Mouse code for the MacroRat
main.cpp@16:d9252437bd92, 2017-05-14 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Sun May 14 20:58:55 2017 +0000
- Revision:
- 16:d9252437bd92
- Parent:
- 15:b80555a4a8b9
- Child:
- 17:f713758f6238
Moves forward exactly one cell now!;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 0:a03c771ab78e | 1 | #include "mbed.h" |
kyleliangus | 4:b5b7836ca2b0 | 2 | |
kyleliangus | 6:3d68fedd6fd9 | 3 | #include "irpair.h" |
kyleliangus | 4:b5b7836ca2b0 | 4 | #include "main.h" |
kyleliangus | 4:b5b7836ca2b0 | 5 | #include "motor.h" |
kyleliangus | 4:b5b7836ca2b0 | 6 | |
sahilmgandhi | 0:a03c771ab78e | 7 | #include <stdlib.h> |
sahilmgandhi | 1:8a4b2f573923 | 8 | #include "ITG3200.h" |
sahilmgandhi | 14:9e7bb03ddccb | 9 | #include "stm32f4xx.h" |
sahilmgandhi | 7:6f5cb6377bd4 | 10 | #include "QEI.h" |
sahilmgandhi | 0:a03c771ab78e | 11 | |
vanshg | 11:8fc2b703086b | 12 | /* Constants for when HIGH_PWM_VOLTAGE = 0.2 |
kyleliangus | 9:1d8e4da058cd | 13 | #define IP_CONSTANT 6 |
kyleliangus | 9:1d8e4da058cd | 14 | #define II_CONSTANT 0 |
kyleliangus | 9:1d8e4da058cd | 15 | #define ID_CONSTANT 1 |
vanshg | 11:8fc2b703086b | 16 | */ |
sahilmgandhi | 0:a03c771ab78e | 17 | |
vanshg | 11:8fc2b703086b | 18 | // Constants for when HIGH_PWM_VOLTAGE = 0.1 |
kyleliangus | 15:b80555a4a8b9 | 19 | #define IP_CONSTANT 9 |
kyleliangus | 15:b80555a4a8b9 | 20 | #define II_CONSTANT 1 |
kyleliangus | 15:b80555a4a8b9 | 21 | #define ID_CONSTANT 3 |
sahilmgandhi | 14:9e7bb03ddccb | 22 | |
sahilmgandhi | 14:9e7bb03ddccb | 23 | const int desiredCountR = 1400; |
sahilmgandhi | 14:9e7bb03ddccb | 24 | const int desiredCountL = 1475; |
christine222 | 13:2032db00f168 | 25 | |
sahilmgandhi | 16:d9252437bd92 | 26 | const int oneCellCount = 5400; |
sahilmgandhi | 16:d9252437bd92 | 27 | const int oneCellCountMomentum = 4600; // one cell count is actually approximately 5400, but this value is considering momentum! |
sahilmgandhi | 16:d9252437bd92 | 28 | |
sahilmgandhi | 16:d9252437bd92 | 29 | void pidOnEncoders(); |
christine222 | 13:2032db00f168 | 30 | |
sahilmgandhi | 14:9e7bb03ddccb | 31 | void turnLeft() |
sahilmgandhi | 14:9e7bb03ddccb | 32 | { |
christine222 | 13:2032db00f168 | 33 | double speed0 = 0.15; |
sahilmgandhi | 14:9e7bb03ddccb | 34 | double speed1 = -0.15; |
christine222 | 13:2032db00f168 | 35 | |
christine222 | 13:2032db00f168 | 36 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 37 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 38 | int initial1 = encoder1.getPulses(); |
christine222 | 13:2032db00f168 | 39 | |
sahilmgandhi | 14:9e7bb03ddccb | 40 | int desiredCount0 = initial0 - desiredCountL; |
sahilmgandhi | 14:9e7bb03ddccb | 41 | int desiredCount1 = initial1 + desiredCountL; |
christine222 | 13:2032db00f168 | 42 | |
sahilmgandhi | 14:9e7bb03ddccb | 43 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 44 | int count1 = initial1; |
christine222 | 13:2032db00f168 | 45 | |
christine222 | 13:2032db00f168 | 46 | double error0 = count0 - desiredCount0; |
christine222 | 13:2032db00f168 | 47 | double error1 = count1 - desiredCount1; |
christine222 | 13:2032db00f168 | 48 | |
christine222 | 13:2032db00f168 | 49 | |
sahilmgandhi | 14:9e7bb03ddccb | 50 | while(1) { |
sahilmgandhi | 14:9e7bb03ddccb | 51 | |
sahilmgandhi | 14:9e7bb03ddccb | 52 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
christine222 | 13:2032db00f168 | 53 | count0 = encoder0.getPulses(); |
christine222 | 13:2032db00f168 | 54 | count1 = encoder1.getPulses(); |
christine222 | 13:2032db00f168 | 55 | |
sahilmgandhi | 14:9e7bb03ddccb | 56 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 57 | error1 = count1 - desiredCount1; |
christine222 | 13:2032db00f168 | 58 | |
christine222 | 13:2032db00f168 | 59 | right_motor.move(speed0); |
christine222 | 13:2032db00f168 | 60 | left_motor.move(speed1); |
christine222 | 13:2032db00f168 | 61 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 62 | } else { |
christine222 | 13:2032db00f168 | 63 | counter++; |
christine222 | 13:2032db00f168 | 64 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 65 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 66 | } |
christine222 | 13:2032db00f168 | 67 | |
sahilmgandhi | 14:9e7bb03ddccb | 68 | if (counter > 60) { |
christine222 | 13:2032db00f168 | 69 | break; |
christine222 | 13:2032db00f168 | 70 | } |
sahilmgandhi | 14:9e7bb03ddccb | 71 | } |
christine222 | 13:2032db00f168 | 72 | |
christine222 | 13:2032db00f168 | 73 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 74 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 75 | } |
kyleliangus | 9:1d8e4da058cd | 76 | |
sahilmgandhi | 14:9e7bb03ddccb | 77 | void turnRight() |
sahilmgandhi | 14:9e7bb03ddccb | 78 | { |
sahilmgandhi | 14:9e7bb03ddccb | 79 | double speed0 = -0.15; |
kyleliangus | 12:5790e56a056f | 80 | double speed1 = 0.15; |
christine222 | 13:2032db00f168 | 81 | |
christine222 | 13:2032db00f168 | 82 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 83 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 84 | int initial1 = encoder1.getPulses(); |
christine222 | 13:2032db00f168 | 85 | |
sahilmgandhi | 14:9e7bb03ddccb | 86 | int desiredCount0 = initial0 + desiredCountR; |
sahilmgandhi | 14:9e7bb03ddccb | 87 | int desiredCount1 = initial1 - desiredCountR; |
christine222 | 13:2032db00f168 | 88 | |
sahilmgandhi | 14:9e7bb03ddccb | 89 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 90 | int count1 = initial1; |
kyleliangus | 12:5790e56a056f | 91 | |
christine222 | 13:2032db00f168 | 92 | double error0 = count0 - desiredCount0; |
christine222 | 13:2032db00f168 | 93 | double error1 = count1 - desiredCount1; |
christine222 | 13:2032db00f168 | 94 | |
christine222 | 13:2032db00f168 | 95 | |
sahilmgandhi | 14:9e7bb03ddccb | 96 | while(1) { |
sahilmgandhi | 14:9e7bb03ddccb | 97 | |
sahilmgandhi | 14:9e7bb03ddccb | 98 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
christine222 | 13:2032db00f168 | 99 | count0 = encoder0.getPulses(); |
christine222 | 13:2032db00f168 | 100 | count1 = encoder1.getPulses(); |
christine222 | 13:2032db00f168 | 101 | |
sahilmgandhi | 14:9e7bb03ddccb | 102 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 103 | error1 = count1 - desiredCount1; |
kyleliangus | 12:5790e56a056f | 104 | |
christine222 | 13:2032db00f168 | 105 | right_motor.move(speed0); |
christine222 | 13:2032db00f168 | 106 | left_motor.move(speed1); |
christine222 | 13:2032db00f168 | 107 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 108 | } else { |
christine222 | 13:2032db00f168 | 109 | counter++; |
christine222 | 13:2032db00f168 | 110 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 111 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 112 | } |
kyleliangus | 12:5790e56a056f | 113 | |
sahilmgandhi | 14:9e7bb03ddccb | 114 | if (counter > 60) { |
christine222 | 13:2032db00f168 | 115 | break; |
christine222 | 13:2032db00f168 | 116 | } |
christine222 | 13:2032db00f168 | 117 | } |
christine222 | 13:2032db00f168 | 118 | |
christine222 | 13:2032db00f168 | 119 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 120 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 121 | } |
christine222 | 13:2032db00f168 | 122 | |
sahilmgandhi | 14:9e7bb03ddccb | 123 | void turnLeft180() |
sahilmgandhi | 14:9e7bb03ddccb | 124 | { |
christine222 | 13:2032db00f168 | 125 | double speed0 = 0.15; |
sahilmgandhi | 14:9e7bb03ddccb | 126 | double speed1 = -0.15; |
christine222 | 13:2032db00f168 | 127 | |
christine222 | 13:2032db00f168 | 128 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 129 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 130 | int initial1 = encoder1.getPulses(); |
kyleliangus | 12:5790e56a056f | 131 | |
sahilmgandhi | 14:9e7bb03ddccb | 132 | int desiredCount0 = initial0 - desiredCountL*2; |
sahilmgandhi | 14:9e7bb03ddccb | 133 | int desiredCount1 = initial1 + desiredCountL*2; |
christine222 | 13:2032db00f168 | 134 | |
sahilmgandhi | 14:9e7bb03ddccb | 135 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 136 | int count1 = initial1; |
christine222 | 13:2032db00f168 | 137 | |
christine222 | 13:2032db00f168 | 138 | double error0 = count0 - desiredCount0; |
christine222 | 13:2032db00f168 | 139 | double error1 = count1 - desiredCount1; |
christine222 | 13:2032db00f168 | 140 | |
christine222 | 13:2032db00f168 | 141 | |
sahilmgandhi | 14:9e7bb03ddccb | 142 | while(1) { |
kyleliangus | 15:b80555a4a8b9 | 143 | |
sahilmgandhi | 14:9e7bb03ddccb | 144 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
christine222 | 13:2032db00f168 | 145 | count0 = encoder0.getPulses(); |
christine222 | 13:2032db00f168 | 146 | count1 = encoder1.getPulses(); |
christine222 | 13:2032db00f168 | 147 | |
sahilmgandhi | 14:9e7bb03ddccb | 148 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 149 | error1 = count1 - desiredCount1; |
kyleliangus | 12:5790e56a056f | 150 | |
christine222 | 13:2032db00f168 | 151 | right_motor.move(speed0); |
christine222 | 13:2032db00f168 | 152 | left_motor.move(speed1); |
christine222 | 13:2032db00f168 | 153 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 154 | } else { |
christine222 | 13:2032db00f168 | 155 | counter++; |
christine222 | 13:2032db00f168 | 156 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 157 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 158 | } |
christine222 | 13:2032db00f168 | 159 | |
sahilmgandhi | 14:9e7bb03ddccb | 160 | if (counter > 60) { |
christine222 | 13:2032db00f168 | 161 | break; |
christine222 | 13:2032db00f168 | 162 | } |
kyleliangus | 12:5790e56a056f | 163 | } |
kyleliangus | 12:5790e56a056f | 164 | |
kyleliangus | 12:5790e56a056f | 165 | right_motor.brake(); |
kyleliangus | 12:5790e56a056f | 166 | left_motor.brake(); |
kyleliangus | 12:5790e56a056f | 167 | } |
kyleliangus | 12:5790e56a056f | 168 | |
sahilmgandhi | 14:9e7bb03ddccb | 169 | void turnRight180() |
sahilmgandhi | 14:9e7bb03ddccb | 170 | { |
sahilmgandhi | 14:9e7bb03ddccb | 171 | double speed0 = -0.15; |
sahilmgandhi | 14:9e7bb03ddccb | 172 | double speed1 = 0.15; |
sahilmgandhi | 14:9e7bb03ddccb | 173 | |
sahilmgandhi | 14:9e7bb03ddccb | 174 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 175 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 176 | int initial1 = encoder1.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 177 | |
sahilmgandhi | 14:9e7bb03ddccb | 178 | int desiredCount0 = initial0 + desiredCountR*2; |
sahilmgandhi | 14:9e7bb03ddccb | 179 | int desiredCount1 = initial1 - desiredCountR*2; |
sahilmgandhi | 14:9e7bb03ddccb | 180 | |
sahilmgandhi | 14:9e7bb03ddccb | 181 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 182 | int count1 = initial1; |
sahilmgandhi | 14:9e7bb03ddccb | 183 | |
sahilmgandhi | 14:9e7bb03ddccb | 184 | double error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 185 | double error1 = count1 - desiredCount1; |
sahilmgandhi | 14:9e7bb03ddccb | 186 | |
sahilmgandhi | 14:9e7bb03ddccb | 187 | |
sahilmgandhi | 14:9e7bb03ddccb | 188 | while(1) { |
sahilmgandhi | 14:9e7bb03ddccb | 189 | |
sahilmgandhi | 14:9e7bb03ddccb | 190 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
sahilmgandhi | 14:9e7bb03ddccb | 191 | count0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 192 | count1 = encoder1.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 193 | |
sahilmgandhi | 14:9e7bb03ddccb | 194 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 195 | error1 = count1 - desiredCount1; |
sahilmgandhi | 14:9e7bb03ddccb | 196 | |
sahilmgandhi | 14:9e7bb03ddccb | 197 | right_motor.move(speed0); |
sahilmgandhi | 14:9e7bb03ddccb | 198 | left_motor.move(speed1); |
sahilmgandhi | 14:9e7bb03ddccb | 199 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 200 | } else { |
sahilmgandhi | 14:9e7bb03ddccb | 201 | counter++; |
sahilmgandhi | 14:9e7bb03ddccb | 202 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 203 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 204 | } |
sahilmgandhi | 14:9e7bb03ddccb | 205 | |
sahilmgandhi | 14:9e7bb03ddccb | 206 | if (counter > 60) { |
sahilmgandhi | 14:9e7bb03ddccb | 207 | break; |
sahilmgandhi | 14:9e7bb03ddccb | 208 | } |
sahilmgandhi | 14:9e7bb03ddccb | 209 | } |
sahilmgandhi | 14:9e7bb03ddccb | 210 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 211 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 212 | } |
sahilmgandhi | 14:9e7bb03ddccb | 213 | |
sahilmgandhi | 16:d9252437bd92 | 214 | void moveForwardOneCellEncoder(){ |
sahilmgandhi | 16:d9252437bd92 | 215 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum; |
sahilmgandhi | 16:d9252437bd92 | 216 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum; |
sahilmgandhi | 14:9e7bb03ddccb | 217 | |
sahilmgandhi | 16:d9252437bd92 | 218 | left_motor.forward(0.12); |
sahilmgandhi | 16:d9252437bd92 | 219 | right_motor.forward(0.10); |
sahilmgandhi | 16:d9252437bd92 | 220 | wait_ms(2); |
sahilmgandhi | 16:d9252437bd92 | 221 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ |
sahilmgandhi | 16:d9252437bd92 | 222 | // serial.printf("Encoder0 count is: %d, Encoder1 count is: %d, desiredEncoder0 = %d, desiredEncoder1 = %d\n", encoder0.getPulses(), encoder1.getPulses(), desiredCount0, desiredCount1); |
sahilmgandhi | 16:d9252437bd92 | 223 | pidOnEncoders(); |
sahilmgandhi | 16:d9252437bd92 | 224 | } |
sahilmgandhi | 14:9e7bb03ddccb | 225 | |
sahilmgandhi | 16:d9252437bd92 | 226 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 227 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 228 | } |
sahilmgandhi | 14:9e7bb03ddccb | 229 | |
sahilmgandhi | 14:9e7bb03ddccb | 230 | void moveForwardUntilWallIr() |
sahilmgandhi | 14:9e7bb03ddccb | 231 | { |
kyleliangus | 9:1d8e4da058cd | 232 | double currentError = 0; |
kyleliangus | 9:1d8e4da058cd | 233 | double previousError = 0; |
kyleliangus | 9:1d8e4da058cd | 234 | double derivError = 0; |
kyleliangus | 9:1d8e4da058cd | 235 | double sumError = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 236 | |
vanshg | 11:8fc2b703086b | 237 | double HIGH_PWM_VOLTAGE = 0.1; |
sahilmgandhi | 14:9e7bb03ddccb | 238 | |
vanshg | 11:8fc2b703086b | 239 | double rightSpeed = 0.1; |
vanshg | 11:8fc2b703086b | 240 | double leftSpeed = 0.1; |
sahilmgandhi | 14:9e7bb03ddccb | 241 | |
kyleliangus | 9:1d8e4da058cd | 242 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 243 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 14:9e7bb03ddccb | 244 | |
vanshg | 11:8fc2b703086b | 245 | int count = encoder0.getPulses(); |
vanshg | 11:8fc2b703086b | 246 | while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { |
vanshg | 11:8fc2b703086b | 247 | int pulseCount = (encoder0.getPulses()-count) % 5600; |
vanshg | 11:8fc2b703086b | 248 | if (pulseCount > 5400 && pulseCount < 5800) { |
vanshg | 11:8fc2b703086b | 249 | blueLed.write(0); |
vanshg | 11:8fc2b703086b | 250 | } else { |
vanshg | 11:8fc2b703086b | 251 | blueLed.write(1); |
vanshg | 11:8fc2b703086b | 252 | } |
sahilmgandhi | 14:9e7bb03ddccb | 253 | |
sahilmgandhi | 14:9e7bb03ddccb | 254 | |
kyleliangus | 9:1d8e4da058cd | 255 | currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
kyleliangus | 9:1d8e4da058cd | 256 | derivError = currentError - previousError; |
sahilmgandhi | 14:9e7bb03ddccb | 257 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
kyleliangus | 9:1d8e4da058cd | 258 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
sahilmgandhi | 14:9e7bb03ddccb | 259 | rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
kyleliangus | 9:1d8e4da058cd | 260 | leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
sahilmgandhi | 14:9e7bb03ddccb | 261 | } else { // r is faster than L. speed up l, slow down r |
sahilmgandhi | 14:9e7bb03ddccb | 262 | rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
sahilmgandhi | 14:9e7bb03ddccb | 263 | leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
kyleliangus | 9:1d8e4da058cd | 264 | } |
sahilmgandhi | 14:9e7bb03ddccb | 265 | |
kyleliangus | 9:1d8e4da058cd | 266 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
kyleliangus | 9:1d8e4da058cd | 267 | if (leftSpeed < 0) leftSpeed = 0; |
kyleliangus | 9:1d8e4da058cd | 268 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
kyleliangus | 9:1d8e4da058cd | 269 | if (rightSpeed < 0) rightSpeed = 0; |
kyleliangus | 9:1d8e4da058cd | 270 | |
sahilmgandhi | 14:9e7bb03ddccb | 271 | right_motor.forward(rightSpeed); |
kyleliangus | 9:1d8e4da058cd | 272 | left_motor.forward(leftSpeed); |
sahilmgandhi | 14:9e7bb03ddccb | 273 | |
kyleliangus | 9:1d8e4da058cd | 274 | previousError = currentError; |
sahilmgandhi | 14:9e7bb03ddccb | 275 | |
kyleliangus | 9:1d8e4da058cd | 276 | ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 14:9e7bb03ddccb | 277 | ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 14:9e7bb03ddccb | 278 | |
kyleliangus | 9:1d8e4da058cd | 279 | } |
kyleliangus | 9:1d8e4da058cd | 280 | //sensor1Turn = IR_Sensor1.read(); |
kyleliangus | 9:1d8e4da058cd | 281 | //sensor4Turn = IR_Sensor4.read(); |
sahilmgandhi | 14:9e7bb03ddccb | 282 | |
kyleliangus | 9:1d8e4da058cd | 283 | //backward(); |
kyleliangus | 9:1d8e4da058cd | 284 | wait_ms(40); |
kyleliangus | 9:1d8e4da058cd | 285 | //brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 286 | |
kyleliangus | 9:1d8e4da058cd | 287 | left_motor.brake(); |
kyleliangus | 9:1d8e4da058cd | 288 | right_motor.brake(); |
vanshg | 10:810d1849da9d | 289 | } |
vanshg | 10:810d1849da9d | 290 | |
sahilmgandhi | 14:9e7bb03ddccb | 291 | void printDipFlag() |
sahilmgandhi | 14:9e7bb03ddccb | 292 | { |
vanshg | 11:8fc2b703086b | 293 | if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); |
vanshg | 11:8fc2b703086b | 294 | } |
vanshg | 11:8fc2b703086b | 295 | |
sahilmgandhi | 14:9e7bb03ddccb | 296 | void enableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 297 | { |
vanshg | 10:810d1849da9d | 298 | dipFlags |= BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 299 | printDipFlag(); |
vanshg | 10:810d1849da9d | 300 | } |
sahilmgandhi | 14:9e7bb03ddccb | 301 | void enableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 302 | { |
vanshg | 10:810d1849da9d | 303 | dipFlags |= BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 304 | printDipFlag(); |
vanshg | 10:810d1849da9d | 305 | } |
sahilmgandhi | 14:9e7bb03ddccb | 306 | void enableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 307 | { |
vanshg | 10:810d1849da9d | 308 | dipFlags |= BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 309 | printDipFlag(); |
vanshg | 10:810d1849da9d | 310 | } |
sahilmgandhi | 14:9e7bb03ddccb | 311 | void enableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 312 | { |
vanshg | 10:810d1849da9d | 313 | dipFlags |= BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 314 | printDipFlag(); |
vanshg | 10:810d1849da9d | 315 | } |
sahilmgandhi | 14:9e7bb03ddccb | 316 | void disableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 317 | { |
vanshg | 10:810d1849da9d | 318 | dipFlags &= ~BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 319 | printDipFlag(); |
vanshg | 10:810d1849da9d | 320 | } |
sahilmgandhi | 14:9e7bb03ddccb | 321 | void disableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 322 | { |
vanshg | 10:810d1849da9d | 323 | dipFlags &= ~BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 324 | printDipFlag(); |
vanshg | 10:810d1849da9d | 325 | } |
sahilmgandhi | 14:9e7bb03ddccb | 326 | void disableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 327 | { |
vanshg | 10:810d1849da9d | 328 | dipFlags &= ~BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 329 | printDipFlag(); |
vanshg | 10:810d1849da9d | 330 | } |
sahilmgandhi | 14:9e7bb03ddccb | 331 | void disableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 332 | { |
vanshg | 10:810d1849da9d | 333 | dipFlags &= ~BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 334 | printDipFlag(); |
kyleliangus | 9:1d8e4da058cd | 335 | } |
christine222 | 3:880f15be8c72 | 336 | |
kyleliangus | 15:b80555a4a8b9 | 337 | void pidOnEncoders() |
kyleliangus | 15:b80555a4a8b9 | 338 | { |
kyleliangus | 15:b80555a4a8b9 | 339 | int count0; |
kyleliangus | 15:b80555a4a8b9 | 340 | int count1; |
kyleliangus | 15:b80555a4a8b9 | 341 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 342 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 343 | int diff = count0 - count1; |
kyleliangus | 15:b80555a4a8b9 | 344 | double kp = 0.000075; |
sahilmgandhi | 16:d9252437bd92 | 345 | double kd = 0.000135; |
kyleliangus | 15:b80555a4a8b9 | 346 | int prev = 0; |
sahilmgandhi | 16:d9252437bd92 | 347 | |
sahilmgandhi | 16:d9252437bd92 | 348 | int counter = 0; |
kyleliangus | 15:b80555a4a8b9 | 349 | while(1) |
kyleliangus | 15:b80555a4a8b9 | 350 | { |
kyleliangus | 15:b80555a4a8b9 | 351 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 352 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 353 | int x = count0 - count1; |
kyleliangus | 15:b80555a4a8b9 | 354 | //double d = kp * x + kd * ( x - prev ); |
kyleliangus | 15:b80555a4a8b9 | 355 | double kppart = kp * x; |
kyleliangus | 15:b80555a4a8b9 | 356 | double kdpart = kd * (x-prev); |
kyleliangus | 15:b80555a4a8b9 | 357 | double d = kppart + kdpart; |
kyleliangus | 15:b80555a4a8b9 | 358 | |
kyleliangus | 15:b80555a4a8b9 | 359 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
kyleliangus | 15:b80555a4a8b9 | 360 | if( x < diff - 50 ) // count1 is bigger, right wheel pushed forward |
kyleliangus | 15:b80555a4a8b9 | 361 | { |
kyleliangus | 15:b80555a4a8b9 | 362 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 363 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 364 | } |
kyleliangus | 15:b80555a4a8b9 | 365 | else if( x > diff + 50 ) |
kyleliangus | 15:b80555a4a8b9 | 366 | { |
kyleliangus | 15:b80555a4a8b9 | 367 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 368 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 369 | } |
sahilmgandhi | 16:d9252437bd92 | 370 | // else |
sahilmgandhi | 16:d9252437bd92 | 371 | // { |
sahilmgandhi | 16:d9252437bd92 | 372 | // left_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 373 | // right_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 374 | // } |
kyleliangus | 15:b80555a4a8b9 | 375 | prev = x; |
sahilmgandhi | 16:d9252437bd92 | 376 | counter++; |
sahilmgandhi | 16:d9252437bd92 | 377 | if (counter == 4) |
sahilmgandhi | 16:d9252437bd92 | 378 | break; |
kyleliangus | 15:b80555a4a8b9 | 379 | } |
kyleliangus | 15:b80555a4a8b9 | 380 | } |
kyleliangus | 15:b80555a4a8b9 | 381 | |
sahilmgandhi | 0:a03c771ab78e | 382 | int main() |
sahilmgandhi | 0:a03c771ab78e | 383 | { |
christine222 | 3:880f15be8c72 | 384 | //Set highest bandwidth. |
sahilmgandhi | 1:8a4b2f573923 | 385 | gyro.setLpBandwidth(LPFBW_42HZ); |
christine222 | 3:880f15be8c72 | 386 | serial.baud(9600); |
sahilmgandhi | 7:6f5cb6377bd4 | 387 | serial.printf("The gyro's address is %s", gyro.getWhoAmI()); |
sahilmgandhi | 7:6f5cb6377bd4 | 388 | |
sahilmgandhi | 1:8a4b2f573923 | 389 | wait (0.1); |
sahilmgandhi | 7:6f5cb6377bd4 | 390 | |
christine222 | 3:880f15be8c72 | 391 | |
sahilmgandhi | 2:771db996cee0 | 392 | redLed.write(1); |
sahilmgandhi | 14:9e7bb03ddccb | 393 | greenLed.write(0); |
sahilmgandhi | 2:771db996cee0 | 394 | blueLed.write(1); |
sahilmgandhi | 14:9e7bb03ddccb | 395 | |
kyleliangus | 9:1d8e4da058cd | 396 | //left_motor.forward(0.1); |
kyleliangus | 9:1d8e4da058cd | 397 | //right_motor.forward(0.1); |
kyleliangus | 8:a0760acdc59e | 398 | |
kyleliangus | 8:a0760acdc59e | 399 | // PA_1 is A of right |
kyleliangus | 8:a0760acdc59e | 400 | // PA_0 is B of right |
kyleliangus | 8:a0760acdc59e | 401 | // PA_5 is A of left |
kyleliangus | 8:a0760acdc59e | 402 | // PB_3 is B of left |
vanshg | 11:8fc2b703086b | 403 | //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); |
vanshg | 11:8fc2b703086b | 404 | // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); |
sahilmgandhi | 14:9e7bb03ddccb | 405 | |
vanshg | 10:810d1849da9d | 406 | // TODO: Setting all the registers and what not for Quadrature Encoders |
sahilmgandhi | 14:9e7bb03ddccb | 407 | /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) |
sahilmgandhi | 14:9e7bb03ddccb | 408 | RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) |
sahilmgandhi | 14:9e7bb03ddccb | 409 | GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 |
sahilmgandhi | 14:9e7bb03ddccb | 410 | GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 |
sahilmgandhi | 14:9e7bb03ddccb | 411 | */ |
sahilmgandhi | 14:9e7bb03ddccb | 412 | |
kyleliangus | 12:5790e56a056f | 413 | // set GPIO pins to alternate for the pins corresponding to A/B for eacah encoder, and 2 alternate function registers need to be selected for each type |
kyleliangus | 12:5790e56a056f | 414 | // of alternate function specified |
kyleliangus | 12:5790e56a056f | 415 | // 4 modes sets AHB1ENR |
kyleliangus | 12:5790e56a056f | 416 | // Now TMR: enable clock with timer, APB1ENR |
kyleliangus | 12:5790e56a056f | 417 | // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN |
kyleliangus | 12:5790e56a056f | 418 | // |
kyleliangus | 12:5790e56a056f | 419 | // Encoder mode: disable timer before changing timer to encoder |
kyleliangus | 12:5790e56a056f | 420 | // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use |
kyleliangus | 12:5790e56a056f | 421 | // CCMR sets sample rate and set the channel to input |
kyleliangus | 12:5790e56a056f | 422 | // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels |
kyleliangus | 12:5790e56a056f | 423 | // SMCR - encoder mode |
kyleliangus | 12:5790e56a056f | 424 | // CR1 reenabales |
kyleliangus | 12:5790e56a056f | 425 | // then read CNT reg of timer |
sahilmgandhi | 14:9e7bb03ddccb | 426 | |
sahilmgandhi | 14:9e7bb03ddccb | 427 | |
vanshg | 10:810d1849da9d | 428 | dipButton1.rise(&enableButton1); |
vanshg | 10:810d1849da9d | 429 | dipButton2.rise(&enableButton2); |
vanshg | 10:810d1849da9d | 430 | dipButton3.rise(&enableButton3); |
vanshg | 10:810d1849da9d | 431 | dipButton4.rise(&enableButton4); |
sahilmgandhi | 14:9e7bb03ddccb | 432 | |
vanshg | 10:810d1849da9d | 433 | dipButton1.fall(&disableButton1); |
vanshg | 10:810d1849da9d | 434 | dipButton2.fall(&disableButton2); |
vanshg | 10:810d1849da9d | 435 | dipButton3.fall(&disableButton3); |
vanshg | 10:810d1849da9d | 436 | dipButton4.fall(&disableButton4); |
sahilmgandhi | 7:6f5cb6377bd4 | 437 | |
kyleliangus | 15:b80555a4a8b9 | 438 | //right_motor.forward( 0.2 ); |
kyleliangus | 15:b80555a4a8b9 | 439 | //left_motor.forward( 0.2 ); |
kyleliangus | 15:b80555a4a8b9 | 440 | |
christine222 | 3:880f15be8c72 | 441 | while (1) { |
sahilmgandhi | 16:d9252437bd92 | 442 | moveForwardOneCellEncoder(); |
sahilmgandhi | 16:d9252437bd92 | 443 | //pidOnEncoders(); |
kyleliangus | 15:b80555a4a8b9 | 444 | //moveForwardUntilWallIr(); |
sahilmgandhi | 14:9e7bb03ddccb | 445 | // wait(2); |
sahilmgandhi | 14:9e7bb03ddccb | 446 | // turnRight(); |
sahilmgandhi | 14:9e7bb03ddccb | 447 | // wait(1); |
sahilmgandhi | 14:9e7bb03ddccb | 448 | // moveForwardUntilWallIr(); |
christine222 | 13:2032db00f168 | 449 | |
christine222 | 13:2032db00f168 | 450 | break; |
kyleliangus | 8:a0760acdc59e | 451 | //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ()); |
kyleliangus | 15:b80555a4a8b9 | 452 | //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); |
kyleliangus | 9:1d8e4da058cd | 453 | //double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
sahilmgandhi | 14:9e7bb03ddccb | 454 | |
sahilmgandhi | 14:9e7bb03ddccb | 455 | //serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", |
kyleliangus | 9:1d8e4da058cd | 456 | // IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); |
sahilmgandhi | 14:9e7bb03ddccb | 457 | |
christine222 | 3:880f15be8c72 | 458 | //reading = Rec_4.read(); |
christine222 | 3:880f15be8c72 | 459 | // serial.printf("reading: %f\n", reading); |
sahilmgandhi | 1:8a4b2f573923 | 460 | // redLed.write(0); |
sahilmgandhi | 1:8a4b2f573923 | 461 | // wait_ms(1000); |
sahilmgandhi | 1:8a4b2f573923 | 462 | // redLed.write(1); |
sahilmgandhi | 1:8a4b2f573923 | 463 | // greenLed.write(0); |
sahilmgandhi | 1:8a4b2f573923 | 464 | // wait_ms(1000); |
sahilmgandhi | 1:8a4b2f573923 | 465 | // greenLed.write(1); |
sahilmgandhi | 1:8a4b2f573923 | 466 | // blueLed.write(0); |
sahilmgandhi | 1:8a4b2f573923 | 467 | // wait_ms(1000); |
sahilmgandhi | 1:8a4b2f573923 | 468 | // blueLed.write(1); |
christine222 | 3:880f15be8c72 | 469 | } |
sahilmgandhi | 0:a03c771ab78e | 470 | } |