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@19:a11ffc903774, 2014-02-25 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Feb 25 02:58:16 2014 +0000
- Revision:
- 19:a11ffc903774
- Parent:
- 18:b65fbb795396
- Child:
- 20:dbec34f0e76b
Got the robot to get back to its home position and stop.
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 | 9:9734347b5756 | 7 | #include "test.h" |
DavidEGrayson | 8:78b1ff957cba | 8 | #include "leds.h" |
DavidEGrayson | 9:9734347b5756 | 9 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 10 | #include "pc_serial.h" |
DavidEGrayson | 10:e4dd36148539 | 11 | #include "line_sensors.h" |
DavidEGrayson | 12:835a4d24ae3b | 12 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 13 | #include "buttons.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 14 | |
DavidEGrayson | 17:2df9861f53ee | 15 | void __attribute__((noreturn)) driveHome(); |
DavidEGrayson | 10:e4dd36148539 | 16 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 17 | |
DavidEGrayson | 17:2df9861f53ee | 18 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 19 | { |
DavidEGrayson | 17:2df9861f53ee | 20 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 21 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 22 | { |
DavidEGrayson | 17:2df9861f53ee | 23 | updateReckonerFromEncoders(); |
DavidEGrayson | 17:2df9861f53ee | 24 | } |
DavidEGrayson | 17:2df9861f53ee | 25 | driveHome(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 26 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 27 | |
DavidEGrayson | 17:2df9861f53ee | 28 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 29 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 30 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 31 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 32 | |
DavidEGrayson | 17:2df9861f53ee | 33 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 34 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 35 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 36 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 37 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 38 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 39 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 40 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 41 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 42 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 43 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 44 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 45 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 46 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 47 | |
DavidEGrayson | 12:835a4d24ae3b | 48 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 49 | { |
DavidEGrayson | 13:bba5b3abd13f | 50 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 51 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 52 | { |
DavidEGrayson | 12:835a4d24ae3b | 53 | updateReckonerFromEncoders(); |
DavidEGrayson | 13:bba5b3abd13f | 54 | led1 = (reckoner.cos > 0); |
DavidEGrayson | 13:bba5b3abd13f | 55 | led2 = (reckoner.sin > 0); |
DavidEGrayson | 13:bba5b3abd13f | 56 | led3 = (reckoner.x > 0); |
DavidEGrayson | 13:bba5b3abd13f | 57 | led4 = (reckoner.y > 0); |
DavidEGrayson | 12:835a4d24ae3b | 58 | |
DavidEGrayson | 13:bba5b3abd13f | 59 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 60 | { |
DavidEGrayson | 19:a11ffc903774 | 61 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 62 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 63 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 64 | } |
DavidEGrayson | 12:835a4d24ae3b | 65 | } |
DavidEGrayson | 12:835a4d24ae3b | 66 | } |
DavidEGrayson | 12:835a4d24ae3b | 67 | |
DavidEGrayson | 10:e4dd36148539 | 68 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 69 | { |
DavidEGrayson | 10:e4dd36148539 | 70 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 71 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 72 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 73 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 74 | { |
DavidEGrayson | 10:e4dd36148539 | 75 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 76 | { |
DavidEGrayson | 10:e4dd36148539 | 77 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 78 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 79 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 80 | |
DavidEGrayson | 10:e4dd36148539 | 81 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 82 | { |
DavidEGrayson | 10:e4dd36148539 | 83 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 84 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 85 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 86 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 87 | } |
DavidEGrayson | 10:e4dd36148539 | 88 | else |
DavidEGrayson | 10:e4dd36148539 | 89 | { |
DavidEGrayson | 10:e4dd36148539 | 90 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 91 | } |
DavidEGrayson | 10:e4dd36148539 | 92 | } |
DavidEGrayson | 10:e4dd36148539 | 93 | } |
DavidEGrayson | 10:e4dd36148539 | 94 | } |
DavidEGrayson | 8:78b1ff957cba | 95 | |
DavidEGrayson | 9:9734347b5756 | 96 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 97 | { |
DavidEGrayson | 9:9734347b5756 | 98 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 99 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 100 | while(1) |
DavidEGrayson | 9:9734347b5756 | 101 | { |
DavidEGrayson | 9:9734347b5756 | 102 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 103 | { |
DavidEGrayson | 9:9734347b5756 | 104 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 105 | } |
DavidEGrayson | 9:9734347b5756 | 106 | |
DavidEGrayson | 9:9734347b5756 | 107 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 108 | { |
DavidEGrayson | 9:9734347b5756 | 109 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 110 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 111 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 112 | } |
DavidEGrayson | 9:9734347b5756 | 113 | } |
DavidEGrayson | 9:9734347b5756 | 114 | } |
DavidEGrayson | 9:9734347b5756 | 115 | |
DavidEGrayson | 8:78b1ff957cba | 116 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 117 | { |
DavidEGrayson | 8:78b1ff957cba | 118 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 119 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 120 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 121 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 122 | { |
DavidEGrayson | 9:9734347b5756 | 123 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 124 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 125 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 126 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 127 | |
DavidEGrayson | 9:9734347b5756 | 128 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 129 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 130 | |
DavidEGrayson | 9:9734347b5756 | 131 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 132 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 133 | |
DavidEGrayson | 9:9734347b5756 | 134 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 135 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 136 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 137 | |
DavidEGrayson | 9:9734347b5756 | 138 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 139 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 140 | |
DavidEGrayson | 9:9734347b5756 | 141 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 142 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 143 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 144 | |
DavidEGrayson | 9:9734347b5756 | 145 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 146 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 147 | } |
DavidEGrayson | 10:e4dd36148539 | 148 | } |
DavidEGrayson | 10:e4dd36148539 | 149 | |
DavidEGrayson | 10:e4dd36148539 | 150 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 151 | { |
DavidEGrayson | 10:e4dd36148539 | 152 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 153 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 154 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 155 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 156 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 157 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 158 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 159 | } |