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@46:df2c2d25c070, 2019-07-28 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sun Jul 28 22:20:12 2019 +0000
- Revision:
- 46:df2c2d25c070
- Parent:
- 45:81dd782bc0b4
Some minor changes. The overall dead reckoning is working now, but I don't think I did much to fix it.
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 | 40:6fa672be85ec | 13 | #include "l3g.h" |
DavidEGrayson | 40:6fa672be85ec | 14 | #include "turn_sensor.h" |
DavidEGrayson | 12:835a4d24ae3b | 15 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 16 | #include "buttons.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 17 | |
DavidEGrayson | 20:dbec34f0e76b | 18 | void __attribute__((noreturn)) infiniteReckonerReportLoop(); |
DavidEGrayson | 10:e4dd36148539 | 19 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 20 | |
DavidEGrayson | 37:23000a47ed2b | 21 | void testLogger() |
DavidEGrayson | 37:23000a47ed2b | 22 | { |
DavidEGrayson | 37:23000a47ed2b | 23 | led1 = 1; |
DavidEGrayson | 37:23000a47ed2b | 24 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 25 | { |
DavidEGrayson | 37:23000a47ed2b | 26 | led3 = logger.isFull(); |
DavidEGrayson | 37:23000a47ed2b | 27 | |
DavidEGrayson | 43:0e985a58f174 | 28 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 29 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 30 | } |
DavidEGrayson | 37:23000a47ed2b | 31 | led2 = 1; |
DavidEGrayson | 37:23000a47ed2b | 32 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 33 | } |
DavidEGrayson | 37:23000a47ed2b | 34 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 35 | void testCloseness() |
DavidEGrayson | 30:84be2d602dc0 | 36 | { |
DavidEGrayson | 43:0e985a58f174 | 37 | doGyroCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 38 | turnSensor.start(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 39 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 40 | while(1) |
DavidEGrayson | 30:84be2d602dc0 | 41 | { |
DavidEGrayson | 43:0e985a58f174 | 42 | updateReckoner(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 43 | float magn = magnitude(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 44 | |
DavidEGrayson | 43:0e985a58f174 | 45 | led3 = magn < (1 << 5); |
DavidEGrayson | 43:0e985a58f174 | 46 | led4 = magn < (1 << 7); |
DavidEGrayson | 30:84be2d602dc0 | 47 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 48 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 49 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 50 | void showOrientationWithLeds34() |
DavidEGrayson | 33:58a0ab6e9ad2 | 51 | { |
DavidEGrayson | 43:0e985a58f174 | 52 | led3 = reckoner.cosv > 0; |
DavidEGrayson | 43:0e985a58f174 | 53 | led4 = reckoner.sinv > 0; |
DavidEGrayson | 30:84be2d602dc0 | 54 | } |
DavidEGrayson | 30:84be2d602dc0 | 55 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 56 | void testTurnInPlace() |
DavidEGrayson | 30:84be2d602dc0 | 57 | { |
DavidEGrayson | 43:0e985a58f174 | 58 | doGyroCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 59 | turnSensor.start(); |
DavidEGrayson | 44:b4a00fbab06b | 60 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 61 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 62 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 33:58a0ab6e9ad2 | 63 | { |
DavidEGrayson | 43:0e985a58f174 | 64 | updateReckoner(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 65 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 66 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 67 | led2 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 69 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 30:84be2d602dc0 | 70 | Timer timer; |
DavidEGrayson | 30:84be2d602dc0 | 71 | timer.start(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 72 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 33:58a0ab6e9ad2 | 73 | while(timer.read_ms() < 4000) |
DavidEGrayson | 33:58a0ab6e9ad2 | 74 | { |
DavidEGrayson | 43:0e985a58f174 | 75 | updateReckoner(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 76 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 77 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 78 | timer.reset(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 79 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 80 | float integral = 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 81 | while (timer.read_ms() < 4000) |
DavidEGrayson | 30:84be2d602dc0 | 82 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 83 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 30:84be2d602dc0 | 84 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 85 | int16_t rotationSpeed; |
DavidEGrayson | 43:0e985a58f174 | 86 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 33:58a0ab6e9ad2 | 87 | integral += s; |
DavidEGrayson | 33:58a0ab6e9ad2 | 88 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 33:58a0ab6e9ad2 | 89 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 90 | if (rotationSpeed > 450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 91 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 92 | rotationSpeed = 450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 93 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 94 | if (rotationSpeed < -450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 95 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 96 | rotationSpeed = -450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 97 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 98 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 99 | int16_t speedLeft = -rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 100 | int16_t speedRight = rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 101 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 30:84be2d602dc0 | 102 | } |
DavidEGrayson | 30:84be2d602dc0 | 103 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 104 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 105 | infiniteReckonerReportLoop(); |
DavidEGrayson | 30:84be2d602dc0 | 106 | } |
DavidEGrayson | 30:84be2d602dc0 | 107 | |
DavidEGrayson | 28:4374035df5e0 | 108 | // This also tests the LineTracker by printing out a lot of data from it. |
DavidEGrayson | 28:4374035df5e0 | 109 | void testLineFollowing() |
DavidEGrayson | 28:4374035df5e0 | 110 | { |
DavidEGrayson | 46:df2c2d25c070 | 111 | loadLineCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 112 | doGyroCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 113 | turnSensor.start(); |
DavidEGrayson | 44:b4a00fbab06b | 114 | |
DavidEGrayson | 46:df2c2d25c070 | 115 | led1 = 1; |
DavidEGrayson | 46:df2c2d25c070 | 116 | while (!button1DefinitelyPressed()) |
DavidEGrayson | 28:4374035df5e0 | 117 | { |
DavidEGrayson | 43:0e985a58f174 | 118 | updateReckoner(); |
DavidEGrayson | 28:4374035df5e0 | 119 | } |
DavidEGrayson | 28:4374035df5e0 | 120 | |
DavidEGrayson | 28:4374035df5e0 | 121 | Pacer reportPacer(200000); |
DavidEGrayson | 28:4374035df5e0 | 122 | |
DavidEGrayson | 28:4374035df5e0 | 123 | uint16_t loopCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 124 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 125 | { |
DavidEGrayson | 43:0e985a58f174 | 126 | updateReckoner(); |
DavidEGrayson | 28:4374035df5e0 | 127 | bool lineVisiblePrevious = lineTracker.getLineVisible(); |
DavidEGrayson | 28:4374035df5e0 | 128 | lineTracker.read(); |
DavidEGrayson | 28:4374035df5e0 | 129 | updateMotorsToFollowLine(); |
DavidEGrayson | 28:4374035df5e0 | 130 | |
DavidEGrayson | 28:4374035df5e0 | 131 | loopCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 132 | |
DavidEGrayson | 46:df2c2d25c070 | 133 | led2 = lineTracker.calibratedValues[0] > 500; |
DavidEGrayson | 46:df2c2d25c070 | 134 | led3 = lineTracker.calibratedValues[1] > 500; |
DavidEGrayson | 46:df2c2d25c070 | 135 | led4 = lineTracker.calibratedValues[2] > 500; |
DavidEGrayson | 46:df2c2d25c070 | 136 | |
DavidEGrayson | 28:4374035df5e0 | 137 | if (lineVisiblePrevious != lineTracker.getLineVisible()) |
DavidEGrayson | 28:4374035df5e0 | 138 | { |
DavidEGrayson | 32:83a13b06093c | 139 | pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 28:4374035df5e0 | 140 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 141 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 32:83a13b06093c | 142 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 143 | ); |
DavidEGrayson | 28:4374035df5e0 | 144 | } |
DavidEGrayson | 28:4374035df5e0 | 145 | |
DavidEGrayson | 28:4374035df5e0 | 146 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 147 | { |
DavidEGrayson | 32:83a13b06093c | 148 | pc.printf("%5d %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 32:83a13b06093c | 149 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 150 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 28:4374035df5e0 | 151 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 152 | ); |
DavidEGrayson | 28:4374035df5e0 | 153 | } |
DavidEGrayson | 28:4374035df5e0 | 154 | } |
DavidEGrayson | 28:4374035df5e0 | 155 | } |
DavidEGrayson | 28:4374035df5e0 | 156 | |
DavidEGrayson | 17:2df9861f53ee | 157 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 158 | { |
DavidEGrayson | 43:0e985a58f174 | 159 | doGyroCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 160 | turnSensor.start(); |
DavidEGrayson | 17:2df9861f53ee | 161 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 162 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 163 | { |
DavidEGrayson | 43:0e985a58f174 | 164 | updateReckoner(); |
DavidEGrayson | 21:c279c6a83671 | 165 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 166 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 167 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 168 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 169 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 170 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 171 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 172 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 173 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 20:dbec34f0e76b | 174 | infiniteReckonerReportLoop(); |
DavidEGrayson | 20:dbec34f0e76b | 175 | } |
DavidEGrayson | 20:dbec34f0e76b | 176 | |
DavidEGrayson | 20:dbec34f0e76b | 177 | void testFinalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 178 | { |
DavidEGrayson | 43:0e985a58f174 | 179 | doGyroCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 180 | turnSensor.start(); |
DavidEGrayson | 20:dbec34f0e76b | 181 | led1 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 182 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 20:dbec34f0e76b | 183 | { |
DavidEGrayson | 43:0e985a58f174 | 184 | updateReckoner(); |
DavidEGrayson | 20:dbec34f0e76b | 185 | } |
DavidEGrayson | 20:dbec34f0e76b | 186 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 187 | infiniteReckonerReportLoop(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 188 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 189 | |
DavidEGrayson | 17:2df9861f53ee | 190 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 191 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 192 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 193 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 194 | |
DavidEGrayson | 17:2df9861f53ee | 195 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 196 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 197 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 198 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 199 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 200 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 201 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 202 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 203 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 204 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 205 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 206 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 207 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 208 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 209 | |
DavidEGrayson | 12:835a4d24ae3b | 210 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 211 | { |
DavidEGrayson | 42:96671b71aac5 | 212 | doGyroCalibration(); |
DavidEGrayson | 44:b4a00fbab06b | 213 | turnSensor.start(); |
DavidEGrayson | 42:96671b71aac5 | 214 | led1 = 1; |
DavidEGrayson | 13:bba5b3abd13f | 215 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 216 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 217 | { |
DavidEGrayson | 43:0e985a58f174 | 218 | updateReckoner(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 219 | |
DavidEGrayson | 43:0e985a58f174 | 220 | led1 = reckoner.x > 0; |
DavidEGrayson | 43:0e985a58f174 | 221 | led2 = reckoner.y > 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 222 | showOrientationWithLeds34(); |
DavidEGrayson | 12:835a4d24ae3b | 223 | |
DavidEGrayson | 13:bba5b3abd13f | 224 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 225 | { |
DavidEGrayson | 43:0e985a58f174 | 226 | pc.printf("%6d %6d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 43:0e985a58f174 | 227 | reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 228 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 229 | } |
DavidEGrayson | 12:835a4d24ae3b | 230 | } |
DavidEGrayson | 12:835a4d24ae3b | 231 | } |
DavidEGrayson | 12:835a4d24ae3b | 232 | |
DavidEGrayson | 40:6fa672be85ec | 233 | void testTurnSensor() |
DavidEGrayson | 40:6fa672be85ec | 234 | { |
DavidEGrayson | 40:6fa672be85ec | 235 | pc.printf("Test turn sensor\r\n"); |
DavidEGrayson | 43:0e985a58f174 | 236 | doGyroCalibration(); |
DavidEGrayson | 42:96671b71aac5 | 237 | led1 = 1; |
DavidEGrayson | 42:96671b71aac5 | 238 | //Pacer reportPacer(200000); // 0.2 s |
DavidEGrayson | 42:96671b71aac5 | 239 | Pacer reportPacer(10000000); // 10 s |
DavidEGrayson | 42:96671b71aac5 | 240 | Timer timer; |
DavidEGrayson | 42:96671b71aac5 | 241 | timer.start(); |
DavidEGrayson | 40:6fa672be85ec | 242 | turnSensor.start(); |
DavidEGrayson | 40:6fa672be85ec | 243 | while(1) |
DavidEGrayson | 40:6fa672be85ec | 244 | { |
DavidEGrayson | 40:6fa672be85ec | 245 | turnSensor.update(); |
DavidEGrayson | 40:6fa672be85ec | 246 | if (reportPacer.pace()) |
DavidEGrayson | 40:6fa672be85ec | 247 | { |
DavidEGrayson | 42:96671b71aac5 | 248 | pc.printf("%u, %d, %d\r\n", |
DavidEGrayson | 42:96671b71aac5 | 249 | timer.read_ms(), |
DavidEGrayson | 42:96671b71aac5 | 250 | turnSensor.getAngleDegrees(), |
DavidEGrayson | 42:96671b71aac5 | 251 | turnSensor.getAngleMillidegrees()); |
DavidEGrayson | 40:6fa672be85ec | 252 | } |
DavidEGrayson | 40:6fa672be85ec | 253 | } |
DavidEGrayson | 40:6fa672be85ec | 254 | } |
DavidEGrayson | 40:6fa672be85ec | 255 | |
DavidEGrayson | 42:96671b71aac5 | 256 | void testL3gAndShowAverage() |
DavidEGrayson | 41:3ead1dd2cc3a | 257 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 258 | wait_ms(2000); |
DavidEGrayson | 41:3ead1dd2cc3a | 259 | Pacer reportPacer(750000); |
DavidEGrayson | 41:3ead1dd2cc3a | 260 | Pacer readingPacer(2000); |
DavidEGrayson | 41:3ead1dd2cc3a | 261 | int32_t total = 0; |
DavidEGrayson | 41:3ead1dd2cc3a | 262 | int32_t readingCount = 0; |
DavidEGrayson | 41:3ead1dd2cc3a | 263 | while(1) |
DavidEGrayson | 41:3ead1dd2cc3a | 264 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 265 | if (readingPacer.pace()) |
DavidEGrayson | 41:3ead1dd2cc3a | 266 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 267 | int32_t result = l3gZAvailable(); |
DavidEGrayson | 41:3ead1dd2cc3a | 268 | if (result == 1) |
DavidEGrayson | 41:3ead1dd2cc3a | 269 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 270 | int32_t gz = l3gZRead(); |
DavidEGrayson | 41:3ead1dd2cc3a | 271 | if (gz < -500000) |
DavidEGrayson | 41:3ead1dd2cc3a | 272 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 273 | pc.printf("l3gZRead error: %d\n", gz); |
DavidEGrayson | 41:3ead1dd2cc3a | 274 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 275 | else |
DavidEGrayson | 41:3ead1dd2cc3a | 276 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 277 | total += gz; |
DavidEGrayson | 41:3ead1dd2cc3a | 278 | readingCount += 1; |
DavidEGrayson | 41:3ead1dd2cc3a | 279 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 280 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 281 | else if (result != 0) |
DavidEGrayson | 41:3ead1dd2cc3a | 282 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 283 | pc.printf("l3gZAvailable error: %d\n", result); |
DavidEGrayson | 41:3ead1dd2cc3a | 284 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 285 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 286 | |
DavidEGrayson | 41:3ead1dd2cc3a | 287 | if (reportPacer.pace()) |
DavidEGrayson | 41:3ead1dd2cc3a | 288 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 289 | float average = (float)total / readingCount; |
DavidEGrayson | 41:3ead1dd2cc3a | 290 | pc.printf("%d, %d, %f\r\n", total, readingCount, average); |
DavidEGrayson | 41:3ead1dd2cc3a | 291 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 292 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 293 | |
DavidEGrayson | 41:3ead1dd2cc3a | 294 | // Gyro calibration results get hardcoded into TurnSensor::update() |
DavidEGrayson | 41:3ead1dd2cc3a | 295 | // for now until we figure out something better. |
DavidEGrayson | 41:3ead1dd2cc3a | 296 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 297 | |
DavidEGrayson | 40:6fa672be85ec | 298 | void testL3g() |
DavidEGrayson | 40:6fa672be85ec | 299 | { |
DavidEGrayson | 40:6fa672be85ec | 300 | Pacer reportPacer(750000); |
DavidEGrayson | 40:6fa672be85ec | 301 | Timer timer; |
DavidEGrayson | 40:6fa672be85ec | 302 | timer.start(); |
DavidEGrayson | 40:6fa672be85ec | 303 | int32_t gz = 0; |
DavidEGrayson | 40:6fa672be85ec | 304 | bool reportedReading = false; |
DavidEGrayson | 40:6fa672be85ec | 305 | while(1) |
DavidEGrayson | 40:6fa672be85ec | 306 | { |
DavidEGrayson | 40:6fa672be85ec | 307 | int32_t result = l3gZAvailable(); |
DavidEGrayson | 40:6fa672be85ec | 308 | if (result == 1) |
DavidEGrayson | 40:6fa672be85ec | 309 | { |
DavidEGrayson | 40:6fa672be85ec | 310 | gz = l3gZRead(); |
DavidEGrayson | 40:6fa672be85ec | 311 | reportedReading = false; |
DavidEGrayson | 40:6fa672be85ec | 312 | if (gz > 100 || gz < -100) |
DavidEGrayson | 40:6fa672be85ec | 313 | { |
DavidEGrayson | 42:96671b71aac5 | 314 | pc.printf("%u, %d\r\n", timer.read_us(), gz); |
DavidEGrayson | 40:6fa672be85ec | 315 | reportedReading = true; |
DavidEGrayson | 40:6fa672be85ec | 316 | } |
DavidEGrayson | 40:6fa672be85ec | 317 | } |
DavidEGrayson | 40:6fa672be85ec | 318 | else if (result != 0) |
DavidEGrayson | 40:6fa672be85ec | 319 | { |
DavidEGrayson | 40:6fa672be85ec | 320 | pc.printf("l3gZAvailable error: %d\n", result); |
DavidEGrayson | 40:6fa672be85ec | 321 | } |
DavidEGrayson | 40:6fa672be85ec | 322 | |
DavidEGrayson | 40:6fa672be85ec | 323 | if (reportPacer.pace() && !reportedReading) |
DavidEGrayson | 40:6fa672be85ec | 324 | { |
DavidEGrayson | 42:96671b71aac5 | 325 | pc.printf("%u, %d\r\n", timer.read_us(), gz); |
DavidEGrayson | 40:6fa672be85ec | 326 | reportedReading = true; |
DavidEGrayson | 40:6fa672be85ec | 327 | } |
DavidEGrayson | 40:6fa672be85ec | 328 | } |
DavidEGrayson | 40:6fa672be85ec | 329 | } |
DavidEGrayson | 40:6fa672be85ec | 330 | |
DavidEGrayson | 45:81dd782bc0b4 | 331 | void testLineSensorsAndCalibrate() |
DavidEGrayson | 10:e4dd36148539 | 332 | { |
DavidEGrayson | 10:e4dd36148539 | 333 | Pacer reportPacer(100000); |
DavidEGrayson | 31:739b91331f31 | 334 | |
DavidEGrayson | 45:81dd782bc0b4 | 335 | const uint16_t * values = lineTracker.rawValues; |
DavidEGrayson | 45:81dd782bc0b4 | 336 | const uint16_t * min = lineTracker.calibratedMinimum; |
DavidEGrayson | 45:81dd782bc0b4 | 337 | const uint16_t * max = lineTracker.calibratedMaximum; |
DavidEGrayson | 46:df2c2d25c070 | 338 | const uint16_t * calValues = lineTracker.calibratedValues; |
DavidEGrayson | 46:df2c2d25c070 | 339 | |
DavidEGrayson | 46:df2c2d25c070 | 340 | // Comment this out, and hold down button 1 while exposing the line sensor |
DavidEGrayson | 46:df2c2d25c070 | 341 | // to its typical surfaces to do calibration. |
DavidEGrayson | 46:df2c2d25c070 | 342 | loadLineCalibration(); |
DavidEGrayson | 45:81dd782bc0b4 | 343 | |
DavidEGrayson | 45:81dd782bc0b4 | 344 | const bool printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 345 | while (1) |
DavidEGrayson | 45:81dd782bc0b4 | 346 | { |
DavidEGrayson | 45:81dd782bc0b4 | 347 | lineTracker.read(); |
DavidEGrayson | 45:81dd782bc0b4 | 348 | |
DavidEGrayson | 45:81dd782bc0b4 | 349 | if (button1DefinitelyPressed()) |
DavidEGrayson | 31:739b91331f31 | 350 | { |
DavidEGrayson | 46:df2c2d25c070 | 351 | led1 = 0; |
DavidEGrayson | 45:81dd782bc0b4 | 352 | lineTracker.updateCalibration(); |
DavidEGrayson | 31:739b91331f31 | 353 | } |
DavidEGrayson | 45:81dd782bc0b4 | 354 | else |
DavidEGrayson | 31:739b91331f31 | 355 | { |
DavidEGrayson | 46:df2c2d25c070 | 356 | led1 = 1; |
DavidEGrayson | 31:739b91331f31 | 357 | } |
DavidEGrayson | 31:739b91331f31 | 358 | |
DavidEGrayson | 46:df2c2d25c070 | 359 | led2 = calValues[0] > 500; |
DavidEGrayson | 46:df2c2d25c070 | 360 | led3 = calValues[1] > 500; |
DavidEGrayson | 46:df2c2d25c070 | 361 | led4 = calValues[2] > 500; |
DavidEGrayson | 46:df2c2d25c070 | 362 | |
DavidEGrayson | 10:e4dd36148539 | 363 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 364 | { |
DavidEGrayson | 10:e4dd36148539 | 365 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 366 | { |
DavidEGrayson | 10:e4dd36148539 | 367 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 31:739b91331f31 | 368 | printBar("L", values[0]); |
DavidEGrayson | 31:739b91331f31 | 369 | printBar("M", values[1]); |
DavidEGrayson | 31:739b91331f31 | 370 | printBar("R", values[2]); |
DavidEGrayson | 31:739b91331f31 | 371 | pc.printf("%4d %4d \r\n", min[0], max[0]); |
DavidEGrayson | 31:739b91331f31 | 372 | pc.printf("%4d %4d \r\n", min[1], max[1]); |
DavidEGrayson | 31:739b91331f31 | 373 | pc.printf("%4d %4d \r\n", min[2], max[2]); |
DavidEGrayson | 10:e4dd36148539 | 374 | } |
DavidEGrayson | 10:e4dd36148539 | 375 | else |
DavidEGrayson | 10:e4dd36148539 | 376 | { |
DavidEGrayson | 31:739b91331f31 | 377 | pc.printf("%8d %8d %8d\r\n", values[0], values[1], values[2]); |
DavidEGrayson | 10:e4dd36148539 | 378 | } |
DavidEGrayson | 10:e4dd36148539 | 379 | } |
DavidEGrayson | 10:e4dd36148539 | 380 | } |
DavidEGrayson | 10:e4dd36148539 | 381 | } |
DavidEGrayson | 8:78b1ff957cba | 382 | |
DavidEGrayson | 39:b19dfc5d4d4b | 383 | void testMotorSpeed() |
DavidEGrayson | 39:b19dfc5d4d4b | 384 | { |
DavidEGrayson | 39:b19dfc5d4d4b | 385 | led1 = 1; |
DavidEGrayson | 39:b19dfc5d4d4b | 386 | motorsSpeedSet(400, 400); |
DavidEGrayson | 39:b19dfc5d4d4b | 387 | wait_ms(4000); |
DavidEGrayson | 39:b19dfc5d4d4b | 388 | uint32_t left = encoderLeft.getCount(); |
DavidEGrayson | 39:b19dfc5d4d4b | 389 | uint32_t right = encoderRight.getCount(); |
DavidEGrayson | 39:b19dfc5d4d4b | 390 | motorsSpeedSet(0, 0); |
DavidEGrayson | 39:b19dfc5d4d4b | 391 | Pacer reportPacer(500000); |
DavidEGrayson | 39:b19dfc5d4d4b | 392 | while (1) |
DavidEGrayson | 39:b19dfc5d4d4b | 393 | { |
DavidEGrayson | 39:b19dfc5d4d4b | 394 | if (reportPacer.pace()) |
DavidEGrayson | 39:b19dfc5d4d4b | 395 | { |
DavidEGrayson | 39:b19dfc5d4d4b | 396 | led2 = 1; |
DavidEGrayson | 39:b19dfc5d4d4b | 397 | pc.printf("%8d %8d\r\n", left, right); |
DavidEGrayson | 39:b19dfc5d4d4b | 398 | led2 = 0; |
DavidEGrayson | 39:b19dfc5d4d4b | 399 | } |
DavidEGrayson | 39:b19dfc5d4d4b | 400 | } |
DavidEGrayson | 39:b19dfc5d4d4b | 401 | } |
DavidEGrayson | 39:b19dfc5d4d4b | 402 | |
DavidEGrayson | 9:9734347b5756 | 403 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 404 | { |
DavidEGrayson | 9:9734347b5756 | 405 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 406 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 407 | while(1) |
DavidEGrayson | 9:9734347b5756 | 408 | { |
DavidEGrayson | 9:9734347b5756 | 409 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 410 | { |
DavidEGrayson | 9:9734347b5756 | 411 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 412 | } |
DavidEGrayson | 9:9734347b5756 | 413 | |
DavidEGrayson | 9:9734347b5756 | 414 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 415 | { |
DavidEGrayson | 9:9734347b5756 | 416 | led2 = 1; |
DavidEGrayson | 31:739b91331f31 | 417 | pc.printf("%8d %8d\r\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 418 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 419 | } |
DavidEGrayson | 9:9734347b5756 | 420 | } |
DavidEGrayson | 9:9734347b5756 | 421 | } |
DavidEGrayson | 9:9734347b5756 | 422 | |
DavidEGrayson | 8:78b1ff957cba | 423 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 424 | { |
DavidEGrayson | 8:78b1ff957cba | 425 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 426 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 427 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 428 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 429 | { |
DavidEGrayson | 9:9734347b5756 | 430 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 431 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 432 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 433 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 434 | |
DavidEGrayson | 9:9734347b5756 | 435 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 436 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 437 | |
DavidEGrayson | 9:9734347b5756 | 438 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 439 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 440 | |
DavidEGrayson | 9:9734347b5756 | 441 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 442 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 443 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 444 | |
DavidEGrayson | 9:9734347b5756 | 445 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 446 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 447 | |
DavidEGrayson | 9:9734347b5756 | 448 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 449 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 450 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 451 | |
DavidEGrayson | 9:9734347b5756 | 452 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 453 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 454 | } |
DavidEGrayson | 10:e4dd36148539 | 455 | } |
DavidEGrayson | 10:e4dd36148539 | 456 | |
DavidEGrayson | 20:dbec34f0e76b | 457 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 458 | { |
DavidEGrayson | 20:dbec34f0e76b | 459 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 460 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 461 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 462 | showOrientationWithLeds34(); |
DavidEGrayson | 20:dbec34f0e76b | 463 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 464 | { |
DavidEGrayson | 43:0e985a58f174 | 465 | pc.printf("%6d %6d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 43:0e985a58f174 | 466 | reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 467 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 468 | } |
DavidEGrayson | 20:dbec34f0e76b | 469 | } |
DavidEGrayson | 20:dbec34f0e76b | 470 | } |
DavidEGrayson | 20:dbec34f0e76b | 471 | |
DavidEGrayson | 31:739b91331f31 | 472 | // with should be between 0 and 63 |
DavidEGrayson | 31:739b91331f31 | 473 | void printBar(const char * name, uint16_t result) |
DavidEGrayson | 10:e4dd36148539 | 474 | { |
DavidEGrayson | 31:739b91331f31 | 475 | pc.printf("%-2s %5d |", name, result); |
DavidEGrayson | 31:739b91331f31 | 476 | uint16_t width = result >> 4; |
DavidEGrayson | 31:739b91331f31 | 477 | if (width > 63) { width = 63; } |
DavidEGrayson | 10:e4dd36148539 | 478 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 479 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 480 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 481 | pc.putc('|'); |
DavidEGrayson | 31:739b91331f31 | 482 | pc.putc('\r'); |
DavidEGrayson | 10:e4dd36148539 | 483 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 484 | } |