GDP 4 / Mbed 2 deprecated pid-car-example

car using PID from centre line

Dependencies:   FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q

Fork of KL25Z_Camera_Test by GDP 4

main.cpp@31:1a06c9e1985e, 2017-01-11 (annotated)

Committer:
maximusismax
Date:
Wed Jan 11 11:36:56 2017 +0000
Revision:
31:1a06c9e1985e
Parent:
29:b5b31256572b
Child:
32:6829684f8c4d
Max: commented my stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maximusismax 8:7c5e6b1e7aa5 1 //Autonomous Car GDP controller
maximusismax 8:7c5e6b1e7aa5 2 //Written by various group members
maximusismax 8:7c5e6b1e7aa5 3 //Commented & cleaned up by Max/Adam
maximusismax 8:7c5e6b1e7aa5 4
maximusismax 8:7c5e6b1e7aa5 5 //To-do
maximusismax 8:7c5e6b1e7aa5 6 // -Change xbee transmission to non-blocking
maximusismax 8:7c5e6b1e7aa5 7 // -Improve start/stop detection and resultant action (setting PID values?)
maximusismax 8:7c5e6b1e7aa5 8
maximusismax 8:7c5e6b1e7aa5 9 #include <stdarg.h>
maximusismax 8:7c5e6b1e7aa5 10 #include <stdio.h>
maximusismax 8:7c5e6b1e7aa5 11
maximusismax 0:566127ca8048 12 #include "mbed.h"
maximusismax 0:566127ca8048 13 #include "TFC.h"
FatCookies 4:4afa448c9cce 14 #include "XBEE.h"
FatCookies 9:aa2ce38dec6b 15 #include "angular_speed.h"
FatCookies 14:13085e161dd1 16 #include "main.h"
FatCookies 12:da96e2f87465 17 #include "motor.h"
maximusismax 8:7c5e6b1e7aa5 18
FatCookies 17:6ae90788cc2b 19 // Serial
FatCookies 17:6ae90788cc2b 20 #if USE_COMMS
FatCookies 17:6ae90788cc2b 21 Serial pc(PTD3,PTD2);
FatCookies 17:6ae90788cc2b 22 XBEE xb(&pc);
FatCookies 17:6ae90788cc2b 23 #endif
FatCookies 3:87a5122682fa 24
FatCookies 17:6ae90788cc2b 25 // PID Timer
FatCookies 3:87a5122682fa 26 Timer t;
FatCookies 4:4afa448c9cce 27
FatCookies 17:6ae90788cc2b 28 //Speed Sensors interupts and timers
FatCookies 9:aa2ce38dec6b 29 InterruptIn leftHallSensor(D0);
FatCookies 9:aa2ce38dec6b 30 InterruptIn rightHallSensor(D2);
FatCookies 9:aa2ce38dec6b 31 Timer t1;
FatCookies 9:aa2ce38dec6b 32 Timer t2;
FatCookies 9:aa2ce38dec6b 33
lh14g13 18:0095a3a8f8e4 34 //testing timer
FatCookies 27:627d67e3b9b0 35 Timer lapTimer;
FatCookies 16:81cdffd8c5d5 36
FatCookies 21:0b69fada7c5f 37
maximusismax 0:566127ca8048 38 int main() {
maximusismax 8:7c5e6b1e7aa5 39 //Set up TFC driver stuff
maximusismax 0:566127ca8048 40 TFC_Init();
FatCookies 17:6ae90788cc2b 41 ALIGN_SERVO;
FatCookies 13:4e77264f254a 42
FatCookies 17:6ae90788cc2b 43 #if USE_COMMS
FatCookies 17:6ae90788cc2b 44 //Setup baud rate for serial link, do not change!
FatCookies 17:6ae90788cc2b 45 pc.baud(BAUD_RATE);
FatCookies 17:6ae90788cc2b 46 #endif
maximusismax 0:566127ca8048 47
maximusismax 8:7c5e6b1e7aa5 48 //Initialise/reset PID variables
maximusismax 8:7c5e6b1e7aa5 49 initVariables();
FatCookies 9:aa2ce38dec6b 50 initSpeedSensors();
FatCookies 12:da96e2f87465 51
maximusismax 0:566127ca8048 52 while(1) {
FatCookies 3:87a5122682fa 53
FatCookies 17:6ae90788cc2b 54 #if USE_COMMS
FatCookies 17:6ae90788cc2b 55 handleComms();
FatCookies 17:6ae90788cc2b 56 #endif
maximusismax 8:7c5e6b1e7aa5 57
maximusismax 8:7c5e6b1e7aa5 58 //If we have an image ready
FatCookies 13:4e77264f254a 59 if(TFC_LineScanImageReady>0) {
FatCookies 13:4e77264f254a 60 /* Find the bounds of the track and calculate how close we are to
FatCookies 13:4e77264f254a 61 * the centre */
FatCookies 17:6ae90788cc2b 62 servo_pid.measured_value = findCentreValue(CLOSE_CAMERA, left, right);
maximusismax 8:7c5e6b1e7aa5 63
FatCookies 21:0b69fada7c5f 64 // Check if car is at the stop line
FatCookies 21:0b69fada7c5f 65 handleStartStop();
FatCookies 21:0b69fada7c5f 66
FatCookies 27:627d67e3b9b0 67 #if USE_COMMS
FatCookies 27:627d67e3b9b0 68 // Send the line scan image over serial
FatCookies 27:627d67e3b9b0 69 sendImage();
FatCookies 27:627d67e3b9b0 70 #endif
FatCookies 21:0b69fada7c5f 71
FatCookies 21:0b69fada7c5f 72
FatCookies 21:0b69fada7c5f 73 //Reset image ready flag
FatCookies 21:0b69fada7c5f 74 TFC_LineScanImageReady=0;
lh14g13 19:65f0b6febc23 75
FatCookies 17:6ae90788cc2b 76 // Slow down, adjust PID values and enable differential before corners.
FatCookies 21:0b69fada7c5f 77 //handleCornering();
FatCookies 17:6ae90788cc2b 78
FatCookies 13:4e77264f254a 79 // Run the PID controllers and adjust steering/motor accordingly
maximusismax 8:7c5e6b1e7aa5 80 PIDController();
maximusismax 8:7c5e6b1e7aa5 81
FatCookies 21:0b69fada7c5f 82
FatCookies 21:0b69fada7c5f 83
FatCookies 21:0b69fada7c5f 84
FatCookies 17:6ae90788cc2b 85 #if USE_COMMS
FatCookies 17:6ae90788cc2b 86 // Send the wheel speeds over serial
FatCookies 17:6ae90788cc2b 87 sendSpeeds();
FatCookies 17:6ae90788cc2b 88 #endif
FatCookies 13:4e77264f254a 89
FatCookies 21:0b69fada7c5f 90
maximusismax 8:7c5e6b1e7aa5 91
FatCookies 15:ccde02f96449 92
FatCookies 21:0b69fada7c5f 93
maximusismax 8:7c5e6b1e7aa5 94 }
maximusismax 8:7c5e6b1e7aa5 95 }
maximusismax 8:7c5e6b1e7aa5 96 }
maximusismax 8:7c5e6b1e7aa5 97
FatCookies 17:6ae90788cc2b 98 void initVariables() {
FatCookies 17:6ae90788cc2b 99 // Initialise three PID controllers for the servo and each wheel.
FatCookies 17:6ae90788cc2b 100 initPID(&servo_pid, 2.2f, 0.6f, 0.f);
FatCookies 21:0b69fada7c5f 101 initPID(&left_motor_pid, 0.01f, 0.f, 0.f);
FatCookies 21:0b69fada7c5f 102 initPID(&right_motor_pid, 0.01f, 0.f, 0.f);
FatCookies 17:6ae90788cc2b 103
lh14g13 19:65f0b6febc23 104 right_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 105 left_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 106
lh14g13 19:65f0b6febc23 107 // intialise the maximum speed interms of the angular speed.
FatCookies 17:6ae90788cc2b 108 valBufferIndex = 0;
lh14g13 19:65f0b6febc23 109 speed = 50;
FatCookies 13:4e77264f254a 110
FatCookies 17:6ae90788cc2b 111 //Start stop
FatCookies 17:6ae90788cc2b 112 startstop = 0;
FatCookies 17:6ae90788cc2b 113 seen = false;
FatCookies 17:6ae90788cc2b 114
FatCookies 17:6ae90788cc2b 115 // Turning
FatCookies 17:6ae90788cc2b 116 turning = 0;
FatCookies 17:6ae90788cc2b 117 keepTurning = 0;
FatCookies 17:6ae90788cc2b 118 slow = false;
FatCookies 20:ed954836d028 119
FatCookies 20:ed954836d028 120 wL = 0;
FatCookies 20:ed954836d028 121 wR = 0;
FatCookies 20:ed954836d028 122 prevL = 0;
FatCookies 20:ed954836d028 123 prevR = 0;
maximusismax 8:7c5e6b1e7aa5 124 }
maximusismax 8:7c5e6b1e7aa5 125
FatCookies 13:4e77264f254a 126 void initPID(pid_instance* pid, float Kp, float Ki, float Kd) {
FatCookies 17:6ae90788cc2b 127 pid->Kp = Kp;
FatCookies 13:4e77264f254a 128 pid->Ki = Ki;
FatCookies 13:4e77264f254a 129 pid->Kd = Kd;
FatCookies 13:4e77264f254a 130 pid->dt = 0;
FatCookies 13:4e77264f254a 131 pid->p_error = 0;
FatCookies 13:4e77264f254a 132 pid->pid_error = 0;
FatCookies 13:4e77264f254a 133 pid->integral = 0;
FatCookies 13:4e77264f254a 134 pid->measured_value = 0;
FatCookies 13:4e77264f254a 135 pid->desired_value = 0;
FatCookies 13:4e77264f254a 136 pid->derivative = 0;
FatCookies 13:4e77264f254a 137 }
FatCookies 13:4e77264f254a 138
FatCookies 29:b5b31256572b 139 bool leftSeen;
FatCookies 29:b5b31256572b 140 bool rightSeen;
maximusismax 31:1a06c9e1985e 141
maximusismax 31:1a06c9e1985e 142 //Function which calcuates how far to the left/right of the centre of the track the car is
maximusismax 31:1a06c9e1985e 143 //Takes data from either camera, and passes some variables by reference, which will hold
maximusismax 31:1a06c9e1985e 144 //the indices holding the locations of the left and right edges of the track
FatCookies 17:6ae90788cc2b 145 inline float findCentreValue(volatile uint16_t * cam_data, uint8_t &l, uint8_t &r) {
FatCookies 17:6ae90788cc2b 146
maximusismax 31:1a06c9e1985e 147 diff = 0; //Holds difference in intensity between consecutive pixels
maximusismax 31:1a06c9e1985e 148 prev = -1; //Holds index of last inspected pixel
FatCookies 29:b5b31256572b 149
maximusismax 31:1a06c9e1985e 150 //Used for crossroads navigation, holds info on which edges of the track are observed
FatCookies 29:b5b31256572b 151 leftSeen = false;
FatCookies 29:b5b31256572b 152 rightSeen = false;
maximusismax 31:1a06c9e1985e 153
maximusismax 31:1a06c9e1985e 154 //Starting in the middle index, step left, inspecting the the edge of the track
FatCookies 17:6ae90788cc2b 155 for(i = 63; i > 0; i--) {
oj3g13 26:f3d770f3eda1 156 curr_left = (uint8_t)(cam_data[i] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 157 diff = prev - curr_left;
maximusismax 31:1a06c9e1985e 158 //Check incorporates a combination of looking at the difference in intensities
maximusismax 31:1a06c9e1985e 159 //and whether the pixels intensity is less than a threshold, corresponding to the black edge
FatCookies 17:6ae90788cc2b 160 if(abs(diff) >= CAM_DIFF && curr_left <= CAM_THRESHOLD && prev != -1) {
maximusismax 31:1a06c9e1985e 161 l = i; //Record the index where the edge is observed
FatCookies 29:b5b31256572b 162 leftSeen = true;
FatCookies 17:6ae90788cc2b 163 break;
FatCookies 17:6ae90788cc2b 164 }
maximusismax 31:1a06c9e1985e 165 prev = curr_left; //Update previous value for the loop
FatCookies 17:6ae90788cc2b 166 }
maximusismax 8:7c5e6b1e7aa5 167
FatCookies 17:6ae90788cc2b 168 prev = -1;
maximusismax 31:1a06c9e1985e 169 //As before, start in the middle but this time step rightwards in the image
FatCookies 17:6ae90788cc2b 170 for(i = 64; i < 128; i++) {
oj3g13 26:f3d770f3eda1 171 curr_right = (uint8_t)(cam_data[i] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 172 int diff = prev - curr_right;
FatCookies 17:6ae90788cc2b 173 if(abs(diff) >= CAM_DIFF && curr_right <= CAM_THRESHOLD && prev != -1) {
FatCookies 17:6ae90788cc2b 174 r = i;
FatCookies 29:b5b31256572b 175 rightSeen = true;
FatCookies 17:6ae90788cc2b 176 break;
FatCookies 17:6ae90788cc2b 177 }
FatCookies 17:6ae90788cc2b 178 prev = curr_right;
FatCookies 17:6ae90788cc2b 179 }
FatCookies 17:6ae90788cc2b 180
maximusismax 31:1a06c9e1985e 181 //If both edges are not visible, we are likely in a crossroads
FatCookies 29:b5b31256572b 182 if(!rightSeen && !leftSeen) {
FatCookies 29:b5b31256572b 183 sendString("lost edges");
maximusismax 31:1a06c9e1985e 184 ALIGN_SERVO; //Straighten wheels so we go straight through the crossroads
maximusismax 31:1a06c9e1985e 185 servo_pid.integral = 0;
FatCookies 29:b5b31256572b 186 }
FatCookies 29:b5b31256572b 187
maximusismax 31:1a06c9e1985e 188 //Calculate how left/right from the centre line we are
FatCookies 17:6ae90788cc2b 189 return (64 - ((l+r)/2))/64.f;
FatCookies 13:4e77264f254a 190 }
FatCookies 13:4e77264f254a 191
maximusismax 31:1a06c9e1985e 192 //Unused function currently
maximusismax 31:1a06c9e1985e 193 //Was used to establish whether we are in a corner, by inspecting a buffer of
maximusismax 31:1a06c9e1985e 194 //centre line values
FatCookies 17:6ae90788cc2b 195 inline void handleCornering() {
FatCookies 12:da96e2f87465 196
maximusismax 31:1a06c9e1985e 197 //Get current value of how left/right of centre line we are on the track
FatCookies 17:6ae90788cc2b 198 float lookaheadMeasuredValue = findCentreValue(LOOKAHEAD_CAMERA, farLeft, farRight);
FatCookies 15:ccde02f96449 199
FatCookies 13:4e77264f254a 200 measuredValBuffer[frame_counter % 64] = servo_pid.measured_value;
FatCookies 13:4e77264f254a 201
FatCookies 13:4e77264f254a 202 int count = 0;
FatCookies 13:4e77264f254a 203 for(i = 0; i < 10; i++) {
maximusismax 31:1a06c9e1985e 204 //Step through the buffer, using modulus operator
FatCookies 13:4e77264f254a 205 float val = abs(measuredValBuffer[(frame_counter - i) % 64]);
maximusismax 31:1a06c9e1985e 206 if(val > 0.09) { //If the value exceeds a certain value (obtained experimentally), we are in a corner
FatCookies 13:4e77264f254a 207 count++;
FatCookies 13:4e77264f254a 208 }
FatCookies 13:4e77264f254a 209 }
FatCookies 12:da96e2f87465 210
FatCookies 29:b5b31256572b 211 /*if(!turning && abs(lookaheadMeasuredValue) > 0.11f){
FatCookies 15:ccde02f96449 212 TFC_SetMotorPWM(0.4,0.4);
FatCookies 15:ccde02f96449 213 }
FatCookies 29:b5b31256572b 214 */
FatCookies 15:ccde02f96449 215
FatCookies 29:b5b31256572b 216 if(false) {
lh14g13 18:0095a3a8f8e4 217
lh14g13 18:0095a3a8f8e4 218 //default
lh14g13 18:0095a3a8f8e4 219 //TFC_SetMotorPWM(0.4,0.4);
lh14g13 18:0095a3a8f8e4 220
lh14g13 19:65f0b6febc23 221 //dutyCycleCorner(speed,servo_pid.output);
lh14g13 18:0095a3a8f8e4 222
lh14g13 18:0095a3a8f8e4 223 //may want to have just to set cornering speed at different if going to be slowing down for cornering.
lh14g13 18:0095a3a8f8e4 224 //dutyCycleCorner(float cornerspeed, servo_pid.output);
lh14g13 18:0095a3a8f8e4 225 //dutyCycleCorner(speed, servo_pid.output);
lh14g13 18:0095a3a8f8e4 226
FatCookies 29:b5b31256572b 227 sensorCorner(left_motor_pid.desired_value, right_motor_pid.desired_value , servo_pid.output, speed);
FatCookies 14:13085e161dd1 228 }
FatCookies 14:13085e161dd1 229
FatCookies 29:b5b31256572b 230 /*
FatCookies 13:4e77264f254a 231 if(abs(servo_pid.measured_value) > 0.11f){
FatCookies 15:ccde02f96449 232 if(!turning) {
FatCookies 13:4e77264f254a 233 turning = 1;
FatCookies 13:4e77264f254a 234 } else {
FatCookies 13:4e77264f254a 235 turning++;
FatCookies 13:4e77264f254a 236 }
FatCookies 13:4e77264f254a 237
FatCookies 13:4e77264f254a 238 } else {
FatCookies 13:4e77264f254a 239 if(turning) {
FatCookies 13:4e77264f254a 240 if(keepTurning == 0 || count > 6) {
FatCookies 13:4e77264f254a 241 keepTurning++;
FatCookies 13:4e77264f254a 242 } else {
FatCookies 15:ccde02f96449 243 //sendString("stop turning turned=%d",turning);
FatCookies 13:4e77264f254a 244 keepTurning = 0;
FatCookies 13:4e77264f254a 245 turning = 0;
FatCookies 13:4e77264f254a 246 TFC_SetMotorPWM(speed,speed);
FatCookies 13:4e77264f254a 247 }
FatCookies 13:4e77264f254a 248
FatCookies 13:4e77264f254a 249 }
FatCookies 13:4e77264f254a 250 }
FatCookies 29:b5b31256572b 251 */
FatCookies 13:4e77264f254a 252
maximusismax 8:7c5e6b1e7aa5 253 }
maximusismax 8:7c5e6b1e7aa5 254
maximusismax 31:1a06c9e1985e 255 //Unused function currently
maximusismax 31:1a06c9e1985e 256 //Was used to estimate whether the stop marker was seen
FatCookies 17:6ae90788cc2b 257 inline float getLineEntropy() {
FatCookies 17:6ae90788cc2b 258 float entropy = 0;
FatCookies 17:6ae90788cc2b 259 float last = (int8_t)(CLOSE_CAMERA[0] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 260 for(int i = 1; i < 128; i++) {
FatCookies 17:6ae90788cc2b 261 entropy += abs(last - ((int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF));
FatCookies 17:6ae90788cc2b 262 }
FatCookies 17:6ae90788cc2b 263 return entropy;
FatCookies 17:6ae90788cc2b 264 }
FatCookies 17:6ae90788cc2b 265
FatCookies 17:6ae90788cc2b 266 void handlePID(pid_instance *pid) {
FatCookies 17:6ae90788cc2b 267 pid->dt = t.read();
FatCookies 17:6ae90788cc2b 268 pid->pid_error = pid->desired_value - pid->measured_value;
FatCookies 17:6ae90788cc2b 269 pid->integral = pid->integral + pid->pid_error * pid->dt;
FatCookies 17:6ae90788cc2b 270 pid->derivative = (pid->pid_error - pid->p_error) / pid->dt;
FatCookies 17:6ae90788cc2b 271 pid->output = pid->Kp * pid->pid_error + pid->Ki * pid->integral + pid->Kd * pid->derivative;
FatCookies 17:6ae90788cc2b 272 pid->p_error = pid->pid_error;
FatCookies 17:6ae90788cc2b 273
FatCookies 17:6ae90788cc2b 274 if(pid->integral > 1.0f) {
maximusismax 31:1a06c9e1985e 275 pid->integral = 1.0f;
FatCookies 17:6ae90788cc2b 276 }
FatCookies 27:627d67e3b9b0 277 if(pid->integral < -1.0f ) {
FatCookies 17:6ae90788cc2b 278 pid->integral = -1.0f;
FatCookies 17:6ae90788cc2b 279 }
FatCookies 17:6ae90788cc2b 280 }
FatCookies 17:6ae90788cc2b 281
lh14g13 19:65f0b6febc23 282
FatCookies 17:6ae90788cc2b 283 inline void PIDController() {
FatCookies 27:627d67e3b9b0 284 // update motor measurements
lh14g13 19:65f0b6febc23 285 // Read the angular velocity of both wheels
FatCookies 27:627d67e3b9b0 286
FatCookies 27:627d67e3b9b0 287 prevL = wL;
FatCookies 27:627d67e3b9b0 288 prevR = wR;
FatCookies 27:627d67e3b9b0 289
lh14g13 19:65f0b6febc23 290 wL=Get_Speed(Time_L);
lh14g13 19:65f0b6febc23 291 wR=Get_Speed(Time_R);
FatCookies 20:ed954836d028 292
FatCookies 20:ed954836d028 293 // Check if left wheel is slipping/giving an abnormal reading and ignore reading
maximusismax 31:1a06c9e1985e 294 if(wL - prevL < 1.2/0.025) { //<3 magic numbers: 48....?
FatCookies 20:ed954836d028 295 left_motor_pid.measured_value = wL;
FatCookies 20:ed954836d028 296 }
FatCookies 20:ed954836d028 297 if(wR - prevR < 1.2/0.025) {
FatCookies 20:ed954836d028 298 right_motor_pid.measured_value = wR;
FatCookies 20:ed954836d028 299 }
FatCookies 17:6ae90788cc2b 300
FatCookies 21:0b69fada7c5f 301
FatCookies 17:6ae90788cc2b 302 //PID Stuff!
FatCookies 17:6ae90788cc2b 303 t.start();
FatCookies 17:6ae90788cc2b 304 handlePID(&servo_pid);
FatCookies 17:6ae90788cc2b 305 handlePID(&left_motor_pid);
FatCookies 17:6ae90788cc2b 306 handlePID(&right_motor_pid);
FatCookies 17:6ae90788cc2b 307
FatCookies 17:6ae90788cc2b 308 if((-1.0 <= servo_pid.output) && (servo_pid.output <= 1.0))
FatCookies 17:6ae90788cc2b 309 {
FatCookies 17:6ae90788cc2b 310 TFC_SetServo(0, servo_pid.output);
FatCookies 17:6ae90788cc2b 311 }
FatCookies 17:6ae90788cc2b 312 else //Unhappy PID state
FatCookies 17:6ae90788cc2b 313 {
FatCookies 17:6ae90788cc2b 314 //sendString("out = %f p_err = %f", servo_pid.output, servo_pid.p_error);
maximusismax 31:1a06c9e1985e 315 //ALIGN_SERVO;
maximusismax 31:1a06c9e1985e 316 //Could cause the car to be travelling along one side of the track rather than in the middle
FatCookies 17:6ae90788cc2b 317 if(servo_pid.output >= 1.0f) {
FatCookies 17:6ae90788cc2b 318 TFC_SetServo(0, 0.9f);
FatCookies 17:6ae90788cc2b 319 servo_pid.output = 1.0f;
FatCookies 17:6ae90788cc2b 320 } else {
FatCookies 17:6ae90788cc2b 321 TFC_SetServo(0, -0.9f);
FatCookies 17:6ae90788cc2b 322 servo_pid.output = -1.0f;
FatCookies 17:6ae90788cc2b 323 }
FatCookies 17:6ae90788cc2b 324 }
FatCookies 17:6ae90788cc2b 325
FatCookies 17:6ae90788cc2b 326
FatCookies 20:ed954836d028 327 if(left_motor_pid.output > 1.0f) {
FatCookies 20:ed954836d028 328 left_motor_pid.output = 1.0f;
lh14g13 19:65f0b6febc23 329 }
FatCookies 29:b5b31256572b 330 if(left_motor_pid.output < 0.0f) {
FatCookies 27:627d67e3b9b0 331 left_motor_pid.output = 0.0f;
lh14g13 19:65f0b6febc23 332 }
lh14g13 19:65f0b6febc23 333
FatCookies 20:ed954836d028 334 if(right_motor_pid.output > 1.0f) {
FatCookies 20:ed954836d028 335 right_motor_pid.output = 1.0f;
FatCookies 20:ed954836d028 336 }
FatCookies 29:b5b31256572b 337 if(right_motor_pid.output < 0.0f) {
FatCookies 27:627d67e3b9b0 338 right_motor_pid.output = 0.0f;
FatCookies 20:ed954836d028 339 }
lh14g13 19:65f0b6febc23 340
FatCookies 20:ed954836d028 341 TFC_SetMotorPWM(left_motor_pid.output,right_motor_pid.output);
lh14g13 19:65f0b6febc23 342
FatCookies 21:0b69fada7c5f 343
FatCookies 17:6ae90788cc2b 344 t.stop();
FatCookies 17:6ae90788cc2b 345 t.reset();
FatCookies 17:6ae90788cc2b 346 t.start();
FatCookies 17:6ae90788cc2b 347 }
FatCookies 17:6ae90788cc2b 348
FatCookies 17:6ae90788cc2b 349 inline void handleStartStop() {
maximusismax 31:1a06c9e1985e 350
maximusismax 31:1a06c9e1985e 351 //Function to detect the NXP cup stop marker
maximusismax 22:973b95478663 352
maximusismax 31:1a06c9e1985e 353 int slower = 0; //Only send a string every few frames
maximusismax 31:1a06c9e1985e 354 int difference = 0; //Holds the difference between intensities of consecutive pixels
oj3g13 26:f3d770f3eda1 355 int lastPixel, currentPixel, transitionsSeen;
maximusismax 22:973b95478663 356 lastPixel = -1;
maximusismax 22:973b95478663 357 transitionsSeen = 0;
maximusismax 31:1a06c9e1985e 358 //Starting near the left edge, step right, counting transitions.
maximusismax 31:1a06c9e1985e 359 //If there are several (exact value varies, best established experimentally), it is the marker
maximusismax 22:973b95478663 360 for(int i = 30; i < 98; i++) {
oj3g13 26:f3d770f3eda1 361 currentPixel = (int)(CLOSE_CAMERA[i] >> 4) & 0xFF;
maximusismax 22:973b95478663 362 difference = lastPixel - currentPixel;
FatCookies 27:627d67e3b9b0 363 if(abs(difference) > 10 && lastPixel != -1){ //transition seen, increment counter
maximusismax 22:973b95478663 364 transitionsSeen++;
oj3g13 26:f3d770f3eda1 365 i+=5;
maximusismax 22:973b95478663 366 }
maximusismax 22:973b95478663 367 lastPixel = currentPixel;
maximusismax 22:973b95478663 368 }
maximusismax 31:1a06c9e1985e 369 //Was used to send an indication that the marker was seen, useful for debugging
oj3g13 26:f3d770f3eda1 370 //if (slower % 1000 == 0) {
oj3g13 26:f3d770f3eda1 371 //sendString("Transitions seen: %d", transitionsSeen);
oj3g13 26:f3d770f3eda1 372 //}
maximusismax 31:1a06c9e1985e 373 //slower++;
oj3g13 26:f3d770f3eda1 374 if(transitionsSeen >= 5) {
maximusismax 22:973b95478663 375 //Stop the car!
oj3g13 26:f3d770f3eda1 376 sendString("Start/stop seen");
oj3g13 26:f3d770f3eda1 377 TFC_SetMotorPWM(0.f,0.f);
oj3g13 26:f3d770f3eda1 378 TFC_HBRIDGE_DISABLE;
FatCookies 27:627d67e3b9b0 379 lapTime();
oj3g13 26:f3d770f3eda1 380 }
FatCookies 17:6ae90788cc2b 381 }
FatCookies 17:6ae90788cc2b 382
FatCookies 17:6ae90788cc2b 383
FatCookies 17:6ae90788cc2b 384 inline void initSpeedSensors() {
FatCookies 17:6ae90788cc2b 385 t1.start();
FatCookies 17:6ae90788cc2b 386 t2.start();
FatCookies 17:6ae90788cc2b 387
FatCookies 17:6ae90788cc2b 388 //Left and Right are defined looking at the rear of the car, in the direction the camera points at.
FatCookies 17:6ae90788cc2b 389 leftHallSensor.rise(&GetTime_L);
FatCookies 17:6ae90788cc2b 390 rightHallSensor.rise(&GetTime_R);
FatCookies 17:6ae90788cc2b 391 }
FatCookies 17:6ae90788cc2b 392
FatCookies 17:6ae90788cc2b 393 void GetTime_L(){
FatCookies 17:6ae90788cc2b 394 Time_L=t1.read_us();
FatCookies 17:6ae90788cc2b 395 t1.reset();
FatCookies 17:6ae90788cc2b 396 }
FatCookies 17:6ae90788cc2b 397
FatCookies 17:6ae90788cc2b 398 void GetTime_R(){
FatCookies 17:6ae90788cc2b 399 Time_R=t2.read_us();
FatCookies 17:6ae90788cc2b 400 t2.reset();
FatCookies 17:6ae90788cc2b 401 }
FatCookies 17:6ae90788cc2b 402
FatCookies 17:6ae90788cc2b 403 #if USE_COMMS
FatCookies 17:6ae90788cc2b 404 void sendBattery() {
FatCookies 17:6ae90788cc2b 405
FatCookies 17:6ae90788cc2b 406 if(frame_counter % 256 == 0) {
FatCookies 17:6ae90788cc2b 407 float level = TFC_ReadBatteryVoltage() * 6.25;
FatCookies 17:6ae90788cc2b 408 pc.putc('J');
FatCookies 28:613239f10ba4 409 byte_float_union._float = level;
FatCookies 27:627d67e3b9b0 410 pc.putc(byte_float_union.bytes[0]);
FatCookies 27:627d67e3b9b0 411 pc.putc(byte_float_union.bytes[1]);
FatCookies 27:627d67e3b9b0 412 pc.putc(byte_float_union.bytes[2]);
FatCookies 27:627d67e3b9b0 413 pc.putc(byte_float_union.bytes[3]);
FatCookies 17:6ae90788cc2b 414 }
FatCookies 17:6ae90788cc2b 415 }
FatCookies 17:6ae90788cc2b 416
FatCookies 17:6ae90788cc2b 417 void sendString(const char *format, ...) {
FatCookies 17:6ae90788cc2b 418 va_list arg;
FatCookies 17:6ae90788cc2b 419
FatCookies 17:6ae90788cc2b 420 pc.putc('E');
FatCookies 17:6ae90788cc2b 421 va_start (arg, format);
FatCookies 17:6ae90788cc2b 422 pc.vprintf(format,arg);
FatCookies 17:6ae90788cc2b 423 va_end (arg);
FatCookies 17:6ae90788cc2b 424 pc.putc(0);
FatCookies 17:6ae90788cc2b 425 }
FatCookies 17:6ae90788cc2b 426
maximusismax 8:7c5e6b1e7aa5 427 inline void sendImage() {
maximusismax 8:7c5e6b1e7aa5 428 //Only send 1/3 of camera frames to GUI program
maximusismax 8:7c5e6b1e7aa5 429 if((frame_counter % 3) == 0) {
maximusismax 8:7c5e6b1e7aa5 430 pc.putc('H');
FatCookies 15:ccde02f96449 431 if(sendCam == 0) {
FatCookies 15:ccde02f96449 432 for(i = 0; i < 128; i++) {
FatCookies 17:6ae90788cc2b 433 pc.putc((int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF);
FatCookies 15:ccde02f96449 434 }
FatCookies 15:ccde02f96449 435 } else {
FatCookies 15:ccde02f96449 436 for(i = 0; i < 128; i++) {
FatCookies 17:6ae90788cc2b 437 pc.putc((int8_t)(LOOKAHEAD_CAMERA[i] >> 4) & 0xFF);
FatCookies 15:ccde02f96449 438 }
FatCookies 15:ccde02f96449 439 }
FatCookies 13:4e77264f254a 440 sendBattery();
FatCookies 13:4e77264f254a 441 }
FatCookies 13:4e77264f254a 442
FatCookies 13:4e77264f254a 443 frame_counter++;
FatCookies 13:4e77264f254a 444 }
FatCookies 13:4e77264f254a 445
FatCookies 13:4e77264f254a 446 inline void sendSpeeds() {
FatCookies 17:6ae90788cc2b 447
lh14g13 19:65f0b6febc23 448 /*float en = getLineEntropy();
FatCookies 15:ccde02f96449 449
FatCookies 15:ccde02f96449 450 if(onTrack) {
FatCookies 15:ccde02f96449 451 if(en <= 14000) {
FatCookies 15:ccde02f96449 452 onTrack = false;
FatCookies 15:ccde02f96449 453 sendString("offfffffffffffff");
FatCookies 15:ccde02f96449 454 TFC_SetMotorPWM(0.0,0.0);
FatCookies 15:ccde02f96449 455 TFC_HBRIDGE_DISABLE;
FatCookies 15:ccde02f96449 456 }
FatCookies 15:ccde02f96449 457 } else {
FatCookies 15:ccde02f96449 458 if(en > 14000) {
FatCookies 15:ccde02f96449 459 onTrack = true;
FatCookies 15:ccde02f96449 460 sendString("ON TRACK");
FatCookies 15:ccde02f96449 461 }
lh14g13 19:65f0b6febc23 462 }*/
FatCookies 15:ccde02f96449 463
FatCookies 14:13085e161dd1 464
FatCookies 13:4e77264f254a 465 pc.putc('B');
FatCookies 28:613239f10ba4 466 byte_float_union._float = wL * WHEEL_RADIUS;//left_motor_pid.output; //
FatCookies 27:627d67e3b9b0 467 pc.putc(byte_float_union.bytes[0]);
FatCookies 27:627d67e3b9b0 468 pc.putc(byte_float_union.bytes[1]);
FatCookies 27:627d67e3b9b0 469 pc.putc(byte_float_union.bytes[2]);
FatCookies 27:627d67e3b9b0 470 pc.putc(byte_float_union.bytes[3]);
FatCookies 28:613239f10ba4 471 byte_float_union._float = wR * WHEEL_RADIUS; // right_motor_pid.output; //
FatCookies 27:627d67e3b9b0 472 pc.putc(byte_float_union.bytes[0]);
FatCookies 27:627d67e3b9b0 473 pc.putc(byte_float_union.bytes[1]);
FatCookies 27:627d67e3b9b0 474 pc.putc(byte_float_union.bytes[2]);
FatCookies 27:627d67e3b9b0 475 pc.putc(byte_float_union.bytes[3]);
FatCookies 27:627d67e3b9b0 476
maximusismax 8:7c5e6b1e7aa5 477 }
maximusismax 8:7c5e6b1e7aa5 478
FatCookies 13:4e77264f254a 479
maximusismax 8:7c5e6b1e7aa5 480 inline void handleComms() {
maximusismax 8:7c5e6b1e7aa5 481 if(curr_cmd != 0) {
FatCookies 4:4afa448c9cce 482 switch(curr_cmd) {
FatCookies 4:4afa448c9cce 483 case 'A':
FatCookies 20:ed954836d028 484 if(xb.cBuffer->available() >= 12) {
FatCookies 20:ed954836d028 485
FatCookies 27:627d67e3b9b0 486 byte_float_union.bytes[0] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 487 byte_float_union.bytes[1] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 488 byte_float_union.bytes[2] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 489 byte_float_union.bytes[3] = xb.cBuffer->read();
FatCookies 28:613239f10ba4 490 servo_pid.Kp = byte_float_union._float;
FatCookies 20:ed954836d028 491
FatCookies 27:627d67e3b9b0 492 byte_float_union.bytes[0] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 493 byte_float_union.bytes[1] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 494 byte_float_union.bytes[2] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 495 byte_float_union.bytes[3] = xb.cBuffer->read();
FatCookies 28:613239f10ba4 496 servo_pid.Ki = byte_float_union._float;
FatCookies 20:ed954836d028 497
FatCookies 27:627d67e3b9b0 498 byte_float_union.bytes[0] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 499 byte_float_union.bytes[1] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 500 byte_float_union.bytes[2] = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 501 byte_float_union.bytes[3] = xb.cBuffer->read();
FatCookies 28:613239f10ba4 502 servo_pid.Kd = byte_float_union._float;
FatCookies 20:ed954836d028 503
FatCookies 20:ed954836d028 504 sendString("pid= Kp: %f, Ki: %f, Kd: %f", servo_pid.Kp, servo_pid.Ki, servo_pid.Kd);
maximusismax 8:7c5e6b1e7aa5 505
FatCookies 4:4afa448c9cce 506 curr_cmd = 0;
FatCookies 4:4afa448c9cce 507 }
FatCookies 4:4afa448c9cce 508 break;
FatCookies 4:4afa448c9cce 509
FatCookies 4:4afa448c9cce 510 case 'F':
FatCookies 6:b0e160c51013 511 if(xb.cBuffer->available() >= 1) {
FatCookies 4:4afa448c9cce 512 char a = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 513 speed = a;
FatCookies 13:4e77264f254a 514 sendString("s = %u %f",a, speed);
FatCookies 4:4afa448c9cce 515 curr_cmd = 0;
FatCookies 29:b5b31256572b 516 right_motor_pid.desired_value=speed;
FatCookies 29:b5b31256572b 517 left_motor_pid.desired_value=speed;
FatCookies 4:4afa448c9cce 518 }
FatCookies 4:4afa448c9cce 519 break;
FatCookies 4:4afa448c9cce 520
FatCookies 4:4afa448c9cce 521 default:
FatCookies 13:4e77264f254a 522 // Unrecognised command
FatCookies 13:4e77264f254a 523 curr_cmd = 0;
FatCookies 4:4afa448c9cce 524 break;
FatCookies 4:4afa448c9cce 525 }
FatCookies 4:4afa448c9cce 526 }
FatCookies 4:4afa448c9cce 527
FatCookies 6:b0e160c51013 528 if(xb.cBuffer->available() > 0 && curr_cmd == 0) {
lh14g13 18:0095a3a8f8e4 529 //Start car
FatCookies 4:4afa448c9cce 530 char cmd = xb.cBuffer->read();
FatCookies 4:4afa448c9cce 531 if(cmd == 'D') {
FatCookies 17:6ae90788cc2b 532 ALIGN_SERVO;
FatCookies 21:0b69fada7c5f 533 right_motor_pid.desired_value=speed;
FatCookies 21:0b69fada7c5f 534 left_motor_pid.desired_value=speed;
FatCookies 4:4afa448c9cce 535 TFC_HBRIDGE_ENABLE;
FatCookies 29:b5b31256572b 536
FatCookies 21:0b69fada7c5f 537
FatCookies 12:da96e2f87465 538 servo_pid.integral = 0;
FatCookies 27:627d67e3b9b0 539 lapTimer.start();
lh14g13 18:0095a3a8f8e4 540 lapNo =0;
FatCookies 6:b0e160c51013 541
FatCookies 4:4afa448c9cce 542 } else if (cmd == 'C') {
FatCookies 4:4afa448c9cce 543 TFC_SetMotorPWM(0.0,0.0);
lh14g13 19:65f0b6febc23 544 right_motor_pid.desired_value=0;
FatCookies 21:0b69fada7c5f 545 right_motor_pid.measured_value = 0;
FatCookies 21:0b69fada7c5f 546 wR = 0;
FatCookies 21:0b69fada7c5f 547 prevR = 0;
FatCookies 21:0b69fada7c5f 548
lh14g13 19:65f0b6febc23 549 left_motor_pid.desired_value=0;
FatCookies 21:0b69fada7c5f 550 left_motor_pid.measured_value = 0;
FatCookies 21:0b69fada7c5f 551 wL = 0;
FatCookies 21:0b69fada7c5f 552 prevL = 0;
FatCookies 21:0b69fada7c5f 553
FatCookies 4:4afa448c9cce 554 TFC_HBRIDGE_DISABLE;
lh14g13 18:0095a3a8f8e4 555 endTest();
FatCookies 4:4afa448c9cce 556 } else if(cmd == 'A') {
FatCookies 4:4afa448c9cce 557 curr_cmd = 'A';
FatCookies 4:4afa448c9cce 558 } else if(cmd == 'F') {
FatCookies 4:4afa448c9cce 559 curr_cmd = 'F';
FatCookies 15:ccde02f96449 560 } else if(cmd == 'K') {
FatCookies 15:ccde02f96449 561 sendCam = ~sendCam;
FatCookies 4:4afa448c9cce 562 }
FatCookies 4:4afa448c9cce 563
FatCookies 4:4afa448c9cce 564 }
maximusismax 8:7c5e6b1e7aa5 565 }
lh14g13 18:0095a3a8f8e4 566
lh14g13 18:0095a3a8f8e4 567 float testSpeed(float speed)
lh14g13 18:0095a3a8f8e4 568 {
lh14g13 18:0095a3a8f8e4 569 // search: Speed Increase
lh14g13 18:0095a3a8f8e4 570 // every time the car sees the stop start the speed of the car will increase
lh14g13 18:0095a3a8f8e4 571 // this can occur on stop start trigger.
lh14g13 18:0095a3a8f8e4 572 // may need to send the speed back to the telemetry.
lh14g13 18:0095a3a8f8e4 573 if (speed>0.4)
lh14g13 18:0095a3a8f8e4 574 {
lh14g13 18:0095a3a8f8e4 575 speed+=0.05;
lh14g13 18:0095a3a8f8e4 576 }
lh14g13 18:0095a3a8f8e4 577
lh14g13 18:0095a3a8f8e4 578 else
lh14g13 18:0095a3a8f8e4 579 {
lh14g13 18:0095a3a8f8e4 580 speed+=0.1;
lh14g13 18:0095a3a8f8e4 581
lh14g13 18:0095a3a8f8e4 582 }
lh14g13 18:0095a3a8f8e4 583
lh14g13 18:0095a3a8f8e4 584
lh14g13 18:0095a3a8f8e4 585 sendString("s = %f", speed);
lh14g13 18:0095a3a8f8e4 586 return speed;
lh14g13 18:0095a3a8f8e4 587
lh14g13 18:0095a3a8f8e4 588 }
lh14g13 18:0095a3a8f8e4 589
lh14g13 18:0095a3a8f8e4 590
lh14g13 18:0095a3a8f8e4 591
lh14g13 18:0095a3a8f8e4 592 int lapTime()
lh14g13 19:65f0b6febc23 593 {
lh14g13 18:0095a3a8f8e4 594 // function which sends the lap time back to the telemetry.
FatCookies 27:627d67e3b9b0 595 float newTime= lapTimer.read();
lh14g13 18:0095a3a8f8e4 596 lapNo += 1;
lh14g13 18:0095a3a8f8e4 597 float lapTime= newTime-oldTime;
lh14g13 18:0095a3a8f8e4 598 float avgTime= newTime/lapNo;
lh14g13 18:0095a3a8f8e4 599
lh14g13 19:65f0b6febc23 600 sendString("For lap number: %d Lap Time: %f Avergae time: %f \n\r", lapNo,lapTime,avgTime);
lh14g13 18:0095a3a8f8e4 601
lh14g13 18:0095a3a8f8e4 602 // OH WHAT UP IT'S DAT BOI!!!!
lh14g13 18:0095a3a8f8e4 603 return 0;
lh14g13 18:0095a3a8f8e4 604 }
lh14g13 18:0095a3a8f8e4 605
lh14g13 18:0095a3a8f8e4 606
lh14g13 18:0095a3a8f8e4 607 void endTest()
lh14g13 18:0095a3a8f8e4 608 {// This runs when the car has stopped, this should give the final elapsed time and othere things. this also stops the timer
lh14g13 18:0095a3a8f8e4 609
FatCookies 27:627d67e3b9b0 610 float time= lapTimer.read();
lh14g13 18:0095a3a8f8e4 611
lh14g13 19:65f0b6febc23 612 sendString("Laps done: %d Time elapsed: %f Average time: %f \n\r",lapNo, time,float (time/lapNo));
FatCookies 27:627d67e3b9b0 613 lapTimer.stop();
lh14g13 18:0095a3a8f8e4 614
lh14g13 18:0095a3a8f8e4 615
lh14g13 19:65f0b6febc23 616 }
lh14g13 18:0095a3a8f8e4 617
lh14g13 18:0095a3a8f8e4 618
lh14g13 18:0095a3a8f8e4 619
lh14g13 18:0095a3a8f8e4 620
lh14g13 18:0095a3a8f8e4 621
FatCookies 17:6ae90788cc2b 622 #endif