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Dependencies:   mbed

AI_Friday.cpp@21:6e8ab9487985, 2016-05-25 (annotated)

Committer:
smilestone520
Date:
Wed May 25 16:59:05 2016 +0000
Revision:
21:6e8ab9487985
Parent:
20:5b892e37a958
Child:
22:d7b98234291c
; I will type the border part tomorrow

Who changed what in which revision?

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