Paclay-Saris pod racers / Mbed 2 deprecated Algo_charges_fictives_4

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Dependencies:   mbed

main.cpp@12:594a1b936f4b, 2019-06-06 (annotated)

Committer:
Mecaru
Date:
Thu Jun 06 12:04:13 2019 +0000
Revision:
12:594a1b936f4b
Parent:
11:e227edfced99
Child:
13:bed77b03701d
Version qui fonctionne mais sans bluetooth

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);
Mecaru 11:e227edfced99 6 //Serial pc(PC_10, PC_11, 115200);
SolalNathan 2:b2ce001ff8f5 7 Serial lidar(PC_6, PC_7, 115200);
SolalNathan 2:b2ce001ff8f5 8
SolalNathan 2:b2ce001ff8f5 9 // Définition des variables globales
Mecaru 12:594a1b936f4b 10 float tableau_distance0[360] = {};
Mecaru 12:594a1b936f4b 11 float tableau_distance1[360] = {};
Mecaru 12:594a1b936f4b 12 uint8_t tableau_en_cours = 0; //tableau en cours de remplissage
Mecaru 12:594a1b936f4b 13 uint8_t flag_fin_tour_lidar=0;
SolalNathan 2:b2ce001ff8f5 14 int compteur_tours_lidar = 0;
Mecaru 6:83dafe088914 15 int affiche_lidar = 0;
Mecaru 11:e227edfced99 16 bool run = false;
SolalNathan 2:b2ce001ff8f5 17
SolalNathan 2:b2ce001ff8f5 18 // Défintion des pwm
SolalNathan 2:b2ce001ff8f5 19 PwmOut pwm_lidar(PB_15); // pwm du Lidar
SolalNathan 2:b2ce001ff8f5 20 PwmOut pwm_moteur(PE_6); // pwm de la propulsion
SolalNathan 2:b2ce001ff8f5 21 PwmOut pwm_direction(PE_5); // pwm de la direction
SolalNathan 2:b2ce001ff8f5 22
SolalNathan 2:b2ce001ff8f5 23 void interrupt_lidar_rx(void);
SolalNathan 0:5d6051eeabfe 24
Mecaru 4:60e7e1c1d1d8 25
SolalNathan 2:b2ce001ff8f5 26 float distance(float x_1, float x_2, float y_1, float y_2)
SolalNathan 2:b2ce001ff8f5 27 {
SolalNathan 2:b2ce001ff8f5 28 // Fonction qui renvoie la distance entre deux points (norme 2)
Mecaru 12:594a1b936f4b 29 float norm2;
SolalNathan 2:b2ce001ff8f5 30 norm2 = sqrt((x_1 - x_2)*(x_1 - x_2) + (y_1 - y_2)*(y_1 - y_2));
SolalNathan 2:b2ce001ff8f5 31 return norm2;
SolalNathan 2:b2ce001ff8f5 32 }
Mecaru 12:594a1b936f4b 33
Mecaru 12:594a1b936f4b 34 void update_direction(float* list_lidar_var, float* vecteur)
SolalNathan 2:b2ce001ff8f5 35 {
Mecaru 11:e227edfced99 36 //pc.printf("Update commence\n\r");
SolalNathan 2:b2ce001ff8f5 37 // Fonction de mise à jour de la direction
SolalNathan 2:b2ce001ff8f5 38 float direction[2];
Mecaru 12:594a1b936f4b 39 int i;
Mecaru 12:594a1b936f4b 40 float list_lidar[360];
Mecaru 12:594a1b936f4b 41 uint8_t liste_fictifs[360];
Mecaru 12:594a1b936f4b 42 for(i=0; i<360; i++) list_lidar[i]=list_lidar_var[i];
Mecaru 12:594a1b936f4b 43
Mecaru 12:594a1b936f4b 44
Mecaru 12:594a1b936f4b 45 direction[0] = 1;
Mecaru 12:594a1b936f4b 46 direction[1] = 0;
SolalNathan 2:b2ce001ff8f5 47 float avg_x, avg_y, sum_inv_dist;
Mecaru 9:a15fc52284ff 48 //list_lidar[180] = 50; // [mm], point fictif qui pousse la voiture
Mecaru 10:c8d93dc5993c 49 //Définition des points fictifs poussant la voiture
Mecaru 12:594a1b936f4b 50
Mecaru 12:594a1b936f4b 51 for (i=0; i<360; i++) {
Mecaru 9:a15fc52284ff 52 liste_fictifs[i] = 0;
Mecaru 12:594a1b936f4b 53 }
Mecaru 12:594a1b936f4b 54 // for (i=135; i<=225; i++) {
Mecaru 12:594a1b936f4b 55 // //for (int i=0; i<180; i++){ //test
Mecaru 12:594a1b936f4b 56 // liste_fictifs[i] = 1;
Mecaru 12:594a1b936f4b 57 // }
Mecaru 12:594a1b936f4b 58 liste_fictifs[180] = 1;
Mecaru 11:e227edfced99 59
SolalNathan 2:b2ce001ff8f5 60 avg_x = 0;
SolalNathan 2:b2ce001ff8f5 61 avg_y = 0;
Mecaru 12:594a1b936f4b 62
SolalNathan 2:b2ce001ff8f5 63 // Calcul de la direction à prende en fonction des charges fictives
Mecaru 12:594a1b936f4b 64 for (i=0; i<360; i++) {
SolalNathan 2:b2ce001ff8f5 65 int theta;
SolalNathan 2:b2ce001ff8f5 66 float r, x, y;
SolalNathan 2:b2ce001ff8f5 67 theta = i;
Mecaru 12:594a1b936f4b 68 if (liste_fictifs[theta] == 1) {
Mecaru 11:e227edfced99 69 r = 50;
Mecaru 12:594a1b936f4b 70 } else {
Mecaru 10:c8d93dc5993c 71 //r = 0; //test
Mecaru 12:594a1b936f4b 72 if(theta != 0) r = list_lidar[360-theta];
Mecaru 12:594a1b936f4b 73 else r = list_lidar[0];
Mecaru 12:594a1b936f4b 74
Mecaru 9:a15fc52284ff 75 }
Mecaru 12:594a1b936f4b 76
Mecaru 12:594a1b936f4b 77 if (r != 0) {
Mecaru 12:594a1b936f4b 78
Mecaru 12:594a1b936f4b 79 //x = 0;
Mecaru 12:594a1b936f4b 80 //y = 0;
Mecaru 12:594a1b936f4b 81 x = r*cosf((float)theta*3.14/180);
Mecaru 12:594a1b936f4b 82 y = r*sinf((float)theta*3.14/180);
Mecaru 12:594a1b936f4b 83 //sum_inv_dist += 1/pow(r, 2);
Mecaru 12:594a1b936f4b 84 //avg_x -= x/pow(r,2);
Mecaru 12:594a1b936f4b 85 //avg_y -= y/pow(r,2);
Mecaru 12:594a1b936f4b 86 float puissance = 2;//0.5*abs(cosf(2*theta)) + 1.5;
Mecaru 12:594a1b936f4b 87 avg_x = avg_x - x/pow(r,puissance);
Mecaru 12:594a1b936f4b 88 avg_y = avg_y - y/pow(r,puissance);
Mecaru 12:594a1b936f4b 89
Mecaru 12:594a1b936f4b 90 //pc.printf("Angle:%i r:%4.2f x:%4.2f y:%4.2f %4.2f %4.2f\n\r", theta, r, x,y, avg_x,avg_y);
SolalNathan 2:b2ce001ff8f5 91 }
Mecaru 12:594a1b936f4b 92 }
Mecaru 12:594a1b936f4b 93
Mecaru 8:2ce9493549e8 94 //avg_x /= sum_inv_dist;
Mecaru 8:2ce9493549e8 95 //avg_y /= sum_inv_dist;
SolalNathan 2:b2ce001ff8f5 96 direction[0] = avg_x;
SolalNathan 2:b2ce001ff8f5 97 direction[1] = avg_y;
Mecaru 11:e227edfced99 98 //pc.printf("Update termine\n\r");
SolalNathan 2:b2ce001ff8f5 99 // mise à jour de la direction
SolalNathan 2:b2ce001ff8f5 100 for(i=0; i<2; i++)
SolalNathan 2:b2ce001ff8f5 101 vecteur[i] = direction[i];
Mecaru 11:e227edfced99 102
SolalNathan 2:b2ce001ff8f5 103 }
Mecaru 12:594a1b936f4b 104
SolalNathan 2:b2ce001ff8f5 105 float angle_servo(float *direction)
SolalNathan 2:b2ce001ff8f5 106 {
SolalNathan 2:b2ce001ff8f5 107 // Calcul basé sur la régression expérimental pour obetenir l'angle
SolalNathan 2:b2ce001ff8f5 108 // le pwm à donner au moteur en fonction de l'angle voulue
Mecaru 12:594a1b936f4b 109
SolalNathan 2:b2ce001ff8f5 110 float angle;
SolalNathan 2:b2ce001ff8f5 111 double pwm;
SolalNathan 2:b2ce001ff8f5 112 float x, y;
SolalNathan 2:b2ce001ff8f5 113 x = direction[0];
SolalNathan 2:b2ce001ff8f5 114 y = direction[1];
SolalNathan 2:b2ce001ff8f5 115 angle = atan(x/y);
Mecaru 3:46ea1b20397d 116 pwm = 14.662756 * angle*180/3.14 + 1453.08; // à refaire
Mecaru 12:594a1b936f4b 117
Mecaru 6:83dafe088914 118 //if (pwm < 1115) printf("trop petit\n\r");
Mecaru 6:83dafe088914 119 //if (pwm > 1625) printf("trop grand\n\r");
Mecaru 9:a15fc52284ff 120 //if (angle > 5*3.14/180){
Mecaru 9:a15fc52284ff 121 // pwm = 1745;
Mecaru 9:a15fc52284ff 122 //}
Mecaru 9:a15fc52284ff 123 //else{
Mecaru 9:a15fc52284ff 124 // if (angle < -5*3.14/180){
Mecaru 9:a15fc52284ff 125 // pwm = 1080;
Mecaru 9:a15fc52284ff 126 // }
Mecaru 9:a15fc52284ff 127 // else{
Mecaru 9:a15fc52284ff 128 // pwm = 1453;
Mecaru 9:a15fc52284ff 129 // }
Mecaru 9:a15fc52284ff 130 //}
Mecaru 12:594a1b936f4b 131
SolalNathan 2:b2ce001ff8f5 132 return pwm;
SolalNathan 2:b2ce001ff8f5 133 }
SolalNathan 0:5d6051eeabfe 134
Mecaru 12:594a1b936f4b 135 void afficher_lidar(float *tableau_distances_var)
Mecaru 4:60e7e1c1d1d8 136 {
Mecaru 4:60e7e1c1d1d8 137 //Affiche les données du lidar dans la liaison série
Mecaru 4:60e7e1c1d1d8 138 int angle;
Mecaru 12:594a1b936f4b 139 float tableau_distances[360];
Mecaru 12:594a1b936f4b 140 for(angle=0; angle<360; angle++) tableau_distances[angle]=tableau_distances_var[angle];
Mecaru 12:594a1b936f4b 141
Mecaru 12:594a1b936f4b 142 for(angle=0; angle<360; angle++) {
Mecaru 7:dc7e66870bd0 143 float distance = tableau_distances[angle];
Mecaru 7:dc7e66870bd0 144 pc.printf("%i,%f\n\r",angle,distance);
Mecaru 12:594a1b936f4b 145 }
Mecaru 4:60e7e1c1d1d8 146 }
Mecaru 4:60e7e1c1d1d8 147
Mecaru 12:594a1b936f4b 148 int main()
Mecaru 12:594a1b936f4b 149 {
Mecaru 12:594a1b936f4b 150
SolalNathan 2:b2ce001ff8f5 151 pc.printf("\r-------------------------\n\r");
Mecaru 12:594a1b936f4b 152
SolalNathan 2:b2ce001ff8f5 153 float dir[2]; // direction
SolalNathan 2:b2ce001ff8f5 154 float pwm_direction_value;
Mecaru 12:594a1b936f4b 155
Mecaru 12:594a1b936f4b 156
SolalNathan 2:b2ce001ff8f5 157 int i;
Mecaru 12:594a1b936f4b 158
Mecaru 7:dc7e66870bd0 159
Mecaru 7:dc7e66870bd0 160
Mecaru 7:dc7e66870bd0 161
Mecaru 7:dc7e66870bd0 162
SolalNathan 2:b2ce001ff8f5 163 // pwm du LIDAR
SolalNathan 2:b2ce001ff8f5 164 pwm_lidar.period_us(40);
Mecaru 5:32434b497a9b 165 pwm_lidar.pulsewidth_us(40); // vitesse fixe
Mecaru 12:594a1b936f4b 166
Mecaru 11:e227edfced99 167 //pwm moteur
SolalNathan 0:5d6051eeabfe 168 pwm_moteur.period_ms(20);
SolalNathan 2:b2ce001ff8f5 169
SolalNathan 2:b2ce001ff8f5 170 // pwm de la direction
SolalNathan 2:b2ce001ff8f5 171 pwm_direction.period_ms(20);
Mecaru 6:83dafe088914 172 pwm_direction.pulsewidth_us(1480); // correspond à un vitesse faible
SolalNathan 2:b2ce001ff8f5 173
SolalNathan 2:b2ce001ff8f5 174 // récupération du premier batch de données (7 bytes) du LIDAR
SolalNathan 2:b2ce001ff8f5 175 lidar.putc(0xA5);
SolalNathan 2:b2ce001ff8f5 176 lidar.putc(0x20);
Mecaru 12:594a1b936f4b 177 for(i=0; i<7; i++)
SolalNathan 2:b2ce001ff8f5 178 lidar.getc();
SolalNathan 2:b2ce001ff8f5 179
SolalNathan 2:b2ce001ff8f5 180 pc.printf("FIN intit \n\r");
SolalNathan 2:b2ce001ff8f5 181
Mecaru 12:594a1b936f4b 182 lidar.attach(&interrupt_lidar_rx, Serial::RxIrq);
Mecaru 12:594a1b936f4b 183
Mecaru 12:594a1b936f4b 184 while (1) {
Mecaru 12:594a1b936f4b 185 //printf("pwm_moteur = %f, pwm_direction = %f", pwm_moteur, pwm_direction);
Mecaru 12:594a1b936f4b 186
Mecaru 12:594a1b936f4b 187 if(pc.readable()) {
Mecaru 12:594a1b936f4b 188 char entree = pc.getc();
Mecaru 12:594a1b936f4b 189 pc.printf("%c \n\r",entree);
Mecaru 12:594a1b936f4b 190 if (entree == 'a') {
Mecaru 12:594a1b936f4b 191 run = true;
Mecaru 12:594a1b936f4b 192 }
Mecaru 12:594a1b936f4b 193 if (entree == 'z') {
Mecaru 12:594a1b936f4b 194 run = false;
Mecaru 12:594a1b936f4b 195 }
Mecaru 11:e227edfced99 196 }
Mecaru 12:594a1b936f4b 197
Mecaru 12:594a1b936f4b 198
Mecaru 12:594a1b936f4b 199 if(1) {
Mecaru 12:594a1b936f4b 200 if(tableau_en_cours == 0)
Mecaru 12:594a1b936f4b 201 afficher_lidar(tableau_distance1);
Mecaru 12:594a1b936f4b 202 else afficher_lidar(tableau_distance0);
Mecaru 12:594a1b936f4b 203
Mecaru 12:594a1b936f4b 204 affiche_lidar = 0;
Mecaru 11:e227edfced99 205 }
Mecaru 12:594a1b936f4b 206
Mecaru 12:594a1b936f4b 207 if(flag_fin_tour_lidar==1) {
Mecaru 12:594a1b936f4b 208 flag_fin_tour_lidar=0;
Mecaru 12:594a1b936f4b 209 if(tableau_en_cours == 0)
Mecaru 12:594a1b936f4b 210 update_direction(tableau_distance1, dir); // mise à jour à la direction
Mecaru 12:594a1b936f4b 211 else update_direction(tableau_distance0, dir); // mise à jour à la direction
Mecaru 12:594a1b936f4b 212 pc.printf("direction,%f,%f\n\r",dir[0],dir[1]);
Mecaru 12:594a1b936f4b 213 pwm_direction_value = angle_servo(dir); // calcul du pwm
Mecaru 12:594a1b936f4b 214 }
Mecaru 12:594a1b936f4b 215
Mecaru 12:594a1b936f4b 216 if (run == true) {
Mecaru 12:594a1b936f4b 217 // vitesse constante
Mecaru 12:594a1b936f4b 218 pwm_moteur.pulsewidth_us(1440);
Mecaru 12:594a1b936f4b 219 pwm_direction.pulsewidth_us(pwm_direction_value); // commande du pwm du moteur
Mecaru 12:594a1b936f4b 220 } else {
Mecaru 12:594a1b936f4b 221 pwm_moteur.pulsewidth_us(1480);
Mecaru 12:594a1b936f4b 222 }
Mecaru 12:594a1b936f4b 223
Mecaru 11:e227edfced99 224 }
Mecaru 11:e227edfced99 225 }
SolalNathan 2:b2ce001ff8f5 226
SolalNathan 2:b2ce001ff8f5 227 void interrupt_lidar_rx(void)
Mecaru 12:594a1b936f4b 228 {
SolalNathan 2:b2ce001ff8f5 229
Mecaru 5:32434b497a9b 230 int SEUIL = 0; // Seuil de qualité
Mecaru 12:594a1b936f4b 231
SolalNathan 2:b2ce001ff8f5 232 static uint8_t data[5],i=0;
SolalNathan 2:b2ce001ff8f5 233 uint16_t Quality;
SolalNathan 2:b2ce001ff8f5 234 uint16_t Angle;
SolalNathan 2:b2ce001ff8f5 235 uint16_t Distance;
SolalNathan 2:b2ce001ff8f5 236 uint16_t Angle_d;
Mecaru 12:594a1b936f4b 237 static uint16_t Angle_d_old=0;
SolalNathan 2:b2ce001ff8f5 238 uint16_t Distance_d;
Mecaru 6:83dafe088914 239 affiche_lidar ++;
SolalNathan 2:b2ce001ff8f5 240 data[i] = lidar.getc();
SolalNathan 2:b2ce001ff8f5 241 i++;
Mecaru 12:594a1b936f4b 242 if(i==5) {
SolalNathan 2:b2ce001ff8f5 243 i=0;
SolalNathan 2:b2ce001ff8f5 244 Quality = data[0] & 0xFC;
SolalNathan 2:b2ce001ff8f5 245 Quality = Quality >> 2;
Mecaru 12:594a1b936f4b 246
SolalNathan 2:b2ce001ff8f5 247 Angle = data[1] & 0xFE;
SolalNathan 2:b2ce001ff8f5 248 Angle = (Angle>>1) | ((uint16_t)data[2] << 7);
Mecaru 12:594a1b936f4b 249
SolalNathan 2:b2ce001ff8f5 250 Distance = data[3];
SolalNathan 2:b2ce001ff8f5 251 Distance = Distance | ((uint16_t)data[4] << 8);
Mecaru 12:594a1b936f4b 252
SolalNathan 2:b2ce001ff8f5 253 Angle_d = Angle/64; // in degree
SolalNathan 2:b2ce001ff8f5 254 Distance_d = Distance>>2; // in mm
SolalNathan 2:b2ce001ff8f5 255
Mecaru 12:594a1b936f4b 256 // On vérifie que l'on écrit pas en dehors du tableau
Mecaru 8:2ce9493549e8 257 //Angle_d = 360 - Angle_d;
SolalNathan 2:b2ce001ff8f5 258 if(Angle_d>359) Angle_d=359;
Mecaru 12:594a1b936f4b 259
Mecaru 12:594a1b936f4b 260 if(Angle < (Angle_d_old - 180)) {
Mecaru 12:594a1b936f4b 261 tableau_en_cours=1-tableau_en_cours;
Mecaru 12:594a1b936f4b 262 flag_fin_tour_lidar=1;
Mecaru 12:594a1b936f4b 263 }
Mecaru 12:594a1b936f4b 264
SolalNathan 2:b2ce001ff8f5 265 if (Quality < SEUIL) {
SolalNathan 2:b2ce001ff8f5 266 // Fiabilisation des données du LIDAR naïve
Mecaru 12:594a1b936f4b 267 if(tableau_en_cours==0)
Mecaru 12:594a1b936f4b 268 tableau_distance0[Angle_d] = tableau_distance0[Angle_d_old];
Mecaru 12:594a1b936f4b 269 else tableau_distance1[Angle_d] = tableau_distance1[Angle_d_old];
Mecaru 12:594a1b936f4b 270 } else if(tableau_en_cours==0)
Mecaru 12:594a1b936f4b 271 tableau_distance0[Angle_d] = Distance_d;
Mecaru 12:594a1b936f4b 272 else tableau_distance1[Angle_d] = Distance_d;
Mecaru 12:594a1b936f4b 273
Mecaru 12:594a1b936f4b 274 Angle_d_old = Angle;
Mecaru 7:dc7e66870bd0 275
Mecaru 7:dc7e66870bd0 276 //tableau_distance[Angle_d] = Distance_d;
SolalNathan 2:b2ce001ff8f5 277 }
SolalNathan 2:b2ce001ff8f5 278 }