fatboyslim / Mbed 2 deprecated bouncesinglecam

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Dependencies:   FRDM-TFC mbed

main.cpp@8:2a238dbd0386, 2015-03-26 (annotated)

Committer:
mperella
Date:
Thu Mar 26 18:09:18 2015 +0000
Revision:
8:2a238dbd0386
Parent:
7:f21986164bf1
Child:
9:c4a2a99b61e0
fixed the bad decel code, more decel.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bbbobbbieo 0:bf39986ebff7 1 //#include "mbed.h"
bbbobbbieo 0:bf39986ebff7 2 #include "TFC.h"
bbbobbbieo 0:bf39986ebff7 3 #include <iostream>
bbbobbbieo 0:bf39986ebff7 4 #include <stdio.h>
bbbobbbieo 0:bf39986ebff7 5 //#include "serialib.h"
bbbobbbieo 0:bf39986ebff7 6
bbbobbbieo 0:bf39986ebff7 7 const float AGGRESSIVE = .55;
mperella 8:2a238dbd0386 8 const float MODERATE =.45;
bbbobbbieo 2:5eb97170c199 9 const float CONSERVATIVE =.39;
bbbobbbieo 0:bf39986ebff7 10 const float STOP =0;
bbbobbbieo 0:bf39986ebff7 11 const float PROTECTION_THRESHOLD_UPPER =.7;
bbbobbbieo 0:bf39986ebff7 12 const float PROTECTION_THRESHOLD_LOWER =-.7;
bbbobbbieo 0:bf39986ebff7 13 const float TURN_FORWARD_ACCEL =0.045;
bbbobbbieo 0:bf39986ebff7 14 const float TURN_BACKWARD_ACCEL =0.025;
bbbobbbieo 0:bf39986ebff7 15 const float SERVO_CAN_MOVE_IN_ONE_FRAME =0.1;
bbbobbbieo 0:bf39986ebff7 16 const float SERVO_MAX =.5;
bbbobbbieo 0:bf39986ebff7 17
bbbobbbieo 0:bf39986ebff7 18 const int BLACK_THRESHOLD =63;
bbbobbbieo 0:bf39986ebff7 19 const int LINE_SCAN_LENGTH =128;
bbbobbbieo 0:bf39986ebff7 20
bbbobbbieo 0:bf39986ebff7 21
bbbobbbieo 0:bf39986ebff7 22 DigitalOut myled(LED1);
bbbobbbieo 0:bf39986ebff7 23
bbbobbbieo 0:bf39986ebff7 24 int main()
bbbobbbieo 0:bf39986ebff7 25 {
bbbobbbieo 0:bf39986ebff7 26 //run this before anything
bbbobbbieo 0:bf39986ebff7 27 TFC_Init();
bbbobbbieo 0:bf39986ebff7 28
bbbobbbieo 0:bf39986ebff7 29 //variables
bbbobbbieo 0:bf39986ebff7 30 float current_servo_position = 0;
bbbobbbieo 0:bf39986ebff7 31 float previous_servo_position = 0;
bbbobbbieo 0:bf39986ebff7 32 float current_left_motor_speed = 0;
bbbobbbieo 0:bf39986ebff7 33 float current_right_motor_speed = 0;
bbbobbbieo 0:bf39986ebff7 34
bbbobbbieo 0:bf39986ebff7 35 float proportional = 0;
bbbobbbieo 0:bf39986ebff7 36 float last_proportional = 0;
bbbobbbieo 0:bf39986ebff7 37 float integral = 0;
bbbobbbieo 0:bf39986ebff7 38 float derivative = 0;
bbbobbbieo 0:bf39986ebff7 39 float output = 0;
bbbobbbieo 0:bf39986ebff7 40
bbbobbbieo 0:bf39986ebff7 41 // gains on prop, int, der
bbbobbbieo 0:bf39986ebff7 42 // subject to change, need to fine tune
bbbobbbieo 0:bf39986ebff7 43 float kp = 1.8960;
bbbobbbieo 0:bf39986ebff7 44 float ki = 0.6170;
bbbobbbieo 0:bf39986ebff7 45 float kd = 1.5590;
bbbobbbieo 0:bf39986ebff7 46
bbbobbbieo 0:bf39986ebff7 47 bool rear_motor_enable_flag = true;
bbbobbbieo 0:bf39986ebff7 48 bool linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 49 bool linescan_enable = true;
bbbobbbieo 0:bf39986ebff7 50
bbbobbbieo 0:bf39986ebff7 51 int black_values_list[LINE_SCAN_LENGTH];
bbbobbbieo 0:bf39986ebff7 52 int black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 53 int black_center_value = 0;
bbbobbbieo 0:bf39986ebff7 54 int sum_black = 0;
bbbobbbieo 0:bf39986ebff7 55 int violence_level = 0;
bbbobbbieo 0:bf39986ebff7 56
bbbobbbieo 0:bf39986ebff7 57 int accelList[3];
bbbobbbieo 0:bf39986ebff7 58 int lastAccessed = 0;
bbbobbbieo 0:bf39986ebff7 59
bbbobbbieo 0:bf39986ebff7 60 int centers_List[50];
bbbobbbieo 0:bf39986ebff7 61
bbbobbbieo 0:bf39986ebff7 62 int center_now = 63;
bbbobbbieo 0:bf39986ebff7 63 int center_past_1 = 63;
bbbobbbieo 0:bf39986ebff7 64 int center_past_2 = 63;
bbbobbbieo 0:bf39986ebff7 65 int center_past_3 = 63;
bbbobbbieo 0:bf39986ebff7 66 int center_past_4 = 63;
bbbobbbieo 0:bf39986ebff7 67 //int best_guess_center = 64;
bbbobbbieo 0:bf39986ebff7 68
bbbobbbieo 0:bf39986ebff7 69 int position = 0;
bbbobbbieo 0:bf39986ebff7 70 int set_point = 63;
bbbobbbieo 0:bf39986ebff7 71 int previous_error = 0;
bbbobbbieo 0:bf39986ebff7 72 int error = 0;
mperella 8:2a238dbd0386 73
mperella 8:2a238dbd0386 74 float increment = 0;
mperella 8:2a238dbd0386 75 int right_turn_count = 0;
mperella 8:2a238dbd0386 76 int left_turn_count = 0;
bbbobbbieo 0:bf39986ebff7 77
bbbobbbieo 0:bf39986ebff7 78 for(int i = 0; i < 50; i++)
bbbobbbieo 0:bf39986ebff7 79 centers_List[i] = 63;
bbbobbbieo 0:bf39986ebff7 80
bbbobbbieo 0:bf39986ebff7 81 float left_counter =0;
bbbobbbieo 0:bf39986ebff7 82 float right_counter =0;
bbbobbbieo 0:bf39986ebff7 83 bool turn_left=false;
bbbobbbieo 0:bf39986ebff7 84 bool turn_right=false;
bbbobbbieo 7:f21986164bf1 85 bool need_decel=false;
bbbobbbieo 0:bf39986ebff7 86
bbbobbbieo 6:ed97e4324202 87 //servo is offset zero by some bullshit number
bbbobbbieo 3:e14a4ea167ca 88 float bullshit_offset = .074;
bbbobbbieo 0:bf39986ebff7 89
bbbobbbieo 0:bf39986ebff7 90 // major loop
bbbobbbieo 0:bf39986ebff7 91 while(1) {
bbbobbbieo 0:bf39986ebff7 92
bbbobbbieo 0:bf39986ebff7 93 // initial motor stuff
bbbobbbieo 0:bf39986ebff7 94 if(rear_motor_enable_flag) {
bbbobbbieo 0:bf39986ebff7 95 TFC_HBRIDGE_ENABLE;
bbbobbbieo 0:bf39986ebff7 96
bbbobbbieo 0:bf39986ebff7 97
bbbobbbieo 0:bf39986ebff7 98 // checking behavior level
bbbobbbieo 0:bf39986ebff7 99 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 0:bf39986ebff7 100
bbbobbbieo 0:bf39986ebff7 101 if (violence_level==3) {
bbbobbbieo 0:bf39986ebff7 102 current_left_motor_speed = -(AGGRESSIVE);
bbbobbbieo 0:bf39986ebff7 103 current_right_motor_speed = AGGRESSIVE;
mperella 8:2a238dbd0386 104 increment = 0.02;
bbbobbbieo 0:bf39986ebff7 105 }
bbbobbbieo 0:bf39986ebff7 106 else if (violence_level==2) {
bbbobbbieo 0:bf39986ebff7 107 current_left_motor_speed = -(MODERATE);
bbbobbbieo 0:bf39986ebff7 108 current_right_motor_speed = (MODERATE);
mperella 8:2a238dbd0386 109 increment = 0.03;
bbbobbbieo 0:bf39986ebff7 110 }
bbbobbbieo 0:bf39986ebff7 111 else if (violence_level==1) {
bbbobbbieo 0:bf39986ebff7 112 current_left_motor_speed = -(CONSERVATIVE);
bbbobbbieo 0:bf39986ebff7 113 current_right_motor_speed = CONSERVATIVE;
mperella 8:2a238dbd0386 114 increment = 0.04;
bbbobbbieo 0:bf39986ebff7 115 }
bbbobbbieo 0:bf39986ebff7 116 else if (violence_level==0) {
bbbobbbieo 0:bf39986ebff7 117 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 118 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 119 }
bbbobbbieo 0:bf39986ebff7 120 else {
bbbobbbieo 0:bf39986ebff7 121 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 122 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 123 }
bbbobbbieo 0:bf39986ebff7 124
bbbobbbieo 0:bf39986ebff7 125
bbbobbbieo 0:bf39986ebff7 126 // protection block
bbbobbbieo 0:bf39986ebff7 127 if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 128 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 129 if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 130 current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 131 if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 132 current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 133 if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 134 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 135
bbbobbbieo 0:bf39986ebff7 136 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 0:bf39986ebff7 137 }// end motor enabled
bbbobbbieo 0:bf39986ebff7 138 else {
bbbobbbieo 0:bf39986ebff7 139 TFC_HBRIDGE_DISABLE;
bbbobbbieo 0:bf39986ebff7 140 }// end motor disabled
bbbobbbieo 0:bf39986ebff7 141
bbbobbbieo 0:bf39986ebff7 142 // camera stuff
bbbobbbieo 0:bf39986ebff7 143 if (linescan_enable) {
bbbobbbieo 0:bf39986ebff7 144 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 0:bf39986ebff7 145
bbbobbbieo 0:bf39986ebff7 146 if (linescan_ping_pong) {
bbbobbbieo 0:bf39986ebff7 147 //checking channel 0
bbbobbbieo 0:bf39986ebff7 148
bbbobbbieo 0:bf39986ebff7 149 //checking center pixel, displays aprox value on leds
bbbobbbieo 0:bf39986ebff7 150 uint8_t shitnum = 1;
bbbobbbieo 0:bf39986ebff7 151
bbbobbbieo 0:bf39986ebff7 152
bbbobbbieo 0:bf39986ebff7 153 // checking for center line (single line)
bbbobbbieo 0:bf39986ebff7 154 for (uint16_t i=15; i<113; i++) {
bbbobbbieo 0:bf39986ebff7 155 if ((*(TFC_LineScanImage0+i) < 450)) {
bbbobbbieo 0:bf39986ebff7 156 black_values_list[black_value_count] = i;
bbbobbbieo 0:bf39986ebff7 157 black_value_count++;
bbbobbbieo 0:bf39986ebff7 158 }
bbbobbbieo 0:bf39986ebff7 159 }
bbbobbbieo 0:bf39986ebff7 160
bbbobbbieo 0:bf39986ebff7 161 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 0:bf39986ebff7 162 sum_black += black_values_list[i];
bbbobbbieo 0:bf39986ebff7 163 }
bbbobbbieo 0:bf39986ebff7 164
bbbobbbieo 0:bf39986ebff7 165 //update history
bbbobbbieo 0:bf39986ebff7 166 center_past_4= center_past_3;
bbbobbbieo 0:bf39986ebff7 167 center_past_3= center_past_2;
bbbobbbieo 0:bf39986ebff7 168 center_past_2= center_past_1;
bbbobbbieo 0:bf39986ebff7 169 center_past_1= center_now;
bbbobbbieo 0:bf39986ebff7 170
bbbobbbieo 0:bf39986ebff7 171
bbbobbbieo 0:bf39986ebff7 172 //if (black_value_count>2)
bbbobbbieo 0:bf39986ebff7 173 center_now = sum_black / black_value_count;
bbbobbbieo 0:bf39986ebff7 174
bbbobbbieo 0:bf39986ebff7 175 uint8_t num = 0;
bbbobbbieo 0:bf39986ebff7 176
bbbobbbieo 0:bf39986ebff7 177 if(center_now > 15 && center_now < 27)
bbbobbbieo 0:bf39986ebff7 178 num = 1;
bbbobbbieo 0:bf39986ebff7 179 else if(center_now >= 27 && center_now < 54)
bbbobbbieo 0:bf39986ebff7 180 num = 2;
bbbobbbieo 0:bf39986ebff7 181 else if(center_now > 60 && center_now < 70)
bbbobbbieo 0:bf39986ebff7 182 num = 15;
bbbobbbieo 0:bf39986ebff7 183 else if(center_now >= 54 && center_now < 81)
bbbobbbieo 0:bf39986ebff7 184 num = 4;
bbbobbbieo 0:bf39986ebff7 185 else if(center_now >= 81 && center_now < 113)
bbbobbbieo 0:bf39986ebff7 186 num = 8;
bbbobbbieo 0:bf39986ebff7 187
bbbobbbieo 0:bf39986ebff7 188 else
bbbobbbieo 0:bf39986ebff7 189 num = 0;
bbbobbbieo 0:bf39986ebff7 190
bbbobbbieo 6:ed97e4324202 191 // get rid of garbage data sets
bbbobbbieo 2:5eb97170c199 192 if (black_value_count<2)
bbbobbbieo 2:5eb97170c199 193 num = 0;
bbbobbbieo 2:5eb97170c199 194
bbbobbbieo 0:bf39986ebff7 195 TFC_SetBatteryLED(num);
bbbobbbieo 0:bf39986ebff7 196
bbbobbbieo 0:bf39986ebff7 197 // best guess of center based on weighted average of history
bbbobbbieo 0:bf39986ebff7 198 black_center_value = center_now;
bbbobbbieo 0:bf39986ebff7 199
bbbobbbieo 0:bf39986ebff7 200
bbbobbbieo 0:bf39986ebff7 201 // turn left
bbbobbbieo 6:ed97e4324202 202 // hit wall a little bit on the right
bbbobbbieo 2:5eb97170c199 203 if (num==8 and right_counter <.2 )
bbbobbbieo 0:bf39986ebff7 204 {
bbbobbbieo 6:ed97e4324202 205 //turn away a little bit for each frame that is wall
bbbobbbieo 7:f21986164bf1 206 if (left_counter >-.4)
mperella 8:2a238dbd0386 207 left_counter -=.05;
bbbobbbieo 4:18f5328ff5a3 208
bbbobbbieo 0:bf39986ebff7 209 turn_left=true;
bbbobbbieo 0:bf39986ebff7 210 turn_right=false;
bbbobbbieo 0:bf39986ebff7 211 }
bbbobbbieo 6:ed97e4324202 212
bbbobbbieo 6:ed97e4324202 213 // turn left real hard
bbbobbbieo 6:ed97e4324202 214 // wall is close to center on right
bbbobbbieo 2:5eb97170c199 215 if (num==4 and right_counter <.2)
bbbobbbieo 0:bf39986ebff7 216 {
bbbobbbieo 7:f21986164bf1 217 left_counter=-0.5;
bbbobbbieo 0:bf39986ebff7 218 turn_left=true;
bbbobbbieo 0:bf39986ebff7 219 turn_right=false;
bbbobbbieo 7:f21986164bf1 220 need_decel=true;
bbbobbbieo 0:bf39986ebff7 221 }
bbbobbbieo 0:bf39986ebff7 222
bbbobbbieo 6:ed97e4324202 223 // turn right
bbbobbbieo 6:ed97e4324202 224 // hit wall a little bit on the left
bbbobbbieo 2:5eb97170c199 225 else if (num==1 and left_counter >-.2)
bbbobbbieo 6:ed97e4324202 226 {
bbbobbbieo 6:ed97e4324202 227 //turn away a little bit for each frame that is wall
bbbobbbieo 7:f21986164bf1 228 if (right_counter <.4)
mperella 8:2a238dbd0386 229 right_counter +=.05;
bbbobbbieo 6:ed97e4324202 230
bbbobbbieo 0:bf39986ebff7 231 turn_left=false;
bbbobbbieo 0:bf39986ebff7 232 turn_right=true;
bbbobbbieo 0:bf39986ebff7 233 }
bbbobbbieo 6:ed97e4324202 234
bbbobbbieo 6:ed97e4324202 235 // turn left hard
bbbobbbieo 6:ed97e4324202 236 // wall is close to center on left
bbbobbbieo 2:5eb97170c199 237 else if (num==2 and left_counter >-.2)
bbbobbbieo 0:bf39986ebff7 238 {
bbbobbbieo 7:f21986164bf1 239 right_counter =.5;
bbbobbbieo 0:bf39986ebff7 240 turn_left=false;
bbbobbbieo 0:bf39986ebff7 241 turn_right=true;
bbbobbbieo 7:f21986164bf1 242 need_decel=true;
bbbobbbieo 0:bf39986ebff7 243 }
bbbobbbieo 6:ed97e4324202 244
bbbobbbieo 6:ed97e4324202 245 // going straight yesssss
bbbobbbieo 2:5eb97170c199 246 else if (turn_right == false and turn_left == false)
bbbobbbieo 2:5eb97170c199 247 {
bbbobbbieo 2:5eb97170c199 248 TFC_SetServo(0,(0.0+ bullshit_offset));
bbbobbbieo 2:5eb97170c199 249 }
bbbobbbieo 2:5eb97170c199 250
bbbobbbieo 6:ed97e4324202 251 else{}
bbbobbbieo 0:bf39986ebff7 252
bbbobbbieo 0:bf39986ebff7 253 //dealwiththeshit
bbbobbbieo 6:ed97e4324202 254 // set servo and motors according to how much left we need to turn
bbbobbbieo 0:bf39986ebff7 255 if(turn_left)
bbbobbbieo 0:bf39986ebff7 256 {
bbbobbbieo 0:bf39986ebff7 257 turn_right = false;
mperella 8:2a238dbd0386 258 TFC_SetServo(0,left_counter + bullshit_offset );
bbbobbbieo 6:ed97e4324202 259 // normalize to center each frame
bbbobbbieo 6:ed97e4324202 260 left_counter += .01;
bbbobbbieo 2:5eb97170c199 261 if (left_counter > (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 262 turn_left = false;
bbbobbbieo 6:ed97e4324202 263
bbbobbbieo 7:f21986164bf1 264 if (need_decel)
bbbobbbieo 7:f21986164bf1 265 {
mperella 8:2a238dbd0386 266 TFC_SetMotorPWM(current_left_motor_speed+(.55*left_counter), current_right_motor_speed-(.4*left_counter)); // ++left is slowed,--right is slowed
bbbobbbieo 7:f21986164bf1 267 need_decel = false;
bbbobbbieo 7:f21986164bf1 268 }
bbbobbbieo 7:f21986164bf1 269 else
mperella 8:2a238dbd0386 270 TFC_SetMotorPWM(current_left_motor_speed+(.2*left_counter), current_right_motor_speed+(.35*left_counter)); // ++left is slowed, ++right is faster
bbbobbbieo 0:bf39986ebff7 271 }
bbbobbbieo 6:ed97e4324202 272
bbbobbbieo 6:ed97e4324202 273 // set servo and motors according to how much right we need to turn
bbbobbbieo 0:bf39986ebff7 274 if(turn_right)
bbbobbbieo 0:bf39986ebff7 275 {
bbbobbbieo 0:bf39986ebff7 276 turn_left =false;
mperella 8:2a238dbd0386 277 TFC_SetServo(0,right_counter - bullshit_offset);
bbbobbbieo 6:ed97e4324202 278 // normalize to center each frame
bbbobbbieo 6:ed97e4324202 279 right_counter -= .01;
bbbobbbieo 2:5eb97170c199 280 if (right_counter < (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 281 turn_right = false;
bbbobbbieo 6:ed97e4324202 282
bbbobbbieo 7:f21986164bf1 283 if(need_decel)
bbbobbbieo 7:f21986164bf1 284 {
mperella 8:2a238dbd0386 285 TFC_SetMotorPWM(current_left_motor_speed+(.55*right_counter), current_right_motor_speed-(.4*right_counter)); // ++left is slowed,--right is slowed
bbbobbbieo 7:f21986164bf1 286 need_decel = false;
bbbobbbieo 7:f21986164bf1 287 }
bbbobbbieo 7:f21986164bf1 288 else
mperella 8:2a238dbd0386 289 TFC_SetMotorPWM(current_left_motor_speed-(.35*right_counter), current_right_motor_speed-(.2*right_counter)); // --left is faster, --right is slowed
bbbobbbieo 0:bf39986ebff7 290 }
bbbobbbieo 0:bf39986ebff7 291
bbbobbbieo 0:bf39986ebff7 292 // clearing values for next image processing round
bbbobbbieo 0:bf39986ebff7 293 black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 294 sum_black = 0;
bbbobbbieo 0:bf39986ebff7 295 // end image processing
bbbobbbieo 0:bf39986ebff7 296
bbbobbbieo 0:bf39986ebff7 297 linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 298 } // end checking channel 0
bbbobbbieo 0:bf39986ebff7 299
bbbobbbieo 0:bf39986ebff7 300 else { //checking channel 1
bbbobbbieo 0:bf39986ebff7 301 linescan_ping_pong = true;
bbbobbbieo 0:bf39986ebff7 302 }
bbbobbbieo 0:bf39986ebff7 303
bbbobbbieo 0:bf39986ebff7 304 TFC_LineScanImageReady = 0; // since we used it, we reset the flag
bbbobbbieo 0:bf39986ebff7 305 }// end imageready
bbbobbbieo 0:bf39986ebff7 306 }// end linescan stuff
bbbobbbieo 6:ed97e4324202 307 } // end major loop
bbbobbbieo 6:ed97e4324202 308 }// end main