Mouse code for the MacroRat
main.cpp@24:e7063765d6f0, 2017-05-21 (annotated)
- Committer:
- christine222
- Date:
- Sun May 21 01:04:26 2017 +0000
- Revision:
- 24:e7063765d6f0
- Parent:
- 23:690b0ca34ee9
- Child:
- 25:f827a8b7880e
front face start
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 0:a03c771ab78e | 1 | #include "mbed.h" |
christine222 | 24:e7063765d6f0 | 2 | |
kyleliangus | 6:3d68fedd6fd9 | 3 | #include "irpair.h" |
kyleliangus | 4:b5b7836ca2b0 | 4 | #include "main.h" |
kyleliangus | 4:b5b7836ca2b0 | 5 | #include "motor.h" |
christine222 | 24:e7063765d6f0 | 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" |
christine222 | 24:e7063765d6f0 | 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 | */ |
christine222 | 24:e7063765d6f0 | 17 | |
vanshg | 11:8fc2b703086b | 18 | // Constants for when HIGH_PWM_VOLTAGE = 0.1 |
christine222 | 21:9a6cb07bdcb6 | 19 | // #define IP_CONSTANT 8.85 |
christine222 | 21:9a6cb07bdcb6 | 20 | // #define II_CONSTANT 0.005 |
christine222 | 21:9a6cb07bdcb6 | 21 | // #define ID_CONSTANT 3.15 |
christine222 | 23:690b0ca34ee9 | 22 | #define IP_CONSTANT 13.5 |
christine222 | 21:9a6cb07bdcb6 | 23 | #define II_CONSTANT 0.095 |
christine222 | 23:690b0ca34ee9 | 24 | #define ID_CONSTANT 8.85 |
christine222 | 24:e7063765d6f0 | 25 | |
christine222 | 23:690b0ca34ee9 | 26 | const int desiredCount180 = 2900; |
christine222 | 23:690b0ca34ee9 | 27 | const int desiredCountR = 1500; |
christine222 | 23:690b0ca34ee9 | 28 | const int desiredCountL = 1575; |
christine222 | 24:e7063765d6f0 | 29 | |
sahilmgandhi | 16:d9252437bd92 | 30 | const int oneCellCount = 5400; |
christine222 | 24:e7063765d6f0 | 31 | const int oneCellCountMomentum = 4400;//4800; // one cell count is actually approximately 5400, but this value is considering momentum! |
christine222 | 24:e7063765d6f0 | 32 | |
sahilmgandhi | 17:f713758f6238 | 33 | float receiverOneReading = 0.0; |
sahilmgandhi | 17:f713758f6238 | 34 | float receiverTwoReading = 0.0; |
sahilmgandhi | 17:f713758f6238 | 35 | float receiverThreeReading = 0.0; |
sahilmgandhi | 17:f713758f6238 | 36 | float receiverFourReading = 0.0; |
sahilmgandhi | 17:f713758f6238 | 37 | |
christine222 | 24:e7063765d6f0 | 38 | float ir1base = 0.0; |
christine222 | 24:e7063765d6f0 | 39 | float ir2base = 0.0; |
christine222 | 23:690b0ca34ee9 | 40 | |
christine222 | 24:e7063765d6f0 | 41 | float ir3base = 0.0; |
christine222 | 23:690b0ca34ee9 | 42 | |
christine222 | 24:e7063765d6f0 | 43 | float ir4base = 0.0; |
christine222 | 23:690b0ca34ee9 | 44 | |
christine222 | 24:e7063765d6f0 | 45 | |
christine222 | 24:e7063765d6f0 | 46 | //IRSAvg= >: 0.143701, 0.128285 |
christine222 | 24:e7063765d6f0 | 47 | |
christine222 | 24:e7063765d6f0 | 48 | |
christine222 | 24:e7063765d6f0 | 49 | |
christine222 | 24:e7063765d6f0 | 50 | |
christine222 | 24:e7063765d6f0 | 51 | |
christine222 | 24:e7063765d6f0 | 52 | |
christine222 | 24:e7063765d6f0 | 53 | |
christine222 | 23:690b0ca34ee9 | 54 | //facing wall ir2 and ir3 |
christine222 | 23:690b0ca34ee9 | 55 | //0.144562, 0.113971 in maze |
christine222 | 24:e7063765d6f0 | 56 | |
christine222 | 23:690b0ca34ee9 | 57 | // normal hall ir2 and ir3 |
christine222 | 23:690b0ca34ee9 | 58 | //0.013665, 0.010889 in maze |
christine222 | 24:e7063765d6f0 | 59 | |
christine222 | 23:690b0ca34ee9 | 60 | //0.014462, 0.009138 |
christine222 | 23:690b0ca34ee9 | 61 | // 0.013888, 0.010530 |
christine222 | 24:e7063765d6f0 | 62 | |
christine222 | 24:e7063765d6f0 | 63 | |
christine222 | 23:690b0ca34ee9 | 64 | //no walls ir2 and ir3 |
christine222 | 23:690b0ca34ee9 | 65 | //0.003265, 0.002904 in maze9 |
christine222 | 24:e7063765d6f0 | 66 | |
christine222 | 23:690b0ca34ee9 | 67 | //0.003162, 0.003123 |
christine222 | 23:690b0ca34ee9 | 68 | //0.003795, |
christine222 | 24:e7063765d6f0 | 69 | |
christine222 | 23:690b0ca34ee9 | 70 | //0.005297, 0.007064 |
christine222 | 24:e7063765d6f0 | 71 | |
christine222 | 24:e7063765d6f0 | 72 | |
christine222 | 24:e7063765d6f0 | 73 | float noWallR = 0.007; |
christine222 | 24:e7063765d6f0 | 74 | float noWallL = 0.007; |
christine222 | 24:e7063765d6f0 | 75 | |
sahilmgandhi | 16:d9252437bd92 | 76 | void pidOnEncoders(); |
christine222 | 24:e7063765d6f0 | 77 | |
christine222 | 24:e7063765d6f0 | 78 | |
sahilmgandhi | 14:9e7bb03ddccb | 79 | void turnLeft() |
sahilmgandhi | 14:9e7bb03ddccb | 80 | { |
christine222 | 23:690b0ca34ee9 | 81 | double speed0 = 0.11; |
christine222 | 23:690b0ca34ee9 | 82 | double speed1 = -0.13; |
christine222 | 24:e7063765d6f0 | 83 | |
christine222 | 13:2032db00f168 | 84 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 85 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 86 | int initial1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 87 | |
sahilmgandhi | 14:9e7bb03ddccb | 88 | int desiredCount0 = initial0 - desiredCountL; |
sahilmgandhi | 14:9e7bb03ddccb | 89 | int desiredCount1 = initial1 + desiredCountL; |
christine222 | 24:e7063765d6f0 | 90 | |
sahilmgandhi | 14:9e7bb03ddccb | 91 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 92 | int count1 = initial1; |
christine222 | 24:e7063765d6f0 | 93 | |
christine222 | 13:2032db00f168 | 94 | double error0 = count0 - desiredCount0; |
christine222 | 13:2032db00f168 | 95 | double error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 96 | |
christine222 | 24:e7063765d6f0 | 97 | |
sahilmgandhi | 14:9e7bb03ddccb | 98 | while(1) { |
christine222 | 24:e7063765d6f0 | 99 | |
sahilmgandhi | 14:9e7bb03ddccb | 100 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
christine222 | 13:2032db00f168 | 101 | count0 = encoder0.getPulses(); |
christine222 | 13:2032db00f168 | 102 | count1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 103 | |
sahilmgandhi | 14:9e7bb03ddccb | 104 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 105 | error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 106 | |
christine222 | 13:2032db00f168 | 107 | right_motor.move(speed0); |
christine222 | 13:2032db00f168 | 108 | left_motor.move(speed1); |
christine222 | 13:2032db00f168 | 109 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 110 | } else { |
christine222 | 13:2032db00f168 | 111 | counter++; |
christine222 | 13:2032db00f168 | 112 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 113 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 114 | } |
christine222 | 24:e7063765d6f0 | 115 | |
sahilmgandhi | 14:9e7bb03ddccb | 116 | if (counter > 60) { |
christine222 | 13:2032db00f168 | 117 | break; |
christine222 | 13:2032db00f168 | 118 | } |
sahilmgandhi | 14:9e7bb03ddccb | 119 | } |
christine222 | 24:e7063765d6f0 | 120 | |
christine222 | 13:2032db00f168 | 121 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 122 | left_motor.brake(); |
sahilmgandhi | 17:f713758f6238 | 123 | turnFlag = 0; // zeroing out the flags! |
sahilmgandhi | 20:82836745332e | 124 | currDir -= 1; |
christine222 | 13:2032db00f168 | 125 | } |
christine222 | 24:e7063765d6f0 | 126 | |
sahilmgandhi | 14:9e7bb03ddccb | 127 | void turnRight() |
sahilmgandhi | 14:9e7bb03ddccb | 128 | { |
christine222 | 23:690b0ca34ee9 | 129 | double speed0 = -0.11; |
christine222 | 23:690b0ca34ee9 | 130 | double speed1 = 0.13; |
christine222 | 24:e7063765d6f0 | 131 | |
christine222 | 13:2032db00f168 | 132 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 133 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 134 | int initial1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 135 | |
sahilmgandhi | 14:9e7bb03ddccb | 136 | int desiredCount0 = initial0 + desiredCountR; |
sahilmgandhi | 14:9e7bb03ddccb | 137 | int desiredCount1 = initial1 - desiredCountR; |
christine222 | 24:e7063765d6f0 | 138 | |
sahilmgandhi | 14:9e7bb03ddccb | 139 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 140 | int count1 = initial1; |
christine222 | 24:e7063765d6f0 | 141 | |
christine222 | 13:2032db00f168 | 142 | double error0 = count0 - desiredCount0; |
christine222 | 13:2032db00f168 | 143 | double error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 144 | |
sahilmgandhi | 14:9e7bb03ddccb | 145 | while(1) { |
christine222 | 24:e7063765d6f0 | 146 | |
sahilmgandhi | 14:9e7bb03ddccb | 147 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
christine222 | 13:2032db00f168 | 148 | count0 = encoder0.getPulses(); |
christine222 | 13:2032db00f168 | 149 | count1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 150 | |
sahilmgandhi | 14:9e7bb03ddccb | 151 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 152 | error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 153 | |
christine222 | 13:2032db00f168 | 154 | right_motor.move(speed0); |
christine222 | 13:2032db00f168 | 155 | left_motor.move(speed1); |
christine222 | 13:2032db00f168 | 156 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 157 | } else { |
christine222 | 13:2032db00f168 | 158 | counter++; |
christine222 | 13:2032db00f168 | 159 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 160 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 161 | } |
christine222 | 24:e7063765d6f0 | 162 | |
sahilmgandhi | 14:9e7bb03ddccb | 163 | if (counter > 60) { |
christine222 | 13:2032db00f168 | 164 | break; |
christine222 | 13:2032db00f168 | 165 | } |
christine222 | 13:2032db00f168 | 166 | } |
christine222 | 24:e7063765d6f0 | 167 | |
christine222 | 13:2032db00f168 | 168 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 169 | left_motor.brake(); |
sahilmgandhi | 17:f713758f6238 | 170 | turnFlag = 0; |
sahilmgandhi | 20:82836745332e | 171 | currDir += 1; |
christine222 | 13:2032db00f168 | 172 | } |
christine222 | 24:e7063765d6f0 | 173 | |
sahilmgandhi | 14:9e7bb03ddccb | 174 | void turnLeft180() |
sahilmgandhi | 14:9e7bb03ddccb | 175 | { |
christine222 | 13:2032db00f168 | 176 | double speed0 = 0.15; |
sahilmgandhi | 14:9e7bb03ddccb | 177 | double speed1 = -0.15; |
christine222 | 24:e7063765d6f0 | 178 | |
christine222 | 13:2032db00f168 | 179 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 180 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 181 | int initial1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 182 | |
sahilmgandhi | 14:9e7bb03ddccb | 183 | int desiredCount0 = initial0 - desiredCountL*2; |
sahilmgandhi | 14:9e7bb03ddccb | 184 | int desiredCount1 = initial1 + desiredCountL*2; |
christine222 | 24:e7063765d6f0 | 185 | |
sahilmgandhi | 14:9e7bb03ddccb | 186 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 187 | int count1 = initial1; |
christine222 | 24:e7063765d6f0 | 188 | |
christine222 | 13:2032db00f168 | 189 | double error0 = count0 - desiredCount0; |
christine222 | 13:2032db00f168 | 190 | double error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 191 | |
christine222 | 24:e7063765d6f0 | 192 | |
sahilmgandhi | 14:9e7bb03ddccb | 193 | while(1) { |
kyleliangus | 15:b80555a4a8b9 | 194 | |
sahilmgandhi | 14:9e7bb03ddccb | 195 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
christine222 | 13:2032db00f168 | 196 | count0 = encoder0.getPulses(); |
christine222 | 13:2032db00f168 | 197 | count1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 198 | |
sahilmgandhi | 14:9e7bb03ddccb | 199 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 200 | error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 201 | |
christine222 | 13:2032db00f168 | 202 | right_motor.move(speed0); |
christine222 | 13:2032db00f168 | 203 | left_motor.move(speed1); |
christine222 | 13:2032db00f168 | 204 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 205 | } else { |
christine222 | 13:2032db00f168 | 206 | counter++; |
christine222 | 13:2032db00f168 | 207 | right_motor.brake(); |
christine222 | 13:2032db00f168 | 208 | left_motor.brake(); |
christine222 | 13:2032db00f168 | 209 | } |
christine222 | 24:e7063765d6f0 | 210 | |
sahilmgandhi | 14:9e7bb03ddccb | 211 | if (counter > 60) { |
christine222 | 13:2032db00f168 | 212 | break; |
christine222 | 13:2032db00f168 | 213 | } |
kyleliangus | 12:5790e56a056f | 214 | } |
christine222 | 24:e7063765d6f0 | 215 | |
kyleliangus | 12:5790e56a056f | 216 | right_motor.brake(); |
kyleliangus | 12:5790e56a056f | 217 | left_motor.brake(); |
sahilmgandhi | 20:82836745332e | 218 | currDir -= 2; |
kyleliangus | 12:5790e56a056f | 219 | } |
christine222 | 24:e7063765d6f0 | 220 | |
sahilmgandhi | 14:9e7bb03ddccb | 221 | void turnRight180() |
sahilmgandhi | 14:9e7bb03ddccb | 222 | { |
christine222 | 23:690b0ca34ee9 | 223 | double speed0 = -0.16; |
christine222 | 23:690b0ca34ee9 | 224 | double speed1 = 0.16; |
christine222 | 24:e7063765d6f0 | 225 | |
sahilmgandhi | 14:9e7bb03ddccb | 226 | int counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 227 | int initial0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 228 | int initial1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 229 | |
christine222 | 23:690b0ca34ee9 | 230 | int desiredCount0 = initial0 + desiredCount180; |
christine222 | 23:690b0ca34ee9 | 231 | int desiredCount1 = initial1 - desiredCount180; |
christine222 | 24:e7063765d6f0 | 232 | |
sahilmgandhi | 14:9e7bb03ddccb | 233 | int count0 = initial0; |
sahilmgandhi | 14:9e7bb03ddccb | 234 | int count1 = initial1; |
christine222 | 24:e7063765d6f0 | 235 | |
sahilmgandhi | 14:9e7bb03ddccb | 236 | double error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 237 | double error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 238 | |
christine222 | 24:e7063765d6f0 | 239 | |
sahilmgandhi | 14:9e7bb03ddccb | 240 | while(1) { |
christine222 | 24:e7063765d6f0 | 241 | |
sahilmgandhi | 14:9e7bb03ddccb | 242 | if(!(abs(error0) < 1) && !(abs(error1) < 1)) { |
sahilmgandhi | 14:9e7bb03ddccb | 243 | count0 = encoder0.getPulses(); |
sahilmgandhi | 14:9e7bb03ddccb | 244 | count1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 245 | |
sahilmgandhi | 14:9e7bb03ddccb | 246 | error0 = count0 - desiredCount0; |
sahilmgandhi | 14:9e7bb03ddccb | 247 | error1 = count1 - desiredCount1; |
christine222 | 24:e7063765d6f0 | 248 | |
sahilmgandhi | 14:9e7bb03ddccb | 249 | right_motor.move(speed0); |
sahilmgandhi | 14:9e7bb03ddccb | 250 | left_motor.move(speed1); |
sahilmgandhi | 14:9e7bb03ddccb | 251 | counter = 0; |
sahilmgandhi | 14:9e7bb03ddccb | 252 | } else { |
sahilmgandhi | 14:9e7bb03ddccb | 253 | counter++; |
sahilmgandhi | 14:9e7bb03ddccb | 254 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 255 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 256 | } |
christine222 | 24:e7063765d6f0 | 257 | |
sahilmgandhi | 14:9e7bb03ddccb | 258 | if (counter > 60) { |
sahilmgandhi | 14:9e7bb03ddccb | 259 | break; |
sahilmgandhi | 14:9e7bb03ddccb | 260 | } |
sahilmgandhi | 14:9e7bb03ddccb | 261 | } |
sahilmgandhi | 14:9e7bb03ddccb | 262 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 263 | left_motor.brake(); |
sahilmgandhi | 20:82836745332e | 264 | currDir += 2; |
sahilmgandhi | 14:9e7bb03ddccb | 265 | } |
christine222 | 24:e7063765d6f0 | 266 | |
sahilmgandhi | 17:f713758f6238 | 267 | void moveForwardCellEncoder(double cellNum){ |
sahilmgandhi | 17:f713758f6238 | 268 | int desiredCount0 = encoder0.getPulses() + oneCellCountMomentum*cellNum; |
sahilmgandhi | 17:f713758f6238 | 269 | int desiredCount1 = encoder1.getPulses() + oneCellCountMomentum*cellNum; |
christine222 | 24:e7063765d6f0 | 270 | |
sahilmgandhi | 20:82836745332e | 271 | left_motor.forward(0.125); |
sahilmgandhi | 20:82836745332e | 272 | right_motor.forward(0.095); |
sahilmgandhi | 19:7b66a518b6f8 | 273 | wait_ms(1); |
sahilmgandhi | 16:d9252437bd92 | 274 | while (encoder0.getPulses() <= desiredCount0 && encoder1.getPulses() <= desiredCount1){ |
sahilmgandhi | 20:82836745332e | 275 | receiverTwoReading = IRP_2.getSamples(100); |
sahilmgandhi | 20:82836745332e | 276 | receiverThreeReading = IRP_3.getSamples(100); |
sahilmgandhi | 20:82836745332e | 277 | // serial.printf("Average 2: %f Average 3: %f Sensor 2: %f Sensor 3: %f\n", IRP_2.sensorAvg, IRP_3.sensorAvg, receiverTwoReading, receiverThreeReading); |
christine222 | 24:e7063765d6f0 | 278 | if (receiverThreeReading < ir3base){ |
sahilmgandhi | 20:82836745332e | 279 | // redLed.write(1); |
sahilmgandhi | 20:82836745332e | 280 | // blueLed.write(0); |
sahilmgandhi | 19:7b66a518b6f8 | 281 | turnFlag |= RIGHT_FLAG; |
sahilmgandhi | 20:82836745332e | 282 | } |
christine222 | 24:e7063765d6f0 | 283 | else if (receiverTwoReading < ir2base){ |
sahilmgandhi | 20:82836745332e | 284 | // redLed.write(0); |
sahilmgandhi | 20:82836745332e | 285 | // blueLed.write(1); |
sahilmgandhi | 17:f713758f6238 | 286 | turnFlag |= LEFT_FLAG; |
sahilmgandhi | 20:82836745332e | 287 | } |
sahilmgandhi | 16:d9252437bd92 | 288 | pidOnEncoders(); |
sahilmgandhi | 16:d9252437bd92 | 289 | } |
christine222 | 24:e7063765d6f0 | 290 | |
sahilmgandhi | 16:d9252437bd92 | 291 | left_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 292 | right_motor.brake(); |
sahilmgandhi | 14:9e7bb03ddccb | 293 | } |
christine222 | 24:e7063765d6f0 | 294 | |
sahilmgandhi | 17:f713758f6238 | 295 | void handleTurns(){ |
sahilmgandhi | 17:f713758f6238 | 296 | if (turnFlag == 0x1){ |
sahilmgandhi | 19:7b66a518b6f8 | 297 | // moveForwardCellEncoder(0.3); |
sahilmgandhi | 17:f713758f6238 | 298 | turnLeft(); |
sahilmgandhi | 17:f713758f6238 | 299 | } |
sahilmgandhi | 17:f713758f6238 | 300 | else if (turnFlag == 0x2){ |
sahilmgandhi | 19:7b66a518b6f8 | 301 | // moveForwardCellEncoder(0.3); |
sahilmgandhi | 17:f713758f6238 | 302 | turnRight(); |
sahilmgandhi | 17:f713758f6238 | 303 | } |
sahilmgandhi | 17:f713758f6238 | 304 | else if (turnFlag == 0x3){ |
sahilmgandhi | 19:7b66a518b6f8 | 305 | // moveForwardCellEncoder(0.3); |
sahilmgandhi | 17:f713758f6238 | 306 | turnLeft(); |
sahilmgandhi | 19:7b66a518b6f8 | 307 | turnRight(); |
sahilmgandhi | 17:f713758f6238 | 308 | } |
sahilmgandhi | 17:f713758f6238 | 309 | } |
christine222 | 24:e7063765d6f0 | 310 | |
christine222 | 21:9a6cb07bdcb6 | 311 | void pidBrake(){ |
christine222 | 24:e7063765d6f0 | 312 | |
christine222 | 21:9a6cb07bdcb6 | 313 | int count0; |
christine222 | 21:9a6cb07bdcb6 | 314 | int count1; |
christine222 | 21:9a6cb07bdcb6 | 315 | count0 = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 316 | count1 = encoder1.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 317 | int initial0 = count0; |
christine222 | 21:9a6cb07bdcb6 | 318 | int initial1 = count1; |
christine222 | 21:9a6cb07bdcb6 | 319 | double kp = 0.00011; |
christine222 | 24:e7063765d6f0 | 320 | |
christine222 | 24:e7063765d6f0 | 321 | |
christine222 | 24:e7063765d6f0 | 322 | |
christine222 | 21:9a6cb07bdcb6 | 323 | int error = count0 - count1; |
christine222 | 24:e7063765d6f0 | 324 | |
christine222 | 21:9a6cb07bdcb6 | 325 | int counter = 0; |
christine222 | 21:9a6cb07bdcb6 | 326 | right_motor.move(0.7); |
christine222 | 21:9a6cb07bdcb6 | 327 | left_motor.move(0.7); |
christine222 | 24:e7063765d6f0 | 328 | |
christine222 | 21:9a6cb07bdcb6 | 329 | double speed0 = 0.7; |
christine222 | 21:9a6cb07bdcb6 | 330 | double speed1 = 0.7; |
christine222 | 24:e7063765d6f0 | 331 | |
christine222 | 21:9a6cb07bdcb6 | 332 | while(1) |
christine222 | 21:9a6cb07bdcb6 | 333 | { |
christine222 | 21:9a6cb07bdcb6 | 334 | if(abs(error) < 3){ |
christine222 | 21:9a6cb07bdcb6 | 335 | right_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 336 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 337 | counter++; |
christine222 | 21:9a6cb07bdcb6 | 338 | }else{ |
christine222 | 21:9a6cb07bdcb6 | 339 | count0 = encoder0.getPulses() - initial0; |
christine222 | 21:9a6cb07bdcb6 | 340 | count1 = encoder1.getPulses() - initial1; |
christine222 | 21:9a6cb07bdcb6 | 341 | error = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 342 | speed0 = -error*kp + speed0; |
christine222 | 21:9a6cb07bdcb6 | 343 | speed1 = error*kp + speed1; |
christine222 | 24:e7063765d6f0 | 344 | |
christine222 | 21:9a6cb07bdcb6 | 345 | right_motor.move(speed0); |
christine222 | 21:9a6cb07bdcb6 | 346 | left_motor.move(speed1); |
christine222 | 24:e7063765d6f0 | 347 | |
christine222 | 21:9a6cb07bdcb6 | 348 | counter = 0; |
christine222 | 21:9a6cb07bdcb6 | 349 | } |
christine222 | 21:9a6cb07bdcb6 | 350 | if (counter > 10){ |
christine222 | 21:9a6cb07bdcb6 | 351 | break; |
christine222 | 21:9a6cb07bdcb6 | 352 | } |
christine222 | 24:e7063765d6f0 | 353 | |
christine222 | 21:9a6cb07bdcb6 | 354 | } |
christine222 | 21:9a6cb07bdcb6 | 355 | return; |
christine222 | 21:9a6cb07bdcb6 | 356 | } |
christine222 | 24:e7063765d6f0 | 357 | |
christine222 | 21:9a6cb07bdcb6 | 358 | void moveForwardEncoder(){ |
christine222 | 24:e7063765d6f0 | 359 | |
christine222 | 21:9a6cb07bdcb6 | 360 | int count0; |
christine222 | 21:9a6cb07bdcb6 | 361 | int count1; |
christine222 | 21:9a6cb07bdcb6 | 362 | count0 = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 363 | count1 = encoder1.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 364 | int initial1 = count1; |
christine222 | 21:9a6cb07bdcb6 | 365 | int initial0 = count0; |
christine222 | 21:9a6cb07bdcb6 | 366 | int diff = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 367 | double kp = 0.00015; |
christine222 | 21:9a6cb07bdcb6 | 368 | double kd = 0.00019; |
christine222 | 21:9a6cb07bdcb6 | 369 | int prev = 0; |
christine222 | 24:e7063765d6f0 | 370 | |
christine222 | 24:e7063765d6f0 | 371 | |
christine222 | 24:e7063765d6f0 | 372 | |
christine222 | 23:690b0ca34ee9 | 373 | double speed0 = 0.10; |
christine222 | 23:690b0ca34ee9 | 374 | double speed1 = 0.12; |
christine222 | 21:9a6cb07bdcb6 | 375 | right_motor.move(speed0); |
christine222 | 21:9a6cb07bdcb6 | 376 | left_motor.move(speed1); |
christine222 | 24:e7063765d6f0 | 377 | |
christine222 | 24:e7063765d6f0 | 378 | |
christine222 | 24:e7063765d6f0 | 379 | while( ((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) || IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){ |
christine222 | 23:690b0ca34ee9 | 380 | //while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ |
christine222 | 21:9a6cb07bdcb6 | 381 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
christine222 | 21:9a6cb07bdcb6 | 382 | |
christine222 | 21:9a6cb07bdcb6 | 383 | count0 = encoder0.getPulses() - initial0; |
christine222 | 21:9a6cb07bdcb6 | 384 | count1 = encoder1.getPulses() - initial1; |
christine222 | 21:9a6cb07bdcb6 | 385 | int x = count0 - count1; |
christine222 | 21:9a6cb07bdcb6 | 386 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 21:9a6cb07bdcb6 | 387 | double kppart = kp * x; |
christine222 | 21:9a6cb07bdcb6 | 388 | double kdpart = kd * (x-prev); |
christine222 | 21:9a6cb07bdcb6 | 389 | double d = kppart + kdpart; |
christine222 | 21:9a6cb07bdcb6 | 390 | |
christine222 | 21:9a6cb07bdcb6 | 391 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
christine222 | 21:9a6cb07bdcb6 | 392 | if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward |
christine222 | 21:9a6cb07bdcb6 | 393 | { |
christine222 | 21:9a6cb07bdcb6 | 394 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 395 | right_motor.move( speed0+d ); |
christine222 | 21:9a6cb07bdcb6 | 396 | } |
christine222 | 21:9a6cb07bdcb6 | 397 | else if( x > diff + 40 ) |
christine222 | 21:9a6cb07bdcb6 | 398 | { |
christine222 | 21:9a6cb07bdcb6 | 399 | left_motor.move( speed1-0.8*d ); |
christine222 | 21:9a6cb07bdcb6 | 400 | right_motor.move( speed0+d ); |
christine222 | 21:9a6cb07bdcb6 | 401 | } |
christine222 | 21:9a6cb07bdcb6 | 402 | // else |
christine222 | 21:9a6cb07bdcb6 | 403 | // { |
christine222 | 21:9a6cb07bdcb6 | 404 | // left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 405 | // right_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 406 | // } |
christine222 | 21:9a6cb07bdcb6 | 407 | prev = x; |
christine222 | 21:9a6cb07bdcb6 | 408 | } |
christine222 | 24:e7063765d6f0 | 409 | |
christine222 | 21:9a6cb07bdcb6 | 410 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 411 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 412 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 413 | left_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 414 | return; |
christine222 | 23:690b0ca34ee9 | 415 | } |
christine222 | 24:e7063765d6f0 | 416 | |
christine222 | 24:e7063765d6f0 | 417 | |
christine222 | 23:690b0ca34ee9 | 418 | void moveForwardWallEncoder(){ |
christine222 | 24:e7063765d6f0 | 419 | |
christine222 | 23:690b0ca34ee9 | 420 | int count0; |
christine222 | 23:690b0ca34ee9 | 421 | int count1; |
christine222 | 23:690b0ca34ee9 | 422 | count0 = encoder0.getPulses(); |
christine222 | 23:690b0ca34ee9 | 423 | count1 = encoder1.getPulses(); |
christine222 | 23:690b0ca34ee9 | 424 | int initial1 = count1; |
christine222 | 23:690b0ca34ee9 | 425 | int initial0 = count0; |
christine222 | 23:690b0ca34ee9 | 426 | int diff = count0 - count1; |
christine222 | 23:690b0ca34ee9 | 427 | double kp = 0.00015; |
christine222 | 23:690b0ca34ee9 | 428 | double kd = 0.00019; |
christine222 | 23:690b0ca34ee9 | 429 | int prev = 0; |
christine222 | 24:e7063765d6f0 | 430 | |
christine222 | 24:e7063765d6f0 | 431 | |
christine222 | 24:e7063765d6f0 | 432 | |
christine222 | 24:e7063765d6f0 | 433 | double speed0 = 0.07; |
christine222 | 24:e7063765d6f0 | 434 | double speed1 = 0.07; |
christine222 | 23:690b0ca34ee9 | 435 | right_motor.move(speed0); |
christine222 | 23:690b0ca34ee9 | 436 | left_motor.move(speed1); |
christine222 | 23:690b0ca34ee9 | 437 | |
christine222 | 24:e7063765d6f0 | 438 | if( IRP_1.getSamples(50) > IRP_1.sensorAvg*0.8 || IRP_4.getSamples(50) > IRP_4.sensorAvg*0.8){ |
christine222 | 24:e7063765d6f0 | 439 | return; |
christine222 | 24:e7063765d6f0 | 440 | } |
christine222 | 24:e7063765d6f0 | 441 | |
christine222 | 24:e7063765d6f0 | 442 | |
christine222 | 23:690b0ca34ee9 | 443 | //while((encoder0.getPulses() - initial0) <= (oneCellCountMomentum-200) && (encoder1.getPulses() - initial1) <= (oneCellCountMomentum-200)) { |
christine222 | 23:690b0ca34ee9 | 444 | while( (IRP_1.getSamples(50) + IRP_4.getSamples(50))/2 < ((IRP_1.sensorAvg+IRP_2.sensorAvg)/2)*0.4 ){ |
christine222 | 23:690b0ca34ee9 | 445 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
christine222 | 23:690b0ca34ee9 | 446 | |
christine222 | 23:690b0ca34ee9 | 447 | count0 = encoder0.getPulses() - initial0; |
christine222 | 23:690b0ca34ee9 | 448 | count1 = encoder1.getPulses() - initial1; |
christine222 | 23:690b0ca34ee9 | 449 | int x = count0 - count1; |
christine222 | 23:690b0ca34ee9 | 450 | //double d = kp * x + kd * ( x - prev ); |
christine222 | 23:690b0ca34ee9 | 451 | double kppart = kp * x; |
christine222 | 23:690b0ca34ee9 | 452 | double kdpart = kd * (x-prev); |
christine222 | 23:690b0ca34ee9 | 453 | double d = kppart + kdpart; |
christine222 | 23:690b0ca34ee9 | 454 | |
christine222 | 23:690b0ca34ee9 | 455 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
christine222 | 23:690b0ca34ee9 | 456 | if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward |
christine222 | 23:690b0ca34ee9 | 457 | { |
christine222 | 23:690b0ca34ee9 | 458 | left_motor.move( speed1-0.8*d ); |
christine222 | 23:690b0ca34ee9 | 459 | right_motor.move( speed0+d ); |
christine222 | 23:690b0ca34ee9 | 460 | } |
christine222 | 23:690b0ca34ee9 | 461 | else if( x > diff + 40 ) |
christine222 | 23:690b0ca34ee9 | 462 | { |
christine222 | 23:690b0ca34ee9 | 463 | left_motor.move( speed1-0.8*d ); |
christine222 | 23:690b0ca34ee9 | 464 | right_motor.move( speed0+d ); |
christine222 | 23:690b0ca34ee9 | 465 | } |
christine222 | 23:690b0ca34ee9 | 466 | // else |
christine222 | 23:690b0ca34ee9 | 467 | // { |
christine222 | 23:690b0ca34ee9 | 468 | // left_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 469 | // right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 470 | // } |
christine222 | 23:690b0ca34ee9 | 471 | prev = x; |
christine222 | 23:690b0ca34ee9 | 472 | } |
christine222 | 24:e7063765d6f0 | 473 | |
christine222 | 23:690b0ca34ee9 | 474 | //pidOnEncoders(); |
christine222 | 23:690b0ca34ee9 | 475 | //pidBrake(); |
christine222 | 23:690b0ca34ee9 | 476 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 477 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 478 | return; |
christine222 | 21:9a6cb07bdcb6 | 479 | } |
christine222 | 24:e7063765d6f0 | 480 | |
sahilmgandhi | 14:9e7bb03ddccb | 481 | void moveForwardUntilWallIr() |
sahilmgandhi | 14:9e7bb03ddccb | 482 | { |
kyleliangus | 9:1d8e4da058cd | 483 | double currentError = 0; |
kyleliangus | 9:1d8e4da058cd | 484 | double previousError = 0; |
kyleliangus | 9:1d8e4da058cd | 485 | double derivError = 0; |
kyleliangus | 9:1d8e4da058cd | 486 | double sumError = 0; |
christine222 | 24:e7063765d6f0 | 487 | |
vanshg | 11:8fc2b703086b | 488 | double HIGH_PWM_VOLTAGE = 0.1; |
christine222 | 24:e7063765d6f0 | 489 | |
christine222 | 21:9a6cb07bdcb6 | 490 | double rightSpeed = 0.14; |
christine222 | 21:9a6cb07bdcb6 | 491 | double leftSpeed = 0.17; |
christine222 | 24:e7063765d6f0 | 492 | |
kyleliangus | 9:1d8e4da058cd | 493 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 494 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 24:e7063765d6f0 | 495 | |
vanshg | 11:8fc2b703086b | 496 | int count = encoder0.getPulses(); |
christine222 | 21:9a6cb07bdcb6 | 497 | while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { // while the front facing IR's arent covered |
christine222 | 21:9a6cb07bdcb6 | 498 | |
christine222 | 21:9a6cb07bdcb6 | 499 | if((IRP_2.getSamples(SAMPLE_NUM) < 0.005 || IRP_3.getSamples(SAMPLE_NUM) < 0.005)) { |
christine222 | 23:690b0ca34ee9 | 500 | //moveForwardWallEncoder(); |
christine222 | 22:681190ff98f0 | 501 | }else if(IRP_2.getSamples(SAMPLE_NUM) < 0.005){ // left wall gone |
christine222 | 22:681190ff98f0 | 502 | //moveForwardRightWall(); |
christine222 | 22:681190ff98f0 | 503 | }else if(IRP_3.getSamples(SAMPLE_NUM) < 0.005){ // right wall gone |
christine222 | 22:681190ff98f0 | 504 | //moveForwardLeftWall(); |
christine222 | 21:9a6cb07bdcb6 | 505 | }else{ |
christine222 | 21:9a6cb07bdcb6 | 506 | // will move forward using encoders only |
christine222 | 21:9a6cb07bdcb6 | 507 | // if cell ahead doesn't have a wall on either one side or both sides |
christine222 | 24:e7063765d6f0 | 508 | |
christine222 | 21:9a6cb07bdcb6 | 509 | int pulseCount = (encoder0.getPulses()-count) % 5600; |
christine222 | 21:9a6cb07bdcb6 | 510 | if (pulseCount > 5400 && pulseCount < 5800) { |
christine222 | 21:9a6cb07bdcb6 | 511 | blueLed.write(0); |
christine222 | 21:9a6cb07bdcb6 | 512 | } else { |
christine222 | 21:9a6cb07bdcb6 | 513 | blueLed.write(1); |
christine222 | 21:9a6cb07bdcb6 | 514 | } |
christine222 | 21:9a6cb07bdcb6 | 515 | sumError += currentError; |
christine222 | 24:e7063765d6f0 | 516 | currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - ir2base) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - ir3base) ) ; |
christine222 | 21:9a6cb07bdcb6 | 517 | derivError = currentError - previousError; |
christine222 | 21:9a6cb07bdcb6 | 518 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
christine222 | 21:9a6cb07bdcb6 | 519 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
christine222 | 21:9a6cb07bdcb6 | 520 | rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 521 | leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 522 | } else { // r is faster than L. speed up l, slow down r |
christine222 | 21:9a6cb07bdcb6 | 523 | rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 524 | leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 21:9a6cb07bdcb6 | 525 | } |
christine222 | 24:e7063765d6f0 | 526 | |
christine222 | 21:9a6cb07bdcb6 | 527 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 21:9a6cb07bdcb6 | 528 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 21:9a6cb07bdcb6 | 529 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 21:9a6cb07bdcb6 | 530 | if (rightSpeed < 0) rightSpeed = 0; |
christine222 | 24:e7063765d6f0 | 531 | |
christine222 | 21:9a6cb07bdcb6 | 532 | right_motor.forward(rightSpeed); |
christine222 | 21:9a6cb07bdcb6 | 533 | left_motor.forward(leftSpeed); |
christine222 | 24:e7063765d6f0 | 534 | |
christine222 | 21:9a6cb07bdcb6 | 535 | previousError = currentError; |
christine222 | 24:e7063765d6f0 | 536 | |
christine222 | 21:9a6cb07bdcb6 | 537 | ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
christine222 | 21:9a6cb07bdcb6 | 538 | ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 24:e7063765d6f0 | 539 | |
kyleliangus | 9:1d8e4da058cd | 540 | } |
christine222 | 24:e7063765d6f0 | 541 | |
christine222 | 21:9a6cb07bdcb6 | 542 | //backward(); |
christine222 | 22:681190ff98f0 | 543 | //wait_ms(40); |
christine222 | 21:9a6cb07bdcb6 | 544 | //brake(); |
christine222 | 24:e7063765d6f0 | 545 | |
christine222 | 21:9a6cb07bdcb6 | 546 | left_motor.brake(); |
christine222 | 21:9a6cb07bdcb6 | 547 | right_motor.brake(); |
kyleliangus | 9:1d8e4da058cd | 548 | } |
vanshg | 10:810d1849da9d | 549 | } |
christine222 | 24:e7063765d6f0 | 550 | |
sahilmgandhi | 14:9e7bb03ddccb | 551 | void printDipFlag() |
sahilmgandhi | 14:9e7bb03ddccb | 552 | { |
vanshg | 11:8fc2b703086b | 553 | if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); |
vanshg | 11:8fc2b703086b | 554 | } |
christine222 | 24:e7063765d6f0 | 555 | |
sahilmgandhi | 14:9e7bb03ddccb | 556 | void enableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 557 | { |
vanshg | 10:810d1849da9d | 558 | dipFlags |= BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 559 | printDipFlag(); |
vanshg | 10:810d1849da9d | 560 | } |
sahilmgandhi | 14:9e7bb03ddccb | 561 | void enableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 562 | { |
vanshg | 10:810d1849da9d | 563 | dipFlags |= BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 564 | printDipFlag(); |
vanshg | 10:810d1849da9d | 565 | } |
sahilmgandhi | 14:9e7bb03ddccb | 566 | void enableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 567 | { |
vanshg | 10:810d1849da9d | 568 | dipFlags |= BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 569 | printDipFlag(); |
vanshg | 10:810d1849da9d | 570 | } |
sahilmgandhi | 14:9e7bb03ddccb | 571 | void enableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 572 | { |
vanshg | 10:810d1849da9d | 573 | dipFlags |= BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 574 | printDipFlag(); |
vanshg | 10:810d1849da9d | 575 | } |
sahilmgandhi | 14:9e7bb03ddccb | 576 | void disableButton1() |
sahilmgandhi | 14:9e7bb03ddccb | 577 | { |
vanshg | 10:810d1849da9d | 578 | dipFlags &= ~BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 579 | printDipFlag(); |
vanshg | 10:810d1849da9d | 580 | } |
sahilmgandhi | 14:9e7bb03ddccb | 581 | void disableButton2() |
sahilmgandhi | 14:9e7bb03ddccb | 582 | { |
vanshg | 10:810d1849da9d | 583 | dipFlags &= ~BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 584 | printDipFlag(); |
vanshg | 10:810d1849da9d | 585 | } |
sahilmgandhi | 14:9e7bb03ddccb | 586 | void disableButton3() |
sahilmgandhi | 14:9e7bb03ddccb | 587 | { |
vanshg | 10:810d1849da9d | 588 | dipFlags &= ~BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 589 | printDipFlag(); |
vanshg | 10:810d1849da9d | 590 | } |
sahilmgandhi | 14:9e7bb03ddccb | 591 | void disableButton4() |
sahilmgandhi | 14:9e7bb03ddccb | 592 | { |
vanshg | 10:810d1849da9d | 593 | dipFlags &= ~BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 594 | printDipFlag(); |
kyleliangus | 9:1d8e4da058cd | 595 | } |
christine222 | 24:e7063765d6f0 | 596 | |
kyleliangus | 15:b80555a4a8b9 | 597 | void pidOnEncoders() |
kyleliangus | 15:b80555a4a8b9 | 598 | { |
kyleliangus | 15:b80555a4a8b9 | 599 | int count0; |
kyleliangus | 15:b80555a4a8b9 | 600 | int count1; |
kyleliangus | 15:b80555a4a8b9 | 601 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 602 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 603 | int diff = count0 - count1; |
sahilmgandhi | 20:82836745332e | 604 | double kp = 0.00011; |
sahilmgandhi | 20:82836745332e | 605 | double kd = 0.00014; |
kyleliangus | 15:b80555a4a8b9 | 606 | int prev = 0; |
christine222 | 24:e7063765d6f0 | 607 | |
sahilmgandhi | 16:d9252437bd92 | 608 | int counter = 0; |
kyleliangus | 15:b80555a4a8b9 | 609 | while(1) |
kyleliangus | 15:b80555a4a8b9 | 610 | { |
kyleliangus | 15:b80555a4a8b9 | 611 | count0 = encoder0.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 612 | count1 = encoder1.getPulses(); |
kyleliangus | 15:b80555a4a8b9 | 613 | int x = count0 - count1; |
kyleliangus | 15:b80555a4a8b9 | 614 | //double d = kp * x + kd * ( x - prev ); |
kyleliangus | 15:b80555a4a8b9 | 615 | double kppart = kp * x; |
kyleliangus | 15:b80555a4a8b9 | 616 | double kdpart = kd * (x-prev); |
kyleliangus | 15:b80555a4a8b9 | 617 | double d = kppart + kdpart; |
kyleliangus | 15:b80555a4a8b9 | 618 | |
kyleliangus | 15:b80555a4a8b9 | 619 | //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); |
sahilmgandhi | 20:82836745332e | 620 | if( x < diff - 40 ) // count1 is bigger, right wheel pushed forward |
kyleliangus | 15:b80555a4a8b9 | 621 | { |
kyleliangus | 15:b80555a4a8b9 | 622 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 623 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 624 | } |
sahilmgandhi | 20:82836745332e | 625 | else if( x > diff + 40 ) |
kyleliangus | 15:b80555a4a8b9 | 626 | { |
kyleliangus | 15:b80555a4a8b9 | 627 | left_motor.move( -d ); |
kyleliangus | 15:b80555a4a8b9 | 628 | right_motor.move( d ); |
kyleliangus | 15:b80555a4a8b9 | 629 | } |
sahilmgandhi | 16:d9252437bd92 | 630 | // else |
sahilmgandhi | 16:d9252437bd92 | 631 | // { |
sahilmgandhi | 16:d9252437bd92 | 632 | // left_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 633 | // right_motor.brake(); |
sahilmgandhi | 16:d9252437bd92 | 634 | // } |
kyleliangus | 15:b80555a4a8b9 | 635 | prev = x; |
sahilmgandhi | 16:d9252437bd92 | 636 | counter++; |
sahilmgandhi | 19:7b66a518b6f8 | 637 | if (counter == 5) |
sahilmgandhi | 16:d9252437bd92 | 638 | break; |
kyleliangus | 15:b80555a4a8b9 | 639 | } |
kyleliangus | 15:b80555a4a8b9 | 640 | } |
christine222 | 24:e7063765d6f0 | 641 | |
christine222 | 22:681190ff98f0 | 642 | void nCellEncoderAndIR(double cellCount){ |
sahilmgandhi | 19:7b66a518b6f8 | 643 | double currentError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 644 | double previousError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 645 | double derivError = 0; |
sahilmgandhi | 19:7b66a518b6f8 | 646 | double sumError = 0; |
christine222 | 24:e7063765d6f0 | 647 | |
christine222 | 24:e7063765d6f0 | 648 | double HIGH_PWM_VOLTAGE = 0.15; |
christine222 | 24:e7063765d6f0 | 649 | double rightSpeed = 0.095; |
christine222 | 24:e7063765d6f0 | 650 | double leftSpeed = 0.115; |
christine222 | 24:e7063765d6f0 | 651 | |
christine222 | 24:e7063765d6f0 | 652 | |
christine222 | 24:e7063765d6f0 | 653 | int initial0 = encoder0.getPulses(); |
christine222 | 24:e7063765d6f0 | 654 | int initial1 = encoder1.getPulses(); |
christine222 | 24:e7063765d6f0 | 655 | |
sahilmgandhi | 19:7b66a518b6f8 | 656 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
sahilmgandhi | 19:7b66a518b6f8 | 657 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 24:e7063765d6f0 | 658 | float ir1 = IRP_1.getSamples(50); |
christine222 | 24:e7063765d6f0 | 659 | float ir4 = IRP_4.getSamples(50); |
christine222 | 24:e7063765d6f0 | 660 | |
christine222 | 23:690b0ca34ee9 | 661 | int state = 0; |
christine222 | 23:690b0ca34ee9 | 662 | |
christine222 | 24:e7063765d6f0 | 663 | if(IRP_3.sensorAvg > noWallR){ |
christine222 | 24:e7063765d6f0 | 664 | ir3base = IRP_3.sensorAvg; |
christine222 | 24:e7063765d6f0 | 665 | } |
christine222 | 24:e7063765d6f0 | 666 | if(IRP_2.sensorAvg > noWallL){ |
christine222 | 24:e7063765d6f0 | 667 | ir2base = IRP_2.sensorAvg; |
sahilmgandhi | 19:7b66a518b6f8 | 668 | } |
sahilmgandhi | 19:7b66a518b6f8 | 669 | |
christine222 | 21:9a6cb07bdcb6 | 670 | |
christine222 | 24:e7063765d6f0 | 671 | for (int i = 0; i < cellCount; i++){ |
christine222 | 24:e7063765d6f0 | 672 | while ( ((encoder0.getPulses()-initial0) <= oneCellCountMomentum && (encoder1.getPulses()-initial1) <= oneCellCountMomentum) && ir1 < IRP_1.sensorAvg*0.7 && ir4 < IRP_4.sensorAvg*0.7 ){ |
christine222 | 24:e7063765d6f0 | 673 | ir2 = IRP_2.getSamples(50); |
christine222 | 24:e7063765d6f0 | 674 | ir3 = IRP_3.getSamples(50); |
christine222 | 24:e7063765d6f0 | 675 | ir1 = IRP_1.getSamples(50); |
christine222 | 24:e7063765d6f0 | 676 | ir4 = IRP_4.getSamples(50); |
christine222 | 21:9a6cb07bdcb6 | 677 | |
christine222 | 24:e7063765d6f0 | 678 | if((ir3 < ir3base/4) && (ir2 < ir2base/4)){ |
christine222 | 24:e7063765d6f0 | 679 | // both sides gone |
christine222 | 24:e7063765d6f0 | 680 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 681 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 682 | blueLed.write(1); |
christine222 | 24:e7063765d6f0 | 683 | wait_ms(100); |
christine222 | 24:e7063765d6f0 | 684 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 685 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 686 | blueLed.write(0); |
christine222 | 24:e7063765d6f0 | 687 | wait_ms(200); |
christine222 | 24:e7063765d6f0 | 688 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 689 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 690 | blueLed.write(0); |
christine222 | 24:e7063765d6f0 | 691 | wait_ms(200); |
christine222 | 24:e7063765d6f0 | 692 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 693 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 694 | blueLed.write(0); |
christine222 | 24:e7063765d6f0 | 695 | wait_ms(200); |
christine222 | 24:e7063765d6f0 | 696 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 697 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 698 | blueLed.write(0); |
christine222 | 24:e7063765d6f0 | 699 | moveForwardEncoder(); |
christine222 | 24:e7063765d6f0 | 700 | }else if (ir3 < ir3base/4){// right wall gone |
christine222 | 24:e7063765d6f0 | 701 | // RED RED RED RED RED |
christine222 | 24:e7063765d6f0 | 702 | currentError = (ir3 - ir2base); |
christine222 | 24:e7063765d6f0 | 703 | redLed.write(0); |
christine222 | 24:e7063765d6f0 | 704 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 705 | blueLed.write(1); |
christine222 | 24:e7063765d6f0 | 706 | }else if (ir2 < ir2base){// left wall gone |
christine222 | 24:e7063765d6f0 | 707 | // BLUE BLUE BLUE BLUE |
christine222 | 24:e7063765d6f0 | 708 | currentError = (ir3base - ir2); |
christine222 | 24:e7063765d6f0 | 709 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 710 | greenLed.write(1); |
christine222 | 24:e7063765d6f0 | 711 | blueLed.write(0); |
christine222 | 24:e7063765d6f0 | 712 | }else{ |
christine222 | 24:e7063765d6f0 | 713 | // both walls there |
christine222 | 24:e7063765d6f0 | 714 | currentError = (ir2 - ir2base) - (ir3 - ir3base); |
christine222 | 24:e7063765d6f0 | 715 | redLed.write(1); |
christine222 | 24:e7063765d6f0 | 716 | greenLed.write(0); |
christine222 | 24:e7063765d6f0 | 717 | blueLed.write(1); |
christine222 | 24:e7063765d6f0 | 718 | } |
christine222 | 24:e7063765d6f0 | 719 | |
christine222 | 24:e7063765d6f0 | 720 | sumError += currentError; |
christine222 | 24:e7063765d6f0 | 721 | derivError = currentError - previousError; |
christine222 | 24:e7063765d6f0 | 722 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
christine222 | 24:e7063765d6f0 | 723 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
christine222 | 24:e7063765d6f0 | 724 | rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 24:e7063765d6f0 | 725 | leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 24:e7063765d6f0 | 726 | } else { // r is faster than L. speed up l, slow down r |
christine222 | 24:e7063765d6f0 | 727 | rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 24:e7063765d6f0 | 728 | leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
christine222 | 24:e7063765d6f0 | 729 | } |
christine222 | 24:e7063765d6f0 | 730 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
christine222 | 24:e7063765d6f0 | 731 | if (leftSpeed < 0) leftSpeed = 0; |
christine222 | 24:e7063765d6f0 | 732 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
christine222 | 24:e7063765d6f0 | 733 | if (rightSpeed < 0) rightSpeed = 0; |
christine222 | 24:e7063765d6f0 | 734 | |
christine222 | 24:e7063765d6f0 | 735 | right_motor.forward(rightSpeed); |
christine222 | 24:e7063765d6f0 | 736 | left_motor.forward(leftSpeed); |
christine222 | 24:e7063765d6f0 | 737 | pidOnEncoders(); |
christine222 | 24:e7063765d6f0 | 738 | |
christine222 | 24:e7063765d6f0 | 739 | previousError = currentError; |
christine222 | 24:e7063765d6f0 | 740 | ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
christine222 | 24:e7063765d6f0 | 741 | ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
christine222 | 24:e7063765d6f0 | 742 | |
christine222 | 24:e7063765d6f0 | 743 | if(IRP_3.sensorAvg > noWallR){ |
christine222 | 24:e7063765d6f0 | 744 | continue; |
christine222 | 24:e7063765d6f0 | 745 | }else if(ir3 > noWallR){ |
christine222 | 24:e7063765d6f0 | 746 | ir3base = ir3; |
christine222 | 24:e7063765d6f0 | 747 | } |
christine222 | 24:e7063765d6f0 | 748 | |
christine222 | 24:e7063765d6f0 | 749 | if(IRP_2.sensorAvg > noWallL){ |
christine222 | 24:e7063765d6f0 | 750 | continue; |
christine222 | 24:e7063765d6f0 | 751 | }else if(ir2 > noWallL){ |
christine222 | 24:e7063765d6f0 | 752 | ir2base = ir2; |
christine222 | 24:e7063765d6f0 | 753 | } |
christine222 | 24:e7063765d6f0 | 754 | } |
christine222 | 24:e7063765d6f0 | 755 | } |
christine222 | 24:e7063765d6f0 | 756 | |
sahilmgandhi | 19:7b66a518b6f8 | 757 | left_motor.brake(); |
sahilmgandhi | 19:7b66a518b6f8 | 758 | right_motor.brake(); |
christine222 | 23:690b0ca34ee9 | 759 | return; |
sahilmgandhi | 17:f713758f6238 | 760 | } |
christine222 | 24:e7063765d6f0 | 761 | |
sahilmgandhi | 0:a03c771ab78e | 762 | int main() |
sahilmgandhi | 0:a03c771ab78e | 763 | { |
christine222 | 3:880f15be8c72 | 764 | //Set highest bandwidth. |
christine222 | 23:690b0ca34ee9 | 765 | //gyro.setLpBandwidth(LPFBW_42HZ); |
christine222 | 3:880f15be8c72 | 766 | serial.baud(9600); |
christine222 | 23:690b0ca34ee9 | 767 | //serial.printf("The gyro's address is %s", gyro.getWhoAmI()); |
christine222 | 24:e7063765d6f0 | 768 | |
sahilmgandhi | 1:8a4b2f573923 | 769 | wait (0.1); |
christine222 | 24:e7063765d6f0 | 770 | |
christine222 | 24:e7063765d6f0 | 771 | |
sahilmgandhi | 2:771db996cee0 | 772 | redLed.write(1); |
sahilmgandhi | 14:9e7bb03ddccb | 773 | greenLed.write(0); |
sahilmgandhi | 2:771db996cee0 | 774 | blueLed.write(1); |
christine222 | 24:e7063765d6f0 | 775 | |
kyleliangus | 9:1d8e4da058cd | 776 | //left_motor.forward(0.1); |
kyleliangus | 9:1d8e4da058cd | 777 | //right_motor.forward(0.1); |
christine222 | 24:e7063765d6f0 | 778 | |
kyleliangus | 8:a0760acdc59e | 779 | // PA_1 is A of right |
kyleliangus | 8:a0760acdc59e | 780 | // PA_0 is B of right |
kyleliangus | 8:a0760acdc59e | 781 | // PA_5 is A of left |
kyleliangus | 8:a0760acdc59e | 782 | // PB_3 is B of left |
vanshg | 11:8fc2b703086b | 783 | //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); |
vanshg | 11:8fc2b703086b | 784 | // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); |
christine222 | 24:e7063765d6f0 | 785 | |
vanshg | 10:810d1849da9d | 786 | // TODO: Setting all the registers and what not for Quadrature Encoders |
sahilmgandhi | 14:9e7bb03ddccb | 787 | /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) |
sahilmgandhi | 14:9e7bb03ddccb | 788 | RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) |
sahilmgandhi | 14:9e7bb03ddccb | 789 | GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 |
sahilmgandhi | 14:9e7bb03ddccb | 790 | GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 |
sahilmgandhi | 14:9e7bb03ddccb | 791 | */ |
christine222 | 24:e7063765d6f0 | 792 | |
kyleliangus | 12:5790e56a056f | 793 | // 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 | 794 | // of alternate function specified |
kyleliangus | 12:5790e56a056f | 795 | // 4 modes sets AHB1ENR |
kyleliangus | 12:5790e56a056f | 796 | // Now TMR: enable clock with timer, APB1ENR |
kyleliangus | 12:5790e56a056f | 797 | // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN |
kyleliangus | 12:5790e56a056f | 798 | // |
kyleliangus | 12:5790e56a056f | 799 | // Encoder mode: disable timer before changing timer to encoder |
kyleliangus | 12:5790e56a056f | 800 | // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use |
kyleliangus | 12:5790e56a056f | 801 | // CCMR sets sample rate and set the channel to input |
kyleliangus | 12:5790e56a056f | 802 | // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels |
kyleliangus | 12:5790e56a056f | 803 | // SMCR - encoder mode |
kyleliangus | 12:5790e56a056f | 804 | // CR1 reenabales |
kyleliangus | 12:5790e56a056f | 805 | // then read CNT reg of timer |
christine222 | 24:e7063765d6f0 | 806 | |
christine222 | 24:e7063765d6f0 | 807 | |
vanshg | 10:810d1849da9d | 808 | dipButton1.rise(&enableButton1); |
vanshg | 10:810d1849da9d | 809 | dipButton2.rise(&enableButton2); |
vanshg | 10:810d1849da9d | 810 | dipButton3.rise(&enableButton3); |
vanshg | 10:810d1849da9d | 811 | dipButton4.rise(&enableButton4); |
christine222 | 24:e7063765d6f0 | 812 | |
vanshg | 10:810d1849da9d | 813 | dipButton1.fall(&disableButton1); |
vanshg | 10:810d1849da9d | 814 | dipButton2.fall(&disableButton2); |
vanshg | 10:810d1849da9d | 815 | dipButton3.fall(&disableButton3); |
vanshg | 10:810d1849da9d | 816 | dipButton4.fall(&disableButton4); |
sahilmgandhi | 7:6f5cb6377bd4 | 817 | |
christine222 | 24:e7063765d6f0 | 818 | if(dipFlags == 0x1){ |
christine222 | 24:e7063765d6f0 | 819 | turnRight180(); |
christine222 | 24:e7063765d6f0 | 820 | wait_ms(1000); |
christine222 | 24:e7063765d6f0 | 821 | }else{ |
christine222 | 24:e7063765d6f0 | 822 | turnRight(); |
christine222 | 24:e7063765d6f0 | 823 | IRP_1.calibrateSensor(); |
christine222 | 24:e7063765d6f0 | 824 | IRP_4.calibrateSensor(); |
christine222 | 24:e7063765d6f0 | 825 | wait_ms(300); |
christine222 | 24:e7063765d6f0 | 826 | turnLeft(); |
christine222 | 24:e7063765d6f0 | 827 | wait_ms(300); |
christine222 | 24:e7063765d6f0 | 828 | } |
christine222 | 24:e7063765d6f0 | 829 | |
christine222 | 24:e7063765d6f0 | 830 | |
christine222 | 24:e7063765d6f0 | 831 | |
christine222 | 24:e7063765d6f0 | 832 | |
kyleliangus | 15:b80555a4a8b9 | 833 | //right_motor.forward( 0.2 ); |
kyleliangus | 15:b80555a4a8b9 | 834 | //left_motor.forward( 0.2 ); |
christine222 | 24:e7063765d6f0 | 835 | //turnRight180(); |
christine222 | 24:e7063765d6f0 | 836 | //wait_ms(1500); |
christine222 | 3:880f15be8c72 | 837 | while (1) { |
christine222 | 23:690b0ca34ee9 | 838 | //wait_ms(1500); |
christine222 | 23:690b0ca34ee9 | 839 | //turnRight(); |
christine222 | 23:690b0ca34ee9 | 840 | //wait_ms(1500); |
christine222 | 23:690b0ca34ee9 | 841 | //turnLeft(); |
christine222 | 24:e7063765d6f0 | 842 | nCellEncoderAndIR(1); |
christine222 | 24:e7063765d6f0 | 843 | wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 844 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 845 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 846 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 847 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 848 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 849 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 850 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 851 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 852 | // turnLeft(); |
christine222 | 23:690b0ca34ee9 | 853 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 854 | // nCellEncoderAndIR(2); |
christine222 | 23:690b0ca34ee9 | 855 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 856 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 857 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 858 | // nCellEncoderAndIR(1); |
christine222 | 23:690b0ca34ee9 | 859 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 860 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 861 | // wait_ms(500); |
christine222 | 23:690b0ca34ee9 | 862 | // nCellEncoderAndIR(5); |
christine222 | 23:690b0ca34ee9 | 863 | // break; |
christine222 | 23:690b0ca34ee9 | 864 | // turnRight180(); |
christine222 | 24:e7063765d6f0 | 865 | |
christine222 | 24:e7063765d6f0 | 866 | |
christine222 | 24:e7063765d6f0 | 867 | |
christine222 | 23:690b0ca34ee9 | 868 | // int number = rand() % 4 + 1; |
christine222 | 23:690b0ca34ee9 | 869 | // switch(number){ |
christine222 | 23:690b0ca34ee9 | 870 | // case(1):{//turn right |
christine222 | 23:690b0ca34ee9 | 871 | // turnRight(); |
christine222 | 23:690b0ca34ee9 | 872 | // break; |
christine222 | 23:690b0ca34ee9 | 873 | // } |
christine222 | 23:690b0ca34ee9 | 874 | // case(2):{ // turn left |
christine222 | 23:690b0ca34ee9 | 875 | // turnLeft(); |
christine222 | 23:690b0ca34ee9 | 876 | // break; |
christine222 | 23:690b0ca34ee9 | 877 | // } |
christine222 | 23:690b0ca34ee9 | 878 | // case(3):{// keep going |
christine222 | 24:e7063765d6f0 | 879 | |
christine222 | 23:690b0ca34ee9 | 880 | // break; |
christine222 | 23:690b0ca34ee9 | 881 | // } |
christine222 | 23:690b0ca34ee9 | 882 | // case(4):{// turnaround |
christine222 | 23:690b0ca34ee9 | 883 | // turnRight180(); |
christine222 | 23:690b0ca34ee9 | 884 | // break; |
christine222 | 23:690b0ca34ee9 | 885 | // } |
christine222 | 23:690b0ca34ee9 | 886 | // default:{// keep going |
christine222 | 23:690b0ca34ee9 | 887 | // break; |
christine222 | 23:690b0ca34ee9 | 888 | // } |
christine222 | 23:690b0ca34ee9 | 889 | // } |
christine222 | 24:e7063765d6f0 | 890 | |
christine222 | 23:690b0ca34ee9 | 891 | // float irbase2 = IRP_2.sensorAvg/initAverageL/averageDivL; |
christine222 | 23:690b0ca34ee9 | 892 | // float irbase3 = IRP_3.sensorAvg/initAverageR/averageDivR; |
christine222 | 24:e7063765d6f0 | 893 | |
christine222 | 23:690b0ca34ee9 | 894 | // float ir3 = IRP_2.getSamples(100)/initAverageL; |
christine222 | 23:690b0ca34ee9 | 895 | // float ir2 = IRP_3.getSamples(100)/initAverageR; |
christine222 | 22:681190ff98f0 | 896 | |
christine222 | 24:e7063765d6f0 | 897 | |
christine222 | 24:e7063765d6f0 | 898 | |
christine222 | 24:e7063765d6f0 | 899 | |
christine222 | 23:690b0ca34ee9 | 900 | /* |
christine222 | 23:690b0ca34ee9 | 901 | counter2++; |
christine222 | 23:690b0ca34ee9 | 902 | counter3++; |
christine222 | 23:690b0ca34ee9 | 903 | ir2tot += IRP_2.getSamples(100); |
christine222 | 23:690b0ca34ee9 | 904 | ir3tot += IRP_3.getSamples(100); |
christine222 | 24:e7063765d6f0 | 905 | |
christine222 | 24:e7063765d6f0 | 906 | |
christine222 | 23:690b0ca34ee9 | 907 | ir2 = ir2tot/counter2; |
christine222 | 23:690b0ca34ee9 | 908 | ir3 = ir3tot/counter3; |
christine222 | 23:690b0ca34ee9 | 909 | |
christine222 | 24:e7063765d6f0 | 910 | |
christine222 | 23:690b0ca34ee9 | 911 | serial.printf("IRS= >: %f, %f \r\n", ir2, ir3); |
christine222 | 23:690b0ca34ee9 | 912 | */ |
christine222 | 23:690b0ca34ee9 | 913 | //serial.printf("%f, %f \n", IRP_2.sensorAvg/initAverageL/averageDivL, IRP_3.sensorAvg/initAverageR/averageDivR); |
christine222 | 23:690b0ca34ee9 | 914 | //serial.printf("IRBASEnowall= >: %f, %f \r\n", irbase2, irbase3); |
christine222 | 23:690b0ca34ee9 | 915 | //break; |
christine222 | 23:690b0ca34ee9 | 916 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples(100), IRP_3.getSamples(100)); |
christine222 | 23:690b0ca34ee9 | 917 | //serial.printf("IRSAvg= >: %f, %f \r\n", ir2, ir3); |
christine222 | 23:690b0ca34ee9 | 918 | //serial.printf("IRSAvg= >: %f, %f \r\n", IRP_2.sensorAvg, IRP_3.sensorAvg); |
christine222 | 24:e7063765d6f0 | 919 | |
christine222 | 24:e7063765d6f0 | 920 | |
christine222 | 23:690b0ca34ee9 | 921 | //////////////////////////////////////////////////////////////// |
christine222 | 24:e7063765d6f0 | 922 | |
christine222 | 22:681190ff98f0 | 923 | //nCellEncoderAndIR(3); |
christine222 | 22:681190ff98f0 | 924 | //break; |
christine222 | 24:e7063765d6f0 | 925 | |
christine222 | 23:690b0ca34ee9 | 926 | //serial.printf("IRS= >: %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100)); |
christine222 | 23:690b0ca34ee9 | 927 | |
christine222 | 24:e7063765d6f0 | 928 | |
christine222 | 24:e7063765d6f0 | 929 | |
christine222 | 21:9a6cb07bdcb6 | 930 | //serial.printf("IRS= >: %f, %f \r\n", IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 )); |
christine222 | 24:e7063765d6f0 | 931 | |
christine222 | 24:e7063765d6f0 | 932 | |
christine222 | 21:9a6cb07bdcb6 | 933 | //break; |
christine222 | 21:9a6cb07bdcb6 | 934 | // moveForwardCellEncoder(1); |
christine222 | 21:9a6cb07bdcb6 | 935 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 936 | // handleTurns(); |
christine222 | 21:9a6cb07bdcb6 | 937 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 938 | // moveForwardCellEncoder(1); |
christine222 | 21:9a6cb07bdcb6 | 939 | // wait(0.5); |
christine222 | 21:9a6cb07bdcb6 | 940 | // handleTurns(); |
christine222 | 21:9a6cb07bdcb6 | 941 | //break; |
sahilmgandhi | 16:d9252437bd92 | 942 | //pidOnEncoders(); |
sahilmgandhi | 20:82836745332e | 943 | // moveForwardUntilWallIr(); |
kyleliangus | 8:a0760acdc59e | 944 | //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ()); |
kyleliangus | 15:b80555a4a8b9 | 945 | //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); |
sahilmgandhi | 17:f713758f6238 | 946 | // double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
christine222 | 21:9a6cb07bdcb6 | 947 | //serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); |
christine222 | 24:e7063765d6f0 | 948 | |
christine222 | 3:880f15be8c72 | 949 | //reading = Rec_4.read(); |
christine222 | 3:880f15be8c72 | 950 | // serial.printf("reading: %f\n", reading); |
christine222 | 3:880f15be8c72 | 951 | } |
christine222 | 24:e7063765d6f0 | 952 | } |