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@42:96671b71aac5, 2019-07-27 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sat Jul 27 20:58:46 2019 +0000
- Revision:
- 42:96671b71aac5
- Parent:
- 41:3ead1dd2cc3a
- Child:
- 43:0e985a58f174
Calibrate L3G using a buffer of 1000 zero-rate readings. Measured a drift of -1.850 degrees over 3 minutes (-0.01 degree per second).
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 | 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 | 40:6fa672be85ec | 62 | testTurnSensor(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 63 | //testReckoner(); |
DavidEGrayson | 17:2df9861f53ee | 64 | //testButtons(); |
DavidEGrayson | 34:6c84680d823a | 65 | //testDriveHome(); |
DavidEGrayson | 21:c279c6a83671 | 66 | //testFinalSettleIn(); |
DavidEGrayson | 23:aae5cbe3b924 | 67 | //testCalibrate(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | //testLineFollowing(); |
DavidEGrayson | 29:cfcf08d8ac79 | 69 | //testAnalog(); |
DavidEGrayson | 31:739b91331f31 | 70 | //testSensorGlitches(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 71 | //testTurnInPlace(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 72 | //testCloseness(); |
DavidEGrayson | 37:23000a47ed2b | 73 | //testLogger(); |
DavidEGrayson | 41:3ead1dd2cc3a | 74 | |
DavidEGrayson | 42:96671b71aac5 | 75 | loadLineCalibration(); |
DavidEGrayson | 42:96671b71aac5 | 76 | doGyroCalibration(); |
DavidEGrayson | 2:968338353aef | 77 | |
DavidEGrayson | 41:3ead1dd2cc3a | 78 | doDeadReckoning(); |
DavidEGrayson | 41:3ead1dd2cc3a | 79 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 80 | |
DavidEGrayson | 41:3ead1dd2cc3a | 81 | void doDeadReckoning() |
DavidEGrayson | 41:3ead1dd2cc3a | 82 | { |
DavidEGrayson | 21:c279c6a83671 | 83 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 84 | waitForSignalToStart(); |
DavidEGrayson | 25:73c2eedb3b91 | 85 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 86 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 28:4374035df5e0 | 87 | findLine(); |
DavidEGrayson | 41:3ead1dd2cc3a | 88 | |
DavidEGrayson | 27:2456f68be679 | 89 | //setLeds(1, 1, 0, 0); |
DavidEGrayson | 27:2456f68be679 | 90 | //turnRightToFindLine(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 91 | |
DavidEGrayson | 21:c279c6a83671 | 92 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 93 | followLineToEnd(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 94 | |
DavidEGrayson | 21:c279c6a83671 | 95 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 96 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 97 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 98 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 99 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 100 | |
DavidEGrayson | 21:c279c6a83671 | 101 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 37:23000a47ed2b | 102 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 103 | } |
DavidEGrayson | 37:23000a47ed2b | 104 | |
DavidEGrayson | 37:23000a47ed2b | 105 | void loggerService() |
DavidEGrayson | 37:23000a47ed2b | 106 | { |
DavidEGrayson | 40:6fa672be85ec | 107 | if (totalEncoderCounts > nextLogEncoderCount) |
DavidEGrayson | 37:23000a47ed2b | 108 | { |
DavidEGrayson | 40:6fa672be85ec | 109 | nextLogEncoderCount += logSpacing; |
DavidEGrayson | 40:6fa672be85ec | 110 | |
DavidEGrayson | 40:6fa672be85ec | 111 | struct LogEntry entry; |
DavidEGrayson | 40:6fa672be85ec | 112 | entry.turnAngle = turnSensor.getAngle() >> 16; |
DavidEGrayson | 40:6fa672be85ec | 113 | entry.x = reckoner.x >> 16; |
DavidEGrayson | 40:6fa672be85ec | 114 | entry.y = reckoner.y >> 16; |
DavidEGrayson | 40:6fa672be85ec | 115 | logger.log(&entry); |
DavidEGrayson | 37:23000a47ed2b | 116 | } |
DavidEGrayson | 0:e77a0edb9878 | 117 | } |
DavidEGrayson | 12:835a4d24ae3b | 118 | |
DavidEGrayson | 37:23000a47ed2b | 119 | void loggerReportLoop() |
DavidEGrayson | 37:23000a47ed2b | 120 | { |
DavidEGrayson | 37:23000a47ed2b | 121 | while(1) |
DavidEGrayson | 37:23000a47ed2b | 122 | { |
DavidEGrayson | 37:23000a47ed2b | 123 | if(button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 124 | { |
DavidEGrayson | 37:23000a47ed2b | 125 | logger.dump(); |
DavidEGrayson | 37:23000a47ed2b | 126 | } |
DavidEGrayson | 37:23000a47ed2b | 127 | } |
DavidEGrayson | 37:23000a47ed2b | 128 | } |
DavidEGrayson | 37:23000a47ed2b | 129 | |
DavidEGrayson | 42:96671b71aac5 | 130 | void doGyroCalibration() |
DavidEGrayson | 42:96671b71aac5 | 131 | { |
DavidEGrayson | 42:96671b71aac5 | 132 | wait_ms(1000); // Time for the robot to stop moving. |
DavidEGrayson | 42:96671b71aac5 | 133 | while (!l3gCalibrateDone()) |
DavidEGrayson | 42:96671b71aac5 | 134 | { |
DavidEGrayson | 42:96671b71aac5 | 135 | l3gCalibrate(); |
DavidEGrayson | 42:96671b71aac5 | 136 | wait_ms(2); |
DavidEGrayson | 42:96671b71aac5 | 137 | } |
DavidEGrayson | 42:96671b71aac5 | 138 | } |
DavidEGrayson | 37:23000a47ed2b | 139 | |
DavidEGrayson | 42:96671b71aac5 | 140 | void loadLineCalibration() |
DavidEGrayson | 28:4374035df5e0 | 141 | { |
DavidEGrayson | 32:83a13b06093c | 142 | /** QTR-3RC **/ |
DavidEGrayson | 32:83a13b06093c | 143 | lineTracker.calibratedMinimum[0] = 100; |
DavidEGrayson | 32:83a13b06093c | 144 | lineTracker.calibratedMinimum[1] = 94; |
DavidEGrayson | 32:83a13b06093c | 145 | lineTracker.calibratedMinimum[2] = 103; |
DavidEGrayson | 32:83a13b06093c | 146 | lineTracker.calibratedMaximum[0] = 792; |
DavidEGrayson | 32:83a13b06093c | 147 | lineTracker.calibratedMaximum[1] = 807; |
DavidEGrayson | 32:83a13b06093c | 148 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 28:4374035df5e0 | 149 | } |
DavidEGrayson | 28:4374035df5e0 | 150 | |
DavidEGrayson | 12:835a4d24ae3b | 151 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 152 | { |
DavidEGrayson | 12:835a4d24ae3b | 153 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 154 | { |
DavidEGrayson | 12:835a4d24ae3b | 155 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 156 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 157 | { |
DavidEGrayson | 17:2df9861f53ee | 158 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 159 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 40:6fa672be85ec | 160 | totalEncoderCounts++; |
DavidEGrayson | 17:2df9861f53ee | 161 | break; |
DavidEGrayson | 17:2df9861f53ee | 162 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 163 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 40:6fa672be85ec | 164 | totalEncoderCounts--; |
DavidEGrayson | 17:2df9861f53ee | 165 | break; |
DavidEGrayson | 17:2df9861f53ee | 166 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 167 | reckoner.handleTickRightForward(); |
DavidEGrayson | 40:6fa672be85ec | 168 | totalEncoderCounts++; |
DavidEGrayson | 17:2df9861f53ee | 169 | break; |
DavidEGrayson | 17:2df9861f53ee | 170 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 171 | reckoner.handleTickRightBackward(); |
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 | 20:dbec34f0e76b | 185 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 186 | float c = (float)reckoner.cos / (1 << 30); |
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 | 18:b65fbb795396 | 196 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 197 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 198 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 199 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 200 | } |
DavidEGrayson | 19:a11ffc903774 | 201 | |
DavidEGrayson | 21:c279c6a83671 | 202 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 203 | { |
DavidEGrayson | 19:a11ffc903774 | 204 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 205 | { |
DavidEGrayson | 19:a11ffc903774 | 206 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 207 | } |
DavidEGrayson | 19:a11ffc903774 | 208 | else |
DavidEGrayson | 19:a11ffc903774 | 209 | { |
DavidEGrayson | 19:a11ffc903774 | 210 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 211 | } |
DavidEGrayson | 18:b65fbb795396 | 212 | } |
DavidEGrayson | 18:b65fbb795396 | 213 | |
DavidEGrayson | 21:c279c6a83671 | 214 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 215 | { |
DavidEGrayson | 21:c279c6a83671 | 216 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 217 | { |
DavidEGrayson | 21:c279c6a83671 | 218 | updateReckonerFromEncoders(); |
DavidEGrayson | 38:5e93a479c244 | 219 | } |
DavidEGrayson | 21:c279c6a83671 | 220 | reckoner.reset(); |
DavidEGrayson | 38:5e93a479c244 | 221 | while(button1DefinitelyPressed()) |
DavidEGrayson | 38:5e93a479c244 | 222 | { |
DavidEGrayson | 38:5e93a479c244 | 223 | updateReckonerFromEncoders(); |
DavidEGrayson | 38:5e93a479c244 | 224 | } |
DavidEGrayson | 38:5e93a479c244 | 225 | wait(0.2); |
DavidEGrayson | 21:c279c6a83671 | 226 | } |
DavidEGrayson | 21:c279c6a83671 | 227 | |
DavidEGrayson | 24:fc01d9125d3b | 228 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 229 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 230 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 231 | { |
DavidEGrayson | 24:fc01d9125d3b | 232 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 233 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 234 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 235 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 24:fc01d9125d3b | 236 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 237 | { |
DavidEGrayson | 24:fc01d9125d3b | 238 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 239 | } |
DavidEGrayson | 24:fc01d9125d3b | 240 | else |
DavidEGrayson | 24:fc01d9125d3b | 241 | { |
DavidEGrayson | 24:fc01d9125d3b | 242 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 243 | } |
DavidEGrayson | 24:fc01d9125d3b | 244 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 245 | } |
DavidEGrayson | 24:fc01d9125d3b | 246 | |
DavidEGrayson | 28:4374035df5e0 | 247 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 248 | { |
DavidEGrayson | 34:6c84680d823a | 249 | const int followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 28:4374035df5e0 | 250 | |
DavidEGrayson | 28:4374035df5e0 | 251 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 252 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 253 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 254 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 255 | { |
DavidEGrayson | 28:4374035df5e0 | 256 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 257 | } |
DavidEGrayson | 28:4374035df5e0 | 258 | else |
DavidEGrayson | 28:4374035df5e0 | 259 | { |
DavidEGrayson | 28:4374035df5e0 | 260 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 261 | } |
DavidEGrayson | 24:fc01d9125d3b | 262 | |
DavidEGrayson | 28:4374035df5e0 | 263 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 264 | } |
DavidEGrayson | 28:4374035df5e0 | 265 | |
DavidEGrayson | 28:4374035df5e0 | 266 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 267 | { |
DavidEGrayson | 24:fc01d9125d3b | 268 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 269 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 270 | { |
DavidEGrayson | 24:fc01d9125d3b | 271 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 272 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 273 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 274 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 275 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 276 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 277 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 278 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000) |
DavidEGrayson | 24:fc01d9125d3b | 279 | { |
DavidEGrayson | 26:7e7c376a7446 | 280 | break; |
DavidEGrayson | 24:fc01d9125d3b | 281 | } |
DavidEGrayson | 24:fc01d9125d3b | 282 | } |
DavidEGrayson | 24:fc01d9125d3b | 283 | } |
DavidEGrayson | 20:dbec34f0e76b | 284 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 285 | /** |
DavidEGrayson | 21:c279c6a83671 | 286 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 287 | { |
DavidEGrayson | 21:c279c6a83671 | 288 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 289 | { |
DavidEGrayson | 21:c279c6a83671 | 290 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 291 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 292 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 293 | |
DavidEGrayson | 21:c279c6a83671 | 294 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 295 | { |
DavidEGrayson | 21:c279c6a83671 | 296 | break; |
DavidEGrayson | 21:c279c6a83671 | 297 | } |
DavidEGrayson | 21:c279c6a83671 | 298 | |
DavidEGrayson | 21:c279c6a83671 | 299 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 300 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 301 | }**/ |
DavidEGrayson | 21:c279c6a83671 | 302 | |
DavidEGrayson | 21:c279c6a83671 | 303 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 304 | { |
DavidEGrayson | 26:7e7c376a7446 | 305 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 306 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 307 | |
DavidEGrayson | 21:c279c6a83671 | 308 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 34:6c84680d823a | 309 | const uint32_t lineDebounceTime = 1000000; |
DavidEGrayson | 21:c279c6a83671 | 310 | |
DavidEGrayson | 21:c279c6a83671 | 311 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 312 | { |
DavidEGrayson | 21:c279c6a83671 | 313 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 314 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 315 | loggerService(); |
DavidEGrayson | 21:c279c6a83671 | 316 | |
DavidEGrayson | 21:c279c6a83671 | 317 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 318 | |
DavidEGrayson | 21:c279c6a83671 | 319 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 320 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 28:4374035df5e0 | 321 | if(lostLine && timer.read_us() >= 2000000) |
DavidEGrayson | 21:c279c6a83671 | 322 | { |
DavidEGrayson | 21:c279c6a83671 | 323 | break; |
DavidEGrayson | 21:c279c6a83671 | 324 | } |
DavidEGrayson | 21:c279c6a83671 | 325 | |
DavidEGrayson | 28:4374035df5e0 | 326 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 327 | } |
DavidEGrayson | 20:dbec34f0e76b | 328 | } |
DavidEGrayson | 20:dbec34f0e76b | 329 | |
DavidEGrayson | 20:dbec34f0e76b | 330 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 331 | { |
DavidEGrayson | 18:b65fbb795396 | 332 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 333 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 334 | |
DavidEGrayson | 19:a11ffc903774 | 335 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 336 | { |
DavidEGrayson | 18:b65fbb795396 | 337 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 338 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 339 | |
DavidEGrayson | 19:a11ffc903774 | 340 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 341 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 342 | if (magn < (1<<(14+7))) |
DavidEGrayson | 18:b65fbb795396 | 343 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 344 | // We are within 128 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 345 | break; |
DavidEGrayson | 19:a11ffc903774 | 346 | } |
DavidEGrayson | 19:a11ffc903774 | 347 | |
DavidEGrayson | 19:a11ffc903774 | 348 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 349 | |
DavidEGrayson | 21:c279c6a83671 | 350 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 351 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 352 | if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 353 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 354 | int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2); |
DavidEGrayson | 19:a11ffc903774 | 355 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 356 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 357 | } |
DavidEGrayson | 19:a11ffc903774 | 358 | |
DavidEGrayson | 19:a11ffc903774 | 359 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 360 | { |
DavidEGrayson | 19:a11ffc903774 | 361 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 362 | } |
DavidEGrayson | 18:b65fbb795396 | 363 | else |
DavidEGrayson | 18:b65fbb795396 | 364 | { |
DavidEGrayson | 19:a11ffc903774 | 365 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 366 | } |
DavidEGrayson | 19:a11ffc903774 | 367 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 368 | } |
DavidEGrayson | 18:b65fbb795396 | 369 | |
DavidEGrayson | 20:dbec34f0e76b | 370 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 371 | } |
DavidEGrayson | 20:dbec34f0e76b | 372 | |
DavidEGrayson | 20:dbec34f0e76b | 373 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 374 | { |
DavidEGrayson | 27:2456f68be679 | 375 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 376 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 377 | |
DavidEGrayson | 20:dbec34f0e76b | 378 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 379 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 380 | |
DavidEGrayson | 20:dbec34f0e76b | 381 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 382 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 383 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 384 | |
DavidEGrayson | 27:2456f68be679 | 385 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 386 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 387 | |
DavidEGrayson | 27:2456f68be679 | 388 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 389 | |
DavidEGrayson | 27:2456f68be679 | 390 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 391 | |
DavidEGrayson | 19:a11ffc903774 | 392 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 393 | { |
DavidEGrayson | 27:2456f68be679 | 394 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 395 | |
DavidEGrayson | 20:dbec34f0e76b | 396 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 397 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 398 | |
DavidEGrayson | 20:dbec34f0e76b | 399 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 400 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 401 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 402 | { |
DavidEGrayson | 20:dbec34f0e76b | 403 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 404 | } |
DavidEGrayson | 20:dbec34f0e76b | 405 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 406 | { |
DavidEGrayson | 20:dbec34f0e76b | 407 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 408 | } |
DavidEGrayson | 20:dbec34f0e76b | 409 | |
DavidEGrayson | 21:c279c6a83671 | 410 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 411 | { |
DavidEGrayson | 21:c279c6a83671 | 412 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 413 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 414 | } |
DavidEGrayson | 20:dbec34f0e76b | 415 | |
DavidEGrayson | 21:c279c6a83671 | 416 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 417 | { |
DavidEGrayson | 21:c279c6a83671 | 418 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 419 | break; |
DavidEGrayson | 21:c279c6a83671 | 420 | } |
DavidEGrayson | 21:c279c6a83671 | 421 | |
DavidEGrayson | 27:2456f68be679 | 422 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 423 | { |
DavidEGrayson | 27:2456f68be679 | 424 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 425 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 426 | { |
DavidEGrayson | 27:2456f68be679 | 427 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 27:2456f68be679 | 428 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 429 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 430 | |
DavidEGrayson | 27:2456f68be679 | 431 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 432 | { |
DavidEGrayson | 27:2456f68be679 | 433 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 434 | } |
DavidEGrayson | 27:2456f68be679 | 435 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 436 | { |
DavidEGrayson | 27:2456f68be679 | 437 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 438 | } |
DavidEGrayson | 27:2456f68be679 | 439 | } |
DavidEGrayson | 27:2456f68be679 | 440 | else |
DavidEGrayson | 27:2456f68be679 | 441 | { |
DavidEGrayson | 27:2456f68be679 | 442 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 443 | } |
DavidEGrayson | 27:2456f68be679 | 444 | |
DavidEGrayson | 27:2456f68be679 | 445 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 446 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 447 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 448 | } |
DavidEGrayson | 21:c279c6a83671 | 449 | |
DavidEGrayson | 21:c279c6a83671 | 450 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 451 | { |
DavidEGrayson | 21:c279c6a83671 | 452 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 453 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 454 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 455 | } |
DavidEGrayson | 19:a11ffc903774 | 456 | } |
DavidEGrayson | 20:dbec34f0e76b | 457 | |
DavidEGrayson | 21:c279c6a83671 | 458 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 459 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 460 | } |