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Dependencies:   mbed

Control/drivecontrol.cpp@16:c26d8e007df5, 2017-05-20 (annotated)

Committer:
kolanery
Date:
Sat May 20 21:15:30 2017 +0000
Revision:
16:c26d8e007df5
Parent:
15:151e59899221
Child:
17:043ed1d0196f
add drive one cell.

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 16:c26d8e007df5 19 float LEFT_WALL_THRES = 0.626f, RIGHT_WALL_THRES = 0.161f;
kolanery 16:c26d8e007df5 20 float RIGHT_SIDE_WALL_THRES = 0.5f, LEFT_SIDE_WALL_THRES = 0.5f;
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 16:c26d8e007df5 27 // Encoder offsets
kolanery 16:c26d8e007df5 28 int ENCODER_TURN_UNIT = 16000;
kolanery 16:c26d8e007df5 29
kolanery 13:a1a3418c07f3 30 namespace pid_controller {
kolanery 13:a1a3418c07f3 31 // PID Constants
kolanery 13:a1a3418c07f3 32 float error_p = 0.0f, old_error_p = 0.0f, old_error_d = 0.0f, error_d = 0.0f;
kolanery 13:a1a3418c07f3 33 float total_error = 0.0f;
kolanery 15:151e59899221 34 float P = 18.0f, D = 5.0f;
kolanery 13:a1a3418c07f3 35
kolanery 7:7215adbae3da 36 void navigate() {
kolanery 7:7215adbae3da 37 bool has_left_wall = leftDiagonalIR.readIR() > LEFT_WALL_THRES;
kolanery 7:7215adbae3da 38 bool has_right_wall = rightDiagonalIR.readIR() > RIGHT_WALL_THRES;
kolanery 7:7215adbae3da 39
kolanery 7:7215adbae3da 40 if (has_left_wall && has_right_wall) {
kolanery 7:7215adbae3da 41 if (rightDiagonalIR - RIGHT_WALL_THRES < 0) {
kolanery 7:7215adbae3da 42 error_p = rightDiagonalIR - RIGHT_WALL_THRES;
kolanery 7:7215adbae3da 43 }
kolanery 7:7215adbae3da 44 else if (leftDiagonalIR - LEFT_WALL_THRES < 0) {
kolanery 7:7215adbae3da 45 error_p = leftDiagonalIR - LEFT_WALL_THRES;
kolanery 7:7215adbae3da 46 }
kolanery 7:7215adbae3da 47 else{
kolanery 7:7215adbae3da 48 error_p = rightDiagonalIR - leftDiagonalIR;
kolanery 7:7215adbae3da 49 }
kolanery 7:7215adbae3da 50 error_d = error_p - old_error_p;
kolanery 7:7215adbae3da 51 }
kolanery 7:7215adbae3da 52 else if (has_left_wall) {
kolanery 7:7215adbae3da 53 error_p = 2 * (LEFT_WALL_THRES - leftDiagonalIR.readIR());
kolanery 7:7215adbae3da 54 error_d = error_p - old_error_p;
kolanery 7:7215adbae3da 55 }
kolanery 7:7215adbae3da 56 else if (has_right_wall) {
kolanery 7:7215adbae3da 57 error_p = 2 * (rightDiagonalIR.readIR() - RIGHT_WALL_THRES);
kolanery 7:7215adbae3da 58 error_d = error_p - old_error_p;
kolanery 7:7215adbae3da 59 }
kolanery 7:7215adbae3da 60 else if (!has_left_wall && !has_right_wall) {
kolanery 7:7215adbae3da 61 error_p = 0;
kolanery 7:7215adbae3da 62 error_d = 0;
kolanery 7:7215adbae3da 63 }
kolanery 7:7215adbae3da 64 total_error = P * error_p + D * (error_d - old_error_d);
kolanery 7:7215adbae3da 65 old_error_p = error_p;
kolanery 7:7215adbae3da 66 old_error_d = error_d;
kolanery 7:7215adbae3da 67
kolanery 14:a646667ac9ea 68 //MOTOR_BASE_SPEED -= cool_down_offset;
kolanery 16:c26d8e007df5 69 if(total_error < 7.5f){
kolanery 7:7215adbae3da 70 leftMotor -> speed(MOTOR_BASE_SPEED - total_error);
kolanery 7:7215adbae3da 71 rightMotor -> speed(MOTOR_BASE_SPEED + total_error);
kolanery 14:a646667ac9ea 72
kolanery 14:a646667ac9ea 73 //leftMotor -> speed(MOTOR_BASE_SPEED - total_error);
kolanery 14:a646667ac9ea 74 //rightMotor -> speed(MOTOR_BASE_SPEED + total_error);
kolanery 7:7215adbae3da 75 }
kolanery 7:7215adbae3da 76 else{
kolanery 7:7215adbae3da 77 leftMotor->speed(MOTOR_BASE_SPEED);
kolanery 7:7215adbae3da 78 rightMotor->speed(MOTOR_BASE_SPEED);
kolanery 14:a646667ac9ea 79 //leftMotor->speed(MOTOR_BASE_SPEED);
kolanery 14:a646667ac9ea 80 //rightMotor->speed(MOTOR_BASE_SPEED);
kolanery 14:a646667ac9ea 81 }
kolanery 14:a646667ac9ea 82
kolanery 14:a646667ac9ea 83
kolanery 14:a646667ac9ea 84 }
kolanery 14:a646667ac9ea 85
kolanery 16:c26d8e007df5 86 void clear_pid(){
kolanery 16:c26d8e007df5 87 error_p = 0.0f, old_error_p = 0.0f, old_error_d = 0.0f, error_d = 0.0f;
kolanery 16:c26d8e007df5 88 total_error = 0.0f;
kolanery 16:c26d8e007df5 89 }
kolanery 16:c26d8e007df5 90
kolanery 14:a646667ac9ea 91 void cool_down_speed() {
kolanery 14:a646667ac9ea 92 if (cool_down_offset < 5.0f) {
kolanery 14:a646667ac9ea 93 cool_down_offset += 2.0f;
kolanery 7:7215adbae3da 94 }
ryan_whr 12:6f48afe41cd9 95 }
ryan_whr 12:6f48afe41cd9 96
kolanery 13:a1a3418c07f3 97 void one_cell_turned(){
ryan_whr 12:6f48afe41cd9 98 leftEncoder.reset();
ryan_whr 12:6f48afe41cd9 99 rightEncoder.reset();
ryan_whr 12:6f48afe41cd9 100 while(leftEncoder.getEncoderDistance(1)<-46000 & leftEncoder.getEncoderDistance(1)<46000){
ryan_whr 12:6f48afe41cd9 101 //Do nothing
ryan_whr 12:6f48afe41cd9 102 }
kolanery 7:7215adbae3da 103 }
kolanery 7:7215adbae3da 104
kolanery 13:a1a3418c07f3 105 // should use this method as the exit condition
kolanery 13:a1a3418c07f3 106 // in the pid_controller::navigate() method
kolanery 13:a1a3418c07f3 107 // resets the pid, encoders, etc.
kolanery 13:a1a3418c07f3 108 void one_cell_traversed() {
kolanery 13:a1a3418c07f3 109 leftEncoder.reset();
kolanery 13:a1a3418c07f3 110 rightEncoder.reset();
kolanery 13:a1a3418c07f3 111 old_error_p = old_error_d = total_error = 0.0f;
kolanery 13:a1a3418c07f3 112 }
kolanery 13:a1a3418c07f3 113
kolanery 13:a1a3418c07f3 114 // TODO
kolanery 14:a646667ac9ea 115 void turn (bool turn_right) {
kolanery 16:c26d8e007df5 116 float MOTOR_TURN_SPEED = 14.0f;
kolanery 15:151e59899221 117
kolanery 15:151e59899221 118 if (turn_right) {
kolanery 14:a646667ac9ea 119 leftMotor -> speed(MOTOR_TURN_SPEED);
kolanery 15:151e59899221 120 rightMotor -> speed(-MOTOR_TURN_SPEED);
kolanery 7:7215adbae3da 121 }
kolanery 14:a646667ac9ea 122 else {
kolanery 15:151e59899221 123 leftMotor -> speed(-MOTOR_TURN_SPEED);
kolanery 14:a646667ac9ea 124 rightMotor -> speed(MOTOR_TURN_SPEED);
kolanery 7:7215adbae3da 125 }
kolanery 7:7215adbae3da 126 }
kolanery 7:7215adbae3da 127 }
kolanery 7:7215adbae3da 128
kolanery 0:cb667de3a336 129 // Currently only have the x, y position fields for
kolanery 0:cb667de3a336 130 // each cell.
kolanery 0:cb667de3a336 131 DriveControl::DriveControl (int start_x, int start_y) {
kolanery 0:cb667de3a336 132 curr_cell = new Cell (start_x, start_y);
kolanery 2:619b02232144 133 leftMotor= new LeftMotor();
kolanery 2:619b02232144 134 rightMotor = new RightMotor();
kolanery 0:cb667de3a336 135 }
kolanery 0:cb667de3a336 136
kolanery 0:cb667de3a336 137 // Defines the next cell to traverse.
kolanery 0:cb667de3a336 138 Cell * next_cell() {
kolanery 0:cb667de3a336 139 return curr_cell;
kolanery 0:cb667de3a336 140 }
kolanery 0:cb667de3a336 141
kolanery 0:cb667de3a336 142 int DriveControl::get_next_direction() {
kolanery 0:cb667de3a336 143 // TODO: Define the direction based on heuristic eval.
kolanery 0:cb667de3a336 144 return 1;
kolanery 0:cb667de3a336 145 }
kolanery 0:cb667de3a336 146
kolanery 0:cb667de3a336 147 int DriveControl::get_next_state(int state) {
kolanery 2:619b02232144 148 // Simply drives the mouse for testing
kolanery 15:151e59899221 149 //return DRIVE;
kolanery 0:cb667de3a336 150 }
kolanery 0:cb667de3a336 151
kolanery 15:151e59899221 152 void DriveControl::print_serial_ports(){
kolanery 15:151e59899221 153 pc.printf("LEFT Encoder Reading %d\n\r", leftEncoder.getEncoderDistance(1));
kolanery 15:151e59899221 154 pc.printf("RIGHT Encoder Reading %d\n\r", rightEncoder.getEncoderDistance(0));
kolanery 14:a646667ac9ea 155 pc.printf("FRONT TOP RIGHT IRSensor %f\n\r", rightFrontIR.readIR() * 1000);
kolanery 15:151e59899221 156 pc.printf("FRONT TOP LEFT IRSensor %f\n\r", leftFrontIR.readIR() * 10);
kolanery 14:a646667ac9ea 157 pc.printf("LEFT Diagonal Sensor %f\n\r", leftDiagonalIR.readIR());
kolanery 14:a646667ac9ea 158 pc.printf("RIGHT Diagonal Sensor %f\n\r", rightDiagonalIR.readIR());
kolanery 14:a646667ac9ea 159 pc.printf("LEFT SIDE Sensor %f\n\r", leftIR.readIR());
kolanery 14:a646667ac9ea 160 pc.printf("RIGHT SIDE Sensor %f\n\r", rightIR.readIR());
kolanery 16:c26d8e007df5 161 }
kolanery 16:c26d8e007df5 162
kolanery 16:c26d8e007df5 163 void DriveControl::turn_left() {
kolanery 16:c26d8e007df5 164 // TODO: Add PID Control
kolanery 16:c26d8e007df5 165 pid_controller::turn(false);
szh66 8:4a32fc9ee939 166 }
szh66 8:4a32fc9ee939 167
kolanery 0:cb667de3a336 168 void DriveControl::turn_right() {
kolanery 4:73510c7fa316 169 // TODO: Add PID Control
kolanery 14:a646667ac9ea 170 pid_controller::turn(true);
kolanery 7:7215adbae3da 171 }
kolanery 7:7215adbae3da 172
kolanery 7:7215adbae3da 173 void DriveControl::turn_around() {
kolanery 7:7215adbae3da 174 // TODO: Add PID Control
kolanery 15:151e59899221 175 //pid_controller::turn(TURN_AROUND);
kolanery 16:c26d8e007df5 176 pid_controller::turn(true);
kolanery 0:cb667de3a336 177 }
kolanery 0:cb667de3a336 178
kolanery 0:cb667de3a336 179 void DriveControl::stop() {
kolanery 2:619b02232144 180 leftMotor->stop();
kolanery 2:619b02232144 181 rightMotor->stop();
kolanery 0:cb667de3a336 182 }
kolanery 0:cb667de3a336 183
kolanery 14:a646667ac9ea 184 void DriveControl::resetEncoders() {
kolanery 14:a646667ac9ea 185 leftEncoder.resetEncoders();
kolanery 14:a646667ac9ea 186 rightEncoder.resetEncoders();
kolanery 14:a646667ac9ea 187 }
kolanery 14:a646667ac9ea 188
kolanery 7:7215adbae3da 189 void DriveControl::drive_forward() {
kolanery 7:7215adbae3da 190 pid_controller::navigate();
kolanery 14:a646667ac9ea 191
kolanery 14:a646667ac9ea 192 }
kolanery 14:a646667ac9ea 193
kolanery 14:a646667ac9ea 194 bool DriveControl::should_stop_drive_forward() {
kolanery 14:a646667ac9ea 195 float SHOULD_STOP = 7.0f;
kolanery 14:a646667ac9ea 196 return (rightFrontIR.readIR() * 1000) > SHOULD_STOP;
kolanery 14:a646667ac9ea 197 }
kolanery 14:a646667ac9ea 198
kolanery 14:a646667ac9ea 199 bool DriveControl::should_finish_turn_right() {
kolanery 16:c26d8e007df5 200 int max =
kolanery 16:c26d8e007df5 201 (leftEncoder.getEncoderDistance(1) < rightEncoder.getEncoderDistance(0))
kolanery 16:c26d8e007df5 202 ? rightEncoder.getEncoderDistance(0):leftEncoder.getEncoderDistance(1);
kolanery 16:c26d8e007df5 203 return max < - ENCODER_TURN_UNIT;
kolanery 14:a646667ac9ea 204 }
kolanery 14:a646667ac9ea 205
kolanery 14:a646667ac9ea 206 bool DriveControl::should_finish_turn_left() {
kolanery 16:c26d8e007df5 207 int min_two =
kolanery 16:c26d8e007df5 208 (leftEncoder.getEncoderDistance(1) > rightEncoder.getEncoderDistance(0))
kolanery 16:c26d8e007df5 209 ? rightEncoder.getEncoderDistance(0):leftEncoder.getEncoderDistance(1);
kolanery 16:c26d8e007df5 210 return min_two > ENCODER_TURN_UNIT;
kolanery 16:c26d8e007df5 211 }
kolanery 16:c26d8e007df5 212
kolanery 16:c26d8e007df5 213 bool DriveControl::should_finish_drive_forward() {
kolanery 16:c26d8e007df5 214 int max_two =
kolanery 16:c26d8e007df5 215 (- leftEncoder.getEncoderDistance(1) < rightEncoder.getEncoderDistance(0))
kolanery 16:c26d8e007df5 216 ? rightEncoder.getEncoderDistance(0):- leftEncoder.getEncoderDistance(1);
kolanery 16:c26d8e007df5 217 return max_two > 46000;
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 }
kolanery 16:c26d8e007df5 233
kolanery 16:c26d8e007df5 234 void DriveControl::clear_pid() {
kolanery 16:c26d8e007df5 235 pid_controller::clear_pid();
kolanery 16:c26d8e007df5 236 }