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Dependencies:   FRDM-TFC mbed

main.cpp@37:56dc8c2e8cf9, 2015-03-31 (annotated)

Committer:
bbbobbbieo
Date:
Tue Mar 31 15:50:34 2015 +0000
Revision:
37:56dc8c2e8cf9
Parent:
36:3793f21a895e
Child:
39:e9a8e3c59b52
31st at 1200h made it around 5 or 6 laps hoora

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 36:3793f21a895e 7 const float AGGRESSIVE2 = .43;
bbbobbbieo 36:3793f21a895e 8 const float AGGRESSIVE = .40;
bbbobbbieo 36:3793f21a895e 9 const float MODERATE =.35;
bbbobbbieo 36:3793f21a895e 10 const float CONSERVATIVE =.30;
bbbobbbieo 0:bf39986ebff7 11 const float STOP =0;
bbbobbbieo 0:bf39986ebff7 12 const float PROTECTION_THRESHOLD_UPPER =.7;
bbbobbbieo 0:bf39986ebff7 13 const float PROTECTION_THRESHOLD_LOWER =-.7;
bbbobbbieo 0:bf39986ebff7 14 const float TURN_FORWARD_ACCEL =0.045;
bbbobbbieo 0:bf39986ebff7 15 const float TURN_BACKWARD_ACCEL =0.025;
bbbobbbieo 0:bf39986ebff7 16 const float SERVO_CAN_MOVE_IN_ONE_FRAME =0.1;
bbbobbbieo 0:bf39986ebff7 17 const float SERVO_MAX =.5;
bbbobbbieo 0:bf39986ebff7 18
bbbobbbieo 0:bf39986ebff7 19 const int BLACK_THRESHOLD =63;
bbbobbbieo 0:bf39986ebff7 20 const int LINE_SCAN_LENGTH =128;
bbbobbbieo 0:bf39986ebff7 21
bbbobbbieo 0:bf39986ebff7 22
bbbobbbieo 0:bf39986ebff7 23 DigitalOut myled(LED1);
bbbobbbieo 0:bf39986ebff7 24
bbbobbbieo 0:bf39986ebff7 25 int main()
bbbobbbieo 0:bf39986ebff7 26 {
bbbobbbieo 0:bf39986ebff7 27 //run this before anything
bbbobbbieo 0:bf39986ebff7 28 TFC_Init();
bbbobbbieo 0:bf39986ebff7 29
bbbobbbieo 0:bf39986ebff7 30 //variables
bbbobbbieo 0:bf39986ebff7 31 float current_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 // gains on prop, int, der
bbbobbbieo 0:bf39986ebff7 36 // subject to change, need to fine tune
bbbobbbieo 0:bf39986ebff7 37
bbbobbbieo 0:bf39986ebff7 38 bool rear_motor_enable_flag = true;
bbbobbbieo 0:bf39986ebff7 39 bool linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 40 bool linescan_enable = true;
mperella 33:faa8e83f1d45 41
mperella 33:faa8e83f1d45 42 bool whiteflag = false;
mperella 33:faa8e83f1d45 43 bool blackflag = false;
mperella 33:faa8e83f1d45 44 bool stopflag = false;
mperella 33:faa8e83f1d45 45
mperella 33:faa8e83f1d45 46 int black_list_one = 0;
mperella 33:faa8e83f1d45 47 int white_list = 0;
mperella 33:faa8e83f1d45 48 int black_list_two = 0;
bbbobbbieo 0:bf39986ebff7 49
bbbobbbieo 0:bf39986ebff7 50 int black_values_list[LINE_SCAN_LENGTH];
bbbobbbieo 0:bf39986ebff7 51 int black_value_count = 0;
mperella 34:b97857dd355d 52 int black_value_count_previous = 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 center_now = 63;
bbbobbbieo 0:bf39986ebff7 58 int center_past_1 = 63;
bbbobbbieo 0:bf39986ebff7 59 int center_past_2 = 63;
bbbobbbieo 0:bf39986ebff7 60 int center_past_3 = 63;
bbbobbbieo 0:bf39986ebff7 61 int center_past_4 = 63;
bbbobbbieo 0:bf39986ebff7 62
bbbobbbieo 0:bf39986ebff7 63 float left_counter =0;
bbbobbbieo 0:bf39986ebff7 64 float right_counter =0;
bbbobbbieo 0:bf39986ebff7 65 bool turn_left=false;
bbbobbbieo 0:bf39986ebff7 66 bool turn_right=false;
bbbobbbieo 0:bf39986ebff7 67
mperella 33:faa8e83f1d45 68 float bullshit_offset = .08;
bbbobbbieo 30:8e0ad64703d0 69
bbbobbbieo 30:8e0ad64703d0 70 int num_of_straight =0;
bbbobbbieo 30:8e0ad64703d0 71 int num_of_left =0;
bbbobbbieo 30:8e0ad64703d0 72 int num_of_right=0;
bbbobbbieo 30:8e0ad64703d0 73
bbbobbbieo 30:8e0ad64703d0 74 int values_list_add =0;
bbbobbbieo 30:8e0ad64703d0 75 int value_count =0;
bbbobbbieo 30:8e0ad64703d0 76 int avg_value=0;
bbbobbbieo 30:8e0ad64703d0 77 //int black_threshhold=0;
bbbobbbieo 30:8e0ad64703d0 78 int black_threshhold =450;
bbbobbbieo 0:bf39986ebff7 79
bbbobbbieo 0:bf39986ebff7 80 // major loop
bbbobbbieo 0:bf39986ebff7 81 while(1) {
bbbobbbieo 0:bf39986ebff7 82
bbbobbbieo 0:bf39986ebff7 83 // initial motor stuff
bbbobbbieo 0:bf39986ebff7 84 if(rear_motor_enable_flag) {
bbbobbbieo 0:bf39986ebff7 85 TFC_HBRIDGE_ENABLE;
bbbobbbieo 0:bf39986ebff7 86
bbbobbbieo 0:bf39986ebff7 87 // checking behavior level
bbbobbbieo 0:bf39986ebff7 88 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 0:bf39986ebff7 89
bbbobbbieo 36:3793f21a895e 90
bbbobbbieo 36:3793f21a895e 91 if (violence_level==4) {
bbbobbbieo 36:3793f21a895e 92 current_left_motor_speed = -(AGGRESSIVE2);
bbbobbbieo 36:3793f21a895e 93 current_right_motor_speed = AGGRESSIVE2;
bbbobbbieo 36:3793f21a895e 94 }
bbbobbbieo 0:bf39986ebff7 95 if (violence_level==3) {
bbbobbbieo 0:bf39986ebff7 96 current_left_motor_speed = -(AGGRESSIVE);
bbbobbbieo 0:bf39986ebff7 97 current_right_motor_speed = AGGRESSIVE;
bbbobbbieo 0:bf39986ebff7 98 }
bbbobbbieo 0:bf39986ebff7 99 else if (violence_level==2) {
bbbobbbieo 0:bf39986ebff7 100 current_left_motor_speed = -(MODERATE);
bbbobbbieo 0:bf39986ebff7 101 current_right_motor_speed = (MODERATE);
bbbobbbieo 0:bf39986ebff7 102 }
bbbobbbieo 0:bf39986ebff7 103 else if (violence_level==1) {
bbbobbbieo 0:bf39986ebff7 104 current_left_motor_speed = -(CONSERVATIVE);
bbbobbbieo 0:bf39986ebff7 105 current_right_motor_speed = CONSERVATIVE;
bbbobbbieo 0:bf39986ebff7 106 }
bbbobbbieo 0:bf39986ebff7 107 else if (violence_level==0) {
bbbobbbieo 0:bf39986ebff7 108 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 109 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 110 }
bbbobbbieo 0:bf39986ebff7 111 else {
bbbobbbieo 0:bf39986ebff7 112 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 113 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 114 }
bbbobbbieo 0:bf39986ebff7 115
bbbobbbieo 0:bf39986ebff7 116 // protection block
bbbobbbieo 0:bf39986ebff7 117 if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 118 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 119 if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 120 current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 121 if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 122 current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 123 if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 124 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 125
bbbobbbieo 25:806e67a1218f 126 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 0:bf39986ebff7 127 }// end motor enabled
bbbobbbieo 0:bf39986ebff7 128 else {
bbbobbbieo 0:bf39986ebff7 129 TFC_HBRIDGE_DISABLE;
bbbobbbieo 0:bf39986ebff7 130 }// end motor disabled
bbbobbbieo 0:bf39986ebff7 131
bbbobbbieo 0:bf39986ebff7 132 // camera stuff
bbbobbbieo 0:bf39986ebff7 133 if (linescan_enable) {
bbbobbbieo 0:bf39986ebff7 134 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 0:bf39986ebff7 135
bbbobbbieo 0:bf39986ebff7 136 if (linescan_ping_pong) {
bbbobbbieo 0:bf39986ebff7 137 //checking channel 0
bbbobbbieo 0:bf39986ebff7 138
bbbobbbieo 30:8e0ad64703d0 139
bbbobbbieo 0:bf39986ebff7 140 // checking for center line (single line)
bbbobbbieo 27:aa81c15e5c1d 141 for (uint16_t i=10; i<118; i++) {
bbbobbbieo 30:8e0ad64703d0 142
bbbobbbieo 36:3793f21a895e 143 int black_threshhold =600*(TFC_ReadPot(0));
bbbobbbieo 30:8e0ad64703d0 144 if ((*(TFC_LineScanImage0+i) < black_threshhold)) {
bbbobbbieo 0:bf39986ebff7 145 black_values_list[black_value_count] = i;
bbbobbbieo 0:bf39986ebff7 146 black_value_count++;
mperella 33:faa8e83f1d45 147 //black_list_one++;
bbbobbbieo 0:bf39986ebff7 148 }
mperella 33:faa8e83f1d45 149 /*
mperella 33:faa8e83f1d45 150 else
mperella 33:faa8e83f1d45 151 {
mperella 33:faa8e83f1d45 152 black_list_one = 0;
mperella 33:faa8e83f1d45 153 }
mperella 33:faa8e83f1d45 154
mperella 33:faa8e83f1d45 155 if(black_list_one > 5)
mperella 33:faa8e83f1d45 156 {
mperella 33:faa8e83f1d45 157 for(uint16_t j = i+black_list_one; j<118; j++)
mperella 33:faa8e83f1d45 158 {
mperella 33:faa8e83f1d45 159 if((*(TFC_LineScanImage0+j) > black_threshhold))
mperella 33:faa8e83f1d45 160 {
mperella 33:faa8e83f1d45 161 white_list++;
mperella 33:faa8e83f1d45 162 whiteflag = true;
mperella 33:faa8e83f1d45 163 }
mperella 33:faa8e83f1d45 164 else
mperella 33:faa8e83f1d45 165 {
mperella 33:faa8e83f1d45 166 whiteflag = false;
mperella 33:faa8e83f1d45 167 }
mperella 33:faa8e83f1d45 168 if(!whiteflag)
mperella 33:faa8e83f1d45 169 {
mperella 33:faa8e83f1d45 170 j = 200;
mperella 33:faa8e83f1d45 171 }
mperella 33:faa8e83f1d45 172 else if(whiteflag and white_list > 4)
mperella 33:faa8e83f1d45 173 {
mperella 33:faa8e83f1d45 174 for(uint16_t k = j+white_list; k < 118; k++)
mperella 33:faa8e83f1d45 175 {
mperella 33:faa8e83f1d45 176 if((*(TFC_LineScanImage0+k) < black_threshhold))
mperella 33:faa8e83f1d45 177 {
mperella 33:faa8e83f1d45 178 black_list_two++;
mperella 33:faa8e83f1d45 179 blackflag = true;
mperella 33:faa8e83f1d45 180 }
mperella 33:faa8e83f1d45 181 else
mperella 33:faa8e83f1d45 182 {
mperella 33:faa8e83f1d45 183 blackflag = false;
mperella 33:faa8e83f1d45 184 }
mperella 33:faa8e83f1d45 185 if(!blackflag)
mperella 33:faa8e83f1d45 186 {
mperella 33:faa8e83f1d45 187 k = 200;
mperella 33:faa8e83f1d45 188 }
mperella 33:faa8e83f1d45 189 else if(blackflag and black_list_two > 3)
mperella 33:faa8e83f1d45 190 {
mperella 33:faa8e83f1d45 191 stopflag = true;
mperella 33:faa8e83f1d45 192 }
mperella 33:faa8e83f1d45 193 }
mperella 33:faa8e83f1d45 194 }
mperella 33:faa8e83f1d45 195 }
mperella 33:faa8e83f1d45 196 }
mperella 33:faa8e83f1d45 197 */
mperella 33:faa8e83f1d45 198
bbbobbbieo 0:bf39986ebff7 199 }
bbbobbbieo 0:bf39986ebff7 200
bbbobbbieo 25:806e67a1218f 201 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 0:bf39986ebff7 202 sum_black += black_values_list[i];
bbbobbbieo 25:806e67a1218f 203 }
bbbobbbieo 0:bf39986ebff7 204
bbbobbbieo 0:bf39986ebff7 205 //update history
bbbobbbieo 30:8e0ad64703d0 206 /*
bbbobbbieo 0:bf39986ebff7 207 center_past_4= center_past_3;
bbbobbbieo 0:bf39986ebff7 208 center_past_3= center_past_2;
bbbobbbieo 0:bf39986ebff7 209 center_past_2= center_past_1;
bbbobbbieo 0:bf39986ebff7 210 center_past_1= center_now;
bbbobbbieo 30:8e0ad64703d0 211 */
bbbobbbieo 25:806e67a1218f 212
mperella 34:b97857dd355d 213 black_value_count_previous = black_value_count;
mperella 34:b97857dd355d 214
bbbobbbieo 25:806e67a1218f 215 //if (black_value_count>2)
bbbobbbieo 0:bf39986ebff7 216 center_now = sum_black / black_value_count;
bbbobbbieo 0:bf39986ebff7 217
bbbobbbieo 0:bf39986ebff7 218 uint8_t num = 0;
bbbobbbieo 0:bf39986ebff7 219
bbbobbbieo 37:56dc8c2e8cf9 220 if(center_now > 10 && center_now < 19) // turn right little
bbbobbbieo 0:bf39986ebff7 221 num = 1;
bbbobbbieo 37:56dc8c2e8cf9 222 else if(center_now >= 19 && center_now < 39)// moderate right
mperella 33:faa8e83f1d45 223 num = 3;
bbbobbbieo 37:56dc8c2e8cf9 224 else if(center_now >= 39 && center_now < 62)// snap right
bbbobbbieo 0:bf39986ebff7 225 num = 2;
bbbobbbieo 36:3793f21a895e 226 else if(center_now >= 62 && center_now < 65) // center do nothing
bbbobbbieo 0:bf39986ebff7 227 num = 15;
bbbobbbieo 37:56dc8c2e8cf9 228 else if(center_now >= 65 && center_now < 89)// snap left
bbbobbbieo 0:bf39986ebff7 229 num = 4;
bbbobbbieo 37:56dc8c2e8cf9 230 else if(center_now >=89 && center_now < 109) // moderate left
mperella 33:faa8e83f1d45 231 num = 12;
bbbobbbieo 37:56dc8c2e8cf9 232 else if(center_now >= 109 && center_now < 118) // turn left little
bbbobbbieo 0:bf39986ebff7 233 num = 8;
bbbobbbieo 0:bf39986ebff7 234
bbbobbbieo 0:bf39986ebff7 235 else
bbbobbbieo 0:bf39986ebff7 236 num = 0;
bbbobbbieo 0:bf39986ebff7 237
bbbobbbieo 2:5eb97170c199 238 if (black_value_count<2)
bbbobbbieo 2:5eb97170c199 239 num = 0;
bbbobbbieo 25:806e67a1218f 240
bbbobbbieo 30:8e0ad64703d0 241 //if (black_value_count>26 and ((*(TFC_LineScanImage0+64) > 450) or (*(TFC_LineScanImage0+63) > 450)or(*(TFC_LineScanImage0+62) > 450)))
mperella 35:22c4eef7e423 242 //if (black_value_count + black_value_count_previous > 30 && (black_value_count > 15 or black_value_count_previous > 15) )
mperella 34:b97857dd355d 243 // if(black_value_count > 22)
mperella 33:faa8e83f1d45 244 //if (stopflag)
mperella 35:22c4eef7e423 245 if(0)
bbbobbbieo 19:545e9ddba0e8 246 {
bbbobbbieo 19:545e9ddba0e8 247 while(1)
bbbobbbieo 19:545e9ddba0e8 248 TFC_SetMotorPWM(0, 0);
bbbobbbieo 25:806e67a1218f 249 }
bbbobbbieo 19:545e9ddba0e8 250
bbbobbbieo 0:bf39986ebff7 251 TFC_SetBatteryLED(num);
bbbobbbieo 0:bf39986ebff7 252
bbbobbbieo 0:bf39986ebff7 253 // best guess of center based on weighted average of history
bbbobbbieo 0:bf39986ebff7 254 black_center_value = center_now;
bbbobbbieo 0:bf39986ebff7 255
bbbobbbieo 0:bf39986ebff7 256
bbbobbbieo 0:bf39986ebff7 257 // turn left
bbbobbbieo 30:8e0ad64703d0 258 if (num==8 and right_counter <.35)
bbbobbbieo 0:bf39986ebff7 259 {
mperella 34:b97857dd355d 260 /*
bbbobbbieo 27:aa81c15e5c1d 261 if (center_now <113)
bbbobbbieo 27:aa81c15e5c1d 262 left_counter=-0.4;
bbbobbbieo 27:aa81c15e5c1d 263 else
bbbobbbieo 27:aa81c15e5c1d 264 {
bbbobbbieo 27:aa81c15e5c1d 265 if (left_counter > -.15)
bbbobbbieo 27:aa81c15e5c1d 266 left_counter=-0.15; // less drastic for outside parts
bbbobbbieo 27:aa81c15e5c1d 267 }
bbbobbbieo 14:1a408e13679d 268 turn_left=true;
bbbobbbieo 14:1a408e13679d 269 turn_right=false;
mperella 33:faa8e83f1d45 270 */
mperella 33:faa8e83f1d45 271
mperella 33:faa8e83f1d45 272
mperella 33:faa8e83f1d45 273
mperella 33:faa8e83f1d45 274 if (left_counter > -.15)
mperella 33:faa8e83f1d45 275 left_counter=-0.15; // less drastic for outside parts
mperella 33:faa8e83f1d45 276
mperella 33:faa8e83f1d45 277 turn_left=true;
mperella 33:faa8e83f1d45 278 turn_right=false;
mperella 34:b97857dd355d 279
bbbobbbieo 25:806e67a1218f 280
bbbobbbieo 14:1a408e13679d 281 }
mperella 33:faa8e83f1d45 282 else if(num == 12 and right_counter <.35)
mperella 33:faa8e83f1d45 283 {
mperella 35:22c4eef7e423 284 if(left_counter > -.4)
mperella 35:22c4eef7e423 285 left_counter=-0.4;
mperella 33:faa8e83f1d45 286 turn_left = true;
mperella 33:faa8e83f1d45 287 turn_right = false;
mperella 33:faa8e83f1d45 288 }
mperella 33:faa8e83f1d45 289
bbbobbbieo 36:3793f21a895e 290 else if (num==4 and right_counter <.45)
bbbobbbieo 0:bf39986ebff7 291 {
bbbobbbieo 25:806e67a1218f 292 left_counter=-0.6;
bbbobbbieo 30:8e0ad64703d0 293 //left_counter=-0.55;
bbbobbbieo 0:bf39986ebff7 294 turn_left=true;
bbbobbbieo 0:bf39986ebff7 295 turn_right=false;
bbbobbbieo 0:bf39986ebff7 296 }
bbbobbbieo 0:bf39986ebff7 297
bbbobbbieo 25:806e67a1218f 298 // need to turn right
bbbobbbieo 30:8e0ad64703d0 299 else if (num==1 and left_counter >-.35)
bbbobbbieo 14:1a408e13679d 300 {
mperella 34:b97857dd355d 301 /*
bbbobbbieo 27:aa81c15e5c1d 302 if (center_now >15)
bbbobbbieo 27:aa81c15e5c1d 303 right_counter =.4;
bbbobbbieo 27:aa81c15e5c1d 304 else
bbbobbbieo 27:aa81c15e5c1d 305 {
mperella 34:b97857dd355d 306 */
bbbobbbieo 27:aa81c15e5c1d 307 if (right_counter <.15)
bbbobbbieo 27:aa81c15e5c1d 308 right_counter =.15; // less drastic for outside parts
mperella 34:b97857dd355d 309
bbbobbbieo 25:806e67a1218f 310
bbbobbbieo 14:1a408e13679d 311 turn_left=false;
bbbobbbieo 14:1a408e13679d 312 turn_right=true;
bbbobbbieo 25:806e67a1218f 313
bbbobbbieo 14:1a408e13679d 314 }
mperella 33:faa8e83f1d45 315
mperella 33:faa8e83f1d45 316 else if(num == 3 and left_counter >-.35)
mperella 33:faa8e83f1d45 317 {
mperella 35:22c4eef7e423 318 if(right_counter < 0.4)
mperella 35:22c4eef7e423 319 right_counter = 0.4;
mperella 33:faa8e83f1d45 320
mperella 33:faa8e83f1d45 321 turn_left = false;
mperella 33:faa8e83f1d45 322 turn_right = true;
mperella 33:faa8e83f1d45 323 }
bbbobbbieo 30:8e0ad64703d0 324
bbbobbbieo 36:3793f21a895e 325 else if (num==2 and left_counter >-.45)
bbbobbbieo 25:806e67a1218f 326 {
bbbobbbieo 25:806e67a1218f 327 right_counter =.6;
bbbobbbieo 30:8e0ad64703d0 328 //right_counter =.55;
bbbobbbieo 0:bf39986ebff7 329 turn_left=false;
bbbobbbieo 0:bf39986ebff7 330 turn_right=true;
bbbobbbieo 0:bf39986ebff7 331 }
bbbobbbieo 29:4bf08c74f792 332
bbbobbbieo 30:8e0ad64703d0 333 //straight
bbbobbbieo 25:806e67a1218f 334 else if (turn_right == false and turn_left == false)
bbbobbbieo 2:5eb97170c199 335 {
mperella 33:faa8e83f1d45 336 //TFC_SetServo(0,(0.0+ bullshit_offset));
mperella 33:faa8e83f1d45 337 TFC_SetServo(0,bullshit_offset);
mperella 33:faa8e83f1d45 338 TFC_SetMotorPWM(current_left_motor_speed-(.0008*num_of_straight), current_right_motor_speed+(.0008*num_of_straight)); // --left is faster, ++right is faster
bbbobbbieo 30:8e0ad64703d0 339 if (violence_level !=0)
bbbobbbieo 30:8e0ad64703d0 340 num_of_straight++;
bbbobbbieo 2:5eb97170c199 341 }
bbbobbbieo 2:5eb97170c199 342
bbbobbbieo 25:806e67a1218f 343 else
bbbobbbieo 25:806e67a1218f 344 {
bbbobbbieo 25:806e67a1218f 345 }
bbbobbbieo 0:bf39986ebff7 346
bbbobbbieo 0:bf39986ebff7 347 //dealwiththeshit
bbbobbbieo 25:806e67a1218f 348 if(turn_left)
bbbobbbieo 0:bf39986ebff7 349 {
bbbobbbieo 25:806e67a1218f 350 turn_right = false;
bbbobbbieo 30:8e0ad64703d0 351 num_of_straight = 0; // no longer on a straight
bbbobbbieo 29:4bf08c74f792 352
bbbobbbieo 37:56dc8c2e8cf9 353 if (violence_level == 2 or violence_level == 1)
bbbobbbieo 37:56dc8c2e8cf9 354 TFC_SetServo(0,left_counter+ bullshit_offset );
bbbobbbieo 37:56dc8c2e8cf9 355 if (violence_level == 3 or violence_level == 4)
bbbobbbieo 37:56dc8c2e8cf9 356 TFC_SetServo(0,(left_counter+ bullshit_offset)*.8 );
bbbobbbieo 37:56dc8c2e8cf9 357
bbbobbbieo 31:55d26f4ef5f0 358 //TFC_SetServo(0,left_counter);
bbbobbbieo 25:806e67a1218f 359 left_counter += .01;
bbbobbbieo 2:5eb97170c199 360 if (left_counter > (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 361 turn_left = false;
bbbobbbieo 25:806e67a1218f 362
bbbobbbieo 37:56dc8c2e8cf9 363 TFC_SetMotorPWM(current_left_motor_speed+(.2*left_counter), current_right_motor_speed+(.2*left_counter)); // ++left is slower, ++right is faster
bbbobbbieo 37:56dc8c2e8cf9 364
bbbobbbieo 37:56dc8c2e8cf9 365
bbbobbbieo 37:56dc8c2e8cf9 366
bbbobbbieo 25:806e67a1218f 367 }
bbbobbbieo 25:806e67a1218f 368
bbbobbbieo 25:806e67a1218f 369 if(turn_right)
bbbobbbieo 0:bf39986ebff7 370 {
bbbobbbieo 0:bf39986ebff7 371 turn_left =false;
bbbobbbieo 30:8e0ad64703d0 372 num_of_straight = 0; // no longer on a straight
bbbobbbieo 30:8e0ad64703d0 373
bbbobbbieo 30:8e0ad64703d0 374 //TFC_SetServo(0,right_counter- bullshit_offset );
mperella 33:faa8e83f1d45 375 //TFC_SetServo(0,right_counter);
bbbobbbieo 37:56dc8c2e8cf9 376
bbbobbbieo 37:56dc8c2e8cf9 377 if (violence_level == 2 or violence_level == 1)
bbbobbbieo 37:56dc8c2e8cf9 378 TFC_SetServo(0,(right_counter+ bullshit_offset));
bbbobbbieo 37:56dc8c2e8cf9 379 if (violence_level == 3 or violence_level == 4)
bbbobbbieo 37:56dc8c2e8cf9 380 TFC_SetServo(0,(right_counter+ bullshit_offset)*.8 );
bbbobbbieo 37:56dc8c2e8cf9 381
bbbobbbieo 25:806e67a1218f 382 right_counter -= .01;
bbbobbbieo 2:5eb97170c199 383 if (right_counter < (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 384 turn_right = false;
bbbobbbieo 25:806e67a1218f 385
bbbobbbieo 36:3793f21a895e 386 TFC_SetMotorPWM(current_left_motor_speed-(.2*right_counter), current_right_motor_speed-(.2*right_counter)); // --left is faster, --right is slower
bbbobbbieo 25:806e67a1218f 387 }
bbbobbbieo 0:bf39986ebff7 388
bbbobbbieo 0:bf39986ebff7 389 // clearing values for next image processing round
bbbobbbieo 0:bf39986ebff7 390 black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 391 sum_black = 0;
bbbobbbieo 30:8e0ad64703d0 392 values_list_add =0;
bbbobbbieo 30:8e0ad64703d0 393 value_count =0;
bbbobbbieo 30:8e0ad64703d0 394 avg_value=0;
bbbobbbieo 30:8e0ad64703d0 395 black_threshhold=0;
mperella 33:faa8e83f1d45 396
mperella 33:faa8e83f1d45 397 black_list_one = 0;
mperella 33:faa8e83f1d45 398 white_list = 0;
mperella 33:faa8e83f1d45 399 black_list_two = 0;
mperella 33:faa8e83f1d45 400 whiteflag = false;
mperella 33:faa8e83f1d45 401 blackflag = false;
mperella 33:faa8e83f1d45 402 stopflag = false;
bbbobbbieo 25:806e67a1218f 403
bbbobbbieo 0:bf39986ebff7 404 // end image processing
bbbobbbieo 0:bf39986ebff7 405
bbbobbbieo 0:bf39986ebff7 406 linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 407 } // end checking channel 0
bbbobbbieo 0:bf39986ebff7 408
bbbobbbieo 0:bf39986ebff7 409 else { //checking channel 1
bbbobbbieo 0:bf39986ebff7 410 linescan_ping_pong = true;
bbbobbbieo 0:bf39986ebff7 411 }
bbbobbbieo 0:bf39986ebff7 412
bbbobbbieo 0:bf39986ebff7 413 TFC_LineScanImageReady = 0; // since we used it, we reset the flag
bbbobbbieo 0:bf39986ebff7 414 }// end imageready
bbbobbbieo 0:bf39986ebff7 415 }// end linescan stuff
bbbobbbieo 25:806e67a1218f 416 }
bbbobbbieo 25:806e67a1218f 417 }
bbbobbbieo 25:806e67a1218f 418
bbbobbbieo 25:806e67a1218f 419 // shit code down here