David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp@13:bba5b3abd13f, 2014-02-23 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sun Feb 23 23:49:58 2014 +0000
- Revision:
- 13:bba5b3abd13f
- Parent:
- 12:835a4d24ae3b
- Child:
- 14:c8cca3687e64
testReckoner routine works great! I can roll my robot around and it always knows what quadrant it is pointing to and knows what quadrant it is in!
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 | 9:9734347b5756 | 7 | #include "test.h" |
DavidEGrayson | 8:78b1ff957cba | 8 | #include "leds.h" |
DavidEGrayson | 9:9734347b5756 | 9 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 10 | #include "pc_serial.h" |
DavidEGrayson | 10:e4dd36148539 | 11 | #include "line_sensors.h" |
DavidEGrayson | 12:835a4d24ae3b | 12 | #include "reckoner.h" |
DavidEGrayson | 10:e4dd36148539 | 13 | |
DavidEGrayson | 10:e4dd36148539 | 14 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 15 | |
DavidEGrayson | 12:835a4d24ae3b | 16 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 17 | { |
DavidEGrayson | 13:bba5b3abd13f | 18 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 19 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 20 | { |
DavidEGrayson | 12:835a4d24ae3b | 21 | updateReckonerFromEncoders(); |
DavidEGrayson | 13:bba5b3abd13f | 22 | led1 = (reckoner.cos > 0); |
DavidEGrayson | 13:bba5b3abd13f | 23 | led2 = (reckoner.sin > 0); |
DavidEGrayson | 13:bba5b3abd13f | 24 | led3 = (reckoner.x > 0); |
DavidEGrayson | 13:bba5b3abd13f | 25 | led4 = (reckoner.y > 0); |
DavidEGrayson | 12:835a4d24ae3b | 26 | |
DavidEGrayson | 13:bba5b3abd13f | 27 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 28 | { |
DavidEGrayson | 13:bba5b3abd13f | 29 | pc.printf("%11d %11d %11d %11d | %8d %8d \n", |
DavidEGrayson | 13:bba5b3abd13f | 30 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 13:bba5b3abd13f | 31 | encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 13:bba5b3abd13f | 32 | } |
DavidEGrayson | 12:835a4d24ae3b | 33 | } |
DavidEGrayson | 12:835a4d24ae3b | 34 | } |
DavidEGrayson | 12:835a4d24ae3b | 35 | |
DavidEGrayson | 10:e4dd36148539 | 36 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 37 | { |
DavidEGrayson | 10:e4dd36148539 | 38 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 39 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 40 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 41 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 42 | { |
DavidEGrayson | 10:e4dd36148539 | 43 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 44 | { |
DavidEGrayson | 10:e4dd36148539 | 45 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 46 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 47 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 48 | |
DavidEGrayson | 10:e4dd36148539 | 49 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 50 | { |
DavidEGrayson | 10:e4dd36148539 | 51 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 52 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 53 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 54 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 55 | } |
DavidEGrayson | 10:e4dd36148539 | 56 | else |
DavidEGrayson | 10:e4dd36148539 | 57 | { |
DavidEGrayson | 10:e4dd36148539 | 58 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 59 | } |
DavidEGrayson | 10:e4dd36148539 | 60 | } |
DavidEGrayson | 10:e4dd36148539 | 61 | } |
DavidEGrayson | 10:e4dd36148539 | 62 | } |
DavidEGrayson | 8:78b1ff957cba | 63 | |
DavidEGrayson | 9:9734347b5756 | 64 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 65 | { |
DavidEGrayson | 9:9734347b5756 | 66 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 67 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 68 | while(1) |
DavidEGrayson | 9:9734347b5756 | 69 | { |
DavidEGrayson | 9:9734347b5756 | 70 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 71 | { |
DavidEGrayson | 9:9734347b5756 | 72 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 73 | } |
DavidEGrayson | 9:9734347b5756 | 74 | |
DavidEGrayson | 9:9734347b5756 | 75 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 76 | { |
DavidEGrayson | 9:9734347b5756 | 77 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 78 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 79 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 80 | } |
DavidEGrayson | 9:9734347b5756 | 81 | } |
DavidEGrayson | 9:9734347b5756 | 82 | } |
DavidEGrayson | 9:9734347b5756 | 83 | |
DavidEGrayson | 8:78b1ff957cba | 84 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 85 | { |
DavidEGrayson | 8:78b1ff957cba | 86 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 87 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 88 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 89 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 90 | { |
DavidEGrayson | 9:9734347b5756 | 91 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 92 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 93 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 94 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 95 | |
DavidEGrayson | 9:9734347b5756 | 96 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 97 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 98 | |
DavidEGrayson | 9:9734347b5756 | 99 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 100 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 101 | |
DavidEGrayson | 9:9734347b5756 | 102 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 103 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 104 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 105 | |
DavidEGrayson | 9:9734347b5756 | 106 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 107 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 108 | |
DavidEGrayson | 9:9734347b5756 | 109 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 110 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 111 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 112 | |
DavidEGrayson | 9:9734347b5756 | 113 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 114 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 115 | } |
DavidEGrayson | 10:e4dd36148539 | 116 | } |
DavidEGrayson | 10:e4dd36148539 | 117 | |
DavidEGrayson | 10:e4dd36148539 | 118 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 119 | { |
DavidEGrayson | 10:e4dd36148539 | 120 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 121 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 122 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 123 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 124 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 125 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 126 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 127 | } |