David Grayson / Mbed 2 deprecated DeadReckoning

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@45:81dd782bc0b4, 2019-07-28 (annotated)

Committer:
DavidEGrayson
Date:
Sun Jul 28 01:52:34 2019 +0000
Revision:
45:81dd782bc0b4
Parent:
44:b4a00fbab06b
Child:
46:df2c2d25c070
Calibrate the line sensors.  Add testLineSensorsAndCalibrate.  Unfortunately, testLineFollowing is not working though.

Who changed what in which revision?

UserRevisionLine numberNew 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 45:81dd782bc0b4 56 //testButtons();
DavidEGrayson 10:e4dd36148539 57 //testEncoders();
DavidEGrayson 45:81dd782bc0b4 58 //testMotors();
DavidEGrayson 39:b19dfc5d4d4b 59 //testMotorSpeed();
DavidEGrayson 40:6fa672be85ec 60 //testL3g();
DavidEGrayson 42:96671b71aac5 61 //testL3gAndShowAverage();
DavidEGrayson 43:0e985a58f174 62 //testTurnSensor();
DavidEGrayson 44:b4a00fbab06b 63 //testReckoner();
DavidEGrayson 45:81dd782bc0b4 64 //testDriveHome();
DavidEGrayson 45:81dd782bc0b4 65 //testFinalSettleIn(); // doesn't really work
DavidEGrayson 45:81dd782bc0b4 66 //testLineSensorsAndCalibrate();
DavidEGrayson 45:81dd782bc0b4 67 testLineFollowing();
DavidEGrayson 33:58a0ab6e9ad2 68 //testTurnInPlace();
DavidEGrayson 33:58a0ab6e9ad2 69 //testCloseness();
DavidEGrayson 37:23000a47ed2b 70 //testLogger();
DavidEGrayson 41:3ead1dd2cc3a 71
DavidEGrayson 42:96671b71aac5 72 loadLineCalibration();
DavidEGrayson 42:96671b71aac5 73 doGyroCalibration();
DavidEGrayson 2:968338353aef 74
DavidEGrayson 41:3ead1dd2cc3a 75 doDeadReckoning();
DavidEGrayson 41:3ead1dd2cc3a 76 }
DavidEGrayson 41:3ead1dd2cc3a 77
DavidEGrayson 41:3ead1dd2cc3a 78 void doDeadReckoning()
DavidEGrayson 41:3ead1dd2cc3a 79 {
DavidEGrayson 21:c279c6a83671 80 setLeds(1, 0, 0, 0);
DavidEGrayson 21:c279c6a83671 81 waitForSignalToStart();
DavidEGrayson 25:73c2eedb3b91 82
DavidEGrayson 33:58a0ab6e9ad2 83 setLeds(0, 1, 0, 0);
DavidEGrayson 28:4374035df5e0 84 findLine();
DavidEGrayson 41:3ead1dd2cc3a 85
DavidEGrayson 27:2456f68be679 86 //setLeds(1, 1, 0, 0);
DavidEGrayson 27:2456f68be679 87 //turnRightToFindLine();
DavidEGrayson 33:58a0ab6e9ad2 88
DavidEGrayson 21:c279c6a83671 89 setLeds(0, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 90 followLineToEnd();
DavidEGrayson 33:58a0ab6e9ad2 91
DavidEGrayson 21:c279c6a83671 92 setLeds(1, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 93 driveHomeAlmost();
DavidEGrayson 33:58a0ab6e9ad2 94
DavidEGrayson 33:58a0ab6e9ad2 95 //setLeds(0, 1, 1, 0);
DavidEGrayson 33:58a0ab6e9ad2 96 //finalSettleIn();
DavidEGrayson 33:58a0ab6e9ad2 97
DavidEGrayson 21:c279c6a83671 98 setLeds(1, 1, 1, 1);
DavidEGrayson 37:23000a47ed2b 99 loggerReportLoop();
DavidEGrayson 37:23000a47ed2b 100 }
DavidEGrayson 37:23000a47ed2b 101
DavidEGrayson 37:23000a47ed2b 102 void loggerService()
DavidEGrayson 37:23000a47ed2b 103 {
DavidEGrayson 40:6fa672be85ec 104 if (totalEncoderCounts > nextLogEncoderCount)
DavidEGrayson 37:23000a47ed2b 105 {
DavidEGrayson 40:6fa672be85ec 106 nextLogEncoderCount += logSpacing;
DavidEGrayson 40:6fa672be85ec 107
DavidEGrayson 40:6fa672be85ec 108 struct LogEntry entry;
DavidEGrayson 40:6fa672be85ec 109 entry.turnAngle = turnSensor.getAngle() >> 16;
DavidEGrayson 40:6fa672be85ec 110 entry.x = reckoner.x >> 16;
DavidEGrayson 40:6fa672be85ec 111 entry.y = reckoner.y >> 16;
DavidEGrayson 40:6fa672be85ec 112 logger.log(&entry);
DavidEGrayson 37:23000a47ed2b 113 }
DavidEGrayson 0:e77a0edb9878 114 }
DavidEGrayson 12:835a4d24ae3b 115
DavidEGrayson 37:23000a47ed2b 116 void loggerReportLoop()
DavidEGrayson 37:23000a47ed2b 117 {
DavidEGrayson 37:23000a47ed2b 118 while(1)
DavidEGrayson 37:23000a47ed2b 119 {
DavidEGrayson 37:23000a47ed2b 120 if(button1DefinitelyPressed())
DavidEGrayson 37:23000a47ed2b 121 {
DavidEGrayson 37:23000a47ed2b 122 logger.dump();
DavidEGrayson 37:23000a47ed2b 123 }
DavidEGrayson 37:23000a47ed2b 124 }
DavidEGrayson 37:23000a47ed2b 125 }
DavidEGrayson 37:23000a47ed2b 126
DavidEGrayson 42:96671b71aac5 127 void doGyroCalibration()
DavidEGrayson 42:96671b71aac5 128 {
DavidEGrayson 42:96671b71aac5 129 wait_ms(1000); // Time for the robot to stop moving.
DavidEGrayson 42:96671b71aac5 130 while (!l3gCalibrateDone())
DavidEGrayson 42:96671b71aac5 131 {
DavidEGrayson 42:96671b71aac5 132 l3gCalibrate();
DavidEGrayson 42:96671b71aac5 133 wait_ms(2);
DavidEGrayson 42:96671b71aac5 134 }
DavidEGrayson 42:96671b71aac5 135 }
DavidEGrayson 37:23000a47ed2b 136
DavidEGrayson 42:96671b71aac5 137 void loadLineCalibration()
DavidEGrayson 28:4374035df5e0 138 {
DavidEGrayson 45:81dd782bc0b4 139 // QTR-3RC calibration from contest in 2014.
DavidEGrayson 45:81dd782bc0b4 140 //lineTracker.calibratedMinimum[0] = 100;
DavidEGrayson 45:81dd782bc0b4 141 //lineTracker.calibratedMaximum[0] = 792;
DavidEGrayson 45:81dd782bc0b4 142 //lineTracker.calibratedMinimum[1] = 94;
DavidEGrayson 45:81dd782bc0b4 143 //lineTracker.calibratedMaximum[1] = 807;
DavidEGrayson 45:81dd782bc0b4 144 //lineTracker.calibratedMinimum[2] = 103;
DavidEGrayson 45:81dd782bc0b4 145 //lineTracker.calibratedMaximum[2] = 1000;
DavidEGrayson 45:81dd782bc0b4 146
DavidEGrayson 45:81dd782bc0b4 147 // QTR-3RC calibration from David's home setup, 2019-07-27.
DavidEGrayson 45:81dd782bc0b4 148 // Generated with testLineSensorsAndCalibrate().
DavidEGrayson 45:81dd782bc0b4 149 lineTracker.calibratedMinimum[0] = 210;
DavidEGrayson 45:81dd782bc0b4 150 lineTracker.calibratedMaximum[0] = 757;
DavidEGrayson 45:81dd782bc0b4 151 lineTracker.calibratedMinimum[1] = 197;
DavidEGrayson 45:81dd782bc0b4 152 lineTracker.calibratedMaximum[1] = 1000;
DavidEGrayson 45:81dd782bc0b4 153 lineTracker.calibratedMinimum[2] = 203;
DavidEGrayson 45:81dd782bc0b4 154 lineTracker.calibratedMaximum[2] = 746;
DavidEGrayson 28:4374035df5e0 155 }
DavidEGrayson 28:4374035df5e0 156
DavidEGrayson 43:0e985a58f174 157 void updateReckoner()
DavidEGrayson 12:835a4d24ae3b 158 {
DavidEGrayson 44:b4a00fbab06b 159 turnSensor.update();
DavidEGrayson 44:b4a00fbab06b 160 reckoner.setTurnAngle(turnSensor.getAngle());
DavidEGrayson 44:b4a00fbab06b 161
DavidEGrayson 43:0e985a58f174 162 if (!encoderBuffer.hasEvents())
DavidEGrayson 43:0e985a58f174 163 {
DavidEGrayson 43:0e985a58f174 164 return;
DavidEGrayson 43:0e985a58f174 165 }
DavidEGrayson 43:0e985a58f174 166
DavidEGrayson 12:835a4d24ae3b 167 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 168 {
DavidEGrayson 12:835a4d24ae3b 169 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 170 switch(event)
DavidEGrayson 12:835a4d24ae3b 171 {
DavidEGrayson 17:2df9861f53ee 172 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 43:0e985a58f174 173 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 40:6fa672be85ec 174 totalEncoderCounts++;
DavidEGrayson 43:0e985a58f174 175 reckoner.handleForward();
DavidEGrayson 17:2df9861f53ee 176 break;
DavidEGrayson 17:2df9861f53ee 177 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 178 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 43:0e985a58f174 179 reckoner.handleBackward();
DavidEGrayson 40:6fa672be85ec 180 totalEncoderCounts--;
DavidEGrayson 17:2df9861f53ee 181 break;
DavidEGrayson 12:835a4d24ae3b 182 }
DavidEGrayson 12:835a4d24ae3b 183 }
DavidEGrayson 12:835a4d24ae3b 184 }
DavidEGrayson 17:2df9861f53ee 185
DavidEGrayson 19:a11ffc903774 186 float magnitude()
DavidEGrayson 19:a11ffc903774 187 {
DavidEGrayson 19:a11ffc903774 188 return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y);
DavidEGrayson 19:a11ffc903774 189 }
DavidEGrayson 19:a11ffc903774 190
DavidEGrayson 20:dbec34f0e76b 191 float dotProduct()
DavidEGrayson 20:dbec34f0e76b 192 {
DavidEGrayson 43:0e985a58f174 193 float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 43:0e985a58f174 194 float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 20:dbec34f0e76b 195 float magn = magnitude();
DavidEGrayson 20:dbec34f0e76b 196 if (magn == 0){ return 0; }
DavidEGrayson 20:dbec34f0e76b 197 return ((float)reckoner.x * c + (float)reckoner.y * s) / magn;
DavidEGrayson 20:dbec34f0e76b 198 }
DavidEGrayson 20:dbec34f0e76b 199
DavidEGrayson 18:b65fbb795396 200 // The closer this is to zero, the closer we are to pointing towards the home position.
DavidEGrayson 18:b65fbb795396 201 // It is basically a cross product of the two vectors (x, y) and (cos, sin).
DavidEGrayson 19:a11ffc903774 202 float determinant()
DavidEGrayson 18:b65fbb795396 203 {
DavidEGrayson 43:0e985a58f174 204 float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 43:0e985a58f174 205 float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 19:a11ffc903774 206 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 207 }
DavidEGrayson 19:a11ffc903774 208
DavidEGrayson 21:c279c6a83671 209 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 210 {
DavidEGrayson 19:a11ffc903774 211 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 212 {
DavidEGrayson 19:a11ffc903774 213 return 0;
DavidEGrayson 19:a11ffc903774 214 }
DavidEGrayson 19:a11ffc903774 215 else
DavidEGrayson 19:a11ffc903774 216 {
DavidEGrayson 19:a11ffc903774 217 return speed - reduction;
DavidEGrayson 19:a11ffc903774 218 }
DavidEGrayson 18:b65fbb795396 219 }
DavidEGrayson 18:b65fbb795396 220
DavidEGrayson 21:c279c6a83671 221 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 222 {
DavidEGrayson 21:c279c6a83671 223 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 224 {
DavidEGrayson 43:0e985a58f174 225 updateReckoner();
DavidEGrayson 38:5e93a479c244 226 }
DavidEGrayson 21:c279c6a83671 227 reckoner.reset();
DavidEGrayson 38:5e93a479c244 228 while(button1DefinitelyPressed())
DavidEGrayson 38:5e93a479c244 229 {
DavidEGrayson 43:0e985a58f174 230 updateReckoner();
DavidEGrayson 38:5e93a479c244 231 }
DavidEGrayson 38:5e93a479c244 232 wait(0.2);
DavidEGrayson 21:c279c6a83671 233 }
DavidEGrayson 21:c279c6a83671 234
DavidEGrayson 24:fc01d9125d3b 235 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 236 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 237 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 238 {
DavidEGrayson 24:fc01d9125d3b 239 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 240 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 241 int16_t speedRight = drivingSpeed;
DavidEGrayson 43:0e985a58f174 242 int32_t reduction = reckoner.sinv * straightDriveStrength >> RECKONER_LOG_UNIT;
DavidEGrayson 24:fc01d9125d3b 243 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 244 {
DavidEGrayson 24:fc01d9125d3b 245 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 246 }
DavidEGrayson 24:fc01d9125d3b 247 else
DavidEGrayson 24:fc01d9125d3b 248 {
DavidEGrayson 24:fc01d9125d3b 249 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 250 }
DavidEGrayson 24:fc01d9125d3b 251 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 252 }
DavidEGrayson 24:fc01d9125d3b 253
DavidEGrayson 28:4374035df5e0 254 void updateMotorsToFollowLine()
DavidEGrayson 24:fc01d9125d3b 255 {
DavidEGrayson 34:6c84680d823a 256 const int followLineStrength = drivingSpeed * 5 / 4;
DavidEGrayson 28:4374035df5e0 257
DavidEGrayson 28:4374035df5e0 258 int16_t speedLeft = drivingSpeed;
DavidEGrayson 28:4374035df5e0 259 int16_t speedRight = drivingSpeed;
DavidEGrayson 28:4374035df5e0 260 int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000;
DavidEGrayson 28:4374035df5e0 261 if(reduction < 0)
DavidEGrayson 28:4374035df5e0 262 {
DavidEGrayson 28:4374035df5e0 263 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 28:4374035df5e0 264 }
DavidEGrayson 28:4374035df5e0 265 else
DavidEGrayson 28:4374035df5e0 266 {
DavidEGrayson 28:4374035df5e0 267 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 28:4374035df5e0 268 }
DavidEGrayson 24:fc01d9125d3b 269
DavidEGrayson 28:4374035df5e0 270 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 28:4374035df5e0 271 }
DavidEGrayson 28:4374035df5e0 272
DavidEGrayson 28:4374035df5e0 273 void findLine()
DavidEGrayson 28:4374035df5e0 274 {
DavidEGrayson 24:fc01d9125d3b 275 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 276 while(1)
DavidEGrayson 24:fc01d9125d3b 277 {
DavidEGrayson 24:fc01d9125d3b 278 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 279 lineTracker.updateCalibration();
DavidEGrayson 43:0e985a58f174 280 updateReckoner();
DavidEGrayson 37:23000a47ed2b 281 loggerService();
DavidEGrayson 37:23000a47ed2b 282 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 283 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 284
DavidEGrayson 33:58a0ab6e9ad2 285 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000)
DavidEGrayson 24:fc01d9125d3b 286 {
DavidEGrayson 26:7e7c376a7446 287 break;
DavidEGrayson 24:fc01d9125d3b 288 }
DavidEGrayson 24:fc01d9125d3b 289 }
DavidEGrayson 24:fc01d9125d3b 290 }
DavidEGrayson 20:dbec34f0e76b 291
DavidEGrayson 33:58a0ab6e9ad2 292 /**
DavidEGrayson 21:c279c6a83671 293 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 294 {
DavidEGrayson 21:c279c6a83671 295 while(1)
DavidEGrayson 21:c279c6a83671 296 {
DavidEGrayson 21:c279c6a83671 297 lineTracker.read();
DavidEGrayson 21:c279c6a83671 298 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 299 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 300
DavidEGrayson 21:c279c6a83671 301 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 302 {
DavidEGrayson 21:c279c6a83671 303 break;
DavidEGrayson 21:c279c6a83671 304 }
DavidEGrayson 21:c279c6a83671 305
DavidEGrayson 21:c279c6a83671 306 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 307 }
DavidEGrayson 33:58a0ab6e9ad2 308 }**/
DavidEGrayson 21:c279c6a83671 309
DavidEGrayson 21:c279c6a83671 310 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 311 {
DavidEGrayson 26:7e7c376a7446 312 Timer timer;
DavidEGrayson 26:7e7c376a7446 313 timer.start();
DavidEGrayson 26:7e7c376a7446 314
DavidEGrayson 21:c279c6a83671 315 GeneralDebouncer lineStatus(10000);
DavidEGrayson 34:6c84680d823a 316 const uint32_t lineDebounceTime = 1000000;
DavidEGrayson 21:c279c6a83671 317
DavidEGrayson 21:c279c6a83671 318 while(1)
DavidEGrayson 21:c279c6a83671 319 {
DavidEGrayson 21:c279c6a83671 320 lineTracker.read();
DavidEGrayson 43:0e985a58f174 321 updateReckoner();
DavidEGrayson 37:23000a47ed2b 322 loggerService();
DavidEGrayson 21:c279c6a83671 323
DavidEGrayson 21:c279c6a83671 324 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 325
DavidEGrayson 21:c279c6a83671 326 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 26:7e7c376a7446 327 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 28:4374035df5e0 328 if(lostLine && timer.read_us() >= 2000000)
DavidEGrayson 21:c279c6a83671 329 {
DavidEGrayson 21:c279c6a83671 330 break;
DavidEGrayson 21:c279c6a83671 331 }
DavidEGrayson 21:c279c6a83671 332
DavidEGrayson 28:4374035df5e0 333 updateMotorsToFollowLine();
DavidEGrayson 21:c279c6a83671 334 }
DavidEGrayson 20:dbec34f0e76b 335 }
DavidEGrayson 20:dbec34f0e76b 336
DavidEGrayson 20:dbec34f0e76b 337 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 338 {
DavidEGrayson 18:b65fbb795396 339 Timer timer;
DavidEGrayson 18:b65fbb795396 340 timer.start();
DavidEGrayson 19:a11ffc903774 341
DavidEGrayson 19:a11ffc903774 342 while(1)
DavidEGrayson 18:b65fbb795396 343 {
DavidEGrayson 43:0e985a58f174 344 updateReckoner();
DavidEGrayson 37:23000a47ed2b 345 loggerService();
DavidEGrayson 37:23000a47ed2b 346
DavidEGrayson 19:a11ffc903774 347 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 348
DavidEGrayson 33:58a0ab6e9ad2 349 if (magn < (1<<(14+7)))
DavidEGrayson 18:b65fbb795396 350 {
DavidEGrayson 33:58a0ab6e9ad2 351 // We are within 128 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 352 break;
DavidEGrayson 19:a11ffc903774 353 }
DavidEGrayson 19:a11ffc903774 354
DavidEGrayson 19:a11ffc903774 355 float det = determinant();
DavidEGrayson 19:a11ffc903774 356
DavidEGrayson 21:c279c6a83671 357 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 358 int16_t speedRight = drivingSpeed;
DavidEGrayson 33:58a0ab6e9ad2 359 if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 360 {
DavidEGrayson 33:58a0ab6e9ad2 361 int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2);
DavidEGrayson 19:a11ffc903774 362 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 363 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 364 }
DavidEGrayson 19:a11ffc903774 365
DavidEGrayson 44:b4a00fbab06b 366 // tmphax
DavidEGrayson 44:b4a00fbab06b 367 if (0) {
DavidEGrayson 44:b4a00fbab06b 368 if (det != det)
DavidEGrayson 44:b4a00fbab06b 369 {
DavidEGrayson 44:b4a00fbab06b 370 // NaN
DavidEGrayson 44:b4a00fbab06b 371 setLeds(1, 0, 0, 1);
DavidEGrayson 44:b4a00fbab06b 372 }
DavidEGrayson 44:b4a00fbab06b 373 else if (det > 0.5)
DavidEGrayson 44:b4a00fbab06b 374 {
DavidEGrayson 44:b4a00fbab06b 375 setLeds(0, 0, 1, 1);
DavidEGrayson 44:b4a00fbab06b 376 }
DavidEGrayson 44:b4a00fbab06b 377 else if (det > 0.1)
DavidEGrayson 44:b4a00fbab06b 378 {
DavidEGrayson 44:b4a00fbab06b 379 setLeds(0, 0, 0, 1);
DavidEGrayson 44:b4a00fbab06b 380 }
DavidEGrayson 44:b4a00fbab06b 381 else if (det < -0.5)
DavidEGrayson 44:b4a00fbab06b 382 {
DavidEGrayson 44:b4a00fbab06b 383 setLeds(1, 1, 0, 0);
DavidEGrayson 44:b4a00fbab06b 384 }
DavidEGrayson 44:b4a00fbab06b 385 else if (det < -0.1)
DavidEGrayson 44:b4a00fbab06b 386 {
DavidEGrayson 44:b4a00fbab06b 387 setLeds(1, 0, 0, 0);
DavidEGrayson 44:b4a00fbab06b 388 }
DavidEGrayson 44:b4a00fbab06b 389 else
DavidEGrayson 44:b4a00fbab06b 390 {
DavidEGrayson 44:b4a00fbab06b 391 // Heading basically the right direction.
DavidEGrayson 44:b4a00fbab06b 392 setLeds(1, 1, 1, 1);
DavidEGrayson 44:b4a00fbab06b 393 }
DavidEGrayson 44:b4a00fbab06b 394 speedLeft = speedRight = 0;
DavidEGrayson 44:b4a00fbab06b 395 }
DavidEGrayson 44:b4a00fbab06b 396
DavidEGrayson 19:a11ffc903774 397 if (det > 0)
DavidEGrayson 19:a11ffc903774 398 {
DavidEGrayson 19:a11ffc903774 399 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 400 }
DavidEGrayson 18:b65fbb795396 401 else
DavidEGrayson 18:b65fbb795396 402 {
DavidEGrayson 19:a11ffc903774 403 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 404 }
DavidEGrayson 19:a11ffc903774 405 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 406 }
DavidEGrayson 18:b65fbb795396 407
DavidEGrayson 20:dbec34f0e76b 408 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 409 }
DavidEGrayson 20:dbec34f0e76b 410
DavidEGrayson 20:dbec34f0e76b 411 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 412 {
DavidEGrayson 27:2456f68be679 413 const int16_t settleSpeed = 300;
DavidEGrayson 27:2456f68be679 414 const int16_t settleModificationStrength = 150;
DavidEGrayson 20:dbec34f0e76b 415
DavidEGrayson 20:dbec34f0e76b 416 Timer timer;
DavidEGrayson 20:dbec34f0e76b 417 timer.start();
DavidEGrayson 20:dbec34f0e76b 418
DavidEGrayson 20:dbec34f0e76b 419 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 420 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 421 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 422
DavidEGrayson 27:2456f68be679 423 Pacer reportPacer(200000);
DavidEGrayson 27:2456f68be679 424 Pacer motorUpdatePacer(10000);
DavidEGrayson 21:c279c6a83671 425
DavidEGrayson 27:2456f68be679 426 float integral = 0;
DavidEGrayson 27:2456f68be679 427
DavidEGrayson 27:2456f68be679 428 motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling
DavidEGrayson 27:2456f68be679 429
DavidEGrayson 19:a11ffc903774 430 while(1)
DavidEGrayson 19:a11ffc903774 431 {
DavidEGrayson 27:2456f68be679 432 led1 = (state == 1);
DavidEGrayson 27:2456f68be679 433
DavidEGrayson 43:0e985a58f174 434 updateReckoner();
DavidEGrayson 37:23000a47ed2b 435 loggerService();
DavidEGrayson 37:23000a47ed2b 436
DavidEGrayson 20:dbec34f0e76b 437 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 438 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 439 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 440 {
DavidEGrayson 20:dbec34f0e76b 441 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 442 }
DavidEGrayson 20:dbec34f0e76b 443 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 444 {
DavidEGrayson 20:dbec34f0e76b 445 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 446 }
DavidEGrayson 20:dbec34f0e76b 447
DavidEGrayson 43:0e985a58f174 448 if (state == 0 && timer.read_ms() >= 2000 &&
DavidEGrayson 43:0e985a58f174 449 reckoner.cosv > (1 << (RECKONER_LOG_UNIT - 1)))
DavidEGrayson 19:a11ffc903774 450 {
DavidEGrayson 21:c279c6a83671 451 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 452 state = 1;
DavidEGrayson 20:dbec34f0e76b 453 }
DavidEGrayson 20:dbec34f0e76b 454
DavidEGrayson 21:c279c6a83671 455 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 456 {
DavidEGrayson 21:c279c6a83671 457 // Stop moving.
DavidEGrayson 21:c279c6a83671 458 break;
DavidEGrayson 21:c279c6a83671 459 }
DavidEGrayson 21:c279c6a83671 460
DavidEGrayson 27:2456f68be679 461 if (motorUpdatePacer.pace())
DavidEGrayson 20:dbec34f0e76b 462 {
DavidEGrayson 27:2456f68be679 463 int16_t rotationSpeed;
DavidEGrayson 27:2456f68be679 464 if (state == 1)
DavidEGrayson 27:2456f68be679 465 {
DavidEGrayson 43:0e985a58f174 466 float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 27:2456f68be679 467 integral += s;
DavidEGrayson 27:2456f68be679 468 rotationSpeed = -(s * 2400 + integral * 20);
DavidEGrayson 27:2456f68be679 469
DavidEGrayson 27:2456f68be679 470 if (rotationSpeed > 300)
DavidEGrayson 27:2456f68be679 471 {
DavidEGrayson 27:2456f68be679 472 rotationSpeed = 300;
DavidEGrayson 27:2456f68be679 473 }
DavidEGrayson 27:2456f68be679 474 if (rotationSpeed < -300)
DavidEGrayson 27:2456f68be679 475 {
DavidEGrayson 27:2456f68be679 476 rotationSpeed = -300;
DavidEGrayson 27:2456f68be679 477 }
DavidEGrayson 27:2456f68be679 478 }
DavidEGrayson 27:2456f68be679 479 else
DavidEGrayson 27:2456f68be679 480 {
DavidEGrayson 27:2456f68be679 481 rotationSpeed = settleSpeed;
DavidEGrayson 27:2456f68be679 482 }
DavidEGrayson 27:2456f68be679 483
DavidEGrayson 27:2456f68be679 484 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 485 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 486 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 20:dbec34f0e76b 487 }
DavidEGrayson 21:c279c6a83671 488
DavidEGrayson 21:c279c6a83671 489 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 490 {
DavidEGrayson 43:0e985a58f174 491 pc.printf("%5d %5d %11d %11d | %11f %11f\r\n",
DavidEGrayson 43:0e985a58f174 492 reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 493 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 494 }
DavidEGrayson 19:a11ffc903774 495 }
DavidEGrayson 20:dbec34f0e76b 496
DavidEGrayson 21:c279c6a83671 497 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 498 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 499 }