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@44:b4a00fbab06b, 2019-07-28 (annotated)

Committer:
DavidEGrayson
Date:
Sun Jul 28 01:22:01 2019 +0000
Revision:
44:b4a00fbab06b
Parent:
43:0e985a58f174
Child:
45:81dd782bc0b4
Get testDriveHome to work: the robot got to within about 6 inches of where it was in one test I did.

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 43:0e985a58f174 62 //testTurnSensor();
DavidEGrayson 44:b4a00fbab06b 63 //testReckoner();
DavidEGrayson 17:2df9861f53ee 64 //testButtons();
DavidEGrayson 44:b4a00fbab06b 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 44:b4a00fbab06b 151 turnSensor.update();
DavidEGrayson 44:b4a00fbab06b 152 reckoner.setTurnAngle(turnSensor.getAngle());
DavidEGrayson 44:b4a00fbab06b 153
DavidEGrayson 43:0e985a58f174 154 if (!encoderBuffer.hasEvents())
DavidEGrayson 43:0e985a58f174 155 {
DavidEGrayson 43:0e985a58f174 156 return;
DavidEGrayson 43:0e985a58f174 157 }
DavidEGrayson 43:0e985a58f174 158
DavidEGrayson 12:835a4d24ae3b 159 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 160 {
DavidEGrayson 12:835a4d24ae3b 161 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 162 switch(event)
DavidEGrayson 12:835a4d24ae3b 163 {
DavidEGrayson 17:2df9861f53ee 164 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 43:0e985a58f174 165 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 40:6fa672be85ec 166 totalEncoderCounts++;
DavidEGrayson 43:0e985a58f174 167 reckoner.handleForward();
DavidEGrayson 17:2df9861f53ee 168 break;
DavidEGrayson 17:2df9861f53ee 169 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 170 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 43:0e985a58f174 171 reckoner.handleBackward();
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 43:0e985a58f174 185 float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 43:0e985a58f174 186 float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT);
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 43:0e985a58f174 196 float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 43:0e985a58f174 197 float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 19:a11ffc903774 198 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 199 }
DavidEGrayson 19:a11ffc903774 200
DavidEGrayson 21:c279c6a83671 201 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 202 {
DavidEGrayson 19:a11ffc903774 203 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 204 {
DavidEGrayson 19:a11ffc903774 205 return 0;
DavidEGrayson 19:a11ffc903774 206 }
DavidEGrayson 19:a11ffc903774 207 else
DavidEGrayson 19:a11ffc903774 208 {
DavidEGrayson 19:a11ffc903774 209 return speed - reduction;
DavidEGrayson 19:a11ffc903774 210 }
DavidEGrayson 18:b65fbb795396 211 }
DavidEGrayson 18:b65fbb795396 212
DavidEGrayson 21:c279c6a83671 213 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 214 {
DavidEGrayson 21:c279c6a83671 215 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 216 {
DavidEGrayson 43:0e985a58f174 217 updateReckoner();
DavidEGrayson 38:5e93a479c244 218 }
DavidEGrayson 21:c279c6a83671 219 reckoner.reset();
DavidEGrayson 38:5e93a479c244 220 while(button1DefinitelyPressed())
DavidEGrayson 38:5e93a479c244 221 {
DavidEGrayson 43:0e985a58f174 222 updateReckoner();
DavidEGrayson 38:5e93a479c244 223 }
DavidEGrayson 38:5e93a479c244 224 wait(0.2);
DavidEGrayson 21:c279c6a83671 225 }
DavidEGrayson 21:c279c6a83671 226
DavidEGrayson 24:fc01d9125d3b 227 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 228 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 229 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 230 {
DavidEGrayson 24:fc01d9125d3b 231 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 232 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 233 int16_t speedRight = drivingSpeed;
DavidEGrayson 43:0e985a58f174 234 int32_t reduction = reckoner.sinv * straightDriveStrength >> RECKONER_LOG_UNIT;
DavidEGrayson 24:fc01d9125d3b 235 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 236 {
DavidEGrayson 24:fc01d9125d3b 237 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 238 }
DavidEGrayson 24:fc01d9125d3b 239 else
DavidEGrayson 24:fc01d9125d3b 240 {
DavidEGrayson 24:fc01d9125d3b 241 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 242 }
DavidEGrayson 24:fc01d9125d3b 243 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 244 }
DavidEGrayson 24:fc01d9125d3b 245
DavidEGrayson 28:4374035df5e0 246 void updateMotorsToFollowLine()
DavidEGrayson 24:fc01d9125d3b 247 {
DavidEGrayson 34:6c84680d823a 248 const int followLineStrength = drivingSpeed * 5 / 4;
DavidEGrayson 28:4374035df5e0 249
DavidEGrayson 28:4374035df5e0 250 int16_t speedLeft = drivingSpeed;
DavidEGrayson 28:4374035df5e0 251 int16_t speedRight = drivingSpeed;
DavidEGrayson 28:4374035df5e0 252 int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000;
DavidEGrayson 28:4374035df5e0 253 if(reduction < 0)
DavidEGrayson 28:4374035df5e0 254 {
DavidEGrayson 28:4374035df5e0 255 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 28:4374035df5e0 256 }
DavidEGrayson 28:4374035df5e0 257 else
DavidEGrayson 28:4374035df5e0 258 {
DavidEGrayson 28:4374035df5e0 259 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 28:4374035df5e0 260 }
DavidEGrayson 24:fc01d9125d3b 261
DavidEGrayson 28:4374035df5e0 262 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 28:4374035df5e0 263 }
DavidEGrayson 28:4374035df5e0 264
DavidEGrayson 28:4374035df5e0 265 void findLine()
DavidEGrayson 28:4374035df5e0 266 {
DavidEGrayson 24:fc01d9125d3b 267 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 268 while(1)
DavidEGrayson 24:fc01d9125d3b 269 {
DavidEGrayson 24:fc01d9125d3b 270 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 271 lineTracker.updateCalibration();
DavidEGrayson 43:0e985a58f174 272 updateReckoner();
DavidEGrayson 37:23000a47ed2b 273 loggerService();
DavidEGrayson 37:23000a47ed2b 274 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 275 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 276
DavidEGrayson 33:58a0ab6e9ad2 277 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000)
DavidEGrayson 24:fc01d9125d3b 278 {
DavidEGrayson 26:7e7c376a7446 279 break;
DavidEGrayson 24:fc01d9125d3b 280 }
DavidEGrayson 24:fc01d9125d3b 281 }
DavidEGrayson 24:fc01d9125d3b 282 }
DavidEGrayson 20:dbec34f0e76b 283
DavidEGrayson 33:58a0ab6e9ad2 284 /**
DavidEGrayson 21:c279c6a83671 285 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 286 {
DavidEGrayson 21:c279c6a83671 287 while(1)
DavidEGrayson 21:c279c6a83671 288 {
DavidEGrayson 21:c279c6a83671 289 lineTracker.read();
DavidEGrayson 21:c279c6a83671 290 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 291 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 292
DavidEGrayson 21:c279c6a83671 293 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 294 {
DavidEGrayson 21:c279c6a83671 295 break;
DavidEGrayson 21:c279c6a83671 296 }
DavidEGrayson 21:c279c6a83671 297
DavidEGrayson 21:c279c6a83671 298 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 299 }
DavidEGrayson 33:58a0ab6e9ad2 300 }**/
DavidEGrayson 21:c279c6a83671 301
DavidEGrayson 21:c279c6a83671 302 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 303 {
DavidEGrayson 26:7e7c376a7446 304 Timer timer;
DavidEGrayson 26:7e7c376a7446 305 timer.start();
DavidEGrayson 26:7e7c376a7446 306
DavidEGrayson 21:c279c6a83671 307 GeneralDebouncer lineStatus(10000);
DavidEGrayson 34:6c84680d823a 308 const uint32_t lineDebounceTime = 1000000;
DavidEGrayson 21:c279c6a83671 309
DavidEGrayson 21:c279c6a83671 310 while(1)
DavidEGrayson 21:c279c6a83671 311 {
DavidEGrayson 21:c279c6a83671 312 lineTracker.read();
DavidEGrayson 43:0e985a58f174 313 updateReckoner();
DavidEGrayson 37:23000a47ed2b 314 loggerService();
DavidEGrayson 21:c279c6a83671 315
DavidEGrayson 21:c279c6a83671 316 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 317
DavidEGrayson 21:c279c6a83671 318 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 26:7e7c376a7446 319 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 28:4374035df5e0 320 if(lostLine && timer.read_us() >= 2000000)
DavidEGrayson 21:c279c6a83671 321 {
DavidEGrayson 21:c279c6a83671 322 break;
DavidEGrayson 21:c279c6a83671 323 }
DavidEGrayson 21:c279c6a83671 324
DavidEGrayson 28:4374035df5e0 325 updateMotorsToFollowLine();
DavidEGrayson 21:c279c6a83671 326 }
DavidEGrayson 20:dbec34f0e76b 327 }
DavidEGrayson 20:dbec34f0e76b 328
DavidEGrayson 20:dbec34f0e76b 329 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 330 {
DavidEGrayson 18:b65fbb795396 331 Timer timer;
DavidEGrayson 18:b65fbb795396 332 timer.start();
DavidEGrayson 19:a11ffc903774 333
DavidEGrayson 19:a11ffc903774 334 while(1)
DavidEGrayson 18:b65fbb795396 335 {
DavidEGrayson 43:0e985a58f174 336 updateReckoner();
DavidEGrayson 37:23000a47ed2b 337 loggerService();
DavidEGrayson 37:23000a47ed2b 338
DavidEGrayson 19:a11ffc903774 339 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 340
DavidEGrayson 33:58a0ab6e9ad2 341 if (magn < (1<<(14+7)))
DavidEGrayson 18:b65fbb795396 342 {
DavidEGrayson 33:58a0ab6e9ad2 343 // We are within 128 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 344 break;
DavidEGrayson 19:a11ffc903774 345 }
DavidEGrayson 19:a11ffc903774 346
DavidEGrayson 19:a11ffc903774 347 float det = determinant();
DavidEGrayson 19:a11ffc903774 348
DavidEGrayson 21:c279c6a83671 349 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 350 int16_t speedRight = drivingSpeed;
DavidEGrayson 33:58a0ab6e9ad2 351 if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 352 {
DavidEGrayson 33:58a0ab6e9ad2 353 int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2);
DavidEGrayson 19:a11ffc903774 354 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 355 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 356 }
DavidEGrayson 19:a11ffc903774 357
DavidEGrayson 44:b4a00fbab06b 358 // tmphax
DavidEGrayson 44:b4a00fbab06b 359 if (0) {
DavidEGrayson 44:b4a00fbab06b 360 if (det != det)
DavidEGrayson 44:b4a00fbab06b 361 {
DavidEGrayson 44:b4a00fbab06b 362 // NaN
DavidEGrayson 44:b4a00fbab06b 363 setLeds(1, 0, 0, 1);
DavidEGrayson 44:b4a00fbab06b 364 }
DavidEGrayson 44:b4a00fbab06b 365 else if (det > 0.5)
DavidEGrayson 44:b4a00fbab06b 366 {
DavidEGrayson 44:b4a00fbab06b 367 setLeds(0, 0, 1, 1);
DavidEGrayson 44:b4a00fbab06b 368 }
DavidEGrayson 44:b4a00fbab06b 369 else if (det > 0.1)
DavidEGrayson 44:b4a00fbab06b 370 {
DavidEGrayson 44:b4a00fbab06b 371 setLeds(0, 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(1, 1, 0, 0);
DavidEGrayson 44:b4a00fbab06b 376 }
DavidEGrayson 44:b4a00fbab06b 377 else if (det < -0.1)
DavidEGrayson 44:b4a00fbab06b 378 {
DavidEGrayson 44:b4a00fbab06b 379 setLeds(1, 0, 0, 0);
DavidEGrayson 44:b4a00fbab06b 380 }
DavidEGrayson 44:b4a00fbab06b 381 else
DavidEGrayson 44:b4a00fbab06b 382 {
DavidEGrayson 44:b4a00fbab06b 383 // Heading basically the right direction.
DavidEGrayson 44:b4a00fbab06b 384 setLeds(1, 1, 1, 1);
DavidEGrayson 44:b4a00fbab06b 385 }
DavidEGrayson 44:b4a00fbab06b 386 speedLeft = speedRight = 0;
DavidEGrayson 44:b4a00fbab06b 387 }
DavidEGrayson 44:b4a00fbab06b 388
DavidEGrayson 19:a11ffc903774 389 if (det > 0)
DavidEGrayson 19:a11ffc903774 390 {
DavidEGrayson 19:a11ffc903774 391 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 392 }
DavidEGrayson 18:b65fbb795396 393 else
DavidEGrayson 18:b65fbb795396 394 {
DavidEGrayson 19:a11ffc903774 395 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 396 }
DavidEGrayson 19:a11ffc903774 397 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 398 }
DavidEGrayson 18:b65fbb795396 399
DavidEGrayson 20:dbec34f0e76b 400 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 401 }
DavidEGrayson 20:dbec34f0e76b 402
DavidEGrayson 20:dbec34f0e76b 403 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 404 {
DavidEGrayson 27:2456f68be679 405 const int16_t settleSpeed = 300;
DavidEGrayson 27:2456f68be679 406 const int16_t settleModificationStrength = 150;
DavidEGrayson 20:dbec34f0e76b 407
DavidEGrayson 20:dbec34f0e76b 408 Timer timer;
DavidEGrayson 20:dbec34f0e76b 409 timer.start();
DavidEGrayson 20:dbec34f0e76b 410
DavidEGrayson 20:dbec34f0e76b 411 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 412 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 413 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 414
DavidEGrayson 27:2456f68be679 415 Pacer reportPacer(200000);
DavidEGrayson 27:2456f68be679 416 Pacer motorUpdatePacer(10000);
DavidEGrayson 21:c279c6a83671 417
DavidEGrayson 27:2456f68be679 418 float integral = 0;
DavidEGrayson 27:2456f68be679 419
DavidEGrayson 27:2456f68be679 420 motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling
DavidEGrayson 27:2456f68be679 421
DavidEGrayson 19:a11ffc903774 422 while(1)
DavidEGrayson 19:a11ffc903774 423 {
DavidEGrayson 27:2456f68be679 424 led1 = (state == 1);
DavidEGrayson 27:2456f68be679 425
DavidEGrayson 43:0e985a58f174 426 updateReckoner();
DavidEGrayson 37:23000a47ed2b 427 loggerService();
DavidEGrayson 37:23000a47ed2b 428
DavidEGrayson 20:dbec34f0e76b 429 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 430 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 431 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 432 {
DavidEGrayson 20:dbec34f0e76b 433 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 434 }
DavidEGrayson 20:dbec34f0e76b 435 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 436 {
DavidEGrayson 20:dbec34f0e76b 437 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 438 }
DavidEGrayson 20:dbec34f0e76b 439
DavidEGrayson 43:0e985a58f174 440 if (state == 0 && timer.read_ms() >= 2000 &&
DavidEGrayson 43:0e985a58f174 441 reckoner.cosv > (1 << (RECKONER_LOG_UNIT - 1)))
DavidEGrayson 19:a11ffc903774 442 {
DavidEGrayson 21:c279c6a83671 443 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 444 state = 1;
DavidEGrayson 20:dbec34f0e76b 445 }
DavidEGrayson 20:dbec34f0e76b 446
DavidEGrayson 21:c279c6a83671 447 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 448 {
DavidEGrayson 21:c279c6a83671 449 // Stop moving.
DavidEGrayson 21:c279c6a83671 450 break;
DavidEGrayson 21:c279c6a83671 451 }
DavidEGrayson 21:c279c6a83671 452
DavidEGrayson 27:2456f68be679 453 if (motorUpdatePacer.pace())
DavidEGrayson 20:dbec34f0e76b 454 {
DavidEGrayson 27:2456f68be679 455 int16_t rotationSpeed;
DavidEGrayson 27:2456f68be679 456 if (state == 1)
DavidEGrayson 27:2456f68be679 457 {
DavidEGrayson 43:0e985a58f174 458 float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT);
DavidEGrayson 27:2456f68be679 459 integral += s;
DavidEGrayson 27:2456f68be679 460 rotationSpeed = -(s * 2400 + integral * 20);
DavidEGrayson 27:2456f68be679 461
DavidEGrayson 27:2456f68be679 462 if (rotationSpeed > 300)
DavidEGrayson 27:2456f68be679 463 {
DavidEGrayson 27:2456f68be679 464 rotationSpeed = 300;
DavidEGrayson 27:2456f68be679 465 }
DavidEGrayson 27:2456f68be679 466 if (rotationSpeed < -300)
DavidEGrayson 27:2456f68be679 467 {
DavidEGrayson 27:2456f68be679 468 rotationSpeed = -300;
DavidEGrayson 27:2456f68be679 469 }
DavidEGrayson 27:2456f68be679 470 }
DavidEGrayson 27:2456f68be679 471 else
DavidEGrayson 27:2456f68be679 472 {
DavidEGrayson 27:2456f68be679 473 rotationSpeed = settleSpeed;
DavidEGrayson 27:2456f68be679 474 }
DavidEGrayson 27:2456f68be679 475
DavidEGrayson 27:2456f68be679 476 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 477 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 478 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 20:dbec34f0e76b 479 }
DavidEGrayson 21:c279c6a83671 480
DavidEGrayson 21:c279c6a83671 481 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 482 {
DavidEGrayson 43:0e985a58f174 483 pc.printf("%5d %5d %11d %11d | %11f %11f\r\n",
DavidEGrayson 43:0e985a58f174 484 reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 485 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 486 }
DavidEGrayson 19:a11ffc903774 487 }
DavidEGrayson 20:dbec34f0e76b 488
DavidEGrayson 21:c279c6a83671 489 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 490 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 491 }