Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmLibrary by
sensors.cpp@0:d6269d17c8cf, 2016-02-04 (annotated)
- Committer:
- jah128
- Date:
- Thu Feb 04 21:48:54 2016 +0000
- Revision:
- 0:d6269d17c8cf
- Child:
- 1:060690a934a9
PsiSwarm Library Version 0.4 - Initial Commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Source File |
jah128 | 0:d6269d17c8cf | 2 | * |
jah128 | 0:d6269d17c8cf | 3 | * File: sensors.cpp |
jah128 | 0:d6269d17c8cf | 4 | * |
jah128 | 0:d6269d17c8cf | 5 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 6 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 7 | * |
jah128 | 0:d6269d17c8cf | 8 | * PsiSwarm Library Version: 0.4 |
jah128 | 0:d6269d17c8cf | 9 | * |
jah128 | 0:d6269d17c8cf | 10 | * February 2016 |
jah128 | 0:d6269d17c8cf | 11 | * |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | */ |
jah128 | 0:d6269d17c8cf | 14 | |
jah128 | 0:d6269d17c8cf | 15 | #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 16 | |
jah128 | 0:d6269d17c8cf | 17 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 18 | // Ultrasonic Sensor (SRF02) Functions |
jah128 | 0:d6269d17c8cf | 19 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 20 | |
jah128 | 0:d6269d17c8cf | 21 | // The ultrasonic sensor needs a start command to be sent: this is done by calling update_ultrasonic_measure(). |
jah128 | 0:d6269d17c8cf | 22 | // It can be set to automatically refresh at 10Hz by called enable_ultrasonic_ticker and disable with disabled_ultrasonic_ticker |
jah128 | 0:d6269d17c8cf | 23 | |
jah128 | 0:d6269d17c8cf | 24 | void enable_ultrasonic_ticker(){ |
jah128 | 0:d6269d17c8cf | 25 | ultrasonic_ticker.attach_us(update_ultrasonic_measure,100000); |
jah128 | 0:d6269d17c8cf | 26 | } |
jah128 | 0:d6269d17c8cf | 27 | |
jah128 | 0:d6269d17c8cf | 28 | void disable_ultrasonic_ticker(){ |
jah128 | 0:d6269d17c8cf | 29 | ultrasonic_ticker.detach(); |
jah128 | 0:d6269d17c8cf | 30 | } |
jah128 | 0:d6269d17c8cf | 31 | |
jah128 | 0:d6269d17c8cf | 32 | void update_ultrasonic_measure(){ |
jah128 | 0:d6269d17c8cf | 33 | if(waiting_for_ultrasonic == 0){ |
jah128 | 0:d6269d17c8cf | 34 | waiting_for_ultrasonic = 1; |
jah128 | 0:d6269d17c8cf | 35 | |
jah128 | 0:d6269d17c8cf | 36 | char command[2]; |
jah128 | 0:d6269d17c8cf | 37 | command[0] = 0x00; // Set the command register |
jah128 | 0:d6269d17c8cf | 38 | command[1] = 0x51; // Get result is centimeters |
jah128 | 0:d6269d17c8cf | 39 | primary_i2c.write(ULTRASONIC_ADDRESS, command, 2); // Send the command to start a ranging burst |
jah128 | 0:d6269d17c8cf | 40 | |
jah128 | 0:d6269d17c8cf | 41 | ultrasonic_timeout.attach_us(IF_read_ultrasonic_measure,70000); |
jah128 | 0:d6269d17c8cf | 42 | }else{ |
jah128 | 0:d6269d17c8cf | 43 | debug("WARNING: Ultrasonic sensor called too frequently.\n"); |
jah128 | 0:d6269d17c8cf | 44 | } |
jah128 | 0:d6269d17c8cf | 45 | } |
jah128 | 0:d6269d17c8cf | 46 | |
jah128 | 0:d6269d17c8cf | 47 | void IF_read_ultrasonic_measure(){ |
jah128 | 0:d6269d17c8cf | 48 | char command[1]; |
jah128 | 0:d6269d17c8cf | 49 | char result[2]; |
jah128 | 0:d6269d17c8cf | 50 | command[0] = 0x02; // The start address of measure result |
jah128 | 0:d6269d17c8cf | 51 | primary_i2c.write(ULTRASONIC_ADDRESS, command, 1, 1); // Send address to read a measure |
jah128 | 0:d6269d17c8cf | 52 | primary_i2c.read(ULTRASONIC_ADDRESS, result, 2); // Read two byte of measure |
jah128 | 0:d6269d17c8cf | 53 | ultrasonic_distance = (result[0]<<8)+result[1]; |
jah128 | 0:d6269d17c8cf | 54 | ultrasonic_distance_updated = 1; |
jah128 | 0:d6269d17c8cf | 55 | waiting_for_ultrasonic = 0; |
jah128 | 0:d6269d17c8cf | 56 | debug("US:%d cm\n",ultrasonic_distance); |
jah128 | 0:d6269d17c8cf | 57 | } |
jah128 | 0:d6269d17c8cf | 58 | |
jah128 | 0:d6269d17c8cf | 59 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 60 | // Additional Sensing Functions |
jah128 | 0:d6269d17c8cf | 61 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 62 | |
jah128 | 0:d6269d17c8cf | 63 | float get_temperature(){ |
jah128 | 0:d6269d17c8cf | 64 | return IF_read_from_temperature_sensor(); |
jah128 | 0:d6269d17c8cf | 65 | } |
jah128 | 0:d6269d17c8cf | 66 | |
jah128 | 0:d6269d17c8cf | 67 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 68 | // Voltage Sensing Functions |
jah128 | 0:d6269d17c8cf | 69 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 70 | |
jah128 | 0:d6269d17c8cf | 71 | float get_battery_voltage (){ |
jah128 | 0:d6269d17c8cf | 72 | float raw_value = vin_battery.read(); |
jah128 | 0:d6269d17c8cf | 73 | return raw_value * 4.95; |
jah128 | 0:d6269d17c8cf | 74 | } |
jah128 | 0:d6269d17c8cf | 75 | |
jah128 | 0:d6269d17c8cf | 76 | float get_current (){ |
jah128 | 0:d6269d17c8cf | 77 | // Device uses a INA211 current sense monitor measuring voltage drop across a 2mOhm resistor |
jah128 | 0:d6269d17c8cf | 78 | // Device gain = 500 |
jah128 | 0:d6269d17c8cf | 79 | float raw_value = vin_current.read(); |
jah128 | 0:d6269d17c8cf | 80 | return raw_value * 3.3; |
jah128 | 0:d6269d17c8cf | 81 | } |
jah128 | 0:d6269d17c8cf | 82 | |
jah128 | 0:d6269d17c8cf | 83 | float get_dc_voltage (){ |
jah128 | 0:d6269d17c8cf | 84 | float raw_value = vin_dc.read(); |
jah128 | 0:d6269d17c8cf | 85 | return raw_value * 6.6; |
jah128 | 0:d6269d17c8cf | 86 | } |
jah128 | 0:d6269d17c8cf | 87 | |
jah128 | 0:d6269d17c8cf | 88 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 89 | // IR Sensor Functions |
jah128 | 0:d6269d17c8cf | 90 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:d6269d17c8cf | 91 | |
jah128 | 0:d6269d17c8cf | 92 | // Estimates the distance to an obstacle from one of the IR sensors, defined by index (range 0-7). |
jah128 | 0:d6269d17c8cf | 93 | // The value is converted to an approximate distance in millimetres, or 100.0 if no obstacle found. |
jah128 | 0:d6269d17c8cf | 94 | // NB This function is preserved for code-compatability and cases where only a single reading is needed |
jah128 | 0:d6269d17c8cf | 95 | // In many cases it is preferable to call store_reflected_ir_distances() to save all 8 values then read using get_reflected_ir_distance() |
jah128 | 0:d6269d17c8cf | 96 | float read_reflected_ir_distance ( char index ){ |
jah128 | 0:d6269d17c8cf | 97 | // Sanity check |
jah128 | 0:d6269d17c8cf | 98 | if(index>7) return 0.0; |
jah128 | 0:d6269d17c8cf | 99 | |
jah128 | 0:d6269d17c8cf | 100 | //1. Read the ADC value without IR emitter on; store in the background_ir_values[] array |
jah128 | 0:d6269d17c8cf | 101 | background_ir_values [index] = IF_read_IR_adc_value(1, index ); |
jah128 | 0:d6269d17c8cf | 102 | |
jah128 | 0:d6269d17c8cf | 103 | //2. Enable the relevant IR emitter by turning on its pulse output |
jah128 | 0:d6269d17c8cf | 104 | switch(index){ |
jah128 | 0:d6269d17c8cf | 105 | case 0: case 1: case 6: case 7: |
jah128 | 0:d6269d17c8cf | 106 | IF_set_IR_emitter_output(0, 1); |
jah128 | 0:d6269d17c8cf | 107 | break; |
jah128 | 0:d6269d17c8cf | 108 | case 2: case 3: case 4: case 5: |
jah128 | 0:d6269d17c8cf | 109 | IF_set_IR_emitter_output(1, 1); |
jah128 | 0:d6269d17c8cf | 110 | break; |
jah128 | 0:d6269d17c8cf | 111 | } |
jah128 | 0:d6269d17c8cf | 112 | wait_us(ir_pulse_delay); |
jah128 | 0:d6269d17c8cf | 113 | |
jah128 | 0:d6269d17c8cf | 114 | //3. Read the ADC value now IR emitter is on; store in the illuminated_ir_values[] array |
jah128 | 0:d6269d17c8cf | 115 | illuminated_ir_values [index] = IF_read_IR_adc_value (1, index ); |
jah128 | 0:d6269d17c8cf | 116 | |
jah128 | 0:d6269d17c8cf | 117 | //4. Turn off IR emitter |
jah128 | 0:d6269d17c8cf | 118 | switch(index){ |
jah128 | 0:d6269d17c8cf | 119 | case 0: case 1: case 6: case 7: |
jah128 | 0:d6269d17c8cf | 120 | IF_set_IR_emitter_output(0, 0); |
jah128 | 0:d6269d17c8cf | 121 | break; |
jah128 | 0:d6269d17c8cf | 122 | case 2: case 3: case 4: case 5: |
jah128 | 0:d6269d17c8cf | 123 | IF_set_IR_emitter_output(1, 0); |
jah128 | 0:d6269d17c8cf | 124 | break; |
jah128 | 0:d6269d17c8cf | 125 | } |
jah128 | 0:d6269d17c8cf | 126 | |
jah128 | 0:d6269d17c8cf | 127 | //5. Estimate distance based on 2 values using calculate_reflected_distances(); store in reflected_ir_distances() |
jah128 | 0:d6269d17c8cf | 128 | reflected_ir_distances [index] = calculate_reflected_distance( background_ir_values [index], illuminated_ir_values [index]); |
jah128 | 0:d6269d17c8cf | 129 | ir_values_stored = 1; |
jah128 | 0:d6269d17c8cf | 130 | return reflected_ir_distances [index]; |
jah128 | 0:d6269d17c8cf | 131 | } |
jah128 | 0:d6269d17c8cf | 132 | |
jah128 | 0:d6269d17c8cf | 133 | |
jah128 | 0:d6269d17c8cf | 134 | // Returns the stored value of the reflected obstacle based on last call of either read_reflected_ir_distance or store_reflected_distances |
jah128 | 0:d6269d17c8cf | 135 | float get_reflected_ir_distance ( char index ){ |
jah128 | 0:d6269d17c8cf | 136 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 137 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 0:d6269d17c8cf | 138 | return reflected_ir_distances[index]; |
jah128 | 0:d6269d17c8cf | 139 | } |
jah128 | 0:d6269d17c8cf | 140 | |
jah128 | 0:d6269d17c8cf | 141 | // Returns the stored value of the non-illuminated sensor based on last call of store_background_raw_ir_values |
jah128 | 0:d6269d17c8cf | 142 | unsigned short get_background_raw_ir_value ( char index ){ |
jah128 | 0:d6269d17c8cf | 143 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 144 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 0:d6269d17c8cf | 145 | return background_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 146 | } |
jah128 | 0:d6269d17c8cf | 147 | |
jah128 | 0:d6269d17c8cf | 148 | // Returns the stored value of the illuminated sensor based on last call of store_illuminated_raw_ir_values |
jah128 | 0:d6269d17c8cf | 149 | unsigned short get_illuminated_raw_ir_value ( char index ){ |
jah128 | 0:d6269d17c8cf | 150 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 151 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 0:d6269d17c8cf | 152 | return illuminated_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 153 | } |
jah128 | 0:d6269d17c8cf | 154 | |
jah128 | 0:d6269d17c8cf | 155 | // Stores the reflected distances for all 8 IR sensors |
jah128 | 0:d6269d17c8cf | 156 | void store_reflected_ir_distances ( void ){ |
jah128 | 0:d6269d17c8cf | 157 | store_ir_values(); |
jah128 | 0:d6269d17c8cf | 158 | for(int i=0;i<8;i++){ |
jah128 | 0:d6269d17c8cf | 159 | reflected_ir_distances [i] = calculate_reflected_distance( background_ir_values [i], illuminated_ir_values [i]); |
jah128 | 0:d6269d17c8cf | 160 | } |
jah128 | 0:d6269d17c8cf | 161 | } |
jah128 | 0:d6269d17c8cf | 162 | |
jah128 | 0:d6269d17c8cf | 163 | // Stores the rbackground and illuminated values for all 8 IR sensors |
jah128 | 0:d6269d17c8cf | 164 | void store_ir_values ( void ){ |
jah128 | 0:d6269d17c8cf | 165 | store_background_raw_ir_values(); |
jah128 | 0:d6269d17c8cf | 166 | store_illuminated_raw_ir_values(); |
jah128 | 0:d6269d17c8cf | 167 | } |
jah128 | 0:d6269d17c8cf | 168 | |
jah128 | 0:d6269d17c8cf | 169 | // Stores the raw ADC values for all 8 IR sensors without enabling IR emitters |
jah128 | 0:d6269d17c8cf | 170 | void store_background_raw_ir_values ( void ){ |
jah128 | 0:d6269d17c8cf | 171 | ir_values_stored = 1; |
jah128 | 0:d6269d17c8cf | 172 | for(int i=0;i<8;i++){ |
jah128 | 0:d6269d17c8cf | 173 | background_ir_values [i] = IF_read_IR_adc_value(1,i); |
jah128 | 0:d6269d17c8cf | 174 | } |
jah128 | 0:d6269d17c8cf | 175 | } |
jah128 | 0:d6269d17c8cf | 176 | |
jah128 | 0:d6269d17c8cf | 177 | // Stores the raw ADC values for all 8 IR sensors with a 500us emitter pulse |
jah128 | 0:d6269d17c8cf | 178 | void store_illuminated_raw_ir_values ( void ){ |
jah128 | 0:d6269d17c8cf | 179 | //1. Enable the front IR emitters and store the values |
jah128 | 0:d6269d17c8cf | 180 | IF_set_IR_emitter_output(0, 1); |
jah128 | 0:d6269d17c8cf | 181 | wait_us(ir_pulse_delay); |
jah128 | 0:d6269d17c8cf | 182 | illuminated_ir_values [0] = IF_read_IR_adc_value(1,0); |
jah128 | 0:d6269d17c8cf | 183 | illuminated_ir_values [1] = IF_read_IR_adc_value(1,1); |
jah128 | 0:d6269d17c8cf | 184 | illuminated_ir_values [6] = IF_read_IR_adc_value(1,6); |
jah128 | 0:d6269d17c8cf | 185 | illuminated_ir_values [7] = IF_read_IR_adc_value(1,7); |
jah128 | 0:d6269d17c8cf | 186 | IF_set_IR_emitter_output(0, 0); |
jah128 | 0:d6269d17c8cf | 187 | |
jah128 | 0:d6269d17c8cf | 188 | //2. Enable the rear+side IR emitters and store the values |
jah128 | 0:d6269d17c8cf | 189 | IF_set_IR_emitter_output(1, 1); |
jah128 | 0:d6269d17c8cf | 190 | wait_us(ir_pulse_delay); |
jah128 | 0:d6269d17c8cf | 191 | illuminated_ir_values [2] = IF_read_IR_adc_value(1,2); |
jah128 | 0:d6269d17c8cf | 192 | illuminated_ir_values [3] = IF_read_IR_adc_value(1,3); |
jah128 | 0:d6269d17c8cf | 193 | illuminated_ir_values [4] = IF_read_IR_adc_value(1,4); |
jah128 | 0:d6269d17c8cf | 194 | illuminated_ir_values [5] = IF_read_IR_adc_value(1,5); |
jah128 | 0:d6269d17c8cf | 195 | IF_set_IR_emitter_output(1, 0); |
jah128 | 0:d6269d17c8cf | 196 | } |
jah128 | 0:d6269d17c8cf | 197 | |
jah128 | 0:d6269d17c8cf | 198 | // Converts a background and illuminated value into a distance |
jah128 | 0:d6269d17c8cf | 199 | float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value ){ |
jah128 | 0:d6269d17c8cf | 200 | float approximate_distance = 4000 + background_value - illuminated_value; |
jah128 | 0:d6269d17c8cf | 201 | if(approximate_distance < 0) approximate_distance = 0; |
jah128 | 0:d6269d17c8cf | 202 | |
jah128 | 0:d6269d17c8cf | 203 | // Very approximate: root value, divide by 2, approx distance in mm |
jah128 | 0:d6269d17c8cf | 204 | approximate_distance = sqrt (approximate_distance) / 2.0; |
jah128 | 0:d6269d17c8cf | 205 | |
jah128 | 0:d6269d17c8cf | 206 | // Then add adjustment value if value >27 |
jah128 | 0:d6269d17c8cf | 207 | if(approximate_distance > 27) { |
jah128 | 0:d6269d17c8cf | 208 | float shift = pow(approximate_distance - 27,3); |
jah128 | 0:d6269d17c8cf | 209 | approximate_distance += shift; |
jah128 | 0:d6269d17c8cf | 210 | } |
jah128 | 0:d6269d17c8cf | 211 | if(approximate_distance > 90) approximate_distance = 100.0; |
jah128 | 0:d6269d17c8cf | 212 | return approximate_distance; |
jah128 | 0:d6269d17c8cf | 213 | } |
jah128 | 0:d6269d17c8cf | 214 | |
jah128 | 0:d6269d17c8cf | 215 | // Returns the illuminated raw sensor value for the IR sensor defined by index (range 0-7); turns on the emitters for a 500us pulse |
jah128 | 0:d6269d17c8cf | 216 | unsigned short read_illuminated_raw_ir_value ( char index ){ |
jah128 | 0:d6269d17c8cf | 217 | //This function reads the IR strength when illuminated - used for PC system debugging purposes |
jah128 | 0:d6269d17c8cf | 218 | //1. Enable the relevant IR emitter by turning on its pulse output |
jah128 | 0:d6269d17c8cf | 219 | switch(index){ |
jah128 | 0:d6269d17c8cf | 220 | case 0: case 1: case 6: case 7: |
jah128 | 0:d6269d17c8cf | 221 | IF_set_IR_emitter_output(0, 1); |
jah128 | 0:d6269d17c8cf | 222 | break; |
jah128 | 0:d6269d17c8cf | 223 | case 2: case 3: case 4: case 5: |
jah128 | 0:d6269d17c8cf | 224 | IF_set_IR_emitter_output(1, 1); |
jah128 | 0:d6269d17c8cf | 225 | break; |
jah128 | 0:d6269d17c8cf | 226 | } |
jah128 | 0:d6269d17c8cf | 227 | wait_us(ir_pulse_delay); |
jah128 | 0:d6269d17c8cf | 228 | //2. Read the ADC value now IR emitter is on |
jah128 | 0:d6269d17c8cf | 229 | unsigned short strong_value = IF_read_IR_adc_value( 1,index ); |
jah128 | 0:d6269d17c8cf | 230 | //3. Turn off IR emitter |
jah128 | 0:d6269d17c8cf | 231 | switch(index){ |
jah128 | 0:d6269d17c8cf | 232 | case 0: case 1: case 6: case 7: |
jah128 | 0:d6269d17c8cf | 233 | IF_set_IR_emitter_output(0, 0); |
jah128 | 0:d6269d17c8cf | 234 | break; |
jah128 | 0:d6269d17c8cf | 235 | case 2: case 3: case 4: case 5: |
jah128 | 0:d6269d17c8cf | 236 | IF_set_IR_emitter_output(1, 0); |
jah128 | 0:d6269d17c8cf | 237 | break; |
jah128 | 0:d6269d17c8cf | 238 | } |
jah128 | 0:d6269d17c8cf | 239 | return strong_value; |
jah128 | 0:d6269d17c8cf | 240 | } |
jah128 | 0:d6269d17c8cf | 241 | |
jah128 | 0:d6269d17c8cf | 242 | // Base IR sensor functions |
jah128 | 0:d6269d17c8cf | 243 | |
jah128 | 0:d6269d17c8cf | 244 | |
jah128 | 0:d6269d17c8cf | 245 | // Returns the stored value of the non-illuminated sensor based on last call of store_background_base_ir_values |
jah128 | 0:d6269d17c8cf | 246 | unsigned short get_background_base_ir_value ( char index ){ |
jah128 | 0:d6269d17c8cf | 247 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 248 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 0:d6269d17c8cf | 249 | return background_base_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 250 | } |
jah128 | 0:d6269d17c8cf | 251 | |
jah128 | 0:d6269d17c8cf | 252 | // Returns the stored value of the illuminated sensor based on last call of store_illuminated_base_ir_values |
jah128 | 0:d6269d17c8cf | 253 | unsigned short get_illuminated_base_ir_value ( char index ){ |
jah128 | 0:d6269d17c8cf | 254 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:d6269d17c8cf | 255 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 0:d6269d17c8cf | 256 | return illuminated_base_ir_values[index]; |
jah128 | 0:d6269d17c8cf | 257 | } |
jah128 | 0:d6269d17c8cf | 258 | |
jah128 | 0:d6269d17c8cf | 259 | // Stores the reflected distances for all 5 base IR sensors |
jah128 | 0:d6269d17c8cf | 260 | void store_base_ir_values ( void ){ |
jah128 | 0:d6269d17c8cf | 261 | store_background_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 262 | store_illuminated_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 263 | //for(int i=0;i<5;i++){ |
jah128 | 0:d6269d17c8cf | 264 | // reflected_ir_distances [i] = calculate_reflected_distance( background_base_ir_values [i], illuminated_base_ir_values [i]); |
jah128 | 0:d6269d17c8cf | 265 | //} |
jah128 | 0:d6269d17c8cf | 266 | } |
jah128 | 0:d6269d17c8cf | 267 | |
jah128 | 0:d6269d17c8cf | 268 | // Stores the raw ADC values for all 5 base IR sensors without enabling IR emitters |
jah128 | 0:d6269d17c8cf | 269 | void store_background_base_ir_values ( void ){ |
jah128 | 0:d6269d17c8cf | 270 | base_ir_values_stored = 1; |
jah128 | 0:d6269d17c8cf | 271 | for(int i=0;i<5;i++){ |
jah128 | 0:d6269d17c8cf | 272 | background_base_ir_values [i] = IF_read_IR_adc_value(2,i); |
jah128 | 0:d6269d17c8cf | 273 | } |
jah128 | 0:d6269d17c8cf | 274 | } |
jah128 | 0:d6269d17c8cf | 275 | |
jah128 | 0:d6269d17c8cf | 276 | // Stores the raw ADC values for all 5 base IR sensors with a 500us emitter pulse |
jah128 | 0:d6269d17c8cf | 277 | void store_illuminated_base_ir_values ( void ){ |
jah128 | 0:d6269d17c8cf | 278 | //1. Enable the base IR emitters and store the values |
jah128 | 0:d6269d17c8cf | 279 | IF_set_IR_emitter_output(2, 1); |
jah128 | 0:d6269d17c8cf | 280 | wait_us(base_ir_pulse_delay); |
jah128 | 0:d6269d17c8cf | 281 | for(int i=0;i<5;i++){ |
jah128 | 0:d6269d17c8cf | 282 | illuminated_base_ir_values [i] = IF_read_IR_adc_value(2,i); |
jah128 | 0:d6269d17c8cf | 283 | } |
jah128 | 0:d6269d17c8cf | 284 | |
jah128 | 0:d6269d17c8cf | 285 | IF_set_IR_emitter_output(2, 0); |
jah128 | 0:d6269d17c8cf | 286 | } |
jah128 | 0:d6269d17c8cf | 287 | |
jah128 | 0:d6269d17c8cf | 288 | // Routine to store detected line position in a similar format to the used on 3Pi\m3Pi\PiSwarm |
jah128 | 0:d6269d17c8cf | 289 | void store_line_position ( ){ |
jah128 | 0:d6269d17c8cf | 290 | // Store background and reflected base IR values |
jah128 | 0:d6269d17c8cf | 291 | store_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 292 | int h_value[5]; |
jah128 | 0:d6269d17c8cf | 293 | int line_threshold = 1000; |
jah128 | 0:d6269d17c8cf | 294 | int line_threshold_hi = 2000; |
jah128 | 0:d6269d17c8cf | 295 | char count = 0; |
jah128 | 0:d6269d17c8cf | 296 | line_found = 0; |
jah128 | 0:d6269d17c8cf | 297 | line_position = 0; |
jah128 | 0:d6269d17c8cf | 298 | for(int i=0;i<5;i++){ |
jah128 | 0:d6269d17c8cf | 299 | if(get_background_base_ir_value(i) > get_illuminated_base_ir_value(i)) h_value[i]=0; |
jah128 | 0:d6269d17c8cf | 300 | else h_value[i] = get_illuminated_base_ir_value(i) - get_background_base_ir_value(i); |
jah128 | 0:d6269d17c8cf | 301 | if(h_value[i] < line_threshold) count++; |
jah128 | 0:d6269d17c8cf | 302 | } |
jah128 | 0:d6269d17c8cf | 303 | if(count == 1){ |
jah128 | 0:d6269d17c8cf | 304 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 305 | if(h_value[0] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 306 | line_position = -1; |
jah128 | 0:d6269d17c8cf | 307 | if(h_value[1] < line_threshold_hi) line_position = -0.8; |
jah128 | 0:d6269d17c8cf | 308 | } |
jah128 | 0:d6269d17c8cf | 309 | |
jah128 | 0:d6269d17c8cf | 310 | if (h_value[1] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 311 | line_position = -0.5 + (0.00005 * h_value[0]) - (0.0001 * h_value[2]);; |
jah128 | 0:d6269d17c8cf | 312 | } |
jah128 | 0:d6269d17c8cf | 313 | if(h_value[2] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 314 | line_position = (0.00005 * h_value[1]) - (0.0001 * h_value[3]); |
jah128 | 0:d6269d17c8cf | 315 | } |
jah128 | 0:d6269d17c8cf | 316 | if(h_value[3] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 317 | line_position = 0.5 + (0.00005 * h_value[2]) - (0.0001 * h_value[4]);; |
jah128 | 0:d6269d17c8cf | 318 | } |
jah128 | 0:d6269d17c8cf | 319 | if(h_value[4] < line_threshold) { |
jah128 | 0:d6269d17c8cf | 320 | line_position = 1; |
jah128 | 0:d6269d17c8cf | 321 | if(h_value[3] < line_threshold_hi) line_position = 0.8; |
jah128 | 0:d6269d17c8cf | 322 | } |
jah128 | 0:d6269d17c8cf | 323 | } |
jah128 | 0:d6269d17c8cf | 324 | if(count == 2){ |
jah128 | 0:d6269d17c8cf | 325 | if(h_value[0] && h_value[1] < line_threshold){ |
jah128 | 0:d6269d17c8cf | 326 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 327 | line_position = -0.6; |
jah128 | 0:d6269d17c8cf | 328 | } |
jah128 | 0:d6269d17c8cf | 329 | |
jah128 | 0:d6269d17c8cf | 330 | if(h_value[1] && h_value[2] < line_threshold){ |
jah128 | 0:d6269d17c8cf | 331 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 332 | line_position = -0.4; |
jah128 | 0:d6269d17c8cf | 333 | } |
jah128 | 0:d6269d17c8cf | 334 | |
jah128 | 0:d6269d17c8cf | 335 | if(h_value[2] && h_value[3] < line_threshold){ |
jah128 | 0:d6269d17c8cf | 336 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 337 | line_position = 0.4; |
jah128 | 0:d6269d17c8cf | 338 | } |
jah128 | 0:d6269d17c8cf | 339 | |
jah128 | 0:d6269d17c8cf | 340 | if(h_value[3] && h_value[4] < line_threshold){ |
jah128 | 0:d6269d17c8cf | 341 | line_found = 1; |
jah128 | 0:d6269d17c8cf | 342 | line_position = 0.6; |
jah128 | 0:d6269d17c8cf | 343 | } |
jah128 | 0:d6269d17c8cf | 344 | } |
jah128 | 0:d6269d17c8cf | 345 | } |
jah128 | 0:d6269d17c8cf | 346 | |
jah128 | 0:d6269d17c8cf | 347 | |
jah128 | 0:d6269d17c8cf | 348 | |
jah128 | 0:d6269d17c8cf | 349 | void calibrate_base_ir_sensors (void) { |
jah128 | 0:d6269d17c8cf | 350 | short white_background[5]; |
jah128 | 0:d6269d17c8cf | 351 | short white_active[5]; |
jah128 | 0:d6269d17c8cf | 352 | short black_background[5]; |
jah128 | 0:d6269d17c8cf | 353 | short black_active[5]; |
jah128 | 0:d6269d17c8cf | 354 | for(int k=0;k<5;k++){ |
jah128 | 0:d6269d17c8cf | 355 | white_background[k]=0; |
jah128 | 0:d6269d17c8cf | 356 | black_background[k]=0; |
jah128 | 0:d6269d17c8cf | 357 | white_active[k]=0; |
jah128 | 0:d6269d17c8cf | 358 | black_active[k]=0; |
jah128 | 0:d6269d17c8cf | 359 | } |
jah128 | 0:d6269d17c8cf | 360 | pc.printf("Base IR Calibration\n"); |
jah128 | 0:d6269d17c8cf | 361 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 362 | display.write_string("Calibrating base"); |
jah128 | 0:d6269d17c8cf | 363 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 364 | display.write_string("IR sensor"); |
jah128 | 0:d6269d17c8cf | 365 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 366 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 367 | display.write_string("Place robot on"); |
jah128 | 0:d6269d17c8cf | 368 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 369 | display.write_string("white surface"); |
jah128 | 0:d6269d17c8cf | 370 | wait(3); |
jah128 | 0:d6269d17c8cf | 371 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 372 | display.write_string("Calibrating base"); |
jah128 | 0:d6269d17c8cf | 373 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 374 | display.write_string("IR sensor"); |
jah128 | 0:d6269d17c8cf | 375 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 376 | pc.printf("\nWhite Background Results:\n"); |
jah128 | 0:d6269d17c8cf | 377 | |
jah128 | 0:d6269d17c8cf | 378 | for(int i=0;i<5;i++){ |
jah128 | 0:d6269d17c8cf | 379 | wait(0.2); |
jah128 | 0:d6269d17c8cf | 380 | store_background_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 381 | |
jah128 | 0:d6269d17c8cf | 382 | display.set_position(1,9); |
jah128 | 0:d6269d17c8cf | 383 | display.write_string("."); |
jah128 | 0:d6269d17c8cf | 384 | wait(0.2); |
jah128 | 0:d6269d17c8cf | 385 | store_illuminated_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 386 | for(int k=0;k<5;k++){ |
jah128 | 0:d6269d17c8cf | 387 | white_background[k]+= get_background_base_ir_value(k); |
jah128 | 0:d6269d17c8cf | 388 | white_active[k] += get_illuminated_base_ir_value(k); |
jah128 | 0:d6269d17c8cf | 389 | } |
jah128 | 0:d6269d17c8cf | 390 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", (i+1), |
jah128 | 0:d6269d17c8cf | 391 | get_background_base_ir_value(0), get_illuminated_base_ir_value(0), |
jah128 | 0:d6269d17c8cf | 392 | get_background_base_ir_value(1), get_illuminated_base_ir_value(1), |
jah128 | 0:d6269d17c8cf | 393 | get_background_base_ir_value(2), get_illuminated_base_ir_value(2), |
jah128 | 0:d6269d17c8cf | 394 | get_background_base_ir_value(3), get_illuminated_base_ir_value(3), |
jah128 | 0:d6269d17c8cf | 395 | get_background_base_ir_value(4), get_illuminated_base_ir_value(4)); |
jah128 | 0:d6269d17c8cf | 396 | } |
jah128 | 0:d6269d17c8cf | 397 | for(int k=0;k<5;k++){ |
jah128 | 0:d6269d17c8cf | 398 | white_background[k]/=5; |
jah128 | 0:d6269d17c8cf | 399 | white_active[k]/=5; |
jah128 | 0:d6269d17c8cf | 400 | } |
jah128 | 0:d6269d17c8cf | 401 | pc.printf("Mean results 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", |
jah128 | 0:d6269d17c8cf | 402 | white_background[0], white_active[0], |
jah128 | 0:d6269d17c8cf | 403 | white_background[1], white_active[1], |
jah128 | 0:d6269d17c8cf | 404 | white_background[2], white_active[2], |
jah128 | 0:d6269d17c8cf | 405 | white_background[3], white_active[3], |
jah128 | 0:d6269d17c8cf | 406 | white_background[4], white_active[4]); |
jah128 | 0:d6269d17c8cf | 407 | |
jah128 | 0:d6269d17c8cf | 408 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 409 | display.write_string("Place robot on"); |
jah128 | 0:d6269d17c8cf | 410 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 411 | display.write_string("black surface"); |
jah128 | 0:d6269d17c8cf | 412 | wait(3); |
jah128 | 0:d6269d17c8cf | 413 | |
jah128 | 0:d6269d17c8cf | 414 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 415 | display.write_string("Calibrating base"); |
jah128 | 0:d6269d17c8cf | 416 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 417 | display.write_string("IR sensor"); |
jah128 | 0:d6269d17c8cf | 418 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 419 | pc.printf("\nBlack Background Results:\n"); |
jah128 | 0:d6269d17c8cf | 420 | |
jah128 | 0:d6269d17c8cf | 421 | for(int i=0;i<5;i++){ |
jah128 | 0:d6269d17c8cf | 422 | wait(0.2); |
jah128 | 0:d6269d17c8cf | 423 | |
jah128 | 0:d6269d17c8cf | 424 | store_background_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 425 | display.set_position(1,9); |
jah128 | 0:d6269d17c8cf | 426 | display.write_string("."); |
jah128 | 0:d6269d17c8cf | 427 | wait(0.2); |
jah128 | 0:d6269d17c8cf | 428 | store_illuminated_base_ir_values(); |
jah128 | 0:d6269d17c8cf | 429 | for(int k=0;k<5;k++){ |
jah128 | 0:d6269d17c8cf | 430 | black_background[k]+= get_background_base_ir_value(k); |
jah128 | 0:d6269d17c8cf | 431 | black_active[k] += get_illuminated_base_ir_value(k); |
jah128 | 0:d6269d17c8cf | 432 | } |
jah128 | 0:d6269d17c8cf | 433 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", (i+1), |
jah128 | 0:d6269d17c8cf | 434 | get_background_base_ir_value(0), get_illuminated_base_ir_value(0), |
jah128 | 0:d6269d17c8cf | 435 | get_background_base_ir_value(1), get_illuminated_base_ir_value(1), |
jah128 | 0:d6269d17c8cf | 436 | get_background_base_ir_value(2), get_illuminated_base_ir_value(2), |
jah128 | 0:d6269d17c8cf | 437 | get_background_base_ir_value(3), get_illuminated_base_ir_value(3), |
jah128 | 0:d6269d17c8cf | 438 | get_background_base_ir_value(4), get_illuminated_base_ir_value(4)); |
jah128 | 0:d6269d17c8cf | 439 | } |
jah128 | 0:d6269d17c8cf | 440 | for(int k=0;k<5;k++){ |
jah128 | 0:d6269d17c8cf | 441 | black_background[k]/=5; |
jah128 | 0:d6269d17c8cf | 442 | black_active[k]/=5; |
jah128 | 0:d6269d17c8cf | 443 | } |
jah128 | 0:d6269d17c8cf | 444 | pc.printf("Mean results 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", |
jah128 | 0:d6269d17c8cf | 445 | black_background[0], black_active[0], |
jah128 | 0:d6269d17c8cf | 446 | black_background[1], black_active[1], |
jah128 | 0:d6269d17c8cf | 447 | black_background[2], black_active[2], |
jah128 | 0:d6269d17c8cf | 448 | black_background[3], black_active[3], |
jah128 | 0:d6269d17c8cf | 449 | black_background[4], black_active[4]); |
jah128 | 0:d6269d17c8cf | 450 | |
jah128 | 0:d6269d17c8cf | 451 | } |
jah128 | 0:d6269d17c8cf | 452 | |
jah128 | 0:d6269d17c8cf | 453 | |
jah128 | 0:d6269d17c8cf | 454 | int get_bearing_from_ir_array (unsigned short * ir_sensor_readings){ |
jah128 | 0:d6269d17c8cf | 455 | //out("Getting bearing from array: [%d][%d][%d][%d][%d][%d][%d][%d]\n",ir_sensor_readings[0],ir_sensor_readings[1],ir_sensor_readings[2],ir_sensor_readings[3],ir_sensor_readings[4],ir_sensor_readings[5],ir_sensor_readings[6],ir_sensor_readings[7]); |
jah128 | 0:d6269d17c8cf | 456 | |
jah128 | 0:d6269d17c8cf | 457 | float degrees_per_radian = 57.295779513; |
jah128 | 0:d6269d17c8cf | 458 | |
jah128 | 0:d6269d17c8cf | 459 | // sin(IR sensor angle) and cos(IR sensor angle) LUT, for all 8 sensors |
jah128 | 0:d6269d17c8cf | 460 | float ir_sensor_sin[8] = {0.382683432, 0.923879533, 0.923879533, 0.382683432, -0.382683432, -0.923879533, -0.923879533, -0.382683432}; |
jah128 | 0:d6269d17c8cf | 461 | float ir_sensor_cos[8] = {0.923879533, 0.382683432, -0.382683432, -0.923879533, -0.923879533, -0.382683432, 0.382683432, 0.923879533}; |
jah128 | 0:d6269d17c8cf | 462 | |
jah128 | 0:d6269d17c8cf | 463 | float sin_sum = 0; |
jah128 | 0:d6269d17c8cf | 464 | float cos_sum = 0; |
jah128 | 0:d6269d17c8cf | 465 | |
jah128 | 0:d6269d17c8cf | 466 | for(int i = 0; i < 8; i++) |
jah128 | 0:d6269d17c8cf | 467 | { |
jah128 | 0:d6269d17c8cf | 468 | // Use IR sensor reading to weight bearing vector |
jah128 | 0:d6269d17c8cf | 469 | sin_sum += ir_sensor_sin[i] * ir_sensor_readings[i]; |
jah128 | 0:d6269d17c8cf | 470 | cos_sum += ir_sensor_cos[i] * ir_sensor_readings[i]; |
jah128 | 0:d6269d17c8cf | 471 | } |
jah128 | 0:d6269d17c8cf | 472 | |
jah128 | 0:d6269d17c8cf | 473 | float bearing = atan2(sin_sum, cos_sum); // Calculate vector towards IR light source |
jah128 | 0:d6269d17c8cf | 474 | bearing *= degrees_per_radian; // Convert to degrees |
jah128 | 0:d6269d17c8cf | 475 | |
jah128 | 0:d6269d17c8cf | 476 | //out("Sin sum:%f Cos sum:%f Bearing:%f\n",sin_sum,cos_sum,bearing); |
jah128 | 0:d6269d17c8cf | 477 | |
jah128 | 0:d6269d17c8cf | 478 | return (int) bearing; |
jah128 | 0:d6269d17c8cf | 479 | } |
jah128 | 0:d6269d17c8cf | 480 |