Code to run the microcontrollers on the R5 competition bot
Dependencies: LineSensors mbed
DriveController.cpp@16:b49db5c8e16c, 2015-04-18 (annotated)
- Committer:
- jmar11
- Date:
- Sat Apr 18 02:50:24 2015 +0000
- Revision:
- 16:b49db5c8e16c
- Parent:
- 14:7a4cf2ed2499
- Child:
- 17:5046b27f5441
Jaime's changes
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 | 14:7a4cf2ed2499 | 3 | #define MOTOR_SCALE 0.5 |
Hypna | 14:7a4cf2ed2499 | 4 | #define CORRECTION_SCALE 0.15 |
Hypna | 14:7a4cf2ed2499 | 5 | #define Kp 0.066666666667 |
Hypna | 14:7a4cf2ed2499 | 6 | #define Ki 0.006666666667 |
Hypna | 14:7a4cf2ed2499 | 7 | |
Hypna | 9:01c17b286a99 | 8 | |
Hypna | 13:aa6f64c73271 | 9 | DriveController::DriveController() : i2c(PTC2, PTC1), treadSpeed1(PTB0), treadSpeed2(PTB1), treadDirection1(PTE20), treadDirection2(PTE21), |
Hypna | 5:f53f06a866e9 | 10 | sensors(PTC7, PTC0, PTC3, PTC4, PTC5, PTC6, PTC10, PTC11, PTC9, PTC8, PTA5, PTA4, PTA12, PTD4, PTA2, PTA1, PTC12, PTC13, |
jmar11 | 16:b49db5c8e16c | 11 | PTC16, PTC17, PTD1, PTD0, PTD5, PTD13), orient(NORTH) |
Hypna | 2:d0ce8e26cbc4 | 12 | { |
Hypna | 4:ac6b2e5b240b | 13 | |
Hypna | 2:d0ce8e26cbc4 | 14 | } |
Hypna | 2:d0ce8e26cbc4 | 15 | |
jmar11 | 16:b49db5c8e16c | 16 | void DriveController::move(typename ::abs_direction direction) |
Hypna | 0:e60f22c1d573 | 17 | { |
jmar11 | 16:b49db5c8e16c | 18 | int diff; |
Hypna | 5:f53f06a866e9 | 19 | bool atLine = true; //tracks whether the bot is still at the starting intersection |
Hypna | 12:edcae0f36e9c | 20 | double error = 0; |
Hypna | 2:d0ce8e26cbc4 | 21 | |
jmar11 | 16:b49db5c8e16c | 22 | diff=direction-orient; |
jmar11 | 16:b49db5c8e16c | 23 | |
jmar11 | 16:b49db5c8e16c | 24 | if(abs(diff)==3){ |
jmar11 | 16:b49db5c8e16c | 25 | diff/=-3; |
jmar11 | 16:b49db5c8e16c | 26 | |
jmar11 | 16:b49db5c8e16c | 27 | if(diff == 2)//back |
Hypna | 10:210c8f1e3a92 | 28 | { |
Hypna | 13:aa6f64c73271 | 29 | treadDirection1 = treadDirection2 = 0; |
Hypna | 9:01c17b286a99 | 30 | } |
jmar11 | 16:b49db5c8e16c | 31 | else if(direction == 0)//forward |
Hypna | 9:01c17b286a99 | 32 | { |
Hypna | 13:aa6f64c73271 | 33 | treadDirection1 = treadDirection2 = 1; |
Hypna | 9:01c17b286a99 | 34 | } |
Hypna | 2:d0ce8e26cbc4 | 35 | |
Hypna | 5:f53f06a866e9 | 36 | do |
Hypna | 2:d0ce8e26cbc4 | 37 | { |
Hypna | 6:83c1f8d6a65a | 38 | sensors.lineDetect(sensorStates); |
Hypna | 6:83c1f8d6a65a | 39 | |
Hypna | 5:f53f06a866e9 | 40 | if(intersection()) |
Hypna | 5:f53f06a866e9 | 41 | { |
Hypna | 13:aa6f64c73271 | 42 | treadSpeed1 = treadSpeed2 = MOTOR_SCALE; |
Hypna | 5:f53f06a866e9 | 43 | } |
Hypna | 5:f53f06a866e9 | 44 | else |
Hypna | 3:0d7687b6ef14 | 45 | { |
Hypna | 5:f53f06a866e9 | 46 | error = calculateError(); |
Hypna | 5:f53f06a866e9 | 47 | |
Hypna | 5:f53f06a866e9 | 48 | if(error < 0) |
Hypna | 5:f53f06a866e9 | 49 | { |
Hypna | 13:aa6f64c73271 | 50 | treadSpeed1 = (1.0 - fabs(error))*MOTOR_SCALE; |
Hypna | 13:aa6f64c73271 | 51 | treadSpeed2 = MOTOR_SCALE; |
Hypna | 6:83c1f8d6a65a | 52 | } |
Hypna | 5:f53f06a866e9 | 53 | else |
Hypna | 5:f53f06a866e9 | 54 | { |
Hypna | 13:aa6f64c73271 | 55 | treadSpeed1 = MOTOR_SCALE; |
Hypna | 13:aa6f64c73271 | 56 | treadSpeed2 = (1.0 - error)*MOTOR_SCALE; |
Hypna | 5:f53f06a866e9 | 57 | } |
Hypna | 5:f53f06a866e9 | 58 | |
Hypna | 9:01c17b286a99 | 59 | atLine = false; |
Hypna | 5:f53f06a866e9 | 60 | } |
Hypna | 6:83c1f8d6a65a | 61 | } while(!intersection() || atLine); |
Hypna | 5:f53f06a866e9 | 62 | |
Hypna | 13:aa6f64c73271 | 63 | treadSpeed1 = treadSpeed2 = 0; |
Hypna | 5:f53f06a866e9 | 64 | } |
Hypna | 5:f53f06a866e9 | 65 | |
Hypna | 12:edcae0f36e9c | 66 | double DriveController::calculateError() |
Hypna | 5:f53f06a866e9 | 67 | { |
Hypna | 12:edcae0f36e9c | 68 | double error; |
Hypna | 5:f53f06a866e9 | 69 | int bin = 0; |
Hypna | 5:f53f06a866e9 | 70 | |
Hypna | 5:f53f06a866e9 | 71 | for(int i = 7; i >= 0; i--) |
Hypna | 5:f53f06a866e9 | 72 | { |
Hypna | 13:aa6f64c73271 | 73 | bin += sensorStates[i][0]<<(7-i); |
Hypna | 2:d0ce8e26cbc4 | 74 | } |
Hypna | 3:0d7687b6ef14 | 75 | |
Hypna | 5:f53f06a866e9 | 76 | switch(bin) |
Hypna | 5:f53f06a866e9 | 77 | { |
Hypna | 12:edcae0f36e9c | 78 | case 1: error = 6; |
Hypna | 5:f53f06a866e9 | 79 | break; |
Hypna | 12:edcae0f36e9c | 80 | case 3: error = 5; |
Hypna | 5:f53f06a866e9 | 81 | break; |
Hypna | 12:edcae0f36e9c | 82 | case 2: error = 4; |
Hypna | 5:f53f06a866e9 | 83 | break; |
Hypna | 12:edcae0f36e9c | 84 | case 6: error = 3; |
Hypna | 5:f53f06a866e9 | 85 | break; |
Hypna | 12:edcae0f36e9c | 86 | case 4: error = 2; |
Hypna | 5:f53f06a866e9 | 87 | break; |
Hypna | 12:edcae0f36e9c | 88 | case 12: error = 1; |
Hypna | 5:f53f06a866e9 | 89 | break; |
Hypna | 12:edcae0f36e9c | 90 | case 8: error = 0; |
Hypna | 5:f53f06a866e9 | 91 | break; |
Hypna | 5:f53f06a866e9 | 92 | case 24: error = 0; |
Hypna | 5:f53f06a866e9 | 93 | break; |
Hypna | 12:edcae0f36e9c | 94 | case 16: error = 0; |
Hypna | 5:f53f06a866e9 | 95 | break; |
Hypna | 12:edcae0f36e9c | 96 | case 48: error = -1; |
Hypna | 5:f53f06a866e9 | 97 | break; |
Hypna | 12:edcae0f36e9c | 98 | case 32: error = -2; |
Hypna | 5:f53f06a866e9 | 99 | break; |
Hypna | 12:edcae0f36e9c | 100 | case 96: error = -3; |
Hypna | 5:f53f06a866e9 | 101 | break; |
Hypna | 12:edcae0f36e9c | 102 | case 64: error = -4; |
Hypna | 5:f53f06a866e9 | 103 | break; |
Hypna | 12:edcae0f36e9c | 104 | case 192: error = -5; |
Hypna | 5:f53f06a866e9 | 105 | break; |
Hypna | 12:edcae0f36e9c | 106 | case 128: error = -6; |
Hypna | 10:210c8f1e3a92 | 107 | break; |
Hypna | 10:210c8f1e3a92 | 108 | default: error = 0; |
Hypna | 5:f53f06a866e9 | 109 | } |
Hypna | 5:f53f06a866e9 | 110 | |
Hypna | 12:edcae0f36e9c | 111 | return error*CORRECTION_SCALE; |
Hypna | 2:d0ce8e26cbc4 | 112 | } |
Hypna | 2:d0ce8e26cbc4 | 113 | |
Hypna | 4:ac6b2e5b240b | 114 | bool DriveController::intersection() |
Hypna | 2:d0ce8e26cbc4 | 115 | { |
Hypna | 6:83c1f8d6a65a | 116 | |
Hypna | 6:83c1f8d6a65a | 117 | // add speed bump check later |
Hypna | 6:83c1f8d6a65a | 118 | |
Hypna | 13:aa6f64c73271 | 119 | return (sensorStates[0][0]&&sensorStates[1][0]&&sensorStates[2][0]&&sensorStates[3][0]) |
Hypna | 13:aa6f64c73271 | 120 | || (sensorStates[4][0]&&sensorStates[5][0]&&sensorStates[6][0]&&sensorStates[7][0]); |
Hypna | 2:d0ce8e26cbc4 | 121 | } |
Hypna | 1:fa6eb0c33b2f | 122 | |
jmar11 | 16:b49db5c8e16c | 123 | void DriveController::rotate(typename ::abs_direction direction) |
Hypna | 2:d0ce8e26cbc4 | 124 | { |
jmar11 | 16:b49db5c8e16c | 125 | int diff; |
Hypna | 6:83c1f8d6a65a | 126 | bool atLine = true; |
Hypna | 2:d0ce8e26cbc4 | 127 | |
jmar11 | 16:b49db5c8e16c | 128 | diff=direction-orient |
jmar11 | 16:b49db5c8e16c | 129 | |
jmar11 | 16:b49db5c8e16c | 130 | if(abs(diff)==3){ |
jmar11 | 16:b49db5c8e16c | 131 | diff/=-3; |
Hypna | 6:83c1f8d6a65a | 132 | } |
jmar11 | 16:b49db5c8e16c | 133 | do{ |
jmar11 | 16:b49db5c8e16c | 134 | if(diff < 0) |
jmar11 | 16:b49db5c8e16c | 135 | { |
jmar11 | 16:b49db5c8e16c | 136 | treadDirection1 = 0; |
jmar11 | 16:b49db5c8e16c | 137 | treadDirection2 = 1; |
jmar11 | 16:b49db5c8e16c | 138 | diff++; |
jmar11 | 16:b49db5c8e16c | 139 | } |
jmar11 | 16:b49db5c8e16c | 140 | else if(diff > 0) |
jmar11 | 16:b49db5c8e16c | 141 | { |
jmar11 | 16:b49db5c8e16c | 142 | treadDirection1 = 0; |
jmar11 | 16:b49db5c8e16c | 143 | treadDirection2 = 1; |
jmar11 | 16:b49db5c8e16c | 144 | diff--; |
jmar11 | 16:b49db5c8e16c | 145 | } |
jmar11 | 16:b49db5c8e16c | 146 | |
jmar11 | 16:b49db5c8e16c | 147 | treadSpeed1 = treadSpeed2 = MOTOR_SCALE; |
jmar11 | 16:b49db5c8e16c | 148 | }while(diff!=0); |
Hypna | 6:83c1f8d6a65a | 149 | |
Hypna | 12:edcae0f36e9c | 150 | /*do |
Hypna | 6:83c1f8d6a65a | 151 | { |
Hypna | 6:83c1f8d6a65a | 152 | sensors.lineDetect(sensorStates); |
Hypna | 6:83c1f8d6a65a | 153 | |
Hypna | 6:83c1f8d6a65a | 154 | if(!intersection()) |
Hypna | 6:83c1f8d6a65a | 155 | atLine = false; |
Hypna | 6:83c1f8d6a65a | 156 | |
Hypna | 14:7a4cf2ed2499 | 157 | } |
Hypna | 14:7a4cf2ed2499 | 158 | while(!intersection() || atLine);*/ |
Hypna | 12:edcae0f36e9c | 159 | |
Hypna | 14:7a4cf2ed2499 | 160 | wait(0.9); |
Hypna | 6:83c1f8d6a65a | 161 | |
Hypna | 13:aa6f64c73271 | 162 | treadSpeed1 = treadSpeed2 = 0; |
Hypna | 2:d0ce8e26cbc4 | 163 | } |
Hypna | 2:d0ce8e26cbc4 | 164 | |
Hypna | 12:edcae0f36e9c | 165 | void DriveController::spinTest() |
Hypna | 12:edcae0f36e9c | 166 | { |
Hypna | 13:aa6f64c73271 | 167 | treadDirection1 = 1; |
Hypna | 13:aa6f64c73271 | 168 | treadDirection2 = 0; |
Hypna | 12:edcae0f36e9c | 169 | |
Hypna | 13:aa6f64c73271 | 170 | treadSpeed1 = treadSpeed2 = MOTOR_SCALE; |
Hypna | 12:edcae0f36e9c | 171 | |
Hypna | 12:edcae0f36e9c | 172 | while(true) |
Hypna | 12:edcae0f36e9c | 173 | wait(1); |
Hypna | 12:edcae0f36e9c | 174 | } |
jmar11 | 16:b49db5c8e16c | 175 | |
jmar11 | 16:b49db5c8e16c | 176 | typename ::abs_direction getOrient() |
jmar11 | 16:b49db5c8e16c | 177 | { |
jmar11 | 16:b49db5c8e16c | 178 | return orient; |
jmar11 | 16:b49db5c8e16c | 179 | } |