David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@33:58a0ab6e9ad2, 2014-03-05 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Wed Mar 05 02:50:09 2014 +0000
- Revision:
- 33:58a0ab6e9ad2
- Parent:
- 32:83a13b06093c
- Child:
- 34:6c84680d823a
Bunch of stuff. Then reduced drivingSpeed to 400.
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 | 21:c279c6a83671 | 18 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 19 | const int16_t drivingSpeed = 400; |
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 | 33:58a0ab6e9ad2 | 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 | 2:968338353aef | 52 | |
DavidEGrayson | 21:c279c6a83671 | 53 | // Real routines for the contest. |
DavidEGrayson | 28:4374035df5e0 | 54 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 55 | |
DavidEGrayson | 21:c279c6a83671 | 56 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 57 | waitForSignalToStart(); |
DavidEGrayson | 25:73c2eedb3b91 | 58 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 59 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 28:4374035df5e0 | 60 | findLine(); |
DavidEGrayson | 25:73c2eedb3b91 | 61 | |
DavidEGrayson | 27:2456f68be679 | 62 | //setLeds(1, 1, 0, 0); |
DavidEGrayson | 27:2456f68be679 | 63 | //turnRightToFindLine(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 64 | |
DavidEGrayson | 21:c279c6a83671 | 65 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 66 | followLineToEnd(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 67 | |
DavidEGrayson | 21:c279c6a83671 | 68 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 69 | driveHomeAlmost(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 70 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 71 | //setLeds(0, 1, 1, 0); |
DavidEGrayson | 33:58a0ab6e9ad2 | 72 | //finalSettleIn(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 73 | |
DavidEGrayson | 21:c279c6a83671 | 74 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 21:c279c6a83671 | 75 | while(1){} |
DavidEGrayson | 0:e77a0edb9878 | 76 | } |
DavidEGrayson | 12:835a4d24ae3b | 77 | |
DavidEGrayson | 28:4374035df5e0 | 78 | void loadCalibration() |
DavidEGrayson | 28:4374035df5e0 | 79 | { |
DavidEGrayson | 32:83a13b06093c | 80 | /** QTR-3RC **/ |
DavidEGrayson | 32:83a13b06093c | 81 | lineTracker.calibratedMinimum[0] = 100; |
DavidEGrayson | 32:83a13b06093c | 82 | lineTracker.calibratedMinimum[1] = 94; |
DavidEGrayson | 32:83a13b06093c | 83 | lineTracker.calibratedMinimum[2] = 103; |
DavidEGrayson | 32:83a13b06093c | 84 | lineTracker.calibratedMaximum[0] = 792; |
DavidEGrayson | 32:83a13b06093c | 85 | lineTracker.calibratedMaximum[1] = 807; |
DavidEGrayson | 32:83a13b06093c | 86 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 32:83a13b06093c | 87 | |
DavidEGrayson | 32:83a13b06093c | 88 | /** QTR-3A |
DavidEGrayson | 28:4374035df5e0 | 89 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 28:4374035df5e0 | 90 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 28:4374035df5e0 | 91 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 28:4374035df5e0 | 92 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 28:4374035df5e0 | 93 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 32:83a13b06093c | 94 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 32:83a13b06093c | 95 | **/ |
DavidEGrayson | 28:4374035df5e0 | 96 | } |
DavidEGrayson | 28:4374035df5e0 | 97 | |
DavidEGrayson | 12:835a4d24ae3b | 98 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 99 | { |
DavidEGrayson | 12:835a4d24ae3b | 100 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 101 | { |
DavidEGrayson | 12:835a4d24ae3b | 102 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 103 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 104 | { |
DavidEGrayson | 17:2df9861f53ee | 105 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 106 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 107 | break; |
DavidEGrayson | 17:2df9861f53ee | 108 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 109 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 110 | break; |
DavidEGrayson | 17:2df9861f53ee | 111 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 112 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 113 | break; |
DavidEGrayson | 17:2df9861f53ee | 114 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 115 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 116 | break; |
DavidEGrayson | 12:835a4d24ae3b | 117 | } |
DavidEGrayson | 12:835a4d24ae3b | 118 | } |
DavidEGrayson | 12:835a4d24ae3b | 119 | } |
DavidEGrayson | 17:2df9861f53ee | 120 | |
DavidEGrayson | 19:a11ffc903774 | 121 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 122 | { |
DavidEGrayson | 19:a11ffc903774 | 123 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 124 | } |
DavidEGrayson | 19:a11ffc903774 | 125 | |
DavidEGrayson | 20:dbec34f0e76b | 126 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 127 | { |
DavidEGrayson | 20:dbec34f0e76b | 128 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 129 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 130 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 131 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 132 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 133 | } |
DavidEGrayson | 20:dbec34f0e76b | 134 | |
DavidEGrayson | 18:b65fbb795396 | 135 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 136 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 137 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 138 | { |
DavidEGrayson | 18:b65fbb795396 | 139 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 140 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 141 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 142 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 143 | } |
DavidEGrayson | 19:a11ffc903774 | 144 | |
DavidEGrayson | 21:c279c6a83671 | 145 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 146 | { |
DavidEGrayson | 19:a11ffc903774 | 147 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 148 | { |
DavidEGrayson | 19:a11ffc903774 | 149 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 150 | } |
DavidEGrayson | 19:a11ffc903774 | 151 | else |
DavidEGrayson | 19:a11ffc903774 | 152 | { |
DavidEGrayson | 19:a11ffc903774 | 153 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 154 | } |
DavidEGrayson | 18:b65fbb795396 | 155 | } |
DavidEGrayson | 18:b65fbb795396 | 156 | |
DavidEGrayson | 21:c279c6a83671 | 157 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 158 | { |
DavidEGrayson | 21:c279c6a83671 | 159 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 160 | { |
DavidEGrayson | 21:c279c6a83671 | 161 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 162 | } |
DavidEGrayson | 21:c279c6a83671 | 163 | reckoner.reset(); |
DavidEGrayson | 21:c279c6a83671 | 164 | } |
DavidEGrayson | 21:c279c6a83671 | 165 | |
DavidEGrayson | 24:fc01d9125d3b | 166 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 167 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 168 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 169 | { |
DavidEGrayson | 24:fc01d9125d3b | 170 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 171 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 172 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 173 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 24:fc01d9125d3b | 174 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 175 | { |
DavidEGrayson | 24:fc01d9125d3b | 176 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 177 | } |
DavidEGrayson | 24:fc01d9125d3b | 178 | else |
DavidEGrayson | 24:fc01d9125d3b | 179 | { |
DavidEGrayson | 24:fc01d9125d3b | 180 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 181 | } |
DavidEGrayson | 24:fc01d9125d3b | 182 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 183 | } |
DavidEGrayson | 24:fc01d9125d3b | 184 | |
DavidEGrayson | 28:4374035df5e0 | 185 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 186 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 187 | const int followLineStrength = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 188 | |
DavidEGrayson | 28:4374035df5e0 | 189 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 190 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 191 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 192 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 193 | { |
DavidEGrayson | 28:4374035df5e0 | 194 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 195 | } |
DavidEGrayson | 28:4374035df5e0 | 196 | else |
DavidEGrayson | 28:4374035df5e0 | 197 | { |
DavidEGrayson | 28:4374035df5e0 | 198 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 199 | } |
DavidEGrayson | 24:fc01d9125d3b | 200 | |
DavidEGrayson | 28:4374035df5e0 | 201 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 202 | } |
DavidEGrayson | 28:4374035df5e0 | 203 | |
DavidEGrayson | 28:4374035df5e0 | 204 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 205 | { |
DavidEGrayson | 24:fc01d9125d3b | 206 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 207 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 208 | { |
DavidEGrayson | 24:fc01d9125d3b | 209 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 210 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 211 | updateReckonerFromEncoders(); |
DavidEGrayson | 24:fc01d9125d3b | 212 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 213 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 214 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 215 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000) |
DavidEGrayson | 24:fc01d9125d3b | 216 | { |
DavidEGrayson | 26:7e7c376a7446 | 217 | break; |
DavidEGrayson | 24:fc01d9125d3b | 218 | } |
DavidEGrayson | 24:fc01d9125d3b | 219 | } |
DavidEGrayson | 24:fc01d9125d3b | 220 | } |
DavidEGrayson | 20:dbec34f0e76b | 221 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 222 | /** |
DavidEGrayson | 21:c279c6a83671 | 223 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 224 | { |
DavidEGrayson | 21:c279c6a83671 | 225 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 226 | { |
DavidEGrayson | 21:c279c6a83671 | 227 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 228 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 229 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 230 | |
DavidEGrayson | 21:c279c6a83671 | 231 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 232 | { |
DavidEGrayson | 21:c279c6a83671 | 233 | break; |
DavidEGrayson | 21:c279c6a83671 | 234 | } |
DavidEGrayson | 21:c279c6a83671 | 235 | |
DavidEGrayson | 21:c279c6a83671 | 236 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 237 | } |
DavidEGrayson | 33:58a0ab6e9ad2 | 238 | }**/ |
DavidEGrayson | 21:c279c6a83671 | 239 | |
DavidEGrayson | 21:c279c6a83671 | 240 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 241 | { |
DavidEGrayson | 26:7e7c376a7446 | 242 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 243 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 244 | |
DavidEGrayson | 21:c279c6a83671 | 245 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 21:c279c6a83671 | 246 | const uint32_t lineDebounceTime = 100000; |
DavidEGrayson | 21:c279c6a83671 | 247 | |
DavidEGrayson | 21:c279c6a83671 | 248 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 249 | { |
DavidEGrayson | 21:c279c6a83671 | 250 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 251 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 252 | |
DavidEGrayson | 21:c279c6a83671 | 253 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 254 | |
DavidEGrayson | 21:c279c6a83671 | 255 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 256 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 28:4374035df5e0 | 257 | if(lostLine && timer.read_us() >= 2000000) |
DavidEGrayson | 21:c279c6a83671 | 258 | { |
DavidEGrayson | 21:c279c6a83671 | 259 | break; |
DavidEGrayson | 21:c279c6a83671 | 260 | } |
DavidEGrayson | 21:c279c6a83671 | 261 | |
DavidEGrayson | 28:4374035df5e0 | 262 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 263 | } |
DavidEGrayson | 20:dbec34f0e76b | 264 | } |
DavidEGrayson | 20:dbec34f0e76b | 265 | |
DavidEGrayson | 20:dbec34f0e76b | 266 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 267 | { |
DavidEGrayson | 18:b65fbb795396 | 268 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 269 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 270 | |
DavidEGrayson | 19:a11ffc903774 | 271 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 272 | { |
DavidEGrayson | 18:b65fbb795396 | 273 | updateReckonerFromEncoders(); |
DavidEGrayson | 19:a11ffc903774 | 274 | |
DavidEGrayson | 19:a11ffc903774 | 275 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 276 | |
DavidEGrayson | 33:58a0ab6e9ad2 | 277 | if (magn < (1<<(14+7))) |
DavidEGrayson | 18:b65fbb795396 | 278 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 279 | // We are within 128 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 280 | break; |
DavidEGrayson | 19:a11ffc903774 | 281 | } |
DavidEGrayson | 19:a11ffc903774 | 282 | |
DavidEGrayson | 19:a11ffc903774 | 283 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 284 | |
DavidEGrayson | 21:c279c6a83671 | 285 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 286 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 33:58a0ab6e9ad2 | 287 | if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 288 | { |
DavidEGrayson | 33:58a0ab6e9ad2 | 289 | int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2); |
DavidEGrayson | 19:a11ffc903774 | 290 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 291 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 292 | } |
DavidEGrayson | 19:a11ffc903774 | 293 | |
DavidEGrayson | 19:a11ffc903774 | 294 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 295 | { |
DavidEGrayson | 19:a11ffc903774 | 296 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 297 | } |
DavidEGrayson | 18:b65fbb795396 | 298 | else |
DavidEGrayson | 18:b65fbb795396 | 299 | { |
DavidEGrayson | 19:a11ffc903774 | 300 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 301 | } |
DavidEGrayson | 19:a11ffc903774 | 302 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 303 | } |
DavidEGrayson | 18:b65fbb795396 | 304 | |
DavidEGrayson | 20:dbec34f0e76b | 305 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 306 | } |
DavidEGrayson | 20:dbec34f0e76b | 307 | |
DavidEGrayson | 20:dbec34f0e76b | 308 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 309 | { |
DavidEGrayson | 27:2456f68be679 | 310 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 311 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 312 | |
DavidEGrayson | 20:dbec34f0e76b | 313 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 314 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 315 | |
DavidEGrayson | 20:dbec34f0e76b | 316 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 317 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 318 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 319 | |
DavidEGrayson | 27:2456f68be679 | 320 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 321 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 322 | |
DavidEGrayson | 27:2456f68be679 | 323 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 324 | |
DavidEGrayson | 27:2456f68be679 | 325 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 326 | |
DavidEGrayson | 19:a11ffc903774 | 327 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 328 | { |
DavidEGrayson | 27:2456f68be679 | 329 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 330 | |
DavidEGrayson | 20:dbec34f0e76b | 331 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 332 | |
DavidEGrayson | 20:dbec34f0e76b | 333 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 334 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 335 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 336 | { |
DavidEGrayson | 20:dbec34f0e76b | 337 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 338 | } |
DavidEGrayson | 20:dbec34f0e76b | 339 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 340 | { |
DavidEGrayson | 20:dbec34f0e76b | 341 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 342 | } |
DavidEGrayson | 20:dbec34f0e76b | 343 | |
DavidEGrayson | 21:c279c6a83671 | 344 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 345 | { |
DavidEGrayson | 21:c279c6a83671 | 346 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 347 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 348 | } |
DavidEGrayson | 20:dbec34f0e76b | 349 | |
DavidEGrayson | 21:c279c6a83671 | 350 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 351 | { |
DavidEGrayson | 21:c279c6a83671 | 352 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 353 | break; |
DavidEGrayson | 21:c279c6a83671 | 354 | } |
DavidEGrayson | 21:c279c6a83671 | 355 | |
DavidEGrayson | 27:2456f68be679 | 356 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 357 | { |
DavidEGrayson | 27:2456f68be679 | 358 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 359 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 360 | { |
DavidEGrayson | 27:2456f68be679 | 361 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 27:2456f68be679 | 362 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 363 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 364 | |
DavidEGrayson | 27:2456f68be679 | 365 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 366 | { |
DavidEGrayson | 27:2456f68be679 | 367 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 368 | } |
DavidEGrayson | 27:2456f68be679 | 369 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 370 | { |
DavidEGrayson | 27:2456f68be679 | 371 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 372 | } |
DavidEGrayson | 27:2456f68be679 | 373 | } |
DavidEGrayson | 27:2456f68be679 | 374 | else |
DavidEGrayson | 27:2456f68be679 | 375 | { |
DavidEGrayson | 27:2456f68be679 | 376 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 377 | } |
DavidEGrayson | 27:2456f68be679 | 378 | |
DavidEGrayson | 27:2456f68be679 | 379 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 380 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 381 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 382 | } |
DavidEGrayson | 21:c279c6a83671 | 383 | |
DavidEGrayson | 21:c279c6a83671 | 384 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 385 | { |
DavidEGrayson | 21:c279c6a83671 | 386 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 387 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 388 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 389 | } |
DavidEGrayson | 19:a11ffc903774 | 390 | } |
DavidEGrayson | 20:dbec34f0e76b | 391 | |
DavidEGrayson | 21:c279c6a83671 | 392 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 393 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 394 | } |