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@22:44c032e59ff5, 2014-02-28 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Fri Feb 28 00:16:49 2014 +0000
- Revision:
- 22:44c032e59ff5
- Parent:
- 21:c279c6a83671
- Child:
- 24:fc01d9125d3b
Fixed the code for calibrating. Added testCalibrate.
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 | 17:2df9861f53ee | 19 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 20 | { |
DavidEGrayson | 17:2df9861f53ee | 21 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 22 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 23 | { |
DavidEGrayson | 17:2df9861f53ee | 24 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 25 | } |
DavidEGrayson | 21:c279c6a83671 | 26 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 27 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 28 | infiniteReckonerReportLoop(); |
DavidEGrayson | 20:dbec34f0e76b | 29 | } |
DavidEGrayson | 20:dbec34f0e76b | 30 | |
DavidEGrayson | 20:dbec34f0e76b | 31 | void testFinalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 32 | { |
DavidEGrayson | 20:dbec34f0e76b | 33 | led1 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 34 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 20:dbec34f0e76b | 35 | { |
DavidEGrayson | 20:dbec34f0e76b | 36 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 37 | } |
DavidEGrayson | 20:dbec34f0e76b | 38 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 39 | infiniteReckonerReportLoop(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 40 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 41 | |
DavidEGrayson | 17:2df9861f53ee | 42 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 43 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 44 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 45 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 46 | |
DavidEGrayson | 17:2df9861f53ee | 47 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 48 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 49 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 50 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 51 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 52 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 53 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 54 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 55 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 56 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 57 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 58 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 59 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 60 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 61 | |
DavidEGrayson | 12:835a4d24ae3b | 62 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 63 | { |
DavidEGrayson | 13:bba5b3abd13f | 64 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 65 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 66 | { |
DavidEGrayson | 12:835a4d24ae3b | 67 | updateReckonerFromEncoders(); |
DavidEGrayson | 13:bba5b3abd13f | 68 | led1 = (reckoner.cos > 0); |
DavidEGrayson | 13:bba5b3abd13f | 69 | led2 = (reckoner.sin > 0); |
DavidEGrayson | 13:bba5b3abd13f | 70 | led3 = (reckoner.x > 0); |
DavidEGrayson | 13:bba5b3abd13f | 71 | led4 = (reckoner.y > 0); |
DavidEGrayson | 12:835a4d24ae3b | 72 | |
DavidEGrayson | 13:bba5b3abd13f | 73 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 74 | { |
DavidEGrayson | 19:a11ffc903774 | 75 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 76 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 77 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 78 | } |
DavidEGrayson | 12:835a4d24ae3b | 79 | } |
DavidEGrayson | 12:835a4d24ae3b | 80 | } |
DavidEGrayson | 12:835a4d24ae3b | 81 | |
DavidEGrayson | 10:e4dd36148539 | 82 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 83 | { |
DavidEGrayson | 10:e4dd36148539 | 84 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 85 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 86 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 87 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 88 | { |
DavidEGrayson | 10:e4dd36148539 | 89 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 90 | { |
DavidEGrayson | 10:e4dd36148539 | 91 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 92 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 93 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 94 | |
DavidEGrayson | 10:e4dd36148539 | 95 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 96 | { |
DavidEGrayson | 10:e4dd36148539 | 97 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 98 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 99 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 100 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 101 | } |
DavidEGrayson | 10:e4dd36148539 | 102 | else |
DavidEGrayson | 10:e4dd36148539 | 103 | { |
DavidEGrayson | 10:e4dd36148539 | 104 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 105 | } |
DavidEGrayson | 10:e4dd36148539 | 106 | } |
DavidEGrayson | 10:e4dd36148539 | 107 | } |
DavidEGrayson | 10:e4dd36148539 | 108 | } |
DavidEGrayson | 8:78b1ff957cba | 109 | |
DavidEGrayson | 22:44c032e59ff5 | 110 | // If the calibration stops working, we could just use these values from David's office in the day time: |
DavidEGrayson | 22:44c032e59ff5 | 111 | // # calmin calmax |
DavidEGrayson | 22:44c032e59ff5 | 112 | // 0 34872 59726 |
DavidEGrayson | 22:44c032e59ff5 | 113 | // 1 29335 60110 |
DavidEGrayson | 22:44c032e59ff5 | 114 | // 2 23845 58446 |
DavidEGrayson | 22:44c032e59ff5 | 115 | void testCalibrate() |
DavidEGrayson | 22:44c032e59ff5 | 116 | { |
DavidEGrayson | 22:44c032e59ff5 | 117 | Timer timer; |
DavidEGrayson | 22:44c032e59ff5 | 118 | timer.start(); |
DavidEGrayson | 22:44c032e59ff5 | 119 | |
DavidEGrayson | 22:44c032e59ff5 | 120 | Pacer reportPacer(200000); |
DavidEGrayson | 22:44c032e59ff5 | 121 | |
DavidEGrayson | 22:44c032e59ff5 | 122 | while(1) |
DavidEGrayson | 22:44c032e59ff5 | 123 | { |
DavidEGrayson | 22:44c032e59ff5 | 124 | lineTracker.read(); |
DavidEGrayson | 22:44c032e59ff5 | 125 | lineTracker.updateCalibration(); |
DavidEGrayson | 22:44c032e59ff5 | 126 | led4 = calibrationLooksGood(); |
DavidEGrayson | 22:44c032e59ff5 | 127 | |
DavidEGrayson | 22:44c032e59ff5 | 128 | if (reportPacer.pace()) |
DavidEGrayson | 22:44c032e59ff5 | 129 | { |
DavidEGrayson | 22:44c032e59ff5 | 130 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 22:44c032e59ff5 | 131 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 22:44c032e59ff5 | 132 | { |
DavidEGrayson | 22:44c032e59ff5 | 133 | pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); |
DavidEGrayson | 22:44c032e59ff5 | 134 | } |
DavidEGrayson | 22:44c032e59ff5 | 135 | if (calibrationLooksGood()) |
DavidEGrayson | 22:44c032e59ff5 | 136 | { |
DavidEGrayson | 22:44c032e59ff5 | 137 | pc.puts("Good. \r\n"); |
DavidEGrayson | 22:44c032e59ff5 | 138 | } |
DavidEGrayson | 22:44c032e59ff5 | 139 | else |
DavidEGrayson | 22:44c032e59ff5 | 140 | { |
DavidEGrayson | 22:44c032e59ff5 | 141 | pc.puts("Not good yet.\r\n"); |
DavidEGrayson | 22:44c032e59ff5 | 142 | } |
DavidEGrayson | 22:44c032e59ff5 | 143 | } |
DavidEGrayson | 22:44c032e59ff5 | 144 | } |
DavidEGrayson | 22:44c032e59ff5 | 145 | } |
DavidEGrayson | 22:44c032e59ff5 | 146 | |
DavidEGrayson | 9:9734347b5756 | 147 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 148 | { |
DavidEGrayson | 9:9734347b5756 | 149 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 150 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 151 | while(1) |
DavidEGrayson | 9:9734347b5756 | 152 | { |
DavidEGrayson | 9:9734347b5756 | 153 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 154 | { |
DavidEGrayson | 9:9734347b5756 | 155 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 156 | } |
DavidEGrayson | 9:9734347b5756 | 157 | |
DavidEGrayson | 9:9734347b5756 | 158 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 159 | { |
DavidEGrayson | 9:9734347b5756 | 160 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 161 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 162 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 163 | } |
DavidEGrayson | 9:9734347b5756 | 164 | } |
DavidEGrayson | 9:9734347b5756 | 165 | } |
DavidEGrayson | 9:9734347b5756 | 166 | |
DavidEGrayson | 8:78b1ff957cba | 167 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 168 | { |
DavidEGrayson | 8:78b1ff957cba | 169 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 170 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 171 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 172 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 173 | { |
DavidEGrayson | 9:9734347b5756 | 174 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 175 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 176 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 177 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 178 | |
DavidEGrayson | 9:9734347b5756 | 179 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 180 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 181 | |
DavidEGrayson | 9:9734347b5756 | 182 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 183 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 184 | |
DavidEGrayson | 9:9734347b5756 | 185 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 186 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 187 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 188 | |
DavidEGrayson | 9:9734347b5756 | 189 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 190 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 191 | |
DavidEGrayson | 9:9734347b5756 | 192 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 193 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 194 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 195 | |
DavidEGrayson | 9:9734347b5756 | 196 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 197 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 198 | } |
DavidEGrayson | 10:e4dd36148539 | 199 | } |
DavidEGrayson | 10:e4dd36148539 | 200 | |
DavidEGrayson | 20:dbec34f0e76b | 201 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 202 | { |
DavidEGrayson | 20:dbec34f0e76b | 203 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 204 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 205 | { |
DavidEGrayson | 20:dbec34f0e76b | 206 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 207 | { |
DavidEGrayson | 20:dbec34f0e76b | 208 | led4 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 209 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 20:dbec34f0e76b | 210 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 211 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 212 | led4 = 0; |
DavidEGrayson | 20:dbec34f0e76b | 213 | } |
DavidEGrayson | 20:dbec34f0e76b | 214 | } |
DavidEGrayson | 20:dbec34f0e76b | 215 | |
DavidEGrayson | 20:dbec34f0e76b | 216 | } |
DavidEGrayson | 20:dbec34f0e76b | 217 | |
DavidEGrayson | 10:e4dd36148539 | 218 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 219 | { |
DavidEGrayson | 10:e4dd36148539 | 220 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 221 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 222 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 223 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 224 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 225 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 226 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 227 | } |