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Dependencies:   mbed

AI_Friday.cpp@23:948ce071cbb6, 2016-05-26 (annotated)

Committer:
smilestone520
Date:
Thu May 26 04:49:23 2016 +0000
Revision:
23:948ce071cbb6
Parent:
22:d7b98234291c
Child:
24:f61847968e72
hahaha;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smilestone520 10:06cc2b1d2aaf 1 /*LAB_DCMotor*/
smilestone520 10:06cc2b1d2aaf 2 #include "mbed.h"
smilestone520 10:06cc2b1d2aaf 3
smilestone520 10:06cc2b1d2aaf 4 //The number will be compiled as type "double" in default
smilestone520 10:06cc2b1d2aaf 5 //Add a "f" after the number can make it compiled as type "float"
smilestone520 10:06cc2b1d2aaf 6 #define Ts 0.01f //period of timer1 (s)
smilestone520 10:06cc2b1d2aaf 7 #define Kp 0.003f
smilestone520 10:06cc2b1d2aaf 8 #define Ki 0.01f
smilestone520 10:06cc2b1d2aaf 9
roger5641 17:d96afd9d2692 10
roger5641 17:d96afd9d2692 11 PwmOut servo(A0);
smilestone520 10:06cc2b1d2aaf 12 PwmOut pwm1(D7);
smilestone520 10:06cc2b1d2aaf 13 PwmOut pwm1n(D11);
smilestone520 10:06cc2b1d2aaf 14 PwmOut pwm2(D8);
smilestone520 10:06cc2b1d2aaf 15 PwmOut pwm2n(A3);
smilestone520 10:06cc2b1d2aaf 16
smilestone520 10:06cc2b1d2aaf 17 Serial bluetooth(D10,D2);
smilestone520 10:06cc2b1d2aaf 18 Serial pc(D1, D0);
smilestone520 10:06cc2b1d2aaf 19
smilestone520 10:06cc2b1d2aaf 20 DigitalOut led1(A4);
smilestone520 10:06cc2b1d2aaf 21 DigitalOut led2(A5);
smilestone520 10:06cc2b1d2aaf 22
smilestone520 10:06cc2b1d2aaf 23 //Motor1 sensor
smilestone520 10:06cc2b1d2aaf 24 InterruptIn HallA_1(A1);
smilestone520 10:06cc2b1d2aaf 25 InterruptIn HallB_1(A2);
smilestone520 10:06cc2b1d2aaf 26 //Motor2 sensor
smilestone520 10:06cc2b1d2aaf 27 InterruptIn HallA_2(D13);
smilestone520 10:06cc2b1d2aaf 28 InterruptIn HallB_2(D12);
smilestone520 10:06cc2b1d2aaf 29
smilestone520 10:06cc2b1d2aaf 30 Ticker timer1;
smilestone520 10:06cc2b1d2aaf 31 void timer1_interrupt(void);
smilestone520 10:06cc2b1d2aaf 32 void CN_interrupt(void);
roger5641 17:d96afd9d2692 33 //void _ISR_U2RXInterrupt(void);
smilestone520 10:06cc2b1d2aaf 34
smilestone520 10:06cc2b1d2aaf 35 void init_TIMER(void);
smilestone520 10:06cc2b1d2aaf 36 void init_PWM(void);
smilestone520 10:06cc2b1d2aaf 37 void init_CN(void);
smilestone520 20:5b892e37a958 38 void funcBorder(void);
smilestone520 20:5b892e37a958 39 void smallAngle( float );
smilestone520 20:5b892e37a958 40 void turnCW(float);
smilestone520 20:5b892e37a958 41 void turnCCW(float);
smilestone520 10:06cc2b1d2aaf 42
smilestone520 10:06cc2b1d2aaf 43 int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
smilestone520 10:06cc2b1d2aaf 44 int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
smilestone520 10:06cc2b1d2aaf 45
smilestone520 10:06cc2b1d2aaf 46 int v1Count = 0;
smilestone520 10:06cc2b1d2aaf 47 int v2Count = 0;
smilestone520 10:06cc2b1d2aaf 48
roger5641 17:d96afd9d2692 49 float v1 = 0.0, v1_ref = 0.0;
smilestone520 10:06cc2b1d2aaf 50 float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
roger5641 17:d96afd9d2692 51 float v2 = 0.0, v2_ref = 0.0;
smilestone520 10:06cc2b1d2aaf 52 float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
roger5641 17:d96afd9d2692 53
roger5641 17:d96afd9d2692 54 int angle = 90;
roger5641 15:3e0a4079b28a 55 float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
roger5641 15:3e0a4079b28a 56
roger5641 18:2db6c97a4145 57 int Command_Flag = 0, Receive_Flag = 0, Receive_Counter = 0;
roger5641 18:2db6c97a4145 58 int Receive_Data[33] = {0};
roger5641 15:3e0a4079b28a 59
roger5641 18:2db6c97a4145 60 double Distance_Target = 0, Angle_Target = 0;
roger5641 15:3e0a4079b28a 61 int X_Position_1 = 0, Y_Position_1 = 0, Angle_1 = 0;
roger5641 15:3e0a4079b28a 62 int X_Position_2 = 0, Y_Position_2 = 0, Angle_2 = 0;
roger5641 15:3e0a4079b28a 63 int pwm_duty;
roger5641 15:3e0a4079b28a 64
smilestone520 20:5b892e37a958 65 float k_forward = 20, k_turn = 10;
smilestone520 20:5b892e37a958 66
smilestone520 11:44989c0bcea5 67 //**** receive and return by bluetooth ************** // bluetooth.getc()
smilestone520 14:c46f22bcaa38 68 float xC, yC; // car's position
smilestone520 14:c46f22bcaa38 69 float angleC;// car's angle
roger5641 17:d96afd9d2692 70 double xP,yP,distance; //position that car need to reach
smilestone520 14:c46f22bcaa38 71 float angleR; // angleR = car-nextSpot direction ---> car direction
smilestone520 20:5b892e37a958 72 int yB1,yB2,xB3,xB4; // broder conditions
roger5641 17:d96afd9d2692 73 int xGate = 800, yGate = 300;
roger5641 17:d96afd9d2692 74 double angleGate, distanceGate;
smilestone520 11:44989c0bcea5 75 int aI_State = 0;
smilestone520 21:6e8ab9487985 76 int bor_state = 1;
roger5641 17:d96afd9d2692 77 double pi = 3.1415926;
smilestone520 21:6e8ab9487985 78 double borAngle=0;
smilestone520 11:44989c0bcea5 79
smilestone520 20:5b892e37a958 80 float longC; // car's length
smilestone520 20:5b892e37a958 81 float longB;// long of the court
smilestone520 20:5b892e37a958 82 float ballSize; // ball size
smilestone520 20:5b892e37a958 83 float wideB; // wide of the court
smilestone520 20:5b892e37a958 84
smilestone520 10:06cc2b1d2aaf 85 int main() {
smilestone520 10:06cc2b1d2aaf 86
smilestone520 10:06cc2b1d2aaf 87 init_TIMER();
smilestone520 10:06cc2b1d2aaf 88 init_PWM();
smilestone520 10:06cc2b1d2aaf 89 init_CN();
roger5641 17:d96afd9d2692 90 servo.write(0.079 + (0.084/180)*angle);
smilestone520 10:06cc2b1d2aaf 91
smilestone520 10:06cc2b1d2aaf 92 bluetooth.baud(115200); //設定鮑率
smilestone520 10:06cc2b1d2aaf 93 pc.baud(57600);
smilestone520 10:06cc2b1d2aaf 94
smilestone520 10:06cc2b1d2aaf 95
smilestone520 10:06cc2b1d2aaf 96 while(1)
smilestone520 10:06cc2b1d2aaf 97 {
smilestone520 10:06cc2b1d2aaf 98 if(pc.readable())
smilestone520 10:06cc2b1d2aaf 99 {
smilestone520 10:06cc2b1d2aaf 100 bluetooth.putc(pc.getc());
smilestone520 10:06cc2b1d2aaf 101 }
smilestone520 10:06cc2b1d2aaf 102 if(bluetooth.readable())
smilestone520 10:06cc2b1d2aaf 103 {
smilestone520 10:06cc2b1d2aaf 104 pc.putc(bluetooth.getc());
smilestone520 10:06cc2b1d2aaf 105 }
roger5641 15:3e0a4079b28a 106
roger5641 19:5091c934ebd0 107 if(Command_Flag == 1)
roger5641 15:3e0a4079b28a 108 {
roger5641 15:3e0a4079b28a 109 //read data from matlab
roger5641 15:3e0a4079b28a 110 //distance_target
roger5641 15:3e0a4079b28a 111 Distance_Target = (Receive_Data[2]-0x30)*100 + (Receive_Data[3]-0x30)*10 + (Receive_Data[4]-0x30);
roger5641 15:3e0a4079b28a 112
roger5641 15:3e0a4079b28a 113 if(Receive_Data[1] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 114 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 115
roger5641 15:3e0a4079b28a 116 //ang_rel_target
roger5641 15:3e0a4079b28a 117 Angle_Target = (Receive_Data[6]-0x30)*100 + (Receive_Data[7]-0x30)*10 + (Receive_Data[8]-0x30);
roger5641 15:3e0a4079b28a 118
roger5641 15:3e0a4079b28a 119 if(Receive_Data[5] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 120 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 121
roger5641 15:3e0a4079b28a 122 //x_position_car_1
roger5641 15:3e0a4079b28a 123 X_Position_1 = (Receive_Data[10]-0x30)*100 + (Receive_Data[11]-0x30)*10 + (Receive_Data[12]-0x30);
roger5641 15:3e0a4079b28a 124
roger5641 15:3e0a4079b28a 125 if(Receive_Data[9] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 126 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 127
roger5641 15:3e0a4079b28a 128 //y_position_car_1
roger5641 15:3e0a4079b28a 129 Y_Position_1 = (Receive_Data[14]-0x30)*100 + (Receive_Data[15]-0x30)*10 + (Receive_Data[16]-0x30);
roger5641 15:3e0a4079b28a 130
roger5641 15:3e0a4079b28a 131 if(Receive_Data[13] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 132 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 133
roger5641 15:3e0a4079b28a 134 //angle_car_1
roger5641 15:3e0a4079b28a 135 Angle_1 = (Receive_Data[18]-0x30)*100 + (Receive_Data[19]-0x30)*10 + (Receive_Data[20]-0x30);
roger5641 15:3e0a4079b28a 136
roger5641 15:3e0a4079b28a 137 if(Receive_Data[17] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 138 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 139
roger5641 15:3e0a4079b28a 140 //x_position_car_2
roger5641 15:3e0a4079b28a 141 X_Position_2 = (Receive_Data[22]-0x30)*100 + (Receive_Data[23]-0x30)*10 + (Receive_Data[24]-0x30);
roger5641 15:3e0a4079b28a 142
roger5641 15:3e0a4079b28a 143 if(Receive_Data[21] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 144 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 145
roger5641 15:3e0a4079b28a 146 //y_position_car_2
roger5641 15:3e0a4079b28a 147 Y_Position_2 = (Receive_Data[26]-0x30)*100 + (Receive_Data[27]-0x30)*10 + (Receive_Data[28]-0x30);
roger5641 15:3e0a4079b28a 148
roger5641 15:3e0a4079b28a 149 if(Receive_Data[25] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 150 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 151
roger5641 15:3e0a4079b28a 152 //angle_car_1
roger5641 15:3e0a4079b28a 153 Angle_2 = (Receive_Data[30]-0x30)*100 + (Receive_Data[31]-0x30)*10 + (Receive_Data[32]-0x30);
roger5641 15:3e0a4079b28a 154
roger5641 15:3e0a4079b28a 155 if(Receive_Data[29] == '-')Distance_Target = -1* Distance_Target;
roger5641 15:3e0a4079b28a 156 else Distance_Target = Distance_Target;
roger5641 15:3e0a4079b28a 157
roger5641 15:3e0a4079b28a 158 // PWM
roger5641 15:3e0a4079b28a 159 if(Receive_Data[33] == 'j')pwm_duty = 148;
roger5641 15:3e0a4079b28a 160 else if(Receive_Data[33] == 'k')pwm_duty = 100;
roger5641 15:3e0a4079b28a 161
roger5641 15:3e0a4079b28a 162 Command_Flag = 0;
roger5641 19:5091c934ebd0 163 }
smilestone520 10:06cc2b1d2aaf 164 }
smilestone520 10:06cc2b1d2aaf 165 }
smilestone520 10:06cc2b1d2aaf 166
smilestone520 10:06cc2b1d2aaf 167 void timer1_interrupt(void)
smilestone520 10:06cc2b1d2aaf 168 {
smilestone520 10:06cc2b1d2aaf 169 //Motor 1
smilestone520 10:06cc2b1d2aaf 170 v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 171 v1Count = 0;
smilestone520 10:06cc2b1d2aaf 172
smilestone520 10:06cc2b1d2aaf 173 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 174 v1_err = v1_ref - v1;
smilestone520 10:06cc2b1d2aaf 175 v1_ierr = 0.01f*v1_err + v1_ierr;
smilestone520 10:06cc2b1d2aaf 176 PIout_1 = Kp*v1_err + Ki*v1_ierr;
smilestone520 10:06cc2b1d2aaf 177
smilestone520 10:06cc2b1d2aaf 178 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
smilestone520 10:06cc2b1d2aaf 179 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
smilestone520 10:06cc2b1d2aaf 180 pwm1.write(PIout_1 + 0.5f);
roger5641 17:d96afd9d2692 181 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 182
smilestone520 10:06cc2b1d2aaf 183 //Motor 2
smilestone520 10:06cc2b1d2aaf 184 v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 185 v2Count = 0;
smilestone520 10:06cc2b1d2aaf 186
smilestone520 10:06cc2b1d2aaf 187 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 188 v2_err = v2_ref - v2;
smilestone520 10:06cc2b1d2aaf 189 v2_ierr = 0.01f*v2_err + v2_ierr;
smilestone520 10:06cc2b1d2aaf 190 PIout_2 = Kp*v2_err + Ki*v2_ierr;
smilestone520 10:06cc2b1d2aaf 191
smilestone520 10:06cc2b1d2aaf 192 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
smilestone520 10:06cc2b1d2aaf 193 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
smilestone520 10:06cc2b1d2aaf 194 pwm2.write(PIout_2 + 0.5f);
smilestone520 10:06cc2b1d2aaf 195 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 196
roger5641 17:d96afd9d2692 197
smilestone520 11:44989c0bcea5 198 //***** main AI **************************
smilestone520 11:44989c0bcea5 199
smilestone520 11:44989c0bcea5 200
smilestone520 11:44989c0bcea5 201 //***** get position information from the bluetooth
roger5641 17:d96afd9d2692 202 xC = X_Position_1;
roger5641 17:d96afd9d2692 203 yC = Y_Position_1; // car's position
smilestone520 11:44989c0bcea5 204
roger5641 17:d96afd9d2692 205 angleC = Angle_1; // car's angle
roger5641 17:d96afd9d2692 206
roger5641 17:d96afd9d2692 207 distance = Distance_Target;
roger5641 18:2db6c97a4145 208 xP = Distance_Target*cos(Angle_Target*pi/180);
roger5641 18:2db6c97a4145 209 yP = Distance_Target*sin(Angle_Target*pi/180);//position that car need to reach
smilestone520 11:44989c0bcea5 210
roger5641 17:d96afd9d2692 211 angleR = Angle_Target; // angleR = car-nextSpot direction ---> car direction
smilestone520 11:44989c0bcea5 212
smilestone520 20:5b892e37a958 213 yB1 = longC;
smilestone520 20:5b892e37a958 214 yB2 = wideB - longC ;
smilestone520 20:5b892e37a958 215 xB3 = longC ;
smilestone520 20:5b892e37a958 216 xB4 = longB-longC;
smilestone520 20:5b892e37a958 217
smilestone520 11:44989c0bcea5 218 //**** AI_State ********************
smilestone520 11:44989c0bcea5 219
smilestone520 11:44989c0bcea5 220 switch(aI_State)
smilestone520 11:44989c0bcea5 221 {
smilestone520 12:c1a667ca6c53 222 case 0: // IDLE
smilestone520 12:c1a667ca6c53 223 // IDLE check if stop color appear
smilestone520 12:c1a667ca6c53 224 //check purple color appear or not
roger5641 17:d96afd9d2692 225 if(xP==0 && yP==0 && angleR==0)
roger5641 17:d96afd9d2692 226 {
roger5641 17:d96afd9d2692 227 v1_ref = 0;
roger5641 17:d96afd9d2692 228 v2_ref = 0;
roger5641 17:d96afd9d2692 229 }
roger5641 17:d96afd9d2692 230 else
roger5641 17:d96afd9d2692 231 aI_State = 1;
smilestone520 14:c46f22bcaa38 232 //****setSpecs();
smilestone520 11:44989c0bcea5 233 break;
smilestone520 16:a102929b2228 234
roger5641 17:d96afd9d2692 235 case 1: /// border condition
smilestone520 12:c1a667ca6c53 236 // check if car fit border conditions
smilestone520 21:6e8ab9487985 237 switch(bor_state){
smilestone520 21:6e8ab9487985 238 case 1:
smilestone520 21:6e8ab9487985 239 funcBorder();
smilestone520 21:6e8ab9487985 240 break;
smilestone520 22:d7b98234291c 241 case 2: // 前進 再判別 v1+ v2-
smilestone520 22:d7b98234291c 242 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)
smilestone520 22:d7b98234291c 243 {
smilestone520 22:d7b98234291c 244 v1_ref = 100;
smilestone520 22:d7b98234291c 245 v2_ref = -100;
smilestone520 22:d7b98234291c 246 }
smilestone520 22:d7b98234291c 247 bor_state = 1;
smilestone520 21:6e8ab9487985 248 break;
smilestone520 22:d7b98234291c 249 case 3: // 後退 再判別 v1- v2+
smilestone520 22:d7b98234291c 250 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)
smilestone520 22:d7b98234291c 251 {
smilestone520 22:d7b98234291c 252 v1_ref = 100;
smilestone520 22:d7b98234291c 253 v2_ref = -100;
smilestone520 22:d7b98234291c 254 }
smilestone520 22:d7b98234291c 255 bor_state = 1;
smilestone520 22:d7b98234291c 256 break;
smilestone520 22:d7b98234291c 257 case 4: // 順時轉到特定角 結束 v1-- v2 --
smilestone520 22:d7b98234291c 258 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)
smilestone520 22:d7b98234291c 259 {
smilestone520 22:d7b98234291c 260 v1_ref = -100;
smilestone520 22:d7b98234291c 261 v2_ref = -100;
smilestone520 22:d7b98234291c 262 }
smilestone520 23:948ce071cbb6 263 borAngle = 0;
smilestone520 23:948ce071cbb6 264 aI_State = 2;
smilestone520 23:948ce071cbb6 265 bor_state = 1;
smilestone520 21:6e8ab9487985 266 break;
smilestone520 22:d7b98234291c 267 case 5: // 逆時轉到特定角 結束 v1 ++ v2++
smilestone520 23:948ce071cbb6 268 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)
smilestone520 23:948ce071cbb6 269 {
smilestone520 23:948ce071cbb6 270 v1_ref = 100;
smilestone520 23:948ce071cbb6 271 v2_ref = 100;
smilestone520 23:948ce071cbb6 272 }
smilestone520 21:6e8ab9487985 273 borAngle = 0;
smilestone520 21:6e8ab9487985 274 aI_State = 2;
smilestone520 22:d7b98234291c 275 bor_state = 1;
smilestone520 21:6e8ab9487985 276 break;
smilestone520 21:6e8ab9487985 277
smilestone520 21:6e8ab9487985 278 }
smilestone520 21:6e8ab9487985 279
roger5641 17:d96afd9d2692 280 //****to case2
smilestone520 11:44989c0bcea5 281 break;
roger5641 17:d96afd9d2692 282 case 2://move to get ball
roger5641 17:d96afd9d2692 283 if(-3<=angleR<=3) // direct to the ball
roger5641 17:d96afd9d2692 284 {
roger5641 17:d96afd9d2692 285 if(distance<=10) // check夾具距離
roger5641 17:d96afd9d2692 286 {
roger5641 17:d96afd9d2692 287 v1_ref = 0;
roger5641 17:d96afd9d2692 288 v2_ref = 0;
roger5641 17:d96afd9d2692 289 aI_State = 3;
roger5641 17:d96afd9d2692 290 }
roger5641 17:d96afd9d2692 291 else if(10<distance<50)
roger5641 17:d96afd9d2692 292 {
roger5641 17:d96afd9d2692 293 v1_ref = 100;
roger5641 17:d96afd9d2692 294 v2_ref = -100;
roger5641 17:d96afd9d2692 295 }
roger5641 17:d96afd9d2692 296 else
roger5641 17:d96afd9d2692 297 {
roger5641 17:d96afd9d2692 298 v1_ref = 300;
roger5641 17:d96afd9d2692 299 v2_ref = -300;
roger5641 17:d96afd9d2692 300 }
roger5641 17:d96afd9d2692 301 }
roger5641 17:d96afd9d2692 302
roger5641 17:d96afd9d2692 303 else if(3<angleR<=15) // small angle right
roger5641 17:d96afd9d2692 304 {
roger5641 17:d96afd9d2692 305 if(distance<50)
roger5641 17:d96afd9d2692 306 {
roger5641 17:d96afd9d2692 307 v1_ref = 200;
smilestone520 20:5b892e37a958 308 v2_ref = -(v1_ref-angleR*k_turn);
roger5641 17:d96afd9d2692 309 }
roger5641 17:d96afd9d2692 310 else
roger5641 17:d96afd9d2692 311 {
roger5641 17:d96afd9d2692 312 v1_ref = 300;
smilestone520 20:5b892e37a958 313 v2_ref = -(v1_ref-angleR*k_turn);
roger5641 17:d96afd9d2692 314 }
roger5641 17:d96afd9d2692 315
roger5641 17:d96afd9d2692 316 }
smilestone520 20:5b892e37a958 317 else if(-15 <= angleR < -3) // small angle left
roger5641 17:d96afd9d2692 318 {
roger5641 17:d96afd9d2692 319 if(distance<50)
roger5641 17:d96afd9d2692 320 {
smilestone520 20:5b892e37a958 321 v1_ref = -(v2_ref+angleR*k_turn);
roger5641 17:d96afd9d2692 322 v2_ref = 200;
roger5641 17:d96afd9d2692 323 }
roger5641 17:d96afd9d2692 324 else
roger5641 17:d96afd9d2692 325 {
smilestone520 20:5b892e37a958 326 v1_ref = -(v2_ref+angleR*k_turn);
roger5641 17:d96afd9d2692 327 v2_ref = 300;
roger5641 17:d96afd9d2692 328 }
roger5641 17:d96afd9d2692 329
roger5641 17:d96afd9d2692 330 }
roger5641 17:d96afd9d2692 331 else if(15<angleR<=180) // big angle right
roger5641 17:d96afd9d2692 332 {
roger5641 17:d96afd9d2692 333 v1_ref = 200;
roger5641 17:d96afd9d2692 334 v2_ref = 200;
roger5641 17:d96afd9d2692 335 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 336 if(distance<50)
roger5641 17:d96afd9d2692 337 {
roger5641 17:d96afd9d2692 338 v1_ref = 100;
roger5641 17:d96afd9d2692 339 v2_ref = -100;
roger5641 17:d96afd9d2692 340 }
roger5641 17:d96afd9d2692 341 else
roger5641 17:d96afd9d2692 342 {
roger5641 17:d96afd9d2692 343 v1_ref = 300;
roger5641 17:d96afd9d2692 344 v2_ref = -300;
roger5641 17:d96afd9d2692 345 }
roger5641 17:d96afd9d2692 346
roger5641 17:d96afd9d2692 347 }
roger5641 17:d96afd9d2692 348 else if(-180<=angleR<-15) // big angle left
roger5641 17:d96afd9d2692 349 {
roger5641 17:d96afd9d2692 350 v1_ref = -200;
roger5641 17:d96afd9d2692 351 v2_ref = -200;
roger5641 17:d96afd9d2692 352 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 353 if(0<distance<50)
roger5641 17:d96afd9d2692 354 {
roger5641 17:d96afd9d2692 355 v1_ref = 100;
roger5641 17:d96afd9d2692 356 v2_ref = -100;
roger5641 17:d96afd9d2692 357 }
roger5641 17:d96afd9d2692 358 else
roger5641 17:d96afd9d2692 359 {
roger5641 17:d96afd9d2692 360 v1_ref = 300;
roger5641 17:d96afd9d2692 361 v2_ref = -300;
roger5641 17:d96afd9d2692 362 }
roger5641 17:d96afd9d2692 363
roger5641 17:d96afd9d2692 364 }
roger5641 17:d96afd9d2692 365
roger5641 17:d96afd9d2692 366 break;
roger5641 17:d96afd9d2692 367 case 3: //****getBall();
roger5641 17:d96afd9d2692 368 if((distance == 10) && (-3<=angleR<=3))
roger5641 17:d96afd9d2692 369 {
roger5641 17:d96afd9d2692 370 angle = -10;
roger5641 17:d96afd9d2692 371 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 372 servo.write(servo_duty);
roger5641 17:d96afd9d2692 373 servo = 1;
roger5641 17:d96afd9d2692 374 wait(0.1);
roger5641 17:d96afd9d2692 375 servo = 0;
roger5641 17:d96afd9d2692 376 }
roger5641 17:d96afd9d2692 377 else
roger5641 17:d96afd9d2692 378 aI_State = 2;
roger5641 17:d96afd9d2692 379
smilestone520 11:44989c0bcea5 380 break;
smilestone520 12:c1a667ca6c53 381 case 4: /// move to the gate and release ball
smilestone520 12:c1a667ca6c53 382 // move to the point in front of the gate first
smilestone520 12:c1a667ca6c53 383 // then head to the gate
roger5641 18:2db6c97a4145 384 distanceGate = sqrt(((xGate-xP)*(xGate-xP))+((yGate-yP)*(yGate-yP)));
roger5641 17:d96afd9d2692 385 angleGate = atan2((yGate-yP),(xGate-xP))*180/pi;
roger5641 17:d96afd9d2692 386 if(-3<=angleGate<=3) // direct to the gate
roger5641 17:d96afd9d2692 387 {
roger5641 17:d96afd9d2692 388 if(distanceGate<=10) // check distance between car cemtroid and gate
roger5641 17:d96afd9d2692 389 {
roger5641 17:d96afd9d2692 390 v1_ref = 0;
roger5641 17:d96afd9d2692 391 v2_ref = 0;
roger5641 17:d96afd9d2692 392 aI_State = 5;
roger5641 17:d96afd9d2692 393 }
roger5641 17:d96afd9d2692 394 else if(10<distanceGate<50)
roger5641 17:d96afd9d2692 395 {
roger5641 17:d96afd9d2692 396 v1_ref = 100;
roger5641 17:d96afd9d2692 397 v2_ref = -100;
roger5641 17:d96afd9d2692 398 }
roger5641 17:d96afd9d2692 399 else
roger5641 17:d96afd9d2692 400 {
roger5641 17:d96afd9d2692 401 v1_ref = 300;
roger5641 17:d96afd9d2692 402 v2_ref = -300;
roger5641 17:d96afd9d2692 403 }
roger5641 17:d96afd9d2692 404 }
roger5641 17:d96afd9d2692 405 else if(3<angleGate<=15) // small angle right
roger5641 17:d96afd9d2692 406 {
roger5641 17:d96afd9d2692 407 if(distanceGate<50)
roger5641 17:d96afd9d2692 408 {
roger5641 17:d96afd9d2692 409 v1_ref = 200;
smilestone520 20:5b892e37a958 410 v2_ref = -(v1_ref-angleGate*k_turn);
roger5641 17:d96afd9d2692 411 }
roger5641 17:d96afd9d2692 412 else
roger5641 17:d96afd9d2692 413 {
roger5641 17:d96afd9d2692 414 v1_ref = 300;
smilestone520 20:5b892e37a958 415 v2_ref = -(v1_ref-angleGate*k_turn);
roger5641 17:d96afd9d2692 416 }
roger5641 17:d96afd9d2692 417 }
roger5641 17:d96afd9d2692 418 else if(-15<=angleGate<-3) // small angle left
roger5641 17:d96afd9d2692 419 {
roger5641 17:d96afd9d2692 420 if(distanceGate<50)
roger5641 17:d96afd9d2692 421 {
smilestone520 20:5b892e37a958 422 v1_ref = -(v2_ref+angleGate*k_turn);
roger5641 17:d96afd9d2692 423 v2_ref = 200;
roger5641 17:d96afd9d2692 424 }
roger5641 17:d96afd9d2692 425 else
roger5641 17:d96afd9d2692 426 {
smilestone520 20:5b892e37a958 427 v1_ref = -(v2_ref+angleGate*k_turn);
roger5641 17:d96afd9d2692 428 v2_ref = 300;
roger5641 17:d96afd9d2692 429 }
roger5641 17:d96afd9d2692 430 }
roger5641 17:d96afd9d2692 431 else if(15<angleGate<=180) // big angle right
roger5641 17:d96afd9d2692 432 {
roger5641 17:d96afd9d2692 433 v1_ref = 200;
roger5641 17:d96afd9d2692 434 v2_ref = 200;
roger5641 17:d96afd9d2692 435 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 436 if(distanceGate<50)
roger5641 17:d96afd9d2692 437 {
roger5641 17:d96afd9d2692 438 v1_ref = 100;
roger5641 17:d96afd9d2692 439 v2_ref = -100;
roger5641 17:d96afd9d2692 440 }
roger5641 17:d96afd9d2692 441 else
roger5641 17:d96afd9d2692 442 {
roger5641 17:d96afd9d2692 443 v1_ref = 300;
roger5641 17:d96afd9d2692 444 v2_ref = -300;
roger5641 17:d96afd9d2692 445 }
roger5641 17:d96afd9d2692 446 }
roger5641 17:d96afd9d2692 447 else if(-180<=angleGate<-15) // big angle left
roger5641 17:d96afd9d2692 448 {
roger5641 17:d96afd9d2692 449 v1_ref = -200;
roger5641 17:d96afd9d2692 450 v2_ref = -200;
roger5641 17:d96afd9d2692 451 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 452 if(0<distanceGate<50)
roger5641 17:d96afd9d2692 453 {
roger5641 17:d96afd9d2692 454 v1_ref = 100;
roger5641 17:d96afd9d2692 455 v2_ref = -100;
roger5641 17:d96afd9d2692 456 }
roger5641 17:d96afd9d2692 457 else
roger5641 17:d96afd9d2692 458 {
roger5641 17:d96afd9d2692 459 v1_ref = 300;
roger5641 17:d96afd9d2692 460 v2_ref = -300;
roger5641 17:d96afd9d2692 461 }
roger5641 17:d96afd9d2692 462 }
roger5641 17:d96afd9d2692 463
smilestone520 12:c1a667ca6c53 464 break;
roger5641 17:d96afd9d2692 465 case 5: // release ball
roger5641 17:d96afd9d2692 466 if((-3<=angleGate<=3) && (distanceGate<=10)) // direct to the gate
roger5641 17:d96afd9d2692 467 {
roger5641 17:d96afd9d2692 468 angle = 90; // Fixture up
roger5641 17:d96afd9d2692 469 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 470 servo.write(servo_duty);
roger5641 17:d96afd9d2692 471 servo = 1;
roger5641 17:d96afd9d2692 472 wait(0.1);
roger5641 17:d96afd9d2692 473 servo = 0;
roger5641 17:d96afd9d2692 474
roger5641 17:d96afd9d2692 475 pwm1.write(0.1f + 0.5f); // push
roger5641 17:d96afd9d2692 476 pwm2.write(-0.1f + 0.5f);
roger5641 17:d96afd9d2692 477 wait(0.5);
roger5641 17:d96afd9d2692 478
roger5641 17:d96afd9d2692 479 angle = -10; // Fixture down
roger5641 17:d96afd9d2692 480 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 481 servo.write(servo_duty);
roger5641 17:d96afd9d2692 482 servo = 1;
roger5641 17:d96afd9d2692 483 wait(0.1);
roger5641 17:d96afd9d2692 484 servo = 0;
roger5641 17:d96afd9d2692 485
roger5641 17:d96afd9d2692 486 pwm1.write(-0.3f + 0.5f); // back and leave gate
roger5641 17:d96afd9d2692 487 pwm2.write(0.3f + 0.5f);
roger5641 17:d96afd9d2692 488 wait(1);
roger5641 17:d96afd9d2692 489
roger5641 18:2db6c97a4145 490 aI_State = 0;
roger5641 17:d96afd9d2692 491
roger5641 17:d96afd9d2692 492 }
roger5641 17:d96afd9d2692 493
roger5641 17:d96afd9d2692 494 break;
roger5641 17:d96afd9d2692 495
smilestone520 11:44989c0bcea5 496
smilestone520 11:44989c0bcea5 497 }
smilestone520 11:44989c0bcea5 498
smilestone520 11:44989c0bcea5 499
smilestone520 10:06cc2b1d2aaf 500 }
smilestone520 10:06cc2b1d2aaf 501
smilestone520 10:06cc2b1d2aaf 502 void CN_interrupt(void)
smilestone520 10:06cc2b1d2aaf 503 {
smilestone520 10:06cc2b1d2aaf 504 //Motor 1
smilestone520 10:06cc2b1d2aaf 505 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 506 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 507
smilestone520 10:06cc2b1d2aaf 508 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 509 if(stateA_1==0&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 510 state_1 = 1;}
smilestone520 10:06cc2b1d2aaf 511 else if(stateA_1==0&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 512 state_1 = 2;}
smilestone520 10:06cc2b1d2aaf 513 else if(stateA_1==1&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 514 state_1 = 3;}
smilestone520 10:06cc2b1d2aaf 515 else if(stateA_1==1&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 516 state_1 = 4;}
smilestone520 10:06cc2b1d2aaf 517
smilestone520 10:06cc2b1d2aaf 518 if(state_1 == 1)
smilestone520 10:06cc2b1d2aaf 519 {
smilestone520 10:06cc2b1d2aaf 520 if(state_1-state_1_old == -3)
smilestone520 10:06cc2b1d2aaf 521 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 522 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 523 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 524 }
smilestone520 10:06cc2b1d2aaf 525 else if(state_1 == 2)
smilestone520 10:06cc2b1d2aaf 526 {
smilestone520 10:06cc2b1d2aaf 527 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 528 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 529 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 530 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 531 }
smilestone520 10:06cc2b1d2aaf 532 else if(state_1 == 3)
smilestone520 10:06cc2b1d2aaf 533 {
smilestone520 10:06cc2b1d2aaf 534 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 535 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 536 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 537 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 538 }
smilestone520 10:06cc2b1d2aaf 539 else if(state_1 == 4)
smilestone520 10:06cc2b1d2aaf 540 {
smilestone520 10:06cc2b1d2aaf 541 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 542 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 543 else if(state_1-state_1_old == 3)
smilestone520 10:06cc2b1d2aaf 544 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 545 }
smilestone520 10:06cc2b1d2aaf 546 state_1_old = state_1;
smilestone520 10:06cc2b1d2aaf 547
smilestone520 10:06cc2b1d2aaf 548
smilestone520 10:06cc2b1d2aaf 549 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 550
smilestone520 10:06cc2b1d2aaf 551 //Forward
smilestone520 10:06cc2b1d2aaf 552 //v1Count +1
smilestone520 10:06cc2b1d2aaf 553 //Inverse
smilestone520 10:06cc2b1d2aaf 554 //v1Count -1
smilestone520 10:06cc2b1d2aaf 555
smilestone520 10:06cc2b1d2aaf 556
smilestone520 10:06cc2b1d2aaf 557 //Motor 2
smilestone520 10:06cc2b1d2aaf 558 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 559 stateB_2 = HallB_2.read();
smilestone520 10:06cc2b1d2aaf 560
smilestone520 10:06cc2b1d2aaf 561 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 562 if(stateA_2==0&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 563 state_2 = 1;}
smilestone520 10:06cc2b1d2aaf 564 else if(stateA_2==0&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 565 state_2 = 2;}
smilestone520 10:06cc2b1d2aaf 566 else if(stateA_2==1&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 567 state_2 = 3;}
smilestone520 10:06cc2b1d2aaf 568 else if(stateA_2==1&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 569 state_2 = 4;}
smilestone520 10:06cc2b1d2aaf 570
smilestone520 10:06cc2b1d2aaf 571 if(state_2 == 1)
smilestone520 10:06cc2b1d2aaf 572 {
smilestone520 10:06cc2b1d2aaf 573 if(state_2-state_2_old == -3)
smilestone520 10:06cc2b1d2aaf 574 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 575 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 576 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 577 }
smilestone520 10:06cc2b1d2aaf 578 else if(state_2 == 2)
smilestone520 10:06cc2b1d2aaf 579 {
smilestone520 10:06cc2b1d2aaf 580 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 581 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 582 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 583 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 584 }
smilestone520 10:06cc2b1d2aaf 585 else if(state_2 == 3)
smilestone520 10:06cc2b1d2aaf 586 {
smilestone520 10:06cc2b1d2aaf 587 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 588 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 589 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 590 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 591 }
smilestone520 10:06cc2b1d2aaf 592 else if(state_2 == 4)
smilestone520 10:06cc2b1d2aaf 593 {
smilestone520 10:06cc2b1d2aaf 594 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 595 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 596 else if(state_2-state_2_old == 3)
smilestone520 10:06cc2b1d2aaf 597 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 598 }
smilestone520 10:06cc2b1d2aaf 599 state_2_old = state_2;
smilestone520 10:06cc2b1d2aaf 600
smilestone520 10:06cc2b1d2aaf 601 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 602
smilestone520 10:06cc2b1d2aaf 603 //Forward
smilestone520 10:06cc2b1d2aaf 604 //v2Count +1
smilestone520 10:06cc2b1d2aaf 605 //Inverse
smilestone520 10:06cc2b1d2aaf 606 //v2Count -1
smilestone520 10:06cc2b1d2aaf 607 }
smilestone520 10:06cc2b1d2aaf 608
roger5641 17:d96afd9d2692 609 /*void _ISR_U2RXInterrupt(void)
roger5641 15:3e0a4079b28a 610 {
roger5641 15:3e0a4079b28a 611 /////////// Receive ////////////
roger5641 15:3e0a4079b28a 612 static char Temp;
roger5641 15:3e0a4079b28a 613 Temp = U2RXREG;
roger5641 15:3e0a4079b28a 614
roger5641 15:3e0a4079b28a 615 if(Receive_Flag == 1)
roger5641 15:3e0a4079b28a 616 {
roger5641 15:3e0a4079b28a 617 Receive_Counter++;
roger5641 15:3e0a4079b28a 618 Receive_Data[Receive_Counter] = Temp;
roger5641 15:3e0a4079b28a 619
roger5641 15:3e0a4079b28a 620 if(Receive_Counter == 33) // 8 data *4byte
roger5641 15:3e0a4079b28a 621 {
roger5641 15:3e0a4079b28a 622 //Send_Flag == 1
roger5641 15:3e0a4079b28a 623 Command_Flag = 1;
roger5641 15:3e0a4079b28a 624 Receive_Flag = 0;
roger5641 15:3e0a4079b28a 625 Receive_Counter = 0;
roger5641 15:3e0a4079b28a 626 }
roger5641 15:3e0a4079b28a 627 }
roger5641 15:3e0a4079b28a 628
roger5641 15:3e0a4079b28a 629 else
roger5641 15:3e0a4079b28a 630 {
roger5641 15:3e0a4079b28a 631 if(Temp == 36) //'$'
roger5641 15:3e0a4079b28a 632 {
roger5641 15:3e0a4079b28a 633 Receive_Flag = 1;
roger5641 15:3e0a4079b28a 634 Receive_Counter = 0;
roger5641 15:3e0a4079b28a 635 Receive_Data[0] = Temp;
roger5641 15:3e0a4079b28a 636 }
roger5641 15:3e0a4079b28a 637 else
roger5641 15:3e0a4079b28a 638 {
roger5641 15:3e0a4079b28a 639 // Waiting
roger5641 15:3e0a4079b28a 640 }
roger5641 15:3e0a4079b28a 641 }
roger5641 15:3e0a4079b28a 642
roger5641 15:3e0a4079b28a 643 IFS1bits.U2RXIF = 0;
roger5641 15:3e0a4079b28a 644 }
roger5641 17:d96afd9d2692 645 */
roger5641 15:3e0a4079b28a 646
smilestone520 10:06cc2b1d2aaf 647 void init_TIMER(void)
smilestone520 10:06cc2b1d2aaf 648 {
smilestone520 10:06cc2b1d2aaf 649 timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
smilestone520 10:06cc2b1d2aaf 650 }
smilestone520 10:06cc2b1d2aaf 651
smilestone520 10:06cc2b1d2aaf 652 void init_PWM(void)
smilestone520 10:06cc2b1d2aaf 653 {
smilestone520 10:06cc2b1d2aaf 654 pwm1.period_us(50);
smilestone520 10:06cc2b1d2aaf 655 pwm1.write(0.5);
smilestone520 10:06cc2b1d2aaf 656 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 657
smilestone520 10:06cc2b1d2aaf 658 pwm2.period_us(50);
smilestone520 10:06cc2b1d2aaf 659 pwm2.write(0.5);
smilestone520 10:06cc2b1d2aaf 660 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 661 }
smilestone520 10:06cc2b1d2aaf 662
smilestone520 10:06cc2b1d2aaf 663 void init_CN(void)
smilestone520 10:06cc2b1d2aaf 664 {
smilestone520 10:06cc2b1d2aaf 665 HallA_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 666 HallA_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 667 HallB_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 668 HallB_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 669
smilestone520 10:06cc2b1d2aaf 670 HallA_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 671 HallA_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 672 HallB_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 673 HallB_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 674
smilestone520 10:06cc2b1d2aaf 675 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 676 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 677 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 678 stateB_2 = HallB_2.read();
smilestone520 20:5b892e37a958 679 }
smilestone520 20:5b892e37a958 680
smilestone520 20:5b892e37a958 681 //**************** funcBorder() *****************************************
smilestone520 20:5b892e37a958 682
smilestone520 20:5b892e37a958 683 void funcBorder(void) // check if car is too close to the border // miss the ball restriction part
smilestone520 20:5b892e37a958 684 {
smilestone520 20:5b892e37a958 685 if(yC > yB1 || yC < yB2 || xC < xB3 || xC > xB4){
smilestone520 20:5b892e37a958 686
smilestone520 20:5b892e37a958 687 if(yC > yB1) // 靠近上邊界 *****************************
smilestone520 20:5b892e37a958 688 {
smilestone520 20:5b892e37a958 689 if(xC < xB3) //左上角
smilestone520 20:5b892e37a958 690 {
smilestone520 20:5b892e37a958 691 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 692 {
smilestone520 23:948ce071cbb6 693 bor_state = 4; //clockwise, to angleC = 45
smilestone520 23:948ce071cbb6 694 borAngle = 45;
smilestone520 23:948ce071cbb6 695 }
smilestone520 20:5b892e37a958 696
smilestone520 20:5b892e37a958 697 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 698 bor_state = 3; //back 0.5*longC, judge again
smilestone520 20:5b892e37a958 699
smilestone520 20:5b892e37a958 700 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 701 {
smilestone520 23:948ce071cbb6 702 bor_state = 5;//counter clockwise, to angleC = 45
smilestone520 23:948ce071cbb6 703 borAngle = 45;
smilestone520 23:948ce071cbb6 704 }
smilestone520 20:5b892e37a958 705
smilestone520 20:5b892e37a958 706 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 707 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 708
smilestone520 20:5b892e37a958 709 }
smilestone520 20:5b892e37a958 710 else if(xC > xB4) //右上角
smilestone520 20:5b892e37a958 711 {
smilestone520 20:5b892e37a958 712 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 713 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 714
smilestone520 20:5b892e37a958 715 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 716 {
smilestone520 23:948ce071cbb6 717 bor_state = 5;//counter clockwise, to angleC = 135
smilestone520 23:948ce071cbb6 718 borAngle = 135;
smilestone520 23:948ce071cbb6 719 }
smilestone520 20:5b892e37a958 720
smilestone520 20:5b892e37a958 721 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 722 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 723
smilestone520 20:5b892e37a958 724 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 725 {
smilestone520 23:948ce071cbb6 726 bor_state = 4;//clockwise, to angleC = 135
smilestone520 23:948ce071cbb6 727 borAngle = 135;
smilestone520 23:948ce071cbb6 728 }
smilestone520 23:948ce071cbb6 729
smilestone520 20:5b892e37a958 730 }
smilestone520 20:5b892e37a958 731 else //上邊界
smilestone520 20:5b892e37a958 732 {
smilestone520 20:5b892e37a958 733 if(angleC == -90 || angleC == 90)
smilestone520 23:948ce071cbb6 734 {aI_State = 2;} // do nothing, turn to next point
smilestone520 20:5b892e37a958 735 else
smilestone520 20:5b892e37a958 736 {smallAngle(90);} // turn to 90, then turn to next point
smilestone520 20:5b892e37a958 737 }
smilestone520 20:5b892e37a958 738
smilestone520 20:5b892e37a958 739
smilestone520 20:5b892e37a958 740 }
smilestone520 20:5b892e37a958 741 else if(yC < yB2) // 靠近下邊界 *E****************************************************88
smilestone520 20:5b892e37a958 742 {
smilestone520 20:5b892e37a958 743 if(xC < xB3) //左下角
smilestone520 20:5b892e37a958 744 {
smilestone520 20:5b892e37a958 745 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 746 bor_state = 2; //forward 0.5*longC, judge again
smilestone520 23:948ce071cbb6 747
smilestone520 20:5b892e37a958 748 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 749 {
smilestone520 23:948ce071cbb6 750 bor_state = 4; //clockwise, to angleC = -45
smilestone520 23:948ce071cbb6 751 borAngle = -45;
smilestone520 23:948ce071cbb6 752 }
smilestone520 20:5b892e37a958 753
smilestone520 20:5b892e37a958 754 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 755 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 756
smilestone520 20:5b892e37a958 757 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 758 {
smilestone520 23:948ce071cbb6 759 bor_state = 5;//counter clockwise, to angleC = -45
smilestone520 23:948ce071cbb6 760 borAngle = -45;
smilestone520 23:948ce071cbb6 761 }
smilestone520 20:5b892e37a958 762
smilestone520 20:5b892e37a958 763 }
smilestone520 20:5b892e37a958 764 else if(xC > xB4) //右下角
smilestone520 20:5b892e37a958 765 {
smilestone520 20:5b892e37a958 766 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 767 {
smilestone520 23:948ce071cbb6 768 bor_state = 5;//counter clockwise, to angleC = -135
smilestone520 23:948ce071cbb6 769 borAngle = -135;
smilestone520 23:948ce071cbb6 770 }
smilestone520 20:5b892e37a958 771
smilestone520 20:5b892e37a958 772 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 773 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 774
smilestone520 20:5b892e37a958 775 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 776 {
smilestone520 23:948ce071cbb6 777 bor_state = 4;//clockwise, to angleC = -135
smilestone520 23:948ce071cbb6 778 borAngle = -135;
smilestone520 23:948ce071cbb6 779 }
smilestone520 20:5b892e37a958 780
smilestone520 20:5b892e37a958 781 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 782 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 783
smilestone520 20:5b892e37a958 784 }
smilestone520 20:5b892e37a958 785 else //下邊界
smilestone520 20:5b892e37a958 786 {
smilestone520 20:5b892e37a958 787 if(angleC == -90 || angleC == 90)
smilestone520 23:948ce071cbb6 788 aI_State = 2;} // do nothing, turn to next point
smilestone520 20:5b892e37a958 789 else
smilestone520 20:5b892e37a958 790 {smallAngle(-90);} // turn to 90, then turn to next point
smilestone520 20:5b892e37a958 791 }
smilestone520 20:5b892e37a958 792
smilestone520 20:5b892e37a958 793
smilestone520 20:5b892e37a958 794 }
smilestone520 20:5b892e37a958 795 else if(xC < xB3) //靠近左邊界****************************************************************
smilestone520 20:5b892e37a958 796 {
smilestone520 20:5b892e37a958 797 if(angleC == 0 || angleC == 180)
smilestone520 23:948ce071cbb6 798 aI_State = 2; // do nothing, turn to next point
smilestone520 20:5b892e37a958 799 else
smilestone520 23:948ce071cbb6 800 {
smilestone520 23:948ce071cbb6 801 if(0<=angleC<90 || -90<=angleC<0)
smilestone520 23:948ce071cbb6 802 {
smilestone520 23:948ce071cbb6 803 bor_state = 5;
smilestone520 23:948ce071cbb6 804 borAngle = 90;
smilestone520 23:948ce071cbb6 805 }
smilestone520 23:948ce071cbb6 806 } // turn to 90, then turn to next point
smilestone520 20:5b892e37a958 807 }
smilestone520 20:5b892e37a958 808
smilestone520 20:5b892e37a958 809 else if(xC > xB4) //靠近右邊界 *********************************************88
smilestone520 20:5b892e37a958 810 {
smilestone520 20:5b892e37a958 811 if(angleC == 0 || angleC == 180)
smilestone520 23:948ce071cbb6 812 aI_State = 2; // do nothing, turn to next point
smilestone520 23:948ce071cbb6 813 else
smilestone520 23:948ce071cbb6 814 {smallAngle(180);} // turn to 90, then turn to next point
smilestone520 23:948ce071cbb6 815 }
smilestone520 23:948ce071cbb6 816 }
smilestone520 23:948ce071cbb6 817 else
smilestone520 23:948ce071cbb6 818 {aI_State = 2;}
smilestone520 23:948ce071cbb6 819 } // funcBorder()
smilestone520 23:948ce071cbb6 820
smilestone520 23:948ce071cbb6 821 else if(xC > xB4) //靠近右邊界 *********************************************88
smilestone520 23:948ce071cbb6 822 {
smilestone520 23:948ce071cbb6 823 if(angleC == 0 || angleC == 180)
smilestone520 20:5b892e37a958 824 {} // do nothing, turn to next point
smilestone520 20:5b892e37a958 825 else
smilestone520 20:5b892e37a958 826 {smallAngle(180);} // turn to 90, then turn to next point
smilestone520 20:5b892e37a958 827 }
smilestone520 20:5b892e37a958 828 }
smilestone520 20:5b892e37a958 829 else
smilestone520 20:5b892e37a958 830 {aI_State = 2;}
smilestone520 20:5b892e37a958 831 } // funcBorder()
smilestone520 20:5b892e37a958 832 //**************** smallAngle() *****************************************
smilestone520 20:5b892e37a958 833
smilestone520 20:5b892e37a958 834 void smallAngle( float goodAngle ) // use the smallest turn to right angle ccw / cw, based on 0~360 degree system
smilestone520 20:5b892e37a958 835 {}
smilestone520 20:5b892e37a958 836 if(angleR > 0) // CW
smilestone520 20:5b892e37a958 837 {
smilestone520 20:5b892e37a958 838 // turn clockwise to goodAngle;
smilestone520 20:5b892e37a958 839 }
smilestone520 20:5b892e37a958 840 else if(angleR < 0) //CCW
smilestone520 20:5b892e37a958 841 {
smilestone520 20:5b892e37a958 842 // turn counter clockwise to goodAngle;
smilestone520 20:5b892e37a958 843 }
smilestone520 20:5b892e37a958 844
smilestone520 20:5b892e37a958 845
smilestone520 20:5b892e37a958 846 //*************** turnCW() ***********************************
smilestone520 20:5b892e37a958 847
smilestone520 20:5b892e37a958 848 void turnCW(float goodAngle)
smilestone520 20:5b892e37a958 849 {
smilestone520 20:5b892e37a958 850 // turn clockwise to goodAngle;
smilestone520 20:5b892e37a958 851 }
smilestone520 20:5b892e37a958 852
smilestone520 20:5b892e37a958 853 //*************** turnCCW() ***********************************
smilestone520 20:5b892e37a958 854
smilestone520 20:5b892e37a958 855 void turnCCW(float goodAngle)
smilestone520 20:5b892e37a958 856 {
smilestone520 20:5b892e37a958 857 // turn counter clockwise to goodAngle;
smilestone520 10:06cc2b1d2aaf 858 }