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Dependencies:   FRDM-TFC mbed

main.cpp@24:504a58daa06e, 2015-03-02 (annotated)

Committer:
bbbobbbieo
Date:
Mon Mar 02 20:21:40 2015 +0000
Revision:
24:504a58daa06e
Parent:
23:fe15b6147c1b
Child:
25:1d0f586aaf0c
Child:
26:3f7ddc7d5bdf
different data weight on future/past;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bbbobbbieo 3:c7caa058fc50 1 //#include "mbed.h"
bbbobbbieo 1:21d40d90b2f0 2 #include "TFC.h"
bbbobbbieo 0:d57117b2188d 3
bbbobbbieo 0:d57117b2188d 4 DigitalOut myled(LED1);
bbbobbbieo 0:d57117b2188d 5
bbbobbbieo 14:f43b386b8b5d 6 int main()
bbbobbbieo 1:21d40d90b2f0 7 {
bbbobbbieo 7:455e7dd338ee 8 //run this before anything
bbbobbbieo 2:d8a51492b646 9 TFC_Init();
bbbobbbieo 14:f43b386b8b5d 10
bbbobbbieo 7:455e7dd338ee 11 //variables
bbbobbbieo 4:7584ff0426f1 12 float current_servo_position = 0;
bbbobbbieo 6:44d1079f076c 13 float current_left_motor_speed = 0;
bbbobbbieo 6:44d1079f076c 14 float current_right_motor_speed = 0;
mperella 17:c643b6b4a96f 15
mperella 17:c643b6b4a96f 16 float dt = 0.00001;
mperella 17:c643b6b4a96f 17 float integral = 0;
mperella 17:c643b6b4a96f 18 float derivative = 0;
mperella 17:c643b6b4a96f 19 float output = 0;
mperella 17:c643b6b4a96f 20
mperella 17:c643b6b4a96f 21 // gains on prop, int, der
mperella 17:c643b6b4a96f 22 // subject to change, need to fine tune
mperella 17:c643b6b4a96f 23 float kp = 1.8960;
mperella 17:c643b6b4a96f 24 float ki = 0.6170;
mperella 17:c643b6b4a96f 25 float kd = 1.5590;
mperella 17:c643b6b4a96f 26
bbbobbbieo 6:44d1079f076c 27 bool rear_motor_enable_flag = true;
bbbobbbieo 7:455e7dd338ee 28 bool linescan_ping_pong = false;
bbbobbbieo 9:2b028ee421ad 29 bool linescan_enable = true;
bbbobbbieo 14:f43b386b8b5d 30
bbbobbbieo 11:d65d6d7fc85e 31 int black_values_list[128];
bbbobbbieo 11:d65d6d7fc85e 32 int black_value_count = 0;
bbbobbbieo 11:d65d6d7fc85e 33 int black_center_value = 0;
bbbobbbieo 11:d65d6d7fc85e 34 int sum_black = 0;
bbbobbbieo 14:f43b386b8b5d 35 int violence_level = 0;
bbbobbbieo 15:830209e846d5 36
bbbobbbieo 20:c728b8ffad97 37 int center_now = 64;
bbbobbbieo 20:c728b8ffad97 38 int center_past_1 = 64;
bbbobbbieo 20:c728b8ffad97 39 int center_past_2 = 64;
bbbobbbieo 20:c728b8ffad97 40 int center_past_3 = 64;
bbbobbbieo 20:c728b8ffad97 41 int center_past_4 = 64;
bbbobbbieo 20:c728b8ffad97 42 //int best_guess_center = 64;
bbbobbbieo 20:c728b8ffad97 43
mperella 17:c643b6b4a96f 44 int set_point = 64;
bbbobbbieo 19:85eb7991e2ab 45 int previous_error = 0;
mperella 17:c643b6b4a96f 46 int error = 0;
mperella 17:c643b6b4a96f 47
mperella 17:c643b6b4a96f 48
bbbobbbieo 9:2b028ee421ad 49 //uint16_t MyImage0Buffer[2][128];
bbbobbbieo 9:2b028ee421ad 50 //uint16_t MyImage1Buffer[2][128];
bbbobbbieo 14:f43b386b8b5d 51
bbbobbbieo 7:455e7dd338ee 52 // major loop
bbbobbbieo 14:f43b386b8b5d 53 while(1) {
bbbobbbieo 14:f43b386b8b5d 54
bbbobbbieo 15:830209e846d5 55 // manual servo control, unused
bbbobbbieo 14:f43b386b8b5d 56 if (TFC_ReadPushButton(0) != 0 ) {
bbbobbbieo 14:f43b386b8b5d 57 current_servo_position = current_servo_position-.005;
bbbobbbieo 14:f43b386b8b5d 58 if(current_servo_position <= -0.4)
bbbobbbieo 14:f43b386b8b5d 59 current_servo_position = -0.4;
bbbobbbieo 14:f43b386b8b5d 60 TFC_SetServo(0, current_servo_position);
bbbobbbieo 14:f43b386b8b5d 61 }// end check button0
bbbobbbieo 14:f43b386b8b5d 62
bbbobbbieo 15:830209e846d5 63 else {}
bbbobbbieo 14:f43b386b8b5d 64
bbbobbbieo 15:830209e846d5 65 // manual servo control, unused
bbbobbbieo 14:f43b386b8b5d 66 if (TFC_ReadPushButton(1) != 0 ) {
bbbobbbieo 14:f43b386b8b5d 67 current_servo_position = current_servo_position+.005;
bbbobbbieo 14:f43b386b8b5d 68 if(current_servo_position >= 0.4)
bbbobbbieo 14:f43b386b8b5d 69 current_servo_position = 0.4;
bbbobbbieo 14:f43b386b8b5d 70 TFC_SetServo(0, current_servo_position);
bbbobbbieo 14:f43b386b8b5d 71 }// end check button1
bbbobbbieo 14:f43b386b8b5d 72
bbbobbbieo 15:830209e846d5 73 else {}
bbbobbbieo 14:f43b386b8b5d 74
bbbobbbieo 15:830209e846d5 75 // initial motor stuff
bbbobbbieo 14:f43b386b8b5d 76 if(rear_motor_enable_flag) {
bbbobbbieo 14:f43b386b8b5d 77 TFC_HBRIDGE_ENABLE;
bbbobbbieo 14:f43b386b8b5d 78
bbbobbbieo 15:830209e846d5 79 //current_left_motor_speed = (TFC_ReadPot(0));
bbbobbbieo 15:830209e846d5 80 //current_right_motor_speed = (TFC_ReadPot(1));
bbbobbbieo 14:f43b386b8b5d 81
bbbobbbieo 15:830209e846d5 82 // checking behavior level
bbbobbbieo 14:f43b386b8b5d 83 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 14:f43b386b8b5d 84
bbbobbbieo 15:830209e846d5 85 if (violence_level==2) {
bbbobbbieo 16:11ba5d6f42ba 86 current_left_motor_speed = -.48;
bbbobbbieo 16:11ba5d6f42ba 87 current_right_motor_speed = .48;
bbbobbbieo 15:830209e846d5 88 }
bbbobbbieo 23:fe15b6147c1b 89 if (violence_level==3) {
bbbobbbieo 23:fe15b6147c1b 90 current_left_motor_speed = -.55;
bbbobbbieo 23:fe15b6147c1b 91 current_right_motor_speed = .55;
bbbobbbieo 23:fe15b6147c1b 92 }
bbbobbbieo 15:830209e846d5 93 else if (violence_level==1) {
bbbobbbieo 16:11ba5d6f42ba 94 current_left_motor_speed = -.35;
bbbobbbieo 16:11ba5d6f42ba 95 current_right_motor_speed = .35;
bbbobbbieo 14:f43b386b8b5d 96 }
bbbobbbieo 15:830209e846d5 97 else if (violence_level==0) {
bbbobbbieo 15:830209e846d5 98 current_left_motor_speed = 0;
bbbobbbieo 15:830209e846d5 99 current_right_motor_speed = 0;
bbbobbbieo 15:830209e846d5 100 }
bbbobbbieo 15:830209e846d5 101 else {
bbbobbbieo 15:830209e846d5 102 current_left_motor_speed = 0;
bbbobbbieo 15:830209e846d5 103 current_right_motor_speed = 0;
bbbobbbieo 15:830209e846d5 104 }
bbbobbbieo 15:830209e846d5 105
bbbobbbieo 14:f43b386b8b5d 106
bbbobbbieo 15:830209e846d5 107 // protection block
bbbobbbieo 15:830209e846d5 108 if(current_left_motor_speed >= 0.5)
bbbobbbieo 15:830209e846d5 109 current_left_motor_speed= 0.5;
bbbobbbieo 15:830209e846d5 110 if(current_right_motor_speed >= 0.5)
bbbobbbieo 15:830209e846d5 111 current_right_motor_speed= 0.5;
bbbobbbieo 15:830209e846d5 112 if(current_left_motor_speed <= -0.5)
bbbobbbieo 15:830209e846d5 113 current_left_motor_speed= -0.5;
bbbobbbieo 15:830209e846d5 114 if(current_right_motor_speed <= -0.5)
bbbobbbieo 15:830209e846d5 115 current_right_motor_speed= -0.5;
bbbobbbieo 14:f43b386b8b5d 116
bbbobbbieo 14:f43b386b8b5d 117 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 14:f43b386b8b5d 118 }// end motor enabled
bbbobbbieo 14:f43b386b8b5d 119 else {
bbbobbbieo 14:f43b386b8b5d 120 TFC_HBRIDGE_DISABLE;
bbbobbbieo 14:f43b386b8b5d 121 }// end motor disabled
bbbobbbieo 14:f43b386b8b5d 122
bbbobbbieo 15:830209e846d5 123 // camera stuff
bbbobbbieo 14:f43b386b8b5d 124 if (linescan_enable) {
bbbobbbieo 14:f43b386b8b5d 125 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 14:f43b386b8b5d 126
bbbobbbieo 15:830209e846d5 127 if (linescan_ping_pong) {
bbbobbbieo 15:830209e846d5 128 //checking channel 0
bbbobbbieo 15:830209e846d5 129
bbbobbbieo 15:830209e846d5 130 //checking center pixel, displays aprox value on leds
bbbobbbieo 14:f43b386b8b5d 131 uint8_t shitnum = 1;
bbbobbbieo 14:f43b386b8b5d 132 if (*(TFC_LineScanImage0+64) > 800)
bbbobbbieo 14:f43b386b8b5d 133 shitnum = 15;
bbbobbbieo 14:f43b386b8b5d 134 else if((*(TFC_LineScanImage0+64) > 450))
bbbobbbieo 14:f43b386b8b5d 135 shitnum = 7;
bbbobbbieo 14:f43b386b8b5d 136 else if((*(TFC_LineScanImage0+64) > 400))
bbbobbbieo 14:f43b386b8b5d 137 shitnum = 3;
bbbobbbieo 14:f43b386b8b5d 138 else
bbbobbbieo 14:f43b386b8b5d 139 shitnum = 1;
bbbobbbieo 14:f43b386b8b5d 140 TFC_SetBatteryLED(shitnum);
bbbobbbieo 14:f43b386b8b5d 141
bbbobbbieo 15:830209e846d5 142
bbbobbbieo 15:830209e846d5 143 // checking for center line (single line)
bbbobbbieo 14:f43b386b8b5d 144 for (uint16_t i=0; i<128; i++) {
bbbobbbieo 14:f43b386b8b5d 145 if ((*(TFC_LineScanImage0+i) < 300)) {
bbbobbbieo 14:f43b386b8b5d 146 black_values_list[black_value_count] = i;
bbbobbbieo 14:f43b386b8b5d 147 black_value_count++;
bbbobbbieo 14:f43b386b8b5d 148 }
bbbobbbieo 14:f43b386b8b5d 149 }
bbbobbbieo 14:f43b386b8b5d 150
bbbobbbieo 14:f43b386b8b5d 151 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 14:f43b386b8b5d 152 sum_black += black_values_list[i];
bbbobbbieo 14:f43b386b8b5d 153 }
bbbobbbieo 14:f43b386b8b5d 154
bbbobbbieo 20:c728b8ffad97 155 //update history
bbbobbbieo 20:c728b8ffad97 156 center_past_4= center_past_3;
bbbobbbieo 20:c728b8ffad97 157 center_past_3= center_past_2;
bbbobbbieo 20:c728b8ffad97 158 center_past_2= center_past_1;
bbbobbbieo 20:c728b8ffad97 159 center_past_1= center_now;
bbbobbbieo 20:c728b8ffad97 160
bbbobbbieo 15:830209e846d5 161 // value of center of black (single line)
bbbobbbieo 20:c728b8ffad97 162 //black_center_value = sum_black / black_value_count;
bbbobbbieo 20:c728b8ffad97 163 center_now = sum_black / black_value_count;
bbbobbbieo 20:c728b8ffad97 164
bbbobbbieo 20:c728b8ffad97 165 // best guess of center based on weighted average of history
bbbobbbieo 24:504a58daa06e 166 //black_center_value = (5*center_now + 10*center_past_1 + 15*center_past_2 +30*center_past_3 +40*center_past_4)/100;
bbbobbbieo 24:504a58daa06e 167 black_center_value = (30*center_now + 10*center_past_1 + 15*center_past_2 +5*center_past_3 +40*center_past_4)/100;
bbbobbbieo 15:830209e846d5 168
mperella 17:c643b6b4a96f 169 /* ******* PID ALGORITHM *******
mperella 17:c643b6b4a96f 170
mperella 17:c643b6b4a96f 171 error = set_point - black_center_value;
mperella 17:c643b6b4a96f 172 integral = integral + error*dt;
mperella 17:c643b6b4a96f 173 derivative = (error - previous_error)/dt;
mperella 17:c643b6b4a96f 174 output = kp*error + ki*integral + kd*derivative;
mperella 17:c643b6b4a96f 175 previous error = error;
mperella 17:c643b6b4a96f 176
mperella 17:c643b6b4a96f 177 GOTTA DO SOME TESTS/SIMULATIONS TO CALIBRATE SERVO ADJUSTMENTS
mperella 17:c643b6b4a96f 178
mperella 17:c643b6b4a96f 179
mperella 17:c643b6b4a96f 180 *****************************
mperella 17:c643b6b4a96f 181 */
bbbobbbieo 14:f43b386b8b5d 182
bbbobbbieo 15:830209e846d5 183 // need to turn left
bbbobbbieo 15:830209e846d5 184 if (black_center_value < 64) {
bbbobbbieo 15:830209e846d5 185
bbbobbbieo 16:11ba5d6f42ba 186 current_servo_position= float(.01875*black_center_value-(1.2));
bbbobbbieo 14:f43b386b8b5d 187 if(current_servo_position <= -0.4)
bbbobbbieo 14:f43b386b8b5d 188 current_servo_position = -0.4;
bbbobbbieo 14:f43b386b8b5d 189 TFC_SetServo(0, current_servo_position);
bbbobbbieo 15:830209e846d5 190
bbbobbbieo 15:830209e846d5 191
bbbobbbieo 16:11ba5d6f42ba 192 //current_left_motor_speed = current_left_motor_speed + float(64-black_center_value)*.0025;
bbbobbbieo 16:11ba5d6f42ba 193 //current_right_motor_speed = current_right_motor_speed + float(64-black_center_value)*.0025;
bbbobbbieo 16:11ba5d6f42ba 194 if (violence_level !=0){
bbbobbbieo 19:85eb7991e2ab 195 current_left_motor_speed = current_left_motor_speed + float(float(64-black_center_value)*.025);// kinda reverse this...
bbbobbbieo 16:11ba5d6f42ba 196 current_right_motor_speed = current_right_motor_speed + float(float(64-black_center_value)*.045);// push more forwards
bbbobbbieo 16:11ba5d6f42ba 197 }
bbbobbbieo 16:11ba5d6f42ba 198
bbbobbbieo 16:11ba5d6f42ba 199 // protection block
bbbobbbieo 16:11ba5d6f42ba 200 if(current_left_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 201 current_left_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 202 if(current_right_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 203 current_right_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 204 if(current_left_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 205 current_left_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 206 if(current_right_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 207 current_right_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 208
bbbobbbieo 14:f43b386b8b5d 209 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 14:f43b386b8b5d 210
bbbobbbieo 7:455e7dd338ee 211 }
bbbobbbieo 14:f43b386b8b5d 212
bbbobbbieo 15:830209e846d5 213 // need to turn right
bbbobbbieo 14:f43b386b8b5d 214 if (black_center_value > 64) {
bbbobbbieo 14:f43b386b8b5d 215
bbbobbbieo 16:11ba5d6f42ba 216 current_servo_position= float(.01875*black_center_value-(1.2));
bbbobbbieo 14:f43b386b8b5d 217 if( current_servo_position >= +0.4)
bbbobbbieo 14:f43b386b8b5d 218 current_servo_position = +0.4;
bbbobbbieo 14:f43b386b8b5d 219 TFC_SetServo(0, current_servo_position);
bbbobbbieo 15:830209e846d5 220
bbbobbbieo 16:11ba5d6f42ba 221 //current_left_motor_speed = current_left_motor_speed - float(black_center_value-64)*.0025;
bbbobbbieo 16:11ba5d6f42ba 222 //current_right_motor_speed = current_right_motor_speed - float(black_center_value-64)*.0025;
bbbobbbieo 16:11ba5d6f42ba 223 if (violence_level !=0){
bbbobbbieo 16:11ba5d6f42ba 224 current_left_motor_speed = current_left_motor_speed - float(float(black_center_value-64)*.045);// push more forwards
bbbobbbieo 19:85eb7991e2ab 225 current_right_motor_speed = current_right_motor_speed - float(float(black_center_value-64)*.025);// kinda reverse this...
bbbobbbieo 16:11ba5d6f42ba 226 }
bbbobbbieo 15:830209e846d5 227
bbbobbbieo 16:11ba5d6f42ba 228 // protection block
bbbobbbieo 16:11ba5d6f42ba 229 if(current_left_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 230 current_left_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 231 if(current_right_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 232 current_right_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 233 if(current_left_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 234 current_left_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 235 if(current_right_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 236 current_right_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 237
bbbobbbieo 14:f43b386b8b5d 238 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 15:830209e846d5 239
bbbobbbieo 14:f43b386b8b5d 240 }
bbbobbbieo 14:f43b386b8b5d 241
bbbobbbieo 15:830209e846d5 242 // clearing values for next image processing round
bbbobbbieo 14:f43b386b8b5d 243 black_value_count = 0;
bbbobbbieo 14:f43b386b8b5d 244 black_center_value = 0;
bbbobbbieo 14:f43b386b8b5d 245 sum_black = 0;
bbbobbbieo 14:f43b386b8b5d 246
bbbobbbieo 15:830209e846d5 247 // end image processing
bbbobbbieo 14:f43b386b8b5d 248
bbbobbbieo 14:f43b386b8b5d 249 linescan_ping_pong = false;
bbbobbbieo 14:f43b386b8b5d 250 } // end checking channel 0
bbbobbbieo 15:830209e846d5 251
bbbobbbieo 15:830209e846d5 252 else { //checking channel 1
bbbobbbieo 14:f43b386b8b5d 253 linescan_ping_pong = true;
bbbobbbieo 14:f43b386b8b5d 254 }
bbbobbbieo 14:f43b386b8b5d 255
bbbobbbieo 7:455e7dd338ee 256 TFC_LineScanImageReady ==0; // since we used it, we reset the flag
bbbobbbieo 14:f43b386b8b5d 257 }// end imageready
bbbobbbieo 14:f43b386b8b5d 258 }// end linescan stuff
bbbobbbieo 0:d57117b2188d 259 }
bbbobbbieo 0:d57117b2188d 260 }
bbbobbbieo 8:946806df7347 261
bbbobbbieo 8:946806df7347 262
bbbobbbieo 15:830209e846d5 263 // shit code down here