PID Test
Dependencies: AVEncoder mbed-src-AV
main.cpp@7:b866e3aae05f, 2015-12-04 (annotated)
- Committer:
- jimmery
- Date:
- Fri Dec 04 02:51:37 2015 +0000
- Revision:
- 7:b866e3aae05f
- Parent:
- 6:61b503990cd6
- Child:
- 8:03e5c3aaa9c9
ir changes;
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; |
intgsull | 4:112f3d35bd2d | 52 | volatile float enco_decayFactor = 1.6; |
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; |
aduriseti | 6:61b503990cd6 | 68 | const float enco_integ = 10;//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. |
jimmery | 7:b866e3aae05f | 81 | // |
jimmery | 7:b866e3aae05f | 82 | //const float |
jimmery | 7:b866e3aae05f | 83 | |
aduriseti | 6:61b503990cd6 | 84 | const float frontWall = 0.07; //need to calibrate this threshold to a value where mouse can stop in time |
aduriseti | 6:61b503990cd6 | 85 | const float open_left = 0.20; |
aduriseti | 6:61b503990cd6 | 86 | const float open_right = 0.17; |
intgsull | 1:98efd8dd9077 | 87 | //something like this may be useful |
intgsull | 1:98efd8dd9077 | 88 | |
jimmery | 0:13d8a77fb1d7 | 89 | volatile float enco_error; |
jimmery | 0:13d8a77fb1d7 | 90 | volatile float enco_pid; |
jimmery | 0:13d8a77fb1d7 | 91 | volatile float gyro_error; |
jimmery | 0:13d8a77fb1d7 | 92 | volatile float gyro_pid; |
jimmery | 0:13d8a77fb1d7 | 93 | volatile float w_error; |
jimmery | 0:13d8a77fb1d7 | 94 | |
intgsull | 4:112f3d35bd2d | 95 | ////////////////////////////////////ir PID constants//////////////////////////////////////////////// |
intgsull | 4:112f3d35bd2d | 96 | const float leftWall= 0; |
intgsull | 4:112f3d35bd2d | 97 | const float rightWall= 0; //we need to find the threshold value for when |
intgsull | 4:112f3d35bd2d | 98 | //left or right walls are present |
intgsull | 4:112f3d35bd2d | 99 | const float irOffset= 0; // difference between right and left ir sensors when |
intgsull | 4:112f3d35bd2d | 100 | //mouse is in the middle |
intgsull | 4:112f3d35bd2d | 101 | const float lirOffset= 0; //middle value for when there is only a wall on one |
intgsull | 4:112f3d35bd2d | 102 | const float rirOffset= 0; //side of the mouse (left and right) |
intgsull | 4:112f3d35bd2d | 103 | volatile float irError = 0; |
intgsull | 4:112f3d35bd2d | 104 | volatile float irErrorD = 0; |
intgsull | 4:112f3d35bd2d | 105 | volatile float irErrorI = 0; |
intgsull | 4:112f3d35bd2d | 106 | volatile float oldirError = 0; |
intgsull | 4:112f3d35bd2d | 107 | volatile float totalirError= 0; //errors |
intgsull | 4:112f3d35bd2d | 108 | const float irKp = 0; |
intgsull | 4:112f3d35bd2d | 109 | const float irKd = 0; |
intgsull | 4:112f3d35bd2d | 110 | const float irKi = 0; //constants |
intgsull | 4:112f3d35bd2d | 111 | volatile float leftD; |
intgsull | 4:112f3d35bd2d | 112 | volatile float rightD; |
aduriseti | 5:f704940c9c7e | 113 | |
intgsull | 4:112f3d35bd2d | 114 | void irPID() |
intgsull | 4:112f3d35bd2d | 115 | { |
intgsull | 4:112f3d35bd2d | 116 | eLS = 1; |
intgsull | 4:112f3d35bd2d | 117 | leftD = rLS.read(); |
intgsull | 4:112f3d35bd2d | 118 | eLS = 0; |
intgsull | 4:112f3d35bd2d | 119 | eRS = 1; |
intgsull | 4:112f3d35bd2d | 120 | rightD = rRS.read(); |
intgsull | 4:112f3d35bd2d | 121 | eRS = 0; |
intgsull | 4:112f3d35bd2d | 122 | if(leftD > leftWall && rightD > rightWall)//walls on both sides |
intgsull | 4:112f3d35bd2d | 123 | { |
intgsull | 4:112f3d35bd2d | 124 | irError = rightD-leftD-irOffset; |
intgsull | 4:112f3d35bd2d | 125 | |
intgsull | 4:112f3d35bd2d | 126 | irErrorD = irError-oldirError; |
intgsull | 4:112f3d35bd2d | 127 | |
intgsull | 4:112f3d35bd2d | 128 | irErrorI += irError; |
intgsull | 4:112f3d35bd2d | 129 | } |
intgsull | 4:112f3d35bd2d | 130 | else if(leftD > leftWall) //just left wall |
intgsull | 4:112f3d35bd2d | 131 | { |
intgsull | 4:112f3d35bd2d | 132 | |
intgsull | 4:112f3d35bd2d | 133 | irError = 2*(lirOffset-leftD); |
intgsull | 4:112f3d35bd2d | 134 | |
intgsull | 4:112f3d35bd2d | 135 | irErrorD=irError-oldirError; |
intgsull | 4:112f3d35bd2d | 136 | |
intgsull | 4:112f3d35bd2d | 137 | irErrorI += irError; |
intgsull | 4:112f3d35bd2d | 138 | } |
intgsull | 4:112f3d35bd2d | 139 | else if(rightD > rightWall)//just right wall |
intgsull | 4:112f3d35bd2d | 140 | { |
intgsull | 4:112f3d35bd2d | 141 | irError=2*(rightD-rirOffset); |
intgsull | 4:112f3d35bd2d | 142 | |
intgsull | 4:112f3d35bd2d | 143 | irError = irError-oldirError; |
intgsull | 4:112f3d35bd2d | 144 | |
intgsull | 4:112f3d35bd2d | 145 | irErrorI += irError; |
intgsull | 4:112f3d35bd2d | 146 | } |
intgsull | 4:112f3d35bd2d | 147 | else if(leftD < leftWall && rightD < rightWall)//no walls!! Use encoder PID |
intgsull | 4:112f3d35bd2d | 148 | { |
intgsull | 4:112f3d35bd2d | 149 | irError = 0; |
intgsull | 4:112f3d35bd2d | 150 | irErrorD = 0; |
intgsull | 4:112f3d35bd2d | 151 | irErrorI += irError; |
intgsull | 4:112f3d35bd2d | 152 | } |
intgsull | 4:112f3d35bd2d | 153 | totalirError = irError*irKp + irErrorD*irKd + irErrorI*irKi; |
intgsull | 4:112f3d35bd2d | 154 | oldirError = irError; |
intgsull | 4:112f3d35bd2d | 155 | left_speed -= totalirError; |
intgsull | 4:112f3d35bd2d | 156 | right_speed += totalirError; |
intgsull | 4:112f3d35bd2d | 157 | } |
intgsull | 4:112f3d35bd2d | 158 | |
jimmery | 2:82a11e992619 | 159 | // this is just so that we can maintain what state our mouse is in. |
jimmery | 2:82a11e992619 | 160 | // currently this has no real use, but it may in the future. |
jimmery | 2:82a11e992619 | 161 | // or we could just remove this entirely. |
jimmery | 2:82a11e992619 | 162 | typedef enum |
jimmery | 2:82a11e992619 | 163 | { |
jimmery | 2:82a11e992619 | 164 | STOPPED, |
jimmery | 2:82a11e992619 | 165 | FORWARD, |
aduriseti | 5:f704940c9c7e | 166 | TURNING, |
aduriseti | 5:f704940c9c7e | 167 | FINISHED, |
jimmery | 2:82a11e992619 | 168 | UNKNOWN |
jimmery | 2:82a11e992619 | 169 | } STATE; |
jimmery | 2:82a11e992619 | 170 | volatile STATE mouse_state; |
jimmery | 2:82a11e992619 | 171 | |
aduriseti | 6:61b503990cd6 | 172 | volatile int wall_in_front = 0; |
aduriseti | 6:61b503990cd6 | 173 | volatile int opening_left_ahead = 0; |
aduriseti | 6:61b503990cd6 | 174 | volatile int opening_right_ahead = 0; |
aduriseti | 6:61b503990cd6 | 175 | volatile int opening_left; |
aduriseti | 6:61b503990cd6 | 176 | volatile int opening_right; |
aduriseti | 6:61b503990cd6 | 177 | |
jimmery | 2:82a11e992619 | 178 | void watchOut(); |
jimmery | 2:82a11e992619 | 179 | void offsetCalc(); |
jimmery | 2:82a11e992619 | 180 | void stop(); |
jimmery | 2:82a11e992619 | 181 | |
aduriseti | 5:f704940c9c7e | 182 | void encoder_reset() |
jimmery | 0:13d8a77fb1d7 | 183 | { |
jimmery | 0:13d8a77fb1d7 | 184 | l_enco.reset(); |
jimmery | 0:13d8a77fb1d7 | 185 | r_enco.reset(); |
jimmery | 0:13d8a77fb1d7 | 186 | } |
jimmery | 0:13d8a77fb1d7 | 187 | |
aduriseti | 6:61b503990cd6 | 188 | void detect_opening() { |
aduriseti | 6:61b503990cd6 | 189 | eRS = 1; |
aduriseti | 6:61b503990cd6 | 190 | float right_side = rRS.read(); |
aduriseti | 6:61b503990cd6 | 191 | eRS = 0; |
aduriseti | 6:61b503990cd6 | 192 | eLS = 1; |
aduriseti | 6:61b503990cd6 | 193 | float left_side = rLS.read(); |
aduriseti | 6:61b503990cd6 | 194 | eLS = 0; |
aduriseti | 6:61b503990cd6 | 195 | if (right_side < open_right) { |
aduriseti | 6:61b503990cd6 | 196 | mouse_state = STOPPED; |
aduriseti | 6:61b503990cd6 | 197 | opening_right_ahead = 1; //handler for this condition sets back to 0 |
aduriseti | 6:61b503990cd6 | 198 | } else if (left_side < open_left) { |
aduriseti | 6:61b503990cd6 | 199 | mouse_state = STOPPED; |
aduriseti | 6:61b503990cd6 | 200 | opening_left_ahead = 1; //handler fot this sets back to 0 like above |
aduriseti | 6:61b503990cd6 | 201 | } |
aduriseti | 6:61b503990cd6 | 202 | } |
aduriseti | 6:61b503990cd6 | 203 | |
jimmery | 0:13d8a77fb1d7 | 204 | void systick() |
jimmery | 0:13d8a77fb1d7 | 205 | { |
aduriseti | 5:f704940c9c7e | 206 | //watchOut(); |
jimmery | 2:82a11e992619 | 207 | if ( mouse_state == STOPPED ) |
jimmery | 2:82a11e992619 | 208 | { |
jimmery | 2:82a11e992619 | 209 | offsetCalc(); |
jimmery | 2:82a11e992619 | 210 | stop(); |
aduriseti | 6:61b503990cd6 | 211 | encoder_reset(); // maybe problems with this, reconsider |
jimmery | 2:82a11e992619 | 212 | return; |
aduriseti | 5:f704940c9c7e | 213 | } else if (mouse_state == FORWARD) { |
aduriseti | 5:f704940c9c7e | 214 | watchOut(); |
aduriseti | 6:61b503990cd6 | 215 | //detect_opening(); |
aduriseti | 5:f704940c9c7e | 216 | |
aduriseti | 5:f704940c9c7e | 217 | enco_error = l_enco.getPulses() - r_enco.getPulses(); |
aduriseti | 5:f704940c9c7e | 218 | gyro_error = _gyro.read() - gyro_offset; |
aduriseti | 5:f704940c9c7e | 219 | |
aduriseti | 5:f704940c9c7e | 220 | enco_accumulator += enco_error; |
aduriseti | 5:f704940c9c7e | 221 | gyro_accumulator += gyro_error; |
aduriseti | 5:f704940c9c7e | 222 | |
aduriseti | 5:f704940c9c7e | 223 | enco_pid = 0; |
aduriseti | 5:f704940c9c7e | 224 | enco_pid += enco_propo * enco_error; |
aduriseti | 5:f704940c9c7e | 225 | enco_pid += enco_integ * enco_accumulator; |
aduriseti | 5:f704940c9c7e | 226 | enco_pid += enco_deriv * (enco_error - enco_prevError); |
aduriseti | 5:f704940c9c7e | 227 | |
aduriseti | 5:f704940c9c7e | 228 | gyro_pid = 0; |
aduriseti | 5:f704940c9c7e | 229 | gyro_pid += gyro_propo * gyro_error; |
aduriseti | 5:f704940c9c7e | 230 | gyro_pid += gyro_integ * gyro_accumulator; |
aduriseti | 5:f704940c9c7e | 231 | gyro_pid += gyro_deriv * (gyro_error - gyro_prevError); |
aduriseti | 5:f704940c9c7e | 232 | |
aduriseti | 5:f704940c9c7e | 233 | w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid; |
aduriseti | 5:f704940c9c7e | 234 | left_speed = set_speed + w_error; |
aduriseti | 5:f704940c9c7e | 235 | right_speed = set_speed - w_error; |
aduriseti | 5:f704940c9c7e | 236 | |
aduriseti | 5:f704940c9c7e | 237 | left_forward = left_speed / left_max_speed; |
aduriseti | 5:f704940c9c7e | 238 | left_reverse = 0; |
aduriseti | 5:f704940c9c7e | 239 | right_forward = right_speed / right_max_speed; |
aduriseti | 5:f704940c9c7e | 240 | right_reverse = 0; |
aduriseti | 5:f704940c9c7e | 241 | |
aduriseti | 5:f704940c9c7e | 242 | enco_prevError = enco_error; |
aduriseti | 5:f704940c9c7e | 243 | gyro_prevError = gyro_error; |
aduriseti | 5:f704940c9c7e | 244 | |
aduriseti | 5:f704940c9c7e | 245 | enco_accumulator += enco_error; |
aduriseti | 5:f704940c9c7e | 246 | gyro_accumulator += gyro_error; |
aduriseti | 5:f704940c9c7e | 247 | |
aduriseti | 5:f704940c9c7e | 248 | enco_accumulator /= enco_decayFactor; |
aduriseti | 5:f704940c9c7e | 249 | gyro_accumulator /= gyro_decayFactor; |
aduriseti | 5:f704940c9c7e | 250 | |
aduriseti | 5:f704940c9c7e | 251 | //reset(); |
jimmery | 2:82a11e992619 | 252 | } |
jimmery | 0:13d8a77fb1d7 | 253 | } |
jimmery | 0:13d8a77fb1d7 | 254 | |
jimmery | 0:13d8a77fb1d7 | 255 | // computes gyro_offset |
jimmery | 0:13d8a77fb1d7 | 256 | // uses a "weighted" average. |
jimmery | 0:13d8a77fb1d7 | 257 | // idea is that the current gyro offset is weighted more than previous ones. |
jimmery | 0:13d8a77fb1d7 | 258 | // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n). |
jimmery | 0:13d8a77fb1d7 | 259 | // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.) |
jimmery | 0:13d8a77fb1d7 | 260 | // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight. |
jimmery | 0:13d8a77fb1d7 | 261 | // currently this is only in the setup function. we can run this when the mouse is running in a line |
jimmery | 0:13d8a77fb1d7 | 262 | // when we figure out good line running pid. |
jimmery | 0:13d8a77fb1d7 | 263 | void offsetCalc() |
jimmery | 0:13d8a77fb1d7 | 264 | { |
jimmery | 0:13d8a77fb1d7 | 265 | gyro_offset = gyro_offset / 2 + _gyro.read() / 2; |
jimmery | 0:13d8a77fb1d7 | 266 | } |
jimmery | 0:13d8a77fb1d7 | 267 | |
jimmery | 0:13d8a77fb1d7 | 268 | |
intgsull | 1:98efd8dd9077 | 269 | void stop() |
intgsull | 1:98efd8dd9077 | 270 | { |
intgsull | 1:98efd8dd9077 | 271 | left_forward = 1; |
intgsull | 1:98efd8dd9077 | 272 | left_reverse = 1; |
intgsull | 1:98efd8dd9077 | 273 | right_forward = 1; |
intgsull | 1:98efd8dd9077 | 274 | right_reverse = 1; |
jimmery | 2:82a11e992619 | 275 | } |
aduriseti | 6:61b503990cd6 | 276 | |
aduriseti | 6:61b503990cd6 | 277 | typedef enum |
aduriseti | 6:61b503990cd6 | 278 | { |
aduriseti | 6:61b503990cd6 | 279 | LEFT, |
aduriseti | 6:61b503990cd6 | 280 | RIGHT |
aduriseti | 6:61b503990cd6 | 281 | } TURN_DIRECTION; |
aduriseti | 6:61b503990cd6 | 282 | volatile TURN_DIRECTION turn_direction; |
aduriseti | 6:61b503990cd6 | 283 | |
aduriseti | 6:61b503990cd6 | 284 | volatile int turn_counter; |
aduriseti | 6:61b503990cd6 | 285 | volatile int right_turn_count; |
aduriseti | 6:61b503990cd6 | 286 | volatile int examined_left; |
aduriseti | 6:61b503990cd6 | 287 | volatile int examined_right; |
aduriseti | 6:61b503990cd6 | 288 | |
aduriseti | 6:61b503990cd6 | 289 | //time to make a 90 degree turn and move forward one cell length, repectively |
aduriseti | 6:61b503990cd6 | 290 | //should be replaced with encoder counts |
aduriseti | 6:61b503990cd6 | 291 | volatile int max_turn_count = 800; |
aduriseti | 6:61b503990cd6 | 292 | volatile int cell_length_count = 800; |
intgsull | 1:98efd8dd9077 | 293 | |
intgsull | 1:98efd8dd9077 | 294 | void watchOut() |
intgsull | 1:98efd8dd9077 | 295 | { |
aduriseti | 5:f704940c9c7e | 296 | //if (mouse_state == FORWARD) { |
aduriseti | 5:f704940c9c7e | 297 | eRF = 1; |
aduriseti | 5:f704940c9c7e | 298 | float right = rRF.read(); |
aduriseti | 5:f704940c9c7e | 299 | eRF = 0; |
aduriseti | 5:f704940c9c7e | 300 | eLF = 1; |
aduriseti | 5:f704940c9c7e | 301 | float left = rLF.read(); |
aduriseti | 5:f704940c9c7e | 302 | eLF = 0; |
jimmery | 7:b866e3aae05f | 303 | if(left > thresh_LF || right > thresh_RF ) |
aduriseti | 5:f704940c9c7e | 304 | { |
aduriseti | 5:f704940c9c7e | 305 | mouse_state = STOPPED; |
aduriseti | 6:61b503990cd6 | 306 | wall_in_front = 1; //handler for this condition sets back to zero |
aduriseti | 6:61b503990cd6 | 307 | |
aduriseti | 6:61b503990cd6 | 308 | encoder_reset(); |
aduriseti | 6:61b503990cd6 | 309 | mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 310 | turn_direction = LEFT; |
aduriseti | 6:61b503990cd6 | 311 | } |
aduriseti | 5:f704940c9c7e | 312 | } |
aduriseti | 5:f704940c9c7e | 313 | |
aduriseti | 5:f704940c9c7e | 314 | |
aduriseti | 5:f704940c9c7e | 315 | void turn() { |
aduriseti | 5:f704940c9c7e | 316 | if (mouse_state == TURNING) { |
aduriseti | 5:f704940c9c7e | 317 | if (turn_counter < max_turn_count) { |
aduriseti | 5:f704940c9c7e | 318 | int left_pulses = l_enco.getPulses(); |
aduriseti | 5:f704940c9c7e | 319 | int right_pulses = r_enco.getPulses(); |
aduriseti | 5:f704940c9c7e | 320 | turn_counter = (left_pulses + right_pulses)/2; |
aduriseti | 6:61b503990cd6 | 321 | |
aduriseti | 6:61b503990cd6 | 322 | //maybe eventually replace this with PID control -> systicker |
aduriseti | 5:f704940c9c7e | 323 | if (turn_direction == LEFT) { |
aduriseti | 6:61b503990cd6 | 324 | left_forward = 0; |
aduriseti | 6:61b503990cd6 | 325 | left_reverse = set_speed / left_max_speed; |
aduriseti | 6:61b503990cd6 | 326 | right_forward = set_speed / right_max_speed; |
aduriseti | 6:61b503990cd6 | 327 | right_reverse = 0; |
aduriseti | 5:f704940c9c7e | 328 | } else { |
aduriseti | 6:61b503990cd6 | 329 | left_forward = set_speed / left_max_speed; |
aduriseti | 6:61b503990cd6 | 330 | left_reverse = 0; |
aduriseti | 6:61b503990cd6 | 331 | right_forward = 0; |
aduriseti | 6:61b503990cd6 | 332 | right_reverse = set_speed / right_max_speed; |
aduriseti | 6:61b503990cd6 | 333 | } |
aduriseti | 6:61b503990cd6 | 334 | } else { |
aduriseti | 6:61b503990cd6 | 335 | |
aduriseti | 6:61b503990cd6 | 336 | stop(); |
aduriseti | 6:61b503990cd6 | 337 | turn_counter = 0; |
aduriseti | 5:f704940c9c7e | 338 | encoder_reset(); |
aduriseti | 5:f704940c9c7e | 339 | mouse_state = FORWARD; |
aduriseti | 5:f704940c9c7e | 340 | } |
aduriseti | 5:f704940c9c7e | 341 | } |
aduriseti | 5:f704940c9c7e | 342 | } |
aduriseti | 6:61b503990cd6 | 343 | |
aduriseti | 6:61b503990cd6 | 344 | volatile int forward_counter; |
aduriseti | 6:61b503990cd6 | 345 | |
aduriseti | 6:61b503990cd6 | 346 | void move_cell() { |
aduriseti | 6:61b503990cd6 | 347 | mouse_state = FORWARD; |
aduriseti | 6:61b503990cd6 | 348 | forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses()); |
aduriseti | 6:61b503990cd6 | 349 | if (forward_counter > 2000) { |
aduriseti | 6:61b503990cd6 | 350 | action_ticker.detach(); |
aduriseti | 6:61b503990cd6 | 351 | forward_counter = 0; |
aduriseti | 6:61b503990cd6 | 352 | //encoder_reset(); |
aduriseti | 6:61b503990cd6 | 353 | mouse_state = STOPPED; |
aduriseti | 6:61b503990cd6 | 354 | if (opening_left_ahead) { //takes care of case where opening on both sides - defaults to left turn |
aduriseti | 6:61b503990cd6 | 355 | opening_left_ahead = 0; |
aduriseti | 6:61b503990cd6 | 356 | opening_left = 1; |
aduriseti | 6:61b503990cd6 | 357 | } else if (opening_right_ahead) { |
aduriseti | 6:61b503990cd6 | 358 | opening_right_ahead = 0; |
aduriseti | 6:61b503990cd6 | 359 | opening_right = 1; |
aduriseti | 6:61b503990cd6 | 360 | } else { |
aduriseti | 6:61b503990cd6 | 361 | //we fucked up |
aduriseti | 6:61b503990cd6 | 362 | } |
aduriseti | 6:61b503990cd6 | 363 | } |
aduriseti | 6:61b503990cd6 | 364 | } |
aduriseti | 5:f704940c9c7e | 365 | |
aduriseti | 6:61b503990cd6 | 366 | |
aduriseti | 6:61b503990cd6 | 367 | void algorithm() { |
aduriseti | 5:f704940c9c7e | 368 | if (mouse_state == STOPPED) { |
aduriseti | 5:f704940c9c7e | 369 | encoder_reset(); |
aduriseti | 6:61b503990cd6 | 370 | mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 371 | turn_direction = LEFT; |
aduriseti | 6:61b503990cd6 | 372 | //action_ticker.attach_us(&turn, 1000); |
aduriseti | 6:61b503990cd6 | 373 | |
aduriseti | 6:61b503990cd6 | 374 | /*if (opening_left_ahead || opening_right_ahead) { |
aduriseti | 6:61b503990cd6 | 375 | action_ticker.attach_us(&move_cell, 1000); |
aduriseti | 6:61b503990cd6 | 376 | } |
aduriseti | 6:61b503990cd6 | 377 | if (opening_left) { |
aduriseti | 5:f704940c9c7e | 378 | mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 379 | turn_direction = LEFT; |
aduriseti | 6:61b503990cd6 | 380 | action_ticker.attach_us(&turn, 1000); |
aduriseti | 5:f704940c9c7e | 381 | } |
aduriseti | 6:61b503990cd6 | 382 | if (opening_right) { |
aduriseti | 6:61b503990cd6 | 383 | mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 384 | turn_direction = RIGHT; |
aduriseti | 6:61b503990cd6 | 385 | action_ticker.attach_us(&turn, 1000); |
aduriseti | 6:61b503990cd6 | 386 | }*/ |
intgsull | 1:98efd8dd9077 | 387 | } |
intgsull | 1:98efd8dd9077 | 388 | } |
intgsull | 1:98efd8dd9077 | 389 | |
intgsull | 4:112f3d35bd2d | 390 | |
jimmery | 0:13d8a77fb1d7 | 391 | void setup() |
jimmery | 0:13d8a77fb1d7 | 392 | { |
jimmery | 0:13d8a77fb1d7 | 393 | pc.printf("Hello World\r\n"); |
jimmery | 0:13d8a77fb1d7 | 394 | |
jimmery | 0:13d8a77fb1d7 | 395 | eRS = 0; |
jimmery | 0:13d8a77fb1d7 | 396 | eRF = 0; |
jimmery | 0:13d8a77fb1d7 | 397 | eLS = 0; |
jimmery | 0:13d8a77fb1d7 | 398 | eLF = 0; |
jimmery | 0:13d8a77fb1d7 | 399 | |
aduriseti | 6:61b503990cd6 | 400 | |
aduriseti | 6:61b503990cd6 | 401 | |
jimmery | 2:82a11e992619 | 402 | mouse_state = FORWARD; |
jimmery | 2:82a11e992619 | 403 | |
jimmery | 0:13d8a77fb1d7 | 404 | myled = 1; |
jimmery | 0:13d8a77fb1d7 | 405 | |
jimmery | 0:13d8a77fb1d7 | 406 | for ( int i = 0; i < 1000; i++ ) |
jimmery | 0:13d8a77fb1d7 | 407 | { |
jimmery | 0:13d8a77fb1d7 | 408 | offsetCalc(); |
jimmery | 0:13d8a77fb1d7 | 409 | } |
jimmery | 0:13d8a77fb1d7 | 410 | |
jimmery | 0:13d8a77fb1d7 | 411 | //left_forward = left_speed / left_max_speed; |
jimmery | 0:13d8a77fb1d7 | 412 | // left_reverse = 0; |
jimmery | 0:13d8a77fb1d7 | 413 | // right_forward = right_speed / right_max_speed; |
jimmery | 0:13d8a77fb1d7 | 414 | // right_reverse = 0; |
jimmery | 0:13d8a77fb1d7 | 415 | |
jimmery | 0:13d8a77fb1d7 | 416 | wait(2); |
jimmery | 0:13d8a77fb1d7 | 417 | |
jimmery | 0:13d8a77fb1d7 | 418 | // repeat this for some time frame. |
aduriseti | 6:61b503990cd6 | 419 | |
jimmery | 0:13d8a77fb1d7 | 420 | Systicker.attach_us(&systick, 1000); |
aduriseti | 6:61b503990cd6 | 421 | |
aduriseti | 6:61b503990cd6 | 422 | //encoder_reset(); |
aduriseti | 6:61b503990cd6 | 423 | //mouse_state = TURNING; |
aduriseti | 6:61b503990cd6 | 424 | //turn_direction = LEFT; |
aduriseti | 6:61b503990cd6 | 425 | action_ticker.attach_us(&turn, 1000); |
aduriseti | 6:61b503990cd6 | 426 | |
aduriseti | 5:f704940c9c7e | 427 | //ir_ticker.attach_us(&irPID, 100000); |
aduriseti | 6:61b503990cd6 | 428 | |
aduriseti | 6:61b503990cd6 | 429 | //algorithm_ticker.attach_us(&algorithm, 1000); |
aduriseti | 6:61b503990cd6 | 430 | |
aduriseti | 6:61b503990cd6 | 431 | |
aduriseti | 6:61b503990cd6 | 432 | |
aduriseti | 6:61b503990cd6 | 433 | |
jimmery | 0:13d8a77fb1d7 | 434 | } |
jimmery | 0:13d8a77fb1d7 | 435 | |
jimmery | 0:13d8a77fb1d7 | 436 | |
jimmery | 0:13d8a77fb1d7 | 437 | int main() { |
jimmery | 0:13d8a77fb1d7 | 438 | setup(); |
intgsull | 3:40333f38771d | 439 | |
intgsull | 3:40333f38771d | 440 | |
jimmery | 0:13d8a77fb1d7 | 441 | while(1) { |
intgsull | 3:40333f38771d | 442 | // |
intgsull | 3:40333f38771d | 443 | // pc.printf("left pulss %f, right pulses %f \r\n", l_enco.getPulses(), r_enco.getPulses()); |
intgsull | 3:40333f38771d | 444 | // //wait(1); |
jimmery | 7:b866e3aae05f | 445 | //wait(1); |
jimmery | 7:b866e3aae05f | 446 | /*eRS = 1; |
jimmery | 7:b866e3aae05f | 447 | wait_us(50); |
aduriseti | 6:61b503990cd6 | 448 | float right_side = rRS.read(); |
jimmery | 7:b866e3aae05f | 449 | eRS = 0; |
jimmery | 7:b866e3aae05f | 450 | eLS = 1; |
jimmery | 7:b866e3aae05f | 451 | wait_us(50); |
aduriseti | 6:61b503990cd6 | 452 | float left_side = rLS.read(); |
aduriseti | 6:61b503990cd6 | 453 | eLS = 0; |
jimmery | 7:b866e3aae05f | 454 | eRF = 1; |
jimmery | 7:b866e3aae05f | 455 | wait_us(50); |
jimmery | 7:b866e3aae05f | 456 | float right_front = rRF.read(); |
jimmery | 7:b866e3aae05f | 457 | eRF = 0; |
jimmery | 7:b866e3aae05f | 458 | eLF = 1; |
jimmery | 7:b866e3aae05f | 459 | wait_us(50); |
jimmery | 7:b866e3aae05f | 460 | float left_front = rLF.read(); |
jimmery | 7:b866e3aae05f | 461 | eLF = 0; |
jimmery | 7:b866e3aae05f | 462 | 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 | 7:b866e3aae05f | 463 | wait(1);*/ |
intgsull | 3:40333f38771d | 464 | } |
intgsull | 3:40333f38771d | 465 | // pc.printf("left pulses %d, right pulses %d \r\n", l_enco.getPulses(), r_enco.getPulses()); //encoder testing |
jimmery | 0:13d8a77fb1d7 | 466 | //wait(1); |
jimmery | 0:13d8a77fb1d7 | 467 | } |