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Dependencies:   FRDM-TFC mbed

main.cpp@0:bf39986ebff7, 2015-03-24 (annotated)

Committer:
bbbobbbieo
Date:
Tue Mar 24 19:28:03 2015 +0000
Revision:
0:bf39986ebff7
Child:
1:e561f697985b
shit;

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 0:bf39986ebff7 9 const float CONSERVATIVE =.35;
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 0:bf39986ebff7 82
bbbobbbieo 0:bf39986ebff7 83 // major loop
bbbobbbieo 0:bf39986ebff7 84 while(1) {
bbbobbbieo 0:bf39986ebff7 85
bbbobbbieo 0:bf39986ebff7 86 // manual servo control, unused
bbbobbbieo 0:bf39986ebff7 87 if (TFC_ReadPushButton(0) != 0 ) {
bbbobbbieo 0:bf39986ebff7 88 current_servo_position = current_servo_position-.005;
bbbobbbieo 0:bf39986ebff7 89 if(current_servo_position <= -0.4)
bbbobbbieo 0:bf39986ebff7 90 current_servo_position = -0.4;
bbbobbbieo 0:bf39986ebff7 91 TFC_SetServo(0, current_servo_position);
bbbobbbieo 0:bf39986ebff7 92 }// end check button0
bbbobbbieo 0:bf39986ebff7 93
bbbobbbieo 0:bf39986ebff7 94 else {}
bbbobbbieo 0:bf39986ebff7 95
bbbobbbieo 0:bf39986ebff7 96
bbbobbbieo 0:bf39986ebff7 97 // manual servo control, unused
bbbobbbieo 0:bf39986ebff7 98 if (TFC_ReadPushButton(1) != 0 ) {
bbbobbbieo 0:bf39986ebff7 99 current_servo_position = current_servo_position+.005;
bbbobbbieo 0:bf39986ebff7 100 if(current_servo_position >= 0.4)
bbbobbbieo 0:bf39986ebff7 101 current_servo_position = 0.4;
bbbobbbieo 0:bf39986ebff7 102 TFC_SetServo(0, current_servo_position);
bbbobbbieo 0:bf39986ebff7 103 }// end check button1
bbbobbbieo 0:bf39986ebff7 104
bbbobbbieo 0:bf39986ebff7 105 else {}
bbbobbbieo 0:bf39986ebff7 106
bbbobbbieo 0:bf39986ebff7 107 // initial motor stuff
bbbobbbieo 0:bf39986ebff7 108 if(rear_motor_enable_flag) {
bbbobbbieo 0:bf39986ebff7 109 TFC_HBRIDGE_ENABLE;
bbbobbbieo 0:bf39986ebff7 110
bbbobbbieo 0:bf39986ebff7 111
bbbobbbieo 0:bf39986ebff7 112
bbbobbbieo 0:bf39986ebff7 113 // checking behavior level
bbbobbbieo 0:bf39986ebff7 114 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 0:bf39986ebff7 115
bbbobbbieo 0:bf39986ebff7 116 if (violence_level==3) {
bbbobbbieo 0:bf39986ebff7 117 current_left_motor_speed = -(AGGRESSIVE);
bbbobbbieo 0:bf39986ebff7 118 current_right_motor_speed = AGGRESSIVE;
bbbobbbieo 0:bf39986ebff7 119 }
bbbobbbieo 0:bf39986ebff7 120 else if (violence_level==2) {
bbbobbbieo 0:bf39986ebff7 121 current_left_motor_speed = -(MODERATE);
bbbobbbieo 0:bf39986ebff7 122 current_right_motor_speed = (MODERATE);
bbbobbbieo 0:bf39986ebff7 123 }
bbbobbbieo 0:bf39986ebff7 124 else if (violence_level==1) {
bbbobbbieo 0:bf39986ebff7 125 current_left_motor_speed = -(CONSERVATIVE);
bbbobbbieo 0:bf39986ebff7 126 current_right_motor_speed = CONSERVATIVE;
bbbobbbieo 0:bf39986ebff7 127 }
bbbobbbieo 0:bf39986ebff7 128 else if (violence_level==0) {
bbbobbbieo 0:bf39986ebff7 129 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 130 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 131 }
bbbobbbieo 0:bf39986ebff7 132 else {
bbbobbbieo 0:bf39986ebff7 133 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 134 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 135 }
bbbobbbieo 0:bf39986ebff7 136
bbbobbbieo 0:bf39986ebff7 137
bbbobbbieo 0:bf39986ebff7 138 // protection block
bbbobbbieo 0:bf39986ebff7 139 if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 140 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 141 if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 142 current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 143 if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 144 current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 145 if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 146 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 147
bbbobbbieo 0:bf39986ebff7 148 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 0:bf39986ebff7 149 }// end motor enabled
bbbobbbieo 0:bf39986ebff7 150 else {
bbbobbbieo 0:bf39986ebff7 151 TFC_HBRIDGE_DISABLE;
bbbobbbieo 0:bf39986ebff7 152 }// end motor disabled
bbbobbbieo 0:bf39986ebff7 153
bbbobbbieo 0:bf39986ebff7 154 // camera stuff
bbbobbbieo 0:bf39986ebff7 155 if (linescan_enable) {
bbbobbbieo 0:bf39986ebff7 156 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 0:bf39986ebff7 157
bbbobbbieo 0:bf39986ebff7 158 if (linescan_ping_pong) {
bbbobbbieo 0:bf39986ebff7 159 //checking channel 0
bbbobbbieo 0:bf39986ebff7 160
bbbobbbieo 0:bf39986ebff7 161 //checking center pixel, displays aprox value on leds
bbbobbbieo 0:bf39986ebff7 162 uint8_t shitnum = 1;
bbbobbbieo 0:bf39986ebff7 163
bbbobbbieo 0:bf39986ebff7 164
bbbobbbieo 0:bf39986ebff7 165 // checking for center line (single line)
bbbobbbieo 0:bf39986ebff7 166 for (uint16_t i=15; i<113; i++) {
bbbobbbieo 0:bf39986ebff7 167 if ((*(TFC_LineScanImage0+i) < 450)) {
bbbobbbieo 0:bf39986ebff7 168 black_values_list[black_value_count] = i;
bbbobbbieo 0:bf39986ebff7 169 black_value_count++;
bbbobbbieo 0:bf39986ebff7 170 }
bbbobbbieo 0:bf39986ebff7 171 }
bbbobbbieo 0:bf39986ebff7 172
bbbobbbieo 0:bf39986ebff7 173 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 0:bf39986ebff7 174 sum_black += black_values_list[i];
bbbobbbieo 0:bf39986ebff7 175 }
bbbobbbieo 0:bf39986ebff7 176
bbbobbbieo 0:bf39986ebff7 177 //update history
bbbobbbieo 0:bf39986ebff7 178 center_past_4= center_past_3;
bbbobbbieo 0:bf39986ebff7 179 center_past_3= center_past_2;
bbbobbbieo 0:bf39986ebff7 180 center_past_2= center_past_1;
bbbobbbieo 0:bf39986ebff7 181 center_past_1= center_now;
bbbobbbieo 0:bf39986ebff7 182
bbbobbbieo 0:bf39986ebff7 183
bbbobbbieo 0:bf39986ebff7 184 //if (black_value_count>2)
bbbobbbieo 0:bf39986ebff7 185 center_now = sum_black / black_value_count;
bbbobbbieo 0:bf39986ebff7 186
bbbobbbieo 0:bf39986ebff7 187 uint8_t num = 0;
bbbobbbieo 0:bf39986ebff7 188
bbbobbbieo 0:bf39986ebff7 189 if(center_now > 15 && center_now < 27)
bbbobbbieo 0:bf39986ebff7 190 num = 1;
bbbobbbieo 0:bf39986ebff7 191 else if(center_now >= 27 && center_now < 54)
bbbobbbieo 0:bf39986ebff7 192 num = 2;
bbbobbbieo 0:bf39986ebff7 193 else if(center_now > 60 && center_now < 70)
bbbobbbieo 0:bf39986ebff7 194 num = 15;
bbbobbbieo 0:bf39986ebff7 195 else if(center_now >= 54 && center_now < 81)
bbbobbbieo 0:bf39986ebff7 196 num = 4;
bbbobbbieo 0:bf39986ebff7 197 else if(center_now >= 81 && center_now < 113)
bbbobbbieo 0:bf39986ebff7 198 num = 8;
bbbobbbieo 0:bf39986ebff7 199
bbbobbbieo 0:bf39986ebff7 200 else
bbbobbbieo 0:bf39986ebff7 201 num = 0;
bbbobbbieo 0:bf39986ebff7 202
bbbobbbieo 0:bf39986ebff7 203 TFC_SetBatteryLED(num);
bbbobbbieo 0:bf39986ebff7 204
bbbobbbieo 0:bf39986ebff7 205 // best guess of center based on weighted average of history
bbbobbbieo 0:bf39986ebff7 206 //black_center_value = (5*center_now + 10*center_past_1 + 15*center_past_2 +30*center_past_3 +40*center_past_4)/100;
bbbobbbieo 0:bf39986ebff7 207 //black_center_value = (15*center_now + 15*center_past_1 + 15*center_past_2 +25*center_past_3 +30*center_past_4)/100;
bbbobbbieo 0:bf39986ebff7 208 black_center_value = center_now;
bbbobbbieo 0:bf39986ebff7 209
bbbobbbieo 0:bf39986ebff7 210
bbbobbbieo 0:bf39986ebff7 211 // turn left
bbbobbbieo 0:bf39986ebff7 212 //if (black_center_value > BLACK_THRESHOLD+30) {
bbbobbbieo 0:bf39986ebff7 213 if (num==8)
bbbobbbieo 0:bf39986ebff7 214 {
bbbobbbieo 0:bf39986ebff7 215 //left_counter += (128-black_center_value);
bbbobbbieo 0:bf39986ebff7 216 //left_counter+=20;
bbbobbbieo 0:bf39986ebff7 217 left_counter=-0.4;
bbbobbbieo 0:bf39986ebff7 218 turn_left=true;
bbbobbbieo 0:bf39986ebff7 219 turn_right=false;
bbbobbbieo 0:bf39986ebff7 220
bbbobbbieo 0:bf39986ebff7 221 }
bbbobbbieo 0:bf39986ebff7 222 if (num==4)
bbbobbbieo 0:bf39986ebff7 223 {
bbbobbbieo 0:bf39986ebff7 224 //left_counter += (128-black_center_value);
bbbobbbieo 0:bf39986ebff7 225 //left_counter+=20;
bbbobbbieo 0:bf39986ebff7 226 left_counter=-0.6;
bbbobbbieo 0:bf39986ebff7 227 turn_left=true;
bbbobbbieo 0:bf39986ebff7 228 turn_right=false;
bbbobbbieo 0:bf39986ebff7 229
bbbobbbieo 0:bf39986ebff7 230 }
bbbobbbieo 0:bf39986ebff7 231
bbbobbbieo 0:bf39986ebff7 232 // need to turn right
bbbobbbieo 0:bf39986ebff7 233 //else if (black_center_value < BLACK_THRESHOLD-30) {
bbbobbbieo 0:bf39986ebff7 234 else if (num==1)
bbbobbbieo 0:bf39986ebff7 235 {
bbbobbbieo 0:bf39986ebff7 236 //right_counter += black_center_value;
bbbobbbieo 0:bf39986ebff7 237
bbbobbbieo 0:bf39986ebff7 238 //right_counter +=20;
bbbobbbieo 0:bf39986ebff7 239 right_counter =.4;
bbbobbbieo 0:bf39986ebff7 240 turn_left=false;
bbbobbbieo 0:bf39986ebff7 241 turn_right=true;
bbbobbbieo 0:bf39986ebff7 242
bbbobbbieo 0:bf39986ebff7 243 }
bbbobbbieo 0:bf39986ebff7 244 else if (num==2)
bbbobbbieo 0:bf39986ebff7 245 {
bbbobbbieo 0:bf39986ebff7 246 //right_counter += black_center_value;
bbbobbbieo 0:bf39986ebff7 247 //right_counter +=20;
bbbobbbieo 0:bf39986ebff7 248 right_counter =.6;
bbbobbbieo 0:bf39986ebff7 249 turn_left=false;
bbbobbbieo 0:bf39986ebff7 250 turn_right=true;
bbbobbbieo 0:bf39986ebff7 251
bbbobbbieo 0:bf39986ebff7 252 }
bbbobbbieo 0:bf39986ebff7 253 //else if (black_value_count < 2)
bbbobbbieo 0:bf39986ebff7 254 // {
bbbobbbieo 0:bf39986ebff7 255 // turn_right=false;
bbbobbbieo 0:bf39986ebff7 256 //// turn_left=false;
bbbobbbieo 0:bf39986ebff7 257 // TFC_SetServo(0,0.0);
bbbobbbieo 0:bf39986ebff7 258 // }
bbbobbbieo 0:bf39986ebff7 259 else
bbbobbbieo 0:bf39986ebff7 260 {
bbbobbbieo 0:bf39986ebff7 261 turn_right=false;
bbbobbbieo 0:bf39986ebff7 262 turn_left=false;
bbbobbbieo 0:bf39986ebff7 263 TFC_SetServo(0,0.0);
bbbobbbieo 0:bf39986ebff7 264 }
bbbobbbieo 0:bf39986ebff7 265
bbbobbbieo 0:bf39986ebff7 266 //dealwiththeshit
bbbobbbieo 0:bf39986ebff7 267 if(turn_left)
bbbobbbieo 0:bf39986ebff7 268 {
bbbobbbieo 0:bf39986ebff7 269 turn_right = false;
bbbobbbieo 0:bf39986ebff7 270 //TFC_SetServo(0, ((left_counter)*(-.05)));
bbbobbbieo 0:bf39986ebff7 271 TFC_SetServo(0,left_counter);
bbbobbbieo 0:bf39986ebff7 272 left_counter -= 1;
bbbobbbieo 0:bf39986ebff7 273 //if (left_counter < 10)
bbbobbbieo 0:bf39986ebff7 274 // turn_left =false;
bbbobbbieo 0:bf39986ebff7 275 }
bbbobbbieo 0:bf39986ebff7 276
bbbobbbieo 0:bf39986ebff7 277 if(turn_right)
bbbobbbieo 0:bf39986ebff7 278 {
bbbobbbieo 0:bf39986ebff7 279 turn_left =false;
bbbobbbieo 0:bf39986ebff7 280 //TFC_SetServo(0, ((right_counter)*(.05)));
bbbobbbieo 0:bf39986ebff7 281 TFC_SetServo(0,right_counter);
bbbobbbieo 0:bf39986ebff7 282 right_counter -= 1;
bbbobbbieo 0:bf39986ebff7 283 // if (right_counter < 10)
bbbobbbieo 0:bf39986ebff7 284 // turn_right =false;
bbbobbbieo 0:bf39986ebff7 285 }
bbbobbbieo 0:bf39986ebff7 286
bbbobbbieo 0:bf39986ebff7 287 // clearing values for next image processing round
bbbobbbieo 0:bf39986ebff7 288 black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 289 //black_center_value = 0;
bbbobbbieo 0:bf39986ebff7 290 sum_black = 0;
bbbobbbieo 0:bf39986ebff7 291
bbbobbbieo 0:bf39986ebff7 292 // end image processing
bbbobbbieo 0:bf39986ebff7 293
bbbobbbieo 0:bf39986ebff7 294 linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 295 } // end checking channel 0
bbbobbbieo 0:bf39986ebff7 296
bbbobbbieo 0:bf39986ebff7 297 else { //checking channel 1
bbbobbbieo 0:bf39986ebff7 298 linescan_ping_pong = true;
bbbobbbieo 0:bf39986ebff7 299 }
bbbobbbieo 0:bf39986ebff7 300
bbbobbbieo 0:bf39986ebff7 301 TFC_LineScanImageReady = 0; // since we used it, we reset the flag
bbbobbbieo 0:bf39986ebff7 302 }// end imageready
bbbobbbieo 0:bf39986ebff7 303 }// end linescan stuff
bbbobbbieo 0:bf39986ebff7 304 }
bbbobbbieo 0:bf39986ebff7 305 }
bbbobbbieo 0:bf39986ebff7 306
bbbobbbieo 0:bf39986ebff7 307 // shit code down here
bbbobbbieo 0:bf39986ebff7 308