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@67:1b5c8add3d01, 2017-04-13 (annotated)

Committer:
Bobymicjohn
Date:
Thu Apr 13 17:57:31 2017 +0000
Revision:
67:1b5c8add3d01
Parent:
61:bdc31e4fa3c4
Parent:
66:c9b64f5337cc
Child:
69:34e97694f0ef
Merge.

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 63:d9a81b3d69f5 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"
hazheng 62:bc5caf59fe39 18 #include "IMUManager.h"
Bobymicjohn 10:fedb5786a109 19
Bobymicjohn 10:fedb5786a109 20 #include "PinAssignment.h"
Bobymicjohn 8:92f6baeea027 21
hazheng 28:271fc8445e89 22 SPI g_spi_port(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK);
hazheng 29:f87d8790f57d 23 SW::Core g_core;
hazheng 5:577b582e4fe9 24
hazheng 56:7d3395ae022d 25 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 26 #include <rtos.h>
hazheng 56:7d3395ae022d 27 Mutex g_sw_spi_lock;
hazheng 56:7d3395ae022d 28 #endif
hazheng 56:7d3395ae022d 29
hazheng 3:c8867972ffc7 30 int main(void) {
hazheng 16:66c7a09e71ee 31
hazheng 16:66c7a09e71ee 32 Timer timer;
hazheng 16:66c7a09e71ee 33
hazheng 48:f76b5e252444 34 g_spi_port.frequency(5000000);
hazheng 29:f87d8790f57d 35 //g_spi_port.format(8, 0);
hazheng 29:f87d8790f57d 36
hazheng 29:f87d8790f57d 37 //SW::Core core;
Bobymicjohn 10:fedb5786a109 38
hazheng 46:a5eb9bd3bb55 39 //Motor motor(g_core);
hazheng 45:501b7909139a 40 //Servo servo(g_core);
hazheng 25:6f63053cee81 41 //WheelEncoder wheelEncoder(core);
hazheng 29:f87d8790f57d 42 //Camera cam(core);
hazheng 46:a5eb9bd3bb55 43 motor_init();
hazheng 45:501b7909139a 44 servo_init();
hazheng 16:66c7a09e71ee 45
hazheng 29:f87d8790f57d 46 bool isRegRead = false;
Bobymicjohn 14:88302da8bff0 47
hazheng 40:be98219930e4 48
hazheng 40:be98219930e4 49 ardu_utft_init();
hazheng 29:f87d8790f57d 50
hazheng 41:7b21c5e3599e 51
hazheng 41:7b21c5e3599e 52 ardu_cam_init();
hazheng 41:7b21c5e3599e 53
hazheng 62:bc5caf59fe39 54
hazheng 64:43ab429a37e0 55 //uint8_t IMUInitResult = imu_manager_init();
hazheng 64:43ab429a37e0 56 //LOGI("IMU Init: %#x", IMUInitResult);
hazheng 64:43ab429a37e0 57 //imu_manager_calibrate();
hazheng 64:43ab429a37e0 58 //imu_manager_begin_tick();
hazheng 62:bc5caf59fe39 59 //wait(0.5);
hazheng 62:bc5caf59fe39 60
hazheng 18:bf6c5f8281eb 61 //timer.reset();
hazheng 16:66c7a09e71ee 62 timer.start();
hazheng 18:bf6c5f8281eb 63 float timeWas = timer.read();
hazheng 44:15de535c4005 64
hazheng 46:a5eb9bd3bb55 65 servo_set_angle(0.0f);
Bobymicjohn 54:f1f5648dfacf 66
Bobymicjohn 54:f1f5648dfacf 67 float speedRatio = 1.0f;
Bobymicjohn 58:996effac29b9 68 float lastAngle = 0.0f;
Bobymicjohn 58:996effac29b9 69 float cornerRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 70
hazheng 57:0d8a155d511d 71 DebugCounter counter(10, PTE5);
hazheng 57:0d8a155d511d 72
hazheng 5:577b582e4fe9 73 while (1)
hazheng 5:577b582e4fe9 74 {
hazheng 18:bf6c5f8281eb 75 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 76 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 77 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 78
Bobymicjohn 54:f1f5648dfacf 79 //g_core.Update(deltaTime);
hazheng 41:7b21c5e3599e 80
Bobymicjohn 54:f1f5648dfacf 81 //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
Bobymicjohn 54:f1f5648dfacf 82 //{
hazheng 44:15de535c4005 83 //ardu_cam_print_debug();
Bobymicjohn 54:f1f5648dfacf 84 // isRegRead = true;
Bobymicjohn 54:f1f5648dfacf 85 //}
hazheng 41:7b21c5e3599e 86
hazheng 44:15de535c4005 87 //ardu_cam_display_img_utft();
hazheng 57:0d8a155d511d 88 image_processing();
hazheng 64:43ab429a37e0 89 uint8_t shouldTerminate = ardu_cam_get_is_encounter_terminate();
hazheng 64:43ab429a37e0 90
hazheng 64:43ab429a37e0 91 if(shouldTerminate)
hazheng 64:43ab429a37e0 92 {
hazheng 65:295c222fdf88 93 ardu_utft_print("F", 230, 100);
hazheng 65:295c222fdf88 94 servo_set_angle(0.0f);
hazheng 66:c9b64f5337cc 95 motor_set_right_speed(-1.0f);
hazheng 66:c9b64f5337cc 96 motor_set_left_speed(-1.0f);
hazheng 66:c9b64f5337cc 97 wait(0.5f);
hazheng 64:43ab429a37e0 98 motor_set_right_speed(0.0f);
hazheng 64:43ab429a37e0 99 motor_set_left_speed(0.0f);
hazheng 64:43ab429a37e0 100 return 0;
hazheng 64:43ab429a37e0 101 }
hazheng 65:295c222fdf88 102 //else
hazheng 65:295c222fdf88 103 //{
hazheng 65:295c222fdf88 104 // ardu_utft_print(" ", 230, 100);
hazheng 65:295c222fdf88 105 //}
hazheng 64:43ab429a37e0 106
hazheng 65:295c222fdf88 107 const volatile uint8_t* centerLine = ardu_cam_get_center_array();
hazheng 46:a5eb9bd3bb55 108
hazheng 46:a5eb9bd3bb55 109 /////////////Calculate the curvature:
hazheng 57:0d8a155d511d 110 float srcY = (0.0f + 1.0f) / 2.0f;
hazheng 57:0d8a155d511d 111 float srcX = static_cast<float>(centerLine[0] + centerLine[1]) / 2.0f;
hazheng 46:a5eb9bd3bb55 112
hazheng 57:0d8a155d511d 113 float destY = static_cast<float>(CAM_ROI_UPPER_LIMIT - 1 + (CAM_ROI_UPPER_LIMIT - 2)) / 2.0f;
hazheng 57:0d8a155d511d 114 float destX = static_cast<float>(centerLine[CAM_ROI_UPPER_LIMIT - 1] + centerLine[CAM_ROI_UPPER_LIMIT - 2]) / 2.0f;
hazheng 46:a5eb9bd3bb55 115
hazheng 46:a5eb9bd3bb55 116 float disY = destY - srcY;
hazheng 46:a5eb9bd3bb55 117 float disX = destX - srcX;
hazheng 46:a5eb9bd3bb55 118
hazheng 52:078b521c9edf 119 float angleRadians = -1.0f * static_cast<float>(atan(static_cast<double>(disX / disY)));
Bobymicjohn 58:996effac29b9 120 float angleDegrees = (angleRadians * (180.0f / PI));
Bobymicjohn 47:a682be9908b9 121
hazheng 46:a5eb9bd3bb55 122 ///////////////////////////////////////
hazheng 46:a5eb9bd3bb55 123
hazheng 46:a5eb9bd3bb55 124 /////////////Calculate the offset:
hazheng 44:15de535c4005 125 float centerPos = static_cast<float>(RESOLUTION_WIDTH / 2);
hazheng 52:078b521c9edf 126 float offsetDegrees = ((srcX - centerPos) / centerPos) * SERVO_MAX_ANGLE;
hazheng 46:a5eb9bd3bb55 127 //////////////////////////////////////
hazheng 46:a5eb9bd3bb55 128
Bobymicjohn 67:1b5c8add3d01 129
hazheng 65:295c222fdf88 130 float totalAngleDegrees = (angleDegrees * 0.50f) + (offsetDegrees * (centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] != BOTH_FOUND ? 0.90f : 0.35f));
Bobymicjohn 54:f1f5648dfacf 131 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 65:295c222fdf88 132 if((totalAngleDegrees < 0 && centerLine[CAM_ROI_UPPER_LIMIT] == LEFT_FOUND) ||
hazheng 65:295c222fdf88 133 (totalAngleDegrees > 0 && centerLine[CAM_ROI_UPPER_LIMIT] == RIGHT_FOUND))
hazheng 65:295c222fdf88 134 {
hazheng 65:295c222fdf88 135 totalAngleDegrees = totalAngleDegrees * -1.0f;
hazheng 65:295c222fdf88 136 }
hazheng 65:295c222fdf88 137 /*
hazheng 65:295c222fdf88 138 if(totalAngleDegreesAbs >= 1.0f && totalAngleDegreesAbs <= 4.0)
hazheng 65:295c222fdf88 139 {
hazheng 65:295c222fdf88 140 continue;
hazheng 65:295c222fdf88 141 }
hazheng 65:295c222fdf88 142 */
hazheng 52:078b521c9edf 143 servo_set_angle(totalAngleDegrees);
hazheng 52:078b521c9edf 144
hazheng 65:295c222fdf88 145
hazheng 52:078b521c9edf 146 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 147 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 52:078b521c9edf 148 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 149 totalAngleDegrees = -SERVO_MAX_ANGLE;
Bobymicjohn 54:f1f5648dfacf 150
Bobymicjohn 58:996effac29b9 151 if(totalAngleDegrees > lastAngle)
Bobymicjohn 58:996effac29b9 152 {
Bobymicjohn 67:1b5c8add3d01 153 cornerRatio = cornerRatio * (lastAngle / totalAngleDegrees);
Bobymicjohn 58:996effac29b9 154 }
Bobymicjohn 58:996effac29b9 155 else if(totalAngleDegrees < lastAngle)
Bobymicjohn 58:996effac29b9 156 {
Bobymicjohn 61:bdc31e4fa3c4 157 cornerRatio = cornerRatio * (lastAngle / totalAngleDegrees);
Bobymicjohn 58:996effac29b9 158 }
Bobymicjohn 58:996effac29b9 159 else
Bobymicjohn 58:996effac29b9 160 {
Bobymicjohn 58:996effac29b9 161 cornerRatio = 1.0f;
Bobymicjohn 58:996effac29b9 162 }
Bobymicjohn 54:f1f5648dfacf 163
Bobymicjohn 58:996effac29b9 164 if(totalAngleDegreesAbs > 18.0f)
hazheng 52:078b521c9edf 165 {
Bobymicjohn 58:996effac29b9 166 speedRatio = 0.90f;
Bobymicjohn 54:f1f5648dfacf 167 }
hazheng 57:0d8a155d511d 168 else if(totalAngleDegreesAbs > 15.0f)
Bobymicjohn 54:f1f5648dfacf 169 {
Bobymicjohn 58:996effac29b9 170 speedRatio = 0.94f;
Bobymicjohn 54:f1f5648dfacf 171 }
Bobymicjohn 58:996effac29b9 172 else if(totalAngleDegreesAbs > 12.0f)
Bobymicjohn 54:f1f5648dfacf 173 {
Bobymicjohn 58:996effac29b9 174 speedRatio = 0.98f;
hazheng 52:078b521c9edf 175 }
hazheng 52:078b521c9edf 176 else
hazheng 52:078b521c9edf 177 {
Bobymicjohn 54:f1f5648dfacf 178 speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 179 }
Bobymicjohn 54:f1f5648dfacf 180
hazheng 65:295c222fdf88 181
Bobymicjohn 54:f1f5648dfacf 182 if(totalAngleDegrees < 0.0f)
Bobymicjohn 54:f1f5648dfacf 183 {
Bobymicjohn 58:996effac29b9 184 motor_set_left_speed(speedRatio * cornerRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
Bobymicjohn 58:996effac29b9 185 motor_set_right_speed(speedRatio * cornerRatio * 1.0f);
Bobymicjohn 54:f1f5648dfacf 186 }
Bobymicjohn 54:f1f5648dfacf 187 else
Bobymicjohn 54:f1f5648dfacf 188 {
Bobymicjohn 58:996effac29b9 189 motor_set_right_speed(speedRatio * cornerRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
Bobymicjohn 58:996effac29b9 190 motor_set_left_speed(speedRatio * cornerRatio * 1.0f);
hazheng 52:078b521c9edf 191 }
hazheng 65:295c222fdf88 192
hazheng 56:7d3395ae022d 193
Bobymicjohn 58:996effac29b9 194 lastAngle = totalAngleDegrees;
Bobymicjohn 58:996effac29b9 195
hazheng 57:0d8a155d511d 196 //LOGI("FPS: %f", 1 / deltaTime);
hazheng 62:bc5caf59fe39 197
hazheng 62:bc5caf59fe39 198 //imu_manager_init();
hazheng 63:d9a81b3d69f5 199 //imu_manager_update();
hazheng 64:43ab429a37e0 200 //float imuTemp = imu_manager_get_temp();
hazheng 63:d9a81b3d69f5 201
hazheng 63:d9a81b3d69f5 202 //const volatile struct imu_vec3* AccelV = imu_manager_get_accl();
hazheng 63:d9a81b3d69f5 203
hazheng 64:43ab429a37e0 204 //LOGI("A: %5.3f, %5.3f, %5.3f.T%5.2f ", AccelV->x, AccelV->y, AccelV->z, imuTemp);
hazheng 62:bc5caf59fe39 205
hazheng 63:d9a81b3d69f5 206 //const volatile struct imu_vec3* VelocityV = imu_manager_get_velocity();
hazheng 63:d9a81b3d69f5 207
hazheng 64:43ab429a37e0 208 //LOGI("V: %5.3f, %5.3f, %5.3f.T%5.2f ", VelocityV->x, VelocityV->y, VelocityV->z, imuTemp);
hazheng 62:bc5caf59fe39 209
hazheng 64:43ab429a37e0 210 //const volatile struct imu_vec3* PositionV = imu_manager_get_position();
hazheng 63:d9a81b3d69f5 211
hazheng 64:43ab429a37e0 212 //LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
hazheng 62:bc5caf59fe39 213
hazheng 57:0d8a155d511d 214 counter.Update();
hazheng 57:0d8a155d511d 215
hazheng 52:078b521c9edf 216 /*
Bobymicjohn 47:a682be9908b9 217 //////// Steer Vehicle / Adjust Speed for Differential //////////
Bobymicjohn 47:a682be9908b9 218 servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));
Bobymicjohn 47:a682be9908b9 219
Bobymicjohn 47:a682be9908b9 220 if(angleRadians > 0.366)
Bobymicjohn 47:a682be9908b9 221 angleRadians = 0.366;
Bobymicjohn 47:a682be9908b9 222 else if(angleRadians < -0.366)
Bobymicjohn 47:a682be9908b9 223 angleRadians = -0.366;
Bobymicjohn 47:a682be9908b9 224
Bobymicjohn 47:a682be9908b9 225 if(angleRadians < 0)
Bobymicjohn 47:a682be9908b9 226 {
Bobymicjohn 47:a682be9908b9 227 motor_set_left_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 228 motor_set_right_speed(1.0);
Bobymicjohn 47:a682be9908b9 229 }
Bobymicjohn 47:a682be9908b9 230 else
Bobymicjohn 47:a682be9908b9 231 {
Bobymicjohn 47:a682be9908b9 232 motor_set_right_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 233 motor_set_left_speed(1.0);
Bobymicjohn 47:a682be9908b9 234 }
hazheng 52:078b521c9edf 235 */
hazheng 50:c387c88141fb 236
hazheng 50:c387c88141fb 237
hazheng 46:a5eb9bd3bb55 238 //char buf[20];
hazheng 46:a5eb9bd3bb55 239 //sprintf(buf, "angle %f", angle);
hazheng 46:a5eb9bd3bb55 240 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 46:a5eb9bd3bb55 241 /*
hazheng 46:a5eb9bd3bb55 242 std::string tempStr = "XX";
hazheng 46:a5eb9bd3bb55 243 for(uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 46:a5eb9bd3bb55 244 {
hazheng 46:a5eb9bd3bb55 245 tempStr[0] = i;
hazheng 46:a5eb9bd3bb55 246 tempStr[1] = centerLine[i];
hazheng 46:a5eb9bd3bb55 247 g_core.GetUSBServer().PushUnreliableMsg('L', tempStr);
hazheng 46:a5eb9bd3bb55 248 }
hazheng 46:a5eb9bd3bb55 249 */
hazheng 46:a5eb9bd3bb55 250
hazheng 46:a5eb9bd3bb55 251 /*
hazheng 44:15de535c4005 252 if(offsetPercent > 0.1)
hazheng 44:15de535c4005 253 {
hazheng 46:a5eb9bd3bb55 254 motor_set_speeds(0.05f, 0.05f);
hazheng 44:15de535c4005 255 }
hazheng 44:15de535c4005 256 else
hazheng 44:15de535c4005 257 {
hazheng 46:a5eb9bd3bb55 258 motor_set_speeds(0.13f, 0.13f);
hazheng 44:15de535c4005 259 }
hazheng 46:a5eb9bd3bb55 260 */
hazheng 43:0d1886f4848a 261 //wait(0.01);
hazheng 3:c8867972ffc7 262 }
hazheng 3:c8867972ffc7 263 }
hazheng 3:c8867972ffc7 264
hazheng 3:c8867972ffc7 265 /*
hazheng 3:c8867972ffc7 266 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 267
hazheng 3:c8867972ffc7 268 int main() {
hazheng 3:c8867972ffc7 269 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 270
hazheng 3:c8867972ffc7 271 while (1) {
hazheng 3:c8867972ffc7 272 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 273 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 274 wait(0.25);
hazheng 3:c8867972ffc7 275 }
hazheng 3:c8867972ffc7 276 }
hazheng 3:c8867972ffc7 277
hazheng 3:c8867972ffc7 278 }
hazheng 13:7dcb1642ef99 279 */
hazheng 13:7dcb1642ef99 280
hazheng 13:7dcb1642ef99 281 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 282 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 283 char readValue = 0;
hazheng 13:7dcb1642ef99 284 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 285 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 286 char buf[20];
hazheng 13:7dcb1642ef99 287 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 288 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 289 */