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
test.cpp@30:84be2d602dc0, 2014-03-04 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Mar 04 02:09:54 2014 +0000
- Revision:
- 30:84be2d602dc0
- Parent:
- 29:cfcf08d8ac79
- Child:
- 31:739b91331f31
Seems like the QTR-3RC could work, based on my tests on P10.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 8:78b1ff957cba | 1 | // A file for testing routines that will not be used in the final firmware. |
DavidEGrayson | 8:78b1ff957cba | 2 | |
DavidEGrayson | 8:78b1ff957cba | 3 | #include <mbed.h> |
DavidEGrayson | 8:78b1ff957cba | 4 | #include "motors.h" |
DavidEGrayson | 9:9734347b5756 | 5 | #include <Pacer.h> |
DavidEGrayson | 9:9734347b5756 | 6 | |
DavidEGrayson | 21:c279c6a83671 | 7 | #include "main.h" |
DavidEGrayson | 9:9734347b5756 | 8 | #include "test.h" |
DavidEGrayson | 8:78b1ff957cba | 9 | #include "leds.h" |
DavidEGrayson | 9:9734347b5756 | 10 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 11 | #include "pc_serial.h" |
DavidEGrayson | 10:e4dd36148539 | 12 | #include "line_sensors.h" |
DavidEGrayson | 12:835a4d24ae3b | 13 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 14 | #include "buttons.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 15 | |
DavidEGrayson | 20:dbec34f0e76b | 16 | void __attribute__((noreturn)) infiniteReckonerReportLoop(); |
DavidEGrayson | 10:e4dd36148539 | 17 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 18 | |
DavidEGrayson | 30:84be2d602dc0 | 19 | uint16_t readPin18() |
DavidEGrayson | 30:84be2d602dc0 | 20 | { |
DavidEGrayson | 30:84be2d602dc0 | 21 | // Set PCADC bit in PCONP register. (Table 46). |
DavidEGrayson | 30:84be2d602dc0 | 22 | LPC_SC->PCONP |= (1 << 12); |
DavidEGrayson | 30:84be2d602dc0 | 23 | |
DavidEGrayson | 30:84be2d602dc0 | 24 | // Select PCLK_ADC in PCLKSEL0 register. (Table 40, Table 531). |
DavidEGrayson | 30:84be2d602dc0 | 25 | LPC_SC->PCLKSEL0 |= (3 << 24); // PCLK for ADC = CCLK/8 |
DavidEGrayson | 30:84be2d602dc0 | 26 | |
DavidEGrayson | 30:84be2d602dc0 | 27 | // Enable ADC0 through PINSEL registers. (Section 8.5). |
DavidEGrayson | 30:84be2d602dc0 | 28 | LPC_PINCON->PINSEL1 = (LPC_PINCON->PINSEL1 & ~(3 << 20)) | (1 << 20); |
DavidEGrayson | 30:84be2d602dc0 | 29 | |
DavidEGrayson | 30:84be2d602dc0 | 30 | // Pin 18: P0.26/AD0.3/AOUT/RXD3 |
DavidEGrayson | 30:84be2d602dc0 | 31 | |
DavidEGrayson | 30:84be2d602dc0 | 32 | // 7:0 Bitmap to select what channel to use |
DavidEGrayson | 30:84be2d602dc0 | 33 | // 15:8 Select clock. |
DavidEGrayson | 30:84be2d602dc0 | 34 | // 16 BURST = 0 |
DavidEGrayson | 30:84be2d602dc0 | 35 | // 20:17 Reserved |
DavidEGrayson | 30:84be2d602dc0 | 36 | // 21 PDN = 1, A/D converter is operational |
DavidEGrayson | 30:84be2d602dc0 | 37 | // 26:24 START = 001 to start conversion now |
DavidEGrayson | 30:84be2d602dc0 | 38 | LPC_ADC->ADCR = (1 << 3) | (0xFF << 8) | (1 << 21); |
DavidEGrayson | 30:84be2d602dc0 | 39 | LPC_ADC->ADCR |= (1 << 24); |
DavidEGrayson | 30:84be2d602dc0 | 40 | |
DavidEGrayson | 30:84be2d602dc0 | 41 | while(!(LPC_ADC->ADGDR >> 31 & 1)) // while not done |
DavidEGrayson | 30:84be2d602dc0 | 42 | { |
DavidEGrayson | 30:84be2d602dc0 | 43 | } |
DavidEGrayson | 30:84be2d602dc0 | 44 | //return 2; |
DavidEGrayson | 30:84be2d602dc0 | 45 | return LPC_ADC->ADGDR & 0xFFFF; |
DavidEGrayson | 30:84be2d602dc0 | 46 | } |
DavidEGrayson | 30:84be2d602dc0 | 47 | |
DavidEGrayson | 30:84be2d602dc0 | 48 | uint16_t readP10() |
DavidEGrayson | 30:84be2d602dc0 | 49 | { |
DavidEGrayson | 30:84be2d602dc0 | 50 | DigitalInOut pin(p10); |
DavidEGrayson | 30:84be2d602dc0 | 51 | pin.output(); |
DavidEGrayson | 30:84be2d602dc0 | 52 | pin = 1; |
DavidEGrayson | 30:84be2d602dc0 | 53 | wait_us(20); |
DavidEGrayson | 30:84be2d602dc0 | 54 | uint16_t value = 0x8000; |
DavidEGrayson | 30:84be2d602dc0 | 55 | Timer timer; |
DavidEGrayson | 30:84be2d602dc0 | 56 | timer.start(); |
DavidEGrayson | 30:84be2d602dc0 | 57 | pin.input(); |
DavidEGrayson | 30:84be2d602dc0 | 58 | while(timer.read_us() < 0x8000) |
DavidEGrayson | 30:84be2d602dc0 | 59 | { |
DavidEGrayson | 30:84be2d602dc0 | 60 | if(pin.read() == 0) |
DavidEGrayson | 30:84be2d602dc0 | 61 | { |
DavidEGrayson | 30:84be2d602dc0 | 62 | return timer.read_us(); |
DavidEGrayson | 30:84be2d602dc0 | 63 | } |
DavidEGrayson | 30:84be2d602dc0 | 64 | } |
DavidEGrayson | 30:84be2d602dc0 | 65 | return value; |
DavidEGrayson | 30:84be2d602dc0 | 66 | } |
DavidEGrayson | 30:84be2d602dc0 | 67 | |
DavidEGrayson | 30:84be2d602dc0 | 68 | void testSensorGlitches() |
DavidEGrayson | 29:cfcf08d8ac79 | 69 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 70 | AnalogIn testInput(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 71 | Pacer reportPacer(1000000); |
DavidEGrayson | 29:cfcf08d8ac79 | 72 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 73 | pc.printf("hi\r\n"); |
DavidEGrayson | 30:84be2d602dc0 | 74 | |
DavidEGrayson | 30:84be2d602dc0 | 75 | //uint16_t riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 76 | uint16_t reading = 0xFF; |
DavidEGrayson | 30:84be2d602dc0 | 77 | |
DavidEGrayson | 29:cfcf08d8ac79 | 78 | while(1) |
DavidEGrayson | 29:cfcf08d8ac79 | 79 | { |
DavidEGrayson | 30:84be2d602dc0 | 80 | /** This digital filtering did not work |
DavidEGrayson | 30:84be2d602dc0 | 81 | { |
DavidEGrayson | 30:84be2d602dc0 | 82 | wait(0.01); |
DavidEGrayson | 30:84be2d602dc0 | 83 | uint16_t raw = testInput.read_u16(); |
DavidEGrayson | 30:84be2d602dc0 | 84 | if (raw < reading) |
DavidEGrayson | 30:84be2d602dc0 | 85 | { |
DavidEGrayson | 30:84be2d602dc0 | 86 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 87 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 88 | } |
DavidEGrayson | 30:84be2d602dc0 | 89 | else |
DavidEGrayson | 30:84be2d602dc0 | 90 | { |
DavidEGrayson | 30:84be2d602dc0 | 91 | riseCount++; |
DavidEGrayson | 30:84be2d602dc0 | 92 | if (riseCount == 10) |
DavidEGrayson | 30:84be2d602dc0 | 93 | { |
DavidEGrayson | 30:84be2d602dc0 | 94 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 95 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 96 | } |
DavidEGrayson | 30:84be2d602dc0 | 97 | } |
DavidEGrayson | 30:84be2d602dc0 | 98 | } |
DavidEGrayson | 30:84be2d602dc0 | 99 | **/ |
DavidEGrayson | 30:84be2d602dc0 | 100 | reading = readP10(); |
DavidEGrayson | 30:84be2d602dc0 | 101 | |
DavidEGrayson | 29:cfcf08d8ac79 | 102 | if(reading > 100) |
DavidEGrayson | 29:cfcf08d8ac79 | 103 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 104 | badCount += 1; |
DavidEGrayson | 30:84be2d602dc0 | 105 | //pc.printf("f %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 106 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 107 | else |
DavidEGrayson | 29:cfcf08d8ac79 | 108 | { |
DavidEGrayson | 30:84be2d602dc0 | 109 | goodCount += 1; |
DavidEGrayson | 29:cfcf08d8ac79 | 110 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 111 | |
DavidEGrayson | 29:cfcf08d8ac79 | 112 | if (reportPacer.pace()) |
DavidEGrayson | 29:cfcf08d8ac79 | 113 | { |
DavidEGrayson | 30:84be2d602dc0 | 114 | pc.printf("h %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 115 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 116 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 117 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 118 | |
DavidEGrayson | 28:4374035df5e0 | 119 | void testAnalog() |
DavidEGrayson | 28:4374035df5e0 | 120 | { |
DavidEGrayson | 28:4374035df5e0 | 121 | AnalogIn testInput(p18); |
DavidEGrayson | 28:4374035df5e0 | 122 | |
DavidEGrayson | 29:cfcf08d8ac79 | 123 | DigitalOut pin20(p20); |
DavidEGrayson | 29:cfcf08d8ac79 | 124 | DigitalOut pin19(p19); |
DavidEGrayson | 29:cfcf08d8ac79 | 125 | //DigitalOut pin18(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 126 | DigitalOut pin17(p17); |
DavidEGrayson | 29:cfcf08d8ac79 | 127 | DigitalOut pin16(p16); |
DavidEGrayson | 29:cfcf08d8ac79 | 128 | DigitalOut pin15(p15); |
DavidEGrayson | 29:cfcf08d8ac79 | 129 | |
DavidEGrayson | 29:cfcf08d8ac79 | 130 | pin20 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 131 | pin19 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 132 | //pin18 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 133 | pin17 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 134 | pin16 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 135 | pin15 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 136 | |
DavidEGrayson | 28:4374035df5e0 | 137 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 138 | |
DavidEGrayson | 28:4374035df5e0 | 139 | Pacer reportPacer(1000000); |
DavidEGrayson | 28:4374035df5e0 | 140 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 141 | { |
DavidEGrayson | 28:4374035df5e0 | 142 | uint16_t reading = testInput.read_u16(); |
DavidEGrayson | 28:4374035df5e0 | 143 | if(reading > 100) |
DavidEGrayson | 28:4374035df5e0 | 144 | { |
DavidEGrayson | 28:4374035df5e0 | 145 | badCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 146 | pc.printf("%5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 28:4374035df5e0 | 147 | } |
DavidEGrayson | 28:4374035df5e0 | 148 | else |
DavidEGrayson | 28:4374035df5e0 | 149 | { |
DavidEGrayson | 28:4374035df5e0 | 150 | goodCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 151 | } |
DavidEGrayson | 28:4374035df5e0 | 152 | |
DavidEGrayson | 28:4374035df5e0 | 153 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 154 | { |
DavidEGrayson | 28:4374035df5e0 | 155 | pc.printf("Hello\r\n"); |
DavidEGrayson | 28:4374035df5e0 | 156 | } |
DavidEGrayson | 28:4374035df5e0 | 157 | } |
DavidEGrayson | 28:4374035df5e0 | 158 | } |
DavidEGrayson | 28:4374035df5e0 | 159 | |
DavidEGrayson | 28:4374035df5e0 | 160 | // This also tests the LineTracker by printing out a lot of data from it. |
DavidEGrayson | 28:4374035df5e0 | 161 | void testLineFollowing() |
DavidEGrayson | 28:4374035df5e0 | 162 | { |
DavidEGrayson | 28:4374035df5e0 | 163 | led1 = 1; |
DavidEGrayson | 28:4374035df5e0 | 164 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 28:4374035df5e0 | 165 | { |
DavidEGrayson | 28:4374035df5e0 | 166 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 167 | } |
DavidEGrayson | 28:4374035df5e0 | 168 | led2 = 1; |
DavidEGrayson | 28:4374035df5e0 | 169 | |
DavidEGrayson | 28:4374035df5e0 | 170 | Pacer reportPacer(200000); |
DavidEGrayson | 28:4374035df5e0 | 171 | |
DavidEGrayson | 28:4374035df5e0 | 172 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 173 | uint16_t loopCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 174 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 175 | { |
DavidEGrayson | 28:4374035df5e0 | 176 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 177 | bool lineVisiblePrevious = lineTracker.getLineVisible(); |
DavidEGrayson | 28:4374035df5e0 | 178 | lineTracker.read(); |
DavidEGrayson | 28:4374035df5e0 | 179 | updateMotorsToFollowLine(); |
DavidEGrayson | 28:4374035df5e0 | 180 | |
DavidEGrayson | 28:4374035df5e0 | 181 | loopCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 182 | |
DavidEGrayson | 28:4374035df5e0 | 183 | if (lineVisiblePrevious != lineTracker.getLineVisible()) |
DavidEGrayson | 28:4374035df5e0 | 184 | { |
DavidEGrayson | 28:4374035df5e0 | 185 | pc.printf("%5d ! %1d %4d | %4d %4d %4d | %5d %5d %5d\r\n", |
DavidEGrayson | 28:4374035df5e0 | 186 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 28:4374035df5e0 | 187 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2], |
DavidEGrayson | 28:4374035df5e0 | 188 | lineTracker.rawValues[0], lineTracker.rawValues[1], lineTracker.rawValues[2] |
DavidEGrayson | 28:4374035df5e0 | 189 | ); |
DavidEGrayson | 28:4374035df5e0 | 190 | } |
DavidEGrayson | 28:4374035df5e0 | 191 | |
DavidEGrayson | 28:4374035df5e0 | 192 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 193 | { |
DavidEGrayson | 28:4374035df5e0 | 194 | pc.printf("%5d %1d %4d | %4d %4d %4d\r\n", loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 28:4374035df5e0 | 195 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 196 | ); |
DavidEGrayson | 28:4374035df5e0 | 197 | } |
DavidEGrayson | 28:4374035df5e0 | 198 | } |
DavidEGrayson | 28:4374035df5e0 | 199 | } |
DavidEGrayson | 28:4374035df5e0 | 200 | |
DavidEGrayson | 17:2df9861f53ee | 201 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 202 | { |
DavidEGrayson | 17:2df9861f53ee | 203 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 204 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 205 | { |
DavidEGrayson | 17:2df9861f53ee | 206 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 207 | } |
DavidEGrayson | 21:c279c6a83671 | 208 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 209 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 210 | infiniteReckonerReportLoop(); |
DavidEGrayson | 20:dbec34f0e76b | 211 | } |
DavidEGrayson | 20:dbec34f0e76b | 212 | |
DavidEGrayson | 20:dbec34f0e76b | 213 | void testFinalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 214 | { |
DavidEGrayson | 20:dbec34f0e76b | 215 | led1 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 216 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 20:dbec34f0e76b | 217 | { |
DavidEGrayson | 20:dbec34f0e76b | 218 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 219 | } |
DavidEGrayson | 20:dbec34f0e76b | 220 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 221 | infiniteReckonerReportLoop(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 222 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 223 | |
DavidEGrayson | 17:2df9861f53ee | 224 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 225 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 226 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 227 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 228 | |
DavidEGrayson | 17:2df9861f53ee | 229 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 230 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 231 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 232 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 233 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 234 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 235 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 236 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 237 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 238 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 239 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 240 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 241 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 242 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 243 | |
DavidEGrayson | 12:835a4d24ae3b | 244 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 245 | { |
DavidEGrayson | 13:bba5b3abd13f | 246 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 247 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 248 | { |
DavidEGrayson | 12:835a4d24ae3b | 249 | updateReckonerFromEncoders(); |
DavidEGrayson | 13:bba5b3abd13f | 250 | led1 = (reckoner.cos > 0); |
DavidEGrayson | 13:bba5b3abd13f | 251 | led2 = (reckoner.sin > 0); |
DavidEGrayson | 13:bba5b3abd13f | 252 | led3 = (reckoner.x > 0); |
DavidEGrayson | 13:bba5b3abd13f | 253 | led4 = (reckoner.y > 0); |
DavidEGrayson | 12:835a4d24ae3b | 254 | |
DavidEGrayson | 13:bba5b3abd13f | 255 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 256 | { |
DavidEGrayson | 19:a11ffc903774 | 257 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 258 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 259 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 260 | } |
DavidEGrayson | 12:835a4d24ae3b | 261 | } |
DavidEGrayson | 12:835a4d24ae3b | 262 | } |
DavidEGrayson | 12:835a4d24ae3b | 263 | |
DavidEGrayson | 10:e4dd36148539 | 264 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 265 | { |
DavidEGrayson | 10:e4dd36148539 | 266 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 267 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 268 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 269 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 270 | { |
DavidEGrayson | 10:e4dd36148539 | 271 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 272 | { |
DavidEGrayson | 10:e4dd36148539 | 273 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 274 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 275 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 276 | |
DavidEGrayson | 10:e4dd36148539 | 277 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 278 | { |
DavidEGrayson | 10:e4dd36148539 | 279 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 280 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 281 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 282 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 283 | } |
DavidEGrayson | 10:e4dd36148539 | 284 | else |
DavidEGrayson | 10:e4dd36148539 | 285 | { |
DavidEGrayson | 10:e4dd36148539 | 286 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 287 | } |
DavidEGrayson | 10:e4dd36148539 | 288 | } |
DavidEGrayson | 10:e4dd36148539 | 289 | } |
DavidEGrayson | 10:e4dd36148539 | 290 | } |
DavidEGrayson | 8:78b1ff957cba | 291 | |
DavidEGrayson | 24:fc01d9125d3b | 292 | // Values from David's office Values from dev lab, |
DavidEGrayson | 24:fc01d9125d3b | 293 | // in the day time, 2014-02-27: 2014-02-27: |
DavidEGrayson | 22:44c032e59ff5 | 294 | // # calmin calmax |
DavidEGrayson | 24:fc01d9125d3b | 295 | // 0 34872 59726 0 40617 60222 |
DavidEGrayson | 24:fc01d9125d3b | 296 | // 1 29335 60110 1 36937 61198 |
DavidEGrayson | 24:fc01d9125d3b | 297 | // 2 23845 58446 2 33848 58862 |
DavidEGrayson | 22:44c032e59ff5 | 298 | void testCalibrate() |
DavidEGrayson | 22:44c032e59ff5 | 299 | { |
DavidEGrayson | 22:44c032e59ff5 | 300 | Timer timer; |
DavidEGrayson | 22:44c032e59ff5 | 301 | timer.start(); |
DavidEGrayson | 22:44c032e59ff5 | 302 | |
DavidEGrayson | 22:44c032e59ff5 | 303 | Pacer reportPacer(200000); |
DavidEGrayson | 22:44c032e59ff5 | 304 | |
DavidEGrayson | 24:fc01d9125d3b | 305 | bool doneCalibrating = false; |
DavidEGrayson | 24:fc01d9125d3b | 306 | |
DavidEGrayson | 24:fc01d9125d3b | 307 | led1 = 1; |
DavidEGrayson | 24:fc01d9125d3b | 308 | |
DavidEGrayson | 22:44c032e59ff5 | 309 | while(1) |
DavidEGrayson | 22:44c032e59ff5 | 310 | { |
DavidEGrayson | 22:44c032e59ff5 | 311 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 312 | if(!doneCalibrating) |
DavidEGrayson | 24:fc01d9125d3b | 313 | { |
DavidEGrayson | 24:fc01d9125d3b | 314 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 315 | } |
DavidEGrayson | 24:fc01d9125d3b | 316 | |
DavidEGrayson | 24:fc01d9125d3b | 317 | led2 = calibrationLooksGood(); |
DavidEGrayson | 24:fc01d9125d3b | 318 | led3 = doneCalibrating; |
DavidEGrayson | 24:fc01d9125d3b | 319 | led4 = lineTracker.getLineVisible(); |
DavidEGrayson | 24:fc01d9125d3b | 320 | |
DavidEGrayson | 24:fc01d9125d3b | 321 | if (button1DefinitelyPressed()) |
DavidEGrayson | 24:fc01d9125d3b | 322 | { |
DavidEGrayson | 24:fc01d9125d3b | 323 | doneCalibrating = true; |
DavidEGrayson | 24:fc01d9125d3b | 324 | } |
DavidEGrayson | 22:44c032e59ff5 | 325 | |
DavidEGrayson | 22:44c032e59ff5 | 326 | if (reportPacer.pace()) |
DavidEGrayson | 22:44c032e59ff5 | 327 | { |
DavidEGrayson | 22:44c032e59ff5 | 328 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 22:44c032e59ff5 | 329 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 22:44c032e59ff5 | 330 | { |
DavidEGrayson | 22:44c032e59ff5 | 331 | pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); |
DavidEGrayson | 22:44c032e59ff5 | 332 | } |
DavidEGrayson | 22:44c032e59ff5 | 333 | if (calibrationLooksGood()) |
DavidEGrayson | 22:44c032e59ff5 | 334 | { |
DavidEGrayson | 22:44c032e59ff5 | 335 | pc.puts("Good. \r\n"); |
DavidEGrayson | 22:44c032e59ff5 | 336 | } |
DavidEGrayson | 22:44c032e59ff5 | 337 | else |
DavidEGrayson | 22:44c032e59ff5 | 338 | { |
DavidEGrayson | 22:44c032e59ff5 | 339 | pc.puts("Not good yet.\r\n"); |
DavidEGrayson | 22:44c032e59ff5 | 340 | } |
DavidEGrayson | 22:44c032e59ff5 | 341 | } |
DavidEGrayson | 22:44c032e59ff5 | 342 | } |
DavidEGrayson | 22:44c032e59ff5 | 343 | } |
DavidEGrayson | 22:44c032e59ff5 | 344 | |
DavidEGrayson | 9:9734347b5756 | 345 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 346 | { |
DavidEGrayson | 9:9734347b5756 | 347 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 348 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 349 | while(1) |
DavidEGrayson | 9:9734347b5756 | 350 | { |
DavidEGrayson | 9:9734347b5756 | 351 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 352 | { |
DavidEGrayson | 9:9734347b5756 | 353 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 354 | } |
DavidEGrayson | 9:9734347b5756 | 355 | |
DavidEGrayson | 9:9734347b5756 | 356 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 357 | { |
DavidEGrayson | 9:9734347b5756 | 358 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 359 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 360 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 361 | } |
DavidEGrayson | 9:9734347b5756 | 362 | } |
DavidEGrayson | 9:9734347b5756 | 363 | } |
DavidEGrayson | 9:9734347b5756 | 364 | |
DavidEGrayson | 8:78b1ff957cba | 365 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 366 | { |
DavidEGrayson | 8:78b1ff957cba | 367 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 368 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 369 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 370 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 371 | { |
DavidEGrayson | 9:9734347b5756 | 372 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 373 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 374 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 375 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 376 | |
DavidEGrayson | 9:9734347b5756 | 377 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 378 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 379 | |
DavidEGrayson | 9:9734347b5756 | 380 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 381 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 382 | |
DavidEGrayson | 9:9734347b5756 | 383 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 384 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 385 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 386 | |
DavidEGrayson | 9:9734347b5756 | 387 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 388 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 389 | |
DavidEGrayson | 9:9734347b5756 | 390 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 391 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 392 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 393 | |
DavidEGrayson | 9:9734347b5756 | 394 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 395 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 396 | } |
DavidEGrayson | 10:e4dd36148539 | 397 | } |
DavidEGrayson | 10:e4dd36148539 | 398 | |
DavidEGrayson | 20:dbec34f0e76b | 399 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 400 | { |
DavidEGrayson | 20:dbec34f0e76b | 401 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 402 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 403 | { |
DavidEGrayson | 20:dbec34f0e76b | 404 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 405 | { |
DavidEGrayson | 20:dbec34f0e76b | 406 | led4 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 407 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 20:dbec34f0e76b | 408 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 409 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 410 | led4 = 0; |
DavidEGrayson | 20:dbec34f0e76b | 411 | } |
DavidEGrayson | 20:dbec34f0e76b | 412 | } |
DavidEGrayson | 20:dbec34f0e76b | 413 | |
DavidEGrayson | 20:dbec34f0e76b | 414 | } |
DavidEGrayson | 20:dbec34f0e76b | 415 | |
DavidEGrayson | 10:e4dd36148539 | 416 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 417 | { |
DavidEGrayson | 10:e4dd36148539 | 418 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 419 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 420 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 421 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 422 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 423 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 424 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 425 | } |