David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@37:23000a47ed2b, 2014-03-06 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Thu Mar 06 05:11:46 2014 +0000
- Revision:
- 37:23000a47ed2b
- Parent:
- 34:6c84680d823a
- Child:
- 38:5e93a479c244
With a boost 0.2% to handleRight in the Reckoner, this code did very well on the course twice!! Then I ran it the other way and it was more than a foot off :(
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 | 37:23000a47ed2b | 18 | Logger logger; |
DavidEGrayson | 37:23000a47ed2b | 19 | Pacer loggerPacer(50000); |
DavidEGrayson | 21:c279c6a83671 | 20 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 21 | const int16_t drivingSpeed = 400; |
DavidEGrayson | 21:c279c6a83671 | 22 | |
DavidEGrayson | 21:c279c6a83671 | 23 | void setLeds(bool v1, bool v2, bool v3, bool v4) |
DavidEGrayson | 21:c279c6a83671 | 24 | { |
DavidEGrayson | 21:c279c6a83671 | 25 | led1 = v1; |
DavidEGrayson | 21:c279c6a83671 | 26 | led2 = v2; |
DavidEGrayson | 21:c279c6a83671 | 27 | led3 = v3; |
DavidEGrayson | 21:c279c6a83671 | 28 | led4 = v4; |
DavidEGrayson | 21:c279c6a83671 | 29 | } |
DavidEGrayson | 0:e77a0edb9878 | 30 | |
DavidEGrayson | 10:e4dd36148539 | 31 | int __attribute__((noreturn)) main() |
DavidEGrayson | 2:968338353aef | 32 | { |
DavidEGrayson | 2:968338353aef | 33 | pc.baud(115200); |
DavidEGrayson | 2:968338353aef | 34 | |
DavidEGrayson | 2:968338353aef | 35 | // Enable pull-ups on encoder pins and give them a chance to settle. |
DavidEGrayson | 9:9734347b5756 | 36 | encodersInit(); |
DavidEGrayson | 9:9734347b5756 | 37 | motorsInit(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 38 | buttonsInit(); |
DavidEGrayson | 4:1b20a11765c8 | 39 | |
DavidEGrayson | 8:78b1ff957cba | 40 | // Test routines |
DavidEGrayson | 9:9734347b5756 | 41 | //testMotors(); |
DavidEGrayson | 10:e4dd36148539 | 42 | //testEncoders(); |
DavidEGrayson | 32:83a13b06093c | 43 | //testLineSensors(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 44 | //testReckoner(); |
DavidEGrayson | 17:2df9861f53ee | 45 | //testButtons(); |
DavidEGrayson | 34:6c84680d823a | 46 | //testDriveHome(); |
DavidEGrayson | 21:c279c6a83671 | 47 | //testFinalSettleIn(); |
DavidEGrayson | 23:aae5cbe3b924 | 48 | //testCalibrate(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 49 | //testLineFollowing(); |
DavidEGrayson | 29:cfcf08d8ac79 | 50 | //testAnalog(); |
DavidEGrayson | 31:739b91331f31 | 51 | //testSensorGlitches(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 52 | //testTurnInPlace(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 53 | //testCloseness(); |
DavidEGrayson | 37:23000a47ed2b | 54 | //testLogger(); |
DavidEGrayson | 37:23000a47ed2b | 55 | |
DavidEGrayson | 2:968338353aef | 56 | |
DavidEGrayson | 21:c279c6a83671 | 57 | // Real routines for the contest. |
DavidEGrayson | 28:4374035df5e0 | 58 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 59 | |
DavidEGrayson | 21:c279c6a83671 | 60 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 61 | waitForSignalToStart(); |
DavidEGrayson | 25:73c2eedb3b91 | 62 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 63 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 28:4374035df5e0 | 64 | findLine(); |
DavidEGrayson | 25:73c2eedb3b91 | 65 | |
DavidEGrayson | 27:2456f68be679 | 66 | //setLeds(1, 1, 0, 0); |
DavidEGrayson | 27:2456f68be679 | 67 | //turnRightToFindLine(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 68 | |
DavidEGrayson | 21:c279c6a83671 | 69 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 70 | followLineToEnd(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 71 | |
DavidEGrayson | 21:c279c6a83671 | 72 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 73 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 74 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 75 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 76 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 77 | |
DavidEGrayson | 21:c279c6a83671 | 78 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 37:23000a47ed2b | 79 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 80 | } |
DavidEGrayson | 37:23000a47ed2b | 81 | |
DavidEGrayson | 37:23000a47ed2b | 82 | void loggerService() |
DavidEGrayson | 37:23000a47ed2b | 83 | { |
DavidEGrayson | 37:23000a47ed2b | 84 | if (loggerPacer.pace()) |
DavidEGrayson | 37:23000a47ed2b | 85 | { |
DavidEGrayson | 37:23000a47ed2b | 86 | logger.log(); |
DavidEGrayson | 37:23000a47ed2b | 87 | } |
DavidEGrayson | 0:e77a0edb9878 | 88 | } |
DavidEGrayson | 12:835a4d24ae3b | 89 | |
DavidEGrayson | 37:23000a47ed2b | 90 | void loggerReportLoop() |
DavidEGrayson | 37:23000a47ed2b | 91 | { |
DavidEGrayson | 37:23000a47ed2b | 92 | while(1) |
DavidEGrayson | 37:23000a47ed2b | 93 | { |
DavidEGrayson | 37:23000a47ed2b | 94 | if(button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 95 | { |
DavidEGrayson | 37:23000a47ed2b | 96 | logger.dump(); |
DavidEGrayson | 37:23000a47ed2b | 97 | } |
DavidEGrayson | 37:23000a47ed2b | 98 | } |
DavidEGrayson | 37:23000a47ed2b | 99 | } |
DavidEGrayson | 37:23000a47ed2b | 100 | |
DavidEGrayson | 37:23000a47ed2b | 101 | |
DavidEGrayson | 28:4374035df5e0 | 102 | void loadCalibration() |
DavidEGrayson | 28:4374035df5e0 | 103 | { |
DavidEGrayson | 32:83a13b06093c | 104 | /** QTR-3RC **/ |
DavidEGrayson | 32:83a13b06093c | 105 | lineTracker.calibratedMinimum[0] = 100; |
DavidEGrayson | 32:83a13b06093c | 106 | lineTracker.calibratedMinimum[1] = 94; |
DavidEGrayson | 32:83a13b06093c | 107 | lineTracker.calibratedMinimum[2] = 103; |
DavidEGrayson | 32:83a13b06093c | 108 | lineTracker.calibratedMaximum[0] = 792; |
DavidEGrayson | 32:83a13b06093c | 109 | lineTracker.calibratedMaximum[1] = 807; |
DavidEGrayson | 32:83a13b06093c | 110 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 32:83a13b06093c | 111 | |
DavidEGrayson | 32:83a13b06093c | 112 | /** QTR-3A |
DavidEGrayson | 28:4374035df5e0 | 113 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 28:4374035df5e0 | 114 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 28:4374035df5e0 | 115 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 28:4374035df5e0 | 116 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 28:4374035df5e0 | 117 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 32:83a13b06093c | 118 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 32:83a13b06093c | 119 | **/ |
DavidEGrayson | 28:4374035df5e0 | 120 | } |
DavidEGrayson | 28:4374035df5e0 | 121 | |
DavidEGrayson | 12:835a4d24ae3b | 122 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 123 | { |
DavidEGrayson | 12:835a4d24ae3b | 124 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 125 | { |
DavidEGrayson | 12:835a4d24ae3b | 126 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 127 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 128 | { |
DavidEGrayson | 17:2df9861f53ee | 129 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 130 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 131 | break; |
DavidEGrayson | 17:2df9861f53ee | 132 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 133 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 134 | break; |
DavidEGrayson | 17:2df9861f53ee | 135 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 136 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 137 | break; |
DavidEGrayson | 17:2df9861f53ee | 138 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 139 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 140 | break; |
DavidEGrayson | 12:835a4d24ae3b | 141 | } |
DavidEGrayson | 12:835a4d24ae3b | 142 | } |
DavidEGrayson | 12:835a4d24ae3b | 143 | } |
DavidEGrayson | 17:2df9861f53ee | 144 | |
DavidEGrayson | 19:a11ffc903774 | 145 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 146 | { |
DavidEGrayson | 19:a11ffc903774 | 147 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 148 | } |
DavidEGrayson | 19:a11ffc903774 | 149 | |
DavidEGrayson | 20:dbec34f0e76b | 150 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 151 | { |
DavidEGrayson | 20:dbec34f0e76b | 152 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 153 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 154 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 155 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 156 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 157 | } |
DavidEGrayson | 20:dbec34f0e76b | 158 | |
DavidEGrayson | 18:b65fbb795396 | 159 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 160 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 161 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 162 | { |
DavidEGrayson | 18:b65fbb795396 | 163 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 164 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 165 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 166 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 167 | } |
DavidEGrayson | 19:a11ffc903774 | 168 | |
DavidEGrayson | 21:c279c6a83671 | 169 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 170 | { |
DavidEGrayson | 19:a11ffc903774 | 171 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 172 | { |
DavidEGrayson | 19:a11ffc903774 | 173 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 174 | } |
DavidEGrayson | 19:a11ffc903774 | 175 | else |
DavidEGrayson | 19:a11ffc903774 | 176 | { |
DavidEGrayson | 19:a11ffc903774 | 177 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 178 | } |
DavidEGrayson | 18:b65fbb795396 | 179 | } |
DavidEGrayson | 18:b65fbb795396 | 180 | |
DavidEGrayson | 21:c279c6a83671 | 181 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 182 | { |
DavidEGrayson | 21:c279c6a83671 | 183 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 184 | { |
DavidEGrayson | 21:c279c6a83671 | 185 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 186 | } |
DavidEGrayson | 21:c279c6a83671 | 187 | reckoner.reset(); |
DavidEGrayson | 21:c279c6a83671 | 188 | } |
DavidEGrayson | 21:c279c6a83671 | 189 | |
DavidEGrayson | 24:fc01d9125d3b | 190 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 191 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 192 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 193 | { |
DavidEGrayson | 24:fc01d9125d3b | 194 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 195 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 196 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 197 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 24:fc01d9125d3b | 198 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 199 | { |
DavidEGrayson | 24:fc01d9125d3b | 200 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 201 | } |
DavidEGrayson | 24:fc01d9125d3b | 202 | else |
DavidEGrayson | 24:fc01d9125d3b | 203 | { |
DavidEGrayson | 24:fc01d9125d3b | 204 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 205 | } |
DavidEGrayson | 24:fc01d9125d3b | 206 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 207 | } |
DavidEGrayson | 24:fc01d9125d3b | 208 | |
DavidEGrayson | 28:4374035df5e0 | 209 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 210 | { |
DavidEGrayson | 34:6c84680d823a | 211 | const int followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 28:4374035df5e0 | 212 | |
DavidEGrayson | 28:4374035df5e0 | 213 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 214 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 215 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 216 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 217 | { |
DavidEGrayson | 28:4374035df5e0 | 218 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 219 | } |
DavidEGrayson | 28:4374035df5e0 | 220 | else |
DavidEGrayson | 28:4374035df5e0 | 221 | { |
DavidEGrayson | 28:4374035df5e0 | 222 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 223 | } |
DavidEGrayson | 24:fc01d9125d3b | 224 | |
DavidEGrayson | 28:4374035df5e0 | 225 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 226 | } |
DavidEGrayson | 28:4374035df5e0 | 227 | |
DavidEGrayson | 28:4374035df5e0 | 228 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 229 | { |
DavidEGrayson | 24:fc01d9125d3b | 230 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 231 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 232 | { |
DavidEGrayson | 24:fc01d9125d3b | 233 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 234 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 235 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 236 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 237 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 238 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 239 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 240 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000) |
DavidEGrayson | 24:fc01d9125d3b | 241 | { |
DavidEGrayson | 26:7e7c376a7446 | 242 | break; |
DavidEGrayson | 24:fc01d9125d3b | 243 | } |
DavidEGrayson | 24:fc01d9125d3b | 244 | } |
DavidEGrayson | 24:fc01d9125d3b | 245 | } |
DavidEGrayson | 20:dbec34f0e76b | 246 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 247 | /** |
DavidEGrayson | 21:c279c6a83671 | 248 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 249 | { |
DavidEGrayson | 21:c279c6a83671 | 250 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 251 | { |
DavidEGrayson | 21:c279c6a83671 | 252 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 253 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 254 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 255 | |
DavidEGrayson | 21:c279c6a83671 | 256 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 257 | { |
DavidEGrayson | 21:c279c6a83671 | 258 | break; |
DavidEGrayson | 21:c279c6a83671 | 259 | } |
DavidEGrayson | 21:c279c6a83671 | 260 | |
DavidEGrayson | 21:c279c6a83671 | 261 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 262 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 263 | }**/ |
DavidEGrayson | 21:c279c6a83671 | 264 | |
DavidEGrayson | 21:c279c6a83671 | 265 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 266 | { |
DavidEGrayson | 26:7e7c376a7446 | 267 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 268 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 269 | |
DavidEGrayson | 21:c279c6a83671 | 270 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 34:6c84680d823a | 271 | const uint32_t lineDebounceTime = 1000000; |
DavidEGrayson | 21:c279c6a83671 | 272 | |
DavidEGrayson | 21:c279c6a83671 | 273 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 274 | { |
DavidEGrayson | 21:c279c6a83671 | 275 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 276 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 277 | loggerService(); |
DavidEGrayson | 21:c279c6a83671 | 278 | |
DavidEGrayson | 21:c279c6a83671 | 279 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 280 | |
DavidEGrayson | 21:c279c6a83671 | 281 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 282 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 28:4374035df5e0 | 283 | if(lostLine && timer.read_us() >= 2000000) |
DavidEGrayson | 21:c279c6a83671 | 284 | { |
DavidEGrayson | 21:c279c6a83671 | 285 | break; |
DavidEGrayson | 21:c279c6a83671 | 286 | } |
DavidEGrayson | 21:c279c6a83671 | 287 | |
DavidEGrayson | 28:4374035df5e0 | 288 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 289 | } |
DavidEGrayson | 20:dbec34f0e76b | 290 | } |
DavidEGrayson | 20:dbec34f0e76b | 291 | |
DavidEGrayson | 20:dbec34f0e76b | 292 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 293 | { |
DavidEGrayson | 18:b65fbb795396 | 294 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 295 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 296 | |
DavidEGrayson | 19:a11ffc903774 | 297 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 298 | { |
DavidEGrayson | 18:b65fbb795396 | 299 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 300 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 301 | |
DavidEGrayson | 19:a11ffc903774 | 302 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 303 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 304 | if (magn < (1<<(14+7))) |
DavidEGrayson | 18:b65fbb795396 | 305 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 306 | // We are within 128 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 307 | break; |
DavidEGrayson | 19:a11ffc903774 | 308 | } |
DavidEGrayson | 19:a11ffc903774 | 309 | |
DavidEGrayson | 19:a11ffc903774 | 310 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 311 | |
DavidEGrayson | 21:c279c6a83671 | 312 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 313 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 314 | if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 315 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 316 | int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2); |
DavidEGrayson | 19:a11ffc903774 | 317 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 318 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 319 | } |
DavidEGrayson | 19:a11ffc903774 | 320 | |
DavidEGrayson | 19:a11ffc903774 | 321 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 322 | { |
DavidEGrayson | 19:a11ffc903774 | 323 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 324 | } |
DavidEGrayson | 18:b65fbb795396 | 325 | else |
DavidEGrayson | 18:b65fbb795396 | 326 | { |
DavidEGrayson | 19:a11ffc903774 | 327 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 328 | } |
DavidEGrayson | 19:a11ffc903774 | 329 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 330 | } |
DavidEGrayson | 18:b65fbb795396 | 331 | |
DavidEGrayson | 20:dbec34f0e76b | 332 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 333 | } |
DavidEGrayson | 20:dbec34f0e76b | 334 | |
DavidEGrayson | 20:dbec34f0e76b | 335 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 336 | { |
DavidEGrayson | 27:2456f68be679 | 337 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 338 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 339 | |
DavidEGrayson | 20:dbec34f0e76b | 340 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 341 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 342 | |
DavidEGrayson | 20:dbec34f0e76b | 343 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 344 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 345 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 346 | |
DavidEGrayson | 27:2456f68be679 | 347 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 348 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 349 | |
DavidEGrayson | 27:2456f68be679 | 350 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 351 | |
DavidEGrayson | 27:2456f68be679 | 352 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 353 | |
DavidEGrayson | 19:a11ffc903774 | 354 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 355 | { |
DavidEGrayson | 27:2456f68be679 | 356 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 357 | |
DavidEGrayson | 20:dbec34f0e76b | 358 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 359 | loggerService(); |
DavidEGrayson | 37:23000a47ed2b | 360 | |
DavidEGrayson | 20:dbec34f0e76b | 361 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 362 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 363 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 364 | { |
DavidEGrayson | 20:dbec34f0e76b | 365 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 366 | } |
DavidEGrayson | 20:dbec34f0e76b | 367 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 368 | { |
DavidEGrayson | 20:dbec34f0e76b | 369 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 370 | } |
DavidEGrayson | 20:dbec34f0e76b | 371 | |
DavidEGrayson | 21:c279c6a83671 | 372 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 373 | { |
DavidEGrayson | 21:c279c6a83671 | 374 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 375 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 376 | } |
DavidEGrayson | 20:dbec34f0e76b | 377 | |
DavidEGrayson | 21:c279c6a83671 | 378 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 379 | { |
DavidEGrayson | 21:c279c6a83671 | 380 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 381 | break; |
DavidEGrayson | 21:c279c6a83671 | 382 | } |
DavidEGrayson | 21:c279c6a83671 | 383 | |
DavidEGrayson | 27:2456f68be679 | 384 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 385 | { |
DavidEGrayson | 27:2456f68be679 | 386 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 387 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 388 | { |
DavidEGrayson | 27:2456f68be679 | 389 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 27:2456f68be679 | 390 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 391 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 392 | |
DavidEGrayson | 27:2456f68be679 | 393 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 394 | { |
DavidEGrayson | 27:2456f68be679 | 395 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 396 | } |
DavidEGrayson | 27:2456f68be679 | 397 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 398 | { |
DavidEGrayson | 27:2456f68be679 | 399 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 400 | } |
DavidEGrayson | 27:2456f68be679 | 401 | } |
DavidEGrayson | 27:2456f68be679 | 402 | else |
DavidEGrayson | 27:2456f68be679 | 403 | { |
DavidEGrayson | 27:2456f68be679 | 404 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 405 | } |
DavidEGrayson | 27:2456f68be679 | 406 | |
DavidEGrayson | 27:2456f68be679 | 407 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 408 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 409 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 410 | } |
DavidEGrayson | 21:c279c6a83671 | 411 | |
DavidEGrayson | 21:c279c6a83671 | 412 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 413 | { |
DavidEGrayson | 21:c279c6a83671 | 414 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 415 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 416 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 417 | } |
DavidEGrayson | 19:a11ffc903774 | 418 | } |
DavidEGrayson | 20:dbec34f0e76b | 419 | |
DavidEGrayson | 21:c279c6a83671 | 420 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 421 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 422 | } |