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@70:311d32a596db, 2017-04-14 (annotated)

Committer:
hazheng
Date:
Fri Apr 14 18:44:41 2017 +0000
Revision:
70:311d32a596db
Parent:
69:34e97694f0ef
Child:
71:5601d2faa61d
Fixed the camera not centered issue. Reduce the effect of the corner ratio.

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 68:b15cab740371 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 68:b15cab740371 61 /* DeltaTime Calculation
hazheng 16:66c7a09e71ee 62 timer.start();
hazheng 18:bf6c5f8281eb 63 float timeWas = timer.read();
hazheng 68:b15cab740371 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 68:b15cab740371 71 //DebugCounter counter(10, PTE5);
hazheng 57:0d8a155d511d 72
hazheng 5:577b582e4fe9 73 while (1)
hazheng 5:577b582e4fe9 74 {
hazheng 68:b15cab740371 75 /* DeltaTime Calculation
hazheng 18:bf6c5f8281eb 76 float deltaTime = timeWas;
hazheng 18:bf6c5f8281eb 77 timeWas = timer.read();
hazheng 18:bf6c5f8281eb 78 deltaTime = timeWas - deltaTime;
hazheng 68:b15cab740371 79 */
hazheng 41:7b21c5e3599e 80
hazheng 41:7b21c5e3599e 81
hazheng 44:15de535c4005 82 //ardu_cam_display_img_utft();
hazheng 57:0d8a155d511d 83 image_processing();
hazheng 64:43ab429a37e0 84 uint8_t shouldTerminate = ardu_cam_get_is_encounter_terminate();
hazheng 64:43ab429a37e0 85
hazheng 64:43ab429a37e0 86 if(shouldTerminate)
hazheng 64:43ab429a37e0 87 {
hazheng 65:295c222fdf88 88 ardu_utft_print("F", 230, 100);
hazheng 65:295c222fdf88 89 servo_set_angle(0.0f);
hazheng 66:c9b64f5337cc 90 motor_set_right_speed(-1.0f);
hazheng 66:c9b64f5337cc 91 motor_set_left_speed(-1.0f);
hazheng 68:b15cab740371 92 wait(0.4f);
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 58:996effac29b9 115 float angleDegrees = (angleRadians * (180.0f / PI));
Bobymicjohn 47:a682be9908b9 116
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
Bobymicjohn 67:1b5c8add3d01 124
hazheng 70:311d32a596db 125 float totalAngleDegrees = (angleDegrees * 0.55f) + (offsetDegrees * (centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] != BOTH_FOUND ? 0.90f : 0.35f));
Bobymicjohn 54:f1f5648dfacf 126 float totalAngleDegreesAbs = abs(totalAngleDegrees);
hazheng 70:311d32a596db 127 if((totalAngleDegrees < 0.0f && centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] == LEFT_FOUND) ||
hazheng 70:311d32a596db 128 (totalAngleDegrees > 0.0f && centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] == RIGHT_FOUND))
hazheng 65:295c222fdf88 129 {
hazheng 70:311d32a596db 130 totalAngleDegrees = ((-1.0f) * totalAngleDegrees);
hazheng 65:295c222fdf88 131 }
hazheng 70:311d32a596db 132 LOGI("%d %5.3f ", centerLine[2 * CAM_ROI_UPPER_LIMIT - 1], totalAngleDegrees);
hazheng 52:078b521c9edf 133 servo_set_angle(totalAngleDegrees);
hazheng 52:078b521c9edf 134
hazheng 65:295c222fdf88 135
hazheng 52:078b521c9edf 136 if(totalAngleDegrees > SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 137 totalAngleDegrees = SERVO_MAX_ANGLE;
hazheng 52:078b521c9edf 138 else if(totalAngleDegrees < -SERVO_MAX_ANGLE)
hazheng 52:078b521c9edf 139 totalAngleDegrees = -SERVO_MAX_ANGLE;
Bobymicjohn 54:f1f5648dfacf 140
Bobymicjohn 58:996effac29b9 141 if(totalAngleDegrees > lastAngle)
Bobymicjohn 58:996effac29b9 142 {
hazheng 70:311d32a596db 143 cornerRatio = 0.6;//(lastAngle / totalAngleDegrees);
Bobymicjohn 58:996effac29b9 144 }
Bobymicjohn 58:996effac29b9 145 else if(totalAngleDegrees < lastAngle)
Bobymicjohn 58:996effac29b9 146 {
hazheng 70:311d32a596db 147 cornerRatio = 1.0;//(lastAngle / totalAngleDegrees);
Bobymicjohn 58:996effac29b9 148 }
Bobymicjohn 58:996effac29b9 149 else
Bobymicjohn 58:996effac29b9 150 {
Bobymicjohn 58:996effac29b9 151 cornerRatio = 1.0f;
Bobymicjohn 58:996effac29b9 152 }
Bobymicjohn 54:f1f5648dfacf 153
Bobymicjohn 58:996effac29b9 154 if(totalAngleDegreesAbs > 18.0f)
hazheng 52:078b521c9edf 155 {
Bobymicjohn 58:996effac29b9 156 speedRatio = 0.90f;
Bobymicjohn 54:f1f5648dfacf 157 }
hazheng 57:0d8a155d511d 158 else if(totalAngleDegreesAbs > 15.0f)
Bobymicjohn 54:f1f5648dfacf 159 {
Bobymicjohn 58:996effac29b9 160 speedRatio = 0.94f;
Bobymicjohn 54:f1f5648dfacf 161 }
Bobymicjohn 58:996effac29b9 162 else if(totalAngleDegreesAbs > 12.0f)
Bobymicjohn 54:f1f5648dfacf 163 {
Bobymicjohn 58:996effac29b9 164 speedRatio = 0.98f;
hazheng 52:078b521c9edf 165 }
hazheng 52:078b521c9edf 166 else
hazheng 52:078b521c9edf 167 {
Bobymicjohn 54:f1f5648dfacf 168 speedRatio = 1.0f;
Bobymicjohn 54:f1f5648dfacf 169 }
Bobymicjohn 54:f1f5648dfacf 170
hazheng 65:295c222fdf88 171
Bobymicjohn 54:f1f5648dfacf 172 if(totalAngleDegrees < 0.0f)
Bobymicjohn 54:f1f5648dfacf 173 {
Bobymicjohn 58:996effac29b9 174 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 175 motor_set_right_speed(speedRatio * cornerRatio * 1.0f);
Bobymicjohn 54:f1f5648dfacf 176 }
Bobymicjohn 54:f1f5648dfacf 177 else
Bobymicjohn 54:f1f5648dfacf 178 {
Bobymicjohn 58:996effac29b9 179 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 180 motor_set_left_speed(speedRatio * cornerRatio * 1.0f);
hazheng 52:078b521c9edf 181 }
hazheng 65:295c222fdf88 182
hazheng 69:34e97694f0ef 183 lastAngle = totalAngleDegrees;
hazheng 68:b15cab740371 184 }
hazheng 68:b15cab740371 185 }
hazheng 68:b15cab740371 186
hazheng 68:b15cab740371 187 /*
hazheng 68:b15cab740371 188 PwmOut servo(PTE20);
hazheng 68:b15cab740371 189
hazheng 68:b15cab740371 190 int main() {
hazheng 68:b15cab740371 191 servo.period(0.020); // servo requires a 20ms period
hazheng 68:b15cab740371 192
hazheng 68:b15cab740371 193 while (1) {
hazheng 68:b15cab740371 194 for(float offset=0.0; offset<0.001; offset+=0.0001) {
hazheng 68:b15cab740371 195 servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
hazheng 68:b15cab740371 196 wait(0.25);
hazheng 68:b15cab740371 197 }
hazheng 68:b15cab740371 198 }
hazheng 68:b15cab740371 199
hazheng 68:b15cab740371 200 }
hazheng 68:b15cab740371 201 */
hazheng 68:b15cab740371 202
hazheng 68:b15cab740371 203 /* //code for accelerometer sensor.
hazheng 68:b15cab740371 204 const char regAddr = 0x0D;
hazheng 68:b15cab740371 205 char readValue = 0;
hazheng 68:b15cab740371 206 int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
hazheng 68:b15cab740371 207 int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
hazheng 68:b15cab740371 208 char buf[20];
hazheng 68:b15cab740371 209 sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
hazheng 68:b15cab740371 210 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 68:b15cab740371 211 */
hazheng 68:b15cab740371 212
hazheng 68:b15cab740371 213 //g_core.Update(deltaTime);
hazheng 68:b15cab740371 214
hazheng 68:b15cab740371 215 //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
hazheng 68:b15cab740371 216 //{
hazheng 68:b15cab740371 217 //ardu_cam_print_debug();
hazheng 68:b15cab740371 218 // isRegRead = true;
hazheng 68:b15cab740371 219 //}
hazheng 68:b15cab740371 220
hazheng 57:0d8a155d511d 221 //LOGI("FPS: %f", 1 / deltaTime);
hazheng 62:bc5caf59fe39 222
hazheng 62:bc5caf59fe39 223 //imu_manager_init();
hazheng 63:d9a81b3d69f5 224 //imu_manager_update();
hazheng 64:43ab429a37e0 225 //float imuTemp = imu_manager_get_temp();
hazheng 63:d9a81b3d69f5 226
hazheng 63:d9a81b3d69f5 227 //const volatile struct imu_vec3* AccelV = imu_manager_get_accl();
hazheng 63:d9a81b3d69f5 228
hazheng 64:43ab429a37e0 229 //LOGI("A: %5.3f, %5.3f, %5.3f.T%5.2f ", AccelV->x, AccelV->y, AccelV->z, imuTemp);
hazheng 62:bc5caf59fe39 230
hazheng 63:d9a81b3d69f5 231 //const volatile struct imu_vec3* VelocityV = imu_manager_get_velocity();
hazheng 63:d9a81b3d69f5 232
hazheng 64:43ab429a37e0 233 //LOGI("V: %5.3f, %5.3f, %5.3f.T%5.2f ", VelocityV->x, VelocityV->y, VelocityV->z, imuTemp);
hazheng 62:bc5caf59fe39 234
hazheng 64:43ab429a37e0 235 //const volatile struct imu_vec3* PositionV = imu_manager_get_position();
hazheng 63:d9a81b3d69f5 236
hazheng 64:43ab429a37e0 237 //LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
hazheng 62:bc5caf59fe39 238
hazheng 68:b15cab740371 239 //counter.Update();
hazheng 57:0d8a155d511d 240
hazheng 52:078b521c9edf 241 /*
Bobymicjohn 47:a682be9908b9 242 //////// Steer Vehicle / Adjust Speed for Differential //////////
Bobymicjohn 47:a682be9908b9 243 servo_set_angle((angleDegrees * -0.3f) + (offsetPercent * SERVO_MAX_ANGLE * 0.3f));
Bobymicjohn 47:a682be9908b9 244
Bobymicjohn 47:a682be9908b9 245 if(angleRadians > 0.366)
Bobymicjohn 47:a682be9908b9 246 angleRadians = 0.366;
Bobymicjohn 47:a682be9908b9 247 else if(angleRadians < -0.366)
Bobymicjohn 47:a682be9908b9 248 angleRadians = -0.366;
Bobymicjohn 47:a682be9908b9 249
Bobymicjohn 47:a682be9908b9 250 if(angleRadians < 0)
Bobymicjohn 47:a682be9908b9 251 {
Bobymicjohn 47:a682be9908b9 252 motor_set_left_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 253 motor_set_right_speed(1.0);
Bobymicjohn 47:a682be9908b9 254 }
Bobymicjohn 47:a682be9908b9 255 else
Bobymicjohn 47:a682be9908b9 256 {
Bobymicjohn 47:a682be9908b9 257 motor_set_right_speed((0.5) + (0.5) * ((0.366 - abs(angleRadians))/0.366));
Bobymicjohn 47:a682be9908b9 258 motor_set_left_speed(1.0);
Bobymicjohn 47:a682be9908b9 259 }
hazheng 52:078b521c9edf 260 */
hazheng 50:c387c88141fb 261
hazheng 50:c387c88141fb 262
hazheng 46:a5eb9bd3bb55 263 //char buf[20];
hazheng 46:a5eb9bd3bb55 264 //sprintf(buf, "angle %f", angle);
hazheng 46:a5eb9bd3bb55 265 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 46:a5eb9bd3bb55 266 /*
hazheng 46:a5eb9bd3bb55 267 std::string tempStr = "XX";
hazheng 46:a5eb9bd3bb55 268 for(uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 46:a5eb9bd3bb55 269 {
hazheng 46:a5eb9bd3bb55 270 tempStr[0] = i;
hazheng 46:a5eb9bd3bb55 271 tempStr[1] = centerLine[i];
hazheng 46:a5eb9bd3bb55 272 g_core.GetUSBServer().PushUnreliableMsg('L', tempStr);
hazheng 46:a5eb9bd3bb55 273 }
hazheng 46:a5eb9bd3bb55 274 */
hazheng 46:a5eb9bd3bb55 275
hazheng 46:a5eb9bd3bb55 276 /*
hazheng 44:15de535c4005 277 if(offsetPercent > 0.1)
hazheng 44:15de535c4005 278 {
hazheng 46:a5eb9bd3bb55 279 motor_set_speeds(0.05f, 0.05f);
hazheng 44:15de535c4005 280 }
hazheng 44:15de535c4005 281 else
hazheng 44:15de535c4005 282 {
hazheng 46:a5eb9bd3bb55 283 motor_set_speeds(0.13f, 0.13f);
hazheng 44:15de535c4005 284 }
hazheng 46:a5eb9bd3bb55 285 */
hazheng 68:b15cab740371 286 //wait(0.01);