David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.
Dependencies: PololuEncoder Pacer mbed GeneralDebouncer
main.cpp@43:0e985a58f174, 2019-07-27 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sat Jul 27 22:52:19 2019 +0000
- Revision:
- 43:0e985a58f174
- Parent:
- 42:96671b71aac5
- Child:
- 44:b4a00fbab06b
Changed reckoner to use readings from turnSensor (Gyro) to get its direction vector instead of encoder ticks.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 0:e77a0edb9878 | 1 | #include <mbed.h> |
DavidEGrayson | 8:78b1ff957cba | 2 | #include <Pacer.h> |
DavidEGrayson | 21:c279c6a83671 | 3 | #include <GeneralDebouncer.h> |
DavidEGrayson | 19:a11ffc903774 | 4 | #include <math.h> |
DavidEGrayson | 0:e77a0edb9878 | 5 | |
DavidEGrayson | 21:c279c6a83671 | 6 | #include "main.h" |
DavidEGrayson | 8:78b1ff957cba | 7 | #include "motors.h" |
DavidEGrayson | 8:78b1ff957cba | 8 | #include "encoders.h" |
DavidEGrayson | 9:9734347b5756 | 9 | #include "leds.h" |
DavidEGrayson | 8:78b1ff957cba | 10 | #include "pc_serial.h" |
DavidEGrayson | 9:9734347b5756 | 11 | #include "test.h" |
DavidEGrayson | 12:835a4d24ae3b | 12 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 13 | #include "buttons.h" |
DavidEGrayson | 21:c279c6a83671 | 14 | #include "line_tracker.h" |
DavidEGrayson | 40:6fa672be85ec | 15 | #include "l3g.h" |
DavidEGrayson | 40:6fa672be85ec | 16 | #include "turn_sensor.h" |
DavidEGrayson | 21:c279c6a83671 | 17 | |
DavidEGrayson | 41:3ead1dd2cc3a | 18 | void doDeadReckoning(); |
DavidEGrayson | 41:3ead1dd2cc3a | 19 | |
DavidEGrayson | 21:c279c6a83671 | 20 | Reckoner reckoner; |
DavidEGrayson | 21:c279c6a83671 | 21 | LineTracker lineTracker; |
DavidEGrayson | 40:6fa672be85ec | 22 | TurnSensor turnSensor; |
DavidEGrayson | 37:23000a47ed2b | 23 | Logger logger; |
DavidEGrayson | 40:6fa672be85ec | 24 | |
DavidEGrayson | 40:6fa672be85ec | 25 | uint32_t totalEncoderCounts = 0; |
DavidEGrayson | 40:6fa672be85ec | 26 | uint32_t nextLogEncoderCount = 0; |
DavidEGrayson | 40:6fa672be85ec | 27 | const uint32_t logSpacing = 100; |
DavidEGrayson | 21:c279c6a83671 | 28 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 29 | const int16_t drivingSpeed = 400; |
DavidEGrayson | 21:c279c6a83671 | 30 | |
DavidEGrayson | 21:c279c6a83671 | 31 | void setLeds(bool v1, bool v2, bool v3, bool v4) |
DavidEGrayson | 21:c279c6a83671 | 32 | { |
DavidEGrayson | 21:c279c6a83671 | 33 | led1 = v1; |
DavidEGrayson | 21:c279c6a83671 | 34 | led2 = v2; |
DavidEGrayson | 21:c279c6a83671 | 35 | led3 = v3; |
DavidEGrayson | 21:c279c6a83671 | 36 | led4 = v4; |
DavidEGrayson | 21:c279c6a83671 | 37 | } |
DavidEGrayson | 0:e77a0edb9878 | 38 | |
DavidEGrayson | 10:e4dd36148539 | 39 | int __attribute__((noreturn)) main() |
DavidEGrayson | 2:968338353aef | 40 | { |
DavidEGrayson | 2:968338353aef | 41 | pc.baud(115200); |
DavidEGrayson | 2:968338353aef | 42 | |
DavidEGrayson | 40:6fa672be85ec | 43 | if (l3gInit()) |
DavidEGrayson | 40:6fa672be85ec | 44 | { |
DavidEGrayson | 40:6fa672be85ec | 45 | // Error initializing the gyro. |
DavidEGrayson | 40:6fa672be85ec | 46 | setLeds(0, 0, 1, 1); |
DavidEGrayson | 40:6fa672be85ec | 47 | while(1); |
DavidEGrayson | 40:6fa672be85ec | 48 | } |
DavidEGrayson | 40:6fa672be85ec | 49 | |
DavidEGrayson | 2:968338353aef | 50 | // Enable pull-ups on encoder pins and give them a chance to settle. |
DavidEGrayson | 9:9734347b5756 | 51 | encodersInit(); |
DavidEGrayson | 9:9734347b5756 | 52 | motorsInit(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 53 | buttonsInit(); |
DavidEGrayson | 4:1b20a11765c8 | 54 | |
DavidEGrayson | 8:78b1ff957cba | 55 | // Test routines |
DavidEGrayson | 9:9734347b5756 | 56 | //testMotors(); |
DavidEGrayson | 10:e4dd36148539 | 57 | //testEncoders(); |
DavidEGrayson | 39:b19dfc5d4d4b | 58 | //testMotorSpeed(); |
DavidEGrayson | 32:83a13b06093c | 59 | //testLineSensors(); |
DavidEGrayson | 40:6fa672be85ec | 60 | //testL3g(); |
DavidEGrayson | 42:96671b71aac5 | 61 | //testL3gAndShowAverage(); |
DavidEGrayson | 43:0e985a58f174 | 62 | //testTurnSensor(); |
DavidEGrayson | 43:0e985a58f174 | 63 | testReckoner(); |
DavidEGrayson | 17:2df9861f53ee | 64 | //testButtons(); |
DavidEGrayson | 34:6c84680d823a | 65 | //testDriveHome(); |
DavidEGrayson | 21:c279c6a83671 | 66 | //testFinalSettleIn(); |
DavidEGrayson | 23:aae5cbe3b924 | 67 | //testCalibrate(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | //testLineFollowing(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 69 | //testTurnInPlace(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 70 | //testCloseness(); |
DavidEGrayson | 37:23000a47ed2b | 71 | //testLogger(); |
DavidEGrayson | 41:3ead1dd2cc3a | 72 | |
DavidEGrayson | 42:96671b71aac5 | 73 | loadLineCalibration(); |
DavidEGrayson | 42:96671b71aac5 | 74 | doGyroCalibration(); |
DavidEGrayson | 2:968338353aef | 75 | |
DavidEGrayson | 41:3ead1dd2cc3a | 76 | doDeadReckoning(); |
DavidEGrayson | 41:3ead1dd2cc3a | 77 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 78 | |
DavidEGrayson | 41:3ead1dd2cc3a | 79 | void doDeadReckoning() |
DavidEGrayson | 41:3ead1dd2cc3a | 80 | { |
DavidEGrayson | 21:c279c6a83671 | 81 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 82 | waitForSignalToStart(); |
DavidEGrayson | 25:73c2eedb3b91 | 83 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 84 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 28:4374035df5e0 | 85 | findLine(); |
DavidEGrayson | 41:3ead1dd2cc3a | 86 | |
DavidEGrayson | 27:2456f68be679 | 87 | //setLeds(1, 1, 0, 0); |
DavidEGrayson | 27:2456f68be679 | 88 | //turnRightToFindLine(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 89 | |
DavidEGrayson | 21:c279c6a83671 | 90 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 91 | followLineToEnd(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 92 | |
DavidEGrayson | 21:c279c6a83671 | 93 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 94 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 95 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 96 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 97 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 98 | |
DavidEGrayson | 21:c279c6a83671 | 99 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 37:23000a47ed2b | 100 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 101 | } |
DavidEGrayson | 37:23000a47ed2b | 102 | |
DavidEGrayson | 37:23000a47ed2b | 103 | void loggerService() |
DavidEGrayson | 37:23000a47ed2b | 104 | { |
DavidEGrayson | 40:6fa672be85ec | 105 | if (totalEncoderCounts > nextLogEncoderCount) |
DavidEGrayson | 37:23000a47ed2b | 106 | { |
DavidEGrayson | 40:6fa672be85ec | 107 | nextLogEncoderCount += logSpacing; |
DavidEGrayson | 40:6fa672be85ec | 108 | |
DavidEGrayson | 40:6fa672be85ec | 109 | struct LogEntry entry; |
DavidEGrayson | 40:6fa672be85ec | 110 | entry.turnAngle = turnSensor.getAngle() >> 16; |
DavidEGrayson | 40:6fa672be85ec | 111 | entry.x = reckoner.x >> 16; |
DavidEGrayson | 40:6fa672be85ec | 112 | entry.y = reckoner.y >> 16; |
DavidEGrayson | 40:6fa672be85ec | 113 | logger.log(&entry); |
DavidEGrayson | 37:23000a47ed2b | 114 | } |
DavidEGrayson | 0:e77a0edb9878 | 115 | } |
DavidEGrayson | 12:835a4d24ae3b | 116 | |
DavidEGrayson | 37:23000a47ed2b | 117 | void loggerReportLoop() |
DavidEGrayson | 37:23000a47ed2b | 118 | { |
DavidEGrayson | 37:23000a47ed2b | 119 | while(1) |
DavidEGrayson | 37:23000a47ed2b | 120 | { |
DavidEGrayson | 37:23000a47ed2b | 121 | if(button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 122 | { |
DavidEGrayson | 37:23000a47ed2b | 123 | logger.dump(); |
DavidEGrayson | 37:23000a47ed2b | 124 | } |
DavidEGrayson | 37:23000a47ed2b | 125 | } |
DavidEGrayson | 37:23000a47ed2b | 126 | } |
DavidEGrayson | 37:23000a47ed2b | 127 | |
DavidEGrayson | 42:96671b71aac5 | 128 | void doGyroCalibration() |
DavidEGrayson | 42:96671b71aac5 | 129 | { |
DavidEGrayson | 42:96671b71aac5 | 130 | wait_ms(1000); // Time for the robot to stop moving. |
DavidEGrayson | 42:96671b71aac5 | 131 | while (!l3gCalibrateDone()) |
DavidEGrayson | 42:96671b71aac5 | 132 | { |
DavidEGrayson | 42:96671b71aac5 | 133 | l3gCalibrate(); |
DavidEGrayson | 42:96671b71aac5 | 134 | wait_ms(2); |
DavidEGrayson | 42:96671b71aac5 | 135 | } |
DavidEGrayson | 42:96671b71aac5 | 136 | } |
DavidEGrayson | 37:23000a47ed2b | 137 | |
DavidEGrayson | 42:96671b71aac5 | 138 | void loadLineCalibration() |
DavidEGrayson | 28:4374035df5e0 | 139 | { |
DavidEGrayson | 32:83a13b06093c | 140 | /** QTR-3RC **/ |
DavidEGrayson | 32:83a13b06093c | 141 | lineTracker.calibratedMinimum[0] = 100; |
DavidEGrayson | 32:83a13b06093c | 142 | lineTracker.calibratedMinimum[1] = 94; |
DavidEGrayson | 32:83a13b06093c | 143 | lineTracker.calibratedMinimum[2] = 103; |
DavidEGrayson | 32:83a13b06093c | 144 | lineTracker.calibratedMaximum[0] = 792; |
DavidEGrayson | 32:83a13b06093c | 145 | lineTracker.calibratedMaximum[1] = 807; |
DavidEGrayson | 32:83a13b06093c | 146 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 28:4374035df5e0 | 147 | } |
DavidEGrayson | 28:4374035df5e0 | 148 | |
DavidEGrayson | 43:0e985a58f174 | 149 | void updateReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 150 | { |
DavidEGrayson | 43:0e985a58f174 | 151 | if (!encoderBuffer.hasEvents()) |
DavidEGrayson | 43:0e985a58f174 | 152 | { |
DavidEGrayson | 43:0e985a58f174 | 153 | return; |
DavidEGrayson | 43:0e985a58f174 | 154 | } |
DavidEGrayson | 43:0e985a58f174 | 155 | |
DavidEGrayson | 43:0e985a58f174 | 156 | reckoner.setTurnAngle(turnSensor.getAngle()); |
DavidEGrayson | 43:0e985a58f174 | 157 | |
DavidEGrayson | 12:835a4d24ae3b | 158 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 159 | { |
DavidEGrayson | 12:835a4d24ae3b | 160 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 161 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 162 | { |
DavidEGrayson | 17:2df9861f53ee | 163 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 43:0e985a58f174 | 164 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 40:6fa672be85ec | 165 | totalEncoderCounts++; |
DavidEGrayson | 43:0e985a58f174 | 166 | reckoner.handleForward(); |
DavidEGrayson | 17:2df9861f53ee | 167 | break; |
DavidEGrayson | 17:2df9861f53ee | 168 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 169 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 43:0e985a58f174 | 170 | reckoner.handleBackward(); |
DavidEGrayson | 40:6fa672be85ec | 171 | totalEncoderCounts--; |
DavidEGrayson | 17:2df9861f53ee | 172 | break; |
DavidEGrayson | 12:835a4d24ae3b | 173 | } |
DavidEGrayson | 12:835a4d24ae3b | 174 | } |
DavidEGrayson | 12:835a4d24ae3b | 175 | } |
DavidEGrayson | 17:2df9861f53ee | 176 | |
DavidEGrayson | 19:a11ffc903774 | 177 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 178 | { |
DavidEGrayson | 19:a11ffc903774 | 179 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 180 | } |
DavidEGrayson | 19:a11ffc903774 | 181 | |
DavidEGrayson | 20:dbec34f0e76b | 182 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 183 | { |
DavidEGrayson | 43:0e985a58f174 | 184 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 43:0e985a58f174 | 185 | float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 20:dbec34f0e76b | 186 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 187 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 188 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 189 | } |
DavidEGrayson | 20:dbec34f0e76b | 190 | |
DavidEGrayson | 18:b65fbb795396 | 191 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 192 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 193 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 194 | { |
DavidEGrayson | 43:0e985a58f174 | 195 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 43:0e985a58f174 | 196 | float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 19:a11ffc903774 | 197 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 198 | } |
DavidEGrayson | 19:a11ffc903774 | 199 | |
DavidEGrayson | 21:c279c6a83671 | 200 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 201 | { |
DavidEGrayson | 19:a11ffc903774 | 202 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 203 | { |
DavidEGrayson | 19:a11ffc903774 | 204 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 205 | } |
DavidEGrayson | 19:a11ffc903774 | 206 | else |
DavidEGrayson | 19:a11ffc903774 | 207 | { |
DavidEGrayson | 19:a11ffc903774 | 208 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 209 | } |
DavidEGrayson | 18:b65fbb795396 | 210 | } |
DavidEGrayson | 18:b65fbb795396 | 211 | |
DavidEGrayson | 21:c279c6a83671 | 212 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 213 | { |
DavidEGrayson | 21:c279c6a83671 | 214 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 215 | { |
DavidEGrayson | 43:0e985a58f174 | 216 | updateReckoner(); |
DavidEGrayson | 38:5e93a479c244 | 217 | } |
DavidEGrayson | 21:c279c6a83671 | 218 | reckoner.reset(); |
DavidEGrayson | 38:5e93a479c244 | 219 | while(button1DefinitelyPressed()) |
DavidEGrayson | 38:5e93a479c244 | 220 | { |
DavidEGrayson | 43:0e985a58f174 | 221 | updateReckoner(); |
DavidEGrayson | 38:5e93a479c244 | 222 | } |
DavidEGrayson | 38:5e93a479c244 | 223 | wait(0.2); |
DavidEGrayson | 21:c279c6a83671 | 224 | } |
DavidEGrayson | 21:c279c6a83671 | 225 | |
DavidEGrayson | 24:fc01d9125d3b | 226 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 227 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 228 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 229 | { |
DavidEGrayson | 24:fc01d9125d3b | 230 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 231 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 232 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 43:0e985a58f174 | 233 | int32_t reduction = reckoner.sinv * straightDriveStrength >> RECKONER_LOG_UNIT; |
DavidEGrayson | 24:fc01d9125d3b | 234 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 235 | { |
DavidEGrayson | 24:fc01d9125d3b | 236 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 237 | } |
DavidEGrayson | 24:fc01d9125d3b | 238 | else |
DavidEGrayson | 24:fc01d9125d3b | 239 | { |
DavidEGrayson | 24:fc01d9125d3b | 240 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 241 | } |
DavidEGrayson | 24:fc01d9125d3b | 242 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 243 | } |
DavidEGrayson | 24:fc01d9125d3b | 244 | |
DavidEGrayson | 28:4374035df5e0 | 245 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 246 | { |
DavidEGrayson | 34:6c84680d823a | 247 | const int followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 28:4374035df5e0 | 248 | |
DavidEGrayson | 28:4374035df5e0 | 249 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 250 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 251 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 252 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 253 | { |
DavidEGrayson | 28:4374035df5e0 | 254 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 255 | } |
DavidEGrayson | 28:4374035df5e0 | 256 | else |
DavidEGrayson | 28:4374035df5e0 | 257 | { |
DavidEGrayson | 28:4374035df5e0 | 258 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 259 | } |
DavidEGrayson | 24:fc01d9125d3b | 260 | |
DavidEGrayson | 28:4374035df5e0 | 261 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 262 | } |
DavidEGrayson | 28:4374035df5e0 | 263 | |
DavidEGrayson | 28:4374035df5e0 | 264 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 265 | { |
DavidEGrayson | 24:fc01d9125d3b | 266 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 267 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 268 | { |
DavidEGrayson | 24:fc01d9125d3b | 269 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 270 | lineTracker.updateCalibration(); |
DavidEGrayson | 43:0e985a58f174 | 271 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 272 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 273 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 274 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 275 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 276 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000) |
DavidEGrayson | 24:fc01d9125d3b | 277 | { |
DavidEGrayson | 26:7e7c376a7446 | 278 | break; |
DavidEGrayson | 24:fc01d9125d3b | 279 | } |
DavidEGrayson | 24:fc01d9125d3b | 280 | } |
DavidEGrayson | 24:fc01d9125d3b | 281 | } |
DavidEGrayson | 20:dbec34f0e76b | 282 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 283 | /** |
DavidEGrayson | 21:c279c6a83671 | 284 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 285 | { |
DavidEGrayson | 21:c279c6a83671 | 286 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 287 | { |
DavidEGrayson | 21:c279c6a83671 | 288 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 289 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 290 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 291 | |
DavidEGrayson | 21:c279c6a83671 | 292 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 293 | { |
DavidEGrayson | 21:c279c6a83671 | 294 | break; |
DavidEGrayson | 21:c279c6a83671 | 295 | } |
DavidEGrayson | 21:c279c6a83671 | 296 | |
DavidEGrayson | 21:c279c6a83671 | 297 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 298 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 299 | }**/ |
DavidEGrayson | 21:c279c6a83671 | 300 | |
DavidEGrayson | 21:c279c6a83671 | 301 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 302 | { |
DavidEGrayson | 26:7e7c376a7446 | 303 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 304 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 305 | |
DavidEGrayson | 21:c279c6a83671 | 306 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 34:6c84680d823a | 307 | const uint32_t lineDebounceTime = 1000000; |
DavidEGrayson | 21:c279c6a83671 | 308 | |
DavidEGrayson | 21:c279c6a83671 | 309 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 310 | { |
DavidEGrayson | 21:c279c6a83671 | 311 | lineTracker.read(); |
DavidEGrayson | 43:0e985a58f174 | 312 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 313 | loggerService(); |
DavidEGrayson | 21:c279c6a83671 | 314 | |
DavidEGrayson | 21:c279c6a83671 | 315 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 316 | |
DavidEGrayson | 21:c279c6a83671 | 317 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 318 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 28:4374035df5e0 | 319 | if(lostLine && timer.read_us() >= 2000000) |
DavidEGrayson | 21:c279c6a83671 | 320 | { |
DavidEGrayson | 21:c279c6a83671 | 321 | break; |
DavidEGrayson | 21:c279c6a83671 | 322 | } |
DavidEGrayson | 21:c279c6a83671 | 323 | |
DavidEGrayson | 28:4374035df5e0 | 324 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 325 | } |
DavidEGrayson | 20:dbec34f0e76b | 326 | } |
DavidEGrayson | 20:dbec34f0e76b | 327 | |
DavidEGrayson | 20:dbec34f0e76b | 328 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 329 | { |
DavidEGrayson | 18:b65fbb795396 | 330 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 331 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 332 | |
DavidEGrayson | 19:a11ffc903774 | 333 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 334 | { |
DavidEGrayson | 43:0e985a58f174 | 335 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 336 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 337 | |
DavidEGrayson | 19:a11ffc903774 | 338 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 339 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 340 | if (magn < (1<<(14+7))) |
DavidEGrayson | 18:b65fbb795396 | 341 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 342 | // We are within 128 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 343 | break; |
DavidEGrayson | 19:a11ffc903774 | 344 | } |
DavidEGrayson | 19:a11ffc903774 | 345 | |
DavidEGrayson | 19:a11ffc903774 | 346 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 347 | |
DavidEGrayson | 21:c279c6a83671 | 348 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 349 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 350 | if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 351 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 352 | int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2); |
DavidEGrayson | 19:a11ffc903774 | 353 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 354 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 355 | } |
DavidEGrayson | 19:a11ffc903774 | 356 | |
DavidEGrayson | 19:a11ffc903774 | 357 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 358 | { |
DavidEGrayson | 19:a11ffc903774 | 359 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 360 | } |
DavidEGrayson | 18:b65fbb795396 | 361 | else |
DavidEGrayson | 18:b65fbb795396 | 362 | { |
DavidEGrayson | 19:a11ffc903774 | 363 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 364 | } |
DavidEGrayson | 19:a11ffc903774 | 365 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 366 | } |
DavidEGrayson | 18:b65fbb795396 | 367 | |
DavidEGrayson | 20:dbec34f0e76b | 368 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 369 | } |
DavidEGrayson | 20:dbec34f0e76b | 370 | |
DavidEGrayson | 20:dbec34f0e76b | 371 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 372 | { |
DavidEGrayson | 27:2456f68be679 | 373 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 374 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 375 | |
DavidEGrayson | 20:dbec34f0e76b | 376 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 377 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 378 | |
DavidEGrayson | 20:dbec34f0e76b | 379 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 380 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 381 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 382 | |
DavidEGrayson | 27:2456f68be679 | 383 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 384 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 385 | |
DavidEGrayson | 27:2456f68be679 | 386 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 387 | |
DavidEGrayson | 27:2456f68be679 | 388 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 389 | |
DavidEGrayson | 19:a11ffc903774 | 390 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 391 | { |
DavidEGrayson | 27:2456f68be679 | 392 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 393 | |
DavidEGrayson | 43:0e985a58f174 | 394 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 395 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 396 | |
DavidEGrayson | 20:dbec34f0e76b | 397 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 398 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 399 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 400 | { |
DavidEGrayson | 20:dbec34f0e76b | 401 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 402 | } |
DavidEGrayson | 20:dbec34f0e76b | 403 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 404 | { |
DavidEGrayson | 20:dbec34f0e76b | 405 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 406 | } |
DavidEGrayson | 20:dbec34f0e76b | 407 | |
DavidEGrayson | 43:0e985a58f174 | 408 | if (state == 0 && timer.read_ms() >= 2000 && |
DavidEGrayson | 43:0e985a58f174 | 409 | reckoner.cosv > (1 << (RECKONER_LOG_UNIT - 1))) |
DavidEGrayson | 19:a11ffc903774 | 410 | { |
DavidEGrayson | 21:c279c6a83671 | 411 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 412 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 413 | } |
DavidEGrayson | 20:dbec34f0e76b | 414 | |
DavidEGrayson | 21:c279c6a83671 | 415 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 416 | { |
DavidEGrayson | 21:c279c6a83671 | 417 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 418 | break; |
DavidEGrayson | 21:c279c6a83671 | 419 | } |
DavidEGrayson | 21:c279c6a83671 | 420 | |
DavidEGrayson | 27:2456f68be679 | 421 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 422 | { |
DavidEGrayson | 27:2456f68be679 | 423 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 424 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 425 | { |
DavidEGrayson | 43:0e985a58f174 | 426 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 27:2456f68be679 | 427 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 428 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 429 | |
DavidEGrayson | 27:2456f68be679 | 430 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 431 | { |
DavidEGrayson | 27:2456f68be679 | 432 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 433 | } |
DavidEGrayson | 27:2456f68be679 | 434 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 435 | { |
DavidEGrayson | 27:2456f68be679 | 436 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 437 | } |
DavidEGrayson | 27:2456f68be679 | 438 | } |
DavidEGrayson | 27:2456f68be679 | 439 | else |
DavidEGrayson | 27:2456f68be679 | 440 | { |
DavidEGrayson | 27:2456f68be679 | 441 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 442 | } |
DavidEGrayson | 27:2456f68be679 | 443 | |
DavidEGrayson | 27:2456f68be679 | 444 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 445 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 446 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 447 | } |
DavidEGrayson | 21:c279c6a83671 | 448 | |
DavidEGrayson | 21:c279c6a83671 | 449 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 450 | { |
DavidEGrayson | 43:0e985a58f174 | 451 | pc.printf("%5d %5d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 43:0e985a58f174 | 452 | reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 453 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 454 | } |
DavidEGrayson | 19:a11ffc903774 | 455 | } |
DavidEGrayson | 20:dbec34f0e76b | 456 | |
DavidEGrayson | 21:c279c6a83671 | 457 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 458 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 459 | } |