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@42:96671b71aac5, 2019-07-27 (annotated)

Committer:
DavidEGrayson
Date:
Sat Jul 27 20:58:46 2019 +0000
Revision:
42:96671b71aac5
Parent:
41:3ead1dd2cc3a
Child:
43:0e985a58f174
Calibrate L3G using a buffer of 1000 zero-rate readings.  Measured a drift of -1.850 degrees over 3 minutes (-0.01 degree per second).

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 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 40:6fa672be85ec 62 testTurnSensor();
DavidEGrayson 16:8eaa5bc2bdb1 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 29:cfcf08d8ac79 69 //testAnalog();
DavidEGrayson 31:739b91331f31 70 //testSensorGlitches();
DavidEGrayson 33:58a0ab6e9ad2 71 //testTurnInPlace();
DavidEGrayson 33:58a0ab6e9ad2 72 //testCloseness();
DavidEGrayson 37:23000a47ed2b 73 //testLogger();
DavidEGrayson 41:3ead1dd2cc3a 74
DavidEGrayson 42:96671b71aac5 75 loadLineCalibration();
DavidEGrayson 42:96671b71aac5 76 doGyroCalibration();
DavidEGrayson 2:968338353aef 77
DavidEGrayson 41:3ead1dd2cc3a 78 doDeadReckoning();
DavidEGrayson 41:3ead1dd2cc3a 79 }
DavidEGrayson 41:3ead1dd2cc3a 80
DavidEGrayson 41:3ead1dd2cc3a 81 void doDeadReckoning()
DavidEGrayson 41:3ead1dd2cc3a 82 {
DavidEGrayson 21:c279c6a83671 83 setLeds(1, 0, 0, 0);
DavidEGrayson 21:c279c6a83671 84 waitForSignalToStart();
DavidEGrayson 25:73c2eedb3b91 85
DavidEGrayson 33:58a0ab6e9ad2 86 setLeds(0, 1, 0, 0);
DavidEGrayson 28:4374035df5e0 87 findLine();
DavidEGrayson 41:3ead1dd2cc3a 88
DavidEGrayson 27:2456f68be679 89 //setLeds(1, 1, 0, 0);
DavidEGrayson 27:2456f68be679 90 //turnRightToFindLine();
DavidEGrayson 33:58a0ab6e9ad2 91
DavidEGrayson 21:c279c6a83671 92 setLeds(0, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 93 followLineToEnd();
DavidEGrayson 33:58a0ab6e9ad2 94
DavidEGrayson 21:c279c6a83671 95 setLeds(1, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 96 driveHomeAlmost();
DavidEGrayson 33:58a0ab6e9ad2 97
DavidEGrayson 33:58a0ab6e9ad2 98 //setLeds(0, 1, 1, 0);
DavidEGrayson 33:58a0ab6e9ad2 99 //finalSettleIn();
DavidEGrayson 33:58a0ab6e9ad2 100
DavidEGrayson 21:c279c6a83671 101 setLeds(1, 1, 1, 1);
DavidEGrayson 37:23000a47ed2b 102 loggerReportLoop();
DavidEGrayson 37:23000a47ed2b 103 }
DavidEGrayson 37:23000a47ed2b 104
DavidEGrayson 37:23000a47ed2b 105 void loggerService()
DavidEGrayson 37:23000a47ed2b 106 {
DavidEGrayson 40:6fa672be85ec 107 if (totalEncoderCounts > nextLogEncoderCount)
DavidEGrayson 37:23000a47ed2b 108 {
DavidEGrayson 40:6fa672be85ec 109 nextLogEncoderCount += logSpacing;
DavidEGrayson 40:6fa672be85ec 110
DavidEGrayson 40:6fa672be85ec 111 struct LogEntry entry;
DavidEGrayson 40:6fa672be85ec 112 entry.turnAngle = turnSensor.getAngle() >> 16;
DavidEGrayson 40:6fa672be85ec 113 entry.x = reckoner.x >> 16;
DavidEGrayson 40:6fa672be85ec 114 entry.y = reckoner.y >> 16;
DavidEGrayson 40:6fa672be85ec 115 logger.log(&entry);
DavidEGrayson 37:23000a47ed2b 116 }
DavidEGrayson 0:e77a0edb9878 117 }
DavidEGrayson 12:835a4d24ae3b 118
DavidEGrayson 37:23000a47ed2b 119 void loggerReportLoop()
DavidEGrayson 37:23000a47ed2b 120 {
DavidEGrayson 37:23000a47ed2b 121 while(1)
DavidEGrayson 37:23000a47ed2b 122 {
DavidEGrayson 37:23000a47ed2b 123 if(button1DefinitelyPressed())
DavidEGrayson 37:23000a47ed2b 124 {
DavidEGrayson 37:23000a47ed2b 125 logger.dump();
DavidEGrayson 37:23000a47ed2b 126 }
DavidEGrayson 37:23000a47ed2b 127 }
DavidEGrayson 37:23000a47ed2b 128 }
DavidEGrayson 37:23000a47ed2b 129
DavidEGrayson 42:96671b71aac5 130 void doGyroCalibration()
DavidEGrayson 42:96671b71aac5 131 {
DavidEGrayson 42:96671b71aac5 132 wait_ms(1000); // Time for the robot to stop moving.
DavidEGrayson 42:96671b71aac5 133 while (!l3gCalibrateDone())
DavidEGrayson 42:96671b71aac5 134 {
DavidEGrayson 42:96671b71aac5 135 l3gCalibrate();
DavidEGrayson 42:96671b71aac5 136 wait_ms(2);
DavidEGrayson 42:96671b71aac5 137 }
DavidEGrayson 42:96671b71aac5 138 }
DavidEGrayson 37:23000a47ed2b 139
DavidEGrayson 42:96671b71aac5 140 void loadLineCalibration()
DavidEGrayson 28:4374035df5e0 141 {
DavidEGrayson 32:83a13b06093c 142 /** QTR-3RC **/
DavidEGrayson 32:83a13b06093c 143 lineTracker.calibratedMinimum[0] = 100;
DavidEGrayson 32:83a13b06093c 144 lineTracker.calibratedMinimum[1] = 94;
DavidEGrayson 32:83a13b06093c 145 lineTracker.calibratedMinimum[2] = 103;
DavidEGrayson 32:83a13b06093c 146 lineTracker.calibratedMaximum[0] = 792;
DavidEGrayson 32:83a13b06093c 147 lineTracker.calibratedMaximum[1] = 807;
DavidEGrayson 32:83a13b06093c 148 lineTracker.calibratedMaximum[2] = 1000;
DavidEGrayson 28:4374035df5e0 149 }
DavidEGrayson 28:4374035df5e0 150
DavidEGrayson 12:835a4d24ae3b 151 void updateReckonerFromEncoders()
DavidEGrayson 12:835a4d24ae3b 152 {
DavidEGrayson 12:835a4d24ae3b 153 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 154 {
DavidEGrayson 12:835a4d24ae3b 155 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 156 switch(event)
DavidEGrayson 12:835a4d24ae3b 157 {
DavidEGrayson 17:2df9861f53ee 158 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 159 reckoner.handleTickLeftForward();
DavidEGrayson 40:6fa672be85ec 160 totalEncoderCounts++;
DavidEGrayson 17:2df9861f53ee 161 break;
DavidEGrayson 17:2df9861f53ee 162 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 163 reckoner.handleTickLeftBackward();
DavidEGrayson 40:6fa672be85ec 164 totalEncoderCounts--;
DavidEGrayson 17:2df9861f53ee 165 break;
DavidEGrayson 17:2df9861f53ee 166 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 167 reckoner.handleTickRightForward();
DavidEGrayson 40:6fa672be85ec 168 totalEncoderCounts++;
DavidEGrayson 17:2df9861f53ee 169 break;
DavidEGrayson 17:2df9861f53ee 170 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 171 reckoner.handleTickRightBackward();
DavidEGrayson 40:6fa672be85ec 172 totalEncoderCounts--;
DavidEGrayson 17:2df9861f53ee 173 break;
DavidEGrayson 12:835a4d24ae3b 174 }
DavidEGrayson 12:835a4d24ae3b 175 }
DavidEGrayson 12:835a4d24ae3b 176 }
DavidEGrayson 17:2df9861f53ee 177
DavidEGrayson 19:a11ffc903774 178 float magnitude()
DavidEGrayson 19:a11ffc903774 179 {
DavidEGrayson 19:a11ffc903774 180 return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y);
DavidEGrayson 19:a11ffc903774 181 }
DavidEGrayson 19:a11ffc903774 182
DavidEGrayson 20:dbec34f0e76b 183 float dotProduct()
DavidEGrayson 20:dbec34f0e76b 184 {
DavidEGrayson 20:dbec34f0e76b 185 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 186 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 187 float magn = magnitude();
DavidEGrayson 20:dbec34f0e76b 188 if (magn == 0){ return 0; }
DavidEGrayson 20:dbec34f0e76b 189 return ((float)reckoner.x * c + (float)reckoner.y * s) / magn;
DavidEGrayson 20:dbec34f0e76b 190 }
DavidEGrayson 20:dbec34f0e76b 191
DavidEGrayson 18:b65fbb795396 192 // The closer this is to zero, the closer we are to pointing towards the home position.
DavidEGrayson 18:b65fbb795396 193 // It is basically a cross product of the two vectors (x, y) and (cos, sin).
DavidEGrayson 19:a11ffc903774 194 float determinant()
DavidEGrayson 18:b65fbb795396 195 {
DavidEGrayson 18:b65fbb795396 196 // TODO: get rid of the magic numbers here (i.e. 30)
DavidEGrayson 18:b65fbb795396 197 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 18:b65fbb795396 198 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 19:a11ffc903774 199 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 200 }
DavidEGrayson 19:a11ffc903774 201
DavidEGrayson 21:c279c6a83671 202 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 203 {
DavidEGrayson 19:a11ffc903774 204 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 205 {
DavidEGrayson 19:a11ffc903774 206 return 0;
DavidEGrayson 19:a11ffc903774 207 }
DavidEGrayson 19:a11ffc903774 208 else
DavidEGrayson 19:a11ffc903774 209 {
DavidEGrayson 19:a11ffc903774 210 return speed - reduction;
DavidEGrayson 19:a11ffc903774 211 }
DavidEGrayson 18:b65fbb795396 212 }
DavidEGrayson 18:b65fbb795396 213
DavidEGrayson 21:c279c6a83671 214 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 215 {
DavidEGrayson 21:c279c6a83671 216 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 217 {
DavidEGrayson 21:c279c6a83671 218 updateReckonerFromEncoders();
DavidEGrayson 38:5e93a479c244 219 }
DavidEGrayson 21:c279c6a83671 220 reckoner.reset();
DavidEGrayson 38:5e93a479c244 221 while(button1DefinitelyPressed())
DavidEGrayson 38:5e93a479c244 222 {
DavidEGrayson 38:5e93a479c244 223 updateReckonerFromEncoders();
DavidEGrayson 38:5e93a479c244 224 }
DavidEGrayson 38:5e93a479c244 225 wait(0.2);
DavidEGrayson 21:c279c6a83671 226 }
DavidEGrayson 21:c279c6a83671 227
DavidEGrayson 24:fc01d9125d3b 228 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 229 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 230 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 231 {
DavidEGrayson 24:fc01d9125d3b 232 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 233 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 234 int16_t speedRight = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 235 int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
DavidEGrayson 24:fc01d9125d3b 236 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 237 {
DavidEGrayson 24:fc01d9125d3b 238 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 239 }
DavidEGrayson 24:fc01d9125d3b 240 else
DavidEGrayson 24:fc01d9125d3b 241 {
DavidEGrayson 24:fc01d9125d3b 242 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 243 }
DavidEGrayson 24:fc01d9125d3b 244 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 245 }
DavidEGrayson 24:fc01d9125d3b 246
DavidEGrayson 28:4374035df5e0 247 void updateMotorsToFollowLine()
DavidEGrayson 24:fc01d9125d3b 248 {
DavidEGrayson 34:6c84680d823a 249 const int followLineStrength = drivingSpeed * 5 / 4;
DavidEGrayson 28:4374035df5e0 250
DavidEGrayson 28:4374035df5e0 251 int16_t speedLeft = drivingSpeed;
DavidEGrayson 28:4374035df5e0 252 int16_t speedRight = drivingSpeed;
DavidEGrayson 28:4374035df5e0 253 int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000;
DavidEGrayson 28:4374035df5e0 254 if(reduction < 0)
DavidEGrayson 28:4374035df5e0 255 {
DavidEGrayson 28:4374035df5e0 256 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 28:4374035df5e0 257 }
DavidEGrayson 28:4374035df5e0 258 else
DavidEGrayson 28:4374035df5e0 259 {
DavidEGrayson 28:4374035df5e0 260 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 28:4374035df5e0 261 }
DavidEGrayson 24:fc01d9125d3b 262
DavidEGrayson 28:4374035df5e0 263 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 28:4374035df5e0 264 }
DavidEGrayson 28:4374035df5e0 265
DavidEGrayson 28:4374035df5e0 266 void findLine()
DavidEGrayson 28:4374035df5e0 267 {
DavidEGrayson 24:fc01d9125d3b 268 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 269 while(1)
DavidEGrayson 24:fc01d9125d3b 270 {
DavidEGrayson 24:fc01d9125d3b 271 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 272 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 273 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 274 loggerService();
DavidEGrayson 37:23000a47ed2b 275 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 276 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 277
DavidEGrayson 33:58a0ab6e9ad2 278 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000)
DavidEGrayson 24:fc01d9125d3b 279 {
DavidEGrayson 26:7e7c376a7446 280 break;
DavidEGrayson 24:fc01d9125d3b 281 }
DavidEGrayson 24:fc01d9125d3b 282 }
DavidEGrayson 24:fc01d9125d3b 283 }
DavidEGrayson 20:dbec34f0e76b 284
DavidEGrayson 33:58a0ab6e9ad2 285 /**
DavidEGrayson 21:c279c6a83671 286 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 287 {
DavidEGrayson 21:c279c6a83671 288 while(1)
DavidEGrayson 21:c279c6a83671 289 {
DavidEGrayson 21:c279c6a83671 290 lineTracker.read();
DavidEGrayson 21:c279c6a83671 291 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 292 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 293
DavidEGrayson 21:c279c6a83671 294 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 295 {
DavidEGrayson 21:c279c6a83671 296 break;
DavidEGrayson 21:c279c6a83671 297 }
DavidEGrayson 21:c279c6a83671 298
DavidEGrayson 21:c279c6a83671 299 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 300 }
DavidEGrayson 33:58a0ab6e9ad2 301 }**/
DavidEGrayson 21:c279c6a83671 302
DavidEGrayson 21:c279c6a83671 303 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 304 {
DavidEGrayson 26:7e7c376a7446 305 Timer timer;
DavidEGrayson 26:7e7c376a7446 306 timer.start();
DavidEGrayson 26:7e7c376a7446 307
DavidEGrayson 21:c279c6a83671 308 GeneralDebouncer lineStatus(10000);
DavidEGrayson 34:6c84680d823a 309 const uint32_t lineDebounceTime = 1000000;
DavidEGrayson 21:c279c6a83671 310
DavidEGrayson 21:c279c6a83671 311 while(1)
DavidEGrayson 21:c279c6a83671 312 {
DavidEGrayson 21:c279c6a83671 313 lineTracker.read();
DavidEGrayson 21:c279c6a83671 314 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 315 loggerService();
DavidEGrayson 21:c279c6a83671 316
DavidEGrayson 21:c279c6a83671 317 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 318
DavidEGrayson 21:c279c6a83671 319 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 26:7e7c376a7446 320 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 28:4374035df5e0 321 if(lostLine && timer.read_us() >= 2000000)
DavidEGrayson 21:c279c6a83671 322 {
DavidEGrayson 21:c279c6a83671 323 break;
DavidEGrayson 21:c279c6a83671 324 }
DavidEGrayson 21:c279c6a83671 325
DavidEGrayson 28:4374035df5e0 326 updateMotorsToFollowLine();
DavidEGrayson 21:c279c6a83671 327 }
DavidEGrayson 20:dbec34f0e76b 328 }
DavidEGrayson 20:dbec34f0e76b 329
DavidEGrayson 20:dbec34f0e76b 330 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 331 {
DavidEGrayson 18:b65fbb795396 332 Timer timer;
DavidEGrayson 18:b65fbb795396 333 timer.start();
DavidEGrayson 19:a11ffc903774 334
DavidEGrayson 19:a11ffc903774 335 while(1)
DavidEGrayson 18:b65fbb795396 336 {
DavidEGrayson 18:b65fbb795396 337 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 338 loggerService();
DavidEGrayson 37:23000a47ed2b 339
DavidEGrayson 19:a11ffc903774 340 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 341
DavidEGrayson 33:58a0ab6e9ad2 342 if (magn < (1<<(14+7)))
DavidEGrayson 18:b65fbb795396 343 {
DavidEGrayson 33:58a0ab6e9ad2 344 // We are within 128 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 345 break;
DavidEGrayson 19:a11ffc903774 346 }
DavidEGrayson 19:a11ffc903774 347
DavidEGrayson 19:a11ffc903774 348 float det = determinant();
DavidEGrayson 19:a11ffc903774 349
DavidEGrayson 21:c279c6a83671 350 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 351 int16_t speedRight = drivingSpeed;
DavidEGrayson 33:58a0ab6e9ad2 352 if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 353 {
DavidEGrayson 33:58a0ab6e9ad2 354 int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2);
DavidEGrayson 19:a11ffc903774 355 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 356 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 357 }
DavidEGrayson 19:a11ffc903774 358
DavidEGrayson 19:a11ffc903774 359 if (det > 0)
DavidEGrayson 19:a11ffc903774 360 {
DavidEGrayson 19:a11ffc903774 361 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 362 }
DavidEGrayson 18:b65fbb795396 363 else
DavidEGrayson 18:b65fbb795396 364 {
DavidEGrayson 19:a11ffc903774 365 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 366 }
DavidEGrayson 19:a11ffc903774 367 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 368 }
DavidEGrayson 18:b65fbb795396 369
DavidEGrayson 20:dbec34f0e76b 370 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 371 }
DavidEGrayson 20:dbec34f0e76b 372
DavidEGrayson 20:dbec34f0e76b 373 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 374 {
DavidEGrayson 27:2456f68be679 375 const int16_t settleSpeed = 300;
DavidEGrayson 27:2456f68be679 376 const int16_t settleModificationStrength = 150;
DavidEGrayson 20:dbec34f0e76b 377
DavidEGrayson 20:dbec34f0e76b 378 Timer timer;
DavidEGrayson 20:dbec34f0e76b 379 timer.start();
DavidEGrayson 20:dbec34f0e76b 380
DavidEGrayson 20:dbec34f0e76b 381 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 382 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 383 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 384
DavidEGrayson 27:2456f68be679 385 Pacer reportPacer(200000);
DavidEGrayson 27:2456f68be679 386 Pacer motorUpdatePacer(10000);
DavidEGrayson 21:c279c6a83671 387
DavidEGrayson 27:2456f68be679 388 float integral = 0;
DavidEGrayson 27:2456f68be679 389
DavidEGrayson 27:2456f68be679 390 motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling
DavidEGrayson 27:2456f68be679 391
DavidEGrayson 19:a11ffc903774 392 while(1)
DavidEGrayson 19:a11ffc903774 393 {
DavidEGrayson 27:2456f68be679 394 led1 = (state == 1);
DavidEGrayson 27:2456f68be679 395
DavidEGrayson 20:dbec34f0e76b 396 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 397 loggerService();
DavidEGrayson 37:23000a47ed2b 398
DavidEGrayson 20:dbec34f0e76b 399 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 400 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 401 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 402 {
DavidEGrayson 20:dbec34f0e76b 403 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 404 }
DavidEGrayson 20:dbec34f0e76b 405 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 406 {
DavidEGrayson 20:dbec34f0e76b 407 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 408 }
DavidEGrayson 20:dbec34f0e76b 409
DavidEGrayson 21:c279c6a83671 410 if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29))
DavidEGrayson 19:a11ffc903774 411 {
DavidEGrayson 21:c279c6a83671 412 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 413 state = 1;
DavidEGrayson 20:dbec34f0e76b 414 }
DavidEGrayson 20:dbec34f0e76b 415
DavidEGrayson 21:c279c6a83671 416 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 417 {
DavidEGrayson 21:c279c6a83671 418 // Stop moving.
DavidEGrayson 21:c279c6a83671 419 break;
DavidEGrayson 21:c279c6a83671 420 }
DavidEGrayson 21:c279c6a83671 421
DavidEGrayson 27:2456f68be679 422 if (motorUpdatePacer.pace())
DavidEGrayson 20:dbec34f0e76b 423 {
DavidEGrayson 27:2456f68be679 424 int16_t rotationSpeed;
DavidEGrayson 27:2456f68be679 425 if (state == 1)
DavidEGrayson 27:2456f68be679 426 {
DavidEGrayson 27:2456f68be679 427 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 27:2456f68be679 428 integral += s;
DavidEGrayson 27:2456f68be679 429 rotationSpeed = -(s * 2400 + integral * 20);
DavidEGrayson 27:2456f68be679 430
DavidEGrayson 27:2456f68be679 431 if (rotationSpeed > 300)
DavidEGrayson 27:2456f68be679 432 {
DavidEGrayson 27:2456f68be679 433 rotationSpeed = 300;
DavidEGrayson 27:2456f68be679 434 }
DavidEGrayson 27:2456f68be679 435 if (rotationSpeed < -300)
DavidEGrayson 27:2456f68be679 436 {
DavidEGrayson 27:2456f68be679 437 rotationSpeed = -300;
DavidEGrayson 27:2456f68be679 438 }
DavidEGrayson 27:2456f68be679 439 }
DavidEGrayson 27:2456f68be679 440 else
DavidEGrayson 27:2456f68be679 441 {
DavidEGrayson 27:2456f68be679 442 rotationSpeed = settleSpeed;
DavidEGrayson 27:2456f68be679 443 }
DavidEGrayson 27:2456f68be679 444
DavidEGrayson 27:2456f68be679 445 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 446 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 447 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 20:dbec34f0e76b 448 }
DavidEGrayson 21:c279c6a83671 449
DavidEGrayson 21:c279c6a83671 450 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 451 {
DavidEGrayson 21:c279c6a83671 452 pc.printf("%11d %11d %11d %11d | %11f %11f\r\n",
DavidEGrayson 21:c279c6a83671 453 reckoner.cos, reckoner.sin, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 454 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 455 }
DavidEGrayson 19:a11ffc903774 456 }
DavidEGrayson 20:dbec34f0e76b 457
DavidEGrayson 21:c279c6a83671 458 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 459 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 460 }