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@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 | 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 | 37:23000a47ed2b | 28 | updateReckonerFromEncoders(); |
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 | 33:58a0ab6e9ad2 | 37 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 38 | while(1) |
DavidEGrayson | 30:84be2d602dc0 | 39 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 40 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 41 | float magn = magnitude(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 42 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 43 | led3 = (magn < (1<<(14+7))); |
DavidEGrayson | 33:58a0ab6e9ad2 | 44 | led4 = (magn < (1<<(14+9))); |
DavidEGrayson | 30:84be2d602dc0 | 45 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 46 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 47 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 48 | void showOrientationWithLeds34() |
DavidEGrayson | 33:58a0ab6e9ad2 | 49 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 50 | led3 = reckoner.cos > 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 51 | led4 = reckoner.sin > 0; |
DavidEGrayson | 30:84be2d602dc0 | 52 | } |
DavidEGrayson | 30:84be2d602dc0 | 53 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 54 | void testTurnInPlace() |
DavidEGrayson | 30:84be2d602dc0 | 55 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 56 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 57 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 33:58a0ab6e9ad2 | 58 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 59 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 60 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 61 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 62 | led2 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 63 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 64 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 30:84be2d602dc0 | 65 | Timer timer; |
DavidEGrayson | 30:84be2d602dc0 | 66 | timer.start(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 67 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | while(timer.read_ms() < 4000) |
DavidEGrayson | 33:58a0ab6e9ad2 | 69 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 70 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 71 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 72 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 73 | timer.reset(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 74 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 75 | float integral = 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 76 | while (timer.read_ms() < 4000) |
DavidEGrayson | 30:84be2d602dc0 | 77 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 78 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 30:84be2d602dc0 | 79 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 80 | int16_t rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 81 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 33:58a0ab6e9ad2 | 82 | integral += s; |
DavidEGrayson | 33:58a0ab6e9ad2 | 83 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 33:58a0ab6e9ad2 | 84 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 85 | if (rotationSpeed > 450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 86 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 87 | rotationSpeed = 450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 88 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 89 | if (rotationSpeed < -450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 90 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 91 | rotationSpeed = -450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 92 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 93 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 94 | int16_t speedLeft = -rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 95 | int16_t speedRight = rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 96 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 30:84be2d602dc0 | 97 | } |
DavidEGrayson | 30:84be2d602dc0 | 98 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 99 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 100 | infiniteReckonerReportLoop(); |
DavidEGrayson | 30:84be2d602dc0 | 101 | } |
DavidEGrayson | 30:84be2d602dc0 | 102 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 103 | |
DavidEGrayson | 30:84be2d602dc0 | 104 | void testSensorGlitches() |
DavidEGrayson | 29:cfcf08d8ac79 | 105 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 106 | AnalogIn testInput(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 107 | Pacer reportPacer(1000000); |
DavidEGrayson | 29:cfcf08d8ac79 | 108 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 109 | pc.printf("hi\r\n"); |
DavidEGrayson | 30:84be2d602dc0 | 110 | |
DavidEGrayson | 30:84be2d602dc0 | 111 | //uint16_t riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 112 | uint16_t reading = 0xFF; |
DavidEGrayson | 30:84be2d602dc0 | 113 | |
DavidEGrayson | 29:cfcf08d8ac79 | 114 | while(1) |
DavidEGrayson | 29:cfcf08d8ac79 | 115 | { |
DavidEGrayson | 30:84be2d602dc0 | 116 | /** This digital filtering did not work |
DavidEGrayson | 30:84be2d602dc0 | 117 | { |
DavidEGrayson | 30:84be2d602dc0 | 118 | wait(0.01); |
DavidEGrayson | 30:84be2d602dc0 | 119 | uint16_t raw = testInput.read_u16(); |
DavidEGrayson | 30:84be2d602dc0 | 120 | if (raw < reading) |
DavidEGrayson | 30:84be2d602dc0 | 121 | { |
DavidEGrayson | 30:84be2d602dc0 | 122 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 123 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 124 | } |
DavidEGrayson | 30:84be2d602dc0 | 125 | else |
DavidEGrayson | 30:84be2d602dc0 | 126 | { |
DavidEGrayson | 30:84be2d602dc0 | 127 | riseCount++; |
DavidEGrayson | 30:84be2d602dc0 | 128 | if (riseCount == 10) |
DavidEGrayson | 30:84be2d602dc0 | 129 | { |
DavidEGrayson | 30:84be2d602dc0 | 130 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 131 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 132 | } |
DavidEGrayson | 30:84be2d602dc0 | 133 | } |
DavidEGrayson | 30:84be2d602dc0 | 134 | } |
DavidEGrayson | 30:84be2d602dc0 | 135 | **/ |
DavidEGrayson | 33:58a0ab6e9ad2 | 136 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 137 | uint16_t values[LINE_SENSOR_COUNT]; |
DavidEGrayson | 33:58a0ab6e9ad2 | 138 | readSensors(values); |
DavidEGrayson | 33:58a0ab6e9ad2 | 139 | reading = values[0]; |
DavidEGrayson | 30:84be2d602dc0 | 140 | |
DavidEGrayson | 29:cfcf08d8ac79 | 141 | if(reading > 100) |
DavidEGrayson | 29:cfcf08d8ac79 | 142 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 143 | badCount += 1; |
DavidEGrayson | 30:84be2d602dc0 | 144 | //pc.printf("f %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 145 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 146 | else |
DavidEGrayson | 29:cfcf08d8ac79 | 147 | { |
DavidEGrayson | 30:84be2d602dc0 | 148 | goodCount += 1; |
DavidEGrayson | 29:cfcf08d8ac79 | 149 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 150 | |
DavidEGrayson | 29:cfcf08d8ac79 | 151 | if (reportPacer.pace()) |
DavidEGrayson | 29:cfcf08d8ac79 | 152 | { |
DavidEGrayson | 30:84be2d602dc0 | 153 | pc.printf("h %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 154 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 155 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 156 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 157 | |
DavidEGrayson | 28:4374035df5e0 | 158 | void testAnalog() |
DavidEGrayson | 28:4374035df5e0 | 159 | { |
DavidEGrayson | 28:4374035df5e0 | 160 | AnalogIn testInput(p18); |
DavidEGrayson | 28:4374035df5e0 | 161 | |
DavidEGrayson | 29:cfcf08d8ac79 | 162 | DigitalOut pin20(p20); |
DavidEGrayson | 29:cfcf08d8ac79 | 163 | DigitalOut pin19(p19); |
DavidEGrayson | 29:cfcf08d8ac79 | 164 | //DigitalOut pin18(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 165 | DigitalOut pin17(p17); |
DavidEGrayson | 29:cfcf08d8ac79 | 166 | DigitalOut pin16(p16); |
DavidEGrayson | 29:cfcf08d8ac79 | 167 | DigitalOut pin15(p15); |
DavidEGrayson | 29:cfcf08d8ac79 | 168 | |
DavidEGrayson | 29:cfcf08d8ac79 | 169 | pin20 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 170 | pin19 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 171 | //pin18 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 172 | pin17 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 173 | pin16 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 174 | pin15 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 175 | |
DavidEGrayson | 28:4374035df5e0 | 176 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 177 | |
DavidEGrayson | 28:4374035df5e0 | 178 | Pacer reportPacer(1000000); |
DavidEGrayson | 28:4374035df5e0 | 179 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 180 | { |
DavidEGrayson | 28:4374035df5e0 | 181 | uint16_t reading = testInput.read_u16(); |
DavidEGrayson | 28:4374035df5e0 | 182 | if(reading > 100) |
DavidEGrayson | 28:4374035df5e0 | 183 | { |
DavidEGrayson | 28:4374035df5e0 | 184 | badCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 185 | pc.printf("%5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 28:4374035df5e0 | 186 | } |
DavidEGrayson | 28:4374035df5e0 | 187 | else |
DavidEGrayson | 28:4374035df5e0 | 188 | { |
DavidEGrayson | 28:4374035df5e0 | 189 | goodCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 190 | } |
DavidEGrayson | 28:4374035df5e0 | 191 | |
DavidEGrayson | 28:4374035df5e0 | 192 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 193 | { |
DavidEGrayson | 28:4374035df5e0 | 194 | pc.printf("Hello\r\n"); |
DavidEGrayson | 28:4374035df5e0 | 195 | } |
DavidEGrayson | 28:4374035df5e0 | 196 | } |
DavidEGrayson | 28:4374035df5e0 | 197 | } |
DavidEGrayson | 28:4374035df5e0 | 198 | |
DavidEGrayson | 28:4374035df5e0 | 199 | // This also tests the LineTracker by printing out a lot of data from it. |
DavidEGrayson | 28:4374035df5e0 | 200 | void testLineFollowing() |
DavidEGrayson | 28:4374035df5e0 | 201 | { |
DavidEGrayson | 28:4374035df5e0 | 202 | led1 = 1; |
DavidEGrayson | 28:4374035df5e0 | 203 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 28:4374035df5e0 | 204 | { |
DavidEGrayson | 28:4374035df5e0 | 205 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 206 | } |
DavidEGrayson | 28:4374035df5e0 | 207 | led2 = 1; |
DavidEGrayson | 28:4374035df5e0 | 208 | |
DavidEGrayson | 28:4374035df5e0 | 209 | Pacer reportPacer(200000); |
DavidEGrayson | 28:4374035df5e0 | 210 | |
DavidEGrayson | 42:96671b71aac5 | 211 | loadLineCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 212 | uint16_t loopCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 213 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 214 | { |
DavidEGrayson | 28:4374035df5e0 | 215 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 216 | bool lineVisiblePrevious = lineTracker.getLineVisible(); |
DavidEGrayson | 28:4374035df5e0 | 217 | lineTracker.read(); |
DavidEGrayson | 28:4374035df5e0 | 218 | updateMotorsToFollowLine(); |
DavidEGrayson | 28:4374035df5e0 | 219 | |
DavidEGrayson | 28:4374035df5e0 | 220 | loopCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 221 | |
DavidEGrayson | 28:4374035df5e0 | 222 | if (lineVisiblePrevious != lineTracker.getLineVisible()) |
DavidEGrayson | 28:4374035df5e0 | 223 | { |
DavidEGrayson | 32:83a13b06093c | 224 | pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 28:4374035df5e0 | 225 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 226 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 32:83a13b06093c | 227 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 228 | ); |
DavidEGrayson | 28:4374035df5e0 | 229 | } |
DavidEGrayson | 28:4374035df5e0 | 230 | |
DavidEGrayson | 28:4374035df5e0 | 231 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 232 | { |
DavidEGrayson | 32:83a13b06093c | 233 | pc.printf("%5d %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 32:83a13b06093c | 234 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 235 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 28:4374035df5e0 | 236 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 237 | ); |
DavidEGrayson | 28:4374035df5e0 | 238 | } |
DavidEGrayson | 28:4374035df5e0 | 239 | } |
DavidEGrayson | 28:4374035df5e0 | 240 | } |
DavidEGrayson | 28:4374035df5e0 | 241 | |
DavidEGrayson | 17:2df9861f53ee | 242 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 243 | { |
DavidEGrayson | 17:2df9861f53ee | 244 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 245 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 246 | { |
DavidEGrayson | 17:2df9861f53ee | 247 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 248 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 249 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 250 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 251 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 252 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 253 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 254 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 255 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 256 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 20:dbec34f0e76b | 257 | infiniteReckonerReportLoop(); |
DavidEGrayson | 20:dbec34f0e76b | 258 | } |
DavidEGrayson | 20:dbec34f0e76b | 259 | |
DavidEGrayson | 20:dbec34f0e76b | 260 | void testFinalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 261 | { |
DavidEGrayson | 20:dbec34f0e76b | 262 | led1 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 263 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 20:dbec34f0e76b | 264 | { |
DavidEGrayson | 20:dbec34f0e76b | 265 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 266 | } |
DavidEGrayson | 20:dbec34f0e76b | 267 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 268 | infiniteReckonerReportLoop(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 269 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 270 | |
DavidEGrayson | 17:2df9861f53ee | 271 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 272 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 273 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 274 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 275 | |
DavidEGrayson | 17:2df9861f53ee | 276 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 277 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 278 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 279 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 280 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 281 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 282 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 283 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 284 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 285 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 286 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 287 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 288 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 289 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 290 | |
DavidEGrayson | 12:835a4d24ae3b | 291 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 292 | { |
DavidEGrayson | 42:96671b71aac5 | 293 | doGyroCalibration(); |
DavidEGrayson | 42:96671b71aac5 | 294 | led1 = 1; |
DavidEGrayson | 13:bba5b3abd13f | 295 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 296 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 297 | { |
DavidEGrayson | 12:835a4d24ae3b | 298 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 299 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 300 | led1 = (reckoner.x > 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 301 | led2 = (reckoner.y > 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 302 | showOrientationWithLeds34(); |
DavidEGrayson | 12:835a4d24ae3b | 303 | |
DavidEGrayson | 13:bba5b3abd13f | 304 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 305 | { |
DavidEGrayson | 19:a11ffc903774 | 306 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 307 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 308 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 309 | } |
DavidEGrayson | 12:835a4d24ae3b | 310 | } |
DavidEGrayson | 12:835a4d24ae3b | 311 | } |
DavidEGrayson | 12:835a4d24ae3b | 312 | |
DavidEGrayson | 40:6fa672be85ec | 313 | void testTurnSensor() |
DavidEGrayson | 40:6fa672be85ec | 314 | { |
DavidEGrayson | 40:6fa672be85ec | 315 | pc.printf("Test turn sensor\r\n"); |
DavidEGrayson | 42:96671b71aac5 | 316 | led1 = 1; |
DavidEGrayson | 42:96671b71aac5 | 317 | doGyroCalibration(); |
DavidEGrayson | 42:96671b71aac5 | 318 | //Pacer reportPacer(200000); // 0.2 s |
DavidEGrayson | 42:96671b71aac5 | 319 | Pacer reportPacer(10000000); // 10 s |
DavidEGrayson | 42:96671b71aac5 | 320 | Timer timer; |
DavidEGrayson | 42:96671b71aac5 | 321 | led2 = 1; |
DavidEGrayson | 42:96671b71aac5 | 322 | timer.start(); |
DavidEGrayson | 40:6fa672be85ec | 323 | turnSensor.start(); |
DavidEGrayson | 40:6fa672be85ec | 324 | while(1) |
DavidEGrayson | 40:6fa672be85ec | 325 | { |
DavidEGrayson | 40:6fa672be85ec | 326 | turnSensor.update(); |
DavidEGrayson | 40:6fa672be85ec | 327 | if (reportPacer.pace()) |
DavidEGrayson | 40:6fa672be85ec | 328 | { |
DavidEGrayson | 42:96671b71aac5 | 329 | pc.printf("%u, %d, %d\r\n", |
DavidEGrayson | 42:96671b71aac5 | 330 | timer.read_ms(), |
DavidEGrayson | 42:96671b71aac5 | 331 | turnSensor.getAngleDegrees(), |
DavidEGrayson | 42:96671b71aac5 | 332 | turnSensor.getAngleMillidegrees()); |
DavidEGrayson | 40:6fa672be85ec | 333 | } |
DavidEGrayson | 40:6fa672be85ec | 334 | } |
DavidEGrayson | 40:6fa672be85ec | 335 | } |
DavidEGrayson | 40:6fa672be85ec | 336 | |
DavidEGrayson | 42:96671b71aac5 | 337 | void testL3gAndShowAverage() |
DavidEGrayson | 41:3ead1dd2cc3a | 338 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 339 | wait_ms(2000); |
DavidEGrayson | 41:3ead1dd2cc3a | 340 | Pacer reportPacer(750000); |
DavidEGrayson | 41:3ead1dd2cc3a | 341 | Pacer readingPacer(2000); |
DavidEGrayson | 41:3ead1dd2cc3a | 342 | int32_t total = 0; |
DavidEGrayson | 41:3ead1dd2cc3a | 343 | int32_t readingCount = 0; |
DavidEGrayson | 41:3ead1dd2cc3a | 344 | while(1) |
DavidEGrayson | 41:3ead1dd2cc3a | 345 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 346 | if (readingPacer.pace()) |
DavidEGrayson | 41:3ead1dd2cc3a | 347 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 348 | int32_t result = l3gZAvailable(); |
DavidEGrayson | 41:3ead1dd2cc3a | 349 | if (result == 1) |
DavidEGrayson | 41:3ead1dd2cc3a | 350 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 351 | int32_t gz = l3gZRead(); |
DavidEGrayson | 41:3ead1dd2cc3a | 352 | if (gz < -500000) |
DavidEGrayson | 41:3ead1dd2cc3a | 353 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 354 | pc.printf("l3gZRead error: %d\n", gz); |
DavidEGrayson | 41:3ead1dd2cc3a | 355 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 356 | else |
DavidEGrayson | 41:3ead1dd2cc3a | 357 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 358 | total += gz; |
DavidEGrayson | 41:3ead1dd2cc3a | 359 | readingCount += 1; |
DavidEGrayson | 41:3ead1dd2cc3a | 360 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 361 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 362 | else if (result != 0) |
DavidEGrayson | 41:3ead1dd2cc3a | 363 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 364 | pc.printf("l3gZAvailable error: %d\n", result); |
DavidEGrayson | 41:3ead1dd2cc3a | 365 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 366 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 367 | |
DavidEGrayson | 41:3ead1dd2cc3a | 368 | if (reportPacer.pace()) |
DavidEGrayson | 41:3ead1dd2cc3a | 369 | { |
DavidEGrayson | 41:3ead1dd2cc3a | 370 | float average = (float)total / readingCount; |
DavidEGrayson | 41:3ead1dd2cc3a | 371 | pc.printf("%d, %d, %f\r\n", total, readingCount, average); |
DavidEGrayson | 41:3ead1dd2cc3a | 372 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 373 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 374 | |
DavidEGrayson | 41:3ead1dd2cc3a | 375 | // Gyro calibration results get hardcoded into TurnSensor::update() |
DavidEGrayson | 41:3ead1dd2cc3a | 376 | // for now until we figure out something better. |
DavidEGrayson | 41:3ead1dd2cc3a | 377 | } |
DavidEGrayson | 41:3ead1dd2cc3a | 378 | |
DavidEGrayson | 40:6fa672be85ec | 379 | void testL3g() |
DavidEGrayson | 40:6fa672be85ec | 380 | { |
DavidEGrayson | 40:6fa672be85ec | 381 | Pacer reportPacer(750000); |
DavidEGrayson | 40:6fa672be85ec | 382 | Timer timer; |
DavidEGrayson | 40:6fa672be85ec | 383 | timer.start(); |
DavidEGrayson | 40:6fa672be85ec | 384 | int32_t gz = 0; |
DavidEGrayson | 40:6fa672be85ec | 385 | bool reportedReading = false; |
DavidEGrayson | 40:6fa672be85ec | 386 | while(1) |
DavidEGrayson | 40:6fa672be85ec | 387 | { |
DavidEGrayson | 40:6fa672be85ec | 388 | int32_t result = l3gZAvailable(); |
DavidEGrayson | 40:6fa672be85ec | 389 | if (result == 1) |
DavidEGrayson | 40:6fa672be85ec | 390 | { |
DavidEGrayson | 40:6fa672be85ec | 391 | gz = l3gZRead(); |
DavidEGrayson | 40:6fa672be85ec | 392 | reportedReading = false; |
DavidEGrayson | 40:6fa672be85ec | 393 | if (gz > 100 || gz < -100) |
DavidEGrayson | 40:6fa672be85ec | 394 | { |
DavidEGrayson | 42:96671b71aac5 | 395 | pc.printf("%u, %d\r\n", timer.read_us(), gz); |
DavidEGrayson | 40:6fa672be85ec | 396 | reportedReading = true; |
DavidEGrayson | 40:6fa672be85ec | 397 | } |
DavidEGrayson | 40:6fa672be85ec | 398 | } |
DavidEGrayson | 40:6fa672be85ec | 399 | else if (result != 0) |
DavidEGrayson | 40:6fa672be85ec | 400 | { |
DavidEGrayson | 40:6fa672be85ec | 401 | pc.printf("l3gZAvailable error: %d\n", result); |
DavidEGrayson | 40:6fa672be85ec | 402 | } |
DavidEGrayson | 40:6fa672be85ec | 403 | |
DavidEGrayson | 40:6fa672be85ec | 404 | if (reportPacer.pace() && !reportedReading) |
DavidEGrayson | 40:6fa672be85ec | 405 | { |
DavidEGrayson | 42:96671b71aac5 | 406 | pc.printf("%u, %d\r\n", timer.read_us(), gz); |
DavidEGrayson | 40:6fa672be85ec | 407 | reportedReading = true; |
DavidEGrayson | 40:6fa672be85ec | 408 | } |
DavidEGrayson | 40:6fa672be85ec | 409 | } |
DavidEGrayson | 40:6fa672be85ec | 410 | } |
DavidEGrayson | 40:6fa672be85ec | 411 | |
DavidEGrayson | 10:e4dd36148539 | 412 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 413 | { |
DavidEGrayson | 10:e4dd36148539 | 414 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 415 | Pacer reportPacer(100000); |
DavidEGrayson | 31:739b91331f31 | 416 | Pacer clearStatsPacer(2000000); |
DavidEGrayson | 31:739b91331f31 | 417 | |
DavidEGrayson | 31:739b91331f31 | 418 | uint16_t min[LINE_SENSOR_COUNT]; |
DavidEGrayson | 31:739b91331f31 | 419 | uint16_t max[LINE_SENSOR_COUNT]; |
DavidEGrayson | 31:739b91331f31 | 420 | |
DavidEGrayson | 10:e4dd36148539 | 421 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 422 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 423 | { |
DavidEGrayson | 31:739b91331f31 | 424 | if (clearStatsPacer.pace()) |
DavidEGrayson | 31:739b91331f31 | 425 | { |
DavidEGrayson | 31:739b91331f31 | 426 | for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++) |
DavidEGrayson | 31:739b91331f31 | 427 | { |
DavidEGrayson | 31:739b91331f31 | 428 | min[i] = 0xFFFF; |
DavidEGrayson | 31:739b91331f31 | 429 | max[i] = 0; |
DavidEGrayson | 31:739b91331f31 | 430 | } |
DavidEGrayson | 31:739b91331f31 | 431 | } |
DavidEGrayson | 31:739b91331f31 | 432 | |
DavidEGrayson | 31:739b91331f31 | 433 | //values[0] = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 434 | //values[1] = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 435 | //values[2] = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 436 | |
DavidEGrayson | 31:739b91331f31 | 437 | uint16_t values[3]; |
DavidEGrayson | 31:739b91331f31 | 438 | readSensors(values); |
DavidEGrayson | 31:739b91331f31 | 439 | |
DavidEGrayson | 31:739b91331f31 | 440 | for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++) |
DavidEGrayson | 31:739b91331f31 | 441 | { |
DavidEGrayson | 31:739b91331f31 | 442 | if (values[i] > max[i]){ max[i] = values[i]; } |
DavidEGrayson | 31:739b91331f31 | 443 | if (values[i] < min[i]){ min[i] = values[i]; } |
DavidEGrayson | 31:739b91331f31 | 444 | } |
DavidEGrayson | 31:739b91331f31 | 445 | |
DavidEGrayson | 10:e4dd36148539 | 446 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 447 | { |
DavidEGrayson | 10:e4dd36148539 | 448 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 449 | { |
DavidEGrayson | 10:e4dd36148539 | 450 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 31:739b91331f31 | 451 | printBar("L", values[0]); |
DavidEGrayson | 31:739b91331f31 | 452 | printBar("M", values[1]); |
DavidEGrayson | 31:739b91331f31 | 453 | printBar("R", values[2]); |
DavidEGrayson | 31:739b91331f31 | 454 | pc.printf("%4d %4d \r\n", min[0], max[0]); |
DavidEGrayson | 31:739b91331f31 | 455 | pc.printf("%4d %4d \r\n", min[1], max[1]); |
DavidEGrayson | 31:739b91331f31 | 456 | pc.printf("%4d %4d \r\n", min[2], max[2]); |
DavidEGrayson | 10:e4dd36148539 | 457 | } |
DavidEGrayson | 10:e4dd36148539 | 458 | else |
DavidEGrayson | 10:e4dd36148539 | 459 | { |
DavidEGrayson | 31:739b91331f31 | 460 | pc.printf("%8d %8d %8d\r\n", values[0], values[1], values[2]); |
DavidEGrayson | 10:e4dd36148539 | 461 | } |
DavidEGrayson | 10:e4dd36148539 | 462 | } |
DavidEGrayson | 10:e4dd36148539 | 463 | } |
DavidEGrayson | 10:e4dd36148539 | 464 | } |
DavidEGrayson | 8:78b1ff957cba | 465 | |
DavidEGrayson | 24:fc01d9125d3b | 466 | // Values from David's office Values from dev lab, |
DavidEGrayson | 24:fc01d9125d3b | 467 | // in the day time, 2014-02-27: 2014-02-27: |
DavidEGrayson | 22:44c032e59ff5 | 468 | // # calmin calmax |
DavidEGrayson | 24:fc01d9125d3b | 469 | // 0 34872 59726 0 40617 60222 |
DavidEGrayson | 24:fc01d9125d3b | 470 | // 1 29335 60110 1 36937 61198 |
DavidEGrayson | 24:fc01d9125d3b | 471 | // 2 23845 58446 2 33848 58862 |
DavidEGrayson | 22:44c032e59ff5 | 472 | void testCalibrate() |
DavidEGrayson | 22:44c032e59ff5 | 473 | { |
DavidEGrayson | 22:44c032e59ff5 | 474 | Timer timer; |
DavidEGrayson | 22:44c032e59ff5 | 475 | timer.start(); |
DavidEGrayson | 22:44c032e59ff5 | 476 | |
DavidEGrayson | 22:44c032e59ff5 | 477 | Pacer reportPacer(200000); |
DavidEGrayson | 22:44c032e59ff5 | 478 | |
DavidEGrayson | 24:fc01d9125d3b | 479 | bool doneCalibrating = false; |
DavidEGrayson | 24:fc01d9125d3b | 480 | |
DavidEGrayson | 24:fc01d9125d3b | 481 | led1 = 1; |
DavidEGrayson | 24:fc01d9125d3b | 482 | |
DavidEGrayson | 22:44c032e59ff5 | 483 | while(1) |
DavidEGrayson | 22:44c032e59ff5 | 484 | { |
DavidEGrayson | 22:44c032e59ff5 | 485 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 486 | if(!doneCalibrating) |
DavidEGrayson | 24:fc01d9125d3b | 487 | { |
DavidEGrayson | 24:fc01d9125d3b | 488 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 489 | } |
DavidEGrayson | 24:fc01d9125d3b | 490 | |
DavidEGrayson | 24:fc01d9125d3b | 491 | led3 = doneCalibrating; |
DavidEGrayson | 24:fc01d9125d3b | 492 | led4 = lineTracker.getLineVisible(); |
DavidEGrayson | 24:fc01d9125d3b | 493 | |
DavidEGrayson | 24:fc01d9125d3b | 494 | if (button1DefinitelyPressed()) |
DavidEGrayson | 24:fc01d9125d3b | 495 | { |
DavidEGrayson | 24:fc01d9125d3b | 496 | doneCalibrating = true; |
DavidEGrayson | 24:fc01d9125d3b | 497 | } |
DavidEGrayson | 22:44c032e59ff5 | 498 | |
DavidEGrayson | 22:44c032e59ff5 | 499 | if (reportPacer.pace()) |
DavidEGrayson | 22:44c032e59ff5 | 500 | { |
DavidEGrayson | 22:44c032e59ff5 | 501 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 22:44c032e59ff5 | 502 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 22:44c032e59ff5 | 503 | { |
DavidEGrayson | 22:44c032e59ff5 | 504 | pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); |
DavidEGrayson | 22:44c032e59ff5 | 505 | } |
DavidEGrayson | 22:44c032e59ff5 | 506 | } |
DavidEGrayson | 22:44c032e59ff5 | 507 | } |
DavidEGrayson | 22:44c032e59ff5 | 508 | } |
DavidEGrayson | 22:44c032e59ff5 | 509 | |
DavidEGrayson | 39:b19dfc5d4d4b | 510 | void testMotorSpeed() |
DavidEGrayson | 39:b19dfc5d4d4b | 511 | { |
DavidEGrayson | 39:b19dfc5d4d4b | 512 | led1 = 1; |
DavidEGrayson | 39:b19dfc5d4d4b | 513 | motorsSpeedSet(400, 400); |
DavidEGrayson | 39:b19dfc5d4d4b | 514 | wait_ms(4000); |
DavidEGrayson | 39:b19dfc5d4d4b | 515 | uint32_t left = encoderLeft.getCount(); |
DavidEGrayson | 39:b19dfc5d4d4b | 516 | uint32_t right = encoderRight.getCount(); |
DavidEGrayson | 39:b19dfc5d4d4b | 517 | motorsSpeedSet(0, 0); |
DavidEGrayson | 39:b19dfc5d4d4b | 518 | Pacer reportPacer(500000); |
DavidEGrayson | 39:b19dfc5d4d4b | 519 | while (1) |
DavidEGrayson | 39:b19dfc5d4d4b | 520 | { |
DavidEGrayson | 39:b19dfc5d4d4b | 521 | if (reportPacer.pace()) |
DavidEGrayson | 39:b19dfc5d4d4b | 522 | { |
DavidEGrayson | 39:b19dfc5d4d4b | 523 | led2 = 1; |
DavidEGrayson | 39:b19dfc5d4d4b | 524 | pc.printf("%8d %8d\r\n", left, right); |
DavidEGrayson | 39:b19dfc5d4d4b | 525 | led2 = 0; |
DavidEGrayson | 39:b19dfc5d4d4b | 526 | } |
DavidEGrayson | 39:b19dfc5d4d4b | 527 | } |
DavidEGrayson | 39:b19dfc5d4d4b | 528 | } |
DavidEGrayson | 39:b19dfc5d4d4b | 529 | |
DavidEGrayson | 9:9734347b5756 | 530 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 531 | { |
DavidEGrayson | 9:9734347b5756 | 532 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 533 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 534 | while(1) |
DavidEGrayson | 9:9734347b5756 | 535 | { |
DavidEGrayson | 9:9734347b5756 | 536 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 537 | { |
DavidEGrayson | 9:9734347b5756 | 538 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 539 | } |
DavidEGrayson | 9:9734347b5756 | 540 | |
DavidEGrayson | 9:9734347b5756 | 541 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 542 | { |
DavidEGrayson | 9:9734347b5756 | 543 | led2 = 1; |
DavidEGrayson | 31:739b91331f31 | 544 | pc.printf("%8d %8d\r\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 545 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 546 | } |
DavidEGrayson | 9:9734347b5756 | 547 | } |
DavidEGrayson | 9:9734347b5756 | 548 | } |
DavidEGrayson | 9:9734347b5756 | 549 | |
DavidEGrayson | 8:78b1ff957cba | 550 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 551 | { |
DavidEGrayson | 8:78b1ff957cba | 552 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 553 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 554 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 555 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 556 | { |
DavidEGrayson | 9:9734347b5756 | 557 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 558 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 559 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 560 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 561 | |
DavidEGrayson | 9:9734347b5756 | 562 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 563 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 564 | |
DavidEGrayson | 9:9734347b5756 | 565 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 566 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 567 | |
DavidEGrayson | 9:9734347b5756 | 568 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 569 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 570 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 571 | |
DavidEGrayson | 9:9734347b5756 | 572 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 573 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 574 | |
DavidEGrayson | 9:9734347b5756 | 575 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 576 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 577 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 578 | |
DavidEGrayson | 9:9734347b5756 | 579 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 580 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 581 | } |
DavidEGrayson | 10:e4dd36148539 | 582 | } |
DavidEGrayson | 10:e4dd36148539 | 583 | |
DavidEGrayson | 20:dbec34f0e76b | 584 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 585 | { |
DavidEGrayson | 20:dbec34f0e76b | 586 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 587 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 588 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 589 | showOrientationWithLeds34(); |
DavidEGrayson | 20:dbec34f0e76b | 590 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 591 | { |
DavidEGrayson | 20:dbec34f0e76b | 592 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 20:dbec34f0e76b | 593 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 594 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 595 | } |
DavidEGrayson | 20:dbec34f0e76b | 596 | } |
DavidEGrayson | 20:dbec34f0e76b | 597 | } |
DavidEGrayson | 20:dbec34f0e76b | 598 | |
DavidEGrayson | 31:739b91331f31 | 599 | // with should be between 0 and 63 |
DavidEGrayson | 31:739b91331f31 | 600 | void printBar(const char * name, uint16_t result) |
DavidEGrayson | 10:e4dd36148539 | 601 | { |
DavidEGrayson | 31:739b91331f31 | 602 | pc.printf("%-2s %5d |", name, result); |
DavidEGrayson | 31:739b91331f31 | 603 | uint16_t width = result >> 4; |
DavidEGrayson | 31:739b91331f31 | 604 | if (width > 63) { width = 63; } |
DavidEGrayson | 10:e4dd36148539 | 605 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 606 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 607 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 608 | pc.putc('|'); |
DavidEGrayson | 31:739b91331f31 | 609 | pc.putc('\r'); |
DavidEGrayson | 10:e4dd36148539 | 610 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 611 | } |