David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp@46:f11cb4f93aac, 2015-04-15 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Wed Apr 15 21:19:22 2015 +0000
- Revision:
- 46:f11cb4f93aac
- Parent:
- 45:e16e74bbbf8c
- Child:
- 52:05a8e919ddb0
got dead reckoning working nicely with the gyro;
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 | 44:edcacba44760 | 15 | #include "l3g.h" |
DavidEGrayson | 44:edcacba44760 | 16 | #include "turn_sensor.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 17 | |
DavidEGrayson | 20:dbec34f0e76b | 18 | void __attribute__((noreturn)) infiniteReckonerReportLoop(); |
DavidEGrayson | 10:e4dd36148539 | 19 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 20 | |
DavidEGrayson | 37:23000a47ed2b | 21 | void testLogger() |
DavidEGrayson | 37:23000a47ed2b | 22 | { |
DavidEGrayson | 37:23000a47ed2b | 23 | led1 = 1; |
DavidEGrayson | 37:23000a47ed2b | 24 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 25 | { |
DavidEGrayson | 37:23000a47ed2b | 26 | led3 = logger.isFull(); |
DavidEGrayson | 37:23000a47ed2b | 27 | |
DavidEGrayson | 37:23000a47ed2b | 28 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 29 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 30 | } |
DavidEGrayson | 37:23000a47ed2b | 31 | led2 = 1; |
DavidEGrayson | 37:23000a47ed2b | 32 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 33 | } |
DavidEGrayson | 37:23000a47ed2b | 34 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 35 | void testCloseness() |
DavidEGrayson | 30:84be2d602dc0 | 36 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 37 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 38 | while(1) |
DavidEGrayson | 30:84be2d602dc0 | 39 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 40 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 41 | float magn = magnitude(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 42 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 43 | led3 = (magn < (1<<(14+7))); |
DavidEGrayson | 33:58a0ab6e9ad2 | 44 | led4 = (magn < (1<<(14+9))); |
DavidEGrayson | 30:84be2d602dc0 | 45 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 46 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 47 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 48 | void showOrientationWithLeds34() |
DavidEGrayson | 33:58a0ab6e9ad2 | 49 | { |
DavidEGrayson | 46:f11cb4f93aac | 50 | led3 = reckoner.cosv > 0; |
DavidEGrayson | 46:f11cb4f93aac | 51 | led4 = reckoner.sinv > 0; |
DavidEGrayson | 30:84be2d602dc0 | 52 | } |
DavidEGrayson | 30:84be2d602dc0 | 53 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 54 | void testTurnInPlace() |
DavidEGrayson | 30:84be2d602dc0 | 55 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 56 | led1 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 57 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 33:58a0ab6e9ad2 | 58 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 59 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 60 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 61 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 62 | led2 = 1; |
DavidEGrayson | 33:58a0ab6e9ad2 | 63 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 64 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 30:84be2d602dc0 | 65 | Timer timer; |
DavidEGrayson | 30:84be2d602dc0 | 66 | timer.start(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 67 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | while(timer.read_ms() < 4000) |
DavidEGrayson | 33:58a0ab6e9ad2 | 69 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 70 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 71 | showOrientationWithLeds34(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 72 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 73 | timer.reset(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 74 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 75 | float integral = 0; |
DavidEGrayson | 33:58a0ab6e9ad2 | 76 | while (timer.read_ms() < 4000) |
DavidEGrayson | 30:84be2d602dc0 | 77 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 78 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 30:84be2d602dc0 | 79 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 80 | int16_t rotationSpeed; |
DavidEGrayson | 46:f11cb4f93aac | 81 | float s = (float)reckoner.sinv / (1 << 30); |
DavidEGrayson | 33:58a0ab6e9ad2 | 82 | integral += s; |
DavidEGrayson | 33:58a0ab6e9ad2 | 83 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 33:58a0ab6e9ad2 | 84 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 85 | if (rotationSpeed > 450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 86 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 87 | rotationSpeed = 450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 88 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 89 | if (rotationSpeed < -450) |
DavidEGrayson | 33:58a0ab6e9ad2 | 90 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 91 | rotationSpeed = -450; |
DavidEGrayson | 33:58a0ab6e9ad2 | 92 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 93 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 94 | int16_t speedLeft = -rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 95 | int16_t speedRight = rotationSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 96 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 30:84be2d602dc0 | 97 | } |
DavidEGrayson | 30:84be2d602dc0 | 98 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 99 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 100 | infiniteReckonerReportLoop(); |
DavidEGrayson | 30:84be2d602dc0 | 101 | } |
DavidEGrayson | 30:84be2d602dc0 | 102 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 103 | |
DavidEGrayson | 30:84be2d602dc0 | 104 | void testSensorGlitches() |
DavidEGrayson | 29:cfcf08d8ac79 | 105 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 106 | AnalogIn testInput(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 107 | Pacer reportPacer(1000000); |
DavidEGrayson | 29:cfcf08d8ac79 | 108 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 109 | pc.printf("hi\r\n"); |
DavidEGrayson | 30:84be2d602dc0 | 110 | |
DavidEGrayson | 30:84be2d602dc0 | 111 | //uint16_t riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 112 | uint16_t reading = 0xFF; |
DavidEGrayson | 30:84be2d602dc0 | 113 | |
DavidEGrayson | 29:cfcf08d8ac79 | 114 | while(1) |
DavidEGrayson | 29:cfcf08d8ac79 | 115 | { |
DavidEGrayson | 30:84be2d602dc0 | 116 | /** This digital filtering did not work |
DavidEGrayson | 30:84be2d602dc0 | 117 | { |
DavidEGrayson | 30:84be2d602dc0 | 118 | wait(0.01); |
DavidEGrayson | 30:84be2d602dc0 | 119 | uint16_t raw = testInput.read_u16(); |
DavidEGrayson | 30:84be2d602dc0 | 120 | if (raw < reading) |
DavidEGrayson | 30:84be2d602dc0 | 121 | { |
DavidEGrayson | 30:84be2d602dc0 | 122 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 123 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 124 | } |
DavidEGrayson | 30:84be2d602dc0 | 125 | else |
DavidEGrayson | 30:84be2d602dc0 | 126 | { |
DavidEGrayson | 30:84be2d602dc0 | 127 | riseCount++; |
DavidEGrayson | 30:84be2d602dc0 | 128 | if (riseCount == 10) |
DavidEGrayson | 30:84be2d602dc0 | 129 | { |
DavidEGrayson | 30:84be2d602dc0 | 130 | riseCount = 0; |
DavidEGrayson | 30:84be2d602dc0 | 131 | reading = raw; |
DavidEGrayson | 30:84be2d602dc0 | 132 | } |
DavidEGrayson | 30:84be2d602dc0 | 133 | } |
DavidEGrayson | 30:84be2d602dc0 | 134 | } |
DavidEGrayson | 30:84be2d602dc0 | 135 | **/ |
DavidEGrayson | 33:58a0ab6e9ad2 | 136 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 137 | uint16_t values[LINE_SENSOR_COUNT]; |
DavidEGrayson | 33:58a0ab6e9ad2 | 138 | readSensors(values); |
DavidEGrayson | 33:58a0ab6e9ad2 | 139 | reading = values[0]; |
DavidEGrayson | 30:84be2d602dc0 | 140 | |
DavidEGrayson | 29:cfcf08d8ac79 | 141 | if(reading > 100) |
DavidEGrayson | 29:cfcf08d8ac79 | 142 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 143 | badCount += 1; |
DavidEGrayson | 30:84be2d602dc0 | 144 | //pc.printf("f %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 145 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 146 | else |
DavidEGrayson | 29:cfcf08d8ac79 | 147 | { |
DavidEGrayson | 30:84be2d602dc0 | 148 | goodCount += 1; |
DavidEGrayson | 29:cfcf08d8ac79 | 149 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 150 | |
DavidEGrayson | 29:cfcf08d8ac79 | 151 | if (reportPacer.pace()) |
DavidEGrayson | 29:cfcf08d8ac79 | 152 | { |
DavidEGrayson | 30:84be2d602dc0 | 153 | pc.printf("h %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 154 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 155 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 156 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 157 | |
DavidEGrayson | 28:4374035df5e0 | 158 | void testAnalog() |
DavidEGrayson | 28:4374035df5e0 | 159 | { |
DavidEGrayson | 28:4374035df5e0 | 160 | AnalogIn testInput(p18); |
DavidEGrayson | 28:4374035df5e0 | 161 | |
DavidEGrayson | 29:cfcf08d8ac79 | 162 | DigitalOut pin20(p20); |
DavidEGrayson | 29:cfcf08d8ac79 | 163 | DigitalOut pin19(p19); |
DavidEGrayson | 29:cfcf08d8ac79 | 164 | //DigitalOut pin18(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 165 | DigitalOut pin17(p17); |
DavidEGrayson | 29:cfcf08d8ac79 | 166 | DigitalOut pin16(p16); |
DavidEGrayson | 29:cfcf08d8ac79 | 167 | DigitalOut pin15(p15); |
DavidEGrayson | 29:cfcf08d8ac79 | 168 | |
DavidEGrayson | 29:cfcf08d8ac79 | 169 | pin20 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 170 | pin19 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 171 | //pin18 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 172 | pin17 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 173 | pin16 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 174 | pin15 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 175 | |
DavidEGrayson | 28:4374035df5e0 | 176 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 177 | |
DavidEGrayson | 28:4374035df5e0 | 178 | Pacer reportPacer(1000000); |
DavidEGrayson | 28:4374035df5e0 | 179 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 180 | { |
DavidEGrayson | 28:4374035df5e0 | 181 | uint16_t reading = testInput.read_u16(); |
DavidEGrayson | 28:4374035df5e0 | 182 | if(reading > 100) |
DavidEGrayson | 28:4374035df5e0 | 183 | { |
DavidEGrayson | 28:4374035df5e0 | 184 | badCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 185 | pc.printf("%5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 28:4374035df5e0 | 186 | } |
DavidEGrayson | 28:4374035df5e0 | 187 | else |
DavidEGrayson | 28:4374035df5e0 | 188 | { |
DavidEGrayson | 28:4374035df5e0 | 189 | goodCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 190 | } |
DavidEGrayson | 28:4374035df5e0 | 191 | |
DavidEGrayson | 28:4374035df5e0 | 192 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 193 | { |
DavidEGrayson | 28:4374035df5e0 | 194 | pc.printf("Hello\r\n"); |
DavidEGrayson | 28:4374035df5e0 | 195 | } |
DavidEGrayson | 28:4374035df5e0 | 196 | } |
DavidEGrayson | 28:4374035df5e0 | 197 | } |
DavidEGrayson | 28:4374035df5e0 | 198 | |
DavidEGrayson | 28:4374035df5e0 | 199 | // This also tests the LineTracker by printing out a lot of data from it. |
DavidEGrayson | 28:4374035df5e0 | 200 | void testLineFollowing() |
DavidEGrayson | 28:4374035df5e0 | 201 | { |
DavidEGrayson | 28:4374035df5e0 | 202 | led1 = 1; |
DavidEGrayson | 28:4374035df5e0 | 203 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 28:4374035df5e0 | 204 | { |
DavidEGrayson | 28:4374035df5e0 | 205 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 206 | } |
DavidEGrayson | 28:4374035df5e0 | 207 | led2 = 1; |
DavidEGrayson | 28:4374035df5e0 | 208 | |
DavidEGrayson | 28:4374035df5e0 | 209 | Pacer reportPacer(200000); |
DavidEGrayson | 28:4374035df5e0 | 210 | |
DavidEGrayson | 28:4374035df5e0 | 211 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 212 | uint16_t loopCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 213 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 214 | { |
DavidEGrayson | 28:4374035df5e0 | 215 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 216 | bool lineVisiblePrevious = lineTracker.getLineVisible(); |
DavidEGrayson | 28:4374035df5e0 | 217 | lineTracker.read(); |
DavidEGrayson | 28:4374035df5e0 | 218 | updateMotorsToFollowLine(); |
DavidEGrayson | 28:4374035df5e0 | 219 | |
DavidEGrayson | 28:4374035df5e0 | 220 | loopCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 221 | |
DavidEGrayson | 28:4374035df5e0 | 222 | if (lineVisiblePrevious != lineTracker.getLineVisible()) |
DavidEGrayson | 28:4374035df5e0 | 223 | { |
DavidEGrayson | 32:83a13b06093c | 224 | pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 28:4374035df5e0 | 225 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 226 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 32:83a13b06093c | 227 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 228 | ); |
DavidEGrayson | 28:4374035df5e0 | 229 | } |
DavidEGrayson | 28:4374035df5e0 | 230 | |
DavidEGrayson | 28:4374035df5e0 | 231 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 232 | { |
DavidEGrayson | 32:83a13b06093c | 233 | pc.printf("%5d %1d %4d | %5d %5d | %4d %4d %4d\r\n", |
DavidEGrayson | 32:83a13b06093c | 234 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 32:83a13b06093c | 235 | motorLeftSpeed, motorRightSpeed, |
DavidEGrayson | 28:4374035df5e0 | 236 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 237 | ); |
DavidEGrayson | 28:4374035df5e0 | 238 | } |
DavidEGrayson | 28:4374035df5e0 | 239 | } |
DavidEGrayson | 28:4374035df5e0 | 240 | } |
DavidEGrayson | 28:4374035df5e0 | 241 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 242 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 243 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 244 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 245 | |
DavidEGrayson | 17:2df9861f53ee | 246 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 247 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 248 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 249 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 250 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 251 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 252 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 253 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 254 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 255 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 256 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 257 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 258 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 259 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 260 | |
DavidEGrayson | 12:835a4d24ae3b | 261 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 262 | { |
DavidEGrayson | 13:bba5b3abd13f | 263 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 264 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 265 | { |
DavidEGrayson | 12:835a4d24ae3b | 266 | updateReckonerFromEncoders(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 267 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 268 | led1 = (reckoner.x > 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 269 | led2 = (reckoner.y > 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 270 | showOrientationWithLeds34(); |
DavidEGrayson | 12:835a4d24ae3b | 271 | |
DavidEGrayson | 13:bba5b3abd13f | 272 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 273 | { |
DavidEGrayson | 19:a11ffc903774 | 274 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 46:f11cb4f93aac | 275 | reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 276 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 277 | } |
DavidEGrayson | 12:835a4d24ae3b | 278 | } |
DavidEGrayson | 12:835a4d24ae3b | 279 | } |
DavidEGrayson | 12:835a4d24ae3b | 280 | |
DavidEGrayson | 10:e4dd36148539 | 281 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 282 | { |
DavidEGrayson | 10:e4dd36148539 | 283 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 284 | Pacer reportPacer(100000); |
DavidEGrayson | 31:739b91331f31 | 285 | Pacer clearStatsPacer(2000000); |
DavidEGrayson | 31:739b91331f31 | 286 | |
DavidEGrayson | 31:739b91331f31 | 287 | uint16_t min[LINE_SENSOR_COUNT]; |
DavidEGrayson | 31:739b91331f31 | 288 | uint16_t max[LINE_SENSOR_COUNT]; |
DavidEGrayson | 31:739b91331f31 | 289 | |
DavidEGrayson | 10:e4dd36148539 | 290 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 291 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 292 | { |
DavidEGrayson | 31:739b91331f31 | 293 | if (clearStatsPacer.pace()) |
DavidEGrayson | 31:739b91331f31 | 294 | { |
DavidEGrayson | 31:739b91331f31 | 295 | for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++) |
DavidEGrayson | 31:739b91331f31 | 296 | { |
DavidEGrayson | 31:739b91331f31 | 297 | min[i] = 0xFFFF; |
DavidEGrayson | 31:739b91331f31 | 298 | max[i] = 0; |
DavidEGrayson | 31:739b91331f31 | 299 | } |
DavidEGrayson | 31:739b91331f31 | 300 | } |
DavidEGrayson | 31:739b91331f31 | 301 | |
DavidEGrayson | 31:739b91331f31 | 302 | //values[0] = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 303 | //values[1] = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 304 | //values[2] = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 31:739b91331f31 | 305 | |
DavidEGrayson | 31:739b91331f31 | 306 | uint16_t values[3]; |
DavidEGrayson | 31:739b91331f31 | 307 | readSensors(values); |
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 | if (values[i] > max[i]){ max[i] = values[i]; } |
DavidEGrayson | 31:739b91331f31 | 312 | if (values[i] < min[i]){ min[i] = values[i]; } |
DavidEGrayson | 31:739b91331f31 | 313 | } |
DavidEGrayson | 31:739b91331f31 | 314 | |
DavidEGrayson | 10:e4dd36148539 | 315 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 316 | { |
DavidEGrayson | 10:e4dd36148539 | 317 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 318 | { |
DavidEGrayson | 10:e4dd36148539 | 319 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 31:739b91331f31 | 320 | printBar("L", values[0]); |
DavidEGrayson | 31:739b91331f31 | 321 | printBar("M", values[1]); |
DavidEGrayson | 31:739b91331f31 | 322 | printBar("R", values[2]); |
DavidEGrayson | 31:739b91331f31 | 323 | pc.printf("%4d %4d \r\n", min[0], max[0]); |
DavidEGrayson | 31:739b91331f31 | 324 | pc.printf("%4d %4d \r\n", min[1], max[1]); |
DavidEGrayson | 31:739b91331f31 | 325 | pc.printf("%4d %4d \r\n", min[2], max[2]); |
DavidEGrayson | 10:e4dd36148539 | 326 | } |
DavidEGrayson | 10:e4dd36148539 | 327 | else |
DavidEGrayson | 10:e4dd36148539 | 328 | { |
DavidEGrayson | 31:739b91331f31 | 329 | pc.printf("%8d %8d %8d\r\n", values[0], values[1], values[2]); |
DavidEGrayson | 10:e4dd36148539 | 330 | } |
DavidEGrayson | 10:e4dd36148539 | 331 | } |
DavidEGrayson | 10:e4dd36148539 | 332 | } |
DavidEGrayson | 10:e4dd36148539 | 333 | } |
DavidEGrayson | 8:78b1ff957cba | 334 | |
DavidEGrayson | 24:fc01d9125d3b | 335 | // Values from David's office Values from dev lab, |
DavidEGrayson | 24:fc01d9125d3b | 336 | // in the day time, 2014-02-27: 2014-02-27: |
DavidEGrayson | 22:44c032e59ff5 | 337 | // # calmin calmax |
DavidEGrayson | 24:fc01d9125d3b | 338 | // 0 34872 59726 0 40617 60222 |
DavidEGrayson | 24:fc01d9125d3b | 339 | // 1 29335 60110 1 36937 61198 |
DavidEGrayson | 24:fc01d9125d3b | 340 | // 2 23845 58446 2 33848 58862 |
DavidEGrayson | 22:44c032e59ff5 | 341 | void testCalibrate() |
DavidEGrayson | 22:44c032e59ff5 | 342 | { |
DavidEGrayson | 22:44c032e59ff5 | 343 | Timer timer; |
DavidEGrayson | 22:44c032e59ff5 | 344 | timer.start(); |
DavidEGrayson | 22:44c032e59ff5 | 345 | |
DavidEGrayson | 22:44c032e59ff5 | 346 | Pacer reportPacer(200000); |
DavidEGrayson | 22:44c032e59ff5 | 347 | |
DavidEGrayson | 24:fc01d9125d3b | 348 | bool doneCalibrating = false; |
DavidEGrayson | 24:fc01d9125d3b | 349 | |
DavidEGrayson | 24:fc01d9125d3b | 350 | led1 = 1; |
DavidEGrayson | 24:fc01d9125d3b | 351 | |
DavidEGrayson | 22:44c032e59ff5 | 352 | while(1) |
DavidEGrayson | 22:44c032e59ff5 | 353 | { |
DavidEGrayson | 22:44c032e59ff5 | 354 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 355 | if(!doneCalibrating) |
DavidEGrayson | 24:fc01d9125d3b | 356 | { |
DavidEGrayson | 24:fc01d9125d3b | 357 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 358 | } |
DavidEGrayson | 24:fc01d9125d3b | 359 | |
DavidEGrayson | 24:fc01d9125d3b | 360 | led3 = doneCalibrating; |
DavidEGrayson | 24:fc01d9125d3b | 361 | led4 = lineTracker.getLineVisible(); |
DavidEGrayson | 24:fc01d9125d3b | 362 | |
DavidEGrayson | 24:fc01d9125d3b | 363 | if (button1DefinitelyPressed()) |
DavidEGrayson | 24:fc01d9125d3b | 364 | { |
DavidEGrayson | 24:fc01d9125d3b | 365 | doneCalibrating = true; |
DavidEGrayson | 24:fc01d9125d3b | 366 | } |
DavidEGrayson | 22:44c032e59ff5 | 367 | |
DavidEGrayson | 22:44c032e59ff5 | 368 | if (reportPacer.pace()) |
DavidEGrayson | 22:44c032e59ff5 | 369 | { |
DavidEGrayson | 22:44c032e59ff5 | 370 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 22:44c032e59ff5 | 371 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 22:44c032e59ff5 | 372 | { |
DavidEGrayson | 22:44c032e59ff5 | 373 | pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); |
DavidEGrayson | 22:44c032e59ff5 | 374 | } |
DavidEGrayson | 22:44c032e59ff5 | 375 | } |
DavidEGrayson | 22:44c032e59ff5 | 376 | } |
DavidEGrayson | 22:44c032e59ff5 | 377 | } |
DavidEGrayson | 22:44c032e59ff5 | 378 | |
DavidEGrayson | 9:9734347b5756 | 379 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 380 | { |
DavidEGrayson | 9:9734347b5756 | 381 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 382 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 383 | while(1) |
DavidEGrayson | 9:9734347b5756 | 384 | { |
DavidEGrayson | 9:9734347b5756 | 385 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 386 | { |
DavidEGrayson | 9:9734347b5756 | 387 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 388 | } |
DavidEGrayson | 9:9734347b5756 | 389 | |
DavidEGrayson | 9:9734347b5756 | 390 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 391 | { |
DavidEGrayson | 9:9734347b5756 | 392 | led2 = 1; |
DavidEGrayson | 31:739b91331f31 | 393 | pc.printf("%8d %8d\r\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 394 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 395 | } |
DavidEGrayson | 9:9734347b5756 | 396 | } |
DavidEGrayson | 9:9734347b5756 | 397 | } |
DavidEGrayson | 9:9734347b5756 | 398 | |
DavidEGrayson | 8:78b1ff957cba | 399 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 400 | { |
DavidEGrayson | 8:78b1ff957cba | 401 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 402 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 403 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 404 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 405 | { |
DavidEGrayson | 9:9734347b5756 | 406 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 407 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 408 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 409 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 410 | |
DavidEGrayson | 9:9734347b5756 | 411 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 412 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 413 | |
DavidEGrayson | 9:9734347b5756 | 414 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 415 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 416 | |
DavidEGrayson | 9:9734347b5756 | 417 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 418 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 419 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 420 | |
DavidEGrayson | 9:9734347b5756 | 421 | motorsSpeedSet(600, 600); |
DavidEGrayson | 39:a5e25fd52ff8 | 422 | wait(1); |
DavidEGrayson | 8:78b1ff957cba | 423 | |
DavidEGrayson | 9:9734347b5756 | 424 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 425 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 426 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 427 | |
DavidEGrayson | 9:9734347b5756 | 428 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 39:a5e25fd52ff8 | 429 | wait(1); |
DavidEGrayson | 8:78b1ff957cba | 430 | } |
DavidEGrayson | 10:e4dd36148539 | 431 | } |
DavidEGrayson | 10:e4dd36148539 | 432 | |
DavidEGrayson | 20:dbec34f0e76b | 433 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 434 | { |
DavidEGrayson | 20:dbec34f0e76b | 435 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 436 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 437 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 438 | showOrientationWithLeds34(); |
DavidEGrayson | 20:dbec34f0e76b | 439 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 440 | { |
DavidEGrayson | 20:dbec34f0e76b | 441 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 46:f11cb4f93aac | 442 | reckoner.cosv, reckoner.sinv, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 443 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 444 | } |
DavidEGrayson | 20:dbec34f0e76b | 445 | } |
DavidEGrayson | 20:dbec34f0e76b | 446 | |
DavidEGrayson | 20:dbec34f0e76b | 447 | } |
DavidEGrayson | 20:dbec34f0e76b | 448 | |
DavidEGrayson | 31:739b91331f31 | 449 | // with should be between 0 and 63 |
DavidEGrayson | 31:739b91331f31 | 450 | void printBar(const char * name, uint16_t result) |
DavidEGrayson | 10:e4dd36148539 | 451 | { |
DavidEGrayson | 31:739b91331f31 | 452 | pc.printf("%-2s %5d |", name, result); |
DavidEGrayson | 31:739b91331f31 | 453 | uint16_t width = result >> 4; |
DavidEGrayson | 31:739b91331f31 | 454 | if (width > 63) { width = 63; } |
DavidEGrayson | 10:e4dd36148539 | 455 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 456 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 457 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 458 | pc.putc('|'); |
DavidEGrayson | 31:739b91331f31 | 459 | pc.putc('\r'); |
DavidEGrayson | 10:e4dd36148539 | 460 | pc.putc('\n'); |
DavidEGrayson | 44:edcacba44760 | 461 | } |
DavidEGrayson | 44:edcacba44760 | 462 | |
DavidEGrayson | 44:edcacba44760 | 463 | void testL3g() |
DavidEGrayson | 44:edcacba44760 | 464 | { |
DavidEGrayson | 44:edcacba44760 | 465 | Pacer reportPacer(750000); |
DavidEGrayson | 44:edcacba44760 | 466 | Timer timer; |
DavidEGrayson | 44:edcacba44760 | 467 | timer.start(); |
DavidEGrayson | 44:edcacba44760 | 468 | int32_t gz = 0; |
DavidEGrayson | 44:edcacba44760 | 469 | bool reportedReading = false; |
DavidEGrayson | 44:edcacba44760 | 470 | while(1) |
DavidEGrayson | 44:edcacba44760 | 471 | { |
DavidEGrayson | 44:edcacba44760 | 472 | int32_t result = l3gZAvailable(); |
DavidEGrayson | 44:edcacba44760 | 473 | if (result == 1) |
DavidEGrayson | 44:edcacba44760 | 474 | { |
DavidEGrayson | 44:edcacba44760 | 475 | gz = l3gZRead(); |
DavidEGrayson | 44:edcacba44760 | 476 | reportedReading = false; |
DavidEGrayson | 44:edcacba44760 | 477 | if (gz > 100 || gz < -100) |
DavidEGrayson | 44:edcacba44760 | 478 | { |
DavidEGrayson | 44:edcacba44760 | 479 | pc.printf("%d, %d\r\n", timer.read_us(), gz); |
DavidEGrayson | 44:edcacba44760 | 480 | reportedReading = true; |
DavidEGrayson | 44:edcacba44760 | 481 | } |
DavidEGrayson | 44:edcacba44760 | 482 | } |
DavidEGrayson | 44:edcacba44760 | 483 | else if (result != 0) |
DavidEGrayson | 44:edcacba44760 | 484 | { |
DavidEGrayson | 44:edcacba44760 | 485 | pc.printf("l3gZAvailable error: %d\n", result); |
DavidEGrayson | 44:edcacba44760 | 486 | } |
DavidEGrayson | 44:edcacba44760 | 487 | |
DavidEGrayson | 44:edcacba44760 | 488 | if (reportPacer.pace() && !reportedReading) |
DavidEGrayson | 44:edcacba44760 | 489 | { |
DavidEGrayson | 44:edcacba44760 | 490 | pc.printf("%d, %d\r\n", timer.read_us(), gz); |
DavidEGrayson | 44:edcacba44760 | 491 | reportedReading = true; |
DavidEGrayson | 44:edcacba44760 | 492 | } |
DavidEGrayson | 44:edcacba44760 | 493 | } |
DavidEGrayson | 44:edcacba44760 | 494 | } |
DavidEGrayson | 44:edcacba44760 | 495 | |
DavidEGrayson | 44:edcacba44760 | 496 | void testTurnSensor() |
DavidEGrayson | 44:edcacba44760 | 497 | { |
DavidEGrayson | 44:edcacba44760 | 498 | pc.printf("Test turn sensor\r\n"); |
DavidEGrayson | 44:edcacba44760 | 499 | Pacer reportPacer(200000); |
DavidEGrayson | 44:edcacba44760 | 500 | TurnSensor turnSensor; |
DavidEGrayson | 44:edcacba44760 | 501 | turnSensor.start(); |
DavidEGrayson | 44:edcacba44760 | 502 | while(1) |
DavidEGrayson | 44:edcacba44760 | 503 | { |
DavidEGrayson | 44:edcacba44760 | 504 | turnSensor.update(); |
DavidEGrayson | 44:edcacba44760 | 505 | if (reportPacer.pace()) |
DavidEGrayson | 44:edcacba44760 | 506 | { |
DavidEGrayson | 45:e16e74bbbf8c | 507 | pc.printf("%d\r\n", turnSensor.getAngleDegrees()); |
DavidEGrayson | 44:edcacba44760 | 508 | } |
DavidEGrayson | 44:edcacba44760 | 509 | } |
DavidEGrayson | 46:f11cb4f93aac | 510 | } |
DavidEGrayson | 46:f11cb4f93aac | 511 | |
DavidEGrayson | 46:f11cb4f93aac | 512 | void testReckoningWithGyro() |
DavidEGrayson | 46:f11cb4f93aac | 513 | { |
DavidEGrayson | 46:f11cb4f93aac | 514 | setLeds(0, 0, 0, 1); |
DavidEGrayson | 46:f11cb4f93aac | 515 | waitForSignalToStart(); |
DavidEGrayson | 46:f11cb4f93aac | 516 | setLeds(1, 0, 0, 1); |
DavidEGrayson | 46:f11cb4f93aac | 517 | |
DavidEGrayson | 46:f11cb4f93aac | 518 | loadCalibration(); |
DavidEGrayson | 46:f11cb4f93aac | 519 | Timer timer; |
DavidEGrayson | 46:f11cb4f93aac | 520 | timer.start(); |
DavidEGrayson | 46:f11cb4f93aac | 521 | TurnSensor turnSensor; |
DavidEGrayson | 46:f11cb4f93aac | 522 | turnSensor.start(); |
DavidEGrayson | 46:f11cb4f93aac | 523 | while(1) |
DavidEGrayson | 46:f11cb4f93aac | 524 | { |
DavidEGrayson | 46:f11cb4f93aac | 525 | turnSensor.update(); |
DavidEGrayson | 46:f11cb4f93aac | 526 | updateReckoner(turnSensor); |
DavidEGrayson | 46:f11cb4f93aac | 527 | loggerService(); |
DavidEGrayson | 46:f11cb4f93aac | 528 | |
DavidEGrayson | 46:f11cb4f93aac | 529 | if (button1DefinitelyPressed()) |
DavidEGrayson | 46:f11cb4f93aac | 530 | { |
DavidEGrayson | 46:f11cb4f93aac | 531 | break; |
DavidEGrayson | 46:f11cb4f93aac | 532 | } |
DavidEGrayson | 46:f11cb4f93aac | 533 | } |
DavidEGrayson | 46:f11cb4f93aac | 534 | motorsSpeedSet(0, 0); |
DavidEGrayson | 46:f11cb4f93aac | 535 | |
DavidEGrayson | 46:f11cb4f93aac | 536 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 46:f11cb4f93aac | 537 | loggerReportLoop(); |
DavidEGrayson | 8:78b1ff957cba | 538 | } |