Code to run the microcontrollers on the R5 competition bot
Dependencies: LineSensors mbed
DriveController.cpp@8:9030d2e3a1e8, 2014-10-19 (annotated)
- Committer:
- Hypna
- Date:
- Sun Oct 19 02:39:17 2014 +0000
- Revision:
- 8:9030d2e3a1e8
- Parent:
- 7:2f3e841ee0ff
- Child:
- 9:01c17b286a99
fixed the i2c masks
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hypna | 0:e60f22c1d573 | 1 | #include "DriveController.h" |
Hypna | 0:e60f22c1d573 | 2 | |
Hypna | 5:f53f06a866e9 | 3 | DriveController::DriveController() : i2c(PTC2, PTC1), wheelSpeed1(PTB0), wheelSpeed2(PTB1), wheelSpeed3(PTB2), |
Hypna | 5:f53f06a866e9 | 4 | wheelSpeed4(PTB3), wheelDirection1(PTE20), wheelDirection2(PTE21), wheelDirection3(PTE22), wheelDirection4(PTE23), |
Hypna | 5:f53f06a866e9 | 5 | sensors(PTC7, PTC0, PTC3, PTC4, PTC5, PTC6, PTC10, PTC11, PTC9, PTC8, PTA5, PTA4, PTA12, PTD4, PTA2, PTA1, PTC12, PTC13, |
Hypna | 5:f53f06a866e9 | 6 | PTC16, PTC17, PTD1, PTD0, PTD5, PTD13) |
Hypna | 2:d0ce8e26cbc4 | 7 | { |
Hypna | 4:ac6b2e5b240b | 8 | |
Hypna | 2:d0ce8e26cbc4 | 9 | } |
Hypna | 2:d0ce8e26cbc4 | 10 | |
Hypna | 4:ac6b2e5b240b | 11 | void DriveController::go() |
Hypna | 0:e60f22c1d573 | 12 | { |
Hypna | 6:83c1f8d6a65a | 13 | while(true) //test loop |
Hypna | 6:83c1f8d6a65a | 14 | { |
Hypna | 6:83c1f8d6a65a | 15 | move(); |
Hypna | 6:83c1f8d6a65a | 16 | rotate('R'); |
Hypna | 6:83c1f8d6a65a | 17 | rotate('R'); |
Hypna | 6:83c1f8d6a65a | 18 | move(); |
Hypna | 6:83c1f8d6a65a | 19 | } |
Hypna | 6:83c1f8d6a65a | 20 | |
Hypna | 6:83c1f8d6a65a | 21 | /*while(true) |
Hypna | 2:d0ce8e26cbc4 | 22 | { |
Hypna | 2:d0ce8e26cbc4 | 23 | getCommand(); |
Hypna | 3:0d7687b6ef14 | 24 | |
Hypna | 5:f53f06a866e9 | 25 | switch(command) |
Hypna | 5:f53f06a866e9 | 26 | { |
Hypna | 5:f53f06a866e9 | 27 | case 0: move(); //move forward |
Hypna | 5:f53f06a866e9 | 28 | break; |
Hypna | 5:f53f06a866e9 | 29 | case 1: move('B'); //move backward |
Hypna | 5:f53f06a866e9 | 30 | break; |
Hypna | 5:f53f06a866e9 | 31 | case 2: rotate('R'); //rotate right |
Hypna | 5:f53f06a866e9 | 32 | break; |
Hypna | 5:f53f06a866e9 | 33 | case 3: rotate('L'); //rotate left |
Hypna | 5:f53f06a866e9 | 34 | } |
Hypna | 3:0d7687b6ef14 | 35 | |
Hypna | 3:0d7687b6ef14 | 36 | sendComplete(); |
Hypna | 6:83c1f8d6a65a | 37 | }*/ |
Hypna | 2:d0ce8e26cbc4 | 38 | } |
Hypna | 2:d0ce8e26cbc4 | 39 | |
Hypna | 5:f53f06a866e9 | 40 | void DriveController::move(char direction) |
Hypna | 2:d0ce8e26cbc4 | 41 | { |
Hypna | 5:f53f06a866e9 | 42 | bool atLine = true; //tracks whether the bot is still at the starting intersection |
Hypna | 5:f53f06a866e9 | 43 | int error = 0; |
Hypna | 2:d0ce8e26cbc4 | 44 | |
Hypna | 5:f53f06a866e9 | 45 | if(direction == 'B') |
Hypna | 5:f53f06a866e9 | 46 | wheelDirection1 = wheelDirection2 = wheelDirection3 = wheelDirection4 = 0; |
Hypna | 5:f53f06a866e9 | 47 | else |
Hypna | 5:f53f06a866e9 | 48 | wheelDirection1 = wheelDirection2 = wheelDirection3 = wheelDirection4 = 1; |
Hypna | 2:d0ce8e26cbc4 | 49 | |
Hypna | 5:f53f06a866e9 | 50 | do |
Hypna | 2:d0ce8e26cbc4 | 51 | { |
Hypna | 6:83c1f8d6a65a | 52 | sensors.read(); |
Hypna | 6:83c1f8d6a65a | 53 | sensors.lineDetect(sensorStates); |
Hypna | 6:83c1f8d6a65a | 54 | |
Hypna | 5:f53f06a866e9 | 55 | if(intersection()) |
Hypna | 5:f53f06a866e9 | 56 | { |
Hypna | 5:f53f06a866e9 | 57 | wheelSpeed1 = wheelSpeed3 = 1; |
Hypna | 5:f53f06a866e9 | 58 | wheelSpeed2 = wheelSpeed4 = 1; |
Hypna | 5:f53f06a866e9 | 59 | } |
Hypna | 5:f53f06a866e9 | 60 | else |
Hypna | 3:0d7687b6ef14 | 61 | { |
Hypna | 5:f53f06a866e9 | 62 | error = calculateError(); |
Hypna | 5:f53f06a866e9 | 63 | |
Hypna | 5:f53f06a866e9 | 64 | if(error < 0) |
Hypna | 5:f53f06a866e9 | 65 | { |
Hypna | 5:f53f06a866e9 | 66 | wheelSpeed1 = wheelSpeed3 = 1.0 - abs(error)*0.09; |
Hypna | 5:f53f06a866e9 | 67 | wheelSpeed2 = wheelSpeed4 = 1; |
Hypna | 6:83c1f8d6a65a | 68 | } |
Hypna | 5:f53f06a866e9 | 69 | else |
Hypna | 5:f53f06a866e9 | 70 | { |
Hypna | 5:f53f06a866e9 | 71 | wheelSpeed1 = wheelSpeed3 = 1; |
Hypna | 5:f53f06a866e9 | 72 | wheelSpeed2 = wheelSpeed4 = 1.0 - error*0.09; |
Hypna | 5:f53f06a866e9 | 73 | } |
Hypna | 5:f53f06a866e9 | 74 | |
Hypna | 5:f53f06a866e9 | 75 | if(atLine) |
Hypna | 5:f53f06a866e9 | 76 | atLine = false; |
Hypna | 5:f53f06a866e9 | 77 | } |
Hypna | 6:83c1f8d6a65a | 78 | } while(!intersection() || atLine); |
Hypna | 5:f53f06a866e9 | 79 | |
Hypna | 5:f53f06a866e9 | 80 | wheelSpeed1 = wheelSpeed2 = wheelSpeed3 = wheelSpeed4 = 0; |
Hypna | 5:f53f06a866e9 | 81 | } |
Hypna | 5:f53f06a866e9 | 82 | |
Hypna | 5:f53f06a866e9 | 83 | int DriveController::calculateError() |
Hypna | 5:f53f06a866e9 | 84 | { |
Hypna | 5:f53f06a866e9 | 85 | int error; |
Hypna | 5:f53f06a866e9 | 86 | int bin = 0; |
Hypna | 5:f53f06a866e9 | 87 | |
Hypna | 5:f53f06a866e9 | 88 | for(int i = 7; i >= 0; i--) |
Hypna | 5:f53f06a866e9 | 89 | { |
Hypna | 6:83c1f8d6a65a | 90 | bin += sensorStates[i][1]<<(7-i); |
Hypna | 2:d0ce8e26cbc4 | 91 | } |
Hypna | 3:0d7687b6ef14 | 92 | |
Hypna | 5:f53f06a866e9 | 93 | switch(bin) |
Hypna | 5:f53f06a866e9 | 94 | { |
Hypna | 5:f53f06a866e9 | 95 | case 1: error = 7; |
Hypna | 5:f53f06a866e9 | 96 | break; |
Hypna | 5:f53f06a866e9 | 97 | case 3: error = 6; |
Hypna | 5:f53f06a866e9 | 98 | break; |
Hypna | 5:f53f06a866e9 | 99 | case 2: error = 5; |
Hypna | 5:f53f06a866e9 | 100 | break; |
Hypna | 5:f53f06a866e9 | 101 | case 6: error = 4; |
Hypna | 5:f53f06a866e9 | 102 | break; |
Hypna | 5:f53f06a866e9 | 103 | case 4: error = 3; |
Hypna | 5:f53f06a866e9 | 104 | break; |
Hypna | 5:f53f06a866e9 | 105 | case 12: error = 2; |
Hypna | 5:f53f06a866e9 | 106 | break; |
Hypna | 5:f53f06a866e9 | 107 | case 8: error = 1; |
Hypna | 5:f53f06a866e9 | 108 | break; |
Hypna | 5:f53f06a866e9 | 109 | case 24: error = 0; |
Hypna | 5:f53f06a866e9 | 110 | break; |
Hypna | 5:f53f06a866e9 | 111 | case 16: error = -1; |
Hypna | 5:f53f06a866e9 | 112 | break; |
Hypna | 5:f53f06a866e9 | 113 | case 48: error = -2; |
Hypna | 5:f53f06a866e9 | 114 | break; |
Hypna | 5:f53f06a866e9 | 115 | case 32: error = -3; |
Hypna | 5:f53f06a866e9 | 116 | break; |
Hypna | 5:f53f06a866e9 | 117 | case 96: error = -4; |
Hypna | 5:f53f06a866e9 | 118 | break; |
Hypna | 5:f53f06a866e9 | 119 | case 64: error = -5; |
Hypna | 5:f53f06a866e9 | 120 | break; |
Hypna | 5:f53f06a866e9 | 121 | case 192: error = -6; |
Hypna | 5:f53f06a866e9 | 122 | break; |
Hypna | 5:f53f06a866e9 | 123 | case 128: error = -7; |
Hypna | 5:f53f06a866e9 | 124 | } |
Hypna | 5:f53f06a866e9 | 125 | |
Hypna | 5:f53f06a866e9 | 126 | return error; |
Hypna | 2:d0ce8e26cbc4 | 127 | } |
Hypna | 2:d0ce8e26cbc4 | 128 | |
Hypna | 4:ac6b2e5b240b | 129 | bool DriveController::intersection() |
Hypna | 2:d0ce8e26cbc4 | 130 | { |
Hypna | 6:83c1f8d6a65a | 131 | |
Hypna | 6:83c1f8d6a65a | 132 | // add speed bump check later |
Hypna | 6:83c1f8d6a65a | 133 | |
Hypna | 5:f53f06a866e9 | 134 | return (sensorStates[0][1]&&sensorStates[1][1]&&sensorStates[2][1]&&sensorStates[3][1]) |
Hypna | 5:f53f06a866e9 | 135 | || (sensorStates[4][1]&&sensorStates[5][1]&&sensorStates[6][1]&&sensorStates[7][1]); |
Hypna | 2:d0ce8e26cbc4 | 136 | } |
Hypna | 1:fa6eb0c33b2f | 137 | |
Hypna | 5:f53f06a866e9 | 138 | void DriveController::rotate(char direction) |
Hypna | 2:d0ce8e26cbc4 | 139 | { |
Hypna | 6:83c1f8d6a65a | 140 | bool atLine = true; |
Hypna | 2:d0ce8e26cbc4 | 141 | |
Hypna | 6:83c1f8d6a65a | 142 | if(direction == 'L') |
Hypna | 6:83c1f8d6a65a | 143 | { |
Hypna | 6:83c1f8d6a65a | 144 | wheelDirection1 = wheelDirection3 = 0; |
Hypna | 6:83c1f8d6a65a | 145 | wheelDirection2 = wheelDirection4 = 1; |
Hypna | 6:83c1f8d6a65a | 146 | } |
Hypna | 6:83c1f8d6a65a | 147 | else |
Hypna | 6:83c1f8d6a65a | 148 | { |
Hypna | 6:83c1f8d6a65a | 149 | wheelDirection1 = wheelDirection3 = 1; |
Hypna | 6:83c1f8d6a65a | 150 | wheelDirection2 = wheelDirection3 = 0; |
Hypna | 6:83c1f8d6a65a | 151 | } |
Hypna | 6:83c1f8d6a65a | 152 | |
Hypna | 6:83c1f8d6a65a | 153 | wheelSpeed1 = wheelSpeed2 = wheelSpeed3 = wheelSpeed4 = 1; |
Hypna | 6:83c1f8d6a65a | 154 | |
Hypna | 6:83c1f8d6a65a | 155 | do |
Hypna | 6:83c1f8d6a65a | 156 | { |
Hypna | 6:83c1f8d6a65a | 157 | sensors.read(); |
Hypna | 6:83c1f8d6a65a | 158 | sensors.lineDetect(sensorStates); |
Hypna | 6:83c1f8d6a65a | 159 | |
Hypna | 6:83c1f8d6a65a | 160 | if(!intersection()) |
Hypna | 6:83c1f8d6a65a | 161 | atLine = false; |
Hypna | 6:83c1f8d6a65a | 162 | |
Hypna | 6:83c1f8d6a65a | 163 | } while(!intersection() || atLine); |
Hypna | 6:83c1f8d6a65a | 164 | |
Hypna | 6:83c1f8d6a65a | 165 | wheelSpeed1 = wheelSpeed2 = wheelSpeed3 = wheelSpeed4 = 0; |
Hypna | 2:d0ce8e26cbc4 | 166 | } |
Hypna | 2:d0ce8e26cbc4 | 167 | |
Hypna | 4:ac6b2e5b240b | 168 | void DriveController::getCommand() |
Hypna | 2:d0ce8e26cbc4 | 169 | { |
Hypna | 7:2f3e841ee0ff | 170 | bool received = false; |
Hypna | 7:2f3e841ee0ff | 171 | int status; |
Hypna | 7:2f3e841ee0ff | 172 | int msg; |
Hypna | 2:d0ce8e26cbc4 | 173 | |
Hypna | 7:2f3e841ee0ff | 174 | while(!received) |
Hypna | 7:2f3e841ee0ff | 175 | { |
Hypna | 7:2f3e841ee0ff | 176 | status = i2c.receive(); |
Hypna | 7:2f3e841ee0ff | 177 | |
Hypna | 7:2f3e841ee0ff | 178 | if(status == 2) //if status is WriteGeneral |
Hypna | 7:2f3e841ee0ff | 179 | { |
Hypna | 7:2f3e841ee0ff | 180 | msg = i2c.read(); |
Hypna | 7:2f3e841ee0ff | 181 | received = true; |
Hypna | 7:2f3e841ee0ff | 182 | } |
Hypna | 7:2f3e841ee0ff | 183 | } |
Hypna | 7:2f3e841ee0ff | 184 | |
Hypna | 8:9030d2e3a1e8 | 185 | command = msg & 7; |
Hypna | 8:9030d2e3a1e8 | 186 | edge = msg & 24; |
Hypna | 7:2f3e841ee0ff | 187 | |
Hypna | 2:d0ce8e26cbc4 | 188 | } |
Hypna | 2:d0ce8e26cbc4 | 189 | |
Hypna | 4:ac6b2e5b240b | 190 | void DriveController::sendComplete() |
Hypna | 4:ac6b2e5b240b | 191 | { |
Hypna | 7:2f3e841ee0ff | 192 | i2c.write(1); |
Hypna | 4:ac6b2e5b240b | 193 | } |