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

main.cpp@24:fc01d9125d3b, 2014-02-28 (annotated)

Committer:
DavidEGrayson
Date:
Fri Feb 28 01:07:14 2014 +0000
Revision:
24:fc01d9125d3b
Parent:
23:aae5cbe3b924
Child:
25:73c2eedb3b91
Fixed the problem with LineTracker always thinking the line was visible.

Who changed what in which revision?

UserRevisionLine numberNew 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 2:968338353aef 47
DavidEGrayson 21:c279c6a83671 48 // Real routines for the contest.
DavidEGrayson 21:c279c6a83671 49 setLeds(1, 0, 0, 0);
DavidEGrayson 21:c279c6a83671 50 waitForSignalToStart();
DavidEGrayson 21:c279c6a83671 51 setLeds(0, 1, 0, 0);
DavidEGrayson 21:c279c6a83671 52 findLineAndCalibrate();
DavidEGrayson 21:c279c6a83671 53 setLeds(1, 1, 0, 0);
DavidEGrayson 21:c279c6a83671 54 turnRightToFindLine();
DavidEGrayson 21:c279c6a83671 55 setLeds(0, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 56 followLineToEnd();
DavidEGrayson 21:c279c6a83671 57 setLeds(1, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 58 driveHomeAlmost();
DavidEGrayson 21:c279c6a83671 59 setLeds(0, 1, 1, 0);
DavidEGrayson 21:c279c6a83671 60 finalSettleIn();
DavidEGrayson 21:c279c6a83671 61 setLeds(1, 1, 1, 1);
DavidEGrayson 21:c279c6a83671 62 while(1){}
DavidEGrayson 0:e77a0edb9878 63 }
DavidEGrayson 12:835a4d24ae3b 64
DavidEGrayson 12:835a4d24ae3b 65 void updateReckonerFromEncoders()
DavidEGrayson 12:835a4d24ae3b 66 {
DavidEGrayson 12:835a4d24ae3b 67 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 68 {
DavidEGrayson 12:835a4d24ae3b 69 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 70 switch(event)
DavidEGrayson 12:835a4d24ae3b 71 {
DavidEGrayson 17:2df9861f53ee 72 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 73 reckoner.handleTickLeftForward();
DavidEGrayson 17:2df9861f53ee 74 break;
DavidEGrayson 17:2df9861f53ee 75 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 76 reckoner.handleTickLeftBackward();
DavidEGrayson 17:2df9861f53ee 77 break;
DavidEGrayson 17:2df9861f53ee 78 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 79 reckoner.handleTickRightForward();
DavidEGrayson 17:2df9861f53ee 80 break;
DavidEGrayson 17:2df9861f53ee 81 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 82 reckoner.handleTickRightBackward();
DavidEGrayson 17:2df9861f53ee 83 break;
DavidEGrayson 12:835a4d24ae3b 84 }
DavidEGrayson 12:835a4d24ae3b 85 }
DavidEGrayson 12:835a4d24ae3b 86 }
DavidEGrayson 17:2df9861f53ee 87
DavidEGrayson 19:a11ffc903774 88 float magnitude()
DavidEGrayson 19:a11ffc903774 89 {
DavidEGrayson 19:a11ffc903774 90 return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y);
DavidEGrayson 19:a11ffc903774 91 }
DavidEGrayson 19:a11ffc903774 92
DavidEGrayson 20:dbec34f0e76b 93 float dotProduct()
DavidEGrayson 20:dbec34f0e76b 94 {
DavidEGrayson 20:dbec34f0e76b 95 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 96 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 97 float magn = magnitude();
DavidEGrayson 20:dbec34f0e76b 98 if (magn == 0){ return 0; }
DavidEGrayson 20:dbec34f0e76b 99 return ((float)reckoner.x * c + (float)reckoner.y * s) / magn;
DavidEGrayson 20:dbec34f0e76b 100 }
DavidEGrayson 20:dbec34f0e76b 101
DavidEGrayson 18:b65fbb795396 102 // The closer this is to zero, the closer we are to pointing towards the home position.
DavidEGrayson 18:b65fbb795396 103 // It is basically a cross product of the two vectors (x, y) and (cos, sin).
DavidEGrayson 19:a11ffc903774 104 float determinant()
DavidEGrayson 18:b65fbb795396 105 {
DavidEGrayson 18:b65fbb795396 106 // TODO: get rid of the magic numbers here (i.e. 30)
DavidEGrayson 18:b65fbb795396 107 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 18:b65fbb795396 108 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 19:a11ffc903774 109 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 110 }
DavidEGrayson 19:a11ffc903774 111
DavidEGrayson 21:c279c6a83671 112 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 113 {
DavidEGrayson 19:a11ffc903774 114 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 115 {
DavidEGrayson 19:a11ffc903774 116 return 0;
DavidEGrayson 19:a11ffc903774 117 }
DavidEGrayson 19:a11ffc903774 118 else
DavidEGrayson 19:a11ffc903774 119 {
DavidEGrayson 19:a11ffc903774 120 return speed - reduction;
DavidEGrayson 19:a11ffc903774 121 }
DavidEGrayson 18:b65fbb795396 122 }
DavidEGrayson 18:b65fbb795396 123
DavidEGrayson 21:c279c6a83671 124 // Returns true if each line sensor has one third of a volt of difference between the
DavidEGrayson 21:c279c6a83671 125 // maximum seen value and the minimum.
DavidEGrayson 21:c279c6a83671 126 bool calibrationLooksGood()
DavidEGrayson 21:c279c6a83671 127 {
DavidEGrayson 21:c279c6a83671 128 for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
DavidEGrayson 21:c279c6a83671 129 {
DavidEGrayson 21:c279c6a83671 130 uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s];
DavidEGrayson 21:c279c6a83671 131 if (contrast < 9929) // 0xFFFF*0.5/3.3 = 9929
DavidEGrayson 21:c279c6a83671 132 {
DavidEGrayson 21:c279c6a83671 133 return false;
DavidEGrayson 21:c279c6a83671 134 }
DavidEGrayson 21:c279c6a83671 135 }
DavidEGrayson 21:c279c6a83671 136 return true;
DavidEGrayson 21:c279c6a83671 137 }
DavidEGrayson 21:c279c6a83671 138
DavidEGrayson 21:c279c6a83671 139 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 140 {
DavidEGrayson 21:c279c6a83671 141 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 142 {
DavidEGrayson 21:c279c6a83671 143 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 144 }
DavidEGrayson 21:c279c6a83671 145 reckoner.reset();
DavidEGrayson 21:c279c6a83671 146 }
DavidEGrayson 21:c279c6a83671 147
DavidEGrayson 24:fc01d9125d3b 148 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 149 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 150 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 151 {
DavidEGrayson 24:fc01d9125d3b 152 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 153 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 154 int16_t speedRight = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 155 int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
DavidEGrayson 24:fc01d9125d3b 156 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 157 {
DavidEGrayson 24:fc01d9125d3b 158 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 159 }
DavidEGrayson 24:fc01d9125d3b 160 else
DavidEGrayson 24:fc01d9125d3b 161 {
DavidEGrayson 24:fc01d9125d3b 162 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 163 }
DavidEGrayson 24:fc01d9125d3b 164 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 165 }
DavidEGrayson 24:fc01d9125d3b 166
DavidEGrayson 24:fc01d9125d3b 167 void loadCalibrationAndFindLine()
DavidEGrayson 24:fc01d9125d3b 168 {
DavidEGrayson 24:fc01d9125d3b 169 lineTracker.calibratedMinimum[0] = 34872;
DavidEGrayson 24:fc01d9125d3b 170 lineTracker.calibratedMinimum[1] = 29335;
DavidEGrayson 24:fc01d9125d3b 171 lineTracker.calibratedMinimum[2] = 23845;
DavidEGrayson 24:fc01d9125d3b 172 lineTracker.calibratedMaximum[0] = 59726;
DavidEGrayson 24:fc01d9125d3b 173 lineTracker.calibratedMaximum[1] = 60110;
DavidEGrayson 24:fc01d9125d3b 174 lineTracker.calibratedMaximum[2] = 58446;
DavidEGrayson 24:fc01d9125d3b 175
DavidEGrayson 24:fc01d9125d3b 176 Timer foundLineTimer;
DavidEGrayson 24:fc01d9125d3b 177 foundLineTimer.start();
DavidEGrayson 24:fc01d9125d3b 178 bool foundLine = false;
DavidEGrayson 24:fc01d9125d3b 179
DavidEGrayson 24:fc01d9125d3b 180 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 181 while(1)
DavidEGrayson 24:fc01d9125d3b 182 {
DavidEGrayson 24:fc01d9125d3b 183 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 184 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 185 updateReckonerFromEncoders();
DavidEGrayson 24:fc01d9125d3b 186 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 187 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 188
DavidEGrayson 24:fc01d9125d3b 189 if (foundLine)
DavidEGrayson 24:fc01d9125d3b 190 {
DavidEGrayson 24:fc01d9125d3b 191 if(foundLineTimer.read_ms() >= 500)
DavidEGrayson 24:fc01d9125d3b 192 {
DavidEGrayson 24:fc01d9125d3b 193 // We found the line and traveled for a bit more, so now we can be done.
DavidEGrayson 24:fc01d9125d3b 194 break;
DavidEGrayson 24:fc01d9125d3b 195 }
DavidEGrayson 24:fc01d9125d3b 196 }
DavidEGrayson 24:fc01d9125d3b 197 else
DavidEGrayson 24:fc01d9125d3b 198 {
DavidEGrayson 24:fc01d9125d3b 199 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 150000)
DavidEGrayson 24:fc01d9125d3b 200 {
DavidEGrayson 24:fc01d9125d3b 201 foundLine = true;
DavidEGrayson 24:fc01d9125d3b 202 foundLineTimer.start();
DavidEGrayson 24:fc01d9125d3b 203 }
DavidEGrayson 24:fc01d9125d3b 204 }
DavidEGrayson 24:fc01d9125d3b 205 }
DavidEGrayson 24:fc01d9125d3b 206 }
DavidEGrayson 20:dbec34f0e76b 207
DavidEGrayson 21:c279c6a83671 208 void findLineAndCalibrate()
DavidEGrayson 20:dbec34f0e76b 209 {
DavidEGrayson 21:c279c6a83671 210 Timer timer;
DavidEGrayson 21:c279c6a83671 211 timer.start();
DavidEGrayson 21:c279c6a83671 212
DavidEGrayson 21:c279c6a83671 213 Timer goodCalibrationTimer;
DavidEGrayson 21:c279c6a83671 214 bool goodCalibration = false;
DavidEGrayson 21:c279c6a83671 215
DavidEGrayson 21:c279c6a83671 216 while(1)
DavidEGrayson 21:c279c6a83671 217 {
DavidEGrayson 21:c279c6a83671 218 lineTracker.read();
DavidEGrayson 21:c279c6a83671 219 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 220 updateReckonerFromEncoders();
DavidEGrayson 24:fc01d9125d3b 221 updateMotorsToDriveStraight();
DavidEGrayson 21:c279c6a83671 222
DavidEGrayson 21:c279c6a83671 223 if (goodCalibration)
DavidEGrayson 21:c279c6a83671 224 {
DavidEGrayson 22:44c032e59ff5 225 if(goodCalibrationTimer.read_ms() >= 300)
DavidEGrayson 21:c279c6a83671 226 {
DavidEGrayson 21:c279c6a83671 227 // The calibration was good and we traveled for a bit of time after that,
DavidEGrayson 21:c279c6a83671 228 // so we must be a bit over the line.
DavidEGrayson 21:c279c6a83671 229 break;
DavidEGrayson 21:c279c6a83671 230 }
DavidEGrayson 21:c279c6a83671 231 }
DavidEGrayson 21:c279c6a83671 232 else
DavidEGrayson 21:c279c6a83671 233 {
DavidEGrayson 21:c279c6a83671 234 if(calibrationLooksGood())
DavidEGrayson 21:c279c6a83671 235 {
DavidEGrayson 21:c279c6a83671 236 goodCalibration = true;
DavidEGrayson 21:c279c6a83671 237 goodCalibrationTimer.start();
DavidEGrayson 21:c279c6a83671 238 }
DavidEGrayson 21:c279c6a83671 239 }
DavidEGrayson 21:c279c6a83671 240 }
DavidEGrayson 21:c279c6a83671 241 }
DavidEGrayson 21:c279c6a83671 242
DavidEGrayson 21:c279c6a83671 243 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 244 {
DavidEGrayson 21:c279c6a83671 245 while(1)
DavidEGrayson 21:c279c6a83671 246 {
DavidEGrayson 21:c279c6a83671 247 lineTracker.read();
DavidEGrayson 21:c279c6a83671 248 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 249 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 250
DavidEGrayson 21:c279c6a83671 251 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 252 {
DavidEGrayson 21:c279c6a83671 253 break;
DavidEGrayson 21:c279c6a83671 254 }
DavidEGrayson 21:c279c6a83671 255
DavidEGrayson 21:c279c6a83671 256 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 257 }
DavidEGrayson 21:c279c6a83671 258 }
DavidEGrayson 21:c279c6a83671 259
DavidEGrayson 21:c279c6a83671 260 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 261 {
DavidEGrayson 21:c279c6a83671 262 GeneralDebouncer lineStatus(10000);
DavidEGrayson 21:c279c6a83671 263 const uint32_t lineDebounceTime = 100000;
DavidEGrayson 21:c279c6a83671 264 const int followLineStrength = 300;
DavidEGrayson 21:c279c6a83671 265
DavidEGrayson 21:c279c6a83671 266 while(1)
DavidEGrayson 21:c279c6a83671 267 {
DavidEGrayson 21:c279c6a83671 268 lineTracker.read();
DavidEGrayson 21:c279c6a83671 269 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 270
DavidEGrayson 21:c279c6a83671 271 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 272
DavidEGrayson 21:c279c6a83671 273 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 21:c279c6a83671 274 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 21:c279c6a83671 275
DavidEGrayson 21:c279c6a83671 276 if(lostLine)
DavidEGrayson 21:c279c6a83671 277 {
DavidEGrayson 21:c279c6a83671 278 break;
DavidEGrayson 21:c279c6a83671 279 }
DavidEGrayson 21:c279c6a83671 280
DavidEGrayson 21:c279c6a83671 281 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 282 {
DavidEGrayson 21:c279c6a83671 283 break;
DavidEGrayson 21:c279c6a83671 284 }
DavidEGrayson 21:c279c6a83671 285
DavidEGrayson 21:c279c6a83671 286 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 287 int16_t speedRight = drivingSpeed;
DavidEGrayson 21:c279c6a83671 288 int16_t reduction = (lineTracker.getLinePosition() - 1500) * followLineStrength / 1500;
DavidEGrayson 21:c279c6a83671 289 if(reduction < 0)
DavidEGrayson 21:c279c6a83671 290 {
DavidEGrayson 21:c279c6a83671 291 reduceSpeed(speedLeft, -reduction);
DavidEGrayson 21:c279c6a83671 292 }
DavidEGrayson 21:c279c6a83671 293 else
DavidEGrayson 21:c279c6a83671 294 {
DavidEGrayson 21:c279c6a83671 295 reduceSpeed(speedRight, reduction);
DavidEGrayson 21:c279c6a83671 296 }
DavidEGrayson 21:c279c6a83671 297
DavidEGrayson 21:c279c6a83671 298
DavidEGrayson 21:c279c6a83671 299 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 21:c279c6a83671 300 }
DavidEGrayson 20:dbec34f0e76b 301 }
DavidEGrayson 20:dbec34f0e76b 302
DavidEGrayson 20:dbec34f0e76b 303 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 304 {
DavidEGrayson 18:b65fbb795396 305 Timer timer;
DavidEGrayson 18:b65fbb795396 306 timer.start();
DavidEGrayson 19:a11ffc903774 307
DavidEGrayson 19:a11ffc903774 308 while(1)
DavidEGrayson 18:b65fbb795396 309 {
DavidEGrayson 18:b65fbb795396 310 updateReckonerFromEncoders();
DavidEGrayson 19:a11ffc903774 311
DavidEGrayson 19:a11ffc903774 312 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 313
DavidEGrayson 19:a11ffc903774 314 if (magn < (1<<17))
DavidEGrayson 18:b65fbb795396 315 {
DavidEGrayson 19:a11ffc903774 316 // We are within 8 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 317 break;
DavidEGrayson 19:a11ffc903774 318 }
DavidEGrayson 19:a11ffc903774 319
DavidEGrayson 19:a11ffc903774 320 float det = determinant();
DavidEGrayson 19:a11ffc903774 321
DavidEGrayson 21:c279c6a83671 322 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 323 int16_t speedRight = drivingSpeed;
DavidEGrayson 19:a11ffc903774 324 if (magn < (1<<20)) // Within 64 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 325 {
DavidEGrayson 21:c279c6a83671 326 int16_t reduction = (1 - magn/(1<<20)) * drivingSpeed;
DavidEGrayson 19:a11ffc903774 327 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 328 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 329 }
DavidEGrayson 19:a11ffc903774 330
DavidEGrayson 19:a11ffc903774 331 if (det > 0)
DavidEGrayson 19:a11ffc903774 332 {
DavidEGrayson 19:a11ffc903774 333 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 334 }
DavidEGrayson 18:b65fbb795396 335 else
DavidEGrayson 18:b65fbb795396 336 {
DavidEGrayson 19:a11ffc903774 337 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 338 }
DavidEGrayson 19:a11ffc903774 339 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 340 }
DavidEGrayson 18:b65fbb795396 341
DavidEGrayson 20:dbec34f0e76b 342 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 343 }
DavidEGrayson 20:dbec34f0e76b 344
DavidEGrayson 20:dbec34f0e76b 345 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 346 {
DavidEGrayson 20:dbec34f0e76b 347 const int16_t settleSpeed = 200;
DavidEGrayson 20:dbec34f0e76b 348 const int16_t settleModificationStrength = 100;
DavidEGrayson 20:dbec34f0e76b 349
DavidEGrayson 20:dbec34f0e76b 350 Timer timer;
DavidEGrayson 20:dbec34f0e76b 351 timer.start();
DavidEGrayson 20:dbec34f0e76b 352
DavidEGrayson 20:dbec34f0e76b 353 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 354 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 355 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 356
DavidEGrayson 21:c279c6a83671 357 Pacer reportPacer(200000);
DavidEGrayson 21:c279c6a83671 358
DavidEGrayson 19:a11ffc903774 359 while(1)
DavidEGrayson 19:a11ffc903774 360 {
DavidEGrayson 20:dbec34f0e76b 361 updateReckonerFromEncoders();
DavidEGrayson 20:dbec34f0e76b 362
DavidEGrayson 20:dbec34f0e76b 363 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 364 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 365 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 366 {
DavidEGrayson 20:dbec34f0e76b 367 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 368 }
DavidEGrayson 20:dbec34f0e76b 369 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 370 {
DavidEGrayson 20:dbec34f0e76b 371 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 372 }
DavidEGrayson 20:dbec34f0e76b 373
DavidEGrayson 21:c279c6a83671 374 if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29))
DavidEGrayson 19:a11ffc903774 375 {
DavidEGrayson 21:c279c6a83671 376 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 377 state = 1;
DavidEGrayson 20:dbec34f0e76b 378 }
DavidEGrayson 20:dbec34f0e76b 379
DavidEGrayson 21:c279c6a83671 380 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 381 {
DavidEGrayson 21:c279c6a83671 382 // Stop moving.
DavidEGrayson 21:c279c6a83671 383 break;
DavidEGrayson 21:c279c6a83671 384 }
DavidEGrayson 21:c279c6a83671 385
DavidEGrayson 20:dbec34f0e76b 386 int16_t rotationSpeed;
DavidEGrayson 20:dbec34f0e76b 387 if (state == 1)
DavidEGrayson 20:dbec34f0e76b 388 {
DavidEGrayson 20:dbec34f0e76b 389 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 21:c279c6a83671 390 rotationSpeed = -s * 600;
DavidEGrayson 20:dbec34f0e76b 391 }
DavidEGrayson 20:dbec34f0e76b 392 else
DavidEGrayson 20:dbec34f0e76b 393 {
DavidEGrayson 20:dbec34f0e76b 394 rotationSpeed = settleSpeed;
DavidEGrayson 20:dbec34f0e76b 395 }
DavidEGrayson 20:dbec34f0e76b 396
DavidEGrayson 20:dbec34f0e76b 397 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 20:dbec34f0e76b 398 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 20:dbec34f0e76b 399 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 21:c279c6a83671 400
DavidEGrayson 21:c279c6a83671 401 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 402 {
DavidEGrayson 21:c279c6a83671 403 pc.printf("%11d %11d %11d %11d | %11f %11f\r\n",
DavidEGrayson 21:c279c6a83671 404 reckoner.cos, reckoner.sin, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 405 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 406 }
DavidEGrayson 19:a11ffc903774 407 }
DavidEGrayson 20:dbec34f0e76b 408
DavidEGrayson 21:c279c6a83671 409 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 410 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 411 }