David Grayson / Mbed 2 deprecated DeadReckoning

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@38:5e93a479c244, 2014-03-13 (annotated)

Committer:
DavidEGrayson
Date:
Thu Mar 13 17:49:43 2014 +0000
Revision:
38:5e93a479c244
Parent:
37:23000a47ed2b
Child:
39:b19dfc5d4d4b
The final version of the code that was used for the competition.;

Who changed what in which revision?

UserRevisionLine numberNew 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 21:c279c6a83671 15
DavidEGrayson 21:c279c6a83671 16 Reckoner reckoner;
DavidEGrayson 21:c279c6a83671 17 LineTracker lineTracker;
DavidEGrayson 37:23000a47ed2b 18 Logger logger;
DavidEGrayson 37:23000a47ed2b 19 Pacer loggerPacer(50000);
DavidEGrayson 21:c279c6a83671 20
DavidEGrayson 33:58a0ab6e9ad2 21 const int16_t drivingSpeed = 400;
DavidEGrayson 21:c279c6a83671 22
DavidEGrayson 21:c279c6a83671 23 void setLeds(bool v1, bool v2, bool v3, bool v4)
DavidEGrayson 21:c279c6a83671 24 {
DavidEGrayson 21:c279c6a83671 25 led1 = v1;
DavidEGrayson 21:c279c6a83671 26 led2 = v2;
DavidEGrayson 21:c279c6a83671 27 led3 = v3;
DavidEGrayson 21:c279c6a83671 28 led4 = v4;
DavidEGrayson 21:c279c6a83671 29 }
DavidEGrayson 0:e77a0edb9878 30
DavidEGrayson 10:e4dd36148539 31 int __attribute__((noreturn)) main()
DavidEGrayson 2:968338353aef 32 {
DavidEGrayson 2:968338353aef 33 pc.baud(115200);
DavidEGrayson 2:968338353aef 34
DavidEGrayson 2:968338353aef 35 // Enable pull-ups on encoder pins and give them a chance to settle.
DavidEGrayson 9:9734347b5756 36 encodersInit();
DavidEGrayson 9:9734347b5756 37 motorsInit();
DavidEGrayson 16:8eaa5bc2bdb1 38 buttonsInit();
DavidEGrayson 4:1b20a11765c8 39
DavidEGrayson 8:78b1ff957cba 40 // Test routines
DavidEGrayson 9:9734347b5756 41 //testMotors();
DavidEGrayson 10:e4dd36148539 42 //testEncoders();
DavidEGrayson 32:83a13b06093c 43 //testLineSensors();
DavidEGrayson 16:8eaa5bc2bdb1 44 //testReckoner();
DavidEGrayson 17:2df9861f53ee 45 //testButtons();
DavidEGrayson 34:6c84680d823a 46 //testDriveHome();
DavidEGrayson 21:c279c6a83671 47 //testFinalSettleIn();
DavidEGrayson 23:aae5cbe3b924 48 //testCalibrate();
DavidEGrayson 33:58a0ab6e9ad2 49 //testLineFollowing();
DavidEGrayson 29:cfcf08d8ac79 50 //testAnalog();
DavidEGrayson 31:739b91331f31 51 //testSensorGlitches();
DavidEGrayson 33:58a0ab6e9ad2 52 //testTurnInPlace();
DavidEGrayson 33:58a0ab6e9ad2 53 //testCloseness();
DavidEGrayson 37:23000a47ed2b 54 //testLogger();
DavidEGrayson 37:23000a47ed2b 55
DavidEGrayson 2:968338353aef 56
DavidEGrayson 21:c279c6a83671 57 // Real routines for the contest.
DavidEGrayson 28:4374035df5e0 58 loadCalibration();
DavidEGrayson 28:4374035df5e0 59
DavidEGrayson 21:c279c6a83671 60 setLeds(1, 0, 0, 0);
DavidEGrayson 21:c279c6a83671 61 waitForSignalToStart();
DavidEGrayson 25:73c2eedb3b91 62
DavidEGrayson 33:58a0ab6e9ad2 63 setLeds(0, 1, 0, 0);
DavidEGrayson 28:4374035df5e0 64 findLine();
DavidEGrayson 25:73c2eedb3b91 65
DavidEGrayson 27:2456f68be679 66 //setLeds(1, 1, 0, 0);
DavidEGrayson 27:2456f68be679 67 //turnRightToFindLine();
DavidEGrayson 33:58a0ab6e9ad2 68
DavidEGrayson 21:c279c6a83671 69 setLeds(0, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 70 followLineToEnd();
DavidEGrayson 33:58a0ab6e9ad2 71
DavidEGrayson 21:c279c6a83671 72 setLeds(1, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 73 driveHomeAlmost();
DavidEGrayson 33:58a0ab6e9ad2 74
DavidEGrayson 33:58a0ab6e9ad2 75 //setLeds(0, 1, 1, 0);
DavidEGrayson 33:58a0ab6e9ad2 76 //finalSettleIn();
DavidEGrayson 33:58a0ab6e9ad2 77
DavidEGrayson 21:c279c6a83671 78 setLeds(1, 1, 1, 1);
DavidEGrayson 37:23000a47ed2b 79 loggerReportLoop();
DavidEGrayson 37:23000a47ed2b 80 }
DavidEGrayson 37:23000a47ed2b 81
DavidEGrayson 37:23000a47ed2b 82 void loggerService()
DavidEGrayson 37:23000a47ed2b 83 {
DavidEGrayson 37:23000a47ed2b 84 if (loggerPacer.pace())
DavidEGrayson 37:23000a47ed2b 85 {
DavidEGrayson 37:23000a47ed2b 86 logger.log();
DavidEGrayson 37:23000a47ed2b 87 }
DavidEGrayson 0:e77a0edb9878 88 }
DavidEGrayson 12:835a4d24ae3b 89
DavidEGrayson 37:23000a47ed2b 90 void loggerReportLoop()
DavidEGrayson 37:23000a47ed2b 91 {
DavidEGrayson 37:23000a47ed2b 92 while(1)
DavidEGrayson 37:23000a47ed2b 93 {
DavidEGrayson 37:23000a47ed2b 94 if(button1DefinitelyPressed())
DavidEGrayson 37:23000a47ed2b 95 {
DavidEGrayson 37:23000a47ed2b 96 logger.dump();
DavidEGrayson 37:23000a47ed2b 97 }
DavidEGrayson 37:23000a47ed2b 98 }
DavidEGrayson 37:23000a47ed2b 99 }
DavidEGrayson 37:23000a47ed2b 100
DavidEGrayson 37:23000a47ed2b 101
DavidEGrayson 28:4374035df5e0 102 void loadCalibration()
DavidEGrayson 28:4374035df5e0 103 {
DavidEGrayson 32:83a13b06093c 104 /** QTR-3RC **/
DavidEGrayson 32:83a13b06093c 105 lineTracker.calibratedMinimum[0] = 100;
DavidEGrayson 32:83a13b06093c 106 lineTracker.calibratedMinimum[1] = 94;
DavidEGrayson 32:83a13b06093c 107 lineTracker.calibratedMinimum[2] = 103;
DavidEGrayson 32:83a13b06093c 108 lineTracker.calibratedMaximum[0] = 792;
DavidEGrayson 32:83a13b06093c 109 lineTracker.calibratedMaximum[1] = 807;
DavidEGrayson 32:83a13b06093c 110 lineTracker.calibratedMaximum[2] = 1000;
DavidEGrayson 32:83a13b06093c 111
DavidEGrayson 32:83a13b06093c 112 /** QTR-3A
DavidEGrayson 28:4374035df5e0 113 lineTracker.calibratedMinimum[0] = 34872;
DavidEGrayson 28:4374035df5e0 114 lineTracker.calibratedMinimum[1] = 29335;
DavidEGrayson 28:4374035df5e0 115 lineTracker.calibratedMinimum[2] = 23845;
DavidEGrayson 28:4374035df5e0 116 lineTracker.calibratedMaximum[0] = 59726;
DavidEGrayson 28:4374035df5e0 117 lineTracker.calibratedMaximum[1] = 60110;
DavidEGrayson 32:83a13b06093c 118 lineTracker.calibratedMaximum[2] = 58446;
DavidEGrayson 32:83a13b06093c 119 **/
DavidEGrayson 28:4374035df5e0 120 }
DavidEGrayson 28:4374035df5e0 121
DavidEGrayson 12:835a4d24ae3b 122 void updateReckonerFromEncoders()
DavidEGrayson 12:835a4d24ae3b 123 {
DavidEGrayson 12:835a4d24ae3b 124 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 125 {
DavidEGrayson 12:835a4d24ae3b 126 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 127 switch(event)
DavidEGrayson 12:835a4d24ae3b 128 {
DavidEGrayson 17:2df9861f53ee 129 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 130 reckoner.handleTickLeftForward();
DavidEGrayson 17:2df9861f53ee 131 break;
DavidEGrayson 17:2df9861f53ee 132 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 133 reckoner.handleTickLeftBackward();
DavidEGrayson 17:2df9861f53ee 134 break;
DavidEGrayson 17:2df9861f53ee 135 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 136 reckoner.handleTickRightForward();
DavidEGrayson 17:2df9861f53ee 137 break;
DavidEGrayson 17:2df9861f53ee 138 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 139 reckoner.handleTickRightBackward();
DavidEGrayson 17:2df9861f53ee 140 break;
DavidEGrayson 12:835a4d24ae3b 141 }
DavidEGrayson 12:835a4d24ae3b 142 }
DavidEGrayson 12:835a4d24ae3b 143 }
DavidEGrayson 17:2df9861f53ee 144
DavidEGrayson 19:a11ffc903774 145 float magnitude()
DavidEGrayson 19:a11ffc903774 146 {
DavidEGrayson 19:a11ffc903774 147 return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y);
DavidEGrayson 19:a11ffc903774 148 }
DavidEGrayson 19:a11ffc903774 149
DavidEGrayson 20:dbec34f0e76b 150 float dotProduct()
DavidEGrayson 20:dbec34f0e76b 151 {
DavidEGrayson 20:dbec34f0e76b 152 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 153 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 154 float magn = magnitude();
DavidEGrayson 20:dbec34f0e76b 155 if (magn == 0){ return 0; }
DavidEGrayson 20:dbec34f0e76b 156 return ((float)reckoner.x * c + (float)reckoner.y * s) / magn;
DavidEGrayson 20:dbec34f0e76b 157 }
DavidEGrayson 20:dbec34f0e76b 158
DavidEGrayson 18:b65fbb795396 159 // The closer this is to zero, the closer we are to pointing towards the home position.
DavidEGrayson 18:b65fbb795396 160 // It is basically a cross product of the two vectors (x, y) and (cos, sin).
DavidEGrayson 19:a11ffc903774 161 float determinant()
DavidEGrayson 18:b65fbb795396 162 {
DavidEGrayson 18:b65fbb795396 163 // TODO: get rid of the magic numbers here (i.e. 30)
DavidEGrayson 18:b65fbb795396 164 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 18:b65fbb795396 165 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 19:a11ffc903774 166 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 167 }
DavidEGrayson 19:a11ffc903774 168
DavidEGrayson 21:c279c6a83671 169 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 170 {
DavidEGrayson 19:a11ffc903774 171 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 172 {
DavidEGrayson 19:a11ffc903774 173 return 0;
DavidEGrayson 19:a11ffc903774 174 }
DavidEGrayson 19:a11ffc903774 175 else
DavidEGrayson 19:a11ffc903774 176 {
DavidEGrayson 19:a11ffc903774 177 return speed - reduction;
DavidEGrayson 19:a11ffc903774 178 }
DavidEGrayson 18:b65fbb795396 179 }
DavidEGrayson 18:b65fbb795396 180
DavidEGrayson 21:c279c6a83671 181 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 182 {
DavidEGrayson 21:c279c6a83671 183 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 184 {
DavidEGrayson 21:c279c6a83671 185 updateReckonerFromEncoders();
DavidEGrayson 38:5e93a479c244 186 }
DavidEGrayson 21:c279c6a83671 187 reckoner.reset();
DavidEGrayson 38:5e93a479c244 188 while(button1DefinitelyPressed())
DavidEGrayson 38:5e93a479c244 189 {
DavidEGrayson 38:5e93a479c244 190 updateReckonerFromEncoders();
DavidEGrayson 38:5e93a479c244 191 }
DavidEGrayson 38:5e93a479c244 192 wait(0.2);
DavidEGrayson 21:c279c6a83671 193 }
DavidEGrayson 21:c279c6a83671 194
DavidEGrayson 24:fc01d9125d3b 195 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 196 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 197 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 198 {
DavidEGrayson 24:fc01d9125d3b 199 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 200 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 201 int16_t speedRight = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 202 int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
DavidEGrayson 24:fc01d9125d3b 203 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 204 {
DavidEGrayson 24:fc01d9125d3b 205 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 206 }
DavidEGrayson 24:fc01d9125d3b 207 else
DavidEGrayson 24:fc01d9125d3b 208 {
DavidEGrayson 24:fc01d9125d3b 209 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 210 }
DavidEGrayson 24:fc01d9125d3b 211 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 212 }
DavidEGrayson 24:fc01d9125d3b 213
DavidEGrayson 28:4374035df5e0 214 void updateMotorsToFollowLine()
DavidEGrayson 24:fc01d9125d3b 215 {
DavidEGrayson 34:6c84680d823a 216 const int followLineStrength = drivingSpeed * 5 / 4;
DavidEGrayson 28:4374035df5e0 217
DavidEGrayson 28:4374035df5e0 218 int16_t speedLeft = drivingSpeed;
DavidEGrayson 28:4374035df5e0 219 int16_t speedRight = drivingSpeed;
DavidEGrayson 28:4374035df5e0 220 int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000;
DavidEGrayson 28:4374035df5e0 221 if(reduction < 0)
DavidEGrayson 28:4374035df5e0 222 {
DavidEGrayson 28:4374035df5e0 223 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 28:4374035df5e0 224 }
DavidEGrayson 28:4374035df5e0 225 else
DavidEGrayson 28:4374035df5e0 226 {
DavidEGrayson 28:4374035df5e0 227 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 28:4374035df5e0 228 }
DavidEGrayson 24:fc01d9125d3b 229
DavidEGrayson 28:4374035df5e0 230 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 28:4374035df5e0 231 }
DavidEGrayson 28:4374035df5e0 232
DavidEGrayson 28:4374035df5e0 233 void findLine()
DavidEGrayson 28:4374035df5e0 234 {
DavidEGrayson 24:fc01d9125d3b 235 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 236 while(1)
DavidEGrayson 24:fc01d9125d3b 237 {
DavidEGrayson 24:fc01d9125d3b 238 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 239 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 240 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 241 loggerService();
DavidEGrayson 37:23000a47ed2b 242 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 243 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 244
DavidEGrayson 33:58a0ab6e9ad2 245 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000)
DavidEGrayson 24:fc01d9125d3b 246 {
DavidEGrayson 26:7e7c376a7446 247 break;
DavidEGrayson 24:fc01d9125d3b 248 }
DavidEGrayson 24:fc01d9125d3b 249 }
DavidEGrayson 24:fc01d9125d3b 250 }
DavidEGrayson 20:dbec34f0e76b 251
DavidEGrayson 33:58a0ab6e9ad2 252 /**
DavidEGrayson 21:c279c6a83671 253 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 254 {
DavidEGrayson 21:c279c6a83671 255 while(1)
DavidEGrayson 21:c279c6a83671 256 {
DavidEGrayson 21:c279c6a83671 257 lineTracker.read();
DavidEGrayson 21:c279c6a83671 258 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 259 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 260
DavidEGrayson 21:c279c6a83671 261 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 262 {
DavidEGrayson 21:c279c6a83671 263 break;
DavidEGrayson 21:c279c6a83671 264 }
DavidEGrayson 21:c279c6a83671 265
DavidEGrayson 21:c279c6a83671 266 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 267 }
DavidEGrayson 33:58a0ab6e9ad2 268 }**/
DavidEGrayson 21:c279c6a83671 269
DavidEGrayson 21:c279c6a83671 270 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 271 {
DavidEGrayson 26:7e7c376a7446 272 Timer timer;
DavidEGrayson 26:7e7c376a7446 273 timer.start();
DavidEGrayson 26:7e7c376a7446 274
DavidEGrayson 21:c279c6a83671 275 GeneralDebouncer lineStatus(10000);
DavidEGrayson 34:6c84680d823a 276 const uint32_t lineDebounceTime = 1000000;
DavidEGrayson 21:c279c6a83671 277
DavidEGrayson 21:c279c6a83671 278 while(1)
DavidEGrayson 21:c279c6a83671 279 {
DavidEGrayson 21:c279c6a83671 280 lineTracker.read();
DavidEGrayson 21:c279c6a83671 281 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 282 loggerService();
DavidEGrayson 21:c279c6a83671 283
DavidEGrayson 21:c279c6a83671 284 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 285
DavidEGrayson 21:c279c6a83671 286 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 26:7e7c376a7446 287 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 28:4374035df5e0 288 if(lostLine && timer.read_us() >= 2000000)
DavidEGrayson 21:c279c6a83671 289 {
DavidEGrayson 21:c279c6a83671 290 break;
DavidEGrayson 21:c279c6a83671 291 }
DavidEGrayson 21:c279c6a83671 292
DavidEGrayson 28:4374035df5e0 293 updateMotorsToFollowLine();
DavidEGrayson 21:c279c6a83671 294 }
DavidEGrayson 20:dbec34f0e76b 295 }
DavidEGrayson 20:dbec34f0e76b 296
DavidEGrayson 20:dbec34f0e76b 297 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 298 {
DavidEGrayson 18:b65fbb795396 299 Timer timer;
DavidEGrayson 18:b65fbb795396 300 timer.start();
DavidEGrayson 19:a11ffc903774 301
DavidEGrayson 19:a11ffc903774 302 while(1)
DavidEGrayson 18:b65fbb795396 303 {
DavidEGrayson 18:b65fbb795396 304 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 305 loggerService();
DavidEGrayson 37:23000a47ed2b 306
DavidEGrayson 19:a11ffc903774 307 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 308
DavidEGrayson 33:58a0ab6e9ad2 309 if (magn < (1<<(14+7)))
DavidEGrayson 18:b65fbb795396 310 {
DavidEGrayson 33:58a0ab6e9ad2 311 // We are within 128 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 312 break;
DavidEGrayson 19:a11ffc903774 313 }
DavidEGrayson 19:a11ffc903774 314
DavidEGrayson 19:a11ffc903774 315 float det = determinant();
DavidEGrayson 19:a11ffc903774 316
DavidEGrayson 21:c279c6a83671 317 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 318 int16_t speedRight = drivingSpeed;
DavidEGrayson 33:58a0ab6e9ad2 319 if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 320 {
DavidEGrayson 33:58a0ab6e9ad2 321 int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2);
DavidEGrayson 19:a11ffc903774 322 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 323 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 324 }
DavidEGrayson 19:a11ffc903774 325
DavidEGrayson 19:a11ffc903774 326 if (det > 0)
DavidEGrayson 19:a11ffc903774 327 {
DavidEGrayson 19:a11ffc903774 328 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 329 }
DavidEGrayson 18:b65fbb795396 330 else
DavidEGrayson 18:b65fbb795396 331 {
DavidEGrayson 19:a11ffc903774 332 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 333 }
DavidEGrayson 19:a11ffc903774 334 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 335 }
DavidEGrayson 18:b65fbb795396 336
DavidEGrayson 20:dbec34f0e76b 337 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 338 }
DavidEGrayson 20:dbec34f0e76b 339
DavidEGrayson 20:dbec34f0e76b 340 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 341 {
DavidEGrayson 27:2456f68be679 342 const int16_t settleSpeed = 300;
DavidEGrayson 27:2456f68be679 343 const int16_t settleModificationStrength = 150;
DavidEGrayson 20:dbec34f0e76b 344
DavidEGrayson 20:dbec34f0e76b 345 Timer timer;
DavidEGrayson 20:dbec34f0e76b 346 timer.start();
DavidEGrayson 20:dbec34f0e76b 347
DavidEGrayson 20:dbec34f0e76b 348 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 349 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 350 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 351
DavidEGrayson 27:2456f68be679 352 Pacer reportPacer(200000);
DavidEGrayson 27:2456f68be679 353 Pacer motorUpdatePacer(10000);
DavidEGrayson 21:c279c6a83671 354
DavidEGrayson 27:2456f68be679 355 float integral = 0;
DavidEGrayson 27:2456f68be679 356
DavidEGrayson 27:2456f68be679 357 motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling
DavidEGrayson 27:2456f68be679 358
DavidEGrayson 19:a11ffc903774 359 while(1)
DavidEGrayson 19:a11ffc903774 360 {
DavidEGrayson 27:2456f68be679 361 led1 = (state == 1);
DavidEGrayson 27:2456f68be679 362
DavidEGrayson 20:dbec34f0e76b 363 updateReckonerFromEncoders();
DavidEGrayson 37:23000a47ed2b 364 loggerService();
DavidEGrayson 37:23000a47ed2b 365
DavidEGrayson 20:dbec34f0e76b 366 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 367 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 368 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 369 {
DavidEGrayson 20:dbec34f0e76b 370 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 371 }
DavidEGrayson 20:dbec34f0e76b 372 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 373 {
DavidEGrayson 20:dbec34f0e76b 374 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 375 }
DavidEGrayson 20:dbec34f0e76b 376
DavidEGrayson 21:c279c6a83671 377 if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29))
DavidEGrayson 19:a11ffc903774 378 {
DavidEGrayson 21:c279c6a83671 379 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 380 state = 1;
DavidEGrayson 20:dbec34f0e76b 381 }
DavidEGrayson 20:dbec34f0e76b 382
DavidEGrayson 21:c279c6a83671 383 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 384 {
DavidEGrayson 21:c279c6a83671 385 // Stop moving.
DavidEGrayson 21:c279c6a83671 386 break;
DavidEGrayson 21:c279c6a83671 387 }
DavidEGrayson 21:c279c6a83671 388
DavidEGrayson 27:2456f68be679 389 if (motorUpdatePacer.pace())
DavidEGrayson 20:dbec34f0e76b 390 {
DavidEGrayson 27:2456f68be679 391 int16_t rotationSpeed;
DavidEGrayson 27:2456f68be679 392 if (state == 1)
DavidEGrayson 27:2456f68be679 393 {
DavidEGrayson 27:2456f68be679 394 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 27:2456f68be679 395 integral += s;
DavidEGrayson 27:2456f68be679 396 rotationSpeed = -(s * 2400 + integral * 20);
DavidEGrayson 27:2456f68be679 397
DavidEGrayson 27:2456f68be679 398 if (rotationSpeed > 300)
DavidEGrayson 27:2456f68be679 399 {
DavidEGrayson 27:2456f68be679 400 rotationSpeed = 300;
DavidEGrayson 27:2456f68be679 401 }
DavidEGrayson 27:2456f68be679 402 if (rotationSpeed < -300)
DavidEGrayson 27:2456f68be679 403 {
DavidEGrayson 27:2456f68be679 404 rotationSpeed = -300;
DavidEGrayson 27:2456f68be679 405 }
DavidEGrayson 27:2456f68be679 406 }
DavidEGrayson 27:2456f68be679 407 else
DavidEGrayson 27:2456f68be679 408 {
DavidEGrayson 27:2456f68be679 409 rotationSpeed = settleSpeed;
DavidEGrayson 27:2456f68be679 410 }
DavidEGrayson 27:2456f68be679 411
DavidEGrayson 27:2456f68be679 412 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 413 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 414 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 20:dbec34f0e76b 415 }
DavidEGrayson 21:c279c6a83671 416
DavidEGrayson 21:c279c6a83671 417 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 418 {
DavidEGrayson 21:c279c6a83671 419 pc.printf("%11d %11d %11d %11d | %11f %11f\r\n",
DavidEGrayson 21:c279c6a83671 420 reckoner.cos, reckoner.sin, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 421 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 422 }
DavidEGrayson 19:a11ffc903774 423 }
DavidEGrayson 20:dbec34f0e76b 424
DavidEGrayson 21:c279c6a83671 425 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 426 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 427 }