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@63:d9a81b3d69f5, 2017-04-09 (annotated)

Committer:
hazheng
Date:
Sun Apr 09 22:08:34 2017 +0000
Revision:
63:d9a81b3d69f5
Parent:
62:bc5caf59fe39
Child:
64:43ab429a37e0
Finished the code for Accelerometer.

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 62:bc5caf59fe39 55 uint8_t IMUInitResult = imu_manager_init();
hazheng 62:bc5caf59fe39 56 LOGI("IMU Init: %#x", IMUInitResult);
hazheng 63:d9a81b3d69f5 57 imu_manager_calibrate();
hazheng 63:d9a81b3d69f5 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 55:d4db9eef4a9d 87 const volatile uint8_t * centerLine = ardu_cam_get_center_array();
hazheng 46:a5eb9bd3bb55 88
hazheng 46:a5eb9bd3bb55 89 /////////////Calculate the curvature:
hazheng 57:0d8a155d511d 90 float srcY = (0.0f + 1.0f) / 2.0f;
hazheng 57:0d8a155d511d 91 float srcX = static_cast<float>(centerLine[0] + centerLine[1]) / 2.0f;
hazheng 46:a5eb9bd3bb55 92
hazheng 57:0d8a155d511d 93 float destY = static_cast<float>(CAM_ROI_UPPER_LIMIT - 1 + (CAM_ROI_UPPER_LIMIT - 2)) / 2.0f;
hazheng 57:0d8a155d511d 94 float destX = static_cast<float>(centerLine[CAM_ROI_UPPER_LIMIT - 1] + centerLine[CAM_ROI_UPPER_LIMIT - 2]) / 2.0f;
hazheng 46:a5eb9bd3bb55 95
hazheng 46:a5eb9bd3bb55 96 float disY = destY - srcY;
hazheng 46:a5eb9bd3bb55 97 float disX = destX - srcX;
hazheng 46:a5eb9bd3bb55 98
hazheng 52:078b521c9edf 99 float angleRadians = -1.0f * static_cast<float>(atan(static_cast<double>(disX / disY)));
Bobymicjohn 47:a682be9908b9 100
Bobymicjohn 47:a682be9908b9 101 float angleDegrees = (angleRadians * (180.0f / PI));
hazheng 46:a5eb9bd3bb55 102 ///////////////////////////////////////
hazheng 46:a5eb9bd3bb55 103
hazheng 46:a5eb9bd3bb55 104 /////////////Calculate the offset:
hazheng 44:15de535c4005 105 float centerPos = static_cast<float>(RESOLUTION_WIDTH / 2);
hazheng 52:078b521c9edf 106 float offsetDegrees = ((srcX - centerPos) / centerPos) * SERVO_MAX_ANGLE;
hazheng 46:a5eb9bd3bb55 107 //////////////////////////////////////
hazheng 46:a5eb9bd3bb55 108
hazheng 57:0d8a155d511d 109 float totalAngleDegrees = (angleDegrees * 0.50f) + (offsetDegrees * 0.35f);
Bobymicjohn 54:f1f5648dfacf 110 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 52:078b521c9edf 111 servo_set_angle(totalAngleDegrees);
hazheng 52:078b521c9edf 112
hazheng 52:078b521c9edf 113 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 114 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 52:078b521c9edf 115 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 116 totalAngleDegrees = -SERVO_MAX_ANGLE;
Bobymicjohn 54:f1f5648dfacf 117
Bobymicjohn 54:f1f5648dfacf 118
hazheng 57:0d8a155d511d 119 if(totalAngleDegreesAbs > 19.0f)
hazheng 52:078b521c9edf 120 {
hazheng 57:0d8a155d511d 121 speedRatio = 0.82f;
Bobymicjohn 54:f1f5648dfacf 122 }
hazheng 57:0d8a155d511d 123 else if(totalAngleDegreesAbs > 15.0f)
Bobymicjohn 54:f1f5648dfacf 124 {
hazheng 57:0d8a155d511d 125 speedRatio = 0.87f;
Bobymicjohn 54:f1f5648dfacf 126 }
hazheng 57:0d8a155d511d 127 else if(totalAngleDegreesAbs > 10.0f)
Bobymicjohn 54:f1f5648dfacf 128 {
hazheng 57:0d8a155d511d 129 speedRatio = 0.95f;
hazheng 52:078b521c9edf 130 }
hazheng 52:078b521c9edf 131 else
hazheng 52:078b521c9edf 132 {
Bobymicjohn 54:f1f5648dfacf 133 speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 134 }
Bobymicjohn 54:f1f5648dfacf 135
Bobymicjohn 54:f1f5648dfacf 136 if(totalAngleDegrees < 0.0f)
Bobymicjohn 54:f1f5648dfacf 137 {
Bobymicjohn 54:f1f5648dfacf 138 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 139 motor_set_right_speed(speedRatio * 1.0f);
Bobymicjohn 54:f1f5648dfacf 140 }
Bobymicjohn 54:f1f5648dfacf 141 else
Bobymicjohn 54:f1f5648dfacf 142 {
Bobymicjohn 54:f1f5648dfacf 143 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 144 motor_set_left_speed(speedRatio * 1.0f);
hazheng 52:078b521c9edf 145 }
hazheng 56:7d3395ae022d 146
hazheng 57:0d8a155d511d 147 //LOGI("FPS: %f", 1 / deltaTime);
hazheng 62:bc5caf59fe39 148
hazheng 62:bc5caf59fe39 149 //imu_manager_init();
hazheng 63:d9a81b3d69f5 150 //imu_manager_update();
hazheng 63:d9a81b3d69f5 151
hazheng 63:d9a81b3d69f5 152 //const volatile struct imu_vec3* AccelV = imu_manager_get_accl();
hazheng 63:d9a81b3d69f5 153
hazheng 63:d9a81b3d69f5 154 //LOGI("A: %5.3f, %5.3f, %5.3f ", AccelV->x, AccelV->y, AccelV->z);
hazheng 62:bc5caf59fe39 155
hazheng 63:d9a81b3d69f5 156 //const volatile struct imu_vec3* VelocityV = imu_manager_get_velocity();
hazheng 63:d9a81b3d69f5 157
hazheng 63:d9a81b3d69f5 158 //LOGI("V: %5.3f, %5.3f, %5.3f ", VelocityV->x, VelocityV->y, VelocityV->z);
hazheng 62:bc5caf59fe39 159
hazheng 63:d9a81b3d69f5 160 const volatile struct imu_vec3* PositionV = imu_manager_get_position();
hazheng 63:d9a81b3d69f5 161
hazheng 63:d9a81b3d69f5 162 LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
hazheng 62:bc5caf59fe39 163
hazheng 57:0d8a155d511d 164 counter.Update();
hazheng 57:0d8a155d511d 165
hazheng 52:078b521c9edf 166 /*
Bobymicjohn 47:a682be9908b9 167 //////// Steer Vehicle / Adjust Speed for Differential //////////
Bobymicjohn 47:a682be9908b9 168 servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));
Bobymicjohn 47:a682be9908b9 169
Bobymicjohn 47:a682be9908b9 170 if(angleRadians > 0.366)
Bobymicjohn 47:a682be9908b9 171 angleRadians = 0.366;
Bobymicjohn 47:a682be9908b9 172 else if(angleRadians < -0.366)
Bobymicjohn 47:a682be9908b9 173 angleRadians = -0.366;
Bobymicjohn 47:a682be9908b9 174
Bobymicjohn 47:a682be9908b9 175 if(angleRadians < 0)
Bobymicjohn 47:a682be9908b9 176 {
Bobymicjohn 47:a682be9908b9 177 motor_set_left_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 178 motor_set_right_speed(1.0);
Bobymicjohn 47:a682be9908b9 179 }
Bobymicjohn 47:a682be9908b9 180 else
Bobymicjohn 47:a682be9908b9 181 {
Bobymicjohn 47:a682be9908b9 182 motor_set_right_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 183 motor_set_left_speed(1.0);
Bobymicjohn 47:a682be9908b9 184 }
hazheng 52:078b521c9edf 185 */
hazheng 50:c387c88141fb 186
hazheng 50:c387c88141fb 187
hazheng 46:a5eb9bd3bb55 188 //char buf[20];
hazheng 46:a5eb9bd3bb55 189 //sprintf(buf, "angle %f", angle);
hazheng 46:a5eb9bd3bb55 190 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 46:a5eb9bd3bb55 191 /*
hazheng 46:a5eb9bd3bb55 192 std::string tempStr = "XX";
hazheng 46:a5eb9bd3bb55 193 for(uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 46:a5eb9bd3bb55 194 {
hazheng 46:a5eb9bd3bb55 195 tempStr[0] = i;
hazheng 46:a5eb9bd3bb55 196 tempStr[1] = centerLine[i];
hazheng 46:a5eb9bd3bb55 197 g_core.GetUSBServer().PushUnreliableMsg('L', tempStr);
hazheng 46:a5eb9bd3bb55 198 }
hazheng 46:a5eb9bd3bb55 199 */
hazheng 46:a5eb9bd3bb55 200
hazheng 46:a5eb9bd3bb55 201 /*
hazheng 44:15de535c4005 202 if(offsetPercent > 0.1)
hazheng 44:15de535c4005 203 {
hazheng 46:a5eb9bd3bb55 204 motor_set_speeds(0.05f, 0.05f);
hazheng 44:15de535c4005 205 }
hazheng 44:15de535c4005 206 else
hazheng 44:15de535c4005 207 {
hazheng 46:a5eb9bd3bb55 208 motor_set_speeds(0.13f, 0.13f);
hazheng 44:15de535c4005 209 }
hazheng 46:a5eb9bd3bb55 210 */
hazheng 43:0d1886f4848a 211 //wait(0.01);
hazheng 3:c8867972ffc7 212 }
hazheng 3:c8867972ffc7 213 }
hazheng 3:c8867972ffc7 214
hazheng 3:c8867972ffc7 215 /*
hazheng 3:c8867972ffc7 216 PwmOut servo(PTE20);
hazheng 3:c8867972ffc7 217
hazheng 3:c8867972ffc7 218 int main() {
hazheng 3:c8867972ffc7 219 servo.period(0.020); // servo requires a 20ms period
hazheng 3:c8867972ffc7 220
hazheng 3:c8867972ffc7 221 while (1) {
hazheng 3:c8867972ffc7 222 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 3:c8867972ffc7 223 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 3:c8867972ffc7 224 wait(0.25);
hazheng 3:c8867972ffc7 225 }
hazheng 3:c8867972ffc7 226 }
hazheng 3:c8867972ffc7 227
hazheng 3:c8867972ffc7 228 }
hazheng 13:7dcb1642ef99 229 */
hazheng 13:7dcb1642ef99 230
hazheng 13:7dcb1642ef99 231 /* //code for accelerometer sensor.
hazheng 13:7dcb1642ef99 232 const char regAddr = 0x0D;
hazheng 13:7dcb1642ef99 233 char readValue = 0;
hazheng 13:7dcb1642ef99 234 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 13:7dcb1642ef99 235 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 13:7dcb1642ef99 236 char buf[20];
hazheng 13:7dcb1642ef99 237 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 13:7dcb1642ef99 238 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 3:c8867972ffc7 239 */