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Dependencies:   mbed

AI_Friday.cpp@30:2ce51e8719ff, 2016-05-26 (annotated)

Committer:
smilestone520
Date:
Thu May 26 11:29:00 2016 +0000
Revision:
30:2ce51e8719ff
Parent:
29:47519f2b14ad
Child:
31:6a894ff3ed18
hahahaa

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 30:2ce51e8719ff 78 float longC = 65; // car's length //65
smilestone520 30:2ce51e8719ff 79 int yB1= 65;
smilestone520 30:2ce51e8719ff 80 int yB2 = 580;
smilestone520 30:2ce51e8719ff 81 int xB3 = 170;
smilestone520 30:2ce51e8719ff 82 int xB4 = 860; // broder conditions
smilestone520 29:47519f2b14ad 83 //65 , 580, 170,860
smilestone520 27:1696ef46b538 84 int ticCheck = 10;
smilestone520 20:5b892e37a958 85
smilestone520 10:06cc2b1d2aaf 86 int main() {
smilestone520 10:06cc2b1d2aaf 87
smilestone520 10:06cc2b1d2aaf 88 init_TIMER();
smilestone520 10:06cc2b1d2aaf 89 init_PWM();
smilestone520 10:06cc2b1d2aaf 90 init_CN();
roger5641 17:d96afd9d2692 91 servo.write(0.079 + (0.084/180)*angle);
smilestone520 10:06cc2b1d2aaf 92
smilestone520 10:06cc2b1d2aaf 93 bluetooth.baud(115200); //設定鮑率
smilestone520 10:06cc2b1d2aaf 94 pc.baud(57600);
smilestone520 10:06cc2b1d2aaf 95
smilestone520 10:06cc2b1d2aaf 96
smilestone520 10:06cc2b1d2aaf 97 while(1)
smilestone520 10:06cc2b1d2aaf 98 {
smilestone520 10:06cc2b1d2aaf 99 if(pc.readable())
smilestone520 10:06cc2b1d2aaf 100 {
smilestone520 10:06cc2b1d2aaf 101 bluetooth.putc(pc.getc());
smilestone520 10:06cc2b1d2aaf 102 }
smilestone520 10:06cc2b1d2aaf 103 if(bluetooth.readable())
smilestone520 10:06cc2b1d2aaf 104 {
smilestone520 10:06cc2b1d2aaf 105 pc.putc(bluetooth.getc());
smilestone520 10:06cc2b1d2aaf 106 }
smilestone520 10:06cc2b1d2aaf 107 }
smilestone520 10:06cc2b1d2aaf 108 }
smilestone520 10:06cc2b1d2aaf 109
smilestone520 10:06cc2b1d2aaf 110 void timer1_interrupt(void)
smilestone520 10:06cc2b1d2aaf 111 {
roger5641 26:dbdbfdb4dd41 112 for(int i=0; i<32; i++)
roger5641 26:dbdbfdb4dd41 113 {
roger5641 26:dbdbfdb4dd41 114 Receive_Data[i] = bluetooth.getc();
roger5641 26:dbdbfdb4dd41 115 }
roger5641 26:dbdbfdb4dd41 116 //read data from matlab
roger5641 26:dbdbfdb4dd41 117 //distance_target
roger5641 26:dbdbfdb4dd41 118 Distance_Target = (Receive_Data[1]-0x30)*100 + (Receive_Data[2]-0x30)*10 + (Receive_Data[3]-0x30);
roger5641 26:dbdbfdb4dd41 119
roger5641 26:dbdbfdb4dd41 120 if(Receive_Data[0] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 121 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 122
roger5641 26:dbdbfdb4dd41 123 //ang_rel_target
roger5641 26:dbdbfdb4dd41 124 Angle_Target = (Receive_Data[5]-0x30)*100 + (Receive_Data[6]-0x30)*10 + (Receive_Data[7]-0x30);
roger5641 26:dbdbfdb4dd41 125
roger5641 26:dbdbfdb4dd41 126 if(Receive_Data[4] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 127 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 128
roger5641 26:dbdbfdb4dd41 129 //x_position_car_1
roger5641 26:dbdbfdb4dd41 130 X_Position_1 = (Receive_Data[9]-0x30)*100 + (Receive_Data[10]-0x30)*10 + (Receive_Data[11]-0x30);
roger5641 26:dbdbfdb4dd41 131
roger5641 26:dbdbfdb4dd41 132 if(Receive_Data[8] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 133 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 134
roger5641 26:dbdbfdb4dd41 135 //y_position_car_1
roger5641 26:dbdbfdb4dd41 136 Y_Position_1 = (Receive_Data[13]-0x30)*100 + (Receive_Data[14]-0x30)*10 + (Receive_Data[15]-0x30);
roger5641 26:dbdbfdb4dd41 137
roger5641 26:dbdbfdb4dd41 138 if(Receive_Data[12] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 139 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 140
roger5641 26:dbdbfdb4dd41 141 //angle_car_1
roger5641 26:dbdbfdb4dd41 142 Angle_1 = (Receive_Data[17]-0x30)*100 + (Receive_Data[18]-0x30)*10 + (Receive_Data[19]-0x30);
roger5641 26:dbdbfdb4dd41 143
roger5641 26:dbdbfdb4dd41 144 if(Receive_Data[16] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 145 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 146
roger5641 26:dbdbfdb4dd41 147 //x_position_car_2
roger5641 26:dbdbfdb4dd41 148 X_Position_2 = (Receive_Data[21]-0x30)*100 + (Receive_Data[22]-0x30)*10 + (Receive_Data[23]-0x30);
roger5641 26:dbdbfdb4dd41 149
roger5641 26:dbdbfdb4dd41 150 if(Receive_Data[20] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 151 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 152
roger5641 26:dbdbfdb4dd41 153 //y_position_car_2
roger5641 26:dbdbfdb4dd41 154 Y_Position_2 = (Receive_Data[25]-0x30)*100 + (Receive_Data[26]-0x30)*10 + (Receive_Data[27]-0x30);
roger5641 26:dbdbfdb4dd41 155
roger5641 26:dbdbfdb4dd41 156 if(Receive_Data[24] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 157 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 158
roger5641 26:dbdbfdb4dd41 159 //angle_car_1
roger5641 26:dbdbfdb4dd41 160 Angle_2 = (Receive_Data[29]-0x30)*100 + (Receive_Data[30]-0x30)*10 + (Receive_Data[31]-0x30);
roger5641 26:dbdbfdb4dd41 161
roger5641 26:dbdbfdb4dd41 162 if(Receive_Data[28] == '-')Distance_Target = -1* Distance_Target;
roger5641 26:dbdbfdb4dd41 163 else Distance_Target = Distance_Target;
roger5641 26:dbdbfdb4dd41 164
roger5641 26:dbdbfdb4dd41 165
roger5641 26:dbdbfdb4dd41 166
smilestone520 10:06cc2b1d2aaf 167 //Motor 1
smilestone520 10:06cc2b1d2aaf 168 v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 169 v1Count = 0;
smilestone520 10:06cc2b1d2aaf 170
smilestone520 10:06cc2b1d2aaf 171 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 172 v1_err = v1_ref - v1;
smilestone520 10:06cc2b1d2aaf 173 v1_ierr = 0.01f*v1_err + v1_ierr;
smilestone520 10:06cc2b1d2aaf 174 PIout_1 = Kp*v1_err + Ki*v1_ierr;
smilestone520 10:06cc2b1d2aaf 175
smilestone520 10:06cc2b1d2aaf 176 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
smilestone520 10:06cc2b1d2aaf 177 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
smilestone520 10:06cc2b1d2aaf 178 pwm1.write(PIout_1 + 0.5f);
roger5641 17:d96afd9d2692 179 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 180
smilestone520 10:06cc2b1d2aaf 181 //Motor 2
smilestone520 10:06cc2b1d2aaf 182 v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 183 v2Count = 0;
smilestone520 10:06cc2b1d2aaf 184
smilestone520 10:06cc2b1d2aaf 185 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 186 v2_err = v2_ref - v2;
smilestone520 10:06cc2b1d2aaf 187 v2_ierr = 0.01f*v2_err + v2_ierr;
smilestone520 10:06cc2b1d2aaf 188 PIout_2 = Kp*v2_err + Ki*v2_ierr;
smilestone520 10:06cc2b1d2aaf 189
smilestone520 10:06cc2b1d2aaf 190 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
smilestone520 10:06cc2b1d2aaf 191 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
smilestone520 10:06cc2b1d2aaf 192 pwm2.write(PIout_2 + 0.5f);
smilestone520 10:06cc2b1d2aaf 193 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 194
roger5641 17:d96afd9d2692 195
smilestone520 11:44989c0bcea5 196 //***** main AI **************************
smilestone520 11:44989c0bcea5 197
smilestone520 11:44989c0bcea5 198
smilestone520 11:44989c0bcea5 199 //***** get position information from the bluetooth
roger5641 17:d96afd9d2692 200 xC = X_Position_1;
roger5641 17:d96afd9d2692 201 yC = Y_Position_1; // car's position
smilestone520 11:44989c0bcea5 202
roger5641 17:d96afd9d2692 203 angleC = Angle_1; // car's angle
roger5641 17:d96afd9d2692 204
roger5641 17:d96afd9d2692 205 distance = Distance_Target;
roger5641 18:2db6c97a4145 206 xP = Distance_Target*cos(Angle_Target*pi/180);
roger5641 18:2db6c97a4145 207 yP = Distance_Target*sin(Angle_Target*pi/180);//position that car need to reach
smilestone520 11:44989c0bcea5 208
roger5641 17:d96afd9d2692 209 angleR = Angle_Target; // angleR = car-nextSpot direction ---> car direction
smilestone520 11:44989c0bcea5 210
smilestone520 29:47519f2b14ad 211 yB1 += longC;
smilestone520 29:47519f2b14ad 212 yB2 -= longC ;
smilestone520 29:47519f2b14ad 213 xB3 += longC ;
smilestone520 29:47519f2b14ad 214 xB4 -= longC;
smilestone520 20:5b892e37a958 215
smilestone520 11:44989c0bcea5 216 //**** AI_State ********************
smilestone520 11:44989c0bcea5 217
smilestone520 11:44989c0bcea5 218 switch(aI_State)
smilestone520 11:44989c0bcea5 219 {
smilestone520 12:c1a667ca6c53 220 case 0: // IDLE
smilestone520 12:c1a667ca6c53 221 // IDLE check if stop color appear
smilestone520 12:c1a667ca6c53 222 //check purple color appear or not
roger5641 17:d96afd9d2692 223 if(xP==0 && yP==0 && angleR==0)
roger5641 17:d96afd9d2692 224 {
roger5641 17:d96afd9d2692 225 v1_ref = 0;
roger5641 17:d96afd9d2692 226 v2_ref = 0;
roger5641 17:d96afd9d2692 227 }
roger5641 17:d96afd9d2692 228 else
roger5641 17:d96afd9d2692 229 aI_State = 1;
smilestone520 14:c46f22bcaa38 230 //****setSpecs();
smilestone520 11:44989c0bcea5 231 break;
smilestone520 16:a102929b2228 232
roger5641 17:d96afd9d2692 233 case 1: /// border condition
smilestone520 12:c1a667ca6c53 234 // check if car fit border conditions
smilestone520 21:6e8ab9487985 235 switch(bor_state){
smilestone520 21:6e8ab9487985 236 case 1:
smilestone520 21:6e8ab9487985 237 funcBorder();
smilestone520 21:6e8ab9487985 238 break;
smilestone520 22:d7b98234291c 239 case 2: // 前進 再判別 v1+ v2-
smilestone520 27:1696ef46b538 240 if(ticCheck >0) //誤差容忍正負五度
smilestone520 22:d7b98234291c 241 {
smilestone520 22:d7b98234291c 242 v1_ref = 100;
smilestone520 22:d7b98234291c 243 v2_ref = -100;
smilestone520 27:1696ef46b538 244 ticCheck -- ;
smilestone520 22:d7b98234291c 245 }
smilestone520 27:1696ef46b538 246 else
smilestone520 27:1696ef46b538 247 {
smilestone520 27:1696ef46b538 248 bor_state = 1;
smilestone520 27:1696ef46b538 249 ticCheck = 10;
smilestone520 27:1696ef46b538 250 }
smilestone520 27:1696ef46b538 251 break;
smilestone520 27:1696ef46b538 252 case 3: // 後退 再判別 v1- v2+
smilestone520 27:1696ef46b538 253
smilestone520 27:1696ef46b538 254 if(ticCheck >0) //誤差容忍正負五度
smilestone520 27:1696ef46b538 255 {
smilestone520 27:1696ef46b538 256 v1_ref = -100;
smilestone520 27:1696ef46b538 257 v2_ref = +100;
smilestone520 27:1696ef46b538 258 ticCheck -- ;
smilestone520 27:1696ef46b538 259 }
smilestone520 27:1696ef46b538 260 else
smilestone520 27:1696ef46b538 261 {
smilestone520 27:1696ef46b538 262 bor_state = 1;
smilestone520 27:1696ef46b538 263 ticCheck = 10;
smilestone520 27:1696ef46b538 264 }
smilestone520 22:d7b98234291c 265 break;
smilestone520 22:d7b98234291c 266 case 4: // 順時轉到特定角 結束 v1-- v2 --
smilestone520 27:1696ef46b538 267
smilestone520 28:d576b1190610 268 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
smilestone520 28:d576b1190610 269 {
smilestone520 22:d7b98234291c 270 v1_ref = -100;
smilestone520 22:d7b98234291c 271 v2_ref = -100;
smilestone520 28:d576b1190610 272 }
smilestone520 27:1696ef46b538 273 else
smilestone520 27:1696ef46b538 274 {
smilestone520 27:1696ef46b538 275 borAngle = 0;
smilestone520 27:1696ef46b538 276 aI_State = 2;
smilestone520 27:1696ef46b538 277 bor_state = 1;
smilestone520 22:d7b98234291c 278 }
smilestone520 21:6e8ab9487985 279 break;
smilestone520 22:d7b98234291c 280 case 5: // 逆時轉到特定角 結束 v1 ++ v2++
smilestone520 25:7053736ea6cc 281 if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
smilestone520 23:948ce071cbb6 282 {
smilestone520 23:948ce071cbb6 283 v1_ref = 100;
smilestone520 23:948ce071cbb6 284 v2_ref = 100;
smilestone520 23:948ce071cbb6 285 }
smilestone520 27:1696ef46b538 286 else
smilestone520 27:1696ef46b538 287 {
smilestone520 27:1696ef46b538 288 borAngle = 0;
smilestone520 27:1696ef46b538 289 aI_State = 2;
smilestone520 27:1696ef46b538 290 bor_state = 1;
smilestone520 27:1696ef46b538 291 }
smilestone520 21:6e8ab9487985 292 break;
smilestone520 21:6e8ab9487985 293
smilestone520 21:6e8ab9487985 294 }
smilestone520 21:6e8ab9487985 295
roger5641 17:d96afd9d2692 296 //****to case2
smilestone520 11:44989c0bcea5 297 break;
roger5641 17:d96afd9d2692 298 case 2://move to get ball
roger5641 17:d96afd9d2692 299 if(-3<=angleR<=3) // direct to the ball
roger5641 17:d96afd9d2692 300 {
roger5641 17:d96afd9d2692 301 if(distance<=10) // check夾具距離
roger5641 17:d96afd9d2692 302 {
roger5641 17:d96afd9d2692 303 v1_ref = 0;
roger5641 17:d96afd9d2692 304 v2_ref = 0;
roger5641 17:d96afd9d2692 305 aI_State = 3;
roger5641 17:d96afd9d2692 306 }
roger5641 17:d96afd9d2692 307 else if(10<distance<50)
roger5641 17:d96afd9d2692 308 {
roger5641 17:d96afd9d2692 309 v1_ref = 100;
roger5641 17:d96afd9d2692 310 v2_ref = -100;
roger5641 17:d96afd9d2692 311 }
roger5641 17:d96afd9d2692 312 else
roger5641 17:d96afd9d2692 313 {
roger5641 17:d96afd9d2692 314 v1_ref = 300;
roger5641 17:d96afd9d2692 315 v2_ref = -300;
roger5641 17:d96afd9d2692 316 }
roger5641 17:d96afd9d2692 317 }
roger5641 17:d96afd9d2692 318
roger5641 17:d96afd9d2692 319 else if(3<angleR<=15) // small angle right
roger5641 17:d96afd9d2692 320 {
roger5641 17:d96afd9d2692 321 if(distance<50)
roger5641 17:d96afd9d2692 322 {
roger5641 17:d96afd9d2692 323 v1_ref = 200;
smilestone520 20:5b892e37a958 324 v2_ref = -(v1_ref-angleR*k_turn);
roger5641 17:d96afd9d2692 325 }
roger5641 17:d96afd9d2692 326 else
roger5641 17:d96afd9d2692 327 {
roger5641 17:d96afd9d2692 328 v1_ref = 300;
smilestone520 20:5b892e37a958 329 v2_ref = -(v1_ref-angleR*k_turn);
roger5641 17:d96afd9d2692 330 }
roger5641 17:d96afd9d2692 331
roger5641 17:d96afd9d2692 332 }
smilestone520 20:5b892e37a958 333 else if(-15 <= angleR < -3) // small angle left
roger5641 17:d96afd9d2692 334 {
roger5641 17:d96afd9d2692 335 if(distance<50)
roger5641 17:d96afd9d2692 336 {
smilestone520 20:5b892e37a958 337 v1_ref = -(v2_ref+angleR*k_turn);
roger5641 17:d96afd9d2692 338 v2_ref = 200;
roger5641 17:d96afd9d2692 339 }
roger5641 17:d96afd9d2692 340 else
roger5641 17:d96afd9d2692 341 {
smilestone520 20:5b892e37a958 342 v1_ref = -(v2_ref+angleR*k_turn);
roger5641 17:d96afd9d2692 343 v2_ref = 300;
roger5641 17:d96afd9d2692 344 }
roger5641 17:d96afd9d2692 345
roger5641 17:d96afd9d2692 346 }
roger5641 17:d96afd9d2692 347 else if(15<angleR<=180) // big angle right
roger5641 17:d96afd9d2692 348 {
roger5641 17:d96afd9d2692 349 v1_ref = 200;
roger5641 17:d96afd9d2692 350 v2_ref = 200;
roger5641 17:d96afd9d2692 351 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 352 if(distance<50)
roger5641 17:d96afd9d2692 353 {
roger5641 17:d96afd9d2692 354 v1_ref = 100;
roger5641 17:d96afd9d2692 355 v2_ref = -100;
roger5641 17:d96afd9d2692 356 }
roger5641 17:d96afd9d2692 357 else
roger5641 17:d96afd9d2692 358 {
roger5641 17:d96afd9d2692 359 v1_ref = 300;
roger5641 17:d96afd9d2692 360 v2_ref = -300;
roger5641 17:d96afd9d2692 361 }
roger5641 17:d96afd9d2692 362
roger5641 17:d96afd9d2692 363 }
roger5641 17:d96afd9d2692 364 else if(-180<=angleR<-15) // big angle left
roger5641 17:d96afd9d2692 365 {
roger5641 17:d96afd9d2692 366 v1_ref = -200;
roger5641 17:d96afd9d2692 367 v2_ref = -200;
roger5641 17:d96afd9d2692 368 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 369 if(0<distance<50)
roger5641 17:d96afd9d2692 370 {
roger5641 17:d96afd9d2692 371 v1_ref = 100;
roger5641 17:d96afd9d2692 372 v2_ref = -100;
roger5641 17:d96afd9d2692 373 }
roger5641 17:d96afd9d2692 374 else
roger5641 17:d96afd9d2692 375 {
roger5641 17:d96afd9d2692 376 v1_ref = 300;
roger5641 17:d96afd9d2692 377 v2_ref = -300;
roger5641 17:d96afd9d2692 378 }
roger5641 17:d96afd9d2692 379
roger5641 17:d96afd9d2692 380 }
roger5641 17:d96afd9d2692 381
roger5641 17:d96afd9d2692 382 break;
roger5641 17:d96afd9d2692 383 case 3: //****getBall();
roger5641 17:d96afd9d2692 384 if((distance == 10) && (-3<=angleR<=3))
roger5641 17:d96afd9d2692 385 {
roger5641 17:d96afd9d2692 386 angle = -10;
roger5641 17:d96afd9d2692 387 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 388 servo.write(servo_duty);
roger5641 17:d96afd9d2692 389 servo = 1;
roger5641 17:d96afd9d2692 390 wait(0.1);
roger5641 17:d96afd9d2692 391 servo = 0;
roger5641 17:d96afd9d2692 392 }
roger5641 17:d96afd9d2692 393 else
roger5641 17:d96afd9d2692 394 aI_State = 2;
roger5641 17:d96afd9d2692 395
smilestone520 11:44989c0bcea5 396 break;
smilestone520 12:c1a667ca6c53 397 case 4: /// move to the gate and release ball
smilestone520 12:c1a667ca6c53 398 // move to the point in front of the gate first
smilestone520 12:c1a667ca6c53 399 // then head to the gate
roger5641 18:2db6c97a4145 400 distanceGate = sqrt(((xGate-xP)*(xGate-xP))+((yGate-yP)*(yGate-yP)));
roger5641 17:d96afd9d2692 401 angleGate = atan2((yGate-yP),(xGate-xP))*180/pi;
roger5641 17:d96afd9d2692 402 if(-3<=angleGate<=3) // direct to the gate
roger5641 17:d96afd9d2692 403 {
roger5641 17:d96afd9d2692 404 if(distanceGate<=10) // check distance between car cemtroid and gate
roger5641 17:d96afd9d2692 405 {
roger5641 17:d96afd9d2692 406 v1_ref = 0;
roger5641 17:d96afd9d2692 407 v2_ref = 0;
roger5641 17:d96afd9d2692 408 aI_State = 5;
roger5641 17:d96afd9d2692 409 }
roger5641 17:d96afd9d2692 410 else if(10<distanceGate<50)
roger5641 17:d96afd9d2692 411 {
roger5641 17:d96afd9d2692 412 v1_ref = 100;
roger5641 17:d96afd9d2692 413 v2_ref = -100;
roger5641 17:d96afd9d2692 414 }
roger5641 17:d96afd9d2692 415 else
roger5641 17:d96afd9d2692 416 {
roger5641 17:d96afd9d2692 417 v1_ref = 300;
roger5641 17:d96afd9d2692 418 v2_ref = -300;
roger5641 17:d96afd9d2692 419 }
roger5641 17:d96afd9d2692 420 }
roger5641 17:d96afd9d2692 421 else if(3<angleGate<=15) // small angle right
roger5641 17:d96afd9d2692 422 {
roger5641 17:d96afd9d2692 423 if(distanceGate<50)
roger5641 17:d96afd9d2692 424 {
roger5641 17:d96afd9d2692 425 v1_ref = 200;
smilestone520 20:5b892e37a958 426 v2_ref = -(v1_ref-angleGate*k_turn);
roger5641 17:d96afd9d2692 427 }
roger5641 17:d96afd9d2692 428 else
roger5641 17:d96afd9d2692 429 {
roger5641 17:d96afd9d2692 430 v1_ref = 300;
smilestone520 20:5b892e37a958 431 v2_ref = -(v1_ref-angleGate*k_turn);
roger5641 17:d96afd9d2692 432 }
roger5641 17:d96afd9d2692 433 }
roger5641 17:d96afd9d2692 434 else if(-15<=angleGate<-3) // small angle left
roger5641 17:d96afd9d2692 435 {
roger5641 17:d96afd9d2692 436 if(distanceGate<50)
roger5641 17:d96afd9d2692 437 {
smilestone520 20:5b892e37a958 438 v1_ref = -(v2_ref+angleGate*k_turn);
roger5641 17:d96afd9d2692 439 v2_ref = 200;
roger5641 17:d96afd9d2692 440 }
roger5641 17:d96afd9d2692 441 else
roger5641 17:d96afd9d2692 442 {
smilestone520 20:5b892e37a958 443 v1_ref = -(v2_ref+angleGate*k_turn);
roger5641 17:d96afd9d2692 444 v2_ref = 300;
roger5641 17:d96afd9d2692 445 }
roger5641 17:d96afd9d2692 446 }
roger5641 17:d96afd9d2692 447 else if(15<angleGate<=180) // big angle right
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(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 else if(-180<=angleGate<-15) // big angle left
roger5641 17:d96afd9d2692 464 {
roger5641 17:d96afd9d2692 465 v1_ref = -200;
roger5641 17:d96afd9d2692 466 v2_ref = -200;
roger5641 17:d96afd9d2692 467 wait(10); //need to count the relation between angle and time in v = 200
roger5641 17:d96afd9d2692 468 if(0<distanceGate<50)
roger5641 17:d96afd9d2692 469 {
roger5641 17:d96afd9d2692 470 v1_ref = 100;
roger5641 17:d96afd9d2692 471 v2_ref = -100;
roger5641 17:d96afd9d2692 472 }
roger5641 17:d96afd9d2692 473 else
roger5641 17:d96afd9d2692 474 {
roger5641 17:d96afd9d2692 475 v1_ref = 300;
roger5641 17:d96afd9d2692 476 v2_ref = -300;
roger5641 17:d96afd9d2692 477 }
roger5641 17:d96afd9d2692 478 }
roger5641 17:d96afd9d2692 479
smilestone520 12:c1a667ca6c53 480 break;
roger5641 17:d96afd9d2692 481 case 5: // release ball
roger5641 17:d96afd9d2692 482 if((-3<=angleGate<=3) && (distanceGate<=10)) // direct to the gate
roger5641 17:d96afd9d2692 483 {
roger5641 17:d96afd9d2692 484 angle = 90; // Fixture up
roger5641 17:d96afd9d2692 485 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 486 servo.write(servo_duty);
roger5641 17:d96afd9d2692 487 servo = 1;
roger5641 17:d96afd9d2692 488 wait(0.1);
roger5641 17:d96afd9d2692 489 servo = 0;
roger5641 17:d96afd9d2692 490
roger5641 17:d96afd9d2692 491 pwm1.write(0.1f + 0.5f); // push
roger5641 17:d96afd9d2692 492 pwm2.write(-0.1f + 0.5f);
roger5641 17:d96afd9d2692 493 wait(0.5);
roger5641 17:d96afd9d2692 494
roger5641 17:d96afd9d2692 495 angle = -10; // Fixture down
roger5641 17:d96afd9d2692 496 servo_duty = 0.079 + (0.084/180)*angle;
roger5641 17:d96afd9d2692 497 servo.write(servo_duty);
roger5641 17:d96afd9d2692 498 servo = 1;
roger5641 17:d96afd9d2692 499 wait(0.1);
roger5641 17:d96afd9d2692 500 servo = 0;
roger5641 17:d96afd9d2692 501
roger5641 17:d96afd9d2692 502 pwm1.write(-0.3f + 0.5f); // back and leave gate
roger5641 17:d96afd9d2692 503 pwm2.write(0.3f + 0.5f);
roger5641 17:d96afd9d2692 504 wait(1);
roger5641 17:d96afd9d2692 505
roger5641 18:2db6c97a4145 506 aI_State = 0;
roger5641 17:d96afd9d2692 507
roger5641 17:d96afd9d2692 508 }
roger5641 17:d96afd9d2692 509
roger5641 17:d96afd9d2692 510 break;
roger5641 26:dbdbfdb4dd41 511
smilestone520 11:44989c0bcea5 512 }
roger5641 26:dbdbfdb4dd41 513
smilestone520 10:06cc2b1d2aaf 514 }
smilestone520 10:06cc2b1d2aaf 515
smilestone520 10:06cc2b1d2aaf 516 void CN_interrupt(void)
smilestone520 10:06cc2b1d2aaf 517 {
smilestone520 10:06cc2b1d2aaf 518 //Motor 1
smilestone520 10:06cc2b1d2aaf 519 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 520 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 521
smilestone520 10:06cc2b1d2aaf 522 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 523 if(stateA_1==0&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 524 state_1 = 1;}
smilestone520 10:06cc2b1d2aaf 525 else if(stateA_1==0&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 526 state_1 = 2;}
smilestone520 10:06cc2b1d2aaf 527 else if(stateA_1==1&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 528 state_1 = 3;}
smilestone520 10:06cc2b1d2aaf 529 else if(stateA_1==1&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 530 state_1 = 4;}
smilestone520 10:06cc2b1d2aaf 531
smilestone520 10:06cc2b1d2aaf 532 if(state_1 == 1)
smilestone520 10:06cc2b1d2aaf 533 {
smilestone520 10:06cc2b1d2aaf 534 if(state_1-state_1_old == -3)
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 == 2)
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 == -1)
smilestone520 10:06cc2b1d2aaf 544 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 545 }
smilestone520 10:06cc2b1d2aaf 546 else if(state_1 == 3)
smilestone520 10:06cc2b1d2aaf 547 {
smilestone520 10:06cc2b1d2aaf 548 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 549 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 550 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 551 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 552 }
smilestone520 10:06cc2b1d2aaf 553 else if(state_1 == 4)
smilestone520 10:06cc2b1d2aaf 554 {
smilestone520 10:06cc2b1d2aaf 555 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 556 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 557 else if(state_1-state_1_old == 3)
smilestone520 10:06cc2b1d2aaf 558 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 559 }
smilestone520 10:06cc2b1d2aaf 560 state_1_old = state_1;
smilestone520 10:06cc2b1d2aaf 561
smilestone520 10:06cc2b1d2aaf 562
smilestone520 10:06cc2b1d2aaf 563 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 564
smilestone520 10:06cc2b1d2aaf 565 //Forward
smilestone520 10:06cc2b1d2aaf 566 //v1Count +1
smilestone520 10:06cc2b1d2aaf 567 //Inverse
smilestone520 10:06cc2b1d2aaf 568 //v1Count -1
smilestone520 10:06cc2b1d2aaf 569
smilestone520 10:06cc2b1d2aaf 570
smilestone520 10:06cc2b1d2aaf 571 //Motor 2
smilestone520 10:06cc2b1d2aaf 572 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 573 stateB_2 = HallB_2.read();
smilestone520 10:06cc2b1d2aaf 574
smilestone520 10:06cc2b1d2aaf 575 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 576 if(stateA_2==0&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 577 state_2 = 1;}
smilestone520 10:06cc2b1d2aaf 578 else if(stateA_2==0&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 579 state_2 = 2;}
smilestone520 10:06cc2b1d2aaf 580 else if(stateA_2==1&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 581 state_2 = 3;}
smilestone520 10:06cc2b1d2aaf 582 else if(stateA_2==1&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 583 state_2 = 4;}
smilestone520 10:06cc2b1d2aaf 584
smilestone520 10:06cc2b1d2aaf 585 if(state_2 == 1)
smilestone520 10:06cc2b1d2aaf 586 {
smilestone520 10:06cc2b1d2aaf 587 if(state_2-state_2_old == -3)
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 == 2)
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 == -1)
smilestone520 10:06cc2b1d2aaf 597 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 598 }
smilestone520 10:06cc2b1d2aaf 599 else if(state_2 == 3)
smilestone520 10:06cc2b1d2aaf 600 {
smilestone520 10:06cc2b1d2aaf 601 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 602 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 603 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 604 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 605 }
smilestone520 10:06cc2b1d2aaf 606 else if(state_2 == 4)
smilestone520 10:06cc2b1d2aaf 607 {
smilestone520 10:06cc2b1d2aaf 608 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 609 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 610 else if(state_2-state_2_old == 3)
smilestone520 10:06cc2b1d2aaf 611 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 612 }
smilestone520 10:06cc2b1d2aaf 613 state_2_old = state_2;
smilestone520 10:06cc2b1d2aaf 614
smilestone520 10:06cc2b1d2aaf 615 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 616
smilestone520 10:06cc2b1d2aaf 617 //Forward
smilestone520 10:06cc2b1d2aaf 618 //v2Count +1
smilestone520 10:06cc2b1d2aaf 619 //Inverse
smilestone520 10:06cc2b1d2aaf 620 //v2Count -1
smilestone520 10:06cc2b1d2aaf 621 }
smilestone520 10:06cc2b1d2aaf 622
smilestone520 10:06cc2b1d2aaf 623 void init_TIMER(void)
smilestone520 10:06cc2b1d2aaf 624 {
smilestone520 10:06cc2b1d2aaf 625 timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
smilestone520 10:06cc2b1d2aaf 626 }
smilestone520 10:06cc2b1d2aaf 627
smilestone520 10:06cc2b1d2aaf 628 void init_PWM(void)
smilestone520 10:06cc2b1d2aaf 629 {
smilestone520 10:06cc2b1d2aaf 630 pwm1.period_us(50);
smilestone520 10:06cc2b1d2aaf 631 pwm1.write(0.5);
smilestone520 10:06cc2b1d2aaf 632 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 633
smilestone520 10:06cc2b1d2aaf 634 pwm2.period_us(50);
smilestone520 10:06cc2b1d2aaf 635 pwm2.write(0.5);
smilestone520 10:06cc2b1d2aaf 636 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 637 }
smilestone520 10:06cc2b1d2aaf 638
smilestone520 10:06cc2b1d2aaf 639 void init_CN(void)
smilestone520 10:06cc2b1d2aaf 640 {
smilestone520 10:06cc2b1d2aaf 641 HallA_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 642 HallA_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 643 HallB_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 644 HallB_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 645
smilestone520 10:06cc2b1d2aaf 646 HallA_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 647 HallA_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 648 HallB_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 649 HallB_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 650
smilestone520 10:06cc2b1d2aaf 651 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 652 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 653 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 654 stateB_2 = HallB_2.read();
smilestone520 20:5b892e37a958 655 }
smilestone520 20:5b892e37a958 656
smilestone520 20:5b892e37a958 657 //**************** funcBorder() *****************************************
smilestone520 20:5b892e37a958 658
smilestone520 20:5b892e37a958 659 void funcBorder(void) // check if car is too close to the border // miss the ball restriction part
smilestone520 20:5b892e37a958 660 {
smilestone520 20:5b892e37a958 661 if(yC > yB1 || yC < yB2 || xC < xB3 || xC > xB4){
smilestone520 20:5b892e37a958 662
smilestone520 20:5b892e37a958 663 if(yC > yB1) // 靠近上邊界 *****************************
smilestone520 20:5b892e37a958 664 {
smilestone520 20:5b892e37a958 665 if(xC < xB3) //左上角
smilestone520 20:5b892e37a958 666 {
smilestone520 20:5b892e37a958 667 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 668 {
smilestone520 23:948ce071cbb6 669 bor_state = 4; //clockwise, to angleC = 45
smilestone520 23:948ce071cbb6 670 borAngle = 45;
smilestone520 23:948ce071cbb6 671 }
smilestone520 20:5b892e37a958 672
smilestone520 20:5b892e37a958 673 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 674 bor_state = 3; //back 0.5*longC, judge again
smilestone520 20:5b892e37a958 675
smilestone520 20:5b892e37a958 676 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 677 {
smilestone520 23:948ce071cbb6 678 bor_state = 5;//counter clockwise, to angleC = 45
smilestone520 23:948ce071cbb6 679 borAngle = 45;
smilestone520 23:948ce071cbb6 680 }
smilestone520 20:5b892e37a958 681
smilestone520 20:5b892e37a958 682 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 683 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 684
smilestone520 20:5b892e37a958 685 }
smilestone520 20:5b892e37a958 686 else if(xC > xB4) //右上角
smilestone520 20:5b892e37a958 687 {
smilestone520 20:5b892e37a958 688 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 689 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 690
smilestone520 20:5b892e37a958 691 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 692 {
smilestone520 23:948ce071cbb6 693 bor_state = 5;//counter clockwise, to angleC = 135
smilestone520 23:948ce071cbb6 694 borAngle = 135;
smilestone520 23:948ce071cbb6 695 }
smilestone520 20:5b892e37a958 696
smilestone520 20:5b892e37a958 697 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 698 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 699
smilestone520 20:5b892e37a958 700 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 701 {
smilestone520 23:948ce071cbb6 702 bor_state = 4;//clockwise, to angleC = 135
smilestone520 23:948ce071cbb6 703 borAngle = 135;
smilestone520 23:948ce071cbb6 704 }
smilestone520 23:948ce071cbb6 705
smilestone520 20:5b892e37a958 706 }
smilestone520 20:5b892e37a958 707 else //上邊界
smilestone520 20:5b892e37a958 708 {
smilestone520 20:5b892e37a958 709 if(angleC == -90 || angleC == 90)
smilestone520 24:f61847968e72 710 aI_State = 2; // do nothing, turn to next point
smilestone520 20:5b892e37a958 711 else
smilestone520 24:f61847968e72 712 {
smilestone520 24:f61847968e72 713 if(0 > borAngle >= -90 || 90< borAngle <=0) //CW
smilestone520 24:f61847968e72 714 {
smilestone520 24:f61847968e72 715 bor_state = 4;
smilestone520 24:f61847968e72 716 borAngle = 90;
smilestone520 24:f61847968e72 717 }
smilestone520 24:f61847968e72 718 else
smilestone520 24:f61847968e72 719 {
smilestone520 24:f61847968e72 720 bor_state = 5;
smilestone520 24:f61847968e72 721 borAngle = 90;
smilestone520 24:f61847968e72 722 }
smilestone520 24:f61847968e72 723 } // turn to 90, then turn to next point
smilestone520 20:5b892e37a958 724 }
smilestone520 20:5b892e37a958 725
smilestone520 20:5b892e37a958 726
smilestone520 20:5b892e37a958 727 }
smilestone520 20:5b892e37a958 728 else if(yC < yB2) // 靠近下邊界 *E****************************************************88
smilestone520 20:5b892e37a958 729 {
smilestone520 20:5b892e37a958 730 if(xC < xB3) //左下角
smilestone520 20:5b892e37a958 731 {
smilestone520 20:5b892e37a958 732 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 733 bor_state = 2; //forward 0.5*longC, judge again
smilestone520 23:948ce071cbb6 734
smilestone520 20:5b892e37a958 735 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 736 {
smilestone520 23:948ce071cbb6 737 bor_state = 4; //clockwise, to angleC = -45
smilestone520 23:948ce071cbb6 738 borAngle = -45;
smilestone520 23:948ce071cbb6 739 }
smilestone520 20:5b892e37a958 740
smilestone520 20:5b892e37a958 741 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 742 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 743
smilestone520 20:5b892e37a958 744 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 745 {
smilestone520 23:948ce071cbb6 746 bor_state = 5;//counter clockwise, to angleC = -45
smilestone520 23:948ce071cbb6 747 borAngle = -45;
smilestone520 23:948ce071cbb6 748 }
smilestone520 20:5b892e37a958 749
smilestone520 20:5b892e37a958 750 }
smilestone520 20:5b892e37a958 751 else if(xC > xB4) //右下角
smilestone520 20:5b892e37a958 752 {
smilestone520 20:5b892e37a958 753 if(angleC <0 && angleC >=-90) // I
smilestone520 23:948ce071cbb6 754 {
smilestone520 23:948ce071cbb6 755 bor_state = 5;//counter clockwise, to angleC = -135
smilestone520 23:948ce071cbb6 756 borAngle = -135;
smilestone520 23:948ce071cbb6 757 }
smilestone520 20:5b892e37a958 758
smilestone520 20:5b892e37a958 759 else if(angleC > -180 && angleC <-90) // II
smilestone520 23:948ce071cbb6 760 bor_state = 2;//forward 0.5*longC, judge again
smilestone520 20:5b892e37a958 761
smilestone520 20:5b892e37a958 762 else if(angleC <=180 && angleC >=90) // III
smilestone520 23:948ce071cbb6 763 {
smilestone520 23:948ce071cbb6 764 bor_state = 4;//clockwise, to angleC = -135
smilestone520 23:948ce071cbb6 765 borAngle = -135;
smilestone520 23:948ce071cbb6 766 }
smilestone520 20:5b892e37a958 767
smilestone520 20:5b892e37a958 768 else if(angleC < 90 && angleC >=0) // IV
smilestone520 23:948ce071cbb6 769 bor_state = 3;//back 0.5*longC, judge again
smilestone520 20:5b892e37a958 770
smilestone520 20:5b892e37a958 771 }
smilestone520 20:5b892e37a958 772 else //下邊界
smilestone520 20:5b892e37a958 773 {
smilestone520 20:5b892e37a958 774 if(angleC == -90 || angleC == 90)
smilestone520 24:f61847968e72 775 aI_State = 2; // do nothing, turn to next point
smilestone520 20:5b892e37a958 776 else
smilestone520 24:f61847968e72 777 {
smilestone520 24:f61847968e72 778 if(0 > borAngle >= -90 || 90< borAngle <=0) //CCW
smilestone520 24:f61847968e72 779 {
smilestone520 24:f61847968e72 780 bor_state = 5;
smilestone520 24:f61847968e72 781 borAngle = -90;
smilestone520 24:f61847968e72 782 }
smilestone520 24:f61847968e72 783 else
smilestone520 24:f61847968e72 784 {
smilestone520 24:f61847968e72 785 bor_state = 4;
smilestone520 24:f61847968e72 786 borAngle = -90;
smilestone520 24:f61847968e72 787 }
smilestone520 24:f61847968e72 788 } // turn to -90, then turn to next point
smilestone520 20:5b892e37a958 789 }
smilestone520 20:5b892e37a958 790
smilestone520 20:5b892e37a958 791
smilestone520 20:5b892e37a958 792 }
smilestone520 20:5b892e37a958 793 else if(xC < xB3) //靠近左邊界****************************************************************
smilestone520 20:5b892e37a958 794 {
smilestone520 20:5b892e37a958 795 if(angleC == 0 || angleC == 180)
smilestone520 23:948ce071cbb6 796 aI_State = 2; // do nothing, turn to next point
smilestone520 24:f61847968e72 797
smilestone520 24:f61847968e72 798 else if(-180 < angleC < 0) // CW
smilestone520 24:f61847968e72 799 {
smilestone520 24:f61847968e72 800 bor_state = 4;
smilestone520 24:f61847968e72 801 borAngle = 0;
smilestone520 24:f61847968e72 802 }
smilestone520 20:5b892e37a958 803 else
smilestone520 23:948ce071cbb6 804 {
smilestone520 24:f61847968e72 805 bor_state = 5;
smilestone520 24:f61847968e72 806 borAngle = 0;
smilestone520 24:f61847968e72 807 }
smilestone520 24:f61847968e72 808 // turn to 0, then turn to next point
smilestone520 20:5b892e37a958 809 }
smilestone520 20:5b892e37a958 810
smilestone520 20:5b892e37a958 811 else if(xC > xB4) //靠近右邊界 *********************************************88
smilestone520 20:5b892e37a958 812 {
smilestone520 20:5b892e37a958 813 if(angleC == 0 || angleC == 180)
smilestone520 23:948ce071cbb6 814 aI_State = 2; // do nothing, turn to next point
smilestone520 24:f61847968e72 815
smilestone520 24:f61847968e72 816 else if(-180 < angleC < 0) // CCW
smilestone520 24:f61847968e72 817 {
smilestone520 24:f61847968e72 818 bor_state = 5;
smilestone520 24:f61847968e72 819 borAngle = 180;
smilestone520 24:f61847968e72 820 } // turn to 90, then turn to next point
smilestone520 23:948ce071cbb6 821 else
smilestone520 24:f61847968e72 822 {
smilestone520 24:f61847968e72 823 bor_state = 4;
smilestone520 24:f61847968e72 824 borAngle = 180;
smilestone520 24:f61847968e72 825 }
smilestone520 23:948ce071cbb6 826 }
smilestone520 23:948ce071cbb6 827 }
smilestone520 23:948ce071cbb6 828 else
smilestone520 23:948ce071cbb6 829 {aI_State = 2;}
smilestone520 23:948ce071cbb6 830 } // funcBorder()
smilestone520 23:948ce071cbb6 831
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 24:f61847968e72 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 24:f61847968e72 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 }