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@48:597738b77f77, 2019-08-13 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Aug 13 21:21:17 2019 +0000
- Revision:
- 48:597738b77f77
- Parent:
- 47:9773dc14c834
Changes from before the contest, I think.
Who changed what in which revision?
User | Revision | Line number | New 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 | 47:9773dc14c834 | 18 | void __attribute__((noreturn)) 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 | 48:597738b77f77 | 25 | const uint32_t timeout = 0; |
DavidEGrayson | 48:597738b77f77 | 26 | |
DavidEGrayson | 48:597738b77f77 | 27 | const uint32_t logSpacing = 200; |
DavidEGrayson | 48:597738b77f77 | 28 | |
DavidEGrayson | 48:597738b77f77 | 29 | const int16_t drivingSpeed = 500; |
DavidEGrayson | 48:597738b77f77 | 30 | |
DavidEGrayson | 40:6fa672be85ec | 31 | uint32_t totalEncoderCounts = 0; |
DavidEGrayson | 40:6fa672be85ec | 32 | uint32_t nextLogEncoderCount = 0; |
DavidEGrayson | 47:9773dc14c834 | 33 | |
DavidEGrayson | 47:9773dc14c834 | 34 | |
DavidEGrayson | 21:c279c6a83671 | 35 | void setLeds(bool v1, bool v2, bool v3, bool v4) |
DavidEGrayson | 21:c279c6a83671 | 36 | { |
DavidEGrayson | 21:c279c6a83671 | 37 | led1 = v1; |
DavidEGrayson | 21:c279c6a83671 | 38 | led2 = v2; |
DavidEGrayson | 21:c279c6a83671 | 39 | led3 = v3; |
DavidEGrayson | 21:c279c6a83671 | 40 | led4 = v4; |
DavidEGrayson | 21:c279c6a83671 | 41 | } |
DavidEGrayson | 0:e77a0edb9878 | 42 | |
DavidEGrayson | 10:e4dd36148539 | 43 | int __attribute__((noreturn)) main() |
DavidEGrayson | 2:968338353aef | 44 | { |
DavidEGrayson | 2:968338353aef | 45 | pc.baud(115200); |
DavidEGrayson | 2:968338353aef | 46 | |
DavidEGrayson | 40:6fa672be85ec | 47 | if (l3gInit()) |
DavidEGrayson | 40:6fa672be85ec | 48 | { |
DavidEGrayson | 40:6fa672be85ec | 49 | // Error initializing the gyro. |
DavidEGrayson | 40:6fa672be85ec | 50 | setLeds(0, 0, 1, 1); |
DavidEGrayson | 40:6fa672be85ec | 51 | while(1); |
DavidEGrayson | 40:6fa672be85ec | 52 | } |
DavidEGrayson | 40:6fa672be85ec | 53 | |
DavidEGrayson | 2:968338353aef | 54 | // Enable pull-ups on encoder pins and give them a chance to settle. |
DavidEGrayson | 9:9734347b5756 | 55 | encodersInit(); |
DavidEGrayson | 9:9734347b5756 | 56 | motorsInit(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 57 | buttonsInit(); |
DavidEGrayson | 4:1b20a11765c8 | 58 | |
DavidEGrayson | 8:78b1ff957cba | 59 | // Test routines |
DavidEGrayson | 45:81dd782bc0b4 | 60 | //testButtons(); |
DavidEGrayson | 10:e4dd36148539 | 61 | //testEncoders(); |
DavidEGrayson | 45:81dd782bc0b4 | 62 | //testMotors(); |
DavidEGrayson | 39:b19dfc5d4d4b | 63 | //testMotorSpeed(); |
DavidEGrayson | 40:6fa672be85ec | 64 | //testL3g(); |
DavidEGrayson | 42:96671b71aac5 | 65 | //testL3gAndShowAverage(); |
DavidEGrayson | 43:0e985a58f174 | 66 | //testTurnSensor(); |
DavidEGrayson | 44:b4a00fbab06b | 67 | //testReckoner(); |
DavidEGrayson | 46:df2c2d25c070 | 68 | //testCloseness(); // didn't do it in 2019 |
DavidEGrayson | 45:81dd782bc0b4 | 69 | //testDriveHome(); |
DavidEGrayson | 45:81dd782bc0b4 | 70 | //testFinalSettleIn(); // doesn't really work |
DavidEGrayson | 45:81dd782bc0b4 | 71 | //testLineSensorsAndCalibrate(); |
DavidEGrayson | 46:df2c2d25c070 | 72 | //testLineFollowing(); |
DavidEGrayson | 46:df2c2d25c070 | 73 | //testTurnInPlace(); // didn't do it in 2019 |
DavidEGrayson | 46:df2c2d25c070 | 74 | //testLogger(); // didn't do it in 2019 |
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 | 46:df2c2d25c070 | 81 | loadLineCalibration(); |
DavidEGrayson | 46:df2c2d25c070 | 82 | doGyroCalibration(); |
DavidEGrayson | 46:df2c2d25c070 | 83 | turnSensor.start(); |
DavidEGrayson | 46:df2c2d25c070 | 84 | |
DavidEGrayson | 21:c279c6a83671 | 85 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 86 | waitForSignalToStart(); |
DavidEGrayson | 25:73c2eedb3b91 | 87 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 88 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 28:4374035df5e0 | 89 | findLine(); |
DavidEGrayson | 41:3ead1dd2cc3a | 90 | |
DavidEGrayson | 21:c279c6a83671 | 91 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 92 | followLineToEnd(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 93 | |
DavidEGrayson | 21:c279c6a83671 | 94 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 95 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 96 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 97 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 98 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 99 | |
DavidEGrayson | 21:c279c6a83671 | 100 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 37:23000a47ed2b | 101 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 102 | } |
DavidEGrayson | 37:23000a47ed2b | 103 | |
DavidEGrayson | 37:23000a47ed2b | 104 | void loggerService() |
DavidEGrayson | 37:23000a47ed2b | 105 | { |
DavidEGrayson | 40:6fa672be85ec | 106 | if (totalEncoderCounts > nextLogEncoderCount) |
DavidEGrayson | 37:23000a47ed2b | 107 | { |
DavidEGrayson | 40:6fa672be85ec | 108 | nextLogEncoderCount += logSpacing; |
DavidEGrayson | 40:6fa672be85ec | 109 | |
DavidEGrayson | 40:6fa672be85ec | 110 | struct LogEntry entry; |
DavidEGrayson | 40:6fa672be85ec | 111 | entry.turnAngle = turnSensor.getAngle() >> 16; |
DavidEGrayson | 40:6fa672be85ec | 112 | entry.x = reckoner.x >> 16; |
DavidEGrayson | 40:6fa672be85ec | 113 | entry.y = reckoner.y >> 16; |
DavidEGrayson | 40:6fa672be85ec | 114 | logger.log(&entry); |
DavidEGrayson | 37:23000a47ed2b | 115 | } |
DavidEGrayson | 0:e77a0edb9878 | 116 | } |
DavidEGrayson | 12:835a4d24ae3b | 117 | |
DavidEGrayson | 37:23000a47ed2b | 118 | void loggerReportLoop() |
DavidEGrayson | 37:23000a47ed2b | 119 | { |
DavidEGrayson | 37:23000a47ed2b | 120 | while(1) |
DavidEGrayson | 37:23000a47ed2b | 121 | { |
DavidEGrayson | 37:23000a47ed2b | 122 | if(button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 123 | { |
DavidEGrayson | 37:23000a47ed2b | 124 | logger.dump(); |
DavidEGrayson | 37:23000a47ed2b | 125 | } |
DavidEGrayson | 37:23000a47ed2b | 126 | } |
DavidEGrayson | 37:23000a47ed2b | 127 | } |
DavidEGrayson | 37:23000a47ed2b | 128 | |
DavidEGrayson | 42:96671b71aac5 | 129 | void doGyroCalibration() |
DavidEGrayson | 42:96671b71aac5 | 130 | { |
DavidEGrayson | 42:96671b71aac5 | 131 | wait_ms(1000); // Time for the robot to stop moving. |
DavidEGrayson | 42:96671b71aac5 | 132 | while (!l3gCalibrateDone()) |
DavidEGrayson | 42:96671b71aac5 | 133 | { |
DavidEGrayson | 42:96671b71aac5 | 134 | l3gCalibrate(); |
DavidEGrayson | 42:96671b71aac5 | 135 | wait_ms(2); |
DavidEGrayson | 42:96671b71aac5 | 136 | } |
DavidEGrayson | 42:96671b71aac5 | 137 | } |
DavidEGrayson | 37:23000a47ed2b | 138 | |
DavidEGrayson | 42:96671b71aac5 | 139 | void loadLineCalibration() |
DavidEGrayson | 28:4374035df5e0 | 140 | { |
DavidEGrayson | 45:81dd782bc0b4 | 141 | // QTR-3RC calibration from contest in 2014. |
DavidEGrayson | 45:81dd782bc0b4 | 142 | //lineTracker.calibratedMinimum[0] = 100; |
DavidEGrayson | 45:81dd782bc0b4 | 143 | //lineTracker.calibratedMaximum[0] = 792; |
DavidEGrayson | 45:81dd782bc0b4 | 144 | //lineTracker.calibratedMinimum[1] = 94; |
DavidEGrayson | 45:81dd782bc0b4 | 145 | //lineTracker.calibratedMaximum[1] = 807; |
DavidEGrayson | 45:81dd782bc0b4 | 146 | //lineTracker.calibratedMinimum[2] = 103; |
DavidEGrayson | 45:81dd782bc0b4 | 147 | //lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 45:81dd782bc0b4 | 148 | |
DavidEGrayson | 45:81dd782bc0b4 | 149 | // QTR-3RC calibration from David's home setup, 2019-07-27. |
DavidEGrayson | 45:81dd782bc0b4 | 150 | // Generated with testLineSensorsAndCalibrate(). |
DavidEGrayson | 45:81dd782bc0b4 | 151 | lineTracker.calibratedMinimum[0] = 210; |
DavidEGrayson | 45:81dd782bc0b4 | 152 | lineTracker.calibratedMaximum[0] = 757; |
DavidEGrayson | 45:81dd782bc0b4 | 153 | lineTracker.calibratedMinimum[1] = 197; |
DavidEGrayson | 45:81dd782bc0b4 | 154 | lineTracker.calibratedMaximum[1] = 1000; |
DavidEGrayson | 45:81dd782bc0b4 | 155 | lineTracker.calibratedMinimum[2] = 203; |
DavidEGrayson | 45:81dd782bc0b4 | 156 | lineTracker.calibratedMaximum[2] = 746; |
DavidEGrayson | 28:4374035df5e0 | 157 | } |
DavidEGrayson | 28:4374035df5e0 | 158 | |
DavidEGrayson | 43:0e985a58f174 | 159 | void updateReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 160 | { |
DavidEGrayson | 44:b4a00fbab06b | 161 | turnSensor.update(); |
DavidEGrayson | 44:b4a00fbab06b | 162 | reckoner.setTurnAngle(turnSensor.getAngle()); |
DavidEGrayson | 44:b4a00fbab06b | 163 | |
DavidEGrayson | 43:0e985a58f174 | 164 | if (!encoderBuffer.hasEvents()) |
DavidEGrayson | 43:0e985a58f174 | 165 | { |
DavidEGrayson | 43:0e985a58f174 | 166 | return; |
DavidEGrayson | 43:0e985a58f174 | 167 | } |
DavidEGrayson | 43:0e985a58f174 | 168 | |
DavidEGrayson | 12:835a4d24ae3b | 169 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 170 | { |
DavidEGrayson | 12:835a4d24ae3b | 171 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 172 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 173 | { |
DavidEGrayson | 17:2df9861f53ee | 174 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 43:0e985a58f174 | 175 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 40:6fa672be85ec | 176 | totalEncoderCounts++; |
DavidEGrayson | 43:0e985a58f174 | 177 | reckoner.handleForward(); |
DavidEGrayson | 17:2df9861f53ee | 178 | break; |
DavidEGrayson | 17:2df9861f53ee | 179 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 180 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 43:0e985a58f174 | 181 | reckoner.handleBackward(); |
DavidEGrayson | 40:6fa672be85ec | 182 | totalEncoderCounts--; |
DavidEGrayson | 17:2df9861f53ee | 183 | break; |
DavidEGrayson | 12:835a4d24ae3b | 184 | } |
DavidEGrayson | 12:835a4d24ae3b | 185 | } |
DavidEGrayson | 12:835a4d24ae3b | 186 | } |
DavidEGrayson | 17:2df9861f53ee | 187 | |
DavidEGrayson | 19:a11ffc903774 | 188 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 189 | { |
DavidEGrayson | 19:a11ffc903774 | 190 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 191 | } |
DavidEGrayson | 19:a11ffc903774 | 192 | |
DavidEGrayson | 20:dbec34f0e76b | 193 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 194 | { |
DavidEGrayson | 43:0e985a58f174 | 195 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 43:0e985a58f174 | 196 | float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 20:dbec34f0e76b | 197 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 198 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 199 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 200 | } |
DavidEGrayson | 20:dbec34f0e76b | 201 | |
DavidEGrayson | 18:b65fbb795396 | 202 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 203 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 204 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 205 | { |
DavidEGrayson | 43:0e985a58f174 | 206 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 43:0e985a58f174 | 207 | float c = (float)reckoner.cosv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 19:a11ffc903774 | 208 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 209 | } |
DavidEGrayson | 19:a11ffc903774 | 210 | |
DavidEGrayson | 21:c279c6a83671 | 211 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 212 | { |
DavidEGrayson | 19:a11ffc903774 | 213 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 214 | { |
DavidEGrayson | 19:a11ffc903774 | 215 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 216 | } |
DavidEGrayson | 19:a11ffc903774 | 217 | else |
DavidEGrayson | 19:a11ffc903774 | 218 | { |
DavidEGrayson | 19:a11ffc903774 | 219 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 220 | } |
DavidEGrayson | 18:b65fbb795396 | 221 | } |
DavidEGrayson | 18:b65fbb795396 | 222 | |
DavidEGrayson | 21:c279c6a83671 | 223 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 224 | { |
DavidEGrayson | 21:c279c6a83671 | 225 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 226 | { |
DavidEGrayson | 43:0e985a58f174 | 227 | updateReckoner(); |
DavidEGrayson | 38:5e93a479c244 | 228 | } |
DavidEGrayson | 21:c279c6a83671 | 229 | reckoner.reset(); |
DavidEGrayson | 46:df2c2d25c070 | 230 | turnSensor.reset(); |
DavidEGrayson | 38:5e93a479c244 | 231 | while(button1DefinitelyPressed()) |
DavidEGrayson | 38:5e93a479c244 | 232 | { |
DavidEGrayson | 43:0e985a58f174 | 233 | updateReckoner(); |
DavidEGrayson | 38:5e93a479c244 | 234 | } |
DavidEGrayson | 38:5e93a479c244 | 235 | wait(0.2); |
DavidEGrayson | 21:c279c6a83671 | 236 | } |
DavidEGrayson | 21:c279c6a83671 | 237 | |
DavidEGrayson | 24:fc01d9125d3b | 238 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 239 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 240 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 241 | { |
DavidEGrayson | 24:fc01d9125d3b | 242 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 243 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 244 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 43:0e985a58f174 | 245 | int32_t reduction = reckoner.sinv * straightDriveStrength >> RECKONER_LOG_UNIT; |
DavidEGrayson | 24:fc01d9125d3b | 246 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 247 | { |
DavidEGrayson | 24:fc01d9125d3b | 248 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 249 | } |
DavidEGrayson | 24:fc01d9125d3b | 250 | else |
DavidEGrayson | 24:fc01d9125d3b | 251 | { |
DavidEGrayson | 24:fc01d9125d3b | 252 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 253 | } |
DavidEGrayson | 24:fc01d9125d3b | 254 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 255 | } |
DavidEGrayson | 24:fc01d9125d3b | 256 | |
DavidEGrayson | 28:4374035df5e0 | 257 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 258 | { |
DavidEGrayson | 34:6c84680d823a | 259 | const int followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 28:4374035df5e0 | 260 | |
DavidEGrayson | 28:4374035df5e0 | 261 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 262 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 263 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 264 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 265 | { |
DavidEGrayson | 28:4374035df5e0 | 266 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 267 | } |
DavidEGrayson | 28:4374035df5e0 | 268 | else |
DavidEGrayson | 28:4374035df5e0 | 269 | { |
DavidEGrayson | 28:4374035df5e0 | 270 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 271 | } |
DavidEGrayson | 24:fc01d9125d3b | 272 | |
DavidEGrayson | 28:4374035df5e0 | 273 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 274 | } |
DavidEGrayson | 28:4374035df5e0 | 275 | |
DavidEGrayson | 28:4374035df5e0 | 276 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 277 | { |
DavidEGrayson | 24:fc01d9125d3b | 278 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 279 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 280 | { |
DavidEGrayson | 24:fc01d9125d3b | 281 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 282 | lineTracker.updateCalibration(); |
DavidEGrayson | 43:0e985a58f174 | 283 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 284 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 285 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 286 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 287 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 288 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000) |
DavidEGrayson | 24:fc01d9125d3b | 289 | { |
DavidEGrayson | 26:7e7c376a7446 | 290 | break; |
DavidEGrayson | 24:fc01d9125d3b | 291 | } |
DavidEGrayson | 24:fc01d9125d3b | 292 | } |
DavidEGrayson | 24:fc01d9125d3b | 293 | } |
DavidEGrayson | 20:dbec34f0e76b | 294 | |
DavidEGrayson | 21:c279c6a83671 | 295 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 296 | { |
DavidEGrayson | 26:7e7c376a7446 | 297 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 298 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 299 | |
DavidEGrayson | 21:c279c6a83671 | 300 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 34:6c84680d823a | 301 | const uint32_t lineDebounceTime = 1000000; |
DavidEGrayson | 21:c279c6a83671 | 302 | |
DavidEGrayson | 21:c279c6a83671 | 303 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 304 | { |
DavidEGrayson | 21:c279c6a83671 | 305 | lineTracker.read(); |
DavidEGrayson | 43:0e985a58f174 | 306 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 307 | loggerService(); |
DavidEGrayson | 21:c279c6a83671 | 308 | |
DavidEGrayson | 21:c279c6a83671 | 309 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 310 | |
DavidEGrayson | 21:c279c6a83671 | 311 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 312 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 47:9773dc14c834 | 313 | if (lostLine && timer.read_ms() >= 2000) |
DavidEGrayson | 21:c279c6a83671 | 314 | { |
DavidEGrayson | 47:9773dc14c834 | 315 | break; |
DavidEGrayson | 47:9773dc14c834 | 316 | } |
DavidEGrayson | 47:9773dc14c834 | 317 | |
DavidEGrayson | 47:9773dc14c834 | 318 | if (timeout && timer.read_ms() > timeout) |
DavidEGrayson | 47:9773dc14c834 | 319 | { |
DavidEGrayson | 47:9773dc14c834 | 320 | break; |
DavidEGrayson | 21:c279c6a83671 | 321 | } |
DavidEGrayson | 21:c279c6a83671 | 322 | |
DavidEGrayson | 28:4374035df5e0 | 323 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 324 | } |
DavidEGrayson | 20:dbec34f0e76b | 325 | } |
DavidEGrayson | 20:dbec34f0e76b | 326 | |
DavidEGrayson | 20:dbec34f0e76b | 327 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 328 | { |
DavidEGrayson | 18:b65fbb795396 | 329 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 330 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 331 | |
DavidEGrayson | 19:a11ffc903774 | 332 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 333 | { |
DavidEGrayson | 43:0e985a58f174 | 334 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 335 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 336 | |
DavidEGrayson | 19:a11ffc903774 | 337 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 338 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 339 | if (magn < (1<<(14+7))) |
DavidEGrayson | 18:b65fbb795396 | 340 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 341 | // We are within 128 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 342 | break; |
DavidEGrayson | 19:a11ffc903774 | 343 | } |
DavidEGrayson | 19:a11ffc903774 | 344 | |
DavidEGrayson | 19:a11ffc903774 | 345 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 346 | |
DavidEGrayson | 21:c279c6a83671 | 347 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 348 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 349 | if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 350 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 351 | int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2); |
DavidEGrayson | 19:a11ffc903774 | 352 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 353 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 354 | } |
DavidEGrayson | 19:a11ffc903774 | 355 | |
DavidEGrayson | 44:b4a00fbab06b | 356 | // tmphax |
DavidEGrayson | 44:b4a00fbab06b | 357 | if (0) { |
DavidEGrayson | 44:b4a00fbab06b | 358 | if (det != det) |
DavidEGrayson | 44:b4a00fbab06b | 359 | { |
DavidEGrayson | 44:b4a00fbab06b | 360 | // NaN |
DavidEGrayson | 44:b4a00fbab06b | 361 | setLeds(1, 0, 0, 1); |
DavidEGrayson | 44:b4a00fbab06b | 362 | } |
DavidEGrayson | 44:b4a00fbab06b | 363 | else if (det > 0.5) |
DavidEGrayson | 44:b4a00fbab06b | 364 | { |
DavidEGrayson | 44:b4a00fbab06b | 365 | setLeds(0, 0, 1, 1); |
DavidEGrayson | 44:b4a00fbab06b | 366 | } |
DavidEGrayson | 44:b4a00fbab06b | 367 | else if (det > 0.1) |
DavidEGrayson | 44:b4a00fbab06b | 368 | { |
DavidEGrayson | 44:b4a00fbab06b | 369 | setLeds(0, 0, 0, 1); |
DavidEGrayson | 44:b4a00fbab06b | 370 | } |
DavidEGrayson | 44:b4a00fbab06b | 371 | else if (det < -0.5) |
DavidEGrayson | 44:b4a00fbab06b | 372 | { |
DavidEGrayson | 44:b4a00fbab06b | 373 | setLeds(1, 1, 0, 0); |
DavidEGrayson | 44:b4a00fbab06b | 374 | } |
DavidEGrayson | 44:b4a00fbab06b | 375 | else if (det < -0.1) |
DavidEGrayson | 44:b4a00fbab06b | 376 | { |
DavidEGrayson | 44:b4a00fbab06b | 377 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 44:b4a00fbab06b | 378 | } |
DavidEGrayson | 44:b4a00fbab06b | 379 | else |
DavidEGrayson | 44:b4a00fbab06b | 380 | { |
DavidEGrayson | 44:b4a00fbab06b | 381 | // Heading basically the right direction. |
DavidEGrayson | 44:b4a00fbab06b | 382 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 44:b4a00fbab06b | 383 | } |
DavidEGrayson | 44:b4a00fbab06b | 384 | speedLeft = speedRight = 0; |
DavidEGrayson | 44:b4a00fbab06b | 385 | } |
DavidEGrayson | 44:b4a00fbab06b | 386 | |
DavidEGrayson | 19:a11ffc903774 | 387 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 388 | { |
DavidEGrayson | 19:a11ffc903774 | 389 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 390 | } |
DavidEGrayson | 18:b65fbb795396 | 391 | else |
DavidEGrayson | 18:b65fbb795396 | 392 | { |
DavidEGrayson | 19:a11ffc903774 | 393 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 394 | } |
DavidEGrayson | 19:a11ffc903774 | 395 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 396 | } |
DavidEGrayson | 18:b65fbb795396 | 397 | |
DavidEGrayson | 20:dbec34f0e76b | 398 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 399 | } |
DavidEGrayson | 20:dbec34f0e76b | 400 | |
DavidEGrayson | 20:dbec34f0e76b | 401 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 402 | { |
DavidEGrayson | 27:2456f68be679 | 403 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 404 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 405 | |
DavidEGrayson | 20:dbec34f0e76b | 406 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 407 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 408 | |
DavidEGrayson | 20:dbec34f0e76b | 409 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 410 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 411 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 412 | |
DavidEGrayson | 27:2456f68be679 | 413 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 414 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 415 | |
DavidEGrayson | 27:2456f68be679 | 416 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 417 | |
DavidEGrayson | 27:2456f68be679 | 418 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 419 | |
DavidEGrayson | 19:a11ffc903774 | 420 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 421 | { |
DavidEGrayson | 27:2456f68be679 | 422 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 423 | |
DavidEGrayson | 43:0e985a58f174 | 424 | updateReckoner(); |
DavidEGrayson | 37:23000a47ed2b | 425 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 426 | |
DavidEGrayson | 20:dbec34f0e76b | 427 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 428 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 429 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 430 | { |
DavidEGrayson | 20:dbec34f0e76b | 431 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 432 | } |
DavidEGrayson | 20:dbec34f0e76b | 433 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 434 | { |
DavidEGrayson | 20:dbec34f0e76b | 435 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 436 | } |
DavidEGrayson | 20:dbec34f0e76b | 437 | |
DavidEGrayson | 43:0e985a58f174 | 438 | if (state == 0 && timer.read_ms() >= 2000 && |
DavidEGrayson | 43:0e985a58f174 | 439 | reckoner.cosv > (1 << (RECKONER_LOG_UNIT - 1))) |
DavidEGrayson | 19:a11ffc903774 | 440 | { |
DavidEGrayson | 21:c279c6a83671 | 441 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 442 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 443 | } |
DavidEGrayson | 20:dbec34f0e76b | 444 | |
DavidEGrayson | 21:c279c6a83671 | 445 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 446 | { |
DavidEGrayson | 21:c279c6a83671 | 447 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 448 | break; |
DavidEGrayson | 21:c279c6a83671 | 449 | } |
DavidEGrayson | 21:c279c6a83671 | 450 | |
DavidEGrayson | 27:2456f68be679 | 451 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 452 | { |
DavidEGrayson | 27:2456f68be679 | 453 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 454 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 455 | { |
DavidEGrayson | 43:0e985a58f174 | 456 | float s = (float)reckoner.sinv / (1 << RECKONER_LOG_UNIT); |
DavidEGrayson | 27:2456f68be679 | 457 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 458 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 459 | |
DavidEGrayson | 27:2456f68be679 | 460 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 461 | { |
DavidEGrayson | 27:2456f68be679 | 462 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 463 | } |
DavidEGrayson | 27:2456f68be679 | 464 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 465 | { |
DavidEGrayson | 27:2456f68be679 | 466 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 467 | } |
DavidEGrayson | 27:2456f68be679 | 468 | } |
DavidEGrayson | 27:2456f68be679 | 469 | else |
DavidEGrayson | 27:2456f68be679 | 470 | { |
DavidEGrayson | 27:2456f68be679 | 471 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 472 | } |
DavidEGrayson | 27:2456f68be679 | 473 | |
DavidEGrayson | 27:2456f68be679 | 474 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 475 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 476 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 477 | } |
DavidEGrayson | 21:c279c6a83671 | 478 | |
DavidEGrayson | 21:c279c6a83671 | 479 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 480 | { |
DavidEGrayson | 43:0e985a58f174 | 481 | pc.printf("%5d %5d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 43:0e985a58f174 | 482 | reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 483 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 484 | } |
DavidEGrayson | 19:a11ffc903774 | 485 | } |
DavidEGrayson | 20:dbec34f0e76b | 486 | |
DavidEGrayson | 21:c279c6a83671 | 487 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 488 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 489 | } |