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Dependencies:   FRDM-TFC mbed

main.cpp@7:f21986164bf1, 2015-03-26 (annotated)

Committer:
bbbobbbieo
Date:
Thu Mar 26 15:51:49 2015 +0000
Revision:
7:f21986164bf1
Parent:
6:ed97e4324202
Child:
8:2a238dbd0386
40 second run recorded;

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 7:f21986164bf1 81 bool need_decel=false;
bbbobbbieo 0:bf39986ebff7 82
bbbobbbieo 6:ed97e4324202 83 //servo is offset zero by some bullshit number
bbbobbbieo 3:e14a4ea167ca 84 float bullshit_offset = .074;
bbbobbbieo 0:bf39986ebff7 85
bbbobbbieo 0:bf39986ebff7 86 // major loop
bbbobbbieo 0:bf39986ebff7 87 while(1) {
bbbobbbieo 0:bf39986ebff7 88
bbbobbbieo 0:bf39986ebff7 89 // initial motor stuff
bbbobbbieo 0:bf39986ebff7 90 if(rear_motor_enable_flag) {
bbbobbbieo 0:bf39986ebff7 91 TFC_HBRIDGE_ENABLE;
bbbobbbieo 0:bf39986ebff7 92
bbbobbbieo 0:bf39986ebff7 93
bbbobbbieo 0:bf39986ebff7 94 // checking behavior level
bbbobbbieo 0:bf39986ebff7 95 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 0:bf39986ebff7 96
bbbobbbieo 0:bf39986ebff7 97 if (violence_level==3) {
bbbobbbieo 0:bf39986ebff7 98 current_left_motor_speed = -(AGGRESSIVE);
bbbobbbieo 0:bf39986ebff7 99 current_right_motor_speed = AGGRESSIVE;
bbbobbbieo 0:bf39986ebff7 100 }
bbbobbbieo 0:bf39986ebff7 101 else if (violence_level==2) {
bbbobbbieo 0:bf39986ebff7 102 current_left_motor_speed = -(MODERATE);
bbbobbbieo 0:bf39986ebff7 103 current_right_motor_speed = (MODERATE);
bbbobbbieo 0:bf39986ebff7 104 }
bbbobbbieo 0:bf39986ebff7 105 else if (violence_level==1) {
bbbobbbieo 0:bf39986ebff7 106 current_left_motor_speed = -(CONSERVATIVE);
bbbobbbieo 0:bf39986ebff7 107 current_right_motor_speed = CONSERVATIVE;
bbbobbbieo 0:bf39986ebff7 108 }
bbbobbbieo 0:bf39986ebff7 109 else if (violence_level==0) {
bbbobbbieo 0:bf39986ebff7 110 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 111 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 112 }
bbbobbbieo 0:bf39986ebff7 113 else {
bbbobbbieo 0:bf39986ebff7 114 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 115 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 116 }
bbbobbbieo 0:bf39986ebff7 117
bbbobbbieo 0:bf39986ebff7 118
bbbobbbieo 0:bf39986ebff7 119 // protection block
bbbobbbieo 0:bf39986ebff7 120 if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 121 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 122 if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 123 current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 124 if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 125 current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 126 if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 127 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 128
bbbobbbieo 0:bf39986ebff7 129 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 0:bf39986ebff7 130 }// end motor enabled
bbbobbbieo 0:bf39986ebff7 131 else {
bbbobbbieo 0:bf39986ebff7 132 TFC_HBRIDGE_DISABLE;
bbbobbbieo 0:bf39986ebff7 133 }// end motor disabled
bbbobbbieo 0:bf39986ebff7 134
bbbobbbieo 0:bf39986ebff7 135 // camera stuff
bbbobbbieo 0:bf39986ebff7 136 if (linescan_enable) {
bbbobbbieo 0:bf39986ebff7 137 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 0:bf39986ebff7 138
bbbobbbieo 0:bf39986ebff7 139 if (linescan_ping_pong) {
bbbobbbieo 0:bf39986ebff7 140 //checking channel 0
bbbobbbieo 0:bf39986ebff7 141
bbbobbbieo 0:bf39986ebff7 142 //checking center pixel, displays aprox value on leds
bbbobbbieo 0:bf39986ebff7 143 uint8_t shitnum = 1;
bbbobbbieo 0:bf39986ebff7 144
bbbobbbieo 0:bf39986ebff7 145
bbbobbbieo 0:bf39986ebff7 146 // checking for center line (single line)
bbbobbbieo 0:bf39986ebff7 147 for (uint16_t i=15; i<113; i++) {
bbbobbbieo 0:bf39986ebff7 148 if ((*(TFC_LineScanImage0+i) < 450)) {
bbbobbbieo 0:bf39986ebff7 149 black_values_list[black_value_count] = i;
bbbobbbieo 0:bf39986ebff7 150 black_value_count++;
bbbobbbieo 0:bf39986ebff7 151 }
bbbobbbieo 0:bf39986ebff7 152 }
bbbobbbieo 0:bf39986ebff7 153
bbbobbbieo 0:bf39986ebff7 154 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 0:bf39986ebff7 155 sum_black += black_values_list[i];
bbbobbbieo 0:bf39986ebff7 156 }
bbbobbbieo 0:bf39986ebff7 157
bbbobbbieo 0:bf39986ebff7 158 //update history
bbbobbbieo 0:bf39986ebff7 159 center_past_4= center_past_3;
bbbobbbieo 0:bf39986ebff7 160 center_past_3= center_past_2;
bbbobbbieo 0:bf39986ebff7 161 center_past_2= center_past_1;
bbbobbbieo 0:bf39986ebff7 162 center_past_1= center_now;
bbbobbbieo 0:bf39986ebff7 163
bbbobbbieo 0:bf39986ebff7 164
bbbobbbieo 0:bf39986ebff7 165 //if (black_value_count>2)
bbbobbbieo 0:bf39986ebff7 166 center_now = sum_black / black_value_count;
bbbobbbieo 0:bf39986ebff7 167
bbbobbbieo 0:bf39986ebff7 168 uint8_t num = 0;
bbbobbbieo 0:bf39986ebff7 169
bbbobbbieo 0:bf39986ebff7 170 if(center_now > 15 && center_now < 27)
bbbobbbieo 0:bf39986ebff7 171 num = 1;
bbbobbbieo 0:bf39986ebff7 172 else if(center_now >= 27 && center_now < 54)
bbbobbbieo 0:bf39986ebff7 173 num = 2;
bbbobbbieo 0:bf39986ebff7 174 else if(center_now > 60 && center_now < 70)
bbbobbbieo 0:bf39986ebff7 175 num = 15;
bbbobbbieo 0:bf39986ebff7 176 else if(center_now >= 54 && center_now < 81)
bbbobbbieo 0:bf39986ebff7 177 num = 4;
bbbobbbieo 0:bf39986ebff7 178 else if(center_now >= 81 && center_now < 113)
bbbobbbieo 0:bf39986ebff7 179 num = 8;
bbbobbbieo 0:bf39986ebff7 180
bbbobbbieo 0:bf39986ebff7 181 else
bbbobbbieo 0:bf39986ebff7 182 num = 0;
bbbobbbieo 0:bf39986ebff7 183
bbbobbbieo 6:ed97e4324202 184 // get rid of garbage data sets
bbbobbbieo 2:5eb97170c199 185 if (black_value_count<2)
bbbobbbieo 2:5eb97170c199 186 num = 0;
bbbobbbieo 2:5eb97170c199 187
bbbobbbieo 0:bf39986ebff7 188 TFC_SetBatteryLED(num);
bbbobbbieo 0:bf39986ebff7 189
bbbobbbieo 0:bf39986ebff7 190 // best guess of center based on weighted average of history
bbbobbbieo 0:bf39986ebff7 191 black_center_value = center_now;
bbbobbbieo 0:bf39986ebff7 192
bbbobbbieo 0:bf39986ebff7 193
bbbobbbieo 0:bf39986ebff7 194 // turn left
bbbobbbieo 6:ed97e4324202 195 // hit wall a little bit on the right
bbbobbbieo 2:5eb97170c199 196 if (num==8 and right_counter <.2 )
bbbobbbieo 0:bf39986ebff7 197 {
bbbobbbieo 6:ed97e4324202 198 //turn away a little bit for each frame that is wall
bbbobbbieo 7:f21986164bf1 199 if (left_counter >-.4)
bbbobbbieo 7:f21986164bf1 200 left_counter -=.04;
bbbobbbieo 4:18f5328ff5a3 201
bbbobbbieo 0:bf39986ebff7 202 turn_left=true;
bbbobbbieo 0:bf39986ebff7 203 turn_right=false;
bbbobbbieo 0:bf39986ebff7 204 }
bbbobbbieo 6:ed97e4324202 205
bbbobbbieo 6:ed97e4324202 206 // turn left real hard
bbbobbbieo 6:ed97e4324202 207 // wall is close to center on right
bbbobbbieo 2:5eb97170c199 208 if (num==4 and right_counter <.2)
bbbobbbieo 0:bf39986ebff7 209 {
bbbobbbieo 7:f21986164bf1 210 left_counter=-0.5;
bbbobbbieo 0:bf39986ebff7 211 turn_left=true;
bbbobbbieo 0:bf39986ebff7 212 turn_right=false;
bbbobbbieo 7:f21986164bf1 213 need_decel=true;
bbbobbbieo 0:bf39986ebff7 214 }
bbbobbbieo 0:bf39986ebff7 215
bbbobbbieo 6:ed97e4324202 216 // turn right
bbbobbbieo 6:ed97e4324202 217 // hit wall a little bit on the left
bbbobbbieo 2:5eb97170c199 218 else if (num==1 and left_counter >-.2)
bbbobbbieo 6:ed97e4324202 219 {
bbbobbbieo 6:ed97e4324202 220 //turn away a little bit for each frame that is wall
bbbobbbieo 7:f21986164bf1 221 if (right_counter <.4)
bbbobbbieo 7:f21986164bf1 222 right_counter +=.04;
bbbobbbieo 6:ed97e4324202 223
bbbobbbieo 0:bf39986ebff7 224 turn_left=false;
bbbobbbieo 0:bf39986ebff7 225 turn_right=true;
bbbobbbieo 0:bf39986ebff7 226 }
bbbobbbieo 6:ed97e4324202 227
bbbobbbieo 6:ed97e4324202 228 // turn left hard
bbbobbbieo 6:ed97e4324202 229 // wall is close to center on left
bbbobbbieo 2:5eb97170c199 230 else if (num==2 and left_counter >-.2)
bbbobbbieo 0:bf39986ebff7 231 {
bbbobbbieo 7:f21986164bf1 232 right_counter =.5;
bbbobbbieo 0:bf39986ebff7 233 turn_left=false;
bbbobbbieo 0:bf39986ebff7 234 turn_right=true;
bbbobbbieo 7:f21986164bf1 235 need_decel=true;
bbbobbbieo 0:bf39986ebff7 236 }
bbbobbbieo 6:ed97e4324202 237
bbbobbbieo 6:ed97e4324202 238 // going straight yesssss
bbbobbbieo 2:5eb97170c199 239 else if (turn_right == false and turn_left == false)
bbbobbbieo 2:5eb97170c199 240 {
bbbobbbieo 2:5eb97170c199 241 TFC_SetServo(0,(0.0+ bullshit_offset));
bbbobbbieo 2:5eb97170c199 242 }
bbbobbbieo 2:5eb97170c199 243
bbbobbbieo 6:ed97e4324202 244 else{}
bbbobbbieo 0:bf39986ebff7 245
bbbobbbieo 0:bf39986ebff7 246 //dealwiththeshit
bbbobbbieo 6:ed97e4324202 247 // set servo and motors according to how much left we need to turn
bbbobbbieo 0:bf39986ebff7 248 if(turn_left)
bbbobbbieo 0:bf39986ebff7 249 {
bbbobbbieo 0:bf39986ebff7 250 turn_right = false;
bbbobbbieo 0:bf39986ebff7 251 TFC_SetServo(0,left_counter);
bbbobbbieo 6:ed97e4324202 252 // normalize to center each frame
bbbobbbieo 6:ed97e4324202 253 left_counter += .01;
bbbobbbieo 2:5eb97170c199 254 if (left_counter > (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 255 turn_left = false;
bbbobbbieo 6:ed97e4324202 256
bbbobbbieo 7:f21986164bf1 257 if (need_decel)
bbbobbbieo 7:f21986164bf1 258 {
bbbobbbieo 7:f21986164bf1 259 TFC_SetMotorPWM(current_left_motor_speed+(.3*left_counter), current_right_motor_speed-(.2*left_counter)); // ++left is slowed,--right is slowed
bbbobbbieo 7:f21986164bf1 260 need_decel = false;
bbbobbbieo 7:f21986164bf1 261 }
bbbobbbieo 7:f21986164bf1 262 else
bbbobbbieo 7:f21986164bf1 263 TFC_SetMotorPWM(current_left_motor_speed+(.1*left_counter), current_right_motor_speed+(.3*left_counter)); // ++left is slowed, ++right is faster
bbbobbbieo 0:bf39986ebff7 264 }
bbbobbbieo 6:ed97e4324202 265
bbbobbbieo 6:ed97e4324202 266 // set servo and motors according to how much right we need to turn
bbbobbbieo 0:bf39986ebff7 267 if(turn_right)
bbbobbbieo 0:bf39986ebff7 268 {
bbbobbbieo 0:bf39986ebff7 269 turn_left =false;
bbbobbbieo 0:bf39986ebff7 270 TFC_SetServo(0,right_counter);
bbbobbbieo 6:ed97e4324202 271 // normalize to center each frame
bbbobbbieo 6:ed97e4324202 272 right_counter -= .01;
bbbobbbieo 2:5eb97170c199 273 if (right_counter < (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 274 turn_right = false;
bbbobbbieo 6:ed97e4324202 275
bbbobbbieo 7:f21986164bf1 276 if(need_decel)
bbbobbbieo 7:f21986164bf1 277 {
bbbobbbieo 7:f21986164bf1 278 TFC_SetMotorPWM(current_left_motor_speed+(.2*left_counter), current_right_motor_speed-(.3*left_counter)); // ++left is slowed,--right is slowed
bbbobbbieo 7:f21986164bf1 279 need_decel = false;
bbbobbbieo 7:f21986164bf1 280 }
bbbobbbieo 7:f21986164bf1 281 else
bbbobbbieo 7:f21986164bf1 282 TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter), current_right_motor_speed-(.1*right_counter)); // --left is faster, --right is slowed
bbbobbbieo 0:bf39986ebff7 283 }
bbbobbbieo 0:bf39986ebff7 284
bbbobbbieo 0:bf39986ebff7 285 // clearing values for next image processing round
bbbobbbieo 0:bf39986ebff7 286 black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 287 sum_black = 0;
bbbobbbieo 0:bf39986ebff7 288 // end image processing
bbbobbbieo 0:bf39986ebff7 289
bbbobbbieo 0:bf39986ebff7 290 linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 291 } // end checking channel 0
bbbobbbieo 0:bf39986ebff7 292
bbbobbbieo 0:bf39986ebff7 293 else { //checking channel 1
bbbobbbieo 0:bf39986ebff7 294 linescan_ping_pong = true;
bbbobbbieo 0:bf39986ebff7 295 }
bbbobbbieo 0:bf39986ebff7 296
bbbobbbieo 0:bf39986ebff7 297 TFC_LineScanImageReady = 0; // since we used it, we reset the flag
bbbobbbieo 0:bf39986ebff7 298 }// end imageready
bbbobbbieo 0:bf39986ebff7 299 }// end linescan stuff
bbbobbbieo 6:ed97e4324202 300 } // end major loop
bbbobbbieo 6:ed97e4324202 301 }// end main