File content as of revision 14:a646667ac9ea:

#include "drivecontrol.h"
#include "Cell.h"
#include "ir_sensor.h"
#include "left_motor.h"
#include "right_motor.h"
#include "pin_assignment.h"

IRSensor leftIR(PA_8, PC_5);
IRSensor rightIR(PB_0, PA_4);
//Encoder rightEncoder(PA_1, PA_0);
//Encoder leftEncoder(PC_9, PC_8);
LeftMotor * leftMotor;
RightMotor * rightMotor;
Cell * curr_cell;
Serial pc(PA_9, PA_10);

// Define states for debugging the mouse hardware
const int DRIVE = 0; //, TURN = 2, STOP = 4;
const int TURN_LEFT = 0, TURN_RIGHT = 1, TURN_AROUND = 2;

// Sensor offsets
float FRONT_SENSOR_THRESHOLD = 0.90f, SENSOR_ERROR_OFFSET = 0.0f;
//float LEFT_WALL_THRES = 0.46f, RIGHT_WALL_THRES = 0.21f;
float LEFT_WALL_THRES = 0.552f, RIGHT_WALL_THRES = 0.198f;
const int SENSOR_THRESHOLD = 12;
float SENSOR_RIGHT_WALL_THRES = 0.3f, SENSOR_LEFT_WALL_THRES = 0.3f;

// Motor speed offsets
float left_speed, right_speed, motor_speed;
float MOTOR_BASE_SPEED = 10.0f;
float cool_down_offset = 0.0f;

namespace pid_controller { 
    // PID Constants
    float error_p = 0.0f, old_error_p = 0.0f, old_error_d = 0.0f, error_d = 0.0f;
    float total_error = 0.0f;
    float P = 18.0f, D = 5.0f;//3.0f;
    
    void navigate() {
        bool has_left_wall = leftDiagonalIR.readIR() > LEFT_WALL_THRES;
        bool has_right_wall = rightDiagonalIR.readIR() > RIGHT_WALL_THRES;

        if (has_left_wall && has_right_wall) {
            if (rightDiagonalIR - RIGHT_WALL_THRES < 0) {
                error_p = rightDiagonalIR - RIGHT_WALL_THRES;
            }
            else if (leftDiagonalIR - LEFT_WALL_THRES < 0) {
                error_p = leftDiagonalIR - LEFT_WALL_THRES;
            }
            else{
                error_p = rightDiagonalIR - leftDiagonalIR;
            }
            error_d = error_p - old_error_p;    
        }
        else if (has_left_wall) {
            error_p = 2 * (LEFT_WALL_THRES - leftDiagonalIR.readIR());
            error_d = error_p - old_error_p;
        }
        else if (has_right_wall) {
            error_p = 2 * (rightDiagonalIR.readIR() - RIGHT_WALL_THRES);
            error_d = error_p - old_error_p;
        }
        else if (!has_left_wall && !has_right_wall) {
            error_p = 0;
            error_d = 0;
        }
        total_error = P * error_p + D * (error_d - old_error_d);
        old_error_p = error_p;
        old_error_d = error_d;
        
        //MOTOR_BASE_SPEED -= cool_down_offset;
        if(total_error < 5.0f){
            leftMotor -> speed(MOTOR_BASE_SPEED - total_error);
            rightMotor -> speed(MOTOR_BASE_SPEED + total_error);
            
            //leftMotor -> speed(MOTOR_BASE_SPEED - total_error);
            //rightMotor -> speed(MOTOR_BASE_SPEED + total_error);
        }
        else{
            leftMotor->speed(MOTOR_BASE_SPEED);
            rightMotor->speed(MOTOR_BASE_SPEED);
            //leftMotor->speed(MOTOR_BASE_SPEED);
            //rightMotor->speed(MOTOR_BASE_SPEED);
        }
        
        
    }
    
    void cool_down_speed() {
        if (cool_down_offset < 5.0f) {
            cool_down_offset += 2.0f;
        }
    }
    
    void one_cell_turned(){
        leftEncoder.reset();
        rightEncoder.reset();
        while(leftEncoder.getEncoderDistance(1)<-46000 & leftEncoder.getEncoderDistance(1)<46000){
            //Do nothing
        }
    }
    
    // should use this method as the exit condition
    // in the pid_controller::navigate() method
    // resets the pid, encoders, etc.
    void one_cell_traversed() {
        leftEncoder.reset();
        rightEncoder.reset();
        old_error_p = old_error_d = total_error = 0.0f;
    }
    
    // TODO
    void turn (bool turn_right) {
        float MOTOR_TURN_SPEED = 15.0f;
        // https://github.com/austinxiao-ucsd/Falcon-MicroMouse/blob/master/Micromouse_test/drive_control.h
        if (turn_right) { // Flip motor speed to do in place turning 
            leftMotor -> speed(MOTOR_TURN_SPEED);
            rightMotor -> speed(- MOTOR_TURN_SPEED);
        }
        else {
            leftMotor -> speed(- MOTOR_TURN_SPEED);
            rightMotor -> speed(MOTOR_TURN_SPEED);
        }
    }
}

// Currently only have the x, y position fields for
// each cell.
DriveControl::DriveControl (int start_x, int start_y) {
    curr_cell = new Cell (start_x, start_y);
    leftMotor= new LeftMotor();
    rightMotor = new RightMotor();
}

// Defines the next cell to traverse.
Cell * next_cell() {
    return curr_cell;
}

void DriveControl::turn_left() {
    // TODO: Add PID Control
    pid_controller::turn(false);
}

int DriveControl::get_next_direction() {
    // TODO: Define the direction based on heuristic eval. 
    return 1;   
}

int DriveControl::get_next_state(int state) {
    // Simply drives the mouse for testing
    return DRIVE;
}

void DriveControl::getEncoder(){
//    pc.printf("LEFT Encoder Reading %d\n\r", leftEncoder.getEncoderDistance(1));
//    pc.printf("RIGHT Encoder Reading %d\n\r", rightEncoder.getEncoderDistance(0));
    pc.printf("FRONT TOP RIGHT IRSensor %f\n\r", rightFrontIR.readIR() * 1000);
    pc.printf("FRONT TOP LEFT IRSensor %f\n\r", leftFrontIR.readIR() * 1000);
    pc.printf("LEFT Diagonal Sensor %f\n\r", leftDiagonalIR.readIR());
    pc.printf("RIGHT Diagonal Sensor %f\n\r", rightDiagonalIR.readIR());
    pc.printf("LEFT SIDE Sensor %f\n\r", leftIR.readIR());
    pc.printf("RIGHT SIDE Sensor %f\n\r", rightIR.readIR());
}

void DriveControl::turn_right() {
    // TODO: Add PID Control
    pid_controller::turn(true);
}

void DriveControl::turn_around() {
    // TODO: Add PID Control
    pid_controller::turn(TURN_AROUND);
}

void DriveControl::stop() {
    leftMotor->stop();
    rightMotor->stop(); 
}

void DriveControl::resetEncoders() {
    leftEncoder.resetEncoders();
    rightEncoder.resetEncoders();
}

void DriveControl::drive_forward() {
    /*
    float COOL_DOWN = 1.0f;
    if ((rightFrontIR.readIR() * 1000) > COOL_DOWN) {
        pid_controller::cool_down_speed();
    }
    */
    
    pid_controller::navigate();
    
}

bool DriveControl::should_stop_drive_forward() {
    float SHOULD_STOP = 7.0f;
    /*
    if ((rightFrontIR.readIR() * 1000) > SHOULD_STOP) {
        stop();
        cool_down_offset = 0.0f;
    }*/
    return (rightFrontIR.readIR() * 1000) > SHOULD_STOP;
}

bool DriveControl::should_finish_turn_right() {
    bool should_turn = (leftEncoder.getEncoderDistance(1) < -16000) && (rightEncoder.getEncoderDistance(0) < -16000);
    return should_turn;
}

bool DriveControl::should_finish_turn_left() {
    return leftEncoder.getEncoderDistance(1) > 16000 
        && rightEncoder.getEncoderDistance(0) > 16000;
}


// TODO: Test top right ir sensor 
bool DriveControl::has_front_wall() {
    //return rightFrontIR > FRONT_SENSOR_THRESHOLD;
    return (rightFrontIR.readIR() * 1000) > 7.0f;
}

bool DriveControl::has_left_wall() {
    return leftIR.readIR() > SENSOR_LEFT_WALL_THRES;
}

bool DriveControl::has_right_wall() {
    return rightIR.readIR() > SENSOR_RIGHT_WALL_THRES;
}