PES 2 - Gruppe 1 / Mbed 2 deprecated Robocode_Random

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Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/movement.cpp

Committer:
cittecla
Date:
2017-03-04
Revision:
24:6c2fec64f890
Parent:
23:4ddc4216f335
Child:
25:08ee4525155b

File content as of revision 24:6c2fec64f890:

/**
 * Movement function library
 * Handels Movement of the Robot
**/


#include "mbed.h"
#include "move.h"

static double time_counter = 0.0f;
static double timer0 = 0.0f;
static float PID_correction_value = 1.0f;

static float power_value_slow = 0.6f;
static float power_value_medium = 0.7f;
static float power_value_fast = 0.8f;
static float ludicrous_value = 1.0f;


//motor stuff
DigitalOut enableMotorDriver(PB_2);
PwmOut pwmL(PA_8);
PwmOut pwmR(PA_9);
DigitalIn motorDriverFault(PB_14);
DigitalIn motorDriverWarning(PB_15);

//DigitalOut led(LED1); // Board LED

static int EncoderCounterLeft = 0;
static int EncoderCounterRight = 0;


void move_init()
{
    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
    pwmR.period(0.00005f);

    pwmL.write(0.5f); // Setzt die Duty-Cycle auf 50%
    pwmR.write(0.5f);
    enableMotorDriver = 1;

    EncoderCounterLeft = 0;
    EncoderCounterRight = 0;
    PID_correction_value = 1.0f;
}

void move_forward_slow(float correction_value)
{
    pwmL.write(power_value_slow);
    pwmR.write(1-power_value_slow*correction_value);

}

void move_forward_medium(float correction_value)
{
    pwmL = power_value_medium;
    pwmR = 1-power_value_medium*correction_value;
}

void move_forward_fast(float correction_value)
{
    pwmL = power_value_fast;
    pwmR = 1-power_value_fast*correction_value;
}

void move_backward_slow(float correction_value)
{
    pwmL = 1-power_value_slow*correction_value;
    pwmR = power_value_slow;
}

void move_backward_medium(float correction_value)
{
    pwmL = 1-power_value_slow*correction_value;
    pwmR = power_value_slow;

}

void move_backward_fast(float correction_value)
{
    pwmL = 1-power_value_slow*correction_value;
    pwmR = power_value_slow;
}

void stop_movement()
{
    pwmL = 0.5f;
    pwmR = 0.5f;
}

void highPulseDetectedL()
{
    EncoderCounterLeft += 1;
    //led = 1;
}

void highPulseDetectedR()
{
    EncoderCounterRight +=1;
}

void sync_movement(bool speed, bool direction)
{

    /*   if(EncoderLeftA) {
           led = 1;
       } else {
           led = 0;
       }*/


// PID correction Value calcualtion

    if(EncoderCounterLeft > EncoderCounterRight) {
        PID_correction_value += 0.0001f;

        printf("Left higher");
    } else {
        if(EncoderCounterLeft < EncoderCounterRight) {
            PID_correction_value -= 0.0001f;
            printf("Right higher");
        } else {
            printf("Even");
        }
    }

    /*    if(PID_correction_value < 0.0f) {
            PID_correction_value = 0;
        }
        if(PID_correction_value > 2.0f) {
            PID_correction_value = 2;
        }*/

// Call movement:
// direction 0 = backward, direction 1 = forward
// speed 0 = slow, speed 1 = medium

    if(direction && speed) {
        move_forward_medium(PID_correction_value);
    }
    if(direction && !speed) {
        move_forward_slow(PID_correction_value);
    }
    if(!direction && speed) {
        move_backward_medium(PID_correction_value);
    }
    if(!direction && !speed) {
        move_backward_slow(PID_correction_value);
    }
}

void termiante_sync_movement()
{
    PID_correction_value = 1.0f;
}