David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@32:83a13b06093c, 2014-03-04 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Mar 04 04:32:51 2014 +0000
- Revision:
- 32:83a13b06093c
- Parent:
- 31:739b91331f31
- Child:
- 33:58a0ab6e9ad2
getting line sensors to work again;
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 | 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 | 32:83a13b06093c | 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 | 32:83a13b06093c | 47 | testLineFollowing(); |
DavidEGrayson | 29:cfcf08d8ac79 | 48 | //testAnalog(); |
DavidEGrayson | 31:739b91331f31 | 49 | //testSensorGlitches(); |
DavidEGrayson | 2:968338353aef | 50 | |
DavidEGrayson | 21:c279c6a83671 | 51 | // Real routines for the contest. |
DavidEGrayson | 28:4374035df5e0 | 52 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 53 | |
DavidEGrayson | 21:c279c6a83671 | 54 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 55 | waitForSignalToStart(); |
DavidEGrayson | 21:c279c6a83671 | 56 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 25:73c2eedb3b91 | 57 | |
DavidEGrayson | 28:4374035df5e0 | 58 | findLine(); |
DavidEGrayson | 25:73c2eedb3b91 | 59 | |
DavidEGrayson | 27:2456f68be679 | 60 | //setLeds(1, 1, 0, 0); |
DavidEGrayson | 27:2456f68be679 | 61 | //turnRightToFindLine(); |
DavidEGrayson | 21:c279c6a83671 | 62 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 63 | followLineToEnd(); |
DavidEGrayson | 21:c279c6a83671 | 64 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 65 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 66 | setLeds(0, 1, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 67 | finalSettleIn(); |
DavidEGrayson | 21:c279c6a83671 | 68 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 21:c279c6a83671 | 69 | while(1){} |
DavidEGrayson | 0:e77a0edb9878 | 70 | } |
DavidEGrayson | 12:835a4d24ae3b | 71 | |
DavidEGrayson | 28:4374035df5e0 | 72 | void loadCalibration() |
DavidEGrayson | 28:4374035df5e0 | 73 | { |
DavidEGrayson | 32:83a13b06093c | 74 | /** QTR-3RC **/ |
DavidEGrayson | 32:83a13b06093c | 75 | lineTracker.calibratedMinimum[0] = 100; |
DavidEGrayson | 32:83a13b06093c | 76 | lineTracker.calibratedMinimum[1] = 94; |
DavidEGrayson | 32:83a13b06093c | 77 | lineTracker.calibratedMinimum[2] = 103; |
DavidEGrayson | 32:83a13b06093c | 78 | lineTracker.calibratedMaximum[0] = 792; |
DavidEGrayson | 32:83a13b06093c | 79 | lineTracker.calibratedMaximum[1] = 807; |
DavidEGrayson | 32:83a13b06093c | 80 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 32:83a13b06093c | 81 | |
DavidEGrayson | 32:83a13b06093c | 82 | /** QTR-3A |
DavidEGrayson | 28:4374035df5e0 | 83 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 28:4374035df5e0 | 84 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 28:4374035df5e0 | 85 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 28:4374035df5e0 | 86 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 28:4374035df5e0 | 87 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 32:83a13b06093c | 88 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 32:83a13b06093c | 89 | **/ |
DavidEGrayson | 28:4374035df5e0 | 90 | } |
DavidEGrayson | 28:4374035df5e0 | 91 | |
DavidEGrayson | 12:835a4d24ae3b | 92 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 93 | { |
DavidEGrayson | 12:835a4d24ae3b | 94 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 95 | { |
DavidEGrayson | 12:835a4d24ae3b | 96 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 97 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 98 | { |
DavidEGrayson | 17:2df9861f53ee | 99 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 100 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 101 | break; |
DavidEGrayson | 17:2df9861f53ee | 102 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 103 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 104 | break; |
DavidEGrayson | 17:2df9861f53ee | 105 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 106 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 107 | break; |
DavidEGrayson | 17:2df9861f53ee | 108 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 109 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 110 | break; |
DavidEGrayson | 12:835a4d24ae3b | 111 | } |
DavidEGrayson | 12:835a4d24ae3b | 112 | } |
DavidEGrayson | 12:835a4d24ae3b | 113 | } |
DavidEGrayson | 17:2df9861f53ee | 114 | |
DavidEGrayson | 19:a11ffc903774 | 115 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 116 | { |
DavidEGrayson | 19:a11ffc903774 | 117 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 118 | } |
DavidEGrayson | 19:a11ffc903774 | 119 | |
DavidEGrayson | 20:dbec34f0e76b | 120 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 121 | { |
DavidEGrayson | 20:dbec34f0e76b | 122 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 123 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 124 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 125 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 126 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 127 | } |
DavidEGrayson | 20:dbec34f0e76b | 128 | |
DavidEGrayson | 18:b65fbb795396 | 129 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 130 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 131 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 132 | { |
DavidEGrayson | 18:b65fbb795396 | 133 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 134 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 135 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 136 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 137 | } |
DavidEGrayson | 19:a11ffc903774 | 138 | |
DavidEGrayson | 21:c279c6a83671 | 139 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 140 | { |
DavidEGrayson | 19:a11ffc903774 | 141 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 142 | { |
DavidEGrayson | 19:a11ffc903774 | 143 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 144 | } |
DavidEGrayson | 19:a11ffc903774 | 145 | else |
DavidEGrayson | 19:a11ffc903774 | 146 | { |
DavidEGrayson | 19:a11ffc903774 | 147 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 148 | } |
DavidEGrayson | 18:b65fbb795396 | 149 | } |
DavidEGrayson | 18:b65fbb795396 | 150 | |
DavidEGrayson | 21:c279c6a83671 | 151 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 152 | { |
DavidEGrayson | 21:c279c6a83671 | 153 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 154 | { |
DavidEGrayson | 21:c279c6a83671 | 155 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 156 | } |
DavidEGrayson | 21:c279c6a83671 | 157 | reckoner.reset(); |
DavidEGrayson | 21:c279c6a83671 | 158 | } |
DavidEGrayson | 21:c279c6a83671 | 159 | |
DavidEGrayson | 24:fc01d9125d3b | 160 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 161 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 162 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 163 | { |
DavidEGrayson | 24:fc01d9125d3b | 164 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 165 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 166 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 167 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 24:fc01d9125d3b | 168 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 169 | { |
DavidEGrayson | 24:fc01d9125d3b | 170 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 171 | } |
DavidEGrayson | 24:fc01d9125d3b | 172 | else |
DavidEGrayson | 24:fc01d9125d3b | 173 | { |
DavidEGrayson | 24:fc01d9125d3b | 174 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 175 | } |
DavidEGrayson | 24:fc01d9125d3b | 176 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 177 | } |
DavidEGrayson | 24:fc01d9125d3b | 178 | |
DavidEGrayson | 28:4374035df5e0 | 179 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 180 | { |
DavidEGrayson | 28:4374035df5e0 | 181 | const int followLineStrength = 300; |
DavidEGrayson | 28:4374035df5e0 | 182 | |
DavidEGrayson | 28:4374035df5e0 | 183 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 184 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 185 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 186 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 187 | { |
DavidEGrayson | 28:4374035df5e0 | 188 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 189 | } |
DavidEGrayson | 28:4374035df5e0 | 190 | else |
DavidEGrayson | 28:4374035df5e0 | 191 | { |
DavidEGrayson | 28:4374035df5e0 | 192 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 193 | } |
DavidEGrayson | 24:fc01d9125d3b | 194 | |
DavidEGrayson | 28:4374035df5e0 | 195 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 28:4374035df5e0 | 196 | } |
DavidEGrayson | 28:4374035df5e0 | 197 | |
DavidEGrayson | 28:4374035df5e0 | 198 | void findLine() |
DavidEGrayson | 28:4374035df5e0 | 199 | { |
DavidEGrayson | 24:fc01d9125d3b | 200 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 201 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 202 | { |
DavidEGrayson | 24:fc01d9125d3b | 203 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 204 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 205 | updateReckonerFromEncoders(); |
DavidEGrayson | 24:fc01d9125d3b | 206 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 207 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 208 | |
DavidEGrayson | 26:7e7c376a7446 | 209 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 100000) |
DavidEGrayson | 24:fc01d9125d3b | 210 | { |
DavidEGrayson | 26:7e7c376a7446 | 211 | break; |
DavidEGrayson | 24:fc01d9125d3b | 212 | } |
DavidEGrayson | 24:fc01d9125d3b | 213 | } |
DavidEGrayson | 24:fc01d9125d3b | 214 | } |
DavidEGrayson | 20:dbec34f0e76b | 215 | |
DavidEGrayson | 21:c279c6a83671 | 216 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 217 | { |
DavidEGrayson | 21:c279c6a83671 | 218 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 219 | { |
DavidEGrayson | 21:c279c6a83671 | 220 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 221 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 222 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 223 | |
DavidEGrayson | 21:c279c6a83671 | 224 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 225 | { |
DavidEGrayson | 21:c279c6a83671 | 226 | break; |
DavidEGrayson | 21:c279c6a83671 | 227 | } |
DavidEGrayson | 21:c279c6a83671 | 228 | |
DavidEGrayson | 21:c279c6a83671 | 229 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 230 | } |
DavidEGrayson | 21:c279c6a83671 | 231 | } |
DavidEGrayson | 21:c279c6a83671 | 232 | |
DavidEGrayson | 21:c279c6a83671 | 233 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 234 | { |
DavidEGrayson | 26:7e7c376a7446 | 235 | Timer timer; |
DavidEGrayson | 26:7e7c376a7446 | 236 | timer.start(); |
DavidEGrayson | 26:7e7c376a7446 | 237 | |
DavidEGrayson | 21:c279c6a83671 | 238 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 21:c279c6a83671 | 239 | const uint32_t lineDebounceTime = 100000; |
DavidEGrayson | 21:c279c6a83671 | 240 | |
DavidEGrayson | 21:c279c6a83671 | 241 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 242 | { |
DavidEGrayson | 21:c279c6a83671 | 243 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 244 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 245 | |
DavidEGrayson | 21:c279c6a83671 | 246 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 247 | |
DavidEGrayson | 21:c279c6a83671 | 248 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 26:7e7c376a7446 | 249 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 28:4374035df5e0 | 250 | if(lostLine && timer.read_us() >= 2000000) |
DavidEGrayson | 21:c279c6a83671 | 251 | { |
DavidEGrayson | 21:c279c6a83671 | 252 | break; |
DavidEGrayson | 21:c279c6a83671 | 253 | } |
DavidEGrayson | 21:c279c6a83671 | 254 | |
DavidEGrayson | 28:4374035df5e0 | 255 | updateMotorsToFollowLine(); |
DavidEGrayson | 21:c279c6a83671 | 256 | } |
DavidEGrayson | 20:dbec34f0e76b | 257 | } |
DavidEGrayson | 20:dbec34f0e76b | 258 | |
DavidEGrayson | 20:dbec34f0e76b | 259 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 260 | { |
DavidEGrayson | 18:b65fbb795396 | 261 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 262 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 263 | |
DavidEGrayson | 19:a11ffc903774 | 264 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 265 | { |
DavidEGrayson | 18:b65fbb795396 | 266 | updateReckonerFromEncoders(); |
DavidEGrayson | 19:a11ffc903774 | 267 | |
DavidEGrayson | 19:a11ffc903774 | 268 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 269 | |
DavidEGrayson | 19:a11ffc903774 | 270 | if (magn < (1<<17)) |
DavidEGrayson | 18:b65fbb795396 | 271 | { |
DavidEGrayson | 19:a11ffc903774 | 272 | // We are within 8 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 273 | break; |
DavidEGrayson | 19:a11ffc903774 | 274 | } |
DavidEGrayson | 19:a11ffc903774 | 275 | |
DavidEGrayson | 19:a11ffc903774 | 276 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 277 | |
DavidEGrayson | 21:c279c6a83671 | 278 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 279 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 280 | if (magn < (1<<20)) // Within 64 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 281 | { |
DavidEGrayson | 21:c279c6a83671 | 282 | int16_t reduction = (1 - magn/(1<<20)) * drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 283 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 284 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 285 | } |
DavidEGrayson | 19:a11ffc903774 | 286 | |
DavidEGrayson | 19:a11ffc903774 | 287 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 288 | { |
DavidEGrayson | 19:a11ffc903774 | 289 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 290 | } |
DavidEGrayson | 18:b65fbb795396 | 291 | else |
DavidEGrayson | 18:b65fbb795396 | 292 | { |
DavidEGrayson | 19:a11ffc903774 | 293 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 294 | } |
DavidEGrayson | 19:a11ffc903774 | 295 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 296 | } |
DavidEGrayson | 18:b65fbb795396 | 297 | |
DavidEGrayson | 20:dbec34f0e76b | 298 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 299 | } |
DavidEGrayson | 20:dbec34f0e76b | 300 | |
DavidEGrayson | 20:dbec34f0e76b | 301 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 302 | { |
DavidEGrayson | 27:2456f68be679 | 303 | const int16_t settleSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 304 | const int16_t settleModificationStrength = 150; |
DavidEGrayson | 20:dbec34f0e76b | 305 | |
DavidEGrayson | 20:dbec34f0e76b | 306 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 307 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 308 | |
DavidEGrayson | 20:dbec34f0e76b | 309 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 310 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 311 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 312 | |
DavidEGrayson | 27:2456f68be679 | 313 | Pacer reportPacer(200000); |
DavidEGrayson | 27:2456f68be679 | 314 | Pacer motorUpdatePacer(10000); |
DavidEGrayson | 21:c279c6a83671 | 315 | |
DavidEGrayson | 27:2456f68be679 | 316 | float integral = 0; |
DavidEGrayson | 27:2456f68be679 | 317 | |
DavidEGrayson | 27:2456f68be679 | 318 | motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling |
DavidEGrayson | 27:2456f68be679 | 319 | |
DavidEGrayson | 19:a11ffc903774 | 320 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 321 | { |
DavidEGrayson | 27:2456f68be679 | 322 | led1 = (state == 1); |
DavidEGrayson | 27:2456f68be679 | 323 | |
DavidEGrayson | 20:dbec34f0e76b | 324 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 325 | |
DavidEGrayson | 20:dbec34f0e76b | 326 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 327 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 328 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 329 | { |
DavidEGrayson | 20:dbec34f0e76b | 330 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 331 | } |
DavidEGrayson | 20:dbec34f0e76b | 332 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 333 | { |
DavidEGrayson | 20:dbec34f0e76b | 334 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 335 | } |
DavidEGrayson | 20:dbec34f0e76b | 336 | |
DavidEGrayson | 21:c279c6a83671 | 337 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 338 | { |
DavidEGrayson | 21:c279c6a83671 | 339 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 340 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 341 | } |
DavidEGrayson | 20:dbec34f0e76b | 342 | |
DavidEGrayson | 21:c279c6a83671 | 343 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 344 | { |
DavidEGrayson | 21:c279c6a83671 | 345 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 346 | break; |
DavidEGrayson | 21:c279c6a83671 | 347 | } |
DavidEGrayson | 21:c279c6a83671 | 348 | |
DavidEGrayson | 27:2456f68be679 | 349 | if (motorUpdatePacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 350 | { |
DavidEGrayson | 27:2456f68be679 | 351 | int16_t rotationSpeed; |
DavidEGrayson | 27:2456f68be679 | 352 | if (state == 1) |
DavidEGrayson | 27:2456f68be679 | 353 | { |
DavidEGrayson | 27:2456f68be679 | 354 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 27:2456f68be679 | 355 | integral += s; |
DavidEGrayson | 27:2456f68be679 | 356 | rotationSpeed = -(s * 2400 + integral * 20); |
DavidEGrayson | 27:2456f68be679 | 357 | |
DavidEGrayson | 27:2456f68be679 | 358 | if (rotationSpeed > 300) |
DavidEGrayson | 27:2456f68be679 | 359 | { |
DavidEGrayson | 27:2456f68be679 | 360 | rotationSpeed = 300; |
DavidEGrayson | 27:2456f68be679 | 361 | } |
DavidEGrayson | 27:2456f68be679 | 362 | if (rotationSpeed < -300) |
DavidEGrayson | 27:2456f68be679 | 363 | { |
DavidEGrayson | 27:2456f68be679 | 364 | rotationSpeed = -300; |
DavidEGrayson | 27:2456f68be679 | 365 | } |
DavidEGrayson | 27:2456f68be679 | 366 | } |
DavidEGrayson | 27:2456f68be679 | 367 | else |
DavidEGrayson | 27:2456f68be679 | 368 | { |
DavidEGrayson | 27:2456f68be679 | 369 | rotationSpeed = settleSpeed; |
DavidEGrayson | 27:2456f68be679 | 370 | } |
DavidEGrayson | 27:2456f68be679 | 371 | |
DavidEGrayson | 27:2456f68be679 | 372 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 373 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 27:2456f68be679 | 374 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 20:dbec34f0e76b | 375 | } |
DavidEGrayson | 21:c279c6a83671 | 376 | |
DavidEGrayson | 21:c279c6a83671 | 377 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 378 | { |
DavidEGrayson | 21:c279c6a83671 | 379 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 380 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 381 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 382 | } |
DavidEGrayson | 19:a11ffc903774 | 383 | } |
DavidEGrayson | 20:dbec34f0e76b | 384 | |
DavidEGrayson | 21:c279c6a83671 | 385 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 386 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 387 | } |