Paclay-Saris pod racers / Mbed 2 deprecated Algo_charges_fictives_4

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Dependencies:   mbed

main.cpp@8:2ce9493549e8, 2019-06-04 (annotated)

Committer:
Mecaru
Date:
Tue Jun 04 16:04:52 2019 +0000
Revision:
8:2ce9493549e8
Parent:
7:dc7e66870bd0
Child:
9:a15fc52284ff
Algo fonctionnant

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SolalNathan 0:5d6051eeabfe 1 #include "mbed.h"
SolalNathan 2:b2ce001ff8f5 2 #include <math.h>
SolalNathan 2:b2ce001ff8f5 3
SolalNathan 2:b2ce001ff8f5 4 // Définition des ports séries
Mecaru 7:dc7e66870bd0 5 Serial pc(USBTX, USBRX, 115200);
SolalNathan 2:b2ce001ff8f5 6 Serial lidar(PC_6, PC_7, 115200);
SolalNathan 2:b2ce001ff8f5 7
SolalNathan 2:b2ce001ff8f5 8 // Définition des variables globales
Mecaru 5:32434b497a9b 9 float tableau_distance[360] = {};
SolalNathan 2:b2ce001ff8f5 10 int compteur_tours_lidar = 0;
Mecaru 6:83dafe088914 11 int affiche_lidar = 0;
SolalNathan 2:b2ce001ff8f5 12
SolalNathan 2:b2ce001ff8f5 13 // Défintion des pwm
SolalNathan 2:b2ce001ff8f5 14 PwmOut pwm_lidar(PB_15); // pwm du Lidar
SolalNathan 2:b2ce001ff8f5 15 PwmOut pwm_moteur(PE_6); // pwm de la propulsion
SolalNathan 2:b2ce001ff8f5 16 PwmOut pwm_direction(PE_5); // pwm de la direction
SolalNathan 2:b2ce001ff8f5 17
SolalNathan 2:b2ce001ff8f5 18 void interrupt_lidar_rx(void);
SolalNathan 0:5d6051eeabfe 19
Mecaru 4:60e7e1c1d1d8 20
SolalNathan 2:b2ce001ff8f5 21 float distance(float x_1, float x_2, float y_1, float y_2)
SolalNathan 2:b2ce001ff8f5 22 {
SolalNathan 2:b2ce001ff8f5 23 // Fonction qui renvoie la distance entre deux points (norme 2)
SolalNathan 2:b2ce001ff8f5 24 float norm2;
SolalNathan 2:b2ce001ff8f5 25 norm2 = sqrt((x_1 - x_2)*(x_1 - x_2) + (y_1 - y_2)*(y_1 - y_2));
SolalNathan 2:b2ce001ff8f5 26 return norm2;
SolalNathan 2:b2ce001ff8f5 27 }
SolalNathan 2:b2ce001ff8f5 28
Mecaru 5:32434b497a9b 29 void update_direction(float* list_lidar, float* vecteur)
SolalNathan 2:b2ce001ff8f5 30 {
SolalNathan 2:b2ce001ff8f5 31 // Fonction de mise à jour de la direction
SolalNathan 2:b2ce001ff8f5 32 float direction[2];
SolalNathan 2:b2ce001ff8f5 33 direction[0] = 0;
SolalNathan 2:b2ce001ff8f5 34 direction[1] = 1;
SolalNathan 2:b2ce001ff8f5 35 float avg_x, avg_y, sum_inv_dist;
SolalNathan 2:b2ce001ff8f5 36 list_lidar[180] = 50; // [mm], point fictif qui pousse la voiture
SolalNathan 2:b2ce001ff8f5 37 int i;
SolalNathan 2:b2ce001ff8f5 38 avg_x = 0;
SolalNathan 2:b2ce001ff8f5 39 avg_y = 0;
SolalNathan 2:b2ce001ff8f5 40
SolalNathan 2:b2ce001ff8f5 41 // Calcul de la direction à prende en fonction des charges fictives
Mecaru 8:2ce9493549e8 42 for (i=1; i<361; i++)
SolalNathan 2:b2ce001ff8f5 43 {
SolalNathan 2:b2ce001ff8f5 44 int theta;
SolalNathan 2:b2ce001ff8f5 45 float r, x, y;
SolalNathan 2:b2ce001ff8f5 46 theta = i;
Mecaru 8:2ce9493549e8 47 r = list_lidar[360-theta];
Mecaru 8:2ce9493549e8 48 //theta = 360 - theta;
Mecaru 8:2ce9493549e8 49 //pc.printf("Salut 1\n\r");
Mecaru 8:2ce9493549e8 50 //pc.printf("%f\n\r",r);
Mecaru 8:2ce9493549e8 51 if (r == 0 && theta != 180) break; // non calcul en cas de distance nul (donnée non captée)
Mecaru 8:2ce9493549e8 52 //pc.printf("Salut 2\n\r");
SolalNathan 2:b2ce001ff8f5 53 //x = 0;
SolalNathan 2:b2ce001ff8f5 54 //y = 0;
Mecaru 8:2ce9493549e8 55 x = r*cosf(theta);
Mecaru 8:2ce9493549e8 56 y = r*sinf(theta);
SolalNathan 2:b2ce001ff8f5 57 sum_inv_dist += 1/pow(r, 2);
Mecaru 8:2ce9493549e8 58 avg_x -= x/pow(r,2);
Mecaru 8:2ce9493549e8 59 avg_y -= y/pow(r,2);
SolalNathan 2:b2ce001ff8f5 60 }
SolalNathan 2:b2ce001ff8f5 61
Mecaru 8:2ce9493549e8 62 //avg_x /= sum_inv_dist;
Mecaru 8:2ce9493549e8 63 //avg_y /= sum_inv_dist;
SolalNathan 2:b2ce001ff8f5 64 direction[0] = avg_x;
SolalNathan 2:b2ce001ff8f5 65 direction[1] = avg_y;
SolalNathan 2:b2ce001ff8f5 66
SolalNathan 2:b2ce001ff8f5 67 // mise à jour de la direction
SolalNathan 2:b2ce001ff8f5 68 for(i=0; i<2; i++)
SolalNathan 2:b2ce001ff8f5 69 vecteur[i] = direction[i];
SolalNathan 2:b2ce001ff8f5 70 }
SolalNathan 2:b2ce001ff8f5 71
SolalNathan 2:b2ce001ff8f5 72 float angle_servo(float *direction)
SolalNathan 2:b2ce001ff8f5 73 {
SolalNathan 2:b2ce001ff8f5 74 // Calcul basé sur la régression expérimental pour obetenir l'angle
SolalNathan 2:b2ce001ff8f5 75 // le pwm à donner au moteur en fonction de l'angle voulue
SolalNathan 2:b2ce001ff8f5 76
SolalNathan 2:b2ce001ff8f5 77 float angle;
SolalNathan 2:b2ce001ff8f5 78 double pwm;
SolalNathan 2:b2ce001ff8f5 79 float x, y;
SolalNathan 2:b2ce001ff8f5 80 x = direction[0];
SolalNathan 2:b2ce001ff8f5 81 y = direction[1];
SolalNathan 2:b2ce001ff8f5 82 angle = atan(x/y);
Mecaru 3:46ea1b20397d 83 pwm = 14.662756 * angle*180/3.14 + 1453.08; // à refaire
SolalNathan 2:b2ce001ff8f5 84
Mecaru 6:83dafe088914 85 //if (pwm < 1115) printf("trop petit\n\r");
Mecaru 6:83dafe088914 86 //if (pwm > 1625) printf("trop grand\n\r");
SolalNathan 2:b2ce001ff8f5 87
SolalNathan 2:b2ce001ff8f5 88 return pwm;
SolalNathan 2:b2ce001ff8f5 89 }
SolalNathan 0:5d6051eeabfe 90
Mecaru 5:32434b497a9b 91 void afficher_lidar(float *tableau_distances)
Mecaru 4:60e7e1c1d1d8 92 {
Mecaru 4:60e7e1c1d1d8 93 //Affiche les données du lidar dans la liaison série
Mecaru 4:60e7e1c1d1d8 94 int angle;
Mecaru 4:60e7e1c1d1d8 95 for(angle=0;angle<360;angle++){
Mecaru 7:dc7e66870bd0 96 float distance = tableau_distances[angle];
Mecaru 7:dc7e66870bd0 97 pc.printf("%i,%f\n\r",angle,distance);
Mecaru 7:dc7e66870bd0 98 }
Mecaru 4:60e7e1c1d1d8 99 }
Mecaru 4:60e7e1c1d1d8 100
SolalNathan 0:5d6051eeabfe 101 int main(){
SolalNathan 2:b2ce001ff8f5 102
SolalNathan 2:b2ce001ff8f5 103 pc.printf("\r-------------------------\n\r");
SolalNathan 2:b2ce001ff8f5 104
SolalNathan 2:b2ce001ff8f5 105 float dir[2]; // direction
SolalNathan 2:b2ce001ff8f5 106 float pwm_direction_value;
SolalNathan 2:b2ce001ff8f5 107
SolalNathan 2:b2ce001ff8f5 108
SolalNathan 2:b2ce001ff8f5 109 int i;
Mecaru 7:dc7e66870bd0 110
Mecaru 7:dc7e66870bd0 111
Mecaru 7:dc7e66870bd0 112
Mecaru 7:dc7e66870bd0 113
Mecaru 7:dc7e66870bd0 114
SolalNathan 2:b2ce001ff8f5 115 // pwm du LIDAR
SolalNathan 2:b2ce001ff8f5 116 pwm_lidar.period_us(40);
Mecaru 5:32434b497a9b 117 pwm_lidar.pulsewidth_us(40); // vitesse fixe
SolalNathan 2:b2ce001ff8f5 118
SolalNathan 2:b2ce001ff8f5 119 // pwm du Moteur
SolalNathan 0:5d6051eeabfe 120 pwm_moteur.period_ms(20);
Mecaru 7:dc7e66870bd0 121 pwm_moteur.pulsewidth_us(1440); // correspond à une vitesse nulle
SolalNathan 2:b2ce001ff8f5 122 // Gaspard : 1450, Solal : 1480. Tester les deux
SolalNathan 2:b2ce001ff8f5 123
SolalNathan 2:b2ce001ff8f5 124 // pwm de la direction
SolalNathan 2:b2ce001ff8f5 125 pwm_direction.period_ms(20);
Mecaru 6:83dafe088914 126 pwm_direction.pulsewidth_us(1480); // correspond à un vitesse faible
SolalNathan 2:b2ce001ff8f5 127
SolalNathan 2:b2ce001ff8f5 128 // récupération du premier batch de données (7 bytes) du LIDAR
SolalNathan 2:b2ce001ff8f5 129 lidar.putc(0xA5);
SolalNathan 2:b2ce001ff8f5 130 lidar.putc(0x20);
SolalNathan 2:b2ce001ff8f5 131 for(i=0;i<7;i++)
SolalNathan 2:b2ce001ff8f5 132 lidar.getc();
SolalNathan 2:b2ce001ff8f5 133
SolalNathan 2:b2ce001ff8f5 134 pc.printf("FIN intit \n\r");
SolalNathan 2:b2ce001ff8f5 135
SolalNathan 2:b2ce001ff8f5 136 lidar.attach(&interrupt_lidar_rx, Serial::RxIrq);
SolalNathan 2:b2ce001ff8f5 137
SolalNathan 2:b2ce001ff8f5 138 while (1){
Mecaru 4:60e7e1c1d1d8 139 //printf("pwm_moteur = %f, pwm_direction = %f", pwm_moteur, pwm_direction);
Mecaru 7:dc7e66870bd0 140 if(1){
Mecaru 6:83dafe088914 141 afficher_lidar(tableau_distance);
Mecaru 8:2ce9493549e8 142
Mecaru 8:2ce9493549e8 143
Mecaru 6:83dafe088914 144 affiche_lidar = 0;
Mecaru 6:83dafe088914 145 }
Mecaru 6:83dafe088914 146
Mecaru 4:60e7e1c1d1d8 147
SolalNathan 2:b2ce001ff8f5 148 update_direction(tableau_distance, dir); // mise à jour à la direction
Mecaru 8:2ce9493549e8 149 pc.printf("direction,%f,%f\n\r",dir[0],dir[1]);
SolalNathan 2:b2ce001ff8f5 150 pwm_direction_value = angle_servo(dir); // calcul du pwm
SolalNathan 0:5d6051eeabfe 151
SolalNathan 2:b2ce001ff8f5 152 pwm_direction.pulsewidth_us(pwm_direction_value); // commande du pwm du moteur
SolalNathan 2:b2ce001ff8f5 153 }
SolalNathan 2:b2ce001ff8f5 154
SolalNathan 2:b2ce001ff8f5 155 }
SolalNathan 2:b2ce001ff8f5 156
SolalNathan 2:b2ce001ff8f5 157
SolalNathan 2:b2ce001ff8f5 158 void interrupt_lidar_rx(void)
SolalNathan 2:b2ce001ff8f5 159 {
SolalNathan 2:b2ce001ff8f5 160
Mecaru 5:32434b497a9b 161 int SEUIL = 0; // Seuil de qualité
SolalNathan 0:5d6051eeabfe 162
SolalNathan 2:b2ce001ff8f5 163 static uint8_t data[5],i=0;
SolalNathan 2:b2ce001ff8f5 164 uint16_t Quality;
SolalNathan 2:b2ce001ff8f5 165 uint16_t Angle;
SolalNathan 2:b2ce001ff8f5 166 static uint16_t Angle_old=0;
SolalNathan 2:b2ce001ff8f5 167 uint16_t Distance;
SolalNathan 2:b2ce001ff8f5 168 uint16_t Angle_d;
SolalNathan 2:b2ce001ff8f5 169 uint16_t Distance_d;
Mecaru 6:83dafe088914 170 affiche_lidar ++;
SolalNathan 2:b2ce001ff8f5 171 data[i] = lidar.getc();
SolalNathan 2:b2ce001ff8f5 172 i++;
SolalNathan 2:b2ce001ff8f5 173 if(i==5)
SolalNathan 2:b2ce001ff8f5 174 {
SolalNathan 2:b2ce001ff8f5 175 i=0;
SolalNathan 2:b2ce001ff8f5 176 Quality = data[0] & 0xFC;
SolalNathan 2:b2ce001ff8f5 177 Quality = Quality >> 2;
SolalNathan 2:b2ce001ff8f5 178
SolalNathan 2:b2ce001ff8f5 179 Angle = data[1] & 0xFE;
SolalNathan 2:b2ce001ff8f5 180 Angle = (Angle>>1) | ((uint16_t)data[2] << 7);
SolalNathan 2:b2ce001ff8f5 181
SolalNathan 2:b2ce001ff8f5 182 Distance = data[3];
SolalNathan 2:b2ce001ff8f5 183 Distance = Distance | ((uint16_t)data[4] << 8);
SolalNathan 2:b2ce001ff8f5 184
SolalNathan 2:b2ce001ff8f5 185 Angle_d = Angle/64; // in degree
SolalNathan 2:b2ce001ff8f5 186 Distance_d = Distance>>2; // in mm
SolalNathan 2:b2ce001ff8f5 187
SolalNathan 2:b2ce001ff8f5 188 // On vérifie que l'on écrit pas en dehors du tableau
Mecaru 8:2ce9493549e8 189 //Angle_d = 360 - Angle_d;
SolalNathan 2:b2ce001ff8f5 190 if(Angle_d>359) Angle_d=359;
SolalNathan 2:b2ce001ff8f5 191 if(Angle_d<0) Angle_d=0;
Mecaru 7:dc7e66870bd0 192
SolalNathan 2:b2ce001ff8f5 193 if (Quality < SEUIL) {
SolalNathan 2:b2ce001ff8f5 194 // Fiabilisation des données du LIDAR naïve
SolalNathan 2:b2ce001ff8f5 195 tableau_distance[Angle_d] = tableau_distance[Angle_d - 1];
SolalNathan 2:b2ce001ff8f5 196 }
SolalNathan 2:b2ce001ff8f5 197 else
SolalNathan 2:b2ce001ff8f5 198 tableau_distance[Angle_d] = Distance_d;
Mecaru 7:dc7e66870bd0 199
Mecaru 7:dc7e66870bd0 200 //tableau_distance[Angle_d] = Distance_d;
SolalNathan 2:b2ce001ff8f5 201 }
SolalNathan 2:b2ce001ff8f5 202 }