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@23:b234e8fb51b3, 2016-12-09 (annotated)

Committer:
lh14g13
Date:
Fri Dec 09 11:20:24 2016 +0000
Revision:
23:b234e8fb51b3
Parent:
19:65f0b6febc23 
something changed

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
lh14g13 18:0095a3a8f8e4 35 Timer test;
FatCookies 16:81cdffd8c5d5 36
maximusismax 0:566127ca8048 37 int main() {
maximusismax 8:7c5e6b1e7aa5 38 //Set up TFC driver stuff
maximusismax 0:566127ca8048 39 TFC_Init();
FatCookies 17:6ae90788cc2b 40 ALIGN_SERVO;
FatCookies 13:4e77264f254a 41
FatCookies 17:6ae90788cc2b 42 #if USE_COMMS
FatCookies 17:6ae90788cc2b 43 //Setup baud rate for serial link, do not change!
FatCookies 17:6ae90788cc2b 44 pc.baud(BAUD_RATE);
FatCookies 17:6ae90788cc2b 45 #endif
maximusismax 0:566127ca8048 46
maximusismax 8:7c5e6b1e7aa5 47 //Initialise/reset PID variables
maximusismax 8:7c5e6b1e7aa5 48 initVariables();
FatCookies 9:aa2ce38dec6b 49 initSpeedSensors();
FatCookies 12:da96e2f87465 50
FatCookies 13:4e77264f254a 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
lh14g13 19:65f0b6febc23 64
FatCookies 13:4e77264f254a 65
FatCookies 17:6ae90788cc2b 66 // Slow down, adjust PID values and enable differential before corners.
FatCookies 17:6ae90788cc2b 67 handleCornering();
FatCookies 17:6ae90788cc2b 68
FatCookies 13:4e77264f254a 69 // Run the PID controllers and adjust steering/motor accordingly
maximusismax 8:7c5e6b1e7aa5 70 PIDController();
maximusismax 8:7c5e6b1e7aa5 71
FatCookies 17:6ae90788cc2b 72 #if USE_COMMS
FatCookies 17:6ae90788cc2b 73 // Send the line scan image over serial
FatCookies 17:6ae90788cc2b 74 sendImage();
FatCookies 17:6ae90788cc2b 75
FatCookies 17:6ae90788cc2b 76 // Send the wheel speeds over serial
FatCookies 17:6ae90788cc2b 77 sendSpeeds();
FatCookies 17:6ae90788cc2b 78 #endif
FatCookies 13:4e77264f254a 79
FatCookies 13:4e77264f254a 80 // Check if car is at the stop line
lh14g13 19:65f0b6febc23 81 //handleStartStop();
maximusismax 8:7c5e6b1e7aa5 82
FatCookies 15:ccde02f96449 83
maximusismax 8:7c5e6b1e7aa5 84 //Reset image ready flag
maximusismax 8:7c5e6b1e7aa5 85 TFC_LineScanImageReady=0;
maximusismax 8:7c5e6b1e7aa5 86 }
maximusismax 8:7c5e6b1e7aa5 87 }
maximusismax 8:7c5e6b1e7aa5 88 }
maximusismax 8:7c5e6b1e7aa5 89
FatCookies 17:6ae90788cc2b 90 void initVariables() {
FatCookies 17:6ae90788cc2b 91 // Initialise three PID controllers for the servo and each wheel.
FatCookies 17:6ae90788cc2b 92 initPID(&servo_pid, 2.2f, 0.6f, 0.f);
lh14g13 19:65f0b6febc23 93 initPID(&left_motor_pid, 0.01f, 0.f, 0.f);
lh14g13 19:65f0b6febc23 94 initPID(&right_motor_pid, 0.01f, 0.f, 0.f);
FatCookies 17:6ae90788cc2b 95
lh14g13 19:65f0b6febc23 96 right_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 97 left_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 98
lh14g13 19:65f0b6febc23 99 // intialise the maximum speed interms of the angular speed.
FatCookies 17:6ae90788cc2b 100 valBufferIndex = 0;
lh14g13 19:65f0b6febc23 101 speed = 50;
FatCookies 13:4e77264f254a 102
FatCookies 17:6ae90788cc2b 103 //Start stop
FatCookies 17:6ae90788cc2b 104 startstop = 0;
FatCookies 17:6ae90788cc2b 105 seen = false;
FatCookies 17:6ae90788cc2b 106
FatCookies 17:6ae90788cc2b 107 // Turning
FatCookies 17:6ae90788cc2b 108 turning = 0;
FatCookies 17:6ae90788cc2b 109 keepTurning = 0;
FatCookies 17:6ae90788cc2b 110 slow = false;
lh14g13 19:65f0b6febc23 111
maximusismax 8:7c5e6b1e7aa5 112 }
maximusismax 8:7c5e6b1e7aa5 113
FatCookies 13:4e77264f254a 114 void initPID(pid_instance* pid, float Kp, float Ki, float Kd) {
FatCookies 17:6ae90788cc2b 115 pid->Kp = Kp;
FatCookies 13:4e77264f254a 116 pid->Ki = Ki;
FatCookies 13:4e77264f254a 117 pid->Kd = Kd;
FatCookies 13:4e77264f254a 118 pid->dt = 0;
FatCookies 13:4e77264f254a 119 pid->p_error = 0;
FatCookies 13:4e77264f254a 120 pid->pid_error = 0;
FatCookies 13:4e77264f254a 121 pid->integral = 0;
FatCookies 13:4e77264f254a 122 pid->measured_value = 0;
FatCookies 13:4e77264f254a 123 pid->desired_value = 0;
FatCookies 13:4e77264f254a 124 pid->derivative = 0;
FatCookies 13:4e77264f254a 125 }
FatCookies 13:4e77264f254a 126
FatCookies 17:6ae90788cc2b 127 inline float findCentreValue(volatile uint16_t * cam_data, uint8_t &l, uint8_t &r) {
FatCookies 17:6ae90788cc2b 128
FatCookies 17:6ae90788cc2b 129 diff = 0;
FatCookies 17:6ae90788cc2b 130 prev = -1;
FatCookies 17:6ae90788cc2b 131 for(i = 63; i > 0; i--) {
FatCookies 17:6ae90788cc2b 132 curr_left = (int8_t)(cam_data[i] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 133 diff = prev - curr_left;
FatCookies 17:6ae90788cc2b 134 if(abs(diff) >= CAM_DIFF && curr_left <= CAM_THRESHOLD && prev != -1) {
FatCookies 17:6ae90788cc2b 135 l = i;
FatCookies 17:6ae90788cc2b 136 break;
FatCookies 17:6ae90788cc2b 137 }
FatCookies 17:6ae90788cc2b 138 prev = curr_left;
FatCookies 17:6ae90788cc2b 139 }
maximusismax 8:7c5e6b1e7aa5 140
FatCookies 17:6ae90788cc2b 141 prev = -1;
FatCookies 17:6ae90788cc2b 142 for(i = 64; i < 128; i++) {
FatCookies 17:6ae90788cc2b 143 curr_right = (int8_t)(cam_data[i] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 144 int diff = prev - curr_right;
FatCookies 17:6ae90788cc2b 145 if(abs(diff) >= CAM_DIFF && curr_right <= CAM_THRESHOLD && prev != -1) {
FatCookies 17:6ae90788cc2b 146 r = i;
FatCookies 17:6ae90788cc2b 147 break;
FatCookies 17:6ae90788cc2b 148 }
FatCookies 17:6ae90788cc2b 149 prev = curr_right;
FatCookies 17:6ae90788cc2b 150 }
FatCookies 17:6ae90788cc2b 151
FatCookies 17:6ae90788cc2b 152 //Calculate how left/right we are
FatCookies 17:6ae90788cc2b 153 return (64 - ((l+r)/2))/64.f;
FatCookies 13:4e77264f254a 154 }
FatCookies 13:4e77264f254a 155
FatCookies 17:6ae90788cc2b 156 inline void handleCornering() {
FatCookies 12:da96e2f87465 157
FatCookies 17:6ae90788cc2b 158 float lookaheadMeasuredValue = findCentreValue(LOOKAHEAD_CAMERA, farLeft, farRight);
FatCookies 15:ccde02f96449 159
FatCookies 13:4e77264f254a 160 measuredValBuffer[frame_counter % 64] = servo_pid.measured_value;
FatCookies 13:4e77264f254a 161
FatCookies 13:4e77264f254a 162 int count = 0;
FatCookies 13:4e77264f254a 163 for(i = 0; i < 10; i++) {
FatCookies 13:4e77264f254a 164 float val = abs(measuredValBuffer[(frame_counter - i) % 64]);
FatCookies 13:4e77264f254a 165 if(val > 0.09) {
FatCookies 13:4e77264f254a 166 count++;
FatCookies 13:4e77264f254a 167 }
FatCookies 13:4e77264f254a 168 }
FatCookies 12:da96e2f87465 169
FatCookies 17:6ae90788cc2b 170 if(!turning && abs(lookaheadMeasuredValue) > 0.11f){
FatCookies 15:ccde02f96449 171 TFC_SetMotorPWM(0.4,0.4);
FatCookies 15:ccde02f96449 172 }
FatCookies 15:ccde02f96449 173
FatCookies 14:13085e161dd1 174 if(turning) {
lh14g13 18:0095a3a8f8e4 175
lh14g13 18:0095a3a8f8e4 176 //default
lh14g13 18:0095a3a8f8e4 177 //TFC_SetMotorPWM(0.4,0.4);
lh14g13 18:0095a3a8f8e4 178
lh14g13 19:65f0b6febc23 179 //dutyCycleCorner(speed,servo_pid.output);
lh14g13 18:0095a3a8f8e4 180
lh14g13 18:0095a3a8f8e4 181 //may want to have just to set cornering speed at different if going to be slowing down for cornering.
lh14g13 18:0095a3a8f8e4 182 //dutyCycleCorner(float cornerspeed, servo_pid.output);
lh14g13 18:0095a3a8f8e4 183 //dutyCycleCorner(speed, servo_pid.output);
lh14g13 18:0095a3a8f8e4 184
lh14g13 23:b234e8fb51b3 185 sensorCorner(left_motor_pid.desired_value, right_motor_pid.desired_value , servo_pid.output, speed);
lh14g13 23:b234e8fb51b3 186 // may need speed for corner speed if slowing down for corner.
FatCookies 14:13085e161dd1 187 }
FatCookies 14:13085e161dd1 188
FatCookies 13:4e77264f254a 189 if(abs(servo_pid.measured_value) > 0.11f){
FatCookies 15:ccde02f96449 190 if(!turning) {
FatCookies 13:4e77264f254a 191 turning = 1;
FatCookies 13:4e77264f254a 192 } else {
FatCookies 13:4e77264f254a 193 turning++;
FatCookies 13:4e77264f254a 194 }
FatCookies 13:4e77264f254a 195
FatCookies 13:4e77264f254a 196 } else {
FatCookies 13:4e77264f254a 197 if(turning) {
FatCookies 13:4e77264f254a 198 if(keepTurning == 0 || count > 6) {
FatCookies 13:4e77264f254a 199 keepTurning++;
FatCookies 13:4e77264f254a 200 } else {
FatCookies 15:ccde02f96449 201 //sendString("stop turning turned=%d",turning);
FatCookies 13:4e77264f254a 202 keepTurning = 0;
lh14g13 23:b234e8fb51b3 203 turning = 0;
lh14g13 23:b234e8fb51b3 204
lh14g13 23:b234e8fb51b3 205 left_motor_pid.desired_value = speed;
lh14g13 23:b234e8fb51b3 206 right_motor_pid.desired_value = speed;
lh14g13 23:b234e8fb51b3 207 //TFC_SetMotorPWM(speed,speed);
FatCookies 13:4e77264f254a 208 }
FatCookies 13:4e77264f254a 209
FatCookies 13:4e77264f254a 210 }
FatCookies 13:4e77264f254a 211 }
FatCookies 13:4e77264f254a 212
maximusismax 8:7c5e6b1e7aa5 213 }
maximusismax 8:7c5e6b1e7aa5 214
FatCookies 17:6ae90788cc2b 215 inline float getLineEntropy() {
FatCookies 17:6ae90788cc2b 216 float entropy = 0;
FatCookies 17:6ae90788cc2b 217 float last = (int8_t)(CLOSE_CAMERA[0] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 218 for(int i = 1; i < 128; i++) {
FatCookies 17:6ae90788cc2b 219 entropy += abs(last - ((int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF));
FatCookies 17:6ae90788cc2b 220 }
FatCookies 17:6ae90788cc2b 221 return entropy;
FatCookies 17:6ae90788cc2b 222 }
FatCookies 17:6ae90788cc2b 223
FatCookies 17:6ae90788cc2b 224 void handlePID(pid_instance *pid) {
FatCookies 17:6ae90788cc2b 225 pid->dt = t.read();
FatCookies 17:6ae90788cc2b 226 pid->pid_error = pid->desired_value - pid->measured_value;
FatCookies 17:6ae90788cc2b 227 pid->integral = pid->integral + pid->pid_error * pid->dt;
FatCookies 17:6ae90788cc2b 228 pid->derivative = (pid->pid_error - pid->p_error) / pid->dt;
FatCookies 17:6ae90788cc2b 229 pid->output = pid->Kp * pid->pid_error + pid->Ki * pid->integral + pid->Kd * pid->derivative;
FatCookies 17:6ae90788cc2b 230 pid->p_error = pid->pid_error;
FatCookies 17:6ae90788cc2b 231
FatCookies 17:6ae90788cc2b 232 if(pid->integral > 1.0f) {
FatCookies 17:6ae90788cc2b 233 pid->integral = 1.0f;
FatCookies 17:6ae90788cc2b 234 }
FatCookies 17:6ae90788cc2b 235 if(pid->integral < -1.0f) {
FatCookies 17:6ae90788cc2b 236 pid->integral = -1.0f;
FatCookies 17:6ae90788cc2b 237 }
FatCookies 17:6ae90788cc2b 238 }
FatCookies 17:6ae90788cc2b 239
lh14g13 19:65f0b6febc23 240
lh14g13 19:65f0b6febc23 241
FatCookies 17:6ae90788cc2b 242 inline void PIDController() {
FatCookies 17:6ae90788cc2b 243 // update motor measurements
lh14g13 19:65f0b6febc23 244 // Read the angular velocity of both wheels
lh14g13 19:65f0b6febc23 245 wL=Get_Speed(Time_L);
lh14g13 19:65f0b6febc23 246 wR=Get_Speed(Time_R);
FatCookies 17:6ae90788cc2b 247 left_motor_pid.measured_value = wL;
FatCookies 17:6ae90788cc2b 248 right_motor_pid.measured_value = wR;
FatCookies 17:6ae90788cc2b 249
FatCookies 17:6ae90788cc2b 250 //PID Stuff!
FatCookies 17:6ae90788cc2b 251 t.start();
FatCookies 17:6ae90788cc2b 252 handlePID(&servo_pid);
FatCookies 17:6ae90788cc2b 253 handlePID(&left_motor_pid);
FatCookies 17:6ae90788cc2b 254 handlePID(&right_motor_pid);
FatCookies 17:6ae90788cc2b 255
FatCookies 17:6ae90788cc2b 256 if((-1.0 <= servo_pid.output) && (servo_pid.output <= 1.0))
FatCookies 17:6ae90788cc2b 257 {
FatCookies 17:6ae90788cc2b 258 TFC_SetServo(0, servo_pid.output);
FatCookies 17:6ae90788cc2b 259 }
FatCookies 17:6ae90788cc2b 260 else //Unhappy PID state
FatCookies 17:6ae90788cc2b 261 {
FatCookies 17:6ae90788cc2b 262 //sendString("out = %f p_err = %f", servo_pid.output, servo_pid.p_error);
FatCookies 17:6ae90788cc2b 263 ALIGN_SERVO;
FatCookies 17:6ae90788cc2b 264 if(servo_pid.output >= 1.0f) {
FatCookies 17:6ae90788cc2b 265 TFC_SetServo(0, 0.9f);
FatCookies 17:6ae90788cc2b 266 servo_pid.output = 1.0f;
FatCookies 17:6ae90788cc2b 267 } else {
FatCookies 17:6ae90788cc2b 268 TFC_SetServo(0, -0.9f);
FatCookies 17:6ae90788cc2b 269 servo_pid.output = -1.0f;
FatCookies 17:6ae90788cc2b 270 }
FatCookies 17:6ae90788cc2b 271 }
FatCookies 17:6ae90788cc2b 272
FatCookies 17:6ae90788cc2b 273
lh14g13 19:65f0b6febc23 274 // need to get thepid to set the duty cycle
lh14g13 19:65f0b6febc23 275 // need to have the desired value set0
lh14g13 19:65f0b6febc23 276 //MOTORS
lh14g13 19:65f0b6febc23 277 if((0<=left_motor_pid.output)&&(0<=right_motor_pid.output))
lh14g13 19:65f0b6febc23 278 {
lh14g13 19:65f0b6febc23 279 TFC_SetMotorPWM(left_motor_pid.output,right_motor_pid.output);
lh14g13 19:65f0b6febc23 280
lh14g13 19:65f0b6febc23 281 }
lh14g13 19:65f0b6febc23 282 else
lh14g13 19:65f0b6febc23 283 {
lh14g13 19:65f0b6febc23 284 if(0 > right_motor_pid.output)
lh14g13 19:65f0b6febc23 285 {
lh14g13 23:b234e8fb51b3 286 left_motor_pid.output=0;
lh14g13 23:b234e8fb51b3 287
lh14g13 19:65f0b6febc23 288 }
lh14g13 19:65f0b6febc23 289 if(0 > left_motor_pid.output)
lh14g13 19:65f0b6febc23 290 {
lh14g13 23:b234e8fb51b3 291 right_motor_pid.output=0;
lh14g13 23:b234e8fb51b3 292
lh14g13 19:65f0b6febc23 293 }
lh14g13 23:b234e8fb51b3 294
lh14g13 23:b234e8fb51b3 295 TFC_SetMotorPWM(left_motor_pid.output,right_motor_pid.output);
lh14g13 19:65f0b6febc23 296 }
lh14g13 19:65f0b6febc23 297
lh14g13 19:65f0b6febc23 298
lh14g13 19:65f0b6febc23 299
lh14g13 19:65f0b6febc23 300
lh14g13 19:65f0b6febc23 301
lh14g13 19:65f0b6febc23 302
lh14g13 19:65f0b6febc23 303
FatCookies 17:6ae90788cc2b 304 t.stop();
FatCookies 17:6ae90788cc2b 305 t.reset();
FatCookies 17:6ae90788cc2b 306 t.start();
FatCookies 17:6ae90788cc2b 307 }
FatCookies 17:6ae90788cc2b 308
FatCookies 17:6ae90788cc2b 309 inline void handleStartStop() {
FatCookies 17:6ae90788cc2b 310 //Hacky way to detect the start/stop signal
FatCookies 17:6ae90788cc2b 311 if(right - left < 60) {
lh14g13 18:0095a3a8f8e4 312 sendString("START STOP!! &d",startstop);//do you mean %d?
lh14g13 18:0095a3a8f8e4 313
lh14g13 18:0095a3a8f8e4 314 lapTime();
lh14g13 18:0095a3a8f8e4 315 //testSpeed(speed) HOLY SHIT ITS DAT BOI!!!!!!!!
FatCookies 17:6ae90788cc2b 316 if(seen) {
FatCookies 17:6ae90788cc2b 317 seen = false;
FatCookies 17:6ae90788cc2b 318 } else {
FatCookies 17:6ae90788cc2b 319 startstop++;
FatCookies 17:6ae90788cc2b 320 seen = true;
FatCookies 17:6ae90788cc2b 321 }
FatCookies 17:6ae90788cc2b 322 //If we've done 5 laps, stop the car
FatCookies 17:6ae90788cc2b 323 if(startstop >= 1) {
FatCookies 17:6ae90788cc2b 324 TFC_SetMotorPWM(0.f,0.f);
FatCookies 17:6ae90788cc2b 325 TFC_HBRIDGE_DISABLE;
FatCookies 17:6ae90788cc2b 326 startstop = 0;
FatCookies 17:6ae90788cc2b 327 }
lh14g13 18:0095a3a8f8e4 328 }
lh14g13 18:0095a3a8f8e4 329
FatCookies 17:6ae90788cc2b 330 }
FatCookies 17:6ae90788cc2b 331
FatCookies 17:6ae90788cc2b 332
FatCookies 17:6ae90788cc2b 333 inline void initSpeedSensors() {
FatCookies 17:6ae90788cc2b 334 t1.start();
FatCookies 17:6ae90788cc2b 335 t2.start();
FatCookies 17:6ae90788cc2b 336
FatCookies 17:6ae90788cc2b 337 //Left and Right are defined looking at the rear of the car, in the direction the camera points at.
FatCookies 17:6ae90788cc2b 338 leftHallSensor.rise(&GetTime_L);
FatCookies 17:6ae90788cc2b 339 rightHallSensor.rise(&GetTime_R);
FatCookies 17:6ae90788cc2b 340 }
FatCookies 17:6ae90788cc2b 341
FatCookies 17:6ae90788cc2b 342 void GetTime_L(){
FatCookies 17:6ae90788cc2b 343 Time_L=t1.read_us();
FatCookies 17:6ae90788cc2b 344 t1.reset();
FatCookies 17:6ae90788cc2b 345 }
FatCookies 17:6ae90788cc2b 346
FatCookies 17:6ae90788cc2b 347 void GetTime_R(){
FatCookies 17:6ae90788cc2b 348 Time_R=t2.read_us();
FatCookies 17:6ae90788cc2b 349 t2.reset();
FatCookies 17:6ae90788cc2b 350 }
FatCookies 17:6ae90788cc2b 351
FatCookies 17:6ae90788cc2b 352 #if USE_COMMS
FatCookies 17:6ae90788cc2b 353 void sendBattery() {
FatCookies 17:6ae90788cc2b 354
FatCookies 17:6ae90788cc2b 355 if(frame_counter % 256 == 0) {
FatCookies 17:6ae90788cc2b 356 float level = TFC_ReadBatteryVoltage() * 6.25;
FatCookies 17:6ae90788cc2b 357 pc.putc('J');
FatCookies 17:6ae90788cc2b 358 thing.a = level;
FatCookies 17:6ae90788cc2b 359 pc.putc(thing.bytes[0]);
FatCookies 17:6ae90788cc2b 360 pc.putc(thing.bytes[1]);
FatCookies 17:6ae90788cc2b 361 pc.putc(thing.bytes[2]);
FatCookies 17:6ae90788cc2b 362 pc.putc(thing.bytes[3]);
FatCookies 17:6ae90788cc2b 363 }
FatCookies 17:6ae90788cc2b 364 }
FatCookies 17:6ae90788cc2b 365
FatCookies 17:6ae90788cc2b 366 void sendString(const char *format, ...) {
FatCookies 17:6ae90788cc2b 367 va_list arg;
FatCookies 17:6ae90788cc2b 368
FatCookies 17:6ae90788cc2b 369 pc.putc('E');
FatCookies 17:6ae90788cc2b 370 va_start (arg, format);
FatCookies 17:6ae90788cc2b 371 pc.vprintf(format,arg);
FatCookies 17:6ae90788cc2b 372 va_end (arg);
FatCookies 17:6ae90788cc2b 373 pc.putc(0);
FatCookies 17:6ae90788cc2b 374 }
FatCookies 17:6ae90788cc2b 375
maximusismax 8:7c5e6b1e7aa5 376 inline void sendImage() {
maximusismax 8:7c5e6b1e7aa5 377 //Only send 1/3 of camera frames to GUI program
maximusismax 8:7c5e6b1e7aa5 378 if((frame_counter % 3) == 0) {
maximusismax 8:7c5e6b1e7aa5 379 pc.putc('H');
FatCookies 15:ccde02f96449 380 if(sendCam == 0) {
FatCookies 15:ccde02f96449 381 for(i = 0; i < 128; i++) {
FatCookies 17:6ae90788cc2b 382 pc.putc((int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF);
FatCookies 15:ccde02f96449 383 }
FatCookies 15:ccde02f96449 384 } else {
FatCookies 15:ccde02f96449 385 for(i = 0; i < 128; i++) {
FatCookies 17:6ae90788cc2b 386 pc.putc((int8_t)(LOOKAHEAD_CAMERA[i] >> 4) & 0xFF);
FatCookies 15:ccde02f96449 387 }
FatCookies 15:ccde02f96449 388 }
FatCookies 13:4e77264f254a 389 sendBattery();
FatCookies 13:4e77264f254a 390 }
FatCookies 13:4e77264f254a 391
FatCookies 13:4e77264f254a 392 frame_counter++;
FatCookies 13:4e77264f254a 393 }
FatCookies 13:4e77264f254a 394
FatCookies 13:4e77264f254a 395 inline void sendSpeeds() {
FatCookies 17:6ae90788cc2b 396
lh14g13 19:65f0b6febc23 397 /*float en = getLineEntropy();
FatCookies 15:ccde02f96449 398
FatCookies 15:ccde02f96449 399 if(onTrack) {
FatCookies 15:ccde02f96449 400 if(en <= 14000) {
FatCookies 15:ccde02f96449 401 onTrack = false;
FatCookies 15:ccde02f96449 402 sendString("offfffffffffffff");
FatCookies 15:ccde02f96449 403 TFC_SetMotorPWM(0.0,0.0);
FatCookies 15:ccde02f96449 404 TFC_HBRIDGE_DISABLE;
FatCookies 15:ccde02f96449 405 }
FatCookies 15:ccde02f96449 406 } else {
FatCookies 15:ccde02f96449 407 if(en > 14000) {
FatCookies 15:ccde02f96449 408 onTrack = true;
FatCookies 15:ccde02f96449 409 sendString("ON TRACK");
FatCookies 15:ccde02f96449 410 }
lh14g13 19:65f0b6febc23 411 }*/
FatCookies 15:ccde02f96449 412
FatCookies 14:13085e161dd1 413
FatCookies 13:4e77264f254a 414 pc.putc('B');
lh14g13 19:65f0b6febc23 415 thing.a = wL * WHEEL_RADIUS;
FatCookies 12:da96e2f87465 416 pc.putc(thing.bytes[0]);
FatCookies 12:da96e2f87465 417 pc.putc(thing.bytes[1]);
FatCookies 12:da96e2f87465 418 pc.putc(thing.bytes[2]);
FatCookies 12:da96e2f87465 419 pc.putc(thing.bytes[3]);
lh14g13 19:65f0b6febc23 420 thing.a = wR * WHEEL_RADIUS;
FatCookies 13:4e77264f254a 421 pc.putc(thing.bytes[0]);
FatCookies 13:4e77264f254a 422 pc.putc(thing.bytes[1]);
FatCookies 13:4e77264f254a 423 pc.putc(thing.bytes[2]);
FatCookies 13:4e77264f254a 424 pc.putc(thing.bytes[3]);
maximusismax 8:7c5e6b1e7aa5 425 }
maximusismax 8:7c5e6b1e7aa5 426
FatCookies 13:4e77264f254a 427
maximusismax 8:7c5e6b1e7aa5 428 inline void handleComms() {
maximusismax 8:7c5e6b1e7aa5 429 if(curr_cmd != 0) {
FatCookies 4:4afa448c9cce 430 switch(curr_cmd) {
FatCookies 4:4afa448c9cce 431 case 'A':
FatCookies 4:4afa448c9cce 432 if(xb.cBuffer->available() >= 3) {
FatCookies 4:4afa448c9cce 433 char p = xb.cBuffer->read();
FatCookies 4:4afa448c9cce 434 char i = xb.cBuffer->read();
FatCookies 4:4afa448c9cce 435 char d = xb.cBuffer->read();
FatCookies 12:da96e2f87465 436 servo_pid.Kp = p/25.0f;
FatCookies 12:da96e2f87465 437 servo_pid.Ki = i/25.0f;
FatCookies 12:da96e2f87465 438 servo_pid.Kd = d/25.0f;
FatCookies 13:4e77264f254a 439 sendString("pid= Kp: %f, Ki: %f, Kd: %f, p: %u, i: %u, d: %u", servo_pid.Kp, servo_pid.Ki, servo_pid.Kd, p, i, d);
maximusismax 8:7c5e6b1e7aa5 440
FatCookies 4:4afa448c9cce 441 curr_cmd = 0;
FatCookies 4:4afa448c9cce 442 }
FatCookies 4:4afa448c9cce 443 break;
FatCookies 4:4afa448c9cce 444
FatCookies 4:4afa448c9cce 445 case 'F':
FatCookies 6:b0e160c51013 446 if(xb.cBuffer->available() >= 1) {
FatCookies 4:4afa448c9cce 447 char a = xb.cBuffer->read();
lh14g13 19:65f0b6febc23 448 //speed = a/255;
lh14g13 19:65f0b6febc23 449 speed = (a/0.025f)/50.f;
lh14g13 19:65f0b6febc23 450 //TFC_SetMotorPWM(speed,speed);
FatCookies 13:4e77264f254a 451 sendString("s = %u %f",a, speed);
FatCookies 4:4afa448c9cce 452 curr_cmd = 0;
FatCookies 4:4afa448c9cce 453 }
FatCookies 4:4afa448c9cce 454 break;
FatCookies 4:4afa448c9cce 455
FatCookies 4:4afa448c9cce 456 default:
FatCookies 13:4e77264f254a 457 // Unrecognised command
FatCookies 13:4e77264f254a 458 curr_cmd = 0;
FatCookies 4:4afa448c9cce 459 break;
FatCookies 4:4afa448c9cce 460 }
FatCookies 4:4afa448c9cce 461 }
FatCookies 4:4afa448c9cce 462
FatCookies 6:b0e160c51013 463 if(xb.cBuffer->available() > 0 && curr_cmd == 0) {
lh14g13 18:0095a3a8f8e4 464 //Start car
FatCookies 4:4afa448c9cce 465 char cmd = xb.cBuffer->read();
FatCookies 4:4afa448c9cce 466 if(cmd == 'D') {
FatCookies 17:6ae90788cc2b 467 ALIGN_SERVO;
FatCookies 4:4afa448c9cce 468 TFC_HBRIDGE_ENABLE;
lh14g13 19:65f0b6febc23 469 right_motor_pid.desired_value=speed;
lh14g13 19:65f0b6febc23 470 left_motor_pid.desired_value=speed;
FatCookies 12:da96e2f87465 471 servo_pid.integral = 0;
lh14g13 18:0095a3a8f8e4 472 test.start();
lh14g13 18:0095a3a8f8e4 473 lapNo =0;
FatCookies 6:b0e160c51013 474
FatCookies 4:4afa448c9cce 475 } else if (cmd == 'C') {
FatCookies 4:4afa448c9cce 476 TFC_SetMotorPWM(0.0,0.0);
lh14g13 19:65f0b6febc23 477 right_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 478 left_motor_pid.desired_value=0;
FatCookies 4:4afa448c9cce 479 TFC_HBRIDGE_DISABLE;
lh14g13 18:0095a3a8f8e4 480 endTest();
FatCookies 4:4afa448c9cce 481 } else if(cmd == 'A') {
FatCookies 4:4afa448c9cce 482 curr_cmd = 'A';
FatCookies 4:4afa448c9cce 483 } else if(cmd == 'F') {
FatCookies 4:4afa448c9cce 484 curr_cmd = 'F';
FatCookies 15:ccde02f96449 485 } else if(cmd == 'K') {
FatCookies 15:ccde02f96449 486 sendCam = ~sendCam;
FatCookies 4:4afa448c9cce 487 }
FatCookies 4:4afa448c9cce 488
FatCookies 4:4afa448c9cce 489 }
maximusismax 8:7c5e6b1e7aa5 490 }
lh14g13 18:0095a3a8f8e4 491
lh14g13 18:0095a3a8f8e4 492 float testSpeed(float speed)
lh14g13 18:0095a3a8f8e4 493 {
lh14g13 18:0095a3a8f8e4 494 // search: Speed Increase
lh14g13 18:0095a3a8f8e4 495 // every time the car sees the stop start the speed of the car will increase
lh14g13 18:0095a3a8f8e4 496 // this can occur on stop start trigger.
lh14g13 18:0095a3a8f8e4 497 // may need to send the speed back to the telemetry.
lh14g13 18:0095a3a8f8e4 498 if (speed>0.4)
lh14g13 18:0095a3a8f8e4 499 {
lh14g13 18:0095a3a8f8e4 500 speed+=0.05;
lh14g13 18:0095a3a8f8e4 501 }
lh14g13 18:0095a3a8f8e4 502
lh14g13 18:0095a3a8f8e4 503 else
lh14g13 18:0095a3a8f8e4 504 {
lh14g13 18:0095a3a8f8e4 505 speed+=0.1;
lh14g13 18:0095a3a8f8e4 506
lh14g13 18:0095a3a8f8e4 507 }
lh14g13 18:0095a3a8f8e4 508
lh14g13 18:0095a3a8f8e4 509
lh14g13 18:0095a3a8f8e4 510 sendString("s = %f", speed);
lh14g13 18:0095a3a8f8e4 511 return speed;
lh14g13 18:0095a3a8f8e4 512
lh14g13 18:0095a3a8f8e4 513 }
lh14g13 18:0095a3a8f8e4 514
lh14g13 18:0095a3a8f8e4 515
lh14g13 18:0095a3a8f8e4 516
lh14g13 18:0095a3a8f8e4 517 int lapTime()
lh14g13 19:65f0b6febc23 518 {
lh14g13 18:0095a3a8f8e4 519 // function which sends the lap time back to the telemetry.
lh14g13 18:0095a3a8f8e4 520 float newTime= test.read();
lh14g13 18:0095a3a8f8e4 521 lapNo += 1;
lh14g13 18:0095a3a8f8e4 522 float lapTime= newTime-oldTime;
lh14g13 18:0095a3a8f8e4 523 float avgTime= newTime/lapNo;
lh14g13 18:0095a3a8f8e4 524
lh14g13 19:65f0b6febc23 525 sendString("For lap number: %d Lap Time: %f Avergae time: %f \n\r", lapNo,lapTime,avgTime);
lh14g13 18:0095a3a8f8e4 526
lh14g13 18:0095a3a8f8e4 527 // OH WHAT UP IT'S DAT BOI!!!!
lh14g13 18:0095a3a8f8e4 528 return 0;
lh14g13 18:0095a3a8f8e4 529 }
lh14g13 18:0095a3a8f8e4 530
lh14g13 18:0095a3a8f8e4 531
lh14g13 18:0095a3a8f8e4 532 void endTest()
lh14g13 18:0095a3a8f8e4 533 {// 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 534
lh14g13 18:0095a3a8f8e4 535 float time= test.read();
lh14g13 18:0095a3a8f8e4 536
lh14g13 19:65f0b6febc23 537 sendString("Laps done: %d Time elapsed: %f Average time: %f \n\r",lapNo, time,float (time/lapNo));
lh14g13 18:0095a3a8f8e4 538 test.stop();
lh14g13 18:0095a3a8f8e4 539
lh14g13 18:0095a3a8f8e4 540
lh14g13 19:65f0b6febc23 541 }
lh14g13 18:0095a3a8f8e4 542
lh14g13 18:0095a3a8f8e4 543
lh14g13 18:0095a3a8f8e4 544
lh14g13 18:0095a3a8f8e4 545
lh14g13 18:0095a3a8f8e4 546
FatCookies 17:6ae90788cc2b 547 #endif