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

Committer:
hazheng
Date:
Wed Apr 12 22:16:40 2017 +0000
Revision:
65:295c222fdf88
Parent:
64:43ab429a37e0
Child:
66:c9b64f5337cc
More Adjustment.

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 54:f1f5648dfacf 68
hazheng 57:0d8a155d511d 69 DebugCounter counter(10, PTE5);
hazheng 57:0d8a155d511d 70
hazheng 5:577b582e4fe9 71 while (1)
hazheng 5:577b582e4fe9 72 {
hazheng 18:bf6c5f8281eb 73 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 74 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 75 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 76
Bobymicjohn 54:f1f5648dfacf 77 //g_core.Update(deltaTime);
hazheng 41:7b21c5e3599e 78
Bobymicjohn 54:f1f5648dfacf 79 //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
Bobymicjohn 54:f1f5648dfacf 80 //{
hazheng 44:15de535c4005 81 //ardu_cam_print_debug();
Bobymicjohn 54:f1f5648dfacf 82 // isRegRead = true;
Bobymicjohn 54:f1f5648dfacf 83 //}
hazheng 41:7b21c5e3599e 84
hazheng 44:15de535c4005 85 //ardu_cam_display_img_utft();
hazheng 57:0d8a155d511d 86 image_processing();
hazheng 64:43ab429a37e0 87 uint8_t shouldTerminate = ardu_cam_get_is_encounter_terminate();
hazheng 64:43ab429a37e0 88
hazheng 64:43ab429a37e0 89 if(shouldTerminate)
hazheng 64:43ab429a37e0 90 {
hazheng 65:295c222fdf88 91 ardu_utft_print("F", 230, 100);
hazheng 65:295c222fdf88 92 servo_set_angle(0.0f);
hazheng 64:43ab429a37e0 93 motor_set_right_speed(0.0f);
hazheng 64:43ab429a37e0 94 motor_set_left_speed(0.0f);
hazheng 64:43ab429a37e0 95 return 0;
hazheng 64:43ab429a37e0 96 }
hazheng 65:295c222fdf88 97 //else
hazheng 65:295c222fdf88 98 //{
hazheng 65:295c222fdf88 99 // ardu_utft_print(" ", 230, 100);
hazheng 65:295c222fdf88 100 //}
hazheng 64:43ab429a37e0 101
hazheng 65:295c222fdf88 102 const volatile uint8_t* centerLine = ardu_cam_get_center_array();
hazheng 46:a5eb9bd3bb55 103
hazheng 46:a5eb9bd3bb55 104 /////////////Calculate the curvature:
hazheng 57:0d8a155d511d 105 float srcY = (0.0f + 1.0f) / 2.0f;
hazheng 57:0d8a155d511d 106 float srcX = static_cast<float>(centerLine[0] + centerLine[1]) / 2.0f;
hazheng 46:a5eb9bd3bb55 107
hazheng 57:0d8a155d511d 108 float destY = static_cast<float>(CAM_ROI_UPPER_LIMIT - 1 + (CAM_ROI_UPPER_LIMIT - 2)) / 2.0f;
hazheng 57:0d8a155d511d 109 float destX = static_cast<float>(centerLine[CAM_ROI_UPPER_LIMIT - 1] + centerLine[CAM_ROI_UPPER_LIMIT - 2]) / 2.0f;
hazheng 46:a5eb9bd3bb55 110
hazheng 46:a5eb9bd3bb55 111 float disY = destY - srcY;
hazheng 46:a5eb9bd3bb55 112 float disX = destX - srcX;
hazheng 46:a5eb9bd3bb55 113
hazheng 52:078b521c9edf 114 float angleRadians = -1.0f * static_cast<float>(atan(static_cast<double>(disX / disY)));
Bobymicjohn 47:a682be9908b9 115
Bobymicjohn 47:a682be9908b9 116 float angleDegrees = (angleRadians * (180.0f / PI));
hazheng 46:a5eb9bd3bb55 117 ///////////////////////////////////////
hazheng 46:a5eb9bd3bb55 118
hazheng 46:a5eb9bd3bb55 119 /////////////Calculate the offset:
hazheng 44:15de535c4005 120 float centerPos = static_cast<float>(RESOLUTION_WIDTH / 2);
hazheng 52:078b521c9edf 121 float offsetDegrees = ((srcX - centerPos) / centerPos) * SERVO_MAX_ANGLE;
hazheng 46:a5eb9bd3bb55 122 //////////////////////////////////////
hazheng 46:a5eb9bd3bb55 123
hazheng 65:295c222fdf88 124 float totalAngleDegrees = (angleDegrees * 0.50f) + (offsetDegrees * (centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] != BOTH_FOUND ? 0.90f : 0.35f));
Bobymicjohn 54:f1f5648dfacf 125 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 65:295c222fdf88 126 if((totalAngleDegrees < 0 && centerLine[CAM_ROI_UPPER_LIMIT] == LEFT_FOUND) ||
hazheng 65:295c222fdf88 127 (totalAngleDegrees > 0 && centerLine[CAM_ROI_UPPER_LIMIT] == RIGHT_FOUND))
hazheng 65:295c222fdf88 128 {
hazheng 65:295c222fdf88 129 totalAngleDegrees = totalAngleDegrees * -1.0f;
hazheng 65:295c222fdf88 130 }
hazheng 65:295c222fdf88 131 /*
hazheng 65:295c222fdf88 132 if(totalAngleDegreesAbs >= 1.0f && totalAngleDegreesAbs <= 4.0)
hazheng 65:295c222fdf88 133 {
hazheng 65:295c222fdf88 134 continue;
hazheng 65:295c222fdf88 135 }
hazheng 65:295c222fdf88 136 */
hazheng 52:078b521c9edf 137 servo_set_angle(totalAngleDegrees);
hazheng 52:078b521c9edf 138
hazheng 65:295c222fdf88 139
hazheng 52:078b521c9edf 140 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 141 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 52:078b521c9edf 142 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 143 totalAngleDegrees = -SERVO_MAX_ANGLE;
Bobymicjohn 54:f1f5648dfacf 144
Bobymicjohn 54:f1f5648dfacf 145
hazheng 57:0d8a155d511d 146 if(totalAngleDegreesAbs > 19.0f)
hazheng 52:078b521c9edf 147 {
hazheng 57:0d8a155d511d 148 speedRatio = 0.82f;
Bobymicjohn 54:f1f5648dfacf 149 }
hazheng 57:0d8a155d511d 150 else if(totalAngleDegreesAbs > 15.0f)
Bobymicjohn 54:f1f5648dfacf 151 {
hazheng 57:0d8a155d511d 152 speedRatio = 0.87f;
Bobymicjohn 54:f1f5648dfacf 153 }
hazheng 57:0d8a155d511d 154 else if(totalAngleDegreesAbs > 10.0f)
Bobymicjohn 54:f1f5648dfacf 155 {
hazheng 57:0d8a155d511d 156 speedRatio = 0.95f;
hazheng 52:078b521c9edf 157 }
hazheng 52:078b521c9edf 158 else
hazheng 52:078b521c9edf 159 {
Bobymicjohn 54:f1f5648dfacf 160 speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 161 }
Bobymicjohn 54:f1f5648dfacf 162
hazheng 65:295c222fdf88 163
Bobymicjohn 54:f1f5648dfacf 164 if(totalAngleDegrees < 0.0f)
Bobymicjohn 54:f1f5648dfacf 165 {
Bobymicjohn 54:f1f5648dfacf 166 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 167 motor_set_right_speed(speedRatio * 1.0f);
Bobymicjohn 54:f1f5648dfacf 168 }
Bobymicjohn 54:f1f5648dfacf 169 else
Bobymicjohn 54:f1f5648dfacf 170 {
Bobymicjohn 54:f1f5648dfacf 171 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 172 motor_set_left_speed(speedRatio * 1.0f);
hazheng 52:078b521c9edf 173 }
hazheng 65:295c222fdf88 174
hazheng 56:7d3395ae022d 175
hazheng 57:0d8a155d511d 176 //LOGI("FPS: %f", 1 / deltaTime);
hazheng 62:bc5caf59fe39 177
hazheng 62:bc5caf59fe39 178 //imu_manager_init();
hazheng 63:d9a81b3d69f5 179 //imu_manager_update();
hazheng 64:43ab429a37e0 180 //float imuTemp = imu_manager_get_temp();
hazheng 63:d9a81b3d69f5 181
hazheng 63:d9a81b3d69f5 182 //const volatile struct imu_vec3* AccelV = imu_manager_get_accl();
hazheng 63:d9a81b3d69f5 183
hazheng 64:43ab429a37e0 184 //LOGI("A: %5.3f, %5.3f, %5.3f.T%5.2f ", AccelV->x, AccelV->y, AccelV->z, imuTemp);
hazheng 62:bc5caf59fe39 185
hazheng 63:d9a81b3d69f5 186 //const volatile struct imu_vec3* VelocityV = imu_manager_get_velocity();
hazheng 63:d9a81b3d69f5 187
hazheng 64:43ab429a37e0 188 //LOGI("V: %5.3f, %5.3f, %5.3f.T%5.2f ", VelocityV->x, VelocityV->y, VelocityV->z, imuTemp);
hazheng 62:bc5caf59fe39 189
hazheng 64:43ab429a37e0 190 //const volatile struct imu_vec3* PositionV = imu_manager_get_position();
hazheng 63:d9a81b3d69f5 191
hazheng 64:43ab429a37e0 192 //LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
hazheng 62:bc5caf59fe39 193
hazheng 57:0d8a155d511d 194 counter.Update();
hazheng 57:0d8a155d511d 195
hazheng 52:078b521c9edf 196 /*
Bobymicjohn 47:a682be9908b9 197 //////// Steer Vehicle / Adjust Speed for Differential //////////
Bobymicjohn 47:a682be9908b9 198 servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));
Bobymicjohn 47:a682be9908b9 199
Bobymicjohn 47:a682be9908b9 200 if(angleRadians > 0.366)
Bobymicjohn 47:a682be9908b9 201 angleRadians = 0.366;
Bobymicjohn 47:a682be9908b9 202 else if(angleRadians < -0.366)
Bobymicjohn 47:a682be9908b9 203 angleRadians = -0.366;
Bobymicjohn 47:a682be9908b9 204
Bobymicjohn 47:a682be9908b9 205 if(angleRadians < 0)
Bobymicjohn 47:a682be9908b9 206 {
Bobymicjohn 47:a682be9908b9 207 motor_set_left_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 208 motor_set_right_speed(1.0);
Bobymicjohn 47:a682be9908b9 209 }
Bobymicjohn 47:a682be9908b9 210 else
Bobymicjohn 47:a682be9908b9 211 {
Bobymicjohn 47:a682be9908b9 212 motor_set_right_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 213 motor_set_left_speed(1.0);
Bobymicjohn 47:a682be9908b9 214 }
hazheng 52:078b521c9edf 215 */
hazheng 50:c387c88141fb 216
hazheng 50:c387c88141fb 217
hazheng 46:a5eb9bd3bb55 218 //char buf[20];
hazheng 46:a5eb9bd3bb55 219 //sprintf(buf, "angle %f", angle);
hazheng 46:a5eb9bd3bb55 220 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 46:a5eb9bd3bb55 221 /*
hazheng 46:a5eb9bd3bb55 222 std::string tempStr = "XX";
hazheng 46:a5eb9bd3bb55 223 for(uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 46:a5eb9bd3bb55 224 {
hazheng 46:a5eb9bd3bb55 225 tempStr[0] = i;
hazheng 46:a5eb9bd3bb55 226 tempStr[1] = centerLine[i];
hazheng 46:a5eb9bd3bb55 227 g_core.GetUSBServer().PushUnreliableMsg('L', tempStr);
hazheng 46:a5eb9bd3bb55 228 }
hazheng 46:a5eb9bd3bb55 229 */
hazheng 46:a5eb9bd3bb55 230
hazheng 46:a5eb9bd3bb55 231 /*
hazheng 44:15de535c4005 232 if(offsetPercent > 0.1)
hazheng 44:15de535c4005 233 {
hazheng 46:a5eb9bd3bb55 234 motor_set_speeds(0.05f, 0.05f);
hazheng 44:15de535c4005 235 }
hazheng 44:15de535c4005 236 else
hazheng 44:15de535c4005 237 {
hazheng 46:a5eb9bd3bb55 238 motor_set_speeds(0.13f, 0.13f);
hazheng 44:15de535c4005 239 }
hazheng 46:a5eb9bd3bb55 240 */
hazheng 43:0d1886f4848a 241 //wait(0.01);
hazheng 3:c8867972ffc7 242 }
hazheng 3:c8867972ffc7 243 }
hazheng 3:c8867972ffc7 244
hazheng 3:c8867972ffc7 245 /*
hazheng 3:c8867972ffc7 246 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 247
hazheng 3:c8867972ffc7 248 int main() {
hazheng 3:c8867972ffc7 249 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 250
hazheng 3:c8867972ffc7 251 while (1) {
hazheng 3:c8867972ffc7 252 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 253 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 254 wait(0.25);
hazheng 3:c8867972ffc7 255 }
hazheng 3:c8867972ffc7 256 }
hazheng 3:c8867972ffc7 257
hazheng 3:c8867972ffc7 258 }
hazheng 13:7dcb1642ef99 259 */
hazheng 13:7dcb1642ef99 260
hazheng 13:7dcb1642ef99 261 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 262 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 263 char readValue = 0;
hazheng 13:7dcb1642ef99 264 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 265 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 266 char buf[20];
hazheng 13:7dcb1642ef99 267 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 268 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 269 */