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

StateMachine/RunningState.cpp@98:fc92bb37ee17, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 16:18:45 2017 +0000
Revision:
98:fc92bb37ee17
Parent:
86:51048c1f132f
Child:
100:ffbeefc9e218
Added intersection detection (not working yet)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 80:c85cb93713b3 1 #include "RunningState.h"
hazheng 80:c85cb93713b3 2
hazheng 98:fc92bb37ee17 3 #define SW_DEBUG
hazheng 98:fc92bb37ee17 4 #include "SWCommon.h"
hazheng 98:fc92bb37ee17 5
hazheng 80:c85cb93713b3 6 #include "StateManager.h"
hazheng 80:c85cb93713b3 7
hazheng 80:c85cb93713b3 8 #include "ArduCAM.h"
hazheng 80:c85cb93713b3 9 #include "ArduUTFT.h"
hazheng 80:c85cb93713b3 10 #include "Motor.h"
hazheng 80:c85cb93713b3 11 #include "Servo.h"
hazheng 80:c85cb93713b3 12
hazheng 80:c85cb93713b3 13 #define PI 3.14159265f
hazheng 83:b2c7c6f76575 14 #include <math.h>
hazheng 80:c85cb93713b3 15
hazheng 80:c85cb93713b3 16 RunningState::RunningState() :
hazheng 80:c85cb93713b3 17 m_speedRatio(1.0f),
hazheng 80:c85cb93713b3 18 m_lastAngle(0.0f),
hazheng 80:c85cb93713b3 19 m_lastAngleAbs(0.0f),
hazheng 80:c85cb93713b3 20 m_cornerRatio(1.0f),
hazheng 86:51048c1f132f 21 //m_lastLineFound(BOTH_FOUND),
hazheng 85:f3911aab41d9 22 m_shouldTerminate(0)
hazheng 80:c85cb93713b3 23 {}
hazheng 80:c85cb93713b3 24
hazheng 80:c85cb93713b3 25 RunningState::~RunningState()
hazheng 80:c85cb93713b3 26 {}
hazheng 80:c85cb93713b3 27
hazheng 80:c85cb93713b3 28 void RunningState::DrawUserInterface()
hazheng 80:c85cb93713b3 29 {
hazheng 81:32bd7a25a699 30 ardu_utft_clr_scr();
hazheng 80:c85cb93713b3 31
hazheng 81:32bd7a25a699 32 ardu_utft_set_color(255, 0, 0);
hazheng 81:32bd7a25a699 33 ardu_utft_fill_rect(10, 10, 310, 230);
hazheng 81:32bd7a25a699 34 ardu_utft_set_color(255, 255, 255);
hazheng 81:32bd7a25a699 35 ardu_utft_print("STOP", 170, 120);
hazheng 80:c85cb93713b3 36 }
hazheng 80:c85cb93713b3 37
hazheng 80:c85cb93713b3 38 void RunningState::Update(float deltaTime)
hazheng 80:c85cb93713b3 39 {
hazheng 80:c85cb93713b3 40 image_processing();
hazheng 80:c85cb93713b3 41 uint8_t shouldTerminate = ardu_cam_get_is_encounter_terminate();
hazheng 80:c85cb93713b3 42
hazheng 85:f3911aab41d9 43 if(shouldTerminate || m_shouldTerminate)
hazheng 80:c85cb93713b3 44 {
hazheng 85:f3911aab41d9 45 m_shouldTerminate = 0;
hazheng 80:c85cb93713b3 46 TerminateProcess();
hazheng 80:c85cb93713b3 47 return;
hazheng 80:c85cb93713b3 48 }
hazheng 80:c85cb93713b3 49
hazheng 80:c85cb93713b3 50 const volatile uint8_t* centerLine = ardu_cam_get_center_array();
hazheng 80:c85cb93713b3 51
hazheng 80:c85cb93713b3 52 /////////////Calculate the curvature:
hazheng 80:c85cb93713b3 53 float srcY = (0.0f + 1.0f) / 2.0f;
hazheng 80:c85cb93713b3 54 float srcX = static_cast<float>(centerLine[0] + centerLine[1]) / 2.0f;
hazheng 80:c85cb93713b3 55
hazheng 80:c85cb93713b3 56 float destY = static_cast<float>(CAM_ROI_UPPER_LIMIT - 1 + (CAM_ROI_UPPER_LIMIT - 2)) / 2.0f;
hazheng 80:c85cb93713b3 57 float destX = static_cast<float>(centerLine[CAM_ROI_UPPER_LIMIT - 1] + centerLine[CAM_ROI_UPPER_LIMIT - 2]) / 2.0f;
hazheng 80:c85cb93713b3 58
hazheng 80:c85cb93713b3 59 float disY = destY - srcY;
hazheng 80:c85cb93713b3 60 float disX = destX - srcX;
hazheng 80:c85cb93713b3 61
hazheng 80:c85cb93713b3 62 float angleRadians = -1.0f * static_cast<float>(atan(static_cast<double>(disX / disY)));
hazheng 80:c85cb93713b3 63 float angleDegrees = (angleRadians * (180.0f / PI));
hazheng 80:c85cb93713b3 64
hazheng 80:c85cb93713b3 65 ///////////////////////////////////////
hazheng 80:c85cb93713b3 66
hazheng 80:c85cb93713b3 67 /////////////Calculate the offset:
hazheng 80:c85cb93713b3 68 float centerPos = static_cast<float>(RESOLUTION_WIDTH / 2);
hazheng 80:c85cb93713b3 69 float offsetDegrees = ((srcX - centerPos) / centerPos) * SERVO_MAX_ANGLE;
hazheng 80:c85cb93713b3 70 //////////////////////////////////////
hazheng 80:c85cb93713b3 71
hazheng 80:c85cb93713b3 72 const uint8_t lineFoundRefRow = ((2 * CAM_ROI_UPPER_LIMIT) - 1) - (CAM_ROI_UPPER_LIMIT / 2);
hazheng 80:c85cb93713b3 73 //const uint8_t lineFoundRefTop = ((2 * CAM_ROI_UPPER_LIMIT) - 1);
hazheng 80:c85cb93713b3 74 //const uint8_t lineFoundRefBut = (CAM_ROI_UPPER_LIMIT);
hazheng 98:fc92bb37ee17 75 //const uint8_t isBorderFound = ardu_cam_get_is_border_found();
hazheng 98:fc92bb37ee17 76 const uint8_t isIntersectionDetected = ardu_cam_get_is_intersection_detected();
hazheng 98:fc92bb37ee17 77
hazheng 98:fc92bb37ee17 78 LOGI("%d", isIntersectionDetected);
hazheng 80:c85cb93713b3 79
hazheng 80:c85cb93713b3 80 float totalAngleDegrees = (angleDegrees * 0.52f) + (offsetDegrees * (centerLine[lineFoundRefRow] != BOTH_FOUND ? 0.90f : 0.35f));
hazheng 80:c85cb93713b3 81
hazheng 80:c85cb93713b3 82 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 80:c85cb93713b3 83 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 80:c85cb93713b3 84 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 80:c85cb93713b3 85 totalAngleDegrees = -SERVO_MAX_ANGLE;
hazheng 80:c85cb93713b3 86
hazheng 98:fc92bb37ee17 87 if(isIntersectionDetected)
hazheng 80:c85cb93713b3 88 {
hazheng 82:992ba6f31e24 89 totalAngleDegrees = ((-0.2f) * totalAngleDegrees);// + ((0.2f) * m_lastAngle);
hazheng 80:c85cb93713b3 90 }
hazheng 80:c85cb93713b3 91 //LOGI("%d %5.3f ", centerLine[lineFoundRefRow], totalAngleDegrees);
hazheng 80:c85cb93713b3 92 servo_set_angle(totalAngleDegrees);
hazheng 80:c85cb93713b3 93
hazheng 80:c85cb93713b3 94
hazheng 80:c85cb93713b3 95 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 80:c85cb93713b3 96
hazheng 80:c85cb93713b3 97 if(totalAngleDegreesAbs > m_lastAngleAbs)
hazheng 80:c85cb93713b3 98 {
hazheng 80:c85cb93713b3 99 m_cornerRatio = 0.4;//(m_lastAngle / totalAngleDegrees);
hazheng 80:c85cb93713b3 100 }
hazheng 80:c85cb93713b3 101 else if(totalAngleDegreesAbs < m_lastAngleAbs)
hazheng 80:c85cb93713b3 102 {
hazheng 80:c85cb93713b3 103 m_cornerRatio = 0.8;//(m_lastAngle / totalAngleDegrees);
hazheng 80:c85cb93713b3 104 }
hazheng 80:c85cb93713b3 105 else
hazheng 80:c85cb93713b3 106 {
hazheng 80:c85cb93713b3 107 m_cornerRatio = 1.0f;
hazheng 80:c85cb93713b3 108 }
hazheng 80:c85cb93713b3 109
hazheng 80:c85cb93713b3 110 if(totalAngleDegreesAbs > 20.0f)
hazheng 80:c85cb93713b3 111 {
hazheng 80:c85cb93713b3 112 m_speedRatio = 0.350f;
hazheng 80:c85cb93713b3 113 }
hazheng 80:c85cb93713b3 114 else if(totalAngleDegreesAbs > 18.0f)
hazheng 80:c85cb93713b3 115 {
hazheng 80:c85cb93713b3 116 m_speedRatio = 0.80f;
hazheng 80:c85cb93713b3 117 }
hazheng 80:c85cb93713b3 118 else if(totalAngleDegreesAbs > 15.0f)
hazheng 80:c85cb93713b3 119 {
hazheng 80:c85cb93713b3 120 m_speedRatio = 0.90f;
hazheng 80:c85cb93713b3 121 }
hazheng 80:c85cb93713b3 122 else if(totalAngleDegreesAbs > 12.0f)
hazheng 80:c85cb93713b3 123 {
hazheng 80:c85cb93713b3 124 m_speedRatio = 0.92f;
hazheng 80:c85cb93713b3 125 }
hazheng 80:c85cb93713b3 126 else
hazheng 80:c85cb93713b3 127 {
hazheng 80:c85cb93713b3 128 m_speedRatio = 1.0f;
hazheng 80:c85cb93713b3 129 }
hazheng 80:c85cb93713b3 130
hazheng 80:c85cb93713b3 131
hazheng 80:c85cb93713b3 132 if(totalAngleDegrees < 0.0f)
hazheng 80:c85cb93713b3 133 {
hazheng 80:c85cb93713b3 134 motor_set_left_speed(m_speedRatio * m_cornerRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
hazheng 80:c85cb93713b3 135 motor_set_right_speed(m_speedRatio * m_cornerRatio * 1.0f);
hazheng 80:c85cb93713b3 136 }
hazheng 80:c85cb93713b3 137 else
hazheng 80:c85cb93713b3 138 {
hazheng 80:c85cb93713b3 139 motor_set_right_speed(m_speedRatio * m_cornerRatio * ((MOTOR_DIFF_MIN_SPEED) + ((1.0f - MOTOR_DIFF_MIN_SPEED) * ((SERVO_MAX_ANGLE - abs(totalAngleDegrees)) / SERVO_MAX_ANGLE))));
hazheng 80:c85cb93713b3 140 motor_set_left_speed(m_speedRatio * m_cornerRatio * 1.0f);
hazheng 80:c85cb93713b3 141 }
hazheng 80:c85cb93713b3 142
hazheng 80:c85cb93713b3 143 m_lastAngle = totalAngleDegrees;
hazheng 80:c85cb93713b3 144 m_lastAngleAbs = totalAngleDegreesAbs;
hazheng 86:51048c1f132f 145 //m_lastLineFound = centerLine[lineFoundRefRow];
hazheng 80:c85cb93713b3 146 }
hazheng 80:c85cb93713b3 147
hazheng 80:c85cb93713b3 148 uint8_t RunningState::HasTouchPosFunction() const
hazheng 80:c85cb93713b3 149 {
hazheng 80:c85cb93713b3 150 return 0;
hazheng 80:c85cb93713b3 151 }
hazheng 80:c85cb93713b3 152
hazheng 80:c85cb93713b3 153 uint8_t RunningState::HasTouchIrqFunction() const
hazheng 80:c85cb93713b3 154 {
hazheng 80:c85cb93713b3 155 return 1;
hazheng 80:c85cb93713b3 156 }
hazheng 80:c85cb93713b3 157
hazheng 80:c85cb93713b3 158 void RunningState::TouchIrqCallback()
hazheng 80:c85cb93713b3 159 {
hazheng 85:f3911aab41d9 160 //TerminateProcess();
hazheng 85:f3911aab41d9 161 m_shouldTerminate = 1;
hazheng 80:c85cb93713b3 162 }
hazheng 80:c85cb93713b3 163
hazheng 80:c85cb93713b3 164 void RunningState::TerminateProcess()
hazheng 80:c85cb93713b3 165 {
hazheng 82:992ba6f31e24 166 //ardu_utft_print("F", 230, 100);
hazheng 80:c85cb93713b3 167 servo_set_angle(0.0f);
hazheng 80:c85cb93713b3 168 motor_set_right_speed(-1.0f);
hazheng 80:c85cb93713b3 169 motor_set_left_speed(-1.0f);
hazheng 80:c85cb93713b3 170 wait(0.4f);
hazheng 80:c85cb93713b3 171 motor_set_right_speed(0.0f);
hazheng 80:c85cb93713b3 172 motor_set_left_speed(0.0f);
hazheng 82:992ba6f31e24 173
hazheng 82:992ba6f31e24 174 state_manager_switch_state(STANDBY_STATE);
hazheng 80:c85cb93713b3 175 }