David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp@33:58a0ab6e9ad2, 2014-03-05 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Wed Mar 05 02:50:09 2014 +0000
- Revision:
- 33:58a0ab6e9ad2
- Parent:
- 32:83a13b06093c
- Child:
- 37:23000a47ed2b
Bunch of stuff. Then reduced drivingSpeed to 400.
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 | 12:835a4d24ae3b | 13 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 14 | #include "buttons.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 15 | |
DavidEGrayson | 20:dbec34f0e76b | 16 | void __attribute__((noreturn)) infiniteReckonerReportLoop(); |
DavidEGrayson | 10:e4dd36148539 | 17 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 18 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 19 | void testCloseness() |
DavidEGrayson | 30:84be2d602dc0 | 20 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 21 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 22 | while(1) |
DavidEGrayson | 30:84be2d602dc0 | 23 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 24 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 25 | float magn = magnitude(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 26 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 27 | led3 = (magn < (1<<(14+7))); |
DavidEGrayson | 33:58a0ab6e9ad2 | 28 | led4 = (magn < (1<<(14+9))); |
DavidEGrayson | 30:84be2d602dc0 | 29 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 30 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 31 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 32 | void showOrientationWithLeds34() |
DavidEGrayson | 33:58a0ab6e9ad2 | 33 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 34 | led3 = reckoner.cos > 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 35 | led4 = reckoner.sin > 0; |
DavidEGrayson | 30:84be2d602dc0 | 36 | } |
DavidEGrayson | 30:84be2d602dc0 | 37 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 38 | void testTurnInPlace() |
DavidEGrayson | 30:84be2d602dc0 | 39 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 40 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 41 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 33:58a0ab6e9ad2 | 42 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 43 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 44 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 45 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 46 | led2 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 47 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 48 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 30:84be2d602dc0 | 49 | Timer timer; |
DavidEGrayson | 30:84be2d602dc0 | 50 | timer.start(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 51 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 33:58a0ab6e9ad2 | 52 | while(timer.read_ms() < 4000) |
DavidEGrayson | 33:58a0ab6e9ad2 | 53 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 54 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 55 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 56 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 57 | timer.reset(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 58 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 59 | float integral = 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 60 | while (timer.read_ms() < 4000) |
DavidEGrayson | 30:84be2d602dc0 | 61 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 62 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 30:84be2d602dc0 | 63 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 64 | int16_t rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 65 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 33:58a0ab6e9ad2 | 66 | integral += s; |
DavidEGrayson | 33:58a0ab6e9ad2 | 67 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 69 | if (rotationSpeed > 450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 70 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 71 | rotationSpeed = 450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 72 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 73 | if (rotationSpeed < -450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 74 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 75 | rotationSpeed = -450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 76 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 77 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 78 | int16_t speedLeft = -rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 79 | int16_t speedRight = rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 80 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 30:84be2d602dc0 | 81 | } |
DavidEGrayson | 30:84be2d602dc0 | 82 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 83 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 84 | infiniteReckonerReportLoop(); |
DavidEGrayson | 30:84be2d602dc0 | 85 | } |
DavidEGrayson | 30:84be2d602dc0 | 86 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 87 | |
DavidEGrayson | 30:84be2d602dc0 | 88 | void testSensorGlitches() |
DavidEGrayson | 29:cfcf08d8ac79 | 89 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 90 | AnalogIn testInput(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 91 | Pacer reportPacer(1000000); |
DavidEGrayson | 29:cfcf08d8ac79 | 92 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 93 | pc.printf("hi\r\n"); |
DavidEGrayson | 30:84be2d602dc0 | 94 | |
DavidEGrayson | 30:84be2d602dc0 | 95 | //uint16_t riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 96 | uint16_t reading = 0xFF; |
DavidEGrayson | 30:84be2d602dc0 | 97 | |
DavidEGrayson | 29:cfcf08d8ac79 | 98 | while(1) |
DavidEGrayson | 29:cfcf08d8ac79 | 99 | { |
DavidEGrayson | 30:84be2d602dc0 | 100 | /** This digital filtering did not work |
DavidEGrayson | 30:84be2d602dc0 | 101 | { |
DavidEGrayson | 30:84be2d602dc0 | 102 | wait(0.01); |
DavidEGrayson | 30:84be2d602dc0 | 103 | uint16_t raw = testInput.read_u16(); |
DavidEGrayson | 30:84be2d602dc0 | 104 | if (raw < reading) |
DavidEGrayson | 30:84be2d602dc0 | 105 | { |
DavidEGrayson | 30:84be2d602dc0 | 106 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 107 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 108 | } |
DavidEGrayson | 30:84be2d602dc0 | 109 | else |
DavidEGrayson | 30:84be2d602dc0 | 110 | { |
DavidEGrayson | 30:84be2d602dc0 | 111 | riseCount++; |
DavidEGrayson | 30:84be2d602dc0 | 112 | if (riseCount == 10) |
DavidEGrayson | 30:84be2d602dc0 | 113 | { |
DavidEGrayson | 30:84be2d602dc0 | 114 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 115 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 116 | } |
DavidEGrayson | 30:84be2d602dc0 | 117 | } |
DavidEGrayson | 30:84be2d602dc0 | 118 | } |
DavidEGrayson | 30:84be2d602dc0 | 119 | **/ |
DavidEGrayson | 33:58a0ab6e9ad2 | 120 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 121 | uint16_t values[LINE_SENSOR_COUNT]; |
DavidEGrayson | 33:58a0ab6e9ad2 | 122 | readSensors(values); |
DavidEGrayson | 33:58a0ab6e9ad2 | 123 | reading = values[0]; |
DavidEGrayson | 30:84be2d602dc0 | 124 | |
DavidEGrayson | 29:cfcf08d8ac79 | 125 | if(reading > 100) |
DavidEGrayson | 29:cfcf08d8ac79 | 126 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 127 | badCount += 1; |
DavidEGrayson | 30:84be2d602dc0 | 128 | //pc.printf("f %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 129 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 130 | else |
DavidEGrayson | 29:cfcf08d8ac79 | 131 | { |
DavidEGrayson | 30:84be2d602dc0 | 132 | goodCount += 1; |
DavidEGrayson | 29:cfcf08d8ac79 | 133 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 134 | |
DavidEGrayson | 29:cfcf08d8ac79 | 135 | if (reportPacer.pace()) |
DavidEGrayson | 29:cfcf08d8ac79 | 136 | { |
DavidEGrayson | 30:84be2d602dc0 | 137 | pc.printf("h %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 138 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 139 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 140 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 141 | |
DavidEGrayson | 28:4374035df5e0 | 142 | void testAnalog() |
DavidEGrayson | 28:4374035df5e0 | 143 | { |
DavidEGrayson | 28:4374035df5e0 | 144 | AnalogIn testInput(p18); |
DavidEGrayson | 28:4374035df5e0 | 145 | |
DavidEGrayson | 29:cfcf08d8ac79 | 146 | DigitalOut pin20(p20); |
DavidEGrayson | 29:cfcf08d8ac79 | 147 | DigitalOut pin19(p19); |
DavidEGrayson | 29:cfcf08d8ac79 | 148 | //DigitalOut pin18(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 149 | DigitalOut pin17(p17); |
DavidEGrayson | 29:cfcf08d8ac79 | 150 | DigitalOut pin16(p16); |
DavidEGrayson | 29:cfcf08d8ac79 | 151 | DigitalOut pin15(p15); |
DavidEGrayson | 29:cfcf08d8ac79 | 152 | |
DavidEGrayson | 29:cfcf08d8ac79 | 153 | pin20 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 154 | pin19 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 155 | //pin18 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 156 | pin17 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 157 | pin16 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 158 | pin15 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 159 | |
DavidEGrayson | 28:4374035df5e0 | 160 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 161 | |
DavidEGrayson | 28:4374035df5e0 | 162 | Pacer reportPacer(1000000); |
DavidEGrayson | 28:4374035df5e0 | 163 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 164 | { |
DavidEGrayson | 28:4374035df5e0 | 165 | uint16_t reading = testInput.read_u16(); |
DavidEGrayson | 28:4374035df5e0 | 166 | if(reading > 100) |
DavidEGrayson | 28:4374035df5e0 | 167 | { |
DavidEGrayson | 28:4374035df5e0 | 168 | badCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 169 | pc.printf("%5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 28:4374035df5e0 | 170 | } |
DavidEGrayson | 28:4374035df5e0 | 171 | else |
DavidEGrayson | 28:4374035df5e0 | 172 | { |
DavidEGrayson | 28:4374035df5e0 | 173 | goodCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 174 | } |
DavidEGrayson | 28:4374035df5e0 | 175 | |
DavidEGrayson | 28:4374035df5e0 | 176 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 177 | { |
DavidEGrayson | 28:4374035df5e0 | 178 | pc.printf("Hello\r\n"); |
DavidEGrayson | 28:4374035df5e0 | 179 | } |
DavidEGrayson | 28:4374035df5e0 | 180 | } |
DavidEGrayson | 28:4374035df5e0 | 181 | } |
DavidEGrayson | 28:4374035df5e0 | 182 | |
DavidEGrayson | 28:4374035df5e0 | 183 | // This also tests the LineTracker by printing out a lot of data from it. |
DavidEGrayson | 28:4374035df5e0 | 184 | void testLineFollowing() |
DavidEGrayson | 28:4374035df5e0 | 185 | { |
DavidEGrayson | 28:4374035df5e0 | 186 | led1 = 1; |
DavidEGrayson | 28:4374035df5e0 | 187 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 28:4374035df5e0 | 188 | { |
DavidEGrayson | 28:4374035df5e0 | 189 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 190 | } |
DavidEGrayson | 28:4374035df5e0 | 191 | led2 = 1; |
DavidEGrayson | 28:4374035df5e0 | 192 | |
DavidEGrayson | 28:4374035df5e0 | 193 | Pacer reportPacer(200000); |
DavidEGrayson | 28:4374035df5e0 | 194 | |
DavidEGrayson | 28:4374035df5e0 | 195 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 196 | uint16_t loopCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 197 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 198 | { |
DavidEGrayson | 28:4374035df5e0 | 199 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 200 | bool lineVisiblePrevious = lineTracker.getLineVisible(); |
DavidEGrayson | 28:4374035df5e0 | 201 | lineTracker.read(); |
DavidEGrayson | 28:4374035df5e0 | 202 | updateMotorsToFollowLine(); |
DavidEGrayson | 28:4374035df5e0 | 203 | |
DavidEGrayson | 28:4374035df5e0 | 204 | loopCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 205 | |
DavidEGrayson | 28:4374035df5e0 | 206 | if (lineVisiblePrevious != lineTracker.getLineVisible()) |
DavidEGrayson | 28:4374035df5e0 | 207 | { |
DavidEGrayson | 32:83a13b06093c | 208 | pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 28:4374035df5e0 | 209 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 210 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 32:83a13b06093c | 211 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 212 | ); |
DavidEGrayson | 28:4374035df5e0 | 213 | } |
DavidEGrayson | 28:4374035df5e0 | 214 | |
DavidEGrayson | 28:4374035df5e0 | 215 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 216 | { |
DavidEGrayson | 32:83a13b06093c | 217 | pc.printf("%5d %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 32:83a13b06093c | 218 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 219 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 28:4374035df5e0 | 220 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 221 | ); |
DavidEGrayson | 28:4374035df5e0 | 222 | } |
DavidEGrayson | 28:4374035df5e0 | 223 | } |
DavidEGrayson | 28:4374035df5e0 | 224 | } |
DavidEGrayson | 28:4374035df5e0 | 225 | |
DavidEGrayson | 17:2df9861f53ee | 226 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 227 | { |
DavidEGrayson | 17:2df9861f53ee | 228 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 229 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 230 | { |
DavidEGrayson | 17:2df9861f53ee | 231 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 232 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 233 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 234 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 235 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 236 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 237 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 238 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 239 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 240 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 20:dbec34f0e76b | 241 | infiniteReckonerReportLoop(); |
DavidEGrayson | 20:dbec34f0e76b | 242 | } |
DavidEGrayson | 20:dbec34f0e76b | 243 | |
DavidEGrayson | 20:dbec34f0e76b | 244 | void testFinalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 245 | { |
DavidEGrayson | 20:dbec34f0e76b | 246 | led1 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 247 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 20:dbec34f0e76b | 248 | { |
DavidEGrayson | 20:dbec34f0e76b | 249 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 250 | } |
DavidEGrayson | 20:dbec34f0e76b | 251 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 252 | infiniteReckonerReportLoop(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 253 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 254 | |
DavidEGrayson | 17:2df9861f53ee | 255 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 256 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 257 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 258 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 259 | |
DavidEGrayson | 17:2df9861f53ee | 260 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 261 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 262 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 263 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 264 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 265 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 266 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 267 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 268 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 269 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 270 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 271 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 272 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 273 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 274 | |
DavidEGrayson | 12:835a4d24ae3b | 275 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 276 | { |
DavidEGrayson | 13:bba5b3abd13f | 277 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 278 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 279 | { |
DavidEGrayson | 12:835a4d24ae3b | 280 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 281 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 282 | led1 = (reckoner.x > 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 283 | led2 = (reckoner.y > 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 284 | showOrientationWithLeds34(); |
DavidEGrayson | 12:835a4d24ae3b | 285 | |
DavidEGrayson | 13:bba5b3abd13f | 286 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 287 | { |
DavidEGrayson | 19:a11ffc903774 | 288 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 289 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 290 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 291 | } |
DavidEGrayson | 12:835a4d24ae3b | 292 | } |
DavidEGrayson | 12:835a4d24ae3b | 293 | } |
DavidEGrayson | 12:835a4d24ae3b | 294 | |
DavidEGrayson | 10:e4dd36148539 | 295 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 296 | { |
DavidEGrayson | 10:e4dd36148539 | 297 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 298 | Pacer reportPacer(100000); |
DavidEGrayson | 31:739b91331f31 | 299 | Pacer clearStatsPacer(2000000); |
DavidEGrayson | 31:739b91331f31 | 300 | |
DavidEGrayson | 31:739b91331f31 | 301 | uint16_t min[LINE_SENSOR_COUNT]; |
DavidEGrayson | 31:739b91331f31 | 302 | uint16_t max[LINE_SENSOR_COUNT]; |
DavidEGrayson | 31:739b91331f31 | 303 | |
DavidEGrayson | 10:e4dd36148539 | 304 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 305 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 306 | { |
DavidEGrayson | 31:739b91331f31 | 307 | if (clearStatsPacer.pace()) |
DavidEGrayson | 31:739b91331f31 | 308 | { |
DavidEGrayson | 31:739b91331f31 | 309 | for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++) |
DavidEGrayson | 31:739b91331f31 | 310 | { |
DavidEGrayson | 31:739b91331f31 | 311 | min[i] = 0xFFFF; |
DavidEGrayson | 31:739b91331f31 | 312 | max[i] = 0; |
DavidEGrayson | 31:739b91331f31 | 313 | } |
DavidEGrayson | 31:739b91331f31 | 314 | } |
DavidEGrayson | 31:739b91331f31 | 315 | |
DavidEGrayson | 31:739b91331f31 | 316 | //values[0] = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 317 | //values[1] = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 318 | //values[2] = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 319 | |
DavidEGrayson | 31:739b91331f31 | 320 | uint16_t values[3]; |
DavidEGrayson | 31:739b91331f31 | 321 | readSensors(values); |
DavidEGrayson | 31:739b91331f31 | 322 | |
DavidEGrayson | 31:739b91331f31 | 323 | for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++) |
DavidEGrayson | 31:739b91331f31 | 324 | { |
DavidEGrayson | 31:739b91331f31 | 325 | if (values[i] > max[i]){ max[i] = values[i]; } |
DavidEGrayson | 31:739b91331f31 | 326 | if (values[i] < min[i]){ min[i] = values[i]; } |
DavidEGrayson | 31:739b91331f31 | 327 | } |
DavidEGrayson | 31:739b91331f31 | 328 | |
DavidEGrayson | 10:e4dd36148539 | 329 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 330 | { |
DavidEGrayson | 10:e4dd36148539 | 331 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 332 | { |
DavidEGrayson | 10:e4dd36148539 | 333 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 31:739b91331f31 | 334 | printBar("L", values[0]); |
DavidEGrayson | 31:739b91331f31 | 335 | printBar("M", values[1]); |
DavidEGrayson | 31:739b91331f31 | 336 | printBar("R", values[2]); |
DavidEGrayson | 31:739b91331f31 | 337 | pc.printf("%4d %4d \r\n", min[0], max[0]); |
DavidEGrayson | 31:739b91331f31 | 338 | pc.printf("%4d %4d \r\n", min[1], max[1]); |
DavidEGrayson | 31:739b91331f31 | 339 | pc.printf("%4d %4d \r\n", min[2], max[2]); |
DavidEGrayson | 10:e4dd36148539 | 340 | } |
DavidEGrayson | 10:e4dd36148539 | 341 | else |
DavidEGrayson | 10:e4dd36148539 | 342 | { |
DavidEGrayson | 31:739b91331f31 | 343 | pc.printf("%8d %8d %8d\r\n", values[0], values[1], values[2]); |
DavidEGrayson | 10:e4dd36148539 | 344 | } |
DavidEGrayson | 10:e4dd36148539 | 345 | } |
DavidEGrayson | 10:e4dd36148539 | 346 | } |
DavidEGrayson | 10:e4dd36148539 | 347 | } |
DavidEGrayson | 8:78b1ff957cba | 348 | |
DavidEGrayson | 24:fc01d9125d3b | 349 | // Values from David's office Values from dev lab, |
DavidEGrayson | 24:fc01d9125d3b | 350 | // in the day time, 2014-02-27: 2014-02-27: |
DavidEGrayson | 22:44c032e59ff5 | 351 | // # calmin calmax |
DavidEGrayson | 24:fc01d9125d3b | 352 | // 0 34872 59726 0 40617 60222 |
DavidEGrayson | 24:fc01d9125d3b | 353 | // 1 29335 60110 1 36937 61198 |
DavidEGrayson | 24:fc01d9125d3b | 354 | // 2 23845 58446 2 33848 58862 |
DavidEGrayson | 22:44c032e59ff5 | 355 | void testCalibrate() |
DavidEGrayson | 22:44c032e59ff5 | 356 | { |
DavidEGrayson | 22:44c032e59ff5 | 357 | Timer timer; |
DavidEGrayson | 22:44c032e59ff5 | 358 | timer.start(); |
DavidEGrayson | 22:44c032e59ff5 | 359 | |
DavidEGrayson | 22:44c032e59ff5 | 360 | Pacer reportPacer(200000); |
DavidEGrayson | 22:44c032e59ff5 | 361 | |
DavidEGrayson | 24:fc01d9125d3b | 362 | bool doneCalibrating = false; |
DavidEGrayson | 24:fc01d9125d3b | 363 | |
DavidEGrayson | 24:fc01d9125d3b | 364 | led1 = 1; |
DavidEGrayson | 24:fc01d9125d3b | 365 | |
DavidEGrayson | 22:44c032e59ff5 | 366 | while(1) |
DavidEGrayson | 22:44c032e59ff5 | 367 | { |
DavidEGrayson | 22:44c032e59ff5 | 368 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 369 | if(!doneCalibrating) |
DavidEGrayson | 24:fc01d9125d3b | 370 | { |
DavidEGrayson | 24:fc01d9125d3b | 371 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 372 | } |
DavidEGrayson | 24:fc01d9125d3b | 373 | |
DavidEGrayson | 24:fc01d9125d3b | 374 | led3 = doneCalibrating; |
DavidEGrayson | 24:fc01d9125d3b | 375 | led4 = lineTracker.getLineVisible(); |
DavidEGrayson | 24:fc01d9125d3b | 376 | |
DavidEGrayson | 24:fc01d9125d3b | 377 | if (button1DefinitelyPressed()) |
DavidEGrayson | 24:fc01d9125d3b | 378 | { |
DavidEGrayson | 24:fc01d9125d3b | 379 | doneCalibrating = true; |
DavidEGrayson | 24:fc01d9125d3b | 380 | } |
DavidEGrayson | 22:44c032e59ff5 | 381 | |
DavidEGrayson | 22:44c032e59ff5 | 382 | if (reportPacer.pace()) |
DavidEGrayson | 22:44c032e59ff5 | 383 | { |
DavidEGrayson | 22:44c032e59ff5 | 384 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 22:44c032e59ff5 | 385 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 22:44c032e59ff5 | 386 | { |
DavidEGrayson | 22:44c032e59ff5 | 387 | pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); |
DavidEGrayson | 22:44c032e59ff5 | 388 | } |
DavidEGrayson | 22:44c032e59ff5 | 389 | } |
DavidEGrayson | 22:44c032e59ff5 | 390 | } |
DavidEGrayson | 22:44c032e59ff5 | 391 | } |
DavidEGrayson | 22:44c032e59ff5 | 392 | |
DavidEGrayson | 9:9734347b5756 | 393 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 394 | { |
DavidEGrayson | 9:9734347b5756 | 395 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 396 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 397 | while(1) |
DavidEGrayson | 9:9734347b5756 | 398 | { |
DavidEGrayson | 9:9734347b5756 | 399 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 400 | { |
DavidEGrayson | 9:9734347b5756 | 401 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 402 | } |
DavidEGrayson | 9:9734347b5756 | 403 | |
DavidEGrayson | 9:9734347b5756 | 404 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 405 | { |
DavidEGrayson | 9:9734347b5756 | 406 | led2 = 1; |
DavidEGrayson | 31:739b91331f31 | 407 | pc.printf("%8d %8d\r\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 408 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 409 | } |
DavidEGrayson | 9:9734347b5756 | 410 | } |
DavidEGrayson | 9:9734347b5756 | 411 | } |
DavidEGrayson | 9:9734347b5756 | 412 | |
DavidEGrayson | 8:78b1ff957cba | 413 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 414 | { |
DavidEGrayson | 8:78b1ff957cba | 415 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 416 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 417 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 418 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 419 | { |
DavidEGrayson | 9:9734347b5756 | 420 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 421 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 422 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 423 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 424 | |
DavidEGrayson | 9:9734347b5756 | 425 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 426 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 427 | |
DavidEGrayson | 9:9734347b5756 | 428 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 429 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 430 | |
DavidEGrayson | 9:9734347b5756 | 431 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 432 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 433 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 434 | |
DavidEGrayson | 9:9734347b5756 | 435 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 436 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 437 | |
DavidEGrayson | 9:9734347b5756 | 438 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 439 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 440 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 441 | |
DavidEGrayson | 9:9734347b5756 | 442 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 443 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 444 | } |
DavidEGrayson | 10:e4dd36148539 | 445 | } |
DavidEGrayson | 10:e4dd36148539 | 446 | |
DavidEGrayson | 20:dbec34f0e76b | 447 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 448 | { |
DavidEGrayson | 20:dbec34f0e76b | 449 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 450 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 451 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 452 | showOrientationWithLeds34(); |
DavidEGrayson | 20:dbec34f0e76b | 453 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 454 | { |
DavidEGrayson | 20:dbec34f0e76b | 455 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 20:dbec34f0e76b | 456 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 457 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 458 | } |
DavidEGrayson | 20:dbec34f0e76b | 459 | } |
DavidEGrayson | 20:dbec34f0e76b | 460 | |
DavidEGrayson | 20:dbec34f0e76b | 461 | } |
DavidEGrayson | 20:dbec34f0e76b | 462 | |
DavidEGrayson | 31:739b91331f31 | 463 | // with should be between 0 and 63 |
DavidEGrayson | 31:739b91331f31 | 464 | void printBar(const char * name, uint16_t result) |
DavidEGrayson | 10:e4dd36148539 | 465 | { |
DavidEGrayson | 31:739b91331f31 | 466 | pc.printf("%-2s %5d |", name, result); |
DavidEGrayson | 31:739b91331f31 | 467 | uint16_t width = result >> 4; |
DavidEGrayson | 31:739b91331f31 | 468 | if (width > 63) { width = 63; } |
DavidEGrayson | 10:e4dd36148539 | 469 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 470 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 471 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 472 | pc.putc('|'); |
DavidEGrayson | 31:739b91331f31 | 473 | pc.putc('\r'); |
DavidEGrayson | 10:e4dd36148539 | 474 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 475 | } |