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Dependencies:   mbed

Control/drivecontrol.cpp@15:151e59899221, 2017-05-20 (annotated)

Committer:
kolanery
Date:
Sat May 20 05:17:47 2017 +0000
Revision:
15:151e59899221
Parent:
14:a646667ac9ea
Child:
16:c26d8e007df5
update working version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kolanery 0:cb667de3a336 1 #include "drivecontrol.h"
kolanery 0:cb667de3a336 2 #include "Cell.h"
kolanery 0:cb667de3a336 3 #include "ir_sensor.h"
kolanery 2:619b02232144 4 #include "left_motor.h"
kolanery 2:619b02232144 5 #include "right_motor.h"
szh66 6:1bcfda49e146 6 #include "pin_assignment.h"
kolanery 0:cb667de3a336 7
szh66 6:1bcfda49e146 8 IRSensor leftIR(PA_8, PC_5);
szh66 6:1bcfda49e146 9 IRSensor rightIR(PB_0, PA_4);
szh66 8:4a32fc9ee939 10 //Encoder rightEncoder(PA_1, PA_0);
szh66 8:4a32fc9ee939 11 //Encoder leftEncoder(PC_9, PC_8);
kolanery 2:619b02232144 12 LeftMotor * leftMotor;
kolanery 2:619b02232144 13 RightMotor * rightMotor;
kolanery 0:cb667de3a336 14 Cell * curr_cell;
szh66 6:1bcfda49e146 15 Serial pc(PA_9, PA_10);
szh66 6:1bcfda49e146 16
kolanery 13:a1a3418c07f3 17 // Sensor offsets
kolanery 15:151e59899221 18 float FRONT_SENSOR_THRES = 7.0f, SENSOR_ERROR_OFFSET = 0.0f;
kolanery 14:a646667ac9ea 19 float LEFT_WALL_THRES = 0.552f, RIGHT_WALL_THRES = 0.198f;
kolanery 15:151e59899221 20 float RIGHT_SIDE_WALL_THRES = 0.3f, LEFT_SIDE_WALL_THRES = 0.3f;
kolanery 13:a1a3418c07f3 21
kolanery 13:a1a3418c07f3 22 // Motor speed offsets
kolanery 13:a1a3418c07f3 23 float left_speed, right_speed, motor_speed;
kolanery 14:a646667ac9ea 24 float MOTOR_BASE_SPEED = 10.0f;
kolanery 14:a646667ac9ea 25 float cool_down_offset = 0.0f;
kolanery 7:7215adbae3da 26
kolanery 13:a1a3418c07f3 27 namespace pid_controller {
kolanery 13:a1a3418c07f3 28 // PID Constants
kolanery 13:a1a3418c07f3 29 float error_p = 0.0f, old_error_p = 0.0f, old_error_d = 0.0f, error_d = 0.0f;
kolanery 13:a1a3418c07f3 30 float total_error = 0.0f;
kolanery 15:151e59899221 31 float P = 18.0f, D = 5.0f;
kolanery 13:a1a3418c07f3 32
kolanery 7:7215adbae3da 33 void navigate() {
kolanery 7:7215adbae3da 34 bool has_left_wall = leftDiagonalIR.readIR() > LEFT_WALL_THRES;
kolanery 7:7215adbae3da 35 bool has_right_wall = rightDiagonalIR.readIR() > RIGHT_WALL_THRES;
kolanery 7:7215adbae3da 36
kolanery 7:7215adbae3da 37 if (has_left_wall && has_right_wall) {
kolanery 7:7215adbae3da 38 if (rightDiagonalIR - RIGHT_WALL_THRES < 0) {
kolanery 7:7215adbae3da 39 error_p = rightDiagonalIR - RIGHT_WALL_THRES;
kolanery 7:7215adbae3da 40 }
kolanery 7:7215adbae3da 41 else if (leftDiagonalIR - LEFT_WALL_THRES < 0) {
kolanery 7:7215adbae3da 42 error_p = leftDiagonalIR - LEFT_WALL_THRES;
kolanery 7:7215adbae3da 43 }
kolanery 7:7215adbae3da 44 else{
kolanery 7:7215adbae3da 45 error_p = rightDiagonalIR - leftDiagonalIR;
kolanery 7:7215adbae3da 46 }
kolanery 7:7215adbae3da 47 error_d = error_p - old_error_p;
kolanery 7:7215adbae3da 48 }
kolanery 7:7215adbae3da 49 else if (has_left_wall) {
kolanery 7:7215adbae3da 50 error_p = 2 * (LEFT_WALL_THRES - leftDiagonalIR.readIR());
kolanery 7:7215adbae3da 51 error_d = error_p - old_error_p;
kolanery 7:7215adbae3da 52 }
kolanery 7:7215adbae3da 53 else if (has_right_wall) {
kolanery 7:7215adbae3da 54 error_p = 2 * (rightDiagonalIR.readIR() - RIGHT_WALL_THRES);
kolanery 7:7215adbae3da 55 error_d = error_p - old_error_p;
kolanery 7:7215adbae3da 56 }
kolanery 7:7215adbae3da 57 else if (!has_left_wall && !has_right_wall) {
kolanery 7:7215adbae3da 58 error_p = 0;
kolanery 7:7215adbae3da 59 error_d = 0;
kolanery 7:7215adbae3da 60 }
kolanery 7:7215adbae3da 61 total_error = P * error_p + D * (error_d - old_error_d);
kolanery 7:7215adbae3da 62 old_error_p = error_p;
kolanery 7:7215adbae3da 63 old_error_d = error_d;
kolanery 7:7215adbae3da 64
kolanery 14:a646667ac9ea 65 //MOTOR_BASE_SPEED -= cool_down_offset;
kolanery 14:a646667ac9ea 66 if(total_error < 5.0f){
kolanery 7:7215adbae3da 67 leftMotor -> speed(MOTOR_BASE_SPEED - total_error);
kolanery 7:7215adbae3da 68 rightMotor -> speed(MOTOR_BASE_SPEED + total_error);
kolanery 14:a646667ac9ea 69
kolanery 14:a646667ac9ea 70 //leftMotor -> speed(MOTOR_BASE_SPEED - total_error);
kolanery 14:a646667ac9ea 71 //rightMotor -> speed(MOTOR_BASE_SPEED + total_error);
kolanery 7:7215adbae3da 72 }
kolanery 7:7215adbae3da 73 else{
kolanery 7:7215adbae3da 74 leftMotor->speed(MOTOR_BASE_SPEED);
kolanery 7:7215adbae3da 75 rightMotor->speed(MOTOR_BASE_SPEED);
kolanery 14:a646667ac9ea 76 //leftMotor->speed(MOTOR_BASE_SPEED);
kolanery 14:a646667ac9ea 77 //rightMotor->speed(MOTOR_BASE_SPEED);
kolanery 14:a646667ac9ea 78 }
kolanery 14:a646667ac9ea 79
kolanery 14:a646667ac9ea 80
kolanery 14:a646667ac9ea 81 }
kolanery 14:a646667ac9ea 82
kolanery 14:a646667ac9ea 83 void cool_down_speed() {
kolanery 14:a646667ac9ea 84 if (cool_down_offset < 5.0f) {
kolanery 14:a646667ac9ea 85 cool_down_offset += 2.0f;
kolanery 7:7215adbae3da 86 }
ryan_whr 12:6f48afe41cd9 87 }
ryan_whr 12:6f48afe41cd9 88
kolanery 13:a1a3418c07f3 89 void one_cell_turned(){
ryan_whr 12:6f48afe41cd9 90 leftEncoder.reset();
ryan_whr 12:6f48afe41cd9 91 rightEncoder.reset();
ryan_whr 12:6f48afe41cd9 92 while(leftEncoder.getEncoderDistance(1)<-46000 & leftEncoder.getEncoderDistance(1)<46000){
ryan_whr 12:6f48afe41cd9 93 //Do nothing
ryan_whr 12:6f48afe41cd9 94 }
kolanery 7:7215adbae3da 95 }
kolanery 7:7215adbae3da 96
kolanery 13:a1a3418c07f3 97 // should use this method as the exit condition
kolanery 13:a1a3418c07f3 98 // in the pid_controller::navigate() method
kolanery 13:a1a3418c07f3 99 // resets the pid, encoders, etc.
kolanery 13:a1a3418c07f3 100 void one_cell_traversed() {
kolanery 13:a1a3418c07f3 101 leftEncoder.reset();
kolanery 13:a1a3418c07f3 102 rightEncoder.reset();
kolanery 13:a1a3418c07f3 103 old_error_p = old_error_d = total_error = 0.0f;
kolanery 13:a1a3418c07f3 104 }
kolanery 13:a1a3418c07f3 105
kolanery 13:a1a3418c07f3 106 // TODO
kolanery 14:a646667ac9ea 107 void turn (bool turn_right) {
kolanery 15:151e59899221 108 float MOTOR_TURN_SPEED = 10.0f;
kolanery 15:151e59899221 109
kolanery 15:151e59899221 110 if (turn_right) {
kolanery 14:a646667ac9ea 111 leftMotor -> speed(MOTOR_TURN_SPEED);
kolanery 15:151e59899221 112 rightMotor -> speed(-MOTOR_TURN_SPEED);
kolanery 7:7215adbae3da 113 }
kolanery 14:a646667ac9ea 114 else {
kolanery 15:151e59899221 115 leftMotor -> speed(-MOTOR_TURN_SPEED);
kolanery 14:a646667ac9ea 116 rightMotor -> speed(MOTOR_TURN_SPEED);
kolanery 7:7215adbae3da 117 }
kolanery 7:7215adbae3da 118 }
kolanery 7:7215adbae3da 119 }
kolanery 7:7215adbae3da 120
kolanery 0:cb667de3a336 121 // Currently only have the x, y position fields for
kolanery 0:cb667de3a336 122 // each cell.
kolanery 0:cb667de3a336 123 DriveControl::DriveControl (int start_x, int start_y) {
kolanery 0:cb667de3a336 124 curr_cell = new Cell (start_x, start_y);
kolanery 2:619b02232144 125 leftMotor= new LeftMotor();
kolanery 2:619b02232144 126 rightMotor = new RightMotor();
kolanery 0:cb667de3a336 127 }
kolanery 0:cb667de3a336 128
kolanery 0:cb667de3a336 129 // Defines the next cell to traverse.
kolanery 0:cb667de3a336 130 Cell * next_cell() {
kolanery 0:cb667de3a336 131 return curr_cell;
kolanery 0:cb667de3a336 132 }
kolanery 0:cb667de3a336 133
kolanery 0:cb667de3a336 134 void DriveControl::turn_left() {
kolanery 0:cb667de3a336 135 // TODO: Add PID Control
kolanery 14:a646667ac9ea 136 pid_controller::turn(false);
kolanery 0:cb667de3a336 137 }
kolanery 0:cb667de3a336 138
kolanery 0:cb667de3a336 139 int DriveControl::get_next_direction() {
kolanery 0:cb667de3a336 140 // TODO: Define the direction based on heuristic eval.
kolanery 0:cb667de3a336 141 return 1;
kolanery 0:cb667de3a336 142 }
kolanery 0:cb667de3a336 143
kolanery 0:cb667de3a336 144 int DriveControl::get_next_state(int state) {
kolanery 2:619b02232144 145 // Simply drives the mouse for testing
kolanery 15:151e59899221 146 //return DRIVE;
kolanery 0:cb667de3a336 147 }
kolanery 0:cb667de3a336 148
kolanery 15:151e59899221 149 void DriveControl::print_serial_ports(){
kolanery 15:151e59899221 150 pc.printf("LEFT Encoder Reading %d\n\r", leftEncoder.getEncoderDistance(1));
kolanery 15:151e59899221 151 pc.printf("RIGHT Encoder Reading %d\n\r", rightEncoder.getEncoderDistance(0));
kolanery 15:151e59899221 152 /*
kolanery 14:a646667ac9ea 153 pc.printf("FRONT TOP RIGHT IRSensor %f\n\r", rightFrontIR.readIR() * 1000);
kolanery 15:151e59899221 154 pc.printf("FRONT TOP LEFT IRSensor %f\n\r", leftFrontIR.readIR() * 10);
kolanery 14:a646667ac9ea 155 pc.printf("LEFT Diagonal Sensor %f\n\r", leftDiagonalIR.readIR());
kolanery 14:a646667ac9ea 156 pc.printf("RIGHT Diagonal Sensor %f\n\r", rightDiagonalIR.readIR());
kolanery 14:a646667ac9ea 157 pc.printf("LEFT SIDE Sensor %f\n\r", leftIR.readIR());
kolanery 14:a646667ac9ea 158 pc.printf("RIGHT SIDE Sensor %f\n\r", rightIR.readIR());
kolanery 15:151e59899221 159 */
szh66 8:4a32fc9ee939 160 }
szh66 8:4a32fc9ee939 161
kolanery 0:cb667de3a336 162 void DriveControl::turn_right() {
kolanery 4:73510c7fa316 163 // TODO: Add PID Control
kolanery 14:a646667ac9ea 164 pid_controller::turn(true);
kolanery 7:7215adbae3da 165 }
kolanery 7:7215adbae3da 166
kolanery 7:7215adbae3da 167 void DriveControl::turn_around() {
kolanery 7:7215adbae3da 168 // TODO: Add PID Control
kolanery 15:151e59899221 169 //pid_controller::turn(TURN_AROUND);
kolanery 0:cb667de3a336 170 }
kolanery 0:cb667de3a336 171
kolanery 0:cb667de3a336 172 void DriveControl::stop() {
kolanery 2:619b02232144 173 leftMotor->stop();
kolanery 2:619b02232144 174 rightMotor->stop();
kolanery 0:cb667de3a336 175 }
kolanery 0:cb667de3a336 176
kolanery 14:a646667ac9ea 177 void DriveControl::resetEncoders() {
kolanery 14:a646667ac9ea 178 leftEncoder.resetEncoders();
kolanery 14:a646667ac9ea 179 rightEncoder.resetEncoders();
kolanery 14:a646667ac9ea 180 }
kolanery 14:a646667ac9ea 181
kolanery 7:7215adbae3da 182 void DriveControl::drive_forward() {
kolanery 14:a646667ac9ea 183 /*
kolanery 14:a646667ac9ea 184 float COOL_DOWN = 1.0f;
kolanery 14:a646667ac9ea 185 if ((rightFrontIR.readIR() * 1000) > COOL_DOWN) {
kolanery 14:a646667ac9ea 186 pid_controller::cool_down_speed();
kolanery 14:a646667ac9ea 187 }
kolanery 14:a646667ac9ea 188 */
kolanery 7:7215adbae3da 189 pid_controller::navigate();
kolanery 14:a646667ac9ea 190
kolanery 14:a646667ac9ea 191 }
kolanery 14:a646667ac9ea 192
kolanery 14:a646667ac9ea 193 bool DriveControl::should_stop_drive_forward() {
kolanery 14:a646667ac9ea 194 float SHOULD_STOP = 7.0f;
kolanery 14:a646667ac9ea 195 /*
kolanery 14:a646667ac9ea 196 if ((rightFrontIR.readIR() * 1000) > SHOULD_STOP) {
kolanery 14:a646667ac9ea 197 stop();
kolanery 14:a646667ac9ea 198 cool_down_offset = 0.0f;
kolanery 14:a646667ac9ea 199 }*/
kolanery 14:a646667ac9ea 200 return (rightFrontIR.readIR() * 1000) > SHOULD_STOP;
kolanery 14:a646667ac9ea 201 }
kolanery 14:a646667ac9ea 202
kolanery 14:a646667ac9ea 203 bool DriveControl::should_finish_turn_right() {
kolanery 15:151e59899221 204 // bool should_turn = (leftEncoder.getEncoderDistance(1) < -16000) || (rightEncoder.getEncoderDistance(0) < -16000);
kolanery 15:151e59899221 205 int max = (leftEncoder.getEncoderDistance(1) < rightEncoder.getEncoderDistance(0))
kolanery 15:151e59899221 206 ? rightEncoder.getEncoderDistance(0) : leftEncoder.getEncoderDistance(1);
kolanery 15:151e59899221 207 return max < -16000;
kolanery 15:151e59899221 208
kolanery 15:151e59899221 209 //return should_turn;
kolanery 14:a646667ac9ea 210 }
kolanery 14:a646667ac9ea 211
kolanery 14:a646667ac9ea 212 bool DriveControl::should_finish_turn_left() {
kolanery 15:151e59899221 213 int min_two = (leftEncoder.getEncoderDistance(1) > rightEncoder.getEncoderDistance(0))
kolanery 15:151e59899221 214 ? rightEncoder.getEncoderDistance(0) : leftEncoder.getEncoderDistance(1);
kolanery 15:151e59899221 215 //return leftEncoder.getEncoderDistance(1) > 15000
kolanery 15:151e59899221 216 // || rightEncoder.getEncoderDistance(0) > 15000;
kolanery 15:151e59899221 217 return min_two > 16000;
kolanery 4:73510c7fa316 218 }
kolanery 4:73510c7fa316 219
kolanery 0:cb667de3a336 220 bool DriveControl::has_front_wall() {
kolanery 15:151e59899221 221 bool right_front_wall = (rightFrontIR.readIR() * 1000) > FRONT_SENSOR_THRES;
kolanery 15:151e59899221 222 bool left_front_wall = (leftFrontIR.readIR() * 10) > FRONT_SENSOR_THRES;
kolanery 15:151e59899221 223 return right_front_wall || left_front_wall;
kolanery 0:cb667de3a336 224 }
kolanery 0:cb667de3a336 225
kolanery 0:cb667de3a336 226 bool DriveControl::has_left_wall() {
kolanery 15:151e59899221 227 return leftIR.readIR() > LEFT_SIDE_WALL_THRES;
kolanery 0:cb667de3a336 228 }
kolanery 0:cb667de3a336 229
kolanery 0:cb667de3a336 230 bool DriveControl::has_right_wall() {
kolanery 15:151e59899221 231 return rightIR.readIR() > RIGHT_SIDE_WALL_THRES;
kolanery 0:cb667de3a336 232 }