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

Files at this revision

API Documentation at this revision

Revision 47:9773dc14c834, committed 2019-07-31

Comitter:
DavidEGrayson
Date:
Wed Jul 31 07:14:09 2019 +0000
Parent:
46:df2c2d25c070
Child:
48:597738b77f77
Commit message:
Got some awesome results using carefully calculated scale factors for the gyro!

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
turn_sensor.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sun Jul 28 22:20:12 2019 +0000
+++ b/main.cpp	Wed Jul 31 07:14:09 2019 +0000
@@ -15,7 +15,7 @@
 #include "l3g.h"
 #include "turn_sensor.h"
 
-void doDeadReckoning();
+void __attribute__((noreturn)) doDeadReckoning();
 
 Reckoner reckoner;
 LineTracker lineTracker;
@@ -24,10 +24,13 @@
 
 uint32_t totalEncoderCounts = 0;
 uint32_t nextLogEncoderCount = 0;
-const uint32_t logSpacing = 100;
+const uint32_t logSpacing = 250;
 
 const int16_t drivingSpeed = 400;
 
+const uint32_t timeout = 1*60000;
+
+
 void setLeds(bool v1, bool v2, bool v3, bool v4)
 {
    led1 = v1;
@@ -306,9 +309,14 @@
         
         bool lostLine = lineStatus.getState() == false &&
           lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;        
-        if(lostLine && timer.read_us() >= 2000000)
+        if (lostLine && timer.read_ms() >= 2000)
         {
-            break;   
+            break;
+        }
+        
+        if (timeout && timer.read_ms() > timeout)
+        {
+            break;
         }
         
         updateMotorsToFollowLine();     

--- a/turn_sensor.cpp	Sun Jul 28 22:20:12 2019 +0000
+++ b/turn_sensor.cpp	Wed Jul 31 07:14:09 2019 +0000
@@ -50,6 +50,17 @@
         // (0.07 dps/digit) * (1/1000000 s/us) * (2^29/45 unit/degree)
         // = 14680064/17578125 unit/(digit*us)
         
-        angleUnsigned += (int64_t)d * 14680064 / 17578125;
+        if (rate > 0)
+        {
+          // Counter-clockwise scale factor calculated from log_190730_2.csv.
+          const double scale = 1.012394298;
+          angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
+        }
+        else
+        {
+          // Clockwise scale factor calculated from log_190730_3.csv.
+          const double scale = 0.992376154;
+          angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
+        }
     }
 }
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