Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

main.cpp@57:0d8a155d511d, 2017-04-08 (annotated)

Committer:
hazheng
Date:
Sat Apr 08 15:58:52 2017 +0000
Revision:
57:0d8a155d511d
Parent:
56:7d3395ae022d
Child:
58:996effac29b9
Child:
62:bc5caf59fe39
move the image processing to the main thread. Created the debug counter.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 3:c8867972ffc7 1 #include "mbed.h"
hazheng 5:577b582e4fe9 2
hazheng 44:15de535c4005 3 #include <math.h>
hazheng 46:a5eb9bd3bb55 4 #define PI 3.14159265f
hazheng 44:15de535c4005 5
hazheng 57:0d8a155d511d 6 //#define SW_DEBUG
hazheng 56:7d3395ae022d 7 #include "SWCommon.h"
hazheng 56:7d3395ae022d 8 #include "GlobalVariable.h"
hazheng 56:7d3395ae022d 9
Bobymicjohn 8:92f6baeea027 10 #include "Motor.h"
Bobymicjohn 11:676ea42afd56 11 #include "Servo.h"
Bobymicjohn 15:eb6a274b3dfb 12 #include "WheelEncoder.h"
Bobymicjohn 11:676ea42afd56 13 #include "Core.h"
Bobymicjohn 11:676ea42afd56 14 #include "SWUSBServer.h"
hazheng 29:f87d8790f57d 15
hazheng 29:f87d8790f57d 16 #include "ArduCAM.h"
hazheng 40:be98219930e4 17 #include "ArduUTFT.h"
Bobymicjohn 10:fedb5786a109 18
Bobymicjohn 10:fedb5786a109 19 #include "PinAssignment.h"
Bobymicjohn 8:92f6baeea027 20
hazheng 28:271fc8445e89 21 SPI g_spi_port(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK);
hazheng 29:f87d8790f57d 22 SW::Core g_core;
hazheng 5:577b582e4fe9 23
hazheng 56:7d3395ae022d 24 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 25 #include <rtos.h>
hazheng 56:7d3395ae022d 26 Mutex g_sw_spi_lock;
hazheng 56:7d3395ae022d 27 #endif
hazheng 56:7d3395ae022d 28
hazheng 3:c8867972ffc7 29 int main(void) {
hazheng 16:66c7a09e71ee 30
hazheng 16:66c7a09e71ee 31 Timer timer;
hazheng 16:66c7a09e71ee 32
hazheng 48:f76b5e252444 33 g_spi_port.frequency(5000000);
hazheng 29:f87d8790f57d 34 //g_spi_port.format(8, 0);
hazheng 29:f87d8790f57d 35
hazheng 29:f87d8790f57d 36 //SW::Core core;
Bobymicjohn 10:fedb5786a109 37
hazheng 46:a5eb9bd3bb55 38 //Motor motor(g_core);
hazheng 45:501b7909139a 39 //Servo servo(g_core);
hazheng 25:6f63053cee81 40 //WheelEncoder wheelEncoder(core);
hazheng 29:f87d8790f57d 41 //Camera cam(core);
hazheng 46:a5eb9bd3bb55 42 motor_init();
hazheng 45:501b7909139a 43 servo_init();
hazheng 16:66c7a09e71ee 44
hazheng 29:f87d8790f57d 45 bool isRegRead = false;
Bobymicjohn 14:88302da8bff0 46
hazheng 40:be98219930e4 47
hazheng 40:be98219930e4 48 ardu_utft_init();
hazheng 29:f87d8790f57d 49
hazheng 41:7b21c5e3599e 50
hazheng 41:7b21c5e3599e 51 ardu_cam_init();
hazheng 41:7b21c5e3599e 52
hazheng 18:bf6c5f8281eb 53 //timer.reset();
hazheng 16:66c7a09e71ee 54 timer.start();
hazheng 18:bf6c5f8281eb 55 float timeWas = timer.read();
hazheng 44:15de535c4005 56
hazheng 46:a5eb9bd3bb55 57 servo_set_angle(0.0f);
Bobymicjohn 54:f1f5648dfacf 58
Bobymicjohn 54:f1f5648dfacf 59 float speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 60
hazheng 57:0d8a155d511d 61 DebugCounter counter(10, PTE5);
hazheng 57:0d8a155d511d 62
hazheng 5:577b582e4fe9 63 while (1)
hazheng 5:577b582e4fe9 64 {
hazheng 18:bf6c5f8281eb 65 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 66 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 67 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 68
Bobymicjohn 54:f1f5648dfacf 69 //g_core.Update(deltaTime);
hazheng 41:7b21c5e3599e 70
Bobymicjohn 54:f1f5648dfacf 71 //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
Bobymicjohn 54:f1f5648dfacf 72 //{
hazheng 44:15de535c4005 73 //ardu_cam_print_debug();
Bobymicjohn 54:f1f5648dfacf 74 // isRegRead = true;
Bobymicjohn 54:f1f5648dfacf 75 //}
hazheng 41:7b21c5e3599e 76
hazheng 44:15de535c4005 77 //ardu_cam_display_img_utft();
hazheng 57:0d8a155d511d 78 image_processing();
hazheng 55:d4db9eef4a9d 79 const volatile uint8_t * centerLine = ardu_cam_get_center_array();
hazheng 46:a5eb9bd3bb55 80
hazheng 46:a5eb9bd3bb55 81 /////////////Calculate the curvature:
hazheng 57:0d8a155d511d 82 float srcY = (0.0f + 1.0f) / 2.0f;
hazheng 57:0d8a155d511d 83 float srcX = static_cast<float>(centerLine[0] + centerLine[1]) / 2.0f;
hazheng 46:a5eb9bd3bb55 84
hazheng 57:0d8a155d511d 85 float destY = static_cast<float>(CAM_ROI_UPPER_LIMIT - 1 + (CAM_ROI_UPPER_LIMIT - 2)) / 2.0f;
hazheng 57:0d8a155d511d 86 float destX = static_cast<float>(centerLine[CAM_ROI_UPPER_LIMIT - 1] + centerLine[CAM_ROI_UPPER_LIMIT - 2]) / 2.0f;
hazheng 46:a5eb9bd3bb55 87
hazheng 46:a5eb9bd3bb55 88 float disY = destY - srcY;
hazheng 46:a5eb9bd3bb55 89 float disX = destX - srcX;
hazheng 46:a5eb9bd3bb55 90
hazheng 52:078b521c9edf 91 float angleRadians = -1.0f * static_cast<float>(atan(static_cast<double>(disX / disY)));
Bobymicjohn 47:a682be9908b9 92
Bobymicjohn 47:a682be9908b9 93 float angleDegrees = (angleRadians * (180.0f / PI));
hazheng 46:a5eb9bd3bb55 94 ///////////////////////////////////////
hazheng 46:a5eb9bd3bb55 95
hazheng 46:a5eb9bd3bb55 96 /////////////Calculate the offset:
hazheng 44:15de535c4005 97 float centerPos = static_cast<float>(RESOLUTION_WIDTH / 2);
hazheng 52:078b521c9edf 98 float offsetDegrees = ((srcX - centerPos) / centerPos) * SERVO_MAX_ANGLE;
hazheng 46:a5eb9bd3bb55 99 //////////////////////////////////////
hazheng 46:a5eb9bd3bb55 100
hazheng 57:0d8a155d511d 101 float totalAngleDegrees = (angleDegrees * 0.50f) + (offsetDegrees * 0.35f);
Bobymicjohn 54:f1f5648dfacf 102 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 52:078b521c9edf 103 servo_set_angle(totalAngleDegrees);
hazheng 52:078b521c9edf 104
hazheng 52:078b521c9edf 105 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 106 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 52:078b521c9edf 107 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 108 totalAngleDegrees = -SERVO_MAX_ANGLE;
Bobymicjohn 54:f1f5648dfacf 109
Bobymicjohn 54:f1f5648dfacf 110
hazheng 57:0d8a155d511d 111 if(totalAngleDegreesAbs > 19.0f)
hazheng 52:078b521c9edf 112 {
hazheng 57:0d8a155d511d 113 speedRatio = 0.82f;
Bobymicjohn 54:f1f5648dfacf 114 }
hazheng 57:0d8a155d511d 115 else if(totalAngleDegreesAbs > 15.0f)
Bobymicjohn 54:f1f5648dfacf 116 {
hazheng 57:0d8a155d511d 117 speedRatio = 0.87f;
Bobymicjohn 54:f1f5648dfacf 118 }
hazheng 57:0d8a155d511d 119 else if(totalAngleDegreesAbs > 10.0f)
Bobymicjohn 54:f1f5648dfacf 120 {
hazheng 57:0d8a155d511d 121 speedRatio = 0.95f;
hazheng 52:078b521c9edf 122 }
hazheng 52:078b521c9edf 123 else
hazheng 52:078b521c9edf 124 {
Bobymicjohn 54:f1f5648dfacf 125 speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 126 }
Bobymicjohn 54:f1f5648dfacf 127
Bobymicjohn 54:f1f5648dfacf 128 if(totalAngleDegrees < 0.0f)
Bobymicjohn 54:f1f5648dfacf 129 {
Bobymicjohn 54:f1f5648dfacf 130 motor_set_left_speed(speedRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
Bobymicjohn 54:f1f5648dfacf 131 motor_set_right_speed(speedRatio * 1.0f);
Bobymicjohn 54:f1f5648dfacf 132 }
Bobymicjohn 54:f1f5648dfacf 133 else
Bobymicjohn 54:f1f5648dfacf 134 {
Bobymicjohn 54:f1f5648dfacf 135 motor_set_right_speed(speedRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
Bobymicjohn 54:f1f5648dfacf 136 motor_set_left_speed(speedRatio * 1.0f);
hazheng 52:078b521c9edf 137 }
hazheng 56:7d3395ae022d 138
hazheng 57:0d8a155d511d 139 //LOGI("FPS: %f", 1 / deltaTime);
hazheng 57:0d8a155d511d 140 counter.Update();
hazheng 57:0d8a155d511d 141
hazheng 52:078b521c9edf 142 /*
Bobymicjohn 47:a682be9908b9 143 //////// Steer Vehicle / Adjust Speed for Differential //////////
Bobymicjohn 47:a682be9908b9 144 servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));
Bobymicjohn 47:a682be9908b9 145
Bobymicjohn 47:a682be9908b9 146 if(angleRadians > 0.366)
Bobymicjohn 47:a682be9908b9 147 angleRadians = 0.366;
Bobymicjohn 47:a682be9908b9 148 else if(angleRadians < -0.366)
Bobymicjohn 47:a682be9908b9 149 angleRadians = -0.366;
Bobymicjohn 47:a682be9908b9 150
Bobymicjohn 47:a682be9908b9 151 if(angleRadians < 0)
Bobymicjohn 47:a682be9908b9 152 {
Bobymicjohn 47:a682be9908b9 153 motor_set_left_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 154 motor_set_right_speed(1.0);
Bobymicjohn 47:a682be9908b9 155 }
Bobymicjohn 47:a682be9908b9 156 else
Bobymicjohn 47:a682be9908b9 157 {
Bobymicjohn 47:a682be9908b9 158 motor_set_right_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 159 motor_set_left_speed(1.0);
Bobymicjohn 47:a682be9908b9 160 }
hazheng 52:078b521c9edf 161 */
hazheng 50:c387c88141fb 162
hazheng 50:c387c88141fb 163
hazheng 46:a5eb9bd3bb55 164 //char buf[20];
hazheng 46:a5eb9bd3bb55 165 //sprintf(buf, "angle %f", angle);
hazheng 46:a5eb9bd3bb55 166 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 46:a5eb9bd3bb55 167 /*
hazheng 46:a5eb9bd3bb55 168 std::string tempStr = "XX";
hazheng 46:a5eb9bd3bb55 169 for(uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 46:a5eb9bd3bb55 170 {
hazheng 46:a5eb9bd3bb55 171 tempStr[0] = i;
hazheng 46:a5eb9bd3bb55 172 tempStr[1] = centerLine[i];
hazheng 46:a5eb9bd3bb55 173 g_core.GetUSBServer().PushUnreliableMsg('L', tempStr);
hazheng 46:a5eb9bd3bb55 174 }
hazheng 46:a5eb9bd3bb55 175 */
hazheng 46:a5eb9bd3bb55 176
hazheng 46:a5eb9bd3bb55 177 /*
hazheng 44:15de535c4005 178 if(offsetPercent > 0.1)
hazheng 44:15de535c4005 179 {
hazheng 46:a5eb9bd3bb55 180 motor_set_speeds(0.05f, 0.05f);
hazheng 44:15de535c4005 181 }
hazheng 44:15de535c4005 182 else
hazheng 44:15de535c4005 183 {
hazheng 46:a5eb9bd3bb55 184 motor_set_speeds(0.13f, 0.13f);
hazheng 44:15de535c4005 185 }
hazheng 46:a5eb9bd3bb55 186 */
hazheng 43:0d1886f4848a 187 //wait(0.01);
hazheng 3:c8867972ffc7 188 }
hazheng 3:c8867972ffc7 189 }
hazheng 3:c8867972ffc7 190
hazheng 3:c8867972ffc7 191 /*
hazheng 3:c8867972ffc7 192 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 193
hazheng 3:c8867972ffc7 194 int main() {
hazheng 3:c8867972ffc7 195 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 196
hazheng 3:c8867972ffc7 197 while (1) {
hazheng 3:c8867972ffc7 198 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 199 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 200 wait(0.25);
hazheng 3:c8867972ffc7 201 }
hazheng 3:c8867972ffc7 202 }
hazheng 3:c8867972ffc7 203
hazheng 3:c8867972ffc7 204 }
hazheng 13:7dcb1642ef99 205 */
hazheng 13:7dcb1642ef99 206
hazheng 13:7dcb1642ef99 207 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 208 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 209 char readValue = 0;
hazheng 13:7dcb1642ef99 210 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 211 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 212 char buf[20];
hazheng 13:7dcb1642ef99 213 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 214 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 215 */