David Grayson / Mbed 2 deprecated LineFollowing

David's line following code from the LVBots competition, 2015.

Dependencies:   GeneralDebouncer Pacer PololuEncoder mbed

Fork of DeadReckoning by David Grayson

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?

UserRevisionLine numberNew 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 }