Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

steering_methods.h@23:4c743746533c, 2021-11-03 (annotated)

Committer:
aalawfi
Date:
Wed Nov 03 21:52:00 2021 +0000
Revision:
23:4c743746533c
Parent:
22:08d30ea47111
Child:
24:7bf492bf50f4
- Most recent 11/3/2021

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aalawfi 2:c857935f928e 1 //#include "steering_header.h"
aalawfi 2:c857935f928e 2 /*
aalawfi 2:c857935f928e 3 Include methods and functions
aalawfi 2:c857935f928e 4 */
aalawfi 2:c857935f928e 5
aalawfi 2:c857935f928e 6 // --------- LANDMARK COUNTER --------
aalawfi 2:c857935f928e 7 static int decimal_to_bin[16][BITS] = {
aalawfi 2:c857935f928e 8 {0,0,0,0}, // zero
aalawfi 2:c857935f928e 9 {0,0,0,1}, // one
aalawfi 2:c857935f928e 10 {0,0,1,0}, //two
aalawfi 2:c857935f928e 11 {0,0,1,1}, //three
aalawfi 2:c857935f928e 12 {0,1,0,0}, // four
aalawfi 2:c857935f928e 13 {0,1,0,1}, //five
aalawfi 2:c857935f928e 14 {0,1,1,0}, // six
aalawfi 2:c857935f928e 15 {0,1,1,1}, //seven
aalawfi 2:c857935f928e 16 {1,0,0,0}, //eight
aalawfi 2:c857935f928e 17 {1,0,0,1}, //nine
aalawfi 2:c857935f928e 18 {1,0,1,0}, //ten
aalawfi 2:c857935f928e 19 {1,0,1,1}, //11
aalawfi 2:c857935f928e 20 {1,1,0,0}, //12
aalawfi 2:c857935f928e 21 {1,1,0,1}, //13
aalawfi 2:c857935f928e 22 {1,1,1,0}, //14
aalawfi 2:c857935f928e 23 {1,1,1,1}, //15
aalawfi 2:c857935f928e 24 } ;
aalawfi 2:c857935f928e 25 void turn_seg_off(DigitalOut segment[]){
aalawfi 2:c857935f928e 26 for(int i =0; i<BITS; i++){
aalawfi 2:c857935f928e 27 segment[i] = 0;
aalawfi 2:c857935f928e 28 }
aalawfi 2:c857935f928e 29 }
aalawfi 2:c857935f928e 30 void show_decimal(int number, DigitalOut segment[]) {
aalawfi 2:c857935f928e 31 turn_seg_off(segment);
aalawfi 2:c857935f928e 32 for(int i =0; i < BITS; i++){
aalawfi 2:c857935f928e 33 segment[i] = decimal_to_bin[number][i];
aalawfi 2:c857935f928e 34 };
aalawfi 2:c857935f928e 35 }
aalawfi 2:c857935f928e 36 // ------------ LANDMARK DETECTION ------------
aalawfi 23:4c743746533c 37 Timer land;
aalawfi 2:c857935f928e 38 int counter = 0;
quarren42 19:65fecaa2a387 39 volatile bool landmark_triggered=false; // Debugging purposes only
quarren42 19:65fecaa2a387 40 volatile bool restarted = false; // Debugging purposes only
aalawfi 23:4c743746533c 41
aalawfi 2:c857935f928e 42 void landmark_counter(void){
aalawfi 23:4c743746533c 43 land.start();
quarren42 19:65fecaa2a387 44 landmark_triggered=false; // Debugging purposes only
quarren42 19:65fecaa2a387 45 restarted = false; // Debugging purposes only
aalawfi 2:c857935f928e 46 if(counter >= 15)
aalawfi 2:c857935f928e 47 counter =0;
aalawfi 2:c857935f928e 48 turn_seg_off(seg1);
aalawfi 23:4c743746533c 49 // if(right_landmark_sensor.read() == 1 || left_landmark_sensor.read() == 1 )
aalawfi 23:4c743746533c 50 // {
aalawfi 23:4c743746533c 51 if(land.read_us() > 1)
aalawfi 23:4c743746533c 52 {
aalawfi 23:4c743746533c 53 landmark_triggered =true; // Debugging purpose only
aalawfi 23:4c743746533c 54 counter++ ;
aalawfi 23:4c743746533c 55 land.stop();
aalawfi 23:4c743746533c 56 }
aalawfi 23:4c743746533c 57
aalawfi 23:4c743746533c 58 // }
aalawfi 2:c857935f928e 59 if(right_landmark_sensor.read() == 1 && left_landmark_sensor.read() == 1 )
quarren42 19:65fecaa2a387 60 {
aalawfi 23:4c743746533c 61 if(land.read_us() > 1)
aalawfi 23:4c743746533c 62 {
aalawfi 23:4c743746533c 63 counter = 0;
aalawfi 23:4c743746533c 64 restarted=true;
aalawfi 23:4c743746533c 65 } // Debugging purposes only
quarren42 19:65fecaa2a387 66 }
aalawfi 23:4c743746533c 67 land.stop();
aalawfi 2:c857935f928e 68 show_decimal(counter, seg1);
aalawfi 2:c857935f928e 69 }
aalawfi 2:c857935f928e 70
aalawfi 2:c857935f928e 71
aalawfi 2:c857935f928e 72 float rad2dc (float angle){
aalawfi 2:c857935f928e 73 angle = std::max(MIN_TURN_ANGLE, std::min(angle, MAX_TURN_ANGLE));
aalawfi 2:c857935f928e 74 float x = (angle - MIN_TURN_ANGLE)/(MAX_TURN_ANGLE - MIN_TURN_ANGLE);
aalawfi 2:c857935f928e 75 float dutyCycle = 0.05*x+0.05;
aalawfi 2:c857935f928e 76 return dutyCycle;
aalawfi 2:c857935f928e 77 }
aalawfi 2:c857935f928e 78
aalawfi 2:c857935f928e 79 float current_duty_cycle=0.075;
aalawfi 2:c857935f928e 80 // -------------- PD CONTROLLER --------------
aalawfi 2:c857935f928e 81 // Global declearation
aalawfi 2:c857935f928e 82 float err_prev = 0;
quarren42 6:d2bd68ba99c9 83 float prev_duty = 0;
aalawfi 22:08d30ea47111 84 float errorArea;
aalawfi 22:08d30ea47111 85 float errorAreaPrev =0.0;
aalawfi 2:c857935f928e 86 void steering_control(void)
aalawfi 2:c857935f928e 87 {
aalawfi 2:c857935f928e 88
aalawfi 2:c857935f928e 89 float err;
aalawfi 2:c857935f928e 90 if(steering_enabled == true ){
aalawfi 2:c857935f928e 91 //Read each sensor and calculate the sensor difference
quarren42 19:65fecaa2a387 92 float sensor_difference = left_distance_sensor.read() -
aalawfi 22:08d30ea47111 93 right_distance_sensor.read();
aalawfi 2:c857935f928e 94
aalawfi 2:c857935f928e 95 //calculate the feedback term for the controller. distance (meters) from
aalawfi 2:c857935f928e 96 //track to sensor
aalawfi 2:c857935f928e 97 float feedback = (sensor_difference/SEN_DIFF_TO_DIST); //
aalawfi 2:c857935f928e 98
aalawfi 2:c857935f928e 99 //calculate the error term for the controller. distance (meters) from
aalawfi 2:c857935f928e 100 //desired position to sensor
aalawfi 2:c857935f928e 101 err = REF - feedback; //
aalawfi 22:08d30ea47111 102
aalawfi 22:08d30ea47111 103 //Area of the error: TimeStep*err (width*length of a rectangle)
aalawfi 22:08d30ea47111 104 errorArea= TI_STEERING*err + errorAreaPrev;
aalawfi 23:4c743746533c 105
aalawfi 22:08d30ea47111 106
aalawfi 2:c857935f928e 107 //Calculate the derivative of the error term for the controller.
aalawfi 2:c857935f928e 108 // e'(t) = (error(t) - error(t-1))/dt
aalawfi 22:08d30ea47111 109 float errChange = (err - err_prev)/(TI_STEERING);
aalawfi 2:c857935f928e 110
aalawfi 2:c857935f928e 111 //Calculate the controller output
aalawfi 2:c857935f928e 112 //Angle in radians
aalawfi 23:4c743746533c 113 float servo_angle = (KP*err + KD*errChange*TIME_DERIVATIVE + KI_STEERING*errorArea*TIME_INTEGRAL);
aalawfi 2:c857935f928e 114 //Calculate the duty cycle for the servo motor
aalawfi 2:c857935f928e 115 current_duty_cycle = rad2dc(servo_angle);
aalawfi 22:08d30ea47111 116 servo_motor_pwm.write(current_duty_cycle);
aalawfi 22:08d30ea47111 117
aalawfi 2:c857935f928e 118 }
aalawfi 9:5320c2dfb913 119 else {
aalawfi 2:c857935f928e 120 current_duty_cycle = rad2dc(M_PI/4);
aalawfi 2:c857935f928e 121 servo_motor_pwm.write(current_duty_cycle);
aalawfi 9:5320c2dfb913 122 };
aalawfi 2:c857935f928e 123 //Save the error for the next calculation.
aalawfi 2:c857935f928e 124 prev_duty = current_duty_cycle;
aalawfi 2:c857935f928e 125 err_prev = err;
aalawfi 22:08d30ea47111 126 errorAreaPrev = errorArea;
aalawfi 2:c857935f928e 127 }
aalawfi 2:c857935f928e 128
aalawfi 2:c857935f928e 129
aalawfi 2:c857935f928e 130