fatboyslim / Mbed 2 deprecated bouncesinglecam

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Dependencies:   FRDM-TFC mbed

main.cpp@6:ed97e4324202, 2015-03-26 (annotated)

Committer:
bbbobbbieo
Date:
Thu Mar 26 02:29:18 2015 +0000
Revision:
6:ed97e4324202
Parent:
4:18f5328ff5a3
Child:
7:f21986164bf1
cleaned up and commented

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;
bbbobbbieo 0:bf39986ebff7 8 const float MODERATE =.48;
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;
bbbobbbieo 0:bf39986ebff7 73
bbbobbbieo 0:bf39986ebff7 74 for(int i = 0; i < 50; i++)
bbbobbbieo 0:bf39986ebff7 75 centers_List[i] = 63;
bbbobbbieo 0:bf39986ebff7 76
bbbobbbieo 0:bf39986ebff7 77 float left_counter =0;
bbbobbbieo 0:bf39986ebff7 78 float right_counter =0;
bbbobbbieo 0:bf39986ebff7 79 bool turn_left=false;
bbbobbbieo 0:bf39986ebff7 80 bool turn_right=false;
bbbobbbieo 0:bf39986ebff7 81
bbbobbbieo 6:ed97e4324202 82 //servo is offset zero by some bullshit number
bbbobbbieo 3:e14a4ea167ca 83 float bullshit_offset = .074;
bbbobbbieo 0:bf39986ebff7 84
bbbobbbieo 0:bf39986ebff7 85 // major loop
bbbobbbieo 0:bf39986ebff7 86 while(1) {
bbbobbbieo 0:bf39986ebff7 87
bbbobbbieo 0:bf39986ebff7 88 // initial motor stuff
bbbobbbieo 0:bf39986ebff7 89 if(rear_motor_enable_flag) {
bbbobbbieo 0:bf39986ebff7 90 TFC_HBRIDGE_ENABLE;
bbbobbbieo 0:bf39986ebff7 91
bbbobbbieo 0:bf39986ebff7 92
bbbobbbieo 0:bf39986ebff7 93 // checking behavior level
bbbobbbieo 0:bf39986ebff7 94 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 0:bf39986ebff7 95
bbbobbbieo 0:bf39986ebff7 96 if (violence_level==3) {
bbbobbbieo 0:bf39986ebff7 97 current_left_motor_speed = -(AGGRESSIVE);
bbbobbbieo 0:bf39986ebff7 98 current_right_motor_speed = AGGRESSIVE;
bbbobbbieo 0:bf39986ebff7 99 }
bbbobbbieo 0:bf39986ebff7 100 else if (violence_level==2) {
bbbobbbieo 0:bf39986ebff7 101 current_left_motor_speed = -(MODERATE);
bbbobbbieo 0:bf39986ebff7 102 current_right_motor_speed = (MODERATE);
bbbobbbieo 0:bf39986ebff7 103 }
bbbobbbieo 0:bf39986ebff7 104 else if (violence_level==1) {
bbbobbbieo 0:bf39986ebff7 105 current_left_motor_speed = -(CONSERVATIVE);
bbbobbbieo 0:bf39986ebff7 106 current_right_motor_speed = CONSERVATIVE;
bbbobbbieo 0:bf39986ebff7 107 }
bbbobbbieo 0:bf39986ebff7 108 else if (violence_level==0) {
bbbobbbieo 0:bf39986ebff7 109 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 110 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 111 }
bbbobbbieo 0:bf39986ebff7 112 else {
bbbobbbieo 0:bf39986ebff7 113 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 114 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 115 }
bbbobbbieo 0:bf39986ebff7 116
bbbobbbieo 0:bf39986ebff7 117
bbbobbbieo 0:bf39986ebff7 118 // protection block
bbbobbbieo 0:bf39986ebff7 119 if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 120 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 121 if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 122 current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 123 if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 124 current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 125 if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 126 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 127
bbbobbbieo 0:bf39986ebff7 128 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 0:bf39986ebff7 129 }// end motor enabled
bbbobbbieo 0:bf39986ebff7 130 else {
bbbobbbieo 0:bf39986ebff7 131 TFC_HBRIDGE_DISABLE;
bbbobbbieo 0:bf39986ebff7 132 }// end motor disabled
bbbobbbieo 0:bf39986ebff7 133
bbbobbbieo 0:bf39986ebff7 134 // camera stuff
bbbobbbieo 0:bf39986ebff7 135 if (linescan_enable) {
bbbobbbieo 0:bf39986ebff7 136 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 0:bf39986ebff7 137
bbbobbbieo 0:bf39986ebff7 138 if (linescan_ping_pong) {
bbbobbbieo 0:bf39986ebff7 139 //checking channel 0
bbbobbbieo 0:bf39986ebff7 140
bbbobbbieo 0:bf39986ebff7 141 //checking center pixel, displays aprox value on leds
bbbobbbieo 0:bf39986ebff7 142 uint8_t shitnum = 1;
bbbobbbieo 0:bf39986ebff7 143
bbbobbbieo 0:bf39986ebff7 144
bbbobbbieo 0:bf39986ebff7 145 // checking for center line (single line)
bbbobbbieo 0:bf39986ebff7 146 for (uint16_t i=15; i<113; i++) {
bbbobbbieo 0:bf39986ebff7 147 if ((*(TFC_LineScanImage0+i) < 450)) {
bbbobbbieo 0:bf39986ebff7 148 black_values_list[black_value_count] = i;
bbbobbbieo 0:bf39986ebff7 149 black_value_count++;
bbbobbbieo 0:bf39986ebff7 150 }
bbbobbbieo 0:bf39986ebff7 151 }
bbbobbbieo 0:bf39986ebff7 152
bbbobbbieo 0:bf39986ebff7 153 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 0:bf39986ebff7 154 sum_black += black_values_list[i];
bbbobbbieo 0:bf39986ebff7 155 }
bbbobbbieo 0:bf39986ebff7 156
bbbobbbieo 0:bf39986ebff7 157 //update history
bbbobbbieo 0:bf39986ebff7 158 center_past_4= center_past_3;
bbbobbbieo 0:bf39986ebff7 159 center_past_3= center_past_2;
bbbobbbieo 0:bf39986ebff7 160 center_past_2= center_past_1;
bbbobbbieo 0:bf39986ebff7 161 center_past_1= center_now;
bbbobbbieo 0:bf39986ebff7 162
bbbobbbieo 0:bf39986ebff7 163
bbbobbbieo 0:bf39986ebff7 164 //if (black_value_count>2)
bbbobbbieo 0:bf39986ebff7 165 center_now = sum_black / black_value_count;
bbbobbbieo 0:bf39986ebff7 166
bbbobbbieo 0:bf39986ebff7 167 uint8_t num = 0;
bbbobbbieo 0:bf39986ebff7 168
bbbobbbieo 0:bf39986ebff7 169 if(center_now > 15 && center_now < 27)
bbbobbbieo 0:bf39986ebff7 170 num = 1;
bbbobbbieo 0:bf39986ebff7 171 else if(center_now >= 27 && center_now < 54)
bbbobbbieo 0:bf39986ebff7 172 num = 2;
bbbobbbieo 0:bf39986ebff7 173 else if(center_now > 60 && center_now < 70)
bbbobbbieo 0:bf39986ebff7 174 num = 15;
bbbobbbieo 0:bf39986ebff7 175 else if(center_now >= 54 && center_now < 81)
bbbobbbieo 0:bf39986ebff7 176 num = 4;
bbbobbbieo 0:bf39986ebff7 177 else if(center_now >= 81 && center_now < 113)
bbbobbbieo 0:bf39986ebff7 178 num = 8;
bbbobbbieo 0:bf39986ebff7 179
bbbobbbieo 0:bf39986ebff7 180 else
bbbobbbieo 0:bf39986ebff7 181 num = 0;
bbbobbbieo 0:bf39986ebff7 182
bbbobbbieo 6:ed97e4324202 183 // get rid of garbage data sets
bbbobbbieo 2:5eb97170c199 184 if (black_value_count<2)
bbbobbbieo 2:5eb97170c199 185 num = 0;
bbbobbbieo 2:5eb97170c199 186
bbbobbbieo 0:bf39986ebff7 187 TFC_SetBatteryLED(num);
bbbobbbieo 0:bf39986ebff7 188
bbbobbbieo 0:bf39986ebff7 189 // best guess of center based on weighted average of history
bbbobbbieo 0:bf39986ebff7 190 black_center_value = center_now;
bbbobbbieo 0:bf39986ebff7 191
bbbobbbieo 0:bf39986ebff7 192
bbbobbbieo 0:bf39986ebff7 193 // turn left
bbbobbbieo 6:ed97e4324202 194 // hit wall a little bit on the right
bbbobbbieo 2:5eb97170c199 195 if (num==8 and right_counter <.2 )
bbbobbbieo 0:bf39986ebff7 196 {
bbbobbbieo 6:ed97e4324202 197 //turn away a little bit for each frame that is wall
bbbobbbieo 4:18f5328ff5a3 198 if (left_counter >-.5)
bbbobbbieo 4:18f5328ff5a3 199 left_counter -=.1;
bbbobbbieo 4:18f5328ff5a3 200
bbbobbbieo 0:bf39986ebff7 201 turn_left=true;
bbbobbbieo 0:bf39986ebff7 202 turn_right=false;
bbbobbbieo 0:bf39986ebff7 203 }
bbbobbbieo 6:ed97e4324202 204
bbbobbbieo 6:ed97e4324202 205 // turn left real hard
bbbobbbieo 6:ed97e4324202 206 // wall is close to center on right
bbbobbbieo 2:5eb97170c199 207 if (num==4 and right_counter <.2)
bbbobbbieo 0:bf39986ebff7 208 {
bbbobbbieo 4:18f5328ff5a3 209 left_counter=-0.56;
bbbobbbieo 0:bf39986ebff7 210 turn_left=true;
bbbobbbieo 0:bf39986ebff7 211 turn_right=false;
bbbobbbieo 0:bf39986ebff7 212 }
bbbobbbieo 0:bf39986ebff7 213
bbbobbbieo 6:ed97e4324202 214 // turn right
bbbobbbieo 6:ed97e4324202 215 // hit wall a little bit on the left
bbbobbbieo 2:5eb97170c199 216 else if (num==1 and left_counter >-.2)
bbbobbbieo 6:ed97e4324202 217 {
bbbobbbieo 6:ed97e4324202 218 //turn away a little bit for each frame that is wall
bbbobbbieo 4:18f5328ff5a3 219 if (right_counter <.5)
bbbobbbieo 4:18f5328ff5a3 220 right_counter +=.1;
bbbobbbieo 6:ed97e4324202 221
bbbobbbieo 0:bf39986ebff7 222 turn_left=false;
bbbobbbieo 0:bf39986ebff7 223 turn_right=true;
bbbobbbieo 0:bf39986ebff7 224 }
bbbobbbieo 6:ed97e4324202 225
bbbobbbieo 6:ed97e4324202 226 // turn left hard
bbbobbbieo 6:ed97e4324202 227 // wall is close to center on left
bbbobbbieo 2:5eb97170c199 228 else if (num==2 and left_counter >-.2)
bbbobbbieo 0:bf39986ebff7 229 {
bbbobbbieo 4:18f5328ff5a3 230 right_counter =.56;
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 // going straight yesssss
bbbobbbieo 2:5eb97170c199 236 else if (turn_right == false and turn_left == false)
bbbobbbieo 2:5eb97170c199 237 {
bbbobbbieo 2:5eb97170c199 238 TFC_SetServo(0,(0.0+ bullshit_offset));
bbbobbbieo 2:5eb97170c199 239 }
bbbobbbieo 2:5eb97170c199 240
bbbobbbieo 6:ed97e4324202 241 else{}
bbbobbbieo 0:bf39986ebff7 242
bbbobbbieo 0:bf39986ebff7 243 //dealwiththeshit
bbbobbbieo 6:ed97e4324202 244 // set servo and motors according to how much left we need to turn
bbbobbbieo 0:bf39986ebff7 245 if(turn_left)
bbbobbbieo 0:bf39986ebff7 246 {
bbbobbbieo 0:bf39986ebff7 247 turn_right = false;
bbbobbbieo 0:bf39986ebff7 248 TFC_SetServo(0,left_counter);
bbbobbbieo 6:ed97e4324202 249 // normalize to center each frame
bbbobbbieo 6:ed97e4324202 250 left_counter += .01;
bbbobbbieo 2:5eb97170c199 251 if (left_counter > (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 252 turn_left = false;
bbbobbbieo 6:ed97e4324202 253
bbbobbbieo 3:e14a4ea167ca 254 TFC_SetMotorPWM(current_left_motor_speed+(.1*left_counter), current_right_motor_speed+(.3*left_counter));
bbbobbbieo 0:bf39986ebff7 255 }
bbbobbbieo 6:ed97e4324202 256
bbbobbbieo 6:ed97e4324202 257 // set servo and motors according to how much right we need to turn
bbbobbbieo 0:bf39986ebff7 258 if(turn_right)
bbbobbbieo 0:bf39986ebff7 259 {
bbbobbbieo 0:bf39986ebff7 260 turn_left =false;
bbbobbbieo 0:bf39986ebff7 261 TFC_SetServo(0,right_counter);
bbbobbbieo 6:ed97e4324202 262 // normalize to center each frame
bbbobbbieo 6:ed97e4324202 263 right_counter -= .01;
bbbobbbieo 2:5eb97170c199 264 if (right_counter < (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 265 turn_right = false;
bbbobbbieo 6:ed97e4324202 266
bbbobbbieo 3:e14a4ea167ca 267 TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter), current_right_motor_speed-(.1*right_counter));
bbbobbbieo 0:bf39986ebff7 268 }
bbbobbbieo 0:bf39986ebff7 269
bbbobbbieo 0:bf39986ebff7 270 // clearing values for next image processing round
bbbobbbieo 0:bf39986ebff7 271 black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 272 sum_black = 0;
bbbobbbieo 0:bf39986ebff7 273 // end image processing
bbbobbbieo 0:bf39986ebff7 274
bbbobbbieo 0:bf39986ebff7 275 linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 276 } // end checking channel 0
bbbobbbieo 0:bf39986ebff7 277
bbbobbbieo 0:bf39986ebff7 278 else { //checking channel 1
bbbobbbieo 0:bf39986ebff7 279 linescan_ping_pong = true;
bbbobbbieo 0:bf39986ebff7 280 }
bbbobbbieo 0:bf39986ebff7 281
bbbobbbieo 0:bf39986ebff7 282 TFC_LineScanImageReady = 0; // since we used it, we reset the flag
bbbobbbieo 0:bf39986ebff7 283 }// end imageready
bbbobbbieo 0:bf39986ebff7 284 }// end linescan stuff
bbbobbbieo 6:ed97e4324202 285 } // end major loop
bbbobbbieo 6:ed97e4324202 286 }// end main