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@54:78854efeb1df, 2017-04-28 (annotated)

Committer:
FatCookies
Date:
Fri Apr 28 07:58:19 2017 +0000
Revision:
54:78854efeb1df
Parent:
52:af17b1a330f4 
small param changes;

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"
FatCookies 45:3435bdd2d487 18 #include "MMA8451Q.h"
maximusismax 8:7c5e6b1e7aa5 19
FatCookies 17:6ae90788cc2b 20 // Serial
FatCookies 17:6ae90788cc2b 21 #if USE_COMMS
FatCookies 17:6ae90788cc2b 22 Serial pc(PTD3,PTD2);
FatCookies 17:6ae90788cc2b 23 XBEE xb(&pc);
FatCookies 17:6ae90788cc2b 24 #endif
FatCookies 3:87a5122682fa 25
FatCookies 17:6ae90788cc2b 26 // PID Timer
FatCookies 3:87a5122682fa 27 Timer t;
FatCookies 4:4afa448c9cce 28
FatCookies 17:6ae90788cc2b 29 //Speed Sensors interupts and timers
FatCookies 9:aa2ce38dec6b 30 InterruptIn leftHallSensor(D0);
FatCookies 9:aa2ce38dec6b 31 InterruptIn rightHallSensor(D2);
FatCookies 9:aa2ce38dec6b 32 Timer t1;
FatCookies 9:aa2ce38dec6b 33 Timer t2;
FatCookies 9:aa2ce38dec6b 34
lh14g13 32:6829684f8c4d 35 //testing timer for laptimes
FatCookies 27:627d67e3b9b0 36 Timer lapTimer;
FatCookies 16:81cdffd8c5d5 37
FatCookies 45:3435bdd2d487 38 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
FatCookies 45:3435bdd2d487 39
FatCookies 45:3435bdd2d487 40
FatCookies 45:3435bdd2d487 41
FatCookies 45:3435bdd2d487 42 int loop = 0;
FatCookies 45:3435bdd2d487 43 float accc = 0.f;
FatCookies 21:0b69fada7c5f 44
maximusismax 0:566127ca8048 45 int main() {
FatCookies 45:3435bdd2d487 46
maximusismax 8:7c5e6b1e7aa5 47 //Set up TFC driver stuff
maximusismax 0:566127ca8048 48 TFC_Init();
FatCookies 17:6ae90788cc2b 49 ALIGN_SERVO;
FatCookies 13:4e77264f254a 50
FatCookies 17:6ae90788cc2b 51 #if USE_COMMS
FatCookies 17:6ae90788cc2b 52 //Setup baud rate for serial link, do not change!
FatCookies 17:6ae90788cc2b 53 pc.baud(BAUD_RATE);
FatCookies 17:6ae90788cc2b 54 #endif
maximusismax 0:566127ca8048 55
maximusismax 8:7c5e6b1e7aa5 56 //Initialise/reset PID variables
maximusismax 8:7c5e6b1e7aa5 57 initVariables();
FatCookies 9:aa2ce38dec6b 58 initSpeedSensors();
FatCookies 40:10e8e80af7da 59
FatCookies 43:649473c5a12b 60 #if !(USE_COMMS)
FatCookies 43:649473c5a12b 61 buttonStartup();
FatCookies 43:649473c5a12b 62 #endif
FatCookies 45:3435bdd2d487 63
FatCookies 12:da96e2f87465 64
maximusismax 0:566127ca8048 65 while(1) {
FatCookies 3:87a5122682fa 66
FatCookies 17:6ae90788cc2b 67 #if USE_COMMS
FatCookies 17:6ae90788cc2b 68 handleComms();
FatCookies 17:6ae90788cc2b 69 #endif
maximusismax 8:7c5e6b1e7aa5 70
maximusismax 8:7c5e6b1e7aa5 71 //If we have an image ready
FatCookies 13:4e77264f254a 72 if(TFC_LineScanImageReady>0) {
FatCookies 13:4e77264f254a 73 /* Find the bounds of the track and calculate how close we are to
FatCookies 13:4e77264f254a 74 * the centre */
FatCookies 17:6ae90788cc2b 75 servo_pid.measured_value = findCentreValue(CLOSE_CAMERA, left, right);
maximusismax 8:7c5e6b1e7aa5 76
FatCookies 21:0b69fada7c5f 77 // Check if car is at the stop line
FatCookies 45:3435bdd2d487 78
FatCookies 54:78854efeb1df 79 /*if(loop % 10 == 0) {
FatCookies 45:3435bdd2d487 80 accc = checkAcc();
FatCookies 45:3435bdd2d487 81 }
FatCookies 45:3435bdd2d487 82
lh14g13 48:daa2a1900ada 83 if(accc < accTheshold) {
FatCookies 45:3435bdd2d487 84 handleStartStop();
FatCookies 45:3435bdd2d487 85 } else {
lh14g13 46:6806ea59ffed 86 //sendString("up %f", accc);
FatCookies 45:3435bdd2d487 87 }
FatCookies 54:78854efeb1df 88 */
FatCookies 45:3435bdd2d487 89
FatCookies 45:3435bdd2d487 90
FatCookies 45:3435bdd2d487 91
FatCookies 21:0b69fada7c5f 92
FatCookies 27:627d67e3b9b0 93 #if USE_COMMS
FatCookies 27:627d67e3b9b0 94 // Send the line scan image over serial
FatCookies 27:627d67e3b9b0 95 sendImage();
FatCookies 27:627d67e3b9b0 96 #endif
FatCookies 21:0b69fada7c5f 97
FatCookies 21:0b69fada7c5f 98
FatCookies 21:0b69fada7c5f 99 //Reset image ready flag
FatCookies 21:0b69fada7c5f 100 TFC_LineScanImageReady=0;
lh14g13 19:65f0b6febc23 101
FatCookies 17:6ae90788cc2b 102 // Slow down, adjust PID values and enable differential before corners.
FatCookies 21:0b69fada7c5f 103 //handleCornering();
FatCookies 17:6ae90788cc2b 104
FatCookies 13:4e77264f254a 105 // Run the PID controllers and adjust steering/motor accordingly
maximusismax 8:7c5e6b1e7aa5 106 PIDController();
maximusismax 8:7c5e6b1e7aa5 107
FatCookies 21:0b69fada7c5f 108
FatCookies 21:0b69fada7c5f 109
FatCookies 21:0b69fada7c5f 110
FatCookies 17:6ae90788cc2b 111 #if USE_COMMS
FatCookies 17:6ae90788cc2b 112 // Send the wheel speeds over serial
FatCookies 17:6ae90788cc2b 113 sendSpeeds();
FatCookies 17:6ae90788cc2b 114 #endif
FatCookies 13:4e77264f254a 115
FatCookies 21:0b69fada7c5f 116
maximusismax 8:7c5e6b1e7aa5 117
FatCookies 45:3435bdd2d487 118 //wait_ms(25);
FatCookies 21:0b69fada7c5f 119
maximusismax 8:7c5e6b1e7aa5 120 }
maximusismax 8:7c5e6b1e7aa5 121 }
maximusismax 8:7c5e6b1e7aa5 122 }
maximusismax 8:7c5e6b1e7aa5 123
FatCookies 40:10e8e80af7da 124 void buttonStartup() {
FatCookies 45:3435bdd2d487 125 TFC_SetBatteryLED(led_values[b_pressed % 4]);
FatCookies 40:10e8e80af7da 126 while(1) {
FatCookies 45:3435bdd2d487 127 //handleComms();
FatCookies 45:3435bdd2d487 128
FatCookies 40:10e8e80af7da 129 // 2 bit is broken = max value is 13
FatCookies 40:10e8e80af7da 130 uint8_t dip = TFC_GetDIP_Switch();
FatCookies 40:10e8e80af7da 131
FatCookies 40:10e8e80af7da 132 // 1 on press, 0 otherwise
FatCookies 40:10e8e80af7da 133 uint8_t button_a = TFC_ReadPushButton(0);
FatCookies 40:10e8e80af7da 134 uint8_t button_b = TFC_ReadPushButton(1);
FatCookies 40:10e8e80af7da 135
FatCookies 40:10e8e80af7da 136 // -1 to 1, turning clockwise INCREASES value
FatCookies 40:10e8e80af7da 137 float pot_a = TFC_ReadPot(0);
FatCookies 40:10e8e80af7da 138 float pot_b = TFC_ReadPot(1);
FatCookies 40:10e8e80af7da 139
FatCookies 45:3435bdd2d487 140 if(button_b && !bDown) {
FatCookies 45:3435bdd2d487 141 bDown = true;
FatCookies 45:3435bdd2d487 142 continue;
FatCookies 45:3435bdd2d487 143 }
FatCookies 45:3435bdd2d487 144 if(!button_b && bDown) {
FatCookies 45:3435bdd2d487 145 b_pressed++;
FatCookies 45:3435bdd2d487 146 TFC_SetBatteryLED(led_values[b_pressed % 4]);
FatCookies 45:3435bdd2d487 147 bDown = false;
FatCookies 45:3435bdd2d487 148 continue;
FatCookies 45:3435bdd2d487 149 }
FatCookies 45:3435bdd2d487 150
FatCookies 45:3435bdd2d487 151 if(button_a && !aDown) {
FatCookies 45:3435bdd2d487 152 aDown = true;
FatCookies 45:3435bdd2d487 153 continue;
FatCookies 45:3435bdd2d487 154 }
FatCookies 45:3435bdd2d487 155 if(!button_a && aDown) {
FatCookies 45:3435bdd2d487 156
FatCookies 45:3435bdd2d487 157 TFC_SetBatteryLED(0);
FatCookies 43:649473c5a12b 158 aDown = false;
FatCookies 43:649473c5a12b 159
FatCookies 43:649473c5a12b 160 int choice = b_pressed % 4;
FatCookies 43:649473c5a12b 161 switch(choice) {
FatCookies 45:3435bdd2d487 162 case 0:
FatCookies 43:649473c5a12b 163 initPID(&servo_pid, 2.2f, 0.6f, 0.f);
lh14g13 50:1cfe1f975b0c 164 if(!torque){
FatCookies 45:3435bdd2d487 165 speed = 40;
lh14g13 50:1cfe1f975b0c 166 }
lh14g13 50:1cfe1f975b0c 167 else{
lh14g13 50:1cfe1f975b0c 168 speed = 0.4;
lh14g13 50:1cfe1f975b0c 169 }
lh14g13 47:6a58dcef714f 170 ed_tune = man_tuner;
FatCookies 43:649473c5a12b 171 break;
FatCookies 43:649473c5a12b 172 case 1:
FatCookies 43:649473c5a12b 173 initPID(&servo_pid, 2.2f, 0.6f, 0.f);
lh14g13 50:1cfe1f975b0c 174 if(!torque){
lh14g13 47:6a58dcef714f 175 speed = 65;
lh14g13 50:1cfe1f975b0c 176 }
lh14g13 50:1cfe1f975b0c 177 else{
lh14g13 51:6a84fbc404c8 178 speed = 0.6;
lh14g13 50:1cfe1f975b0c 179 }
lh14g13 47:6a58dcef714f 180 ed_tune = man_tuner;
FatCookies 43:649473c5a12b 181 break;
FatCookies 43:649473c5a12b 182 case 2:
FatCookies 43:649473c5a12b 183 initPID(&servo_pid, 2.2f, 0.6f, 0.f);
lh14g13 50:1cfe1f975b0c 184 if(!torque){
lh14g13 47:6a58dcef714f 185 speed = 80;
lh14g13 50:1cfe1f975b0c 186 }
lh14g13 50:1cfe1f975b0c 187 else{
lh14g13 51:6a84fbc404c8 188 speed= 0.8;
lh14g13 50:1cfe1f975b0c 189 }
lh14g13 47:6a58dcef714f 190 ed_tune = man_tuner;
FatCookies 43:649473c5a12b 191 break;
FatCookies 43:649473c5a12b 192 case 3:
FatCookies 43:649473c5a12b 193 initPID(&servo_pid, 2.2f, 0.6f, 0.f);
lh14g13 47:6a58dcef714f 194 speed = 110;
lh14g13 47:6a58dcef714f 195 ed_tune = man_tuner;
FatCookies 43:649473c5a12b 196 break;
FatCookies 45:3435bdd2d487 197 }
FatCookies 45:3435bdd2d487 198
FatCookies 45:3435bdd2d487 199 wait(2.f);
FatCookies 43:649473c5a12b 200
FatCookies 45:3435bdd2d487 201 ALIGN_SERVO;
FatCookies 45:3435bdd2d487 202 right_motor_pid.desired_value=speed;
FatCookies 45:3435bdd2d487 203 left_motor_pid.desired_value=speed;
FatCookies 45:3435bdd2d487 204 TFC_HBRIDGE_ENABLE;
FatCookies 45:3435bdd2d487 205 servo_pid.integral = 0;
FatCookies 45:3435bdd2d487 206 //sendString("PID: %f %f %f speed:%f ed:%f",servo_pid.Kp, servo_pid.Ki, servo_pid.Kd, speed, ed_tune);
FatCookies 45:3435bdd2d487 207 return;
FatCookies 43:649473c5a12b 208 }
FatCookies 43:649473c5a12b 209
FatCookies 45:3435bdd2d487 210
FatCookies 40:10e8e80af7da 211 }
FatCookies 45:3435bdd2d487 212
FatCookies 45:3435bdd2d487 213 }
FatCookies 40:10e8e80af7da 214
FatCookies 45:3435bdd2d487 215
FatCookies 40:10e8e80af7da 216
FatCookies 17:6ae90788cc2b 217 void initVariables() {
FatCookies 17:6ae90788cc2b 218 // Initialise three PID controllers for the servo and each wheel.
oj3g13 34:3de7a19ccea3 219 initPID(&servo_pid, 0.f, 0.f, 0.f);
lh14g13 46:6806ea59ffed 220 initPID(&left_motor_pid, 0.01f, 0.f, 0.f);
lh14g13 46:6806ea59ffed 221 initPID(&right_motor_pid, 0.01f, 0.f, 0.f);
FatCookies 17:6ae90788cc2b 222
lh14g13 19:65f0b6febc23 223 right_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 224 left_motor_pid.desired_value=0;
lh14g13 19:65f0b6febc23 225
lh14g13 19:65f0b6febc23 226 // intialise the maximum speed interms of the angular speed.
FatCookies 17:6ae90788cc2b 227 valBufferIndex = 0;
lh14g13 19:65f0b6febc23 228 speed = 50;
FatCookies 13:4e77264f254a 229
FatCookies 17:6ae90788cc2b 230 //Start stop
FatCookies 17:6ae90788cc2b 231 startstop = 0;
FatCookies 17:6ae90788cc2b 232 seen = false;
FatCookies 17:6ae90788cc2b 233
FatCookies 17:6ae90788cc2b 234 // Turning
FatCookies 17:6ae90788cc2b 235 turning = 0;
FatCookies 17:6ae90788cc2b 236 keepTurning = 0;
FatCookies 17:6ae90788cc2b 237 slow = false;
FatCookies 20:ed954836d028 238
FatCookies 20:ed954836d028 239 wL = 0;
FatCookies 20:ed954836d028 240 wR = 0;
FatCookies 20:ed954836d028 241 prevL = 0;
FatCookies 20:ed954836d028 242 prevR = 0;
maximusismax 8:7c5e6b1e7aa5 243 }
maximusismax 8:7c5e6b1e7aa5 244
FatCookies 13:4e77264f254a 245 void initPID(pid_instance* pid, float Kp, float Ki, float Kd) {
FatCookies 17:6ae90788cc2b 246 pid->Kp = Kp;
FatCookies 13:4e77264f254a 247 pid->Ki = Ki;
FatCookies 13:4e77264f254a 248 pid->Kd = Kd;
FatCookies 13:4e77264f254a 249 pid->dt = 0;
FatCookies 13:4e77264f254a 250 pid->p_error = 0;
FatCookies 13:4e77264f254a 251 pid->pid_error = 0;
FatCookies 13:4e77264f254a 252 pid->integral = 0;
FatCookies 13:4e77264f254a 253 pid->measured_value = 0;
FatCookies 13:4e77264f254a 254 pid->desired_value = 0;
FatCookies 13:4e77264f254a 255 pid->derivative = 0;
FatCookies 13:4e77264f254a 256 }
FatCookies 13:4e77264f254a 257
FatCookies 29:b5b31256572b 258 bool leftSeen;
FatCookies 29:b5b31256572b 259 bool rightSeen;
maximusismax 31:1a06c9e1985e 260
maximusismax 31:1a06c9e1985e 261 //Function which calcuates how far to the left/right of the centre of the track the car is
maximusismax 31:1a06c9e1985e 262 //Takes data from either camera, and passes some variables by reference, which will hold
maximusismax 31:1a06c9e1985e 263 //the indices holding the locations of the left and right edges of the track
FatCookies 17:6ae90788cc2b 264 inline float findCentreValue(volatile uint16_t * cam_data, uint8_t &l, uint8_t &r) {
FatCookies 17:6ae90788cc2b 265
maximusismax 31:1a06c9e1985e 266 diff = 0; //Holds difference in intensity between consecutive pixels
maximusismax 31:1a06c9e1985e 267 prev = -1; //Holds index of last inspected pixel
FatCookies 29:b5b31256572b 268
maximusismax 31:1a06c9e1985e 269 //Used for crossroads navigation, holds info on which edges of the track are observed
FatCookies 29:b5b31256572b 270 leftSeen = false;
FatCookies 29:b5b31256572b 271 rightSeen = false;
maximusismax 31:1a06c9e1985e 272
maximusismax 31:1a06c9e1985e 273 //Starting in the middle index, step left, inspecting the the edge of the track
oj3g13 34:3de7a19ccea3 274 for(i = 63; i > 2; i--) {
oj3g13 26:f3d770f3eda1 275 curr_left = (uint8_t)(cam_data[i] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 276 diff = prev - curr_left;
maximusismax 31:1a06c9e1985e 277 //Check incorporates a combination of looking at the difference in intensities
maximusismax 31:1a06c9e1985e 278 //and whether the pixels intensity is less than a threshold, corresponding to the black edge
FatCookies 17:6ae90788cc2b 279 if(abs(diff) >= CAM_DIFF && curr_left <= CAM_THRESHOLD && prev != -1) {
maximusismax 31:1a06c9e1985e 280 l = i; //Record the index where the edge is observed
FatCookies 29:b5b31256572b 281 leftSeen = true;
FatCookies 17:6ae90788cc2b 282 break;
FatCookies 17:6ae90788cc2b 283 }
maximusismax 31:1a06c9e1985e 284 prev = curr_left; //Update previous value for the loop
FatCookies 17:6ae90788cc2b 285 }
maximusismax 8:7c5e6b1e7aa5 286
FatCookies 17:6ae90788cc2b 287 prev = -1;
maximusismax 31:1a06c9e1985e 288 //As before, start in the middle but this time step rightwards in the image
oj3g13 34:3de7a19ccea3 289 for(i = 64; i < 126; i++) {
oj3g13 26:f3d770f3eda1 290 curr_right = (uint8_t)(cam_data[i] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 291 int diff = prev - curr_right;
FatCookies 17:6ae90788cc2b 292 if(abs(diff) >= CAM_DIFF && curr_right <= CAM_THRESHOLD && prev != -1) {
FatCookies 17:6ae90788cc2b 293 r = i;
FatCookies 29:b5b31256572b 294 rightSeen = true;
FatCookies 17:6ae90788cc2b 295 break;
FatCookies 17:6ae90788cc2b 296 }
FatCookies 17:6ae90788cc2b 297 prev = curr_right;
FatCookies 17:6ae90788cc2b 298 }
FatCookies 17:6ae90788cc2b 299
maximusismax 31:1a06c9e1985e 300 //If both edges are not visible, we are likely in a crossroads
FatCookies 29:b5b31256572b 301 if(!rightSeen && !leftSeen) {
FatCookies 43:649473c5a12b 302 #if USE_COMMS
FatCookies 43:649473c5a12b 303 sendString("lost edges");
FatCookies 43:649473c5a12b 304 #endif
maximusismax 31:1a06c9e1985e 305 ALIGN_SERVO; //Straighten wheels so we go straight through the crossroads
maximusismax 31:1a06c9e1985e 306 servo_pid.integral = 0;
oj3g13 34:3de7a19ccea3 307 l=0;r=128;
FatCookies 29:b5b31256572b 308 }
FatCookies 29:b5b31256572b 309
maximusismax 31:1a06c9e1985e 310 //Calculate how left/right from the centre line we are
FatCookies 17:6ae90788cc2b 311 return (64 - ((l+r)/2))/64.f;
FatCookies 13:4e77264f254a 312 }
FatCookies 13:4e77264f254a 313
maximusismax 31:1a06c9e1985e 314 //Unused function currently
maximusismax 31:1a06c9e1985e 315 //Was used to establish whether we are in a corner, by inspecting a buffer of
maximusismax 31:1a06c9e1985e 316 //centre line values
FatCookies 17:6ae90788cc2b 317 inline void handleCornering() {
FatCookies 12:da96e2f87465 318
maximusismax 31:1a06c9e1985e 319 //Get current value of how left/right of centre line we are on the track
FatCookies 17:6ae90788cc2b 320 float lookaheadMeasuredValue = findCentreValue(LOOKAHEAD_CAMERA, farLeft, farRight);
FatCookies 15:ccde02f96449 321
FatCookies 13:4e77264f254a 322 measuredValBuffer[frame_counter % 64] = servo_pid.measured_value;
FatCookies 13:4e77264f254a 323
FatCookies 13:4e77264f254a 324 int count = 0;
FatCookies 13:4e77264f254a 325 for(i = 0; i < 10; i++) {
maximusismax 31:1a06c9e1985e 326 //Step through the buffer, using modulus operator
FatCookies 13:4e77264f254a 327 float val = abs(measuredValBuffer[(frame_counter - i) % 64]);
maximusismax 31:1a06c9e1985e 328 if(val > 0.09) { //If the value exceeds a certain value (obtained experimentally), we are in a corner
FatCookies 13:4e77264f254a 329 count++;
FatCookies 13:4e77264f254a 330 }
FatCookies 13:4e77264f254a 331 }
FatCookies 12:da96e2f87465 332
FatCookies 29:b5b31256572b 333 /*if(!turning && abs(lookaheadMeasuredValue) > 0.11f){
FatCookies 15:ccde02f96449 334 TFC_SetMotorPWM(0.4,0.4);
FatCookies 15:ccde02f96449 335 }
FatCookies 29:b5b31256572b 336 */
FatCookies 15:ccde02f96449 337
FatCookies 29:b5b31256572b 338 if(false) {
lh14g13 18:0095a3a8f8e4 339
lh14g13 18:0095a3a8f8e4 340 //default
lh14g13 18:0095a3a8f8e4 341 //TFC_SetMotorPWM(0.4,0.4);
lh14g13 18:0095a3a8f8e4 342
lh14g13 19:65f0b6febc23 343 //dutyCycleCorner(speed,servo_pid.output);
lh14g13 18:0095a3a8f8e4 344
lh14g13 32:6829684f8c4d 345
lh14g13 18:0095a3a8f8e4 346 //dutyCycleCorner(float cornerspeed, servo_pid.output);
lh14g13 18:0095a3a8f8e4 347 //dutyCycleCorner(speed, servo_pid.output);
lh14g13 32:6829684f8c4d 348 // This activates the electronic differential so that it runs whilst cornering.
lh14g13 32:6829684f8c4d 349 // this changes the desired desired speed of each of the wheels according to the angle of the servo.
lh14g13 39:7b28ee39185d 350 sensorCorner(left_motor_pid.desired_value, right_motor_pid.desired_value , servo_pid.output, speed,ed_tune);
FatCookies 14:13085e161dd1 351 }
FatCookies 14:13085e161dd1 352
FatCookies 29:b5b31256572b 353 /*
FatCookies 13:4e77264f254a 354 if(abs(servo_pid.measured_value) > 0.11f){
FatCookies 15:ccde02f96449 355 if(!turning) {
FatCookies 13:4e77264f254a 356 turning = 1;
FatCookies 13:4e77264f254a 357 } else {
FatCookies 13:4e77264f254a 358 turning++;
FatCookies 13:4e77264f254a 359 }
FatCookies 13:4e77264f254a 360
FatCookies 13:4e77264f254a 361 } else {
FatCookies 13:4e77264f254a 362 if(turning) {
FatCookies 13:4e77264f254a 363 if(keepTurning == 0 || count > 6) {
FatCookies 13:4e77264f254a 364 keepTurning++;
FatCookies 13:4e77264f254a 365 } else {
FatCookies 15:ccde02f96449 366 //sendString("stop turning turned=%d",turning);
FatCookies 13:4e77264f254a 367 keepTurning = 0;
lh14g13 33:0fc789c09694 368 turning = 0;
lh14g13 33:0fc789c09694 369 left_motor_pid.desired_value=speed;
lh14g13 33:0fc789c09694 370 right_motot_pid.desired_value=speed;
FatCookies 13:4e77264f254a 371 TFC_SetMotorPWM(speed,speed);
FatCookies 13:4e77264f254a 372 }
FatCookies 13:4e77264f254a 373
FatCookies 13:4e77264f254a 374 }
FatCookies 13:4e77264f254a 375 }
FatCookies 29:b5b31256572b 376 */
FatCookies 13:4e77264f254a 377
maximusismax 8:7c5e6b1e7aa5 378 }
maximusismax 8:7c5e6b1e7aa5 379
maximusismax 31:1a06c9e1985e 380 //Unused function currently
maximusismax 31:1a06c9e1985e 381 //Was used to estimate whether the stop marker was seen
FatCookies 17:6ae90788cc2b 382 inline float getLineEntropy() {
FatCookies 17:6ae90788cc2b 383 float entropy = 0;
FatCookies 17:6ae90788cc2b 384 float last = (int8_t)(CLOSE_CAMERA[0] >> 4) & 0xFF;
FatCookies 17:6ae90788cc2b 385 for(int i = 1; i < 128; i++) {
FatCookies 17:6ae90788cc2b 386 entropy += abs(last - ((int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF));
FatCookies 17:6ae90788cc2b 387 }
FatCookies 17:6ae90788cc2b 388 return entropy;
FatCookies 17:6ae90788cc2b 389 }
FatCookies 17:6ae90788cc2b 390
FatCookies 17:6ae90788cc2b 391 void handlePID(pid_instance *pid) {
FatCookies 17:6ae90788cc2b 392 pid->dt = t.read();
FatCookies 17:6ae90788cc2b 393 pid->pid_error = pid->desired_value - pid->measured_value;
FatCookies 17:6ae90788cc2b 394 pid->integral = pid->integral + pid->pid_error * pid->dt;
FatCookies 17:6ae90788cc2b 395 pid->derivative = (pid->pid_error - pid->p_error) / pid->dt;
FatCookies 17:6ae90788cc2b 396 pid->output = pid->Kp * pid->pid_error + pid->Ki * pid->integral + pid->Kd * pid->derivative;
FatCookies 17:6ae90788cc2b 397 pid->p_error = pid->pid_error;
FatCookies 17:6ae90788cc2b 398
FatCookies 17:6ae90788cc2b 399 if(pid->integral > 1.0f) {
maximusismax 31:1a06c9e1985e 400 pid->integral = 1.0f;
FatCookies 17:6ae90788cc2b 401 }
FatCookies 27:627d67e3b9b0 402 if(pid->integral < -1.0f ) {
FatCookies 17:6ae90788cc2b 403 pid->integral = -1.0f;
FatCookies 17:6ae90788cc2b 404 }
FatCookies 17:6ae90788cc2b 405 }
FatCookies 17:6ae90788cc2b 406
lh14g13 19:65f0b6febc23 407
FatCookies 17:6ae90788cc2b 408 inline void PIDController() {
FatCookies 27:627d67e3b9b0 409 // update motor measurements
lh14g13 19:65f0b6febc23 410 // Read the angular velocity of both wheels
FatCookies 27:627d67e3b9b0 411
FatCookies 27:627d67e3b9b0 412 prevL = wL;
FatCookies 27:627d67e3b9b0 413 prevR = wR;
FatCookies 27:627d67e3b9b0 414
lh14g13 19:65f0b6febc23 415 wL=Get_Speed(Time_L);
lh14g13 19:65f0b6febc23 416 wR=Get_Speed(Time_R);
lh14g13 52:af17b1a330f4 417 if(!torque){
FatCookies 20:ed954836d028 418 // Check if left wheel is slipping/giving an abnormal reading and ignore reading
lh14g13 52:af17b1a330f4 419 if(wL - prevL < 1.2/0.025) { //<3 magic numbers: 48....?
lh14g13 52:af17b1a330f4 420 left_motor_pid.measured_value = wL;
lh14g13 52:af17b1a330f4 421 }
lh14g13 52:af17b1a330f4 422 if(wR - prevR < 1.2/0.025) {
lh14g13 52:af17b1a330f4 423 right_motor_pid.measured_value = wR;
lh14g13 52:af17b1a330f4 424 }
FatCookies 20:ed954836d028 425 }
FatCookies 21:0b69fada7c5f 426
FatCookies 17:6ae90788cc2b 427 //PID Stuff!
FatCookies 17:6ae90788cc2b 428 t.start();
FatCookies 17:6ae90788cc2b 429 handlePID(&servo_pid);
oj3g13 35:e23354abf352 430 //enables the ED
lh14g13 51:6a84fbc404c8 431 //sensorCorner(left_motor_pid.desired_value,right_motor_pid.desired_value, servo_pid.output,speed,ed_tune);
lh14g13 52:af17b1a330f4 432 if(!torque){
lh14g13 52:af17b1a330f4 433 handlePID(&left_motor_pid);
lh14g13 52:af17b1a330f4 434 handlePID(&right_motor_pid);
lh14g13 52:af17b1a330f4 435 }
FatCookies 17:6ae90788cc2b 436 if((-1.0 <= servo_pid.output) && (servo_pid.output <= 1.0))
FatCookies 17:6ae90788cc2b 437 {
FatCookies 17:6ae90788cc2b 438 TFC_SetServo(0, servo_pid.output);
FatCookies 17:6ae90788cc2b 439 }
FatCookies 17:6ae90788cc2b 440 else //Unhappy PID state
FatCookies 17:6ae90788cc2b 441 {
FatCookies 17:6ae90788cc2b 442 //sendString("out = %f p_err = %f", servo_pid.output, servo_pid.p_error);
maximusismax 31:1a06c9e1985e 443 //ALIGN_SERVO;
maximusismax 31:1a06c9e1985e 444 //Could cause the car to be travelling along one side of the track rather than in the middle
FatCookies 17:6ae90788cc2b 445 if(servo_pid.output >= 1.0f) {
FatCookies 17:6ae90788cc2b 446 TFC_SetServo(0, 0.9f);
FatCookies 17:6ae90788cc2b 447 servo_pid.output = 1.0f;
FatCookies 17:6ae90788cc2b 448 } else {
FatCookies 17:6ae90788cc2b 449 TFC_SetServo(0, -0.9f);
FatCookies 17:6ae90788cc2b 450 servo_pid.output = -1.0f;
FatCookies 17:6ae90788cc2b 451 }
FatCookies 17:6ae90788cc2b 452 }
FatCookies 17:6ae90788cc2b 453
lh14g13 42:4395ede5781e 454 // stops the motors from going into reverse and from being set to a value higher than 1.
FatCookies 20:ed954836d028 455 if(left_motor_pid.output > 1.0f) {
FatCookies 20:ed954836d028 456 left_motor_pid.output = 1.0f;
lh14g13 19:65f0b6febc23 457 }
lh14g13 47:6a58dcef714f 458 /*if(left_motor_pid.output > 0.75f) {
lh14g13 46:6806ea59ffed 459 left_motor_pid.output = 0.75f;
lh14g13 47:6a58dcef714f 460 }*/
FatCookies 29:b5b31256572b 461 if(left_motor_pid.output < 0.0f) {
FatCookies 27:627d67e3b9b0 462 left_motor_pid.output = 0.0f;
lh14g13 19:65f0b6febc23 463 }
lh14g13 19:65f0b6febc23 464
FatCookies 20:ed954836d028 465 if(right_motor_pid.output > 1.0f) {
FatCookies 20:ed954836d028 466 right_motor_pid.output = 1.0f;
FatCookies 20:ed954836d028 467 }
lh14g13 46:6806ea59ffed 468
lh14g13 47:6a58dcef714f 469 /*if(right_motor_pid.output > 0.75f) {
lh14g13 46:6806ea59ffed 470 right_motor_pid.output = 0.75f;
lh14g13 47:6a58dcef714f 471 }*/
FatCookies 29:b5b31256572b 472 if(right_motor_pid.output < 0.0f) {
FatCookies 27:627d67e3b9b0 473 right_motor_pid.output = 0.0f;
FatCookies 20:ed954836d028 474 }
lh14g13 51:6a84fbc404c8 475 if(!torque){
FatCookies 20:ed954836d028 476 TFC_SetMotorPWM(left_motor_pid.output,right_motor_pid.output);
lh14g13 51:6a84fbc404c8 477 }
lh14g13 51:6a84fbc404c8 478 else{
lh14g13 52:af17b1a330f4 479 dutyCycleCorner(speed,servo_pid.output,man_tuner);
lh14g13 51:6a84fbc404c8 480 }
FatCookies 17:6ae90788cc2b 481 t.stop();
FatCookies 17:6ae90788cc2b 482 t.reset();
FatCookies 17:6ae90788cc2b 483 t.start();
FatCookies 17:6ae90788cc2b 484 }
FatCookies 17:6ae90788cc2b 485
FatCookies 17:6ae90788cc2b 486 inline void handleStartStop() {
maximusismax 31:1a06c9e1985e 487
maximusismax 31:1a06c9e1985e 488 //Function to detect the NXP cup stop marker
maximusismax 22:973b95478663 489
maximusismax 31:1a06c9e1985e 490 int slower = 0; //Only send a string every few frames
maximusismax 31:1a06c9e1985e 491 int difference = 0; //Holds the difference between intensities of consecutive pixels
oj3g13 26:f3d770f3eda1 492 int lastPixel, currentPixel, transitionsSeen;
maximusismax 22:973b95478663 493 lastPixel = -1;
maximusismax 22:973b95478663 494 transitionsSeen = 0;
maximusismax 31:1a06c9e1985e 495 //Starting near the left edge, step right, counting transitions.
maximusismax 31:1a06c9e1985e 496 //If there are several (exact value varies, best established experimentally), it is the marker
maximusismax 22:973b95478663 497 for(int i = 30; i < 98; i++) {
oj3g13 26:f3d770f3eda1 498 currentPixel = (int)(CLOSE_CAMERA[i] >> 4) & 0xFF;
maximusismax 22:973b95478663 499 difference = lastPixel - currentPixel;
FatCookies 27:627d67e3b9b0 500 if(abs(difference) > 10 && lastPixel != -1){ //transition seen, increment counter
maximusismax 22:973b95478663 501 transitionsSeen++;
oj3g13 26:f3d770f3eda1 502 i+=5;
maximusismax 22:973b95478663 503 }
maximusismax 22:973b95478663 504 lastPixel = currentPixel;
maximusismax 22:973b95478663 505 }
maximusismax 31:1a06c9e1985e 506 //Was used to send an indication that the marker was seen, useful for debugging
FatCookies 45:3435bdd2d487 507 //if (slower % 1000 == `0) {
oj3g13 26:f3d770f3eda1 508 //sendString("Transitions seen: %d", transitionsSeen);
oj3g13 26:f3d770f3eda1 509 //}
maximusismax 31:1a06c9e1985e 510 //slower++;
oj3g13 26:f3d770f3eda1 511 if(transitionsSeen >= 5) {
maximusismax 22:973b95478663 512 //Stop the car!
FatCookies 43:649473c5a12b 513 #if USE_COMMS
FatCookies 45:3435bdd2d487 514 //sendString("Start/stop seen");
FatCookies 45:3435bdd2d487 515 //lapTime();
FatCookies 43:649473c5a12b 516 #endif
oj3g13 26:f3d770f3eda1 517 TFC_SetMotorPWM(0.f,0.f);
oj3g13 26:f3d770f3eda1 518 TFC_HBRIDGE_DISABLE;
FatCookies 43:649473c5a12b 519
oj3g13 26:f3d770f3eda1 520 }
FatCookies 17:6ae90788cc2b 521 }
FatCookies 17:6ae90788cc2b 522
FatCookies 45:3435bdd2d487 523 float checkAcc() {
lh14g13 48:daa2a1900ada 524 return abs(acc.getAccZ());
FatCookies 45:3435bdd2d487 525 }
FatCookies 45:3435bdd2d487 526
FatCookies 17:6ae90788cc2b 527
FatCookies 17:6ae90788cc2b 528 inline void initSpeedSensors() {
FatCookies 17:6ae90788cc2b 529 t1.start();
FatCookies 17:6ae90788cc2b 530 t2.start();
FatCookies 17:6ae90788cc2b 531
FatCookies 17:6ae90788cc2b 532 //Left and Right are defined looking at the rear of the car, in the direction the camera points at.
FatCookies 17:6ae90788cc2b 533 leftHallSensor.rise(&GetTime_L);
FatCookies 17:6ae90788cc2b 534 rightHallSensor.rise(&GetTime_R);
FatCookies 17:6ae90788cc2b 535 }
FatCookies 17:6ae90788cc2b 536
FatCookies 17:6ae90788cc2b 537 void GetTime_L(){
FatCookies 17:6ae90788cc2b 538 Time_L=t1.read_us();
FatCookies 17:6ae90788cc2b 539 t1.reset();
FatCookies 17:6ae90788cc2b 540 }
FatCookies 17:6ae90788cc2b 541
FatCookies 17:6ae90788cc2b 542 void GetTime_R(){
FatCookies 17:6ae90788cc2b 543 Time_R=t2.read_us();
FatCookies 17:6ae90788cc2b 544 t2.reset();
FatCookies 17:6ae90788cc2b 545 }
FatCookies 17:6ae90788cc2b 546
FatCookies 17:6ae90788cc2b 547 #if USE_COMMS
FatCookies 17:6ae90788cc2b 548 void sendBattery() {
FatCookies 17:6ae90788cc2b 549
FatCookies 17:6ae90788cc2b 550 if(frame_counter % 256 == 0) {
FatCookies 17:6ae90788cc2b 551 float level = TFC_ReadBatteryVoltage() * 6.25;
FatCookies 40:10e8e80af7da 552 pc.putc(BATTERY_LEVEL);
FatCookies 43:649473c5a12b 553 writeFloat(level);
FatCookies 17:6ae90788cc2b 554 }
FatCookies 17:6ae90788cc2b 555 }
FatCookies 17:6ae90788cc2b 556
FatCookies 17:6ae90788cc2b 557 void sendString(const char *format, ...) {
FatCookies 17:6ae90788cc2b 558 va_list arg;
FatCookies 17:6ae90788cc2b 559
FatCookies 40:10e8e80af7da 560 pc.putc(STATUS_STRING);
FatCookies 17:6ae90788cc2b 561 va_start (arg, format);
FatCookies 17:6ae90788cc2b 562 pc.vprintf(format,arg);
FatCookies 17:6ae90788cc2b 563 va_end (arg);
FatCookies 17:6ae90788cc2b 564 pc.putc(0);
FatCookies 17:6ae90788cc2b 565 }
FatCookies 17:6ae90788cc2b 566
maximusismax 8:7c5e6b1e7aa5 567 inline void sendImage() {
maximusismax 8:7c5e6b1e7aa5 568 //Only send 1/3 of camera frames to GUI program
maximusismax 8:7c5e6b1e7aa5 569 if((frame_counter % 3) == 0) {
FatCookies 40:10e8e80af7da 570 pc.putc(SEND_LINE);
FatCookies 15:ccde02f96449 571 if(sendCam == 0) {
FatCookies 15:ccde02f96449 572 for(i = 0; i < 128; i++) {
FatCookies 17:6ae90788cc2b 573 pc.putc((int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF);
FatCookies 15:ccde02f96449 574 }
FatCookies 15:ccde02f96449 575 } else {
FatCookies 15:ccde02f96449 576 for(i = 0; i < 128; i++) {
FatCookies 17:6ae90788cc2b 577 pc.putc((int8_t)(LOOKAHEAD_CAMERA[i] >> 4) & 0xFF);
FatCookies 15:ccde02f96449 578 }
FatCookies 15:ccde02f96449 579 }
FatCookies 13:4e77264f254a 580 sendBattery();
FatCookies 13:4e77264f254a 581 }
FatCookies 13:4e77264f254a 582
FatCookies 13:4e77264f254a 583 frame_counter++;
FatCookies 13:4e77264f254a 584 }
FatCookies 13:4e77264f254a 585
FatCookies 13:4e77264f254a 586 inline void sendSpeeds() {
FatCookies 43:649473c5a12b 587 pc.putc(SEND_SPEEDS);
FatCookies 43:649473c5a12b 588 writeFloat(wL * WHEEL_RADIUS);
FatCookies 43:649473c5a12b 589 writeFloat(wR * WHEEL_RADIUS);
FatCookies 43:649473c5a12b 590 }
FatCookies 14:13085e161dd1 591
FatCookies 43:649473c5a12b 592 void writeFloat(float f) {
FatCookies 43:649473c5a12b 593 byte_float_union._float = f;
FatCookies 27:627d67e3b9b0 594 pc.putc(byte_float_union.bytes[0]);
FatCookies 27:627d67e3b9b0 595 pc.putc(byte_float_union.bytes[1]);
FatCookies 27:627d67e3b9b0 596 pc.putc(byte_float_union.bytes[2]);
FatCookies 27:627d67e3b9b0 597 pc.putc(byte_float_union.bytes[3]);
maximusismax 8:7c5e6b1e7aa5 598 }
maximusismax 8:7c5e6b1e7aa5 599
FatCookies 41:d74878640739 600 float readFloat() {
FatCookies 41:d74878640739 601 byte_float_union.bytes[0] = xb.cBuffer->read();
FatCookies 41:d74878640739 602 byte_float_union.bytes[1] = xb.cBuffer->read();
FatCookies 41:d74878640739 603 byte_float_union.bytes[2] = xb.cBuffer->read();
FatCookies 41:d74878640739 604 byte_float_union.bytes[3] = xb.cBuffer->read();
FatCookies 41:d74878640739 605 return byte_float_union._float;
FatCookies 41:d74878640739 606 }
FatCookies 41:d74878640739 607
FatCookies 40:10e8e80af7da 608 // Listen for incoming commands from telemetry program and change car variables
maximusismax 8:7c5e6b1e7aa5 609 inline void handleComms() {
maximusismax 8:7c5e6b1e7aa5 610 if(curr_cmd != 0) {
FatCookies 4:4afa448c9cce 611 switch(curr_cmd) {
FatCookies 40:10e8e80af7da 612 // Change the PID values of the servo controller
FatCookies 40:10e8e80af7da 613 case CHANGE_PID:
FatCookies 20:ed954836d028 614 if(xb.cBuffer->available() >= 12) {
FatCookies 20:ed954836d028 615
FatCookies 41:d74878640739 616 servo_pid.Kp = readFloat();
FatCookies 41:d74878640739 617 servo_pid.Ki = readFloat();
FatCookies 41:d74878640739 618 servo_pid.Kd = readFloat();
FatCookies 20:ed954836d028 619
FatCookies 20:ed954836d028 620 sendString("pid= Kp: %f, Ki: %f, Kd: %f", servo_pid.Kp, servo_pid.Ki, servo_pid.Kd);
maximusismax 8:7c5e6b1e7aa5 621
FatCookies 4:4afa448c9cce 622 curr_cmd = 0;
FatCookies 4:4afa448c9cce 623 }
FatCookies 4:4afa448c9cce 624 break;
FatCookies 4:4afa448c9cce 625
FatCookies 40:10e8e80af7da 626 // Set the maximum speed that the motor controllers should attempt to drive the car to
FatCookies 40:10e8e80af7da 627 case MAX_SPEED:
FatCookies 6:b0e160c51013 628 if(xb.cBuffer->available() >= 1) {
FatCookies 4:4afa448c9cce 629 char a = xb.cBuffer->read();
FatCookies 27:627d67e3b9b0 630 speed = a;
FatCookies 13:4e77264f254a 631 sendString("s = %u %f",a, speed);
FatCookies 4:4afa448c9cce 632 curr_cmd = 0;
FatCookies 29:b5b31256572b 633 right_motor_pid.desired_value=speed;
FatCookies 29:b5b31256572b 634 left_motor_pid.desired_value=speed;
FatCookies 4:4afa448c9cce 635 }
FatCookies 4:4afa448c9cce 636 break;
lh14g13 39:7b28ee39185d 637
FatCookies 40:10e8e80af7da 638 // Change the electronic differential coefficient
FatCookies 40:10e8e80af7da 639 case CHANGE_ED:
lh14g13 39:7b28ee39185d 640 if(xb.cBuffer->available() >= 4) {
FatCookies 41:d74878640739 641 ed_tune = readFloat();
lh14g13 39:7b28ee39185d 642 curr_cmd = 0;
lh14g13 39:7b28ee39185d 643 }
lh14g13 39:7b28ee39185d 644 break;
FatCookies 4:4afa448c9cce 645
FatCookies 4:4afa448c9cce 646 default:
FatCookies 13:4e77264f254a 647 // Unrecognised command
FatCookies 13:4e77264f254a 648 curr_cmd = 0;
FatCookies 4:4afa448c9cce 649 break;
FatCookies 4:4afa448c9cce 650 }
FatCookies 4:4afa448c9cce 651 }
FatCookies 4:4afa448c9cce 652
FatCookies 6:b0e160c51013 653 if(xb.cBuffer->available() > 0 && curr_cmd == 0) {
FatCookies 40:10e8e80af7da 654
FatCookies 4:4afa448c9cce 655 char cmd = xb.cBuffer->read();
FatCookies 40:10e8e80af7da 656
FatCookies 40:10e8e80af7da 657 //Start car the car motors
FatCookies 40:10e8e80af7da 658 if(cmd == START) {
FatCookies 17:6ae90788cc2b 659 ALIGN_SERVO;
FatCookies 21:0b69fada7c5f 660 right_motor_pid.desired_value=speed;
FatCookies 21:0b69fada7c5f 661 left_motor_pid.desired_value=speed;
FatCookies 4:4afa448c9cce 662 TFC_HBRIDGE_ENABLE;
FatCookies 29:b5b31256572b 663
FatCookies 21:0b69fada7c5f 664
FatCookies 12:da96e2f87465 665 servo_pid.integral = 0;
FatCookies 27:627d67e3b9b0 666 lapTimer.start();
lh14g13 18:0095a3a8f8e4 667 lapNo =0;
FatCookies 6:b0e160c51013 668
FatCookies 40:10e8e80af7da 669 // Stop the car motors
FatCookies 40:10e8e80af7da 670 } else if (cmd == STOP) {
FatCookies 4:4afa448c9cce 671 TFC_SetMotorPWM(0.0,0.0);
lh14g13 19:65f0b6febc23 672 right_motor_pid.desired_value=0;
FatCookies 21:0b69fada7c5f 673 right_motor_pid.measured_value = 0;
FatCookies 21:0b69fada7c5f 674 wR = 0;
FatCookies 21:0b69fada7c5f 675 prevR = 0;
FatCookies 21:0b69fada7c5f 676
lh14g13 19:65f0b6febc23 677 left_motor_pid.desired_value=0;
FatCookies 21:0b69fada7c5f 678 left_motor_pid.measured_value = 0;
FatCookies 21:0b69fada7c5f 679 wL = 0;
FatCookies 21:0b69fada7c5f 680 prevL = 0;
FatCookies 21:0b69fada7c5f 681
FatCookies 4:4afa448c9cce 682 TFC_HBRIDGE_DISABLE;
lh14g13 18:0095a3a8f8e4 683 endTest();
FatCookies 40:10e8e80af7da 684
FatCookies 40:10e8e80af7da 685 // Change the PID values of the servo controller
FatCookies 40:10e8e80af7da 686 } else if(cmd == CHANGE_PID) {
FatCookies 40:10e8e80af7da 687 curr_cmd = CHANGE_PID;
FatCookies 40:10e8e80af7da 688
FatCookies 40:10e8e80af7da 689 // Set the maximum speed of the motor controllers
FatCookies 40:10e8e80af7da 690 } else if(cmd == MAX_SPEED) {
FatCookies 40:10e8e80af7da 691 curr_cmd = MAX_SPEED;
FatCookies 40:10e8e80af7da 692
FatCookies 40:10e8e80af7da 693 // Switch the camera data that is sent over telemetry
FatCookies 40:10e8e80af7da 694 } else if(cmd == SWITCH_CAM) {
FatCookies 15:ccde02f96449 695 sendCam = ~sendCam;
FatCookies 40:10e8e80af7da 696
FatCookies 40:10e8e80af7da 697 // Modify the electronic differential coefficient
FatCookies 40:10e8e80af7da 698 } else if(cmd == CHANGE_ED) {
FatCookies 40:10e8e80af7da 699 curr_cmd = CHANGE_ED;
FatCookies 4:4afa448c9cce 700 }
FatCookies 4:4afa448c9cce 701
FatCookies 4:4afa448c9cce 702 }
maximusismax 8:7c5e6b1e7aa5 703 }
lh14g13 18:0095a3a8f8e4 704
lh14g13 18:0095a3a8f8e4 705 float testSpeed(float speed)
lh14g13 18:0095a3a8f8e4 706 {
lh14g13 18:0095a3a8f8e4 707 // search: Speed Increase
lh14g13 18:0095a3a8f8e4 708 // every time the car sees the stop start the speed of the car will increase
lh14g13 18:0095a3a8f8e4 709 // this can occur on stop start trigger.
lh14g13 18:0095a3a8f8e4 710 // may need to send the speed back to the telemetry.
lh14g13 18:0095a3a8f8e4 711 if (speed>0.4)
lh14g13 18:0095a3a8f8e4 712 {
lh14g13 18:0095a3a8f8e4 713 speed+=0.05;
lh14g13 18:0095a3a8f8e4 714 }
lh14g13 18:0095a3a8f8e4 715
lh14g13 18:0095a3a8f8e4 716 else
lh14g13 18:0095a3a8f8e4 717 {
lh14g13 18:0095a3a8f8e4 718 speed+=0.1;
lh14g13 18:0095a3a8f8e4 719
lh14g13 18:0095a3a8f8e4 720 }
lh14g13 18:0095a3a8f8e4 721
lh14g13 18:0095a3a8f8e4 722
lh14g13 18:0095a3a8f8e4 723 sendString("s = %f", speed);
lh14g13 18:0095a3a8f8e4 724 return speed;
lh14g13 18:0095a3a8f8e4 725
lh14g13 18:0095a3a8f8e4 726 }
lh14g13 18:0095a3a8f8e4 727
lh14g13 18:0095a3a8f8e4 728
lh14g13 18:0095a3a8f8e4 729
lh14g13 18:0095a3a8f8e4 730 int lapTime()
lh14g13 19:65f0b6febc23 731 {
lh14g13 18:0095a3a8f8e4 732 // function which sends the lap time back to the telemetry.
lh14g13 32:6829684f8c4d 733 //reads the timer
FatCookies 27:627d67e3b9b0 734 float newTime= lapTimer.read();
lh14g13 18:0095a3a8f8e4 735 lapNo += 1;
lh14g13 18:0095a3a8f8e4 736 float lapTime= newTime-oldTime;
lh14g13 18:0095a3a8f8e4 737 float avgTime= newTime/lapNo;
lh14g13 32:6829684f8c4d 738 // this calulates the average lap time and the lap time.
lh14g13 32:6829684f8c4d 739 //then sends the information back to the UI.
lh14g13 19:65f0b6febc23 740 sendString("For lap number: %d Lap Time: %f Avergae time: %f \n\r", lapNo,lapTime,avgTime);
lh14g13 18:0095a3a8f8e4 741
lh14g13 32:6829684f8c4d 742
lh14g13 18:0095a3a8f8e4 743 return 0;
lh14g13 18:0095a3a8f8e4 744 }
lh14g13 18:0095a3a8f8e4 745
lh14g13 18:0095a3a8f8e4 746
lh14g13 18:0095a3a8f8e4 747 void endTest()
lh14g13 18:0095a3a8f8e4 748 {// 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 749
FatCookies 27:627d67e3b9b0 750 float time= lapTimer.read();
lh14g13 18:0095a3a8f8e4 751
lh14g13 19:65f0b6febc23 752 sendString("Laps done: %d Time elapsed: %f Average time: %f \n\r",lapNo, time,float (time/lapNo));
FatCookies 27:627d67e3b9b0 753 lapTimer.stop();
lh14g13 18:0095a3a8f8e4 754
lh14g13 18:0095a3a8f8e4 755
lh14g13 19:65f0b6febc23 756 }
lh14g13 33:0fc789c09694 757 //motor controll specific(newfunction)
lh14g13 18:0095a3a8f8e4 758
lh14g13 18:0095a3a8f8e4 759
lh14g13 18:0095a3a8f8e4 760
lh14g13 18:0095a3a8f8e4 761
FatCookies 17:6ae90788cc2b 762 #endif