fatboyslim
shit code for winning the race
Revision 0:113ea09a1ea9, committed 2015-03-24
- Comitter:
- bbbobbbieo
- Date:
- Tue Mar 24 15:15:15 2015 +0000
- Commit message:
- made new program thats shitty
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FRDM-TFC.lib Tue Mar 24 15:15:15 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/fatboyslim/code/FRDM-TFC/#243490772913
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 24 15:15:15 2015 +0000
@@ -0,0 +1,204 @@
+//#include "mbed.h"
+#include "TFC.h"
+//#include <iostream>
+//#include <stdio.h>
+//#include "serialib.h"
+
+const float AGGRESSIVE = .55;
+const float MODERATE =.48;
+const float CONSERVATIVE =.35;
+const float STOP =0;
+const float PROTECTION_THRESHOLD_UPPER =.7;
+const float PROTECTION_THRESHOLD_LOWER =-.7;
+const float TURN_FORWARD_ACCEL =0.045;
+const float TURN_BACKWARD_ACCEL =0.025;
+const float SERVO_CAN_MOVE_IN_ONE_FRAME =0.1;
+const float SERVO_MAX =.5;
+
+const int BLACK_THRESHOLD =63;
+const int LINE_SCAN_LENGTH =128;
+
+
+DigitalOut myled(LED1);
+
+int main()
+{
+ //run this before anything
+ TFC_Init();
+
+ //variables
+ float current_servo_position = 0;
+ float previous_servo_position = 0;
+ float current_left_motor_speed = 0;
+ float current_right_motor_speed = 0;
+
+ float proportional = 0;
+ float last_proportional = 0;
+ float integral = 0;
+ float derivative = 0;
+ float output = 0;
+
+ // gains on prop, int, der
+ // subject to change, need to fine tune
+ float kp = 1.8960;
+ float ki = 0.6170;
+ float kd = 1.5590;
+
+ bool rear_motor_enable_flag = true;
+ bool linescan_ping_pong = false;
+ bool linescan_enable = true;
+
+ int black_values_list[LINE_SCAN_LENGTH];
+ int black_value_count = 0;
+ int black_center_value = 0;
+ int sum_black = 0;
+ int violence_level = 0;
+
+ int accelList[3];
+ int lastAccessed = 0;
+
+ int centers_List[50];
+
+ int center_now = 63;
+ int center_past_1 = 63;
+ int center_past_2 = 63;
+ int center_past_3 = 63;
+ int center_past_4 = 63;
+ //int best_guess_center = 64;
+
+ int position = 0;
+ int set_point = 63;
+ int previous_error = 0;
+ int error = 0;
+
+ for(int i = 0; i < 50; i++)
+ centers_List[i] = 63;
+
+ int line_left_at;
+ int line_right_at;
+ bool line_left = false;
+ bool line_right = false;
+ int left_counter =0;
+ int right_counter =0;
+
+
+ // major loop
+ while(1) {
+
+ // initial motor stuff
+ if(rear_motor_enable_flag) {
+ TFC_HBRIDGE_ENABLE;
+
+ // checking behavior level
+ violence_level = int(TFC_GetDIP_Switch());
+
+ if (violence_level==3) {
+ current_left_motor_speed = -(AGGRESSIVE);
+ current_right_motor_speed = AGGRESSIVE;
+ }
+ else if (violence_level==2) {
+ current_left_motor_speed = -(MODERATE);
+ current_right_motor_speed = (MODERATE);
+ }
+ else if (violence_level==1) {
+ current_left_motor_speed = -(CONSERVATIVE);
+ current_right_motor_speed = CONSERVATIVE;
+ }
+ else if (violence_level==0) {
+ current_left_motor_speed = STOP;
+ current_right_motor_speed = STOP;
+ }
+ else {
+ current_left_motor_speed = STOP;
+ current_right_motor_speed = STOP;
+ }
+
+
+ // protection block
+ if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
+ current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
+ if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
+ current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
+ if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
+ current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
+ if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
+ current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
+
+ TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
+ }// end motor enabled
+ else {
+ TFC_HBRIDGE_DISABLE;
+ }// end motor disabled
+
+ // camera stuff
+ if (linescan_enable) {
+ if (TFC_LineScanImageReady !=0) {
+
+ if (linescan_ping_pong) {
+ //checking channel 0
+
+ for (uint16_t i=100; i>0; i--) {
+ line_left = (*(TFC_LineScanImage0+i) < 250) and (*(TFC_LineScanImage0+i-1) < 250) and (*(TFC_LineScanImage0+i-2) < 250);
+ if (line_left) {
+ line_left_at = i;
+ i=-1;
+ TFC_SetBatteryLED(1);
+ }
+ }
+
+ for (uint16_t i=40; i<128; i++) {
+ line_right = (*(TFC_LineScanImage1+i) < 250) and (*(TFC_LineScanImage1+i+1) < 250) and (*(TFC_LineScanImage1+i+2) < 250);
+ if (line_right) {
+ line_right_at = i;
+ i=129;
+ TFC_SetBatteryLED(4);
+ }
+ }
+
+
+ // turn left
+ if (line_right) {
+
+ }
+
+ // turn right
+ if (line_left) {
+
+ }
+
+ // clearing values for next image processing round
+ line_left_at=63;
+ line_right_at=63;
+ line_left = false;
+ line_right = false;
+
+
+ // end image processing
+ linescan_ping_pong = false;
+ } // end checking channel 0
+
+ else { //checking channel 1
+ linescan_ping_pong = true;
+ }
+
+ TFC_LineScanImageReady = 0; // since we used it, we reset the flag
+ }// end imageready
+ }// end linescan stuff
+ }//end while true
+}//end main
+
+
+/* shitcode
+left at bool, int
+right at bool, int
+
+left turn counter
+right turn counter
+
+if bool
+ inc counter by proportional to int (where line is)
+ turn away proportional to counter
+ multiply counter by .75 (turn less)
+
+*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 24 15:15:15 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0 \ No newline at end of file