David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@41:4a4be80ff38c, 2015-04-14 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Apr 14 01:47:04 2015 +0000
- Revision:
- 41:4a4be80ff38c
- Parent:
- 40:e79cefc241f8
- Child:
- 42:ead542746cd2
pushed speed up from 600 to 800, no problems
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 | 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 | 32:83a13b06093c | 41 | //testLineSensors(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 42 | //testReckoner(); |
DavidEGrayson | 17:2df9861f53ee | 43 | //testButtons(); |
DavidEGrayson | 34:6c84680d823a | 44 | //testDriveHome(); |
DavidEGrayson | 21:c279c6a83671 | 45 | //testFinalSettleIn(); |
DavidEGrayson | 23:aae5cbe3b924 | 46 | //testCalibrate(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 47 | //testLineFollowing(); |
DavidEGrayson | 29:cfcf08d8ac79 | 48 | //testAnalog(); |
DavidEGrayson | 31:739b91331f31 | 49 | //testSensorGlitches(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 50 | //testTurnInPlace(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 51 | //testCloseness(); |
DavidEGrayson | 37:23000a47ed2b | 52 | //testLogger(); |
DavidEGrayson | 37:23000a47ed2b | 53 | |
DavidEGrayson | 2:968338353aef | 54 | |
DavidEGrayson | 21:c279c6a83671 | 55 | // Real routines for the contest. |
DavidEGrayson | 28:4374035df5e0 | 56 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 57 | |
DavidEGrayson | 21:c279c6a83671 | 58 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 59 | waitForSignalToStart(); |
DavidEGrayson | 39:a5e25fd52ff8 | 60 | |
DavidEGrayson | 40:e79cefc241f8 | 61 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 39:a5e25fd52ff8 | 62 | followLineFast(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 63 | |
DavidEGrayson | 21:c279c6a83671 | 64 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 37:23000a47ed2b | 65 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 66 | } |
DavidEGrayson | 37:23000a47ed2b | 67 | |
DavidEGrayson | 37:23000a47ed2b | 68 | void loggerService() |
DavidEGrayson | 37:23000a47ed2b | 69 | { |
DavidEGrayson | 37:23000a47ed2b | 70 | if (loggerPacer.pace()) |
DavidEGrayson | 37:23000a47ed2b | 71 | { |
DavidEGrayson | 37:23000a47ed2b | 72 | logger.log(); |
DavidEGrayson | 37:23000a47ed2b | 73 | } |
DavidEGrayson | 0:e77a0edb9878 | 74 | } |
DavidEGrayson | 12:835a4d24ae3b | 75 | |
DavidEGrayson | 37:23000a47ed2b | 76 | void loggerReportLoop() |
DavidEGrayson | 37:23000a47ed2b | 77 | { |
DavidEGrayson | 37:23000a47ed2b | 78 | while(1) |
DavidEGrayson | 37:23000a47ed2b | 79 | { |
DavidEGrayson | 37:23000a47ed2b | 80 | if(button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 81 | { |
DavidEGrayson | 37:23000a47ed2b | 82 | logger.dump(); |
DavidEGrayson | 37:23000a47ed2b | 83 | } |
DavidEGrayson | 37:23000a47ed2b | 84 | } |
DavidEGrayson | 37:23000a47ed2b | 85 | } |
DavidEGrayson | 37:23000a47ed2b | 86 | |
DavidEGrayson | 37:23000a47ed2b | 87 | |
DavidEGrayson | 28:4374035df5e0 | 88 | void loadCalibration() |
DavidEGrayson | 28:4374035df5e0 | 89 | { |
DavidEGrayson | 32:83a13b06093c | 90 | /** QTR-3RC **/ |
DavidEGrayson | 39:a5e25fd52ff8 | 91 | lineTracker.calibratedMinimum[0] = 137; |
DavidEGrayson | 39:a5e25fd52ff8 | 92 | lineTracker.calibratedMinimum[1] = 132; |
DavidEGrayson | 39:a5e25fd52ff8 | 93 | lineTracker.calibratedMinimum[2] = 154; |
DavidEGrayson | 39:a5e25fd52ff8 | 94 | lineTracker.calibratedMaximum[0] = 644; |
DavidEGrayson | 39:a5e25fd52ff8 | 95 | lineTracker.calibratedMaximum[1] = 779; |
DavidEGrayson | 32:83a13b06093c | 96 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 32:83a13b06093c | 97 | |
DavidEGrayson | 32:83a13b06093c | 98 | /** QTR-3A |
DavidEGrayson | 28:4374035df5e0 | 99 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 28:4374035df5e0 | 100 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 28:4374035df5e0 | 101 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 28:4374035df5e0 | 102 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 28:4374035df5e0 | 103 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 32:83a13b06093c | 104 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 32:83a13b06093c | 105 | **/ |
DavidEGrayson | 28:4374035df5e0 | 106 | } |
DavidEGrayson | 28:4374035df5e0 | 107 | |
DavidEGrayson | 12:835a4d24ae3b | 108 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 109 | { |
DavidEGrayson | 12:835a4d24ae3b | 110 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 111 | { |
DavidEGrayson | 12:835a4d24ae3b | 112 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 113 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 114 | { |
DavidEGrayson | 17:2df9861f53ee | 115 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 116 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 117 | break; |
DavidEGrayson | 17:2df9861f53ee | 118 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 119 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 120 | break; |
DavidEGrayson | 17:2df9861f53ee | 121 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 122 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 123 | break; |
DavidEGrayson | 17:2df9861f53ee | 124 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 125 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 126 | break; |
DavidEGrayson | 12:835a4d24ae3b | 127 | } |
DavidEGrayson | 12:835a4d24ae3b | 128 | } |
DavidEGrayson | 12:835a4d24ae3b | 129 | } |
DavidEGrayson | 17:2df9861f53ee | 130 | |
DavidEGrayson | 19:a11ffc903774 | 131 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 132 | { |
DavidEGrayson | 19:a11ffc903774 | 133 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 134 | } |
DavidEGrayson | 19:a11ffc903774 | 135 | |
DavidEGrayson | 20:dbec34f0e76b | 136 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 137 | { |
DavidEGrayson | 20:dbec34f0e76b | 138 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 139 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 140 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 141 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 142 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 143 | } |
DavidEGrayson | 20:dbec34f0e76b | 144 | |
DavidEGrayson | 18:b65fbb795396 | 145 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 146 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 147 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 148 | { |
DavidEGrayson | 18:b65fbb795396 | 149 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 150 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 151 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 152 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 153 | } |
DavidEGrayson | 19:a11ffc903774 | 154 | |
DavidEGrayson | 21:c279c6a83671 | 155 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 156 | { |
DavidEGrayson | 19:a11ffc903774 | 157 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 158 | { |
DavidEGrayson | 19:a11ffc903774 | 159 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 160 | } |
DavidEGrayson | 19:a11ffc903774 | 161 | else |
DavidEGrayson | 19:a11ffc903774 | 162 | { |
DavidEGrayson | 19:a11ffc903774 | 163 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 164 | } |
DavidEGrayson | 18:b65fbb795396 | 165 | } |
DavidEGrayson | 18:b65fbb795396 | 166 | |
DavidEGrayson | 21:c279c6a83671 | 167 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 168 | { |
DavidEGrayson | 21:c279c6a83671 | 169 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 170 | { |
DavidEGrayson | 21:c279c6a83671 | 171 | updateReckonerFromEncoders(); |
DavidEGrayson | 38:5e93a479c244 | 172 | } |
DavidEGrayson | 21:c279c6a83671 | 173 | reckoner.reset(); |
DavidEGrayson | 38:5e93a479c244 | 174 | while(button1DefinitelyPressed()) |
DavidEGrayson | 38:5e93a479c244 | 175 | { |
DavidEGrayson | 38:5e93a479c244 | 176 | updateReckonerFromEncoders(); |
DavidEGrayson | 38:5e93a479c244 | 177 | } |
DavidEGrayson | 38:5e93a479c244 | 178 | wait(0.2); |
DavidEGrayson | 21:c279c6a83671 | 179 | } |
DavidEGrayson | 21:c279c6a83671 | 180 | |
DavidEGrayson | 28:4374035df5e0 | 181 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 182 | { |
DavidEGrayson | 39:a5e25fd52ff8 | 183 | const int16_t drivingSpeed = 400; |
DavidEGrayson | 40:e79cefc241f8 | 184 | const int32_t followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 28:4374035df5e0 | 185 | |
DavidEGrayson | 28:4374035df5e0 | 186 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 187 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 188 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 189 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 190 | { |
DavidEGrayson | 28:4374035df5e0 | 191 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 192 | } |
DavidEGrayson | 28:4374035df5e0 | 193 | else |
DavidEGrayson | 28:4374035df5e0 | 194 | { |
DavidEGrayson | 28:4374035df5e0 | 195 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 196 | } |
DavidEGrayson | 24:fc01d9125d3b | 197 | |
DavidEGrayson | 39:a5e25fd52ff8 | 198 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 199 | } |
DavidEGrayson | 20:dbec34f0e76b | 200 | |
DavidEGrayson | 39:a5e25fd52ff8 | 201 | void updateMotorsToFollowLineFast() |
DavidEGrayson | 21:c279c6a83671 | 202 | { |
DavidEGrayson | 41:4a4be80ff38c | 203 | const int16_t drivingSpeed = 800; |
DavidEGrayson | 40:e79cefc241f8 | 204 | const int32_t followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 40:e79cefc241f8 | 205 | static int16_t lastPosition = 1000; |
DavidEGrayson | 39:a5e25fd52ff8 | 206 | |
DavidEGrayson | 39:a5e25fd52ff8 | 207 | int16_t position = lineTracker.getLinePosition(); |
DavidEGrayson | 21:c279c6a83671 | 208 | |
DavidEGrayson | 39:a5e25fd52ff8 | 209 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 39:a5e25fd52ff8 | 210 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 40:e79cefc241f8 | 211 | int32_t veer = (position - 1000) * followLineStrength / 1000 + (position - lastPosition) * 200; |
DavidEGrayson | 40:e79cefc241f8 | 212 | if(veer > 0) |
DavidEGrayson | 39:a5e25fd52ff8 | 213 | { |
DavidEGrayson | 40:e79cefc241f8 | 214 | speedRight = reduceSpeed(speedRight, veer); |
DavidEGrayson | 21:c279c6a83671 | 215 | } |
DavidEGrayson | 39:a5e25fd52ff8 | 216 | else |
DavidEGrayson | 39:a5e25fd52ff8 | 217 | { |
DavidEGrayson | 40:e79cefc241f8 | 218 | speedLeft = reduceSpeed(speedLeft, -veer); |
DavidEGrayson | 39:a5e25fd52ff8 | 219 | } |
DavidEGrayson | 39:a5e25fd52ff8 | 220 | |
DavidEGrayson | 39:a5e25fd52ff8 | 221 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 39:a5e25fd52ff8 | 222 | |
DavidEGrayson | 39:a5e25fd52ff8 | 223 | lastPosition = position; |
DavidEGrayson | 20:dbec34f0e76b | 224 | } |
DavidEGrayson | 20:dbec34f0e76b | 225 | |
DavidEGrayson | 39:a5e25fd52ff8 | 226 | void followLineFast() |
DavidEGrayson | 39:a5e25fd52ff8 | 227 | { |
DavidEGrayson | 39:a5e25fd52ff8 | 228 | Pacer reportPacer(200000); |
DavidEGrayson | 19:a11ffc903774 | 229 | |
DavidEGrayson | 39:a5e25fd52ff8 | 230 | loadCalibration(); |
DavidEGrayson | 40:e79cefc241f8 | 231 | uint32_t loopCount = 0; |
DavidEGrayson | 40:e79cefc241f8 | 232 | Timer timer; |
DavidEGrayson | 40:e79cefc241f8 | 233 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 234 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 235 | { |
DavidEGrayson | 40:e79cefc241f8 | 236 | loopCount += 1; |
DavidEGrayson | 18:b65fbb795396 | 237 | updateReckonerFromEncoders(); |
DavidEGrayson | 37:23000a47ed2b | 238 | loggerService(); |
DavidEGrayson | 40:e79cefc241f8 | 239 | |
DavidEGrayson | 40:e79cefc241f8 | 240 | if ((loopCount % 256) == 0) |
DavidEGrayson | 40:e79cefc241f8 | 241 | { |
DavidEGrayson | 40:e79cefc241f8 | 242 | pc.printf("%d\r\n", lineTracker.getLinePosition()); |
DavidEGrayson | 40:e79cefc241f8 | 243 | } |
DavidEGrayson | 40:e79cefc241f8 | 244 | |
DavidEGrayson | 39:a5e25fd52ff8 | 245 | lineTracker.read(); |
DavidEGrayson | 39:a5e25fd52ff8 | 246 | updateMotorsToFollowLineFast(); |
DavidEGrayson | 18:b65fbb795396 | 247 | } |
DavidEGrayson | 20:dbec34f0e76b | 248 | } |
DavidEGrayson | 20:dbec34f0e76b | 249 |