File content as of revision 20:5b892e37a958:

/*LAB_DCMotor*/
#include "mbed.h"

//The number will be compiled as type "double" in default
//Add a "f" after the number can make it compiled as type "float"
#define Ts 0.01f    //period of timer1 (s)
#define Kp 0.003f
#define Ki 0.01f


PwmOut servo(A0);
PwmOut pwm1(D7);
PwmOut pwm1n(D11);
PwmOut pwm2(D8);
PwmOut pwm2n(A3);

Serial bluetooth(D10,D2);
Serial pc(D1, D0);

DigitalOut led1(A4);
DigitalOut led2(A5);

//Motor1 sensor
InterruptIn HallA_1(A1);
InterruptIn HallB_1(A2);
//Motor2 sensor
InterruptIn HallA_2(D13);
InterruptIn HallB_2(D12);

Ticker timer1;
void timer1_interrupt(void);
void CN_interrupt(void);
//void _ISR_U2RXInterrupt(void);

void init_TIMER(void);
void init_PWM(void);
void init_CN(void);
void funcBorder(void);
void smallAngle( float );
void turnCW(float);
void turnCCW(float);

int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;

int v1Count = 0;
int v2Count = 0;

float v1 = 0.0, v1_ref = 0.0;
float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
float v2 = 0.0, v2_ref = 0.0;
float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;

int angle = 90;
float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90

int Command_Flag = 0, Receive_Flag = 0, Receive_Counter = 0; 
int Receive_Data[33] = {0};

double Distance_Target = 0, Angle_Target = 0;
int X_Position_1 = 0, Y_Position_1 = 0, Angle_1 = 0;
int X_Position_2 = 0, Y_Position_2 = 0, Angle_2 = 0;
int pwm_duty;

float k_forward = 20, k_turn = 10;

//****  receive and return by bluetooth ************** // bluetooth.getc()
float xC, yC; // car's position
float angleC;// car's angle 
double xP,yP,distance; //position that car need to reach
float angleR; //  angleR =  car-nextSpot direction  --->  car direction
int yB1,yB2,xB3,xB4; // broder conditions
int xGate = 800, yGate = 300;
double angleGate, distanceGate;
int aI_State = 0;
double pi = 3.1415926;

float longC; // car's length
float longB;// long of the court
float ballSize; // ball size
float wideB; // wide of the court

int main() {
    
    init_TIMER();
    init_PWM();
    init_CN();
    servo.write(0.079 + (0.084/180)*angle);
    
    bluetooth.baud(115200); //設定鮑率
    pc.baud(57600);
    
    
    while(1) 
    {
        if(pc.readable())
        {
            bluetooth.putc(pc.getc());
        }
        if(bluetooth.readable())
        {
            pc.putc(bluetooth.getc());
        }
        
        if(Command_Flag == 1)
        {
            //read data from matlab
            //distance_target
            Distance_Target = (Receive_Data[2]-0x30)*100 + (Receive_Data[3]-0x30)*10 + (Receive_Data[4]-0x30);
            
            if(Receive_Data[1] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //ang_rel_target
            Angle_Target = (Receive_Data[6]-0x30)*100 + (Receive_Data[7]-0x30)*10 + (Receive_Data[8]-0x30);
            
            if(Receive_Data[5] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //x_position_car_1
            X_Position_1 = (Receive_Data[10]-0x30)*100 + (Receive_Data[11]-0x30)*10 + (Receive_Data[12]-0x30);
            
            if(Receive_Data[9] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //y_position_car_1
            Y_Position_1 = (Receive_Data[14]-0x30)*100 + (Receive_Data[15]-0x30)*10 + (Receive_Data[16]-0x30);
            
            if(Receive_Data[13] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //angle_car_1
            Angle_1 = (Receive_Data[18]-0x30)*100 + (Receive_Data[19]-0x30)*10 + (Receive_Data[20]-0x30);
            
            if(Receive_Data[17] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //x_position_car_2
            X_Position_2 = (Receive_Data[22]-0x30)*100 + (Receive_Data[23]-0x30)*10 + (Receive_Data[24]-0x30);
            
            if(Receive_Data[21] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //y_position_car_2
            Y_Position_2 = (Receive_Data[26]-0x30)*100 + (Receive_Data[27]-0x30)*10 + (Receive_Data[28]-0x30);
            
            if(Receive_Data[25] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            //angle_car_1
            Angle_2 = (Receive_Data[30]-0x30)*100 + (Receive_Data[31]-0x30)*10 + (Receive_Data[32]-0x30);
            
            if(Receive_Data[29] == '-')Distance_Target = -1* Distance_Target;
            else Distance_Target = Distance_Target;
            
            // PWM
            if(Receive_Data[33] == 'j')pwm_duty = 148;
            else if(Receive_Data[33] == 'k')pwm_duty = 100;
            
            Command_Flag = 0;
        }
    }
}

void timer1_interrupt(void)
{
    //Motor 1
    v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
    v1Count = 0;
    
    ///code for PI control///    
    v1_err = v1_ref - v1;
    v1_ierr = 0.01f*v1_err + v1_ierr;
    PIout_1 = Kp*v1_err + Ki*v1_ierr; 
    
    if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
    else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
    pwm1.write(PIout_1 + 0.5f);
    TIM1->CCER |= 0x4;   
    
    //Motor 2
    v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
    v2Count = 0;
    
    ///code for PI control///
    v2_err = v2_ref - v2;
    v2_ierr = 0.01f*v2_err + v2_ierr;
    PIout_2 = Kp*v2_err + Ki*v2_ierr; 
    
    if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
    else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
    pwm2.write(PIout_2 + 0.5f);
    TIM1->CCER |= 0x40;
    
      
    //*****  main AI  **************************
    
    
    //***** get position information from the bluetooth
    xC = X_Position_1; 
    yC = Y_Position_1; // car's position

    angleC = Angle_1; // car's angle 
    
    distance = Distance_Target;
    xP = Distance_Target*cos(Angle_Target*pi/180);
    yP = Distance_Target*sin(Angle_Target*pi/180);//position that car need to reach

    angleR = Angle_Target; //  angleR =  car-nextSpot direction  --->  car direction
    
    yB1 = longC;
    yB2 = wideB - longC ;
    xB3 = longC ;
    xB4 = longB-longC;
    
    //****   AI_State   ********************
    
    switch(aI_State)
    {
        case 0:   // IDLE
            // IDLE check if stop color appear 
            //check purple color appear or not 
           if(xP==0 && yP==0 && angleR==0)
           {
               v1_ref = 0;
               v2_ref = 0;
           }
           else
           aI_State = 1;
            //****setSpecs();
            break;
      
        case 1:   ///   border condition
            // check if car fit border conditions
            funcBorder();
           //****to case2
            break;
        case 2://move to get ball
           if(-3<=angleR<=3) // direct to the ball
           {
              if(distance<=10) // check夾具距離
              {
                  v1_ref = 0;
                  v2_ref = 0;
                  aI_State = 3;
              }
              else if(10<distance<50)
              {
                  v1_ref = 100;
                  v2_ref = -100;
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -300;
              }
           }
           
           else if(3<angleR<=15) // small angle right
           {
              if(distance<50)
              {
                  v1_ref = 200;
                  v2_ref = -(v1_ref-angleR*k_turn);
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -(v1_ref-angleR*k_turn);
              }
   
           }
           else if(-15 <= angleR < -3) // small angle left
           {
              if(distance<50)
              {
                  v1_ref = -(v2_ref+angleR*k_turn);
                  v2_ref = 200;
              }
              else
              {
                  v1_ref = -(v2_ref+angleR*k_turn);
                  v2_ref = 300;
              }
   
           }
           else if(15<angleR<=180) // big angle right
           {
              v1_ref = 200;
              v2_ref = 200;
              wait(10); //need to count the relation between angle and time in v = 200 
              if(distance<50)
              {
                  v1_ref = 100;
                  v2_ref = -100;
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -300;
              }
   
           }
           else if(-180<=angleR<-15) // big angle left
           {
              v1_ref = -200;
              v2_ref = -200;
              wait(10); //need to count the relation between angle and time in v = 200 
              if(0<distance<50)
              {
                  v1_ref = 100;
                  v2_ref = -100;
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -300;
              }
   
           }
            
            break;
        case 3: //****getBall();
             if((distance == 10) && (-3<=angleR<=3))
             {
                 angle = -10;
                 servo_duty = 0.079 + (0.084/180)*angle;
                 servo.write(servo_duty);
                 servo = 1;
                 wait(0.1);       
                 servo = 0;
             }
             else
             aI_State = 2;
             
            break;
        case 4: /// move to the gate and release ball
        // move to the point in front of the gate first
        // then head to the gate
            distanceGate = sqrt(((xGate-xP)*(xGate-xP))+((yGate-yP)*(yGate-yP)));
            angleGate = atan2((yGate-yP),(xGate-xP))*180/pi;
            if(-3<=angleGate<=3) // direct to the gate
           {
              if(distanceGate<=10) // check distance between car cemtroid and gate 
              {
                  v1_ref = 0;
                  v2_ref = 0;
                  aI_State = 5;
              }
              else if(10<distanceGate<50)
              {
                  v1_ref = 100;
                  v2_ref = -100;
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -300;
              }
           }          
           else if(3<angleGate<=15) // small angle right
           {
              if(distanceGate<50)
              {
                  v1_ref = 200;
                  v2_ref = -(v1_ref-angleGate*k_turn);
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -(v1_ref-angleGate*k_turn);
              }  
           }
           else if(-15<=angleGate<-3) // small angle left
           {
              if(distanceGate<50)
              {
                  v1_ref = -(v2_ref+angleGate*k_turn);
                  v2_ref = 200;
              }
              else
              {
                  v1_ref = -(v2_ref+angleGate*k_turn);
                  v2_ref = 300;
              }  
           }
           else if(15<angleGate<=180) // big angle right
           {
              v1_ref = 200;
              v2_ref = 200;
              wait(10); //need to count the relation between angle and time in v = 200 
              if(distanceGate<50)
              {
                  v1_ref = 100;
                  v2_ref = -100;
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -300;
              }  
           }
           else if(-180<=angleGate<-15) // big angle left
           {
              v1_ref = -200;
              v2_ref = -200;
              wait(10); //need to count the relation between angle and time in v = 200 
              if(0<distanceGate<50)
              {
                  v1_ref = 100;
                  v2_ref = -100;
              }
              else
              {
                  v1_ref = 300;
                  v2_ref = -300;
              }   
           }
            
            break;
         case 5: // release ball
            if((-3<=angleGate<=3) && (distanceGate<=10)) // direct to the gate
              {
                 angle = 90; // Fixture up
                 servo_duty = 0.079 + (0.084/180)*angle;
                 servo.write(servo_duty);
                 servo = 1;
                 wait(0.1);       
                 servo = 0;
                 
                 pwm1.write(0.1f + 0.5f); // push
                 pwm2.write(-0.1f + 0.5f);
                 wait(0.5);
                 
                 angle = -10; // Fixture down
                 servo_duty = 0.079 + (0.084/180)*angle;
                 servo.write(servo_duty);
                 servo = 1;
                 wait(0.1);       
                 servo = 0;
                 
                 pwm1.write(-0.3f + 0.5f); // back and leave gate
                 pwm2.write(0.3f + 0.5f);
                 wait(1);
                 
                 aI_State = 0;
                  
              }
         
          break;
            
        
    }
    
    
}

void CN_interrupt(void)
{
    //Motor 1
    stateA_1 = HallA_1.read();
    stateB_1 = HallB_1.read();
    
    ///code for state determination///
    if(stateA_1==0&&stateB_1==0){
    state_1 = 1;}
    else if(stateA_1==0&&stateB_1==1){
    state_1 = 2;}
    else if(stateA_1==1&&stateB_1==1){
    state_1 = 3;}
    else if(stateA_1==1&&stateB_1==0){
    state_1 = 4;}
       
    if(state_1 == 1)
    {
        if(state_1-state_1_old == -3)
        v1Count=v1Count+1;
        else if(state_1-state_1_old == -1)
        v1Count=v1Count-1;     
    }
    else if(state_1 == 2)
    {
        if(state_1-state_1_old == 1)
        v1Count=v1Count+1;
        else if(state_1-state_1_old == -1)
        v1Count=v1Count-1;     
    }
    else if(state_1 == 3)
    {
        if(state_1-state_1_old == 1)
        v1Count=v1Count+1;
        else if(state_1-state_1_old == -1)
        v1Count=v1Count-1;     
    }
    else if(state_1 == 4)
    {
        if(state_1-state_1_old == 1)
        v1Count=v1Count+1;
        else if(state_1-state_1_old == 3)
        v1Count=v1Count-1;     
    } 
        state_1_old = state_1;
    
    
    //////////////////////////////////
    
    //Forward
    //v1Count +1
    //Inverse
    //v1Count -1
    
    
    //Motor 2
    stateA_2 = HallA_2.read();
    stateB_2 = HallB_2.read();
    
    ///code for state determination///
    if(stateA_2==0&&stateB_2==0){
    state_2 = 1;}
    else if(stateA_2==0&&stateB_2==1){
    state_2 = 2;}
    else if(stateA_2==1&&stateB_2==1){
    state_2 = 3;}
    else if(stateA_2==1&&stateB_2==0){
    state_2 = 4;}
    
    if(state_2 == 1)
    {
        if(state_2-state_2_old == -3)
        v2Count=v2Count+1;
        else if(state_2-state_2_old == -1)
        v2Count=v2Count-1;     
    }
    else if(state_2 == 2)
    {
        if(state_2-state_2_old == 1)
        v2Count=v2Count+1;
        else if(state_2-state_2_old == -1)
        v2Count=v2Count-1;     
    }
    else if(state_2 == 3)
    {
        if(state_2-state_2_old == 1)
        v2Count=v2Count+1;
        else if(state_2-state_2_old == -1)
        v2Count=v2Count-1;     
    }
    else if(state_2 == 4)
    {
        if(state_2-state_2_old == 1)
        v2Count=v2Count+1;
        else if(state_2-state_2_old == 3)
        v2Count=v2Count-1;     
    }
        state_2_old = state_2;
    
    //////////////////////////////////
    
    //Forward
    //v2Count +1
    //Inverse
    //v2Count -1
}

/*void _ISR_U2RXInterrupt(void)
{
/////////// Receive ////////////
    static char Temp;
    Temp = U2RXREG;

    if(Receive_Flag == 1)
    {
        Receive_Counter++;
        Receive_Data[Receive_Counter] = Temp;
        
        if(Receive_Counter == 33) // 8 data *4byte
        {
            //Send_Flag == 1
            Command_Flag = 1;
            Receive_Flag = 0;
            Receive_Counter = 0;               
        }        
    }
    
    else
    {
        if(Temp == 36)  //'$'
        {
            Receive_Flag = 1;
            Receive_Counter = 0;
            Receive_Data[0] = Temp;
        }
        else
        {
            // Waiting   
        }
    }
    
    IFS1bits.U2RXIF = 0;
}
*/

void init_TIMER(void)
{
    timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
}         
   
void init_PWM(void)
{
    pwm1.period_us(50);
    pwm1.write(0.5);
    TIM1->CCER |= 0x4;
    
    pwm2.period_us(50);
    pwm2.write(0.5);
    TIM1->CCER |= 0x40;
}

void init_CN(void)
{
    HallA_1.rise(&CN_interrupt);
    HallA_1.fall(&CN_interrupt);
    HallB_1.rise(&CN_interrupt);
    HallB_1.fall(&CN_interrupt);
    
    HallA_2.rise(&CN_interrupt);
    HallA_2.fall(&CN_interrupt);
    HallB_2.rise(&CN_interrupt);
    HallB_2.fall(&CN_interrupt);
    
    stateA_1 = HallA_1.read();
    stateB_1 = HallB_1.read();
    stateA_2 = HallA_2.read();
    stateB_2 = HallB_2.read();
}

//****************  funcBorder()  *****************************************

void funcBorder(void) // check if car is too close to the border  //  miss the ball restriction part
{
  if(yC > yB1 || yC < yB2 || xC < xB3 || xC > xB4){

    if(yC > yB1) // 靠近上邊界          *****************************
    {
        if(xC < xB3) //左上角  
        {
           if(angleC <0 && angleC >=-90)         //   I
            {}
            //clockwise, to angleC = 45
            
           else if(angleC > -180 && angleC <-90)  //   II
            {}
            //back 0.5*longC, judge again
            
           else if(angleC <=180 && angleC >=90)  //   III
            {}
            //counter clockwise, to angleC = 45

           else if(angleC < 90 && angleC >=0)  //  IV
            {}
            //forward 0.5*longC, judge again

        }
        else if(xC > xB4) //右上角  
        {
           if(angleC <0 && angleC >=-90)         //   I
            {}
            //back 0.5*longC, judge again
            
           else if(angleC > -180 && angleC <-90)  //   II
            {}
            //counter clockwise, to angleC = 135
            
           else if(angleC <=180 && angleC >=90)  //   III
            {}
            //forward 0.5*longC, judge again

           else if(angleC < 90 && angleC >=0)  //  IV
            {
            //clockwise, to angleC = 135
            }
        }
        else //上邊界 
        {
          if(angleC == -90 || angleC == 90)
          {} // do nothing, turn to next point
          else
          {smallAngle(90);} // turn to 90, then turn to next point
        }
      
        
    }
    else if(yC < yB2) // 靠近下邊界    *E****************************************************88
    {
        if(xC < xB3) //左下角 
        {
           if(angleC <0 && angleC >=-90)         //   I
            {}
            //forward 0.5*longC, judge again
            
           else if(angleC > -180 && angleC <-90)  //   II
            {}
            //clockwise, to angleC = -45
            
           else if(angleC <=180 && angleC >=90)  //   III
            {}
            //back 0.5*longC, judge again

           else if(angleC < 90 && angleC >=0)  //  IV
            {}
            //counter clockwise, to angleC = -45
          
        }
        else if(xC > xB4) //右下角
        {
           if(angleC <0 && angleC >=-90)         //   I
            {}
            //counter clockwise, to angleC = -135
            
           else if(angleC > -180 && angleC <-90)  //   II
            {}
            //forward 0.5*longC, judge again
            
           else if(angleC <=180 && angleC >=90)  //   III
            {}
            //clockwise, to angleC = -135

           else if(angleC < 90 && angleC >=0)  //  IV
            {}
            //back 0.5*longC, judge again
          
        }
        else //下邊界  
        {       
          if(angleC == -90 || angleC == 90)
          {} // do nothing, turn to next point
          else
          {smallAngle(-90);} // turn to 90, then turn to next point
        }
        
       
    }
    else if(xC < xB3) //靠近左邊界****************************************************************
    {
          if(angleC == 0 || angleC == 180)
          {} // do nothing, turn to next point
          else
          {smallAngle(0);} // turn to 90, then turn to next point
    }

    else if(xC > xB4) //靠近右邊界     *********************************************88
    {
          if(angleC == 0 || angleC == 180)
          {} // do nothing, turn to next point
          else
          {smallAngle(180);} // turn to 90, then turn to next point
    }
  }
  else
  {aI_State = 2;}
} // funcBorder() 
//****************  smallAngle()  *****************************************

void smallAngle( float goodAngle ) // use the smallest turn to right angle  ccw / cw,  based on 0~360 degree system
{}
    if(angleR > 0) // CW
    {
        // turn clockwise to goodAngle;
    }
    else if(angleR < 0) //CCW
    {
        // turn counter clockwise to goodAngle;
    }


//***************   turnCW() ***********************************

void turnCW(float goodAngle)
{
  // turn clockwise to goodAngle;
}

//***************   turnCCW() ***********************************

void turnCCW(float goodAngle)
{
  // turn counter clockwise to goodAngle;
}