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@56:7d3395ae022d, 2017-04-06 (annotated)

Committer:
hazheng
Date:
Thu Apr 06 22:19:59 2017 +0000
Revision:
56:7d3395ae022d
Parent:
55:d4db9eef4a9d
Child:
57:0d8a155d511d
Added debug log function.

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 56:7d3395ae022d 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 5:577b582e4fe9 61 while (1)
hazheng 5:577b582e4fe9 62 {
hazheng 18:bf6c5f8281eb 63 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 64 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 65 deltaTime = timeWas - deltaTime;
hazheng 18:bf6c5f8281eb 66
Bobymicjohn 54:f1f5648dfacf 67 //g_core.Update(deltaTime);
hazheng 41:7b21c5e3599e 68
Bobymicjohn 54:f1f5648dfacf 69 //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
Bobymicjohn 54:f1f5648dfacf 70 //{
hazheng 44:15de535c4005 71 //ardu_cam_print_debug();
Bobymicjohn 54:f1f5648dfacf 72 // isRegRead = true;
Bobymicjohn 54:f1f5648dfacf 73 //}
hazheng 41:7b21c5e3599e 74
hazheng 44:15de535c4005 75 //ardu_cam_display_img_utft();
hazheng 46:a5eb9bd3bb55 76
hazheng 55:d4db9eef4a9d 77 const volatile uint8_t * centerLine = ardu_cam_get_center_array();
hazheng 46:a5eb9bd3bb55 78
hazheng 46:a5eb9bd3bb55 79 /////////////Calculate the curvature:
Bobymicjohn 54:f1f5648dfacf 80 float srcY = (0.0f) / 1.0f;
Bobymicjohn 54:f1f5648dfacf 81 float srcX = static_cast<float>(centerLine[0]) / 1.0f;
hazheng 46:a5eb9bd3bb55 82
Bobymicjohn 54:f1f5648dfacf 83 float destY = static_cast<float>(CAM_ROI_UPPER_LIMIT - 1) / 1.0f;
Bobymicjohn 54:f1f5648dfacf 84 float destX = static_cast<float>(centerLine[CAM_ROI_UPPER_LIMIT - 1]) / 1.0f;
hazheng 46:a5eb9bd3bb55 85
hazheng 46:a5eb9bd3bb55 86 float disY = destY - srcY;
hazheng 46:a5eb9bd3bb55 87 float disX = destX - srcX;
hazheng 46:a5eb9bd3bb55 88
hazheng 52:078b521c9edf 89 float angleRadians = -1.0f * static_cast<float>(atan(static_cast<double>(disX / disY)));
Bobymicjohn 47:a682be9908b9 90
Bobymicjohn 47:a682be9908b9 91 float angleDegrees = (angleRadians * (180.0f / PI));
hazheng 46:a5eb9bd3bb55 92 ///////////////////////////////////////
hazheng 46:a5eb9bd3bb55 93
hazheng 46:a5eb9bd3bb55 94 /////////////Calculate the offset:
hazheng 44:15de535c4005 95 float centerPos = static_cast<float>(RESOLUTION_WIDTH / 2);
hazheng 52:078b521c9edf 96 float offsetDegrees = ((srcX - centerPos) / centerPos) * SERVO_MAX_ANGLE;
hazheng 46:a5eb9bd3bb55 97 //////////////////////////////////////
hazheng 46:a5eb9bd3bb55 98
Bobymicjohn 54:f1f5648dfacf 99 float totalAngleDegrees = (angleDegrees * 0.70f) + (offsetDegrees * 0.50f);
Bobymicjohn 54:f1f5648dfacf 100 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 52:078b521c9edf 101 servo_set_angle(totalAngleDegrees);
hazheng 52:078b521c9edf 102
hazheng 52:078b521c9edf 103 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 104 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 52:078b521c9edf 105 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 106 totalAngleDegrees = -SERVO_MAX_ANGLE;
Bobymicjohn 54:f1f5648dfacf 107
Bobymicjohn 54:f1f5648dfacf 108
Bobymicjohn 54:f1f5648dfacf 109 if(totalAngleDegreesAbs > 17.0f)
hazheng 52:078b521c9edf 110 {
Bobymicjohn 54:f1f5648dfacf 111 speedRatio = 0.4f;
Bobymicjohn 54:f1f5648dfacf 112 }
Bobymicjohn 54:f1f5648dfacf 113 else if(totalAngleDegreesAbs > 12.0f)
Bobymicjohn 54:f1f5648dfacf 114 {
Bobymicjohn 54:f1f5648dfacf 115 speedRatio = 0.6f;
Bobymicjohn 54:f1f5648dfacf 116 }
Bobymicjohn 54:f1f5648dfacf 117 else if(totalAngleDegreesAbs > 7.0f)
Bobymicjohn 54:f1f5648dfacf 118 {
Bobymicjohn 54:f1f5648dfacf 119 speedRatio = 0.8f;
hazheng 52:078b521c9edf 120 }
hazheng 52:078b521c9edf 121 else
hazheng 52:078b521c9edf 122 {
Bobymicjohn 54:f1f5648dfacf 123 speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 124 }
Bobymicjohn 54:f1f5648dfacf 125
Bobymicjohn 54:f1f5648dfacf 126 if(totalAngleDegrees < 0.0f)
Bobymicjohn 54:f1f5648dfacf 127 {
Bobymicjohn 54:f1f5648dfacf 128 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 129 motor_set_right_speed(speedRatio * 1.0f);
Bobymicjohn 54:f1f5648dfacf 130 }
Bobymicjohn 54:f1f5648dfacf 131 else
Bobymicjohn 54:f1f5648dfacf 132 {
Bobymicjohn 54:f1f5648dfacf 133 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 134 motor_set_left_speed(speedRatio * 1.0f);
hazheng 52:078b521c9edf 135 }
hazheng 56:7d3395ae022d 136
hazheng 56:7d3395ae022d 137 LOGI("FPS: %f", 1 / deltaTime);
hazheng 52:078b521c9edf 138 /*
Bobymicjohn 47:a682be9908b9 139 //////// Steer Vehicle / Adjust Speed for Differential //////////
Bobymicjohn 47:a682be9908b9 140 servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));
Bobymicjohn 47:a682be9908b9 141
Bobymicjohn 47:a682be9908b9 142 if(angleRadians > 0.366)
Bobymicjohn 47:a682be9908b9 143 angleRadians = 0.366;
Bobymicjohn 47:a682be9908b9 144 else if(angleRadians < -0.366)
Bobymicjohn 47:a682be9908b9 145 angleRadians = -0.366;
Bobymicjohn 47:a682be9908b9 146
Bobymicjohn 47:a682be9908b9 147 if(angleRadians < 0)
Bobymicjohn 47:a682be9908b9 148 {
Bobymicjohn 47:a682be9908b9 149 motor_set_left_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 150 motor_set_right_speed(1.0);
Bobymicjohn 47:a682be9908b9 151 }
Bobymicjohn 47:a682be9908b9 152 else
Bobymicjohn 47:a682be9908b9 153 {
Bobymicjohn 47:a682be9908b9 154 motor_set_right_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 155 motor_set_left_speed(1.0);
Bobymicjohn 47:a682be9908b9 156 }
hazheng 52:078b521c9edf 157 */
hazheng 50:c387c88141fb 158
hazheng 50:c387c88141fb 159
hazheng 46:a5eb9bd3bb55 160 //char buf[20];
hazheng 46:a5eb9bd3bb55 161 //sprintf(buf, "angle %f", angle);
hazheng 46:a5eb9bd3bb55 162 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 46:a5eb9bd3bb55 163 /*
hazheng 46:a5eb9bd3bb55 164 std::string tempStr = "XX";
hazheng 46:a5eb9bd3bb55 165 for(uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 46:a5eb9bd3bb55 166 {
hazheng 46:a5eb9bd3bb55 167 tempStr[0] = i;
hazheng 46:a5eb9bd3bb55 168 tempStr[1] = centerLine[i];
hazheng 46:a5eb9bd3bb55 169 g_core.GetUSBServer().PushUnreliableMsg('L', tempStr);
hazheng 46:a5eb9bd3bb55 170 }
hazheng 46:a5eb9bd3bb55 171 */
hazheng 46:a5eb9bd3bb55 172
hazheng 46:a5eb9bd3bb55 173 /*
hazheng 44:15de535c4005 174 if(offsetPercent > 0.1)
hazheng 44:15de535c4005 175 {
hazheng 46:a5eb9bd3bb55 176 motor_set_speeds(0.05f, 0.05f);
hazheng 44:15de535c4005 177 }
hazheng 44:15de535c4005 178 else
hazheng 44:15de535c4005 179 {
hazheng 46:a5eb9bd3bb55 180 motor_set_speeds(0.13f, 0.13f);
hazheng 44:15de535c4005 181 }
hazheng 46:a5eb9bd3bb55 182 */
hazheng 43:0d1886f4848a 183 //wait(0.01);
hazheng 3:c8867972ffc7 184 }
hazheng 3:c8867972ffc7 185 }
hazheng 3:c8867972ffc7 186
hazheng 3:c8867972ffc7 187 /*
hazheng 3:c8867972ffc7 188 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 189
hazheng 3:c8867972ffc7 190 int main() {
hazheng 3:c8867972ffc7 191 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 192
hazheng 3:c8867972ffc7 193 while (1) {
hazheng 3:c8867972ffc7 194 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 195 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 196 wait(0.25);
hazheng 3:c8867972ffc7 197 }
hazheng 3:c8867972ffc7 198 }
hazheng 3:c8867972ffc7 199
hazheng 3:c8867972ffc7 200 }
hazheng 13:7dcb1642ef99 201 */
hazheng 13:7dcb1642ef99 202
hazheng 13:7dcb1642ef99 203 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 204 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 205 char readValue = 0;
hazheng 13:7dcb1642ef99 206 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 207 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 208 char buf[20];
hazheng 13:7dcb1642ef99 209 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 210 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 211 */