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Dependencies:   mbed

AI_Friday.cpp@28:d576b1190610, 2016-05-26 (annotated)

Committer:
smilestone520
Date:
Thu May 26 10:36:46 2016 +0000
Revision:
28:d576b1190610
Parent:
27:1696ef46b538
Child:
29:47519f2b14ad
hahahaha

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);
smilestone520 10:06cc2b1d2aaf 33
smilestone520 10:06cc2b1d2aaf 34 void init_TIMER(void);
smilestone520 10:06cc2b1d2aaf 35 void init_PWM(void);
smilestone520 10:06cc2b1d2aaf 36 void init_CN(void);
smilestone520 20:5b892e37a958 37 void funcBorder(void);
smilestone520 20:5b892e37a958 38 void smallAngle( float );
smilestone520 20:5b892e37a958 39 void turnCW(float);
smilestone520 20:5b892e37a958 40 void turnCCW(float);
smilestone520 10:06cc2b1d2aaf 41
smilestone520 10:06cc2b1d2aaf 42 int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
smilestone520 10:06cc2b1d2aaf 43 int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
smilestone520 10:06cc2b1d2aaf 44
smilestone520 10:06cc2b1d2aaf 45 int v1Count = 0;
smilestone520 10:06cc2b1d2aaf 46 int v2Count = 0;
smilestone520 10:06cc2b1d2aaf 47
roger5641 17:d96afd9d2692 48 float v1 = 0.0, v1_ref = 0.0;
smilestone520 10:06cc2b1d2aaf 49 float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
roger5641 17:d96afd9d2692 50 float v2 = 0.0, v2_ref = 0.0;
smilestone520 10:06cc2b1d2aaf 51 float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
roger5641 17:d96afd9d2692 52
roger5641 17:d96afd9d2692 53 int angle = 90;
roger5641 15:3e0a4079b28a 54 float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
roger5641 15:3e0a4079b28a 55
roger5641 18:2db6c97a4145 56 int Receive_Data[33] = {0};
roger5641 18:2db6c97a4145 57 double Distance_Target = 0, Angle_Target = 0;
roger5641 15:3e0a4079b28a 58 int X_Position_1 = 0, Y_Position_1 = 0, Angle_1 = 0;
roger5641 15:3e0a4079b28a 59 int X_Position_2 = 0, Y_Position_2 = 0, Angle_2 = 0;
roger5641 15:3e0a4079b28a 60
smilestone520 20:5b892e37a958 61 float k_forward = 20, k_turn = 10;
smilestone520 20:5b892e37a958 62
smilestone520 11:44989c0bcea5 63 //**** receive and return by bluetooth ************** // bluetooth.getc()
smilestone520 14:c46f22bcaa38 64 float xC, yC; // car's position
smilestone520 14:c46f22bcaa38 65 float angleC;// car's angle
roger5641 17:d96afd9d2692 66 double xP,yP,distance; //position that car need to reach
smilestone520 14:c46f22bcaa38 67 float angleR; // angleR = car-nextSpot direction ---> car direction
smilestone520 25:7053736ea6cc 68
roger5641 17:d96afd9d2692 69 int xGate = 800, yGate = 300;
roger5641 17:d96afd9d2692 70 double angleGate, distanceGate;
smilestone520 11:44989c0bcea5 71 int aI_State = 0;
smilestone520 21:6e8ab9487985 72 int bor_state = 1;
roger5641 17:d96afd9d2692 73 double pi = 3.1415926;
smilestone520 21:6e8ab9487985 74 double borAngle=0;
smilestone520 11:44989c0bcea5 75
smilestone520 25:7053736ea6cc 76 float ballSize; // ball size
smilestone520 25:7053736ea6cc 77
smilestone520 20:5b892e37a958 78 float longC; // car's length
smilestone520 20:5b892e37a958 79 float longB;// long of the court
smilestone520 20:5b892e37a958 80 float wideB; // wide of the court
smilestone520 25:7053736ea6cc 81 int yB1,yB2,xB3,xB4; // broder conditions
smilestone520 25:7053736ea6cc 82
smilestone520 27:1696ef46b538 83 int ticCheck = 10;
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 }
smilestone520 10:06cc2b1d2aaf 106 }
smilestone520 10:06cc2b1d2aaf 107 }
smilestone520 10:06cc2b1d2aaf 108
smilestone520 10:06cc2b1d2aaf 109 void timer1_interrupt(void)
smilestone520 10:06cc2b1d2aaf 110 {
roger5641 26:dbdbfdb4dd41 111 for(int i=0; i<32; i++)
roger5641 26:dbdbfdb4dd41 112 {
roger5641 26:dbdbfdb4dd41 113 Receive_Data[i] = bluetooth.getc();
roger5641 26:dbdbfdb4dd41 114 }
roger5641 26:dbdbfdb4dd41 115 //read data from matlab
roger5641 26:dbdbfdb4dd41 116 //distance_target
roger5641 26:dbdbfdb4dd41 117 Distance_Target = (Receive_Data[1]-0x30)*100 + (Receive_Data[2]-0x30)*10 + (Receive_Data[3]-0x30);
roger5641 26:dbdbfdb4dd41 118
roger5641 26:dbdbfdb4dd41 119 if(Receive_Data[0] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 120 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 121
roger5641 26:dbdbfdb4dd41 122 //ang_rel_target
roger5641 26:dbdbfdb4dd41 123 Angle_Target = (Receive_Data[5]-0x30)*100 + (Receive_Data[6]-0x30)*10 + (Receive_Data[7]-0x30);
roger5641 26:dbdbfdb4dd41 124
roger5641 26:dbdbfdb4dd41 125 if(Receive_Data[4] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 126 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 127
roger5641 26:dbdbfdb4dd41 128 //x_position_car_1
roger5641 26:dbdbfdb4dd41 129 X_Position_1 = (Receive_Data[9]-0x30)*100 + (Receive_Data[10]-0x30)*10 + (Receive_Data[11]-0x30);
roger5641 26:dbdbfdb4dd41 130
roger5641 26:dbdbfdb4dd41 131 if(Receive_Data[8] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 132 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 133
roger5641 26:dbdbfdb4dd41 134 //y_position_car_1
roger5641 26:dbdbfdb4dd41 135 Y_Position_1 = (Receive_Data[13]-0x30)*100 + (Receive_Data[14]-0x30)*10 + (Receive_Data[15]-0x30);
roger5641 26:dbdbfdb4dd41 136
roger5641 26:dbdbfdb4dd41 137 if(Receive_Data[12] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 138 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 139
roger5641 26:dbdbfdb4dd41 140 //angle_car_1
roger5641 26:dbdbfdb4dd41 141 Angle_1 = (Receive_Data[17]-0x30)*100 + (Receive_Data[18]-0x30)*10 + (Receive_Data[19]-0x30);
roger5641 26:dbdbfdb4dd41 142
roger5641 26:dbdbfdb4dd41 143 if(Receive_Data[16] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 144 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 145
roger5641 26:dbdbfdb4dd41 146 //x_position_car_2
roger5641 26:dbdbfdb4dd41 147 X_Position_2 = (Receive_Data[21]-0x30)*100 + (Receive_Data[22]-0x30)*10 + (Receive_Data[23]-0x30);
roger5641 26:dbdbfdb4dd41 148
roger5641 26:dbdbfdb4dd41 149 if(Receive_Data[20] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 150 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 151
roger5641 26:dbdbfdb4dd41 152 //y_position_car_2
roger5641 26:dbdbfdb4dd41 153 Y_Position_2 = (Receive_Data[25]-0x30)*100 + (Receive_Data[26]-0x30)*10 + (Receive_Data[27]-0x30);
roger5641 26:dbdbfdb4dd41 154
roger5641 26:dbdbfdb4dd41 155 if(Receive_Data[24] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 156 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 157
roger5641 26:dbdbfdb4dd41 158 //angle_car_1
roger5641 26:dbdbfdb4dd41 159 Angle_2 = (Receive_Data[29]-0x30)*100 + (Receive_Data[30]-0x30)*10 + (Receive_Data[31]-0x30);
roger5641 26:dbdbfdb4dd41 160
roger5641 26:dbdbfdb4dd41 161 if(Receive_Data[28] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 162 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 163
roger5641 26:dbdbfdb4dd41 164
roger5641 26:dbdbfdb4dd41 165
smilestone520 10:06cc2b1d2aaf 166 //Motor 1
smilestone520 10:06cc2b1d2aaf 167 v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 168 v1Count = 0;
smilestone520 10:06cc2b1d2aaf 169
smilestone520 10:06cc2b1d2aaf 170 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 171 v1_err = v1_ref - v1;
smilestone520 10:06cc2b1d2aaf 172 v1_ierr = 0.01f*v1_err + v1_ierr;
smilestone520 10:06cc2b1d2aaf 173 PIout_1 = Kp*v1_err + Ki*v1_ierr;
smilestone520 10:06cc2b1d2aaf 174
smilestone520 10:06cc2b1d2aaf 175 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
smilestone520 10:06cc2b1d2aaf 176 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
smilestone520 10:06cc2b1d2aaf 177 pwm1.write(PIout_1 + 0.5f);
roger5641 17:d96afd9d2692 178 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 179
smilestone520 10:06cc2b1d2aaf 180 //Motor 2
smilestone520 10:06cc2b1d2aaf 181 v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 182 v2Count = 0;
smilestone520 10:06cc2b1d2aaf 183
smilestone520 10:06cc2b1d2aaf 184 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 185 v2_err = v2_ref - v2;
smilestone520 10:06cc2b1d2aaf 186 v2_ierr = 0.01f*v2_err + v2_ierr;
smilestone520 10:06cc2b1d2aaf 187 PIout_2 = Kp*v2_err + Ki*v2_ierr;
smilestone520 10:06cc2b1d2aaf 188
smilestone520 10:06cc2b1d2aaf 189 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
smilestone520 10:06cc2b1d2aaf 190 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
smilestone520 10:06cc2b1d2aaf 191 pwm2.write(PIout_2 + 0.5f);
smilestone520 10:06cc2b1d2aaf 192 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 193
roger5641 17:d96afd9d2692 194
smilestone520 11:44989c0bcea5 195 //***** main AI **************************
smilestone520 11:44989c0bcea5 196
smilestone520 11:44989c0bcea5 197
smilestone520 11:44989c0bcea5 198 //***** get position information from the bluetooth
roger5641 17:d96afd9d2692 199 xC = X_Position_1;
roger5641 17:d96afd9d2692 200 yC = Y_Position_1; // car's position
smilestone520 11:44989c0bcea5 201
roger5641 17:d96afd9d2692 202 angleC = Angle_1; // car's angle
roger5641 17:d96afd9d2692 203
roger5641 17:d96afd9d2692 204 distance = Distance_Target;
roger5641 18:2db6c97a4145 205 xP = Distance_Target*cos(Angle_Target*pi/180);
roger5641 18:2db6c97a4145 206 yP = Distance_Target*sin(Angle_Target*pi/180);//position that car need to reach
smilestone520 11:44989c0bcea5 207
roger5641 17:d96afd9d2692 208 angleR = Angle_Target; // angleR = car-nextSpot direction ---> car direction
smilestone520 11:44989c0bcea5 209
smilestone520 20:5b892e37a958 210 yB1 = longC;
smilestone520 20:5b892e37a958 211 yB2 = wideB - longC ;
smilestone520 20:5b892e37a958 212 xB3 = longC ;
smilestone520 20:5b892e37a958 213 xB4 = longB-longC;
smilestone520 20:5b892e37a958 214
smilestone520 11:44989c0bcea5 215 //**** AI_State ********************
smilestone520 11:44989c0bcea5 216
smilestone520 11:44989c0bcea5 217 switch(aI_State)
smilestone520 11:44989c0bcea5 218 {
smilestone520 12:c1a667ca6c53 219 case 0: // IDLE
smilestone520 12:c1a667ca6c53 220 // IDLE check if stop color appear
smilestone520 12:c1a667ca6c53 221 //check purple color appear or not
roger5641 17:d96afd9d2692 222 if(xP==0 && yP==0 && angleR==0)
roger5641 17:d96afd9d2692 223 {
roger5641 17:d96afd9d2692 224 v1_ref = 0;
roger5641 17:d96afd9d2692 225 v2_ref = 0;
roger5641 17:d96afd9d2692 226 }
roger5641 17:d96afd9d2692 227 else
roger5641 17:d96afd9d2692 228 aI_State = 1;
smilestone520 14:c46f22bcaa38 229 //****setSpecs();
smilestone520 11:44989c0bcea5 230 break;
smilestone520 16:a102929b2228 231
roger5641 17:d96afd9d2692 232 case 1: /// border condition
smilestone520 12:c1a667ca6c53 233 // check if car fit border conditions
smilestone520 21:6e8ab9487985 234 switch(bor_state){
smilestone520 21:6e8ab9487985 235 case 1:
smilestone520 21:6e8ab9487985 236 funcBorder();
smilestone520 21:6e8ab9487985 237 break;
smilestone520 22:d7b98234291c 238 case 2: // 前進 再判別 v1+ v2-
smilestone520 27:1696ef46b538 239 if(ticCheck >0) //誤差容忍正負五度
smilestone520 22:d7b98234291c 240 {
smilestone520 22:d7b98234291c 241 v1_ref = 100;
smilestone520 22:d7b98234291c 242 v2_ref = -100;
smilestone520 27:1696ef46b538 243 ticCheck -- ;
smilestone520 22:d7b98234291c 244 }
smilestone520 27:1696ef46b538 245 else
smilestone520 27:1696ef46b538 246 {
smilestone520 27:1696ef46b538 247 bor_state = 1;
smilestone520 27:1696ef46b538 248 ticCheck = 10;
smilestone520 27:1696ef46b538 249 }
smilestone520 27:1696ef46b538 250 break;
smilestone520 27:1696ef46b538 251 case 3: // 後退 再判別 v1- v2+
smilestone520 27:1696ef46b538 252
smilestone520 27:1696ef46b538 253 if(ticCheck >0) //誤差容忍正負五度
smilestone520 27:1696ef46b538 254 {
smilestone520 27:1696ef46b538 255 v1_ref = -100;
smilestone520 27:1696ef46b538 256 v2_ref = +100;
smilestone520 27:1696ef46b538 257 ticCheck -- ;
smilestone520 27:1696ef46b538 258 }
smilestone520 27:1696ef46b538 259 else
smilestone520 27:1696ef46b538 260 {
smilestone520 27:1696ef46b538 261 bor_state = 1;
smilestone520 27:1696ef46b538 262 ticCheck = 10;
smilestone520 27:1696ef46b538 263 }
smilestone520 22:d7b98234291c 264 break;
smilestone520 22:d7b98234291c 265 case 4: // 順時轉到特定角 結束 v1-- v2 --
smilestone520 27:1696ef46b538 266
smilestone520 28:d576b1190610 267 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
smilestone520 28:d576b1190610 268 {
smilestone520 22:d7b98234291c 269 v1_ref = -100;
smilestone520 22:d7b98234291c 270 v2_ref = -100;
smilestone520 28:d576b1190610 271 }
smilestone520 27:1696ef46b538 272 else
smilestone520 27:1696ef46b538 273 {
smilestone520 27:1696ef46b538 274 borAngle = 0;
smilestone520 27:1696ef46b538 275 aI_State = 2;
smilestone520 27:1696ef46b538 276 bor_state = 1;
smilestone520 22:d7b98234291c 277 }
smilestone520 21:6e8ab9487985 278 break;
smilestone520 22:d7b98234291c 279 case 5: // 逆時轉到特定角 結束 v1 ++ v2++
smilestone520 25:7053736ea6cc 280 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
smilestone520 23:948ce071cbb6 281 {
smilestone520 23:948ce071cbb6 282 v1_ref = 100;
smilestone520 23:948ce071cbb6 283 v2_ref = 100;
smilestone520 23:948ce071cbb6 284 }
smilestone520 27:1696ef46b538 285 else
smilestone520 27:1696ef46b538 286 {
smilestone520 27:1696ef46b538 287 borAngle = 0;
smilestone520 27:1696ef46b538 288 aI_State = 2;
smilestone520 27:1696ef46b538 289 bor_state = 1;
smilestone520 27:1696ef46b538 290 }
smilestone520 21:6e8ab9487985 291 break;
smilestone520 21:6e8ab9487985 292
smilestone520 21:6e8ab9487985 293 }
smilestone520 21:6e8ab9487985 294
roger5641 17:d96afd9d2692 295 //****to case2
smilestone520 11:44989c0bcea5 296 break;
roger5641 17:d96afd9d2692 297 case 2://move to get ball
roger5641 17:d96afd9d2692 298 if(-3<=angleR<=3) // direct to the ball
roger5641 17:d96afd9d2692 299 {
roger5641 17:d96afd9d2692 300 if(distance<=10) // check夾具距離
roger5641 17:d96afd9d2692 301 {
roger5641 17:d96afd9d2692 302 v1_ref = 0;
roger5641 17:d96afd9d2692 303 v2_ref = 0;
roger5641 17:d96afd9d2692 304 aI_State = 3;
roger5641 17:d96afd9d2692 305 }
roger5641 17:d96afd9d2692 306 else if(10<distance<50)
roger5641 17:d96afd9d2692 307 {
roger5641 17:d96afd9d2692 308 v1_ref = 100;
roger5641 17:d96afd9d2692 309 v2_ref = -100;
roger5641 17:d96afd9d2692 310 }
roger5641 17:d96afd9d2692 311 else
roger5641 17:d96afd9d2692 312 {
roger5641 17:d96afd9d2692 313 v1_ref = 300;
roger5641 17:d96afd9d2692 314 v2_ref = -300;
roger5641 17:d96afd9d2692 315 }
roger5641 17:d96afd9d2692 316 }
roger5641 17:d96afd9d2692 317
roger5641 17:d96afd9d2692 318 else if(3<angleR<=15) // small angle right
roger5641 17:d96afd9d2692 319 {
roger5641 17:d96afd9d2692 320 if(distance<50)
roger5641 17:d96afd9d2692 321 {
roger5641 17:d96afd9d2692 322 v1_ref = 200;
smilestone520 20:5b892e37a958 323 v2_ref = -(v1_ref-angleR*k_turn);
roger5641 17:d96afd9d2692 324 }
roger5641 17:d96afd9d2692 325 else
roger5641 17:d96afd9d2692 326 {
roger5641 17:d96afd9d2692 327 v1_ref = 300;
smilestone520 20:5b892e37a958 328 v2_ref = -(v1_ref-angleR*k_turn);
roger5641 17:d96afd9d2692 329 }
roger5641 17:d96afd9d2692 330
roger5641 17:d96afd9d2692 331 }
smilestone520 20:5b892e37a958 332 else if(-15 <= angleR < -3) // small angle left
roger5641 17:d96afd9d2692 333 {
roger5641 17:d96afd9d2692 334 if(distance<50)
roger5641 17:d96afd9d2692 335 {
smilestone520 20:5b892e37a958 336 v1_ref = -(v2_ref+angleR*k_turn);
roger5641 17:d96afd9d2692 337 v2_ref = 200;
roger5641 17:d96afd9d2692 338 }
roger5641 17:d96afd9d2692 339 else
roger5641 17:d96afd9d2692 340 {
smilestone520 20:5b892e37a958 341 v1_ref = -(v2_ref+angleR*k_turn);
roger5641 17:d96afd9d2692 342 v2_ref = 300;
roger5641 17:d96afd9d2692 343 }
roger5641 17:d96afd9d2692 344
roger5641 17:d96afd9d2692 345 }
roger5641 17:d96afd9d2692 346 else if(15<angleR<=180) // big angle right
roger5641 17:d96afd9d2692 347 {
roger5641 17:d96afd9d2692 348 v1_ref = 200;
roger5641 17:d96afd9d2692 349 v2_ref = 200;
roger5641 17:d96afd9d2692 350 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 351 if(distance<50)
roger5641 17:d96afd9d2692 352 {
roger5641 17:d96afd9d2692 353 v1_ref = 100;
roger5641 17:d96afd9d2692 354 v2_ref = -100;
roger5641 17:d96afd9d2692 355 }
roger5641 17:d96afd9d2692 356 else
roger5641 17:d96afd9d2692 357 {
roger5641 17:d96afd9d2692 358 v1_ref = 300;
roger5641 17:d96afd9d2692 359 v2_ref = -300;
roger5641 17:d96afd9d2692 360 }
roger5641 17:d96afd9d2692 361
roger5641 17:d96afd9d2692 362 }
roger5641 17:d96afd9d2692 363 else if(-180<=angleR<-15) // big angle left
roger5641 17:d96afd9d2692 364 {
roger5641 17:d96afd9d2692 365 v1_ref = -200;
roger5641 17:d96afd9d2692 366 v2_ref = -200;
roger5641 17:d96afd9d2692 367 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 368 if(0<distance<50)
roger5641 17:d96afd9d2692 369 {
roger5641 17:d96afd9d2692 370 v1_ref = 100;
roger5641 17:d96afd9d2692 371 v2_ref = -100;
roger5641 17:d96afd9d2692 372 }
roger5641 17:d96afd9d2692 373 else
roger5641 17:d96afd9d2692 374 {
roger5641 17:d96afd9d2692 375 v1_ref = 300;
roger5641 17:d96afd9d2692 376 v2_ref = -300;
roger5641 17:d96afd9d2692 377 }
roger5641 17:d96afd9d2692 378
roger5641 17:d96afd9d2692 379 }
roger5641 17:d96afd9d2692 380
roger5641 17:d96afd9d2692 381 break;
roger5641 17:d96afd9d2692 382 case 3: //****getBall();
roger5641 17:d96afd9d2692 383 if((distance == 10) && (-3<=angleR<=3))
roger5641 17:d96afd9d2692 384 {
roger5641 17:d96afd9d2692 385 angle = -10;
roger5641 17:d96afd9d2692 386 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 387 servo.write(servo_duty);
roger5641 17:d96afd9d2692 388 servo = 1;
roger5641 17:d96afd9d2692 389 wait(0.1);
roger5641 17:d96afd9d2692 390 servo = 0;
roger5641 17:d96afd9d2692 391 }
roger5641 17:d96afd9d2692 392 else
roger5641 17:d96afd9d2692 393 aI_State = 2;
roger5641 17:d96afd9d2692 394
smilestone520 11:44989c0bcea5 395 break;
smilestone520 12:c1a667ca6c53 396 case 4: /// move to the gate and release ball
smilestone520 12:c1a667ca6c53 397 // move to the point in front of the gate first
smilestone520 12:c1a667ca6c53 398 // then head to the gate
roger5641 18:2db6c97a4145 399 distanceGate = sqrt(((xGate-xP)*(xGate-xP))+((yGate-yP)*(yGate-yP)));
roger5641 17:d96afd9d2692 400 angleGate = atan2((yGate-yP),(xGate-xP))*180/pi;
roger5641 17:d96afd9d2692 401 if(-3<=angleGate<=3) // direct to the gate
roger5641 17:d96afd9d2692 402 {
roger5641 17:d96afd9d2692 403 if(distanceGate<=10) // check distance between car cemtroid and gate
roger5641 17:d96afd9d2692 404 {
roger5641 17:d96afd9d2692 405 v1_ref = 0;
roger5641 17:d96afd9d2692 406 v2_ref = 0;
roger5641 17:d96afd9d2692 407 aI_State = 5;
roger5641 17:d96afd9d2692 408 }
roger5641 17:d96afd9d2692 409 else if(10<distanceGate<50)
roger5641 17:d96afd9d2692 410 {
roger5641 17:d96afd9d2692 411 v1_ref = 100;
roger5641 17:d96afd9d2692 412 v2_ref = -100;
roger5641 17:d96afd9d2692 413 }
roger5641 17:d96afd9d2692 414 else
roger5641 17:d96afd9d2692 415 {
roger5641 17:d96afd9d2692 416 v1_ref = 300;
roger5641 17:d96afd9d2692 417 v2_ref = -300;
roger5641 17:d96afd9d2692 418 }
roger5641 17:d96afd9d2692 419 }
roger5641 17:d96afd9d2692 420 else if(3<angleGate<=15) // small angle right
roger5641 17:d96afd9d2692 421 {
roger5641 17:d96afd9d2692 422 if(distanceGate<50)
roger5641 17:d96afd9d2692 423 {
roger5641 17:d96afd9d2692 424 v1_ref = 200;
smilestone520 20:5b892e37a958 425 v2_ref = -(v1_ref-angleGate*k_turn);
roger5641 17:d96afd9d2692 426 }
roger5641 17:d96afd9d2692 427 else
roger5641 17:d96afd9d2692 428 {
roger5641 17:d96afd9d2692 429 v1_ref = 300;
smilestone520 20:5b892e37a958 430 v2_ref = -(v1_ref-angleGate*k_turn);
roger5641 17:d96afd9d2692 431 }
roger5641 17:d96afd9d2692 432 }
roger5641 17:d96afd9d2692 433 else if(-15<=angleGate<-3) // small angle left
roger5641 17:d96afd9d2692 434 {
roger5641 17:d96afd9d2692 435 if(distanceGate<50)
roger5641 17:d96afd9d2692 436 {
smilestone520 20:5b892e37a958 437 v1_ref = -(v2_ref+angleGate*k_turn);
roger5641 17:d96afd9d2692 438 v2_ref = 200;
roger5641 17:d96afd9d2692 439 }
roger5641 17:d96afd9d2692 440 else
roger5641 17:d96afd9d2692 441 {
smilestone520 20:5b892e37a958 442 v1_ref = -(v2_ref+angleGate*k_turn);
roger5641 17:d96afd9d2692 443 v2_ref = 300;
roger5641 17:d96afd9d2692 444 }
roger5641 17:d96afd9d2692 445 }
roger5641 17:d96afd9d2692 446 else if(15<angleGate<=180) // big angle right
roger5641 17:d96afd9d2692 447 {
roger5641 17:d96afd9d2692 448 v1_ref = 200;
roger5641 17:d96afd9d2692 449 v2_ref = 200;
roger5641 17:d96afd9d2692 450 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 451 if(distanceGate<50)
roger5641 17:d96afd9d2692 452 {
roger5641 17:d96afd9d2692 453 v1_ref = 100;
roger5641 17:d96afd9d2692 454 v2_ref = -100;
roger5641 17:d96afd9d2692 455 }
roger5641 17:d96afd9d2692 456 else
roger5641 17:d96afd9d2692 457 {
roger5641 17:d96afd9d2692 458 v1_ref = 300;
roger5641 17:d96afd9d2692 459 v2_ref = -300;
roger5641 17:d96afd9d2692 460 }
roger5641 17:d96afd9d2692 461 }
roger5641 17:d96afd9d2692 462 else if(-180<=angleGate<-15) // big angle left
roger5641 17:d96afd9d2692 463 {
roger5641 17:d96afd9d2692 464 v1_ref = -200;
roger5641 17:d96afd9d2692 465 v2_ref = -200;
roger5641 17:d96afd9d2692 466 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 467 if(0<distanceGate<50)
roger5641 17:d96afd9d2692 468 {
roger5641 17:d96afd9d2692 469 v1_ref = 100;
roger5641 17:d96afd9d2692 470 v2_ref = -100;
roger5641 17:d96afd9d2692 471 }
roger5641 17:d96afd9d2692 472 else
roger5641 17:d96afd9d2692 473 {
roger5641 17:d96afd9d2692 474 v1_ref = 300;
roger5641 17:d96afd9d2692 475 v2_ref = -300;
roger5641 17:d96afd9d2692 476 }
roger5641 17:d96afd9d2692 477 }
roger5641 17:d96afd9d2692 478
smilestone520 12:c1a667ca6c53 479 break;
roger5641 17:d96afd9d2692 480 case 5: // release ball
roger5641 17:d96afd9d2692 481 if((-3<=angleGate<=3) && (distanceGate<=10)) // direct to the gate
roger5641 17:d96afd9d2692 482 {
roger5641 17:d96afd9d2692 483 angle = 90; // Fixture up
roger5641 17:d96afd9d2692 484 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 485 servo.write(servo_duty);
roger5641 17:d96afd9d2692 486 servo = 1;
roger5641 17:d96afd9d2692 487 wait(0.1);
roger5641 17:d96afd9d2692 488 servo = 0;
roger5641 17:d96afd9d2692 489
roger5641 17:d96afd9d2692 490 pwm1.write(0.1f + 0.5f); // push
roger5641 17:d96afd9d2692 491 pwm2.write(-0.1f + 0.5f);
roger5641 17:d96afd9d2692 492 wait(0.5);
roger5641 17:d96afd9d2692 493
roger5641 17:d96afd9d2692 494 angle = -10; // Fixture down
roger5641 17:d96afd9d2692 495 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 496 servo.write(servo_duty);
roger5641 17:d96afd9d2692 497 servo = 1;
roger5641 17:d96afd9d2692 498 wait(0.1);
roger5641 17:d96afd9d2692 499 servo = 0;
roger5641 17:d96afd9d2692 500
roger5641 17:d96afd9d2692 501 pwm1.write(-0.3f + 0.5f); // back and leave gate
roger5641 17:d96afd9d2692 502 pwm2.write(0.3f + 0.5f);
roger5641 17:d96afd9d2692 503 wait(1);
roger5641 17:d96afd9d2692 504
roger5641 18:2db6c97a4145 505 aI_State = 0;
roger5641 17:d96afd9d2692 506
roger5641 17:d96afd9d2692 507 }
roger5641 17:d96afd9d2692 508
roger5641 17:d96afd9d2692 509 break;
roger5641 26:dbdbfdb4dd41 510
smilestone520 11:44989c0bcea5 511 }
roger5641 26:dbdbfdb4dd41 512
smilestone520 10:06cc2b1d2aaf 513 }
smilestone520 10:06cc2b1d2aaf 514
smilestone520 10:06cc2b1d2aaf 515 void CN_interrupt(void)
smilestone520 10:06cc2b1d2aaf 516 {
smilestone520 10:06cc2b1d2aaf 517 //Motor 1
smilestone520 10:06cc2b1d2aaf 518 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 519 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 520
smilestone520 10:06cc2b1d2aaf 521 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 522 if(stateA_1==0&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 523 state_1 = 1;}
smilestone520 10:06cc2b1d2aaf 524 else if(stateA_1==0&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 525 state_1 = 2;}
smilestone520 10:06cc2b1d2aaf 526 else if(stateA_1==1&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 527 state_1 = 3;}
smilestone520 10:06cc2b1d2aaf 528 else if(stateA_1==1&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 529 state_1 = 4;}
smilestone520 10:06cc2b1d2aaf 530
smilestone520 10:06cc2b1d2aaf 531 if(state_1 == 1)
smilestone520 10:06cc2b1d2aaf 532 {
smilestone520 10:06cc2b1d2aaf 533 if(state_1-state_1_old == -3)
smilestone520 10:06cc2b1d2aaf 534 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 535 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 536 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 537 }
smilestone520 10:06cc2b1d2aaf 538 else if(state_1 == 2)
smilestone520 10:06cc2b1d2aaf 539 {
smilestone520 10:06cc2b1d2aaf 540 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 541 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 542 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 543 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 544 }
smilestone520 10:06cc2b1d2aaf 545 else if(state_1 == 3)
smilestone520 10:06cc2b1d2aaf 546 {
smilestone520 10:06cc2b1d2aaf 547 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 548 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 549 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 550 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 551 }
smilestone520 10:06cc2b1d2aaf 552 else if(state_1 == 4)
smilestone520 10:06cc2b1d2aaf 553 {
smilestone520 10:06cc2b1d2aaf 554 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 555 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 556 else if(state_1-state_1_old == 3)
smilestone520 10:06cc2b1d2aaf 557 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 558 }
smilestone520 10:06cc2b1d2aaf 559 state_1_old = state_1;
smilestone520 10:06cc2b1d2aaf 560
smilestone520 10:06cc2b1d2aaf 561
smilestone520 10:06cc2b1d2aaf 562 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 563
smilestone520 10:06cc2b1d2aaf 564 //Forward
smilestone520 10:06cc2b1d2aaf 565 //v1Count +1
smilestone520 10:06cc2b1d2aaf 566 //Inverse
smilestone520 10:06cc2b1d2aaf 567 //v1Count -1
smilestone520 10:06cc2b1d2aaf 568
smilestone520 10:06cc2b1d2aaf 569
smilestone520 10:06cc2b1d2aaf 570 //Motor 2
smilestone520 10:06cc2b1d2aaf 571 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 572 stateB_2 = HallB_2.read();
smilestone520 10:06cc2b1d2aaf 573
smilestone520 10:06cc2b1d2aaf 574 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 575 if(stateA_2==0&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 576 state_2 = 1;}
smilestone520 10:06cc2b1d2aaf 577 else if(stateA_2==0&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 578 state_2 = 2;}
smilestone520 10:06cc2b1d2aaf 579 else if(stateA_2==1&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 580 state_2 = 3;}
smilestone520 10:06cc2b1d2aaf 581 else if(stateA_2==1&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 582 state_2 = 4;}
smilestone520 10:06cc2b1d2aaf 583
smilestone520 10:06cc2b1d2aaf 584 if(state_2 == 1)
smilestone520 10:06cc2b1d2aaf 585 {
smilestone520 10:06cc2b1d2aaf 586 if(state_2-state_2_old == -3)
smilestone520 10:06cc2b1d2aaf 587 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 588 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 589 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 590 }
smilestone520 10:06cc2b1d2aaf 591 else if(state_2 == 2)
smilestone520 10:06cc2b1d2aaf 592 {
smilestone520 10:06cc2b1d2aaf 593 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 594 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 595 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 596 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 597 }
smilestone520 10:06cc2b1d2aaf 598 else if(state_2 == 3)
smilestone520 10:06cc2b1d2aaf 599 {
smilestone520 10:06cc2b1d2aaf 600 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 601 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 602 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 603 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 604 }
smilestone520 10:06cc2b1d2aaf 605 else if(state_2 == 4)
smilestone520 10:06cc2b1d2aaf 606 {
smilestone520 10:06cc2b1d2aaf 607 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 608 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 609 else if(state_2-state_2_old == 3)
smilestone520 10:06cc2b1d2aaf 610 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 611 }
smilestone520 10:06cc2b1d2aaf 612 state_2_old = state_2;
smilestone520 10:06cc2b1d2aaf 613
smilestone520 10:06cc2b1d2aaf 614 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 615
smilestone520 10:06cc2b1d2aaf 616 //Forward
smilestone520 10:06cc2b1d2aaf 617 //v2Count +1
smilestone520 10:06cc2b1d2aaf 618 //Inverse
smilestone520 10:06cc2b1d2aaf 619 //v2Count -1
smilestone520 10:06cc2b1d2aaf 620 }
smilestone520 10:06cc2b1d2aaf 621
smilestone520 10:06cc2b1d2aaf 622 void init_TIMER(void)
smilestone520 10:06cc2b1d2aaf 623 {
smilestone520 10:06cc2b1d2aaf 624 timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
smilestone520 10:06cc2b1d2aaf 625 }
smilestone520 10:06cc2b1d2aaf 626
smilestone520 10:06cc2b1d2aaf 627 void init_PWM(void)
smilestone520 10:06cc2b1d2aaf 628 {
smilestone520 10:06cc2b1d2aaf 629 pwm1.period_us(50);
smilestone520 10:06cc2b1d2aaf 630 pwm1.write(0.5);
smilestone520 10:06cc2b1d2aaf 631 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 632
smilestone520 10:06cc2b1d2aaf 633 pwm2.period_us(50);
smilestone520 10:06cc2b1d2aaf 634 pwm2.write(0.5);
smilestone520 10:06cc2b1d2aaf 635 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 636 }
smilestone520 10:06cc2b1d2aaf 637
smilestone520 10:06cc2b1d2aaf 638 void init_CN(void)
smilestone520 10:06cc2b1d2aaf 639 {
smilestone520 10:06cc2b1d2aaf 640 HallA_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 641 HallA_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 642 HallB_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 643 HallB_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 644
smilestone520 10:06cc2b1d2aaf 645 HallA_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 646 HallA_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 647 HallB_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 648 HallB_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 649
smilestone520 10:06cc2b1d2aaf 650 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 651 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 652 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 653 stateB_2 = HallB_2.read();
smilestone520 20:5b892e37a958 654 }
smilestone520 20:5b892e37a958 655
smilestone520 20:5b892e37a958 656 //**************** funcBorder() *****************************************
smilestone520 20:5b892e37a958 657
smilestone520 20:5b892e37a958 658 void funcBorder(void) // check if car is too close to the border // miss the ball restriction part
smilestone520 20:5b892e37a958 659 {
smilestone520 20:5b892e37a958 660 if(yC > yB1 || yC < yB2 || xC < xB3 || xC > xB4){
smilestone520 20:5b892e37a958 661
smilestone520 20:5b892e37a958 662 if(yC > yB1) // 靠近上邊界 *****************************
smilestone520 20:5b892e37a958 663 {
smilestone520 20:5b892e37a958 664 if(xC < xB3) //左上角
smilestone520 20:5b892e37a958 665 {
smilestone520 20:5b892e37a958 666 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 667 {
smilestone520 23:948ce071cbb6 668 bor_state = 4; //clockwise, to angleC = 45
smilestone520 23:948ce071cbb6 669 borAngle = 45;
smilestone520 23:948ce071cbb6 670 }
smilestone520 20:5b892e37a958 671
smilestone520 20:5b892e37a958 672 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 673 bor_state = 3; //back 0.5*longC, judge again
smilestone520 20:5b892e37a958 674
smilestone520 20:5b892e37a958 675 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 676 {
smilestone520 23:948ce071cbb6 677 bor_state = 5;//counter clockwise, to angleC = 45
smilestone520 23:948ce071cbb6 678 borAngle = 45;
smilestone520 23:948ce071cbb6 679 }
smilestone520 20:5b892e37a958 680
smilestone520 20:5b892e37a958 681 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 682 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 683
smilestone520 20:5b892e37a958 684 }
smilestone520 20:5b892e37a958 685 else if(xC > xB4) //右上角
smilestone520 20:5b892e37a958 686 {
smilestone520 20:5b892e37a958 687 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 688 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 689
smilestone520 20:5b892e37a958 690 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 691 {
smilestone520 23:948ce071cbb6 692 bor_state = 5;//counter clockwise, to angleC = 135
smilestone520 23:948ce071cbb6 693 borAngle = 135;
smilestone520 23:948ce071cbb6 694 }
smilestone520 20:5b892e37a958 695
smilestone520 20:5b892e37a958 696 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 697 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 698
smilestone520 20:5b892e37a958 699 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 700 {
smilestone520 23:948ce071cbb6 701 bor_state = 4;//clockwise, to angleC = 135
smilestone520 23:948ce071cbb6 702 borAngle = 135;
smilestone520 23:948ce071cbb6 703 }
smilestone520 23:948ce071cbb6 704
smilestone520 20:5b892e37a958 705 }
smilestone520 20:5b892e37a958 706 else //上邊界
smilestone520 20:5b892e37a958 707 {
smilestone520 20:5b892e37a958 708 if(angleC == -90 || angleC == 90)
smilestone520 24:f61847968e72 709 aI_State = 2; // do nothing, turn to next point
smilestone520 20:5b892e37a958 710 else
smilestone520 24:f61847968e72 711 {
smilestone520 24:f61847968e72 712 if(0 > borAngle >= -90 || 90< borAngle <=0) //CW
smilestone520 24:f61847968e72 713 {
smilestone520 24:f61847968e72 714 bor_state = 4;
smilestone520 24:f61847968e72 715 borAngle = 90;
smilestone520 24:f61847968e72 716 }
smilestone520 24:f61847968e72 717 else
smilestone520 24:f61847968e72 718 {
smilestone520 24:f61847968e72 719 bor_state = 5;
smilestone520 24:f61847968e72 720 borAngle = 90;
smilestone520 24:f61847968e72 721 }
smilestone520 24:f61847968e72 722 } // turn to 90, then turn to next point
smilestone520 20:5b892e37a958 723 }
smilestone520 20:5b892e37a958 724
smilestone520 20:5b892e37a958 725
smilestone520 20:5b892e37a958 726 }
smilestone520 20:5b892e37a958 727 else if(yC < yB2) // 靠近下邊界 *E****************************************************88
smilestone520 20:5b892e37a958 728 {
smilestone520 20:5b892e37a958 729 if(xC < xB3) //左下角
smilestone520 20:5b892e37a958 730 {
smilestone520 20:5b892e37a958 731 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 732 bor_state = 2; //forward 0.5*longC, judge again
smilestone520 23:948ce071cbb6 733
smilestone520 20:5b892e37a958 734 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 735 {
smilestone520 23:948ce071cbb6 736 bor_state = 4; //clockwise, to angleC = -45
smilestone520 23:948ce071cbb6 737 borAngle = -45;
smilestone520 23:948ce071cbb6 738 }
smilestone520 20:5b892e37a958 739
smilestone520 20:5b892e37a958 740 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 741 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 742
smilestone520 20:5b892e37a958 743 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 744 {
smilestone520 23:948ce071cbb6 745 bor_state = 5;//counter clockwise, to angleC = -45
smilestone520 23:948ce071cbb6 746 borAngle = -45;
smilestone520 23:948ce071cbb6 747 }
smilestone520 20:5b892e37a958 748
smilestone520 20:5b892e37a958 749 }
smilestone520 20:5b892e37a958 750 else if(xC > xB4) //右下角
smilestone520 20:5b892e37a958 751 {
smilestone520 20:5b892e37a958 752 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 753 {
smilestone520 23:948ce071cbb6 754 bor_state = 5;//counter clockwise, to angleC = -135
smilestone520 23:948ce071cbb6 755 borAngle = -135;
smilestone520 23:948ce071cbb6 756 }
smilestone520 20:5b892e37a958 757
smilestone520 20:5b892e37a958 758 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 759 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 760
smilestone520 20:5b892e37a958 761 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 762 {
smilestone520 23:948ce071cbb6 763 bor_state = 4;//clockwise, to angleC = -135
smilestone520 23:948ce071cbb6 764 borAngle = -135;
smilestone520 23:948ce071cbb6 765 }
smilestone520 20:5b892e37a958 766
smilestone520 20:5b892e37a958 767 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 768 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 769
smilestone520 20:5b892e37a958 770 }
smilestone520 20:5b892e37a958 771 else //下邊界
smilestone520 20:5b892e37a958 772 {
smilestone520 20:5b892e37a958 773 if(angleC == -90 || angleC == 90)
smilestone520 24:f61847968e72 774 aI_State = 2; // do nothing, turn to next point
smilestone520 20:5b892e37a958 775 else
smilestone520 24:f61847968e72 776 {
smilestone520 24:f61847968e72 777 if(0 > borAngle >= -90 || 90< borAngle <=0) //CCW
smilestone520 24:f61847968e72 778 {
smilestone520 24:f61847968e72 779 bor_state = 5;
smilestone520 24:f61847968e72 780 borAngle = -90;
smilestone520 24:f61847968e72 781 }
smilestone520 24:f61847968e72 782 else
smilestone520 24:f61847968e72 783 {
smilestone520 24:f61847968e72 784 bor_state = 4;
smilestone520 24:f61847968e72 785 borAngle = -90;
smilestone520 24:f61847968e72 786 }
smilestone520 24:f61847968e72 787 } // turn to -90, then turn to next point
smilestone520 20:5b892e37a958 788 }
smilestone520 20:5b892e37a958 789
smilestone520 20:5b892e37a958 790
smilestone520 20:5b892e37a958 791 }
smilestone520 20:5b892e37a958 792 else if(xC < xB3) //靠近左邊界****************************************************************
smilestone520 20:5b892e37a958 793 {
smilestone520 20:5b892e37a958 794 if(angleC == 0 || angleC == 180)
smilestone520 23:948ce071cbb6 795 aI_State = 2; // do nothing, turn to next point
smilestone520 24:f61847968e72 796
smilestone520 24:f61847968e72 797 else if(-180 < angleC < 0) // CW
smilestone520 24:f61847968e72 798 {
smilestone520 24:f61847968e72 799 bor_state = 4;
smilestone520 24:f61847968e72 800 borAngle = 0;
smilestone520 24:f61847968e72 801 }
smilestone520 20:5b892e37a958 802 else
smilestone520 23:948ce071cbb6 803 {
smilestone520 24:f61847968e72 804 bor_state = 5;
smilestone520 24:f61847968e72 805 borAngle = 0;
smilestone520 24:f61847968e72 806 }
smilestone520 24:f61847968e72 807 // turn to 0, then turn to next point
smilestone520 20:5b892e37a958 808 }
smilestone520 20:5b892e37a958 809
smilestone520 20:5b892e37a958 810 else if(xC > xB4) //靠近右邊界 *********************************************88
smilestone520 20:5b892e37a958 811 {
smilestone520 20:5b892e37a958 812 if(angleC == 0 || angleC == 180)
smilestone520 23:948ce071cbb6 813 aI_State = 2; // do nothing, turn to next point
smilestone520 24:f61847968e72 814
smilestone520 24:f61847968e72 815 else if(-180 < angleC < 0) // CCW
smilestone520 24:f61847968e72 816 {
smilestone520 24:f61847968e72 817 bor_state = 5;
smilestone520 24:f61847968e72 818 borAngle = 180;
smilestone520 24:f61847968e72 819 } // turn to 90, then turn to next point
smilestone520 23:948ce071cbb6 820 else
smilestone520 24:f61847968e72 821 {
smilestone520 24:f61847968e72 822 bor_state = 4;
smilestone520 24:f61847968e72 823 borAngle = 180;
smilestone520 24:f61847968e72 824 }
smilestone520 23:948ce071cbb6 825 }
smilestone520 23:948ce071cbb6 826 }
smilestone520 23:948ce071cbb6 827 else
smilestone520 23:948ce071cbb6 828 {aI_State = 2;}
smilestone520 23:948ce071cbb6 829 } // funcBorder()
smilestone520 23:948ce071cbb6 830
smilestone520 20:5b892e37a958 831 //**************** smallAngle() *****************************************
smilestone520 20:5b892e37a958 832
smilestone520 20:5b892e37a958 833 void smallAngle( float goodAngle ) // use the smallest turn to right angle ccw / cw, based on 0~360 degree system
smilestone520 24:f61847968e72 834 {
smilestone520 20:5b892e37a958 835 if(angleR > 0) // CW
smilestone520 20:5b892e37a958 836 {
smilestone520 20:5b892e37a958 837 // turn clockwise to goodAngle;
smilestone520 20:5b892e37a958 838 }
smilestone520 20:5b892e37a958 839 else if(angleR < 0) //CCW
smilestone520 20:5b892e37a958 840 {
smilestone520 20:5b892e37a958 841 // turn counter clockwise to goodAngle;
smilestone520 20:5b892e37a958 842 }
smilestone520 20:5b892e37a958 843
smilestone520 24:f61847968e72 844 }
smilestone520 20:5b892e37a958 845 //*************** turnCW() ***********************************
smilestone520 20:5b892e37a958 846
smilestone520 20:5b892e37a958 847 void turnCW(float goodAngle)
smilestone520 20:5b892e37a958 848 {
smilestone520 20:5b892e37a958 849 // turn clockwise to goodAngle;
smilestone520 20:5b892e37a958 850 }
smilestone520 20:5b892e37a958 851
smilestone520 20:5b892e37a958 852 //*************** turnCCW() ***********************************
smilestone520 20:5b892e37a958 853
smilestone520 20:5b892e37a958 854 void turnCCW(float goodAngle)
smilestone520 20:5b892e37a958 855 {
smilestone520 20:5b892e37a958 856 // turn counter clockwise to goodAngle;
smilestone520 10:06cc2b1d2aaf 857 }