd6 | 352 | action_ticker.attach_us(&turn, 1000); |
aduriseti | 6:61b503990cd6 | 353 | }*/ |
intgsull | 8:03e5c3aaa9c9 | 354 | |
intgsull | 1:98efd8dd9077 | 355 | } |
intgsull | 1:98efd8dd9077 | 356 | |
jimmery | 0:13d8a77fb1d7 | 357 | void setup() |
jimmery | 0:13d8a77fb1d7 | 358 | { |
jimmery | 9:ad6f60953086 | 359 | eRS = 0; |
jimmery | 9:ad6f60953086 | 360 | eRF = 0; |
jimmery | 9:ad6f60953086 | 361 | eLS = 0; |
jimmery | 9:ad6f60953086 | 362 | eLF = 0; |
jimmery | 0:13d8a77fb1d7 | 363 | |
jimmery | 2:82a11e992619 | 364 | mouse_state = FORWARD; |
jimmery | 9:ad6f60953086 | 365 | turn_direction = INVALID; |
jimmery | 0:13d8a77fb1d7 | 366 | myled = 1; |
jimmery | 0:13d8a77fb1d7 | 367 | for ( int i = 0; i < 1000; i++ ) |
jimmery | 0:13d8a77fb1d7 | 368 | { |
jimmery | 0:13d8a77fb1d7 | 369 | offsetCalc(); |
jimmery | 0:13d8a77fb1d7 | 370 | } |
jimmery | 0:13d8a77fb1d7 | 371 | wait(2); |
jimmery | 0:13d8a77fb1d7 | 372 | |
jimmery | 0:13d8a77fb1d7 | 373 | Systicker.attach_us(&systick, 1000); |
intgsull | 8:03e5c3aaa9c9 | 374 | //action_ticker.attach_us(&turn, 1000); |
intgsull | 8:03e5c3aaa9c9 | 375 | //algorithm_ticker.attach_us(&algorithm, 1000); let's try to stick with one ticker |
jimmery | 0:13d8a77fb1d7 | 376 | } |
jimmery | 9:ad6f60953086 | 377 | |
jimmery | 10:d2907773f9a3 | 378 | int main() { |
jimmery | 10:d2907773f9a3 | 379 | setup(); |
jimmery | 10:d2907773f9a3 | 380 | while(1) { |
jimmery | 10:d2907773f9a3 | 381 | switch (mouse_state) |
jimmery | 10:d2907773f9a3 | 382 | { |
jimmery | 10:d2907773f9a3 | 383 | case STOPPED: |
jimmery | 10:d2907773f9a3 | 384 | stop(); |
jimmery | 10:d2907773f9a3 | 385 | wait(1); |
jimmery | 10:d2907773f9a3 | 386 | if ( turn_direction == INVALID ) |
jimmery | 10:d2907773f9a3 | 387 | { |
jimmery | 10:d2907773f9a3 | 388 | mouse_state = FORWARD; |
jimmery | 10:d2907773f9a3 | 389 | } |
jimmery | 10:d2907773f9a3 | 390 | else |
jimmery | 10:d2907773f9a3 | 391 | { |
jimmery | 10:d2907773f9a3 | 392 | mouse_state = TURNING; |
jimmery | 10:d2907773f9a3 | 393 | } |
jimmery | 10:d2907773f9a3 | 394 | break; |
jimmery | 10:d2907773f9a3 | 395 | case FORWARD: |
jimmery | 10:d2907773f9a3 | 396 | left_forward = left_speed / left_max_speed; |
jimmery | 10:d2907773f9a3 | 397 | left_reverse = 0; |
jimmery | 10:d2907773f9a3 | 398 | right_forward = right_speed / right_max_speed; |
jimmery | 10:d2907773f9a3 | 399 | right_reverse = 0; |
jimmery | 10:d2907773f9a3 | 400 | break; |
jimmery | 10:d2907773f9a3 | 401 | case TURNING: |
jimmery | 10:d2907773f9a3 | 402 | turn(); |
jimmery | 10:d2907773f9a3 | 403 | mouse_state = STOPPED; |
jimmery | 10:d2907773f9a3 | 404 | turn_direction = INVALID; |
jimmery | 10:d2907773f9a3 | 405 | break; |
jimmery | 10:d2907773f9a3 | 406 | case MOVECELL: |
jimmery | 10:d2907773f9a3 | 407 | move_cell(); |
jimmery | 10:d2907773f9a3 | 408 | break; |
jimmery | 10:d2907773f9a3 | 409 | default: |
jimmery | 10:d2907773f9a3 | 410 | // idk lmao. show some error message? |
jimmery | 10:d2907773f9a3 | 411 | break; |
jimmery | 10:d2907773f9a3 | 412 | } |
jimmery | 10:d2907773f9a3 | 413 | } |
jimmery | 10:d2907773f9a3 | 414 | } |
jimmery | 10:d2907773f9a3 | 415 | |
jimmery | 10:d2907773f9a3 | 416 | |
jimmery | 9:ad6f60953086 | 417 | void test_IR_sensors() |
jimmery | 9:ad6f60953086 | 418 | { |
jimmery | 9:ad6f60953086 | 419 | eRS = 1; |
jimmery | 9:ad6f60953086 | 420 | wait_us(50); |
jimmery | 9:ad6f60953086 | 421 | float right_side = rRS.read(); |
jimmery | 9:ad6f60953086 | 422 | eRS = 0; |
jimmery | 9:ad6f60953086 | 423 | eLS = 1; |
jimmery | 9:ad6f60953086 | 424 | wait_us(50); |
jimmery | 9:ad6f60953086 | 425 | float left_side = rLS.read(); |
jimmery | 9:ad6f60953086 | 426 | eLS = 0; |
jimmery | 9:ad6f60953086 | 427 | eRF = 1; |
jimmery | 9:ad6f60953086 | 428 | wait_us(50); |
jimmery | 9:ad6f60953086 | 429 | float right_front = rRF.read(); |
jimmery | 9:ad6f60953086 | 430 | eRF = 0; |
jimmery | 9:ad6f60953086 | 431 | eLF = 1; |
jimmery | 9:ad6f60953086 | 432 | wait_us(50); |
jimmery | 9:ad6f60953086 | 433 | float left_front = rLF.read(); |
jimmery | 9:ad6f60953086 | 434 | eLF = 0; |
jimmery | 9:ad6f60953086 | 435 | 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 | 436 | wait(1); |
jimmery | 9:ad6f60953086 | 437 | } |
jimmery | 0:13d8a77fb1d7 | 438 | |
jimmery | 10:d2907773f9a3 | 439 | void test_motors() |
jimmery | 10:d2907773f9a3 | 440 | { |
jimmery | 10:d2907773f9a3 | 441 | encoder_reset(); |
jimmery | 10:d2907773f9a3 | 442 | |
jimmery | 10:d2907773f9a3 | 443 | right_forward = 1; |
jimmery | 10:d2907773f9a3 | 444 | left_forward = 1; |
jimmery | 10:d2907773f9a3 | 445 | right_reverse = 0; |
jimmery | 10:d2907773f9a3 | 446 | left_reverse = 0; |
jimmery | 10:d2907773f9a3 | 447 | |
jimmery | 10:d2907773f9a3 | 448 | wait(10); |
jimmery | 10:d2907773f9a3 | 449 | pc.printf("left pulses: %d, right pulses: %d", l_enco.getPulses(), r_enco.getPulses()); |
jimmery | 10:d2907773f9a3 | 450 | } |