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Dependencies:   FRDM-TFC mbed

main.cpp@20:c728b8ffad97, 2015-02-27 (annotated)

Committer:
bbbobbbieo
Date:
Fri Feb 27 17:10:15 2015 +0000
Revision:
20:c728b8ffad97
Parent:
19:85eb7991e2ab
Child:
21:df5a530208eb
Child:
23:fe15b6147c1b
best guess now based more on history than current... like a prediction?

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 15:830209e846d5 89 else if (violence_level==1) {
bbbobbbieo 16:11ba5d6f42ba 90 current_left_motor_speed = -.35;
bbbobbbieo 16:11ba5d6f42ba 91 current_right_motor_speed = .35;
bbbobbbieo 14:f43b386b8b5d 92 }
bbbobbbieo 15:830209e846d5 93 else if (violence_level==0) {
bbbobbbieo 15:830209e846d5 94 current_left_motor_speed = 0;
bbbobbbieo 15:830209e846d5 95 current_right_motor_speed = 0;
bbbobbbieo 15:830209e846d5 96 }
bbbobbbieo 15:830209e846d5 97 else {
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
bbbobbbieo 14:f43b386b8b5d 102
bbbobbbieo 15:830209e846d5 103 // protection block
bbbobbbieo 15:830209e846d5 104 if(current_left_motor_speed >= 0.5)
bbbobbbieo 15:830209e846d5 105 current_left_motor_speed= 0.5;
bbbobbbieo 15:830209e846d5 106 if(current_right_motor_speed >= 0.5)
bbbobbbieo 15:830209e846d5 107 current_right_motor_speed= 0.5;
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 14:f43b386b8b5d 112
bbbobbbieo 14:f43b386b8b5d 113 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 14:f43b386b8b5d 114 }// end motor enabled
bbbobbbieo 14:f43b386b8b5d 115 else {
bbbobbbieo 14:f43b386b8b5d 116 TFC_HBRIDGE_DISABLE;
bbbobbbieo 14:f43b386b8b5d 117 }// end motor disabled
bbbobbbieo 14:f43b386b8b5d 118
bbbobbbieo 15:830209e846d5 119 // camera stuff
bbbobbbieo 14:f43b386b8b5d 120 if (linescan_enable) {
bbbobbbieo 14:f43b386b8b5d 121 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 14:f43b386b8b5d 122
bbbobbbieo 15:830209e846d5 123 if (linescan_ping_pong) {
bbbobbbieo 15:830209e846d5 124 //checking channel 0
bbbobbbieo 15:830209e846d5 125
bbbobbbieo 15:830209e846d5 126 //checking center pixel, displays aprox value on leds
bbbobbbieo 14:f43b386b8b5d 127 uint8_t shitnum = 1;
bbbobbbieo 14:f43b386b8b5d 128 if (*(TFC_LineScanImage0+64) > 800)
bbbobbbieo 14:f43b386b8b5d 129 shitnum = 15;
bbbobbbieo 14:f43b386b8b5d 130 else if((*(TFC_LineScanImage0+64) > 450))
bbbobbbieo 14:f43b386b8b5d 131 shitnum = 7;
bbbobbbieo 14:f43b386b8b5d 132 else if((*(TFC_LineScanImage0+64) > 400))
bbbobbbieo 14:f43b386b8b5d 133 shitnum = 3;
bbbobbbieo 14:f43b386b8b5d 134 else
bbbobbbieo 14:f43b386b8b5d 135 shitnum = 1;
bbbobbbieo 14:f43b386b8b5d 136 TFC_SetBatteryLED(shitnum);
bbbobbbieo 14:f43b386b8b5d 137
bbbobbbieo 15:830209e846d5 138
bbbobbbieo 15:830209e846d5 139 // checking for center line (single line)
bbbobbbieo 14:f43b386b8b5d 140 for (uint16_t i=0; i<128; i++) {
bbbobbbieo 14:f43b386b8b5d 141 if ((*(TFC_LineScanImage0+i) < 300)) {
bbbobbbieo 14:f43b386b8b5d 142 black_values_list[black_value_count] = i;
bbbobbbieo 14:f43b386b8b5d 143 black_value_count++;
bbbobbbieo 14:f43b386b8b5d 144 }
bbbobbbieo 14:f43b386b8b5d 145 }
bbbobbbieo 14:f43b386b8b5d 146
bbbobbbieo 14:f43b386b8b5d 147 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 14:f43b386b8b5d 148 sum_black += black_values_list[i];
bbbobbbieo 14:f43b386b8b5d 149 }
bbbobbbieo 14:f43b386b8b5d 150
bbbobbbieo 20:c728b8ffad97 151 //update history
bbbobbbieo 20:c728b8ffad97 152 center_past_4= center_past_3;
bbbobbbieo 20:c728b8ffad97 153 center_past_3= center_past_2;
bbbobbbieo 20:c728b8ffad97 154 center_past_2= center_past_1;
bbbobbbieo 20:c728b8ffad97 155 center_past_1= center_now;
bbbobbbieo 20:c728b8ffad97 156
bbbobbbieo 15:830209e846d5 157 // value of center of black (single line)
bbbobbbieo 20:c728b8ffad97 158 //black_center_value = sum_black / black_value_count;
bbbobbbieo 20:c728b8ffad97 159 center_now = sum_black / black_value_count;
bbbobbbieo 20:c728b8ffad97 160
bbbobbbieo 20:c728b8ffad97 161 // best guess of center based on weighted average of history
bbbobbbieo 20:c728b8ffad97 162 black_center_value = (5*center_now + 10*center_past_1 + 15*center_past_2 +30*center_past_3 +40*center_past_4)/100;
bbbobbbieo 15:830209e846d5 163
mperella 17:c643b6b4a96f 164 /* ******* PID ALGORITHM *******
mperella 17:c643b6b4a96f 165
mperella 17:c643b6b4a96f 166 error = set_point - black_center_value;
mperella 17:c643b6b4a96f 167 integral = integral + error*dt;
mperella 17:c643b6b4a96f 168 derivative = (error - previous_error)/dt;
mperella 17:c643b6b4a96f 169 output = kp*error + ki*integral + kd*derivative;
mperella 17:c643b6b4a96f 170 previous error = error;
mperella 17:c643b6b4a96f 171
mperella 17:c643b6b4a96f 172 GOTTA DO SOME TESTS/SIMULATIONS TO CALIBRATE SERVO ADJUSTMENTS
mperella 17:c643b6b4a96f 173
mperella 17:c643b6b4a96f 174
mperella 17:c643b6b4a96f 175 *****************************
mperella 17:c643b6b4a96f 176 */
bbbobbbieo 14:f43b386b8b5d 177
bbbobbbieo 15:830209e846d5 178 // need to turn left
bbbobbbieo 15:830209e846d5 179 if (black_center_value < 64) {
bbbobbbieo 15:830209e846d5 180
bbbobbbieo 16:11ba5d6f42ba 181 current_servo_position= float(.01875*black_center_value-(1.2));
bbbobbbieo 14:f43b386b8b5d 182 if(current_servo_position <= -0.4)
bbbobbbieo 14:f43b386b8b5d 183 current_servo_position = -0.4;
bbbobbbieo 14:f43b386b8b5d 184 TFC_SetServo(0, current_servo_position);
bbbobbbieo 15:830209e846d5 185
bbbobbbieo 15:830209e846d5 186
bbbobbbieo 16:11ba5d6f42ba 187 //current_left_motor_speed = current_left_motor_speed + float(64-black_center_value)*.0025;
bbbobbbieo 16:11ba5d6f42ba 188 //current_right_motor_speed = current_right_motor_speed + float(64-black_center_value)*.0025;
bbbobbbieo 16:11ba5d6f42ba 189 if (violence_level !=0){
bbbobbbieo 19:85eb7991e2ab 190 current_left_motor_speed = current_left_motor_speed + float(float(64-black_center_value)*.025);// kinda reverse this...
bbbobbbieo 16:11ba5d6f42ba 191 current_right_motor_speed = current_right_motor_speed + float(float(64-black_center_value)*.045);// push more forwards
bbbobbbieo 16:11ba5d6f42ba 192 }
bbbobbbieo 16:11ba5d6f42ba 193
bbbobbbieo 16:11ba5d6f42ba 194 // protection block
bbbobbbieo 16:11ba5d6f42ba 195 if(current_left_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 196 current_left_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 197 if(current_right_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 198 current_right_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 199 if(current_left_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 200 current_left_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 201 if(current_right_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 202 current_right_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 203
bbbobbbieo 14:f43b386b8b5d 204 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 14:f43b386b8b5d 205
bbbobbbieo 7:455e7dd338ee 206 }
bbbobbbieo 14:f43b386b8b5d 207
bbbobbbieo 15:830209e846d5 208 // need to turn right
bbbobbbieo 14:f43b386b8b5d 209 if (black_center_value > 64) {
bbbobbbieo 14:f43b386b8b5d 210
bbbobbbieo 16:11ba5d6f42ba 211 current_servo_position= float(.01875*black_center_value-(1.2));
bbbobbbieo 14:f43b386b8b5d 212 if( current_servo_position >= +0.4)
bbbobbbieo 14:f43b386b8b5d 213 current_servo_position = +0.4;
bbbobbbieo 14:f43b386b8b5d 214 TFC_SetServo(0, current_servo_position);
bbbobbbieo 15:830209e846d5 215
bbbobbbieo 16:11ba5d6f42ba 216 //current_left_motor_speed = current_left_motor_speed - float(black_center_value-64)*.0025;
bbbobbbieo 16:11ba5d6f42ba 217 //current_right_motor_speed = current_right_motor_speed - float(black_center_value-64)*.0025;
bbbobbbieo 16:11ba5d6f42ba 218 if (violence_level !=0){
bbbobbbieo 16:11ba5d6f42ba 219 current_left_motor_speed = current_left_motor_speed - float(float(black_center_value-64)*.045);// push more forwards
bbbobbbieo 19:85eb7991e2ab 220 current_right_motor_speed = current_right_motor_speed - float(float(black_center_value-64)*.025);// kinda reverse this...
bbbobbbieo 16:11ba5d6f42ba 221 }
bbbobbbieo 15:830209e846d5 222
bbbobbbieo 16:11ba5d6f42ba 223 // protection block
bbbobbbieo 16:11ba5d6f42ba 224 if(current_left_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 225 current_left_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 226 if(current_right_motor_speed >= 0.5)
bbbobbbieo 16:11ba5d6f42ba 227 current_right_motor_speed= 0.5;
bbbobbbieo 16:11ba5d6f42ba 228 if(current_left_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 229 current_left_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 230 if(current_right_motor_speed <= -0.5)
bbbobbbieo 16:11ba5d6f42ba 231 current_right_motor_speed= -0.5;
bbbobbbieo 16:11ba5d6f42ba 232
bbbobbbieo 14:f43b386b8b5d 233 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 15:830209e846d5 234
bbbobbbieo 14:f43b386b8b5d 235 }
bbbobbbieo 14:f43b386b8b5d 236
bbbobbbieo 15:830209e846d5 237 // clearing values for next image processing round
bbbobbbieo 14:f43b386b8b5d 238 black_value_count = 0;
bbbobbbieo 14:f43b386b8b5d 239 black_center_value = 0;
bbbobbbieo 14:f43b386b8b5d 240 sum_black = 0;
bbbobbbieo 14:f43b386b8b5d 241
bbbobbbieo 15:830209e846d5 242 // end image processing
bbbobbbieo 14:f43b386b8b5d 243
bbbobbbieo 14:f43b386b8b5d 244 linescan_ping_pong = false;
bbbobbbieo 14:f43b386b8b5d 245 } // end checking channel 0
bbbobbbieo 15:830209e846d5 246
bbbobbbieo 15:830209e846d5 247 else { //checking channel 1
bbbobbbieo 14:f43b386b8b5d 248 linescan_ping_pong = true;
bbbobbbieo 14:f43b386b8b5d 249 }
bbbobbbieo 14:f43b386b8b5d 250
bbbobbbieo 7:455e7dd338ee 251 TFC_LineScanImageReady ==0; // since we used it, we reset the flag
bbbobbbieo 14:f43b386b8b5d 252 }// end imageready
bbbobbbieo 14:f43b386b8b5d 253 }// end linescan stuff
bbbobbbieo 0:d57117b2188d 254 }
bbbobbbieo 0:d57117b2188d 255 }
bbbobbbieo 8:946806df7347 256
bbbobbbieo 8:946806df7347 257
bbbobbbieo 15:830209e846d5 258 // shit code down here