David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@30:84be2d602dc0, 2014-03-04 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Mar 04 02:09:54 2014 +0000
- Revision:
- 30:84be2d602dc0
- Parent:
- 29:cfcf08d8ac79
- Child:
- 31:739b91331f31
Seems like the QTR-3RC could work, based on my tests on P10.
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 | 21:c279c6a83671 | 15 | |
DavidEGrayson | 21:c279c6a83671 | 16 | Reckoner reckoner; |
DavidEGrayson | 21:c279c6a83671 | 17 | LineTracker lineTracker; |
DavidEGrayson | 21:c279c6a83671 | 18 | |
DavidEGrayson | 21:c279c6a83671 | 19 | const int16_t drivingSpeed = 300; |
DavidEGrayson | 21:c279c6a83671 | 20 | |
DavidEGrayson | 21:c279c6a83671 | 21 | void setLeds(bool v1, bool v2, bool v3, bool v4) |
DavidEGrayson | 21:c279c6a83671 | 22 | { |
DavidEGrayson | 21:c279c6a83671 | 23 | led1 = v1; |
DavidEGrayson | 21:c279c6a83671 | 24 | led2 = v2; |
DavidEGrayson | 21:c279c6a83671 | 25 | led3 = v3; |
DavidEGrayson | 21:c279c6a83671 | 26 | led4 = v4; |
DavidEGrayson | 21:c279c6a83671 | 27 | } |
DavidEGrayson | 0:e77a0edb9878 | 28 | |
DavidEGrayson | 10:e4dd36148539 | 29 | int __attribute__((noreturn)) main() |
DavidEGrayson | 2:968338353aef | 30 | { |
DavidEGrayson | 2:968338353aef | 31 | pc.baud(115200); |
DavidEGrayson | 2:968338353aef | 32 | |
DavidEGrayson | 2:968338353aef | 33 | // Enable pull-ups on encoder pins and give them a chance to settle. |
DavidEGrayson | 9:9734347b5756 | 34 | encodersInit(); |
DavidEGrayson | 9:9734347b5756 | 35 | motorsInit(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 36 | buttonsInit(); |
DavidEGrayson | 4:1b20a11765c8 | 37 | |
DavidEGrayson | 8:78b1ff957cba | 38 | // Test routines |
DavidEGrayson | 9:9734347b5756 | 39 | //testMotors(); |
DavidEGrayson | 10:e4dd36148539 | 40 | //testEncoders(); |
DavidEGrayson | 12:835a4d24ae3b | 41 | //testLineSensors(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 42 | //testReckoner(); |
DavidEGrayson | 17:2df9861f53ee | 43 | //testButtons(); |
DavidEGrayson | 20:dbec34f0e76b | 44 | //testDriveHome(); |
DavidEGrayson | 21:c279c6a83671 | 45 | //testFinalSettleIn(); |
DavidEGrayson | 23:aae5cbe3b924 | 46 | //testCalibrate(); |
DavidEGrayson | 28:4374035df5e0 | 47 | //testLineFollowing(); |
DavidEGrayson | 29:cfcf08d8ac79 | 48 | //testAnalog(); |
DavidEGrayson | 30:84be2d602dc0 | 49 | testSensorGlitches(); |
DavidEGrayson | 2:968338353aef | 50 | |
DavidEGrayson | 21:c279c6a83671 | 51 | // Real routines for the contest. |
DavidEGrayson | 28:4374035df5e0 | 52 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 53 | |
DavidEGrayson | 21:c279c6a83671 | 54 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 55 | waitForSignalToStart(); |
DavidEGrayson | 21:c279c6a83671 | 56 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 25:73c2eedb3b91 | 57 | |
DavidEGrayson | 28:4374035df5e0 | 58 | findLine(); |
DavidEGrayson | 25:73c2eedb3b91 | 59 | //findLineAndCalibrate(); |
DavidEGrayson | 25:73c2eedb3b91 | 60 | |
DavidEGrayson | 27:2456f68be679 | 61 | //setLeds(1, 1, 0, 0); |
DavidEGrayson | 27:2456f68be679 | 62 | //turnRightToFindLine(); |
DavidEGrayson | 21:c279c6a83671 | 63 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 64 | followLineToEnd(); |
DavidEGrayson | 21:c279c6a83671 | 65 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 66 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 67 | setLeds(0, 1, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 68 | finalSettleIn(); |
DavidEGrayson | 21:c279c6a83671 | 69 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 21:c279c6a83671 | 70 | while(1){} |
DavidEGrayson | 0:e77a0edb9878 | 71 | } |
DavidEGrayson | 12:835a4d24ae3b | 72 | |
DavidEGrayson | 28:4374035df5e0 | 73 | void loadCalibration() |
DavidEGrayson | 28:4374035df5e0 | 74 | { |
DavidEGrayson | 28:4374035df5e0 | 75 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 28:4374035df5e0 | 76 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 28:4374035df5e0 | 77 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 28:4374035df5e0 | 78 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 28:4374035df5e0 | 79 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 28:4374035df5e0 | 80 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 28:4374035df5e0 | 81 | } |
DavidEGrayson | 28:4374035df5e0 | 82 | |
DavidEGrayson | 12:835a4d24ae3b | 83 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 84 | { |
DavidEGrayson | 12:835a4d24ae3b | 85 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 86 | { |
DavidEGrayson | 12:835a4d24ae3b | 87 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 88 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 89 | { |
DavidEGrayson | 17:2df9861f53ee | 90 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 91 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 92 | break; |
DavidEGrayson | 17:2df9861f53ee | 93 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 94 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 95 | break; |
DavidEGrayson | 17:2df9861f53ee | 96 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 97 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 98 | break; |
DavidEGrayson | 17:2df9861f53ee | 99 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 100 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 101 | break; |
DavidEGrayson | 12:835a4d24ae3b | 102 | } |
DavidEGrayson | 12:835a4d24ae3b | 103 | } |
DavidEGrayson | 12:835a4d24ae3b | 104 | } |
DavidEGrayson | 17:2df9861f53ee | 105 | |
DavidEGrayson | 19:a11ffc903774 | 106 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 107 | { |
DavidEGrayson | 19:a11ffc903774 | 108 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 109 | } |
DavidEGrayson | 19:a11ffc903774 | 110 | |
DavidEGrayson | 20:dbec34f0e76b | 111 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 112 | { |
DavidEGrayson | 20:dbec34f0e76b | 113 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 114 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 115 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 116 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 117 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 118 | } |
DavidEGrayson | 20:dbec34f0e76b | 119 | |
DavidEGrayson | 18:b65fbb795396 | 120 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 121 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 122 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 123 | { |
DavidEGrayson | 18:b65fbb795396 | 124 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 125 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 126 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 127 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 128 | } |
DavidEGrayson | 19:a11ffc903774 | 129 | |
DavidEGrayson | 21:c279c6a83671 | 130 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 131 | { |
DavidEGrayson | 19:a11ffc903774 | 132 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 133 | { |
DavidEGrayson | 19:a11ffc903774 | 134 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 135 | } |
DavidEGrayson | 19:a11ffc903774 | 136 | else |
DavidEGrayson | 19:a11ffc903774 | 137 | { |
DavidEGrayson | 19:a11ffc903774 | 138 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 139 | } |
DavidEGrayson | 18:b65fbb795396 | 140 | } |
DavidEGrayson | 18:b65fbb795396 | 141 | |
DavidEGrayson | 21:c279c6a83671 | 142 | // Returns true if each line sensor has one third of a volt of difference between the |
DavidEGrayson | 21:c279c6a83671 | 143 | // maximum seen value and the minimum. |
DavidEGrayson | 21:c279c6a83671 | 144 | bool calibrationLooksGood() |
DavidEGrayson | 21:c279c6a83671 | 145 | { |
DavidEGrayson | 21:c279c6a83671 | 146 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 21:c279c6a83671 | 147 | { |
DavidEGrayson | 21:c279c6a83671 | 148 | uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s]; |
DavidEGrayson | 21:c279c6a83671 | 149 | if (contrast < 9929) // 0xFFFF*0.5/3.3 = 9929 |
DavidEGrayson | 21:c279c6a83671 | 150 | { |
DavidEGrayson | 21:c279c6a83671 | 151 | return false; |
DavidEGrayson | 21:c279c6a83671 | 152 | } |
DavidEGrayson | 21:c279c6a83671 | 153 | } |
DavidEGrayson | 21:c279c6a83671 | 154 | return true; |
DavidEGrayson | 21:c279c6a83671 | 155 | } |
DavidEGrayson | 21:c279c6a83671 | 156 | |
DavidEGrayson | 21:c279c6a83671 | 157 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 158 | { |
DavidEGrayson | 21:c279c6a83671 | 159 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 160 | { |
DavidEGrayson | 21:c279c6a83671 | 161 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 162 | } |
DavidEGrayson | 21:c279c6a83671 | 163 | reckoner.reset(); |
DavidEGrayson | 21:c279c6a83671 | 164 | } |
DavidEGrayson | 21:c279c6a83671 | 165 | |
DavidEGrayson | 24:fc01d9125d3b | 166 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 167 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 168 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 169 | { |
DavidEGrayson | 24:fc01d9125d3b | 170 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 171 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 172 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 173 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 24:fc01d9125d3b | 174 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 175 | { |
DavidEGrayson | 24:fc01d9125d3b | 176 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 177 | } |
DavidEGrayson | 24:fc01d9125d3b | 178 | else |
DavidEGrayson | 24:fc01d9125d3b | 179 | { |
DavidEGrayson | 24:fc01d9125d3b | 180 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 181 | } |
DavidEGrayson | 24:fc01d9125d3b | 182 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 183 | } |
DavidEGrayson | 24:fc01d9125d3b | 184 | |
DavidEGrayson | 28:4374035df5e0 | 185 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 186 | { |
DavidEGrayson | 28:4374035df5e0 | 187 | const int followLineStrength = 300; |
DavidEGrayson | 28:4374035df5e0 | 188 | |
DavidEGrayson | 28:4374035df5e0 | 189 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 190 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 191 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 192 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 193 | { |
DavidEGrayson | 28:4374035df5e0 | 194 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 195 | } |
DavidEGrayson | 28:4374035df5e0 | 196 | else |
DavidEGrayson | 28:4374035df5e0 | 197 | { |
DavidEGrayson | 28:4374035df5e0 | 198 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 199 | } |
DavidEGrayson | 24:fc01d9125d3b | 200 | |
DavidEGrayson | 28:4374035df5e0 | 201 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 202 | } |
DavidEGrayson | 28:4374035df5e0 | 203 | |
DavidEGrayson | 28:4374035df5e0 | 204 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 205 | { |
DavidEGrayson | 24:fc01d9125d3b | 206 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 207 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 208 | { |
DavidEGrayson | 24:fc01d9125d3b | 209 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 210 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 211 | updateReckonerFromEncoders(); |
DavidEGrayson | 24:fc01d9125d3b | 212 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 213 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 214 | |
DavidEGrayson | 26:7e7c376a7446 | 215 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 100000) |
DavidEGrayson | 24:fc01d9125d3b | 216 | { |
DavidEGrayson | 26:7e7c376a7446 | 217 | break; |
DavidEGrayson | 24:fc01d9125d3b | 218 | } |
DavidEGrayson | 24:fc01d9125d3b | 219 | } |
DavidEGrayson | 24:fc01d9125d3b | 220 | } |
DavidEGrayson | 20:dbec34f0e76b | 221 | |
DavidEGrayson | 25:73c2eedb3b91 | 222 | // THIS IS DEPRECATED. Instead we are using loadCalibrationAndFindLine. |
DavidEGrayson | 21:c279c6a83671 | 223 | void findLineAndCalibrate() |
DavidEGrayson | 20:dbec34f0e76b | 224 | { |
DavidEGrayson | 21:c279c6a83671 | 225 | Timer timer; |
DavidEGrayson | 21:c279c6a83671 | 226 | timer.start(); |
DavidEGrayson | 21:c279c6a83671 | 227 | |
DavidEGrayson | 21:c279c6a83671 | 228 | Timer goodCalibrationTimer; |
DavidEGrayson | 21:c279c6a83671 | 229 | bool goodCalibration = false; |
DavidEGrayson | 21:c279c6a83671 | 230 | |
DavidEGrayson | 21:c279c6a83671 | 231 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 232 | { |
DavidEGrayson | 21:c279c6a83671 | 233 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 234 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 235 | updateReckonerFromEncoders(); |
DavidEGrayson | 24:fc01d9125d3b | 236 | updateMotorsToDriveStraight(); |
DavidEGrayson | 21:c279c6a83671 | 237 | |
DavidEGrayson | 21:c279c6a83671 | 238 | if (goodCalibration) |
DavidEGrayson | 21:c279c6a83671 | 239 | { |
DavidEGrayson | 22:44c032e59ff5 | 240 | if(goodCalibrationTimer.read_ms() >= 300) |
DavidEGrayson | 21:c279c6a83671 | 241 | { |
DavidEGrayson | 21:c279c6a83671 | 242 | // The calibration was good and we traveled for a bit of time after that, |
DavidEGrayson | 21:c279c6a83671 | 243 | // so we must be a bit over the line. |
DavidEGrayson | 21:c279c6a83671 | 244 | break; |
DavidEGrayson | 21:c279c6a83671 | 245 | } |
DavidEGrayson | 21:c279c6a83671 | 246 | } |
DavidEGrayson | 21:c279c6a83671 | 247 | else |
DavidEGrayson | 21:c279c6a83671 | 248 | { |
DavidEGrayson | 21:c279c6a83671 | 249 | if(calibrationLooksGood()) |
DavidEGrayson | 21:c279c6a83671 | 250 | { |
DavidEGrayson | 21:c279c6a83671 | 251 | goodCalibration = true; |
DavidEGrayson | 21:c279c6a83671 | 252 | goodCalibrationTimer.start(); |
DavidEGrayson | 21:c279c6a83671 | 253 | } |
DavidEGrayson | 21:c279c6a83671 | 254 | } |
DavidEGrayson | 21:c279c6a83671 | 255 | } |
DavidEGrayson | 21:c279c6a83671 | 256 | } |
DavidEGrayson | 21:c279c6a83671 | 257 | |
DavidEGrayson | 21:c279c6a83671 | 258 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 259 | { |
DavidEGrayson | 21:c279c6a83671 | 260 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 261 | { |
DavidEGrayson | 21:c279c6a83671 | 262 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 263 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 264 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 265 | |
DavidEGrayson | 21:c279c6a83671 | 266 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 267 | { |
DavidEGrayson | 21:c279c6a83671 | 268 | break; |
DavidEGrayson | 21:c279c6a83671 | 269 | } |
DavidEGrayson | 21:c279c6a83671 | 270 | |
DavidEGrayson | 21:c279c6a83671 | 271 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 272 | } |
DavidEGrayson | 21:c279c6a83671 | 273 | } |
DavidEGrayson | 21:c279c6a83671 | 274 | |
DavidEGrayson | 21:c279c6a83671 | 275 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 276 | { |
DavidEGrayson | 26:7e7c376a7446 | 277 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 278 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 279 | |
DavidEGrayson | 21:c279c6a83671 | 280 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 21:c279c6a83671 | 281 | const uint32_t lineDebounceTime = 100000; |
DavidEGrayson | 21:c279c6a83671 | 282 | |
DavidEGrayson | 21:c279c6a83671 | 283 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 284 | { |
DavidEGrayson | 21:c279c6a83671 | 285 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 286 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 287 | |
DavidEGrayson | 21:c279c6a83671 | 288 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 289 | |
DavidEGrayson | 21:c279c6a83671 | 290 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 291 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 28:4374035df5e0 | 292 | if(lostLine && timer.read_us() >= 2000000) |
DavidEGrayson | 21:c279c6a83671 | 293 | { |
DavidEGrayson | 21:c279c6a83671 | 294 | break; |
DavidEGrayson | 21:c279c6a83671 | 295 | } |
DavidEGrayson | 21:c279c6a83671 | 296 | |
DavidEGrayson | 28:4374035df5e0 | 297 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 298 | } |
DavidEGrayson | 20:dbec34f0e76b | 299 | } |
DavidEGrayson | 20:dbec34f0e76b | 300 | |
DavidEGrayson | 20:dbec34f0e76b | 301 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 302 | { |
DavidEGrayson | 18:b65fbb795396 | 303 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 304 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 305 | |
DavidEGrayson | 19:a11ffc903774 | 306 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 307 | { |
DavidEGrayson | 18:b65fbb795396 | 308 | updateReckonerFromEncoders(); |
DavidEGrayson | 19:a11ffc903774 | 309 | |
DavidEGrayson | 19:a11ffc903774 | 310 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 311 | |
DavidEGrayson | 19:a11ffc903774 | 312 | if (magn < (1<<17)) |
DavidEGrayson | 18:b65fbb795396 | 313 | { |
DavidEGrayson | 19:a11ffc903774 | 314 | // We are within 8 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 315 | break; |
DavidEGrayson | 19:a11ffc903774 | 316 | } |
DavidEGrayson | 19:a11ffc903774 | 317 | |
DavidEGrayson | 19:a11ffc903774 | 318 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 319 | |
DavidEGrayson | 21:c279c6a83671 | 320 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 321 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 322 | if (magn < (1<<20)) // Within 64 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 323 | { |
DavidEGrayson | 21:c279c6a83671 | 324 | int16_t reduction = (1 - magn/(1<<20)) * drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 325 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 326 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 327 | } |
DavidEGrayson | 19:a11ffc903774 | 328 | |
DavidEGrayson | 19:a11ffc903774 | 329 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 330 | { |
DavidEGrayson | 19:a11ffc903774 | 331 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 332 | } |
DavidEGrayson | 18:b65fbb795396 | 333 | else |
DavidEGrayson | 18:b65fbb795396 | 334 | { |
DavidEGrayson | 19:a11ffc903774 | 335 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 336 | } |
DavidEGrayson | 19:a11ffc903774 | 337 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 338 | } |
DavidEGrayson | 18:b65fbb795396 | 339 | |
DavidEGrayson | 20:dbec34f0e76b | 340 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 341 | } |
DavidEGrayson | 20:dbec34f0e76b | 342 | |
DavidEGrayson | 20:dbec34f0e76b | 343 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 344 | { |
DavidEGrayson | 27:2456f68be679 | 345 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 346 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 347 | |
DavidEGrayson | 20:dbec34f0e76b | 348 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 349 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 350 | |
DavidEGrayson | 20:dbec34f0e76b | 351 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 352 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 353 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 354 | |
DavidEGrayson | 27:2456f68be679 | 355 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 356 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 357 | |
DavidEGrayson | 27:2456f68be679 | 358 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 359 | |
DavidEGrayson | 27:2456f68be679 | 360 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 361 | |
DavidEGrayson | 19:a11ffc903774 | 362 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 363 | { |
DavidEGrayson | 27:2456f68be679 | 364 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 365 | |
DavidEGrayson | 20:dbec34f0e76b | 366 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 367 | |
DavidEGrayson | 20:dbec34f0e76b | 368 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 369 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 370 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 371 | { |
DavidEGrayson | 20:dbec34f0e76b | 372 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 373 | } |
DavidEGrayson | 20:dbec34f0e76b | 374 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 375 | { |
DavidEGrayson | 20:dbec34f0e76b | 376 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 377 | } |
DavidEGrayson | 20:dbec34f0e76b | 378 | |
DavidEGrayson | 21:c279c6a83671 | 379 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 380 | { |
DavidEGrayson | 21:c279c6a83671 | 381 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 382 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 383 | } |
DavidEGrayson | 20:dbec34f0e76b | 384 | |
DavidEGrayson | 21:c279c6a83671 | 385 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 386 | { |
DavidEGrayson | 21:c279c6a83671 | 387 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 388 | break; |
DavidEGrayson | 21:c279c6a83671 | 389 | } |
DavidEGrayson | 21:c279c6a83671 | 390 | |
DavidEGrayson | 27:2456f68be679 | 391 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 392 | { |
DavidEGrayson | 27:2456f68be679 | 393 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 394 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 395 | { |
DavidEGrayson | 27:2456f68be679 | 396 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 27:2456f68be679 | 397 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 398 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 399 | |
DavidEGrayson | 27:2456f68be679 | 400 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 401 | { |
DavidEGrayson | 27:2456f68be679 | 402 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 403 | } |
DavidEGrayson | 27:2456f68be679 | 404 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 405 | { |
DavidEGrayson | 27:2456f68be679 | 406 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 407 | } |
DavidEGrayson | 27:2456f68be679 | 408 | } |
DavidEGrayson | 27:2456f68be679 | 409 | else |
DavidEGrayson | 27:2456f68be679 | 410 | { |
DavidEGrayson | 27:2456f68be679 | 411 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 412 | } |
DavidEGrayson | 27:2456f68be679 | 413 | |
DavidEGrayson | 27:2456f68be679 | 414 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 415 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 416 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 417 | } |
DavidEGrayson | 21:c279c6a83671 | 418 | |
DavidEGrayson | 21:c279c6a83671 | 419 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 420 | { |
DavidEGrayson | 21:c279c6a83671 | 421 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 422 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 423 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 424 | } |
DavidEGrayson | 19:a11ffc903774 | 425 | } |
DavidEGrayson | 20:dbec34f0e76b | 426 | |
DavidEGrayson | 21:c279c6a83671 | 427 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 428 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 429 | } |