David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@21:c279c6a83671, 2014-02-27 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Thu Feb 27 23:20:34 2014 +0000
- Revision:
- 21:c279c6a83671
- Parent:
- 20:dbec34f0e76b
- Child:
- 22:44c032e59ff5
Wrote a whole bunch of code that could theoretically allow the robot to compete, but it has not been tested at all yet.
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 | 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 | 2:968338353aef | 46 | |
DavidEGrayson | 21:c279c6a83671 | 47 | // Real routines for the contest. |
DavidEGrayson | 21:c279c6a83671 | 48 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 49 | waitForSignalToStart(); |
DavidEGrayson | 21:c279c6a83671 | 50 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 51 | findLineAndCalibrate(); |
DavidEGrayson | 21:c279c6a83671 | 52 | setLeds(1, 1, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 53 | turnRightToFindLine(); |
DavidEGrayson | 21:c279c6a83671 | 54 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 55 | followLineToEnd(); |
DavidEGrayson | 21:c279c6a83671 | 56 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 57 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 58 | setLeds(0, 1, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 59 | finalSettleIn(); |
DavidEGrayson | 21:c279c6a83671 | 60 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 21:c279c6a83671 | 61 | while(1){} |
DavidEGrayson | 0:e77a0edb9878 | 62 | } |
DavidEGrayson | 12:835a4d24ae3b | 63 | |
DavidEGrayson | 12:835a4d24ae3b | 64 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 65 | { |
DavidEGrayson | 12:835a4d24ae3b | 66 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 67 | { |
DavidEGrayson | 12:835a4d24ae3b | 68 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 69 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 70 | { |
DavidEGrayson | 17:2df9861f53ee | 71 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 72 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 73 | break; |
DavidEGrayson | 17:2df9861f53ee | 74 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 75 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 76 | break; |
DavidEGrayson | 17:2df9861f53ee | 77 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 78 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 79 | break; |
DavidEGrayson | 17:2df9861f53ee | 80 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 81 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 82 | break; |
DavidEGrayson | 12:835a4d24ae3b | 83 | } |
DavidEGrayson | 12:835a4d24ae3b | 84 | } |
DavidEGrayson | 12:835a4d24ae3b | 85 | } |
DavidEGrayson | 17:2df9861f53ee | 86 | |
DavidEGrayson | 19:a11ffc903774 | 87 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 88 | { |
DavidEGrayson | 19:a11ffc903774 | 89 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 90 | } |
DavidEGrayson | 19:a11ffc903774 | 91 | |
DavidEGrayson | 20:dbec34f0e76b | 92 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 93 | { |
DavidEGrayson | 20:dbec34f0e76b | 94 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 95 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 96 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 97 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 98 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 99 | } |
DavidEGrayson | 20:dbec34f0e76b | 100 | |
DavidEGrayson | 18:b65fbb795396 | 101 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 102 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 103 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 104 | { |
DavidEGrayson | 18:b65fbb795396 | 105 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 106 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 107 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 108 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 109 | } |
DavidEGrayson | 19:a11ffc903774 | 110 | |
DavidEGrayson | 21:c279c6a83671 | 111 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 112 | { |
DavidEGrayson | 19:a11ffc903774 | 113 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 114 | { |
DavidEGrayson | 19:a11ffc903774 | 115 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 116 | } |
DavidEGrayson | 19:a11ffc903774 | 117 | else |
DavidEGrayson | 19:a11ffc903774 | 118 | { |
DavidEGrayson | 19:a11ffc903774 | 119 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 120 | } |
DavidEGrayson | 18:b65fbb795396 | 121 | } |
DavidEGrayson | 18:b65fbb795396 | 122 | |
DavidEGrayson | 21:c279c6a83671 | 123 | // Returns true if each line sensor has one third of a volt of difference between the |
DavidEGrayson | 21:c279c6a83671 | 124 | // maximum seen value and the minimum. |
DavidEGrayson | 21:c279c6a83671 | 125 | bool calibrationLooksGood() |
DavidEGrayson | 21:c279c6a83671 | 126 | { |
DavidEGrayson | 21:c279c6a83671 | 127 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 21:c279c6a83671 | 128 | { |
DavidEGrayson | 21:c279c6a83671 | 129 | uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s]; |
DavidEGrayson | 21:c279c6a83671 | 130 | if (contrast < 9929) // 0xFFFF*0.5/3.3 = 9929 |
DavidEGrayson | 21:c279c6a83671 | 131 | { |
DavidEGrayson | 21:c279c6a83671 | 132 | return false; |
DavidEGrayson | 21:c279c6a83671 | 133 | } |
DavidEGrayson | 21:c279c6a83671 | 134 | } |
DavidEGrayson | 21:c279c6a83671 | 135 | return true; |
DavidEGrayson | 21:c279c6a83671 | 136 | } |
DavidEGrayson | 21:c279c6a83671 | 137 | |
DavidEGrayson | 21:c279c6a83671 | 138 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 139 | { |
DavidEGrayson | 21:c279c6a83671 | 140 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 141 | { |
DavidEGrayson | 21:c279c6a83671 | 142 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 143 | } |
DavidEGrayson | 21:c279c6a83671 | 144 | reckoner.reset(); |
DavidEGrayson | 21:c279c6a83671 | 145 | } |
DavidEGrayson | 21:c279c6a83671 | 146 | |
DavidEGrayson | 20:dbec34f0e76b | 147 | |
DavidEGrayson | 21:c279c6a83671 | 148 | void findLineAndCalibrate() |
DavidEGrayson | 20:dbec34f0e76b | 149 | { |
DavidEGrayson | 21:c279c6a83671 | 150 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 21:c279c6a83671 | 151 | |
DavidEGrayson | 21:c279c6a83671 | 152 | Timer timer; |
DavidEGrayson | 21:c279c6a83671 | 153 | timer.start(); |
DavidEGrayson | 21:c279c6a83671 | 154 | |
DavidEGrayson | 21:c279c6a83671 | 155 | Timer goodCalibrationTimer; |
DavidEGrayson | 21:c279c6a83671 | 156 | bool goodCalibration = false; |
DavidEGrayson | 21:c279c6a83671 | 157 | |
DavidEGrayson | 21:c279c6a83671 | 158 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 159 | { |
DavidEGrayson | 21:c279c6a83671 | 160 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 161 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 162 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 163 | |
DavidEGrayson | 21:c279c6a83671 | 164 | // Keep the robot pointing the in the right direction. This should basically keep it going straight. |
DavidEGrayson | 21:c279c6a83671 | 165 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 166 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 167 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 21:c279c6a83671 | 168 | if (reduction > 0) |
DavidEGrayson | 21:c279c6a83671 | 169 | { |
DavidEGrayson | 21:c279c6a83671 | 170 | speedRight = reduceSpeed(speedRight, -reduction); |
DavidEGrayson | 21:c279c6a83671 | 171 | } |
DavidEGrayson | 21:c279c6a83671 | 172 | else |
DavidEGrayson | 21:c279c6a83671 | 173 | { |
DavidEGrayson | 21:c279c6a83671 | 174 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 21:c279c6a83671 | 175 | } |
DavidEGrayson | 21:c279c6a83671 | 176 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 21:c279c6a83671 | 177 | |
DavidEGrayson | 21:c279c6a83671 | 178 | if (goodCalibration) |
DavidEGrayson | 21:c279c6a83671 | 179 | { |
DavidEGrayson | 21:c279c6a83671 | 180 | if(goodCalibrationTimer.read_us() >= 300000) |
DavidEGrayson | 21:c279c6a83671 | 181 | { |
DavidEGrayson | 21:c279c6a83671 | 182 | // The calibration was good and we traveled for a bit of time after that, |
DavidEGrayson | 21:c279c6a83671 | 183 | // so we must be a bit over the line. |
DavidEGrayson | 21:c279c6a83671 | 184 | break; |
DavidEGrayson | 21:c279c6a83671 | 185 | } |
DavidEGrayson | 21:c279c6a83671 | 186 | } |
DavidEGrayson | 21:c279c6a83671 | 187 | else |
DavidEGrayson | 21:c279c6a83671 | 188 | { |
DavidEGrayson | 21:c279c6a83671 | 189 | if(calibrationLooksGood()) |
DavidEGrayson | 21:c279c6a83671 | 190 | { |
DavidEGrayson | 21:c279c6a83671 | 191 | goodCalibration = true; |
DavidEGrayson | 21:c279c6a83671 | 192 | goodCalibrationTimer.start(); |
DavidEGrayson | 21:c279c6a83671 | 193 | } |
DavidEGrayson | 21:c279c6a83671 | 194 | } |
DavidEGrayson | 21:c279c6a83671 | 195 | } |
DavidEGrayson | 21:c279c6a83671 | 196 | } |
DavidEGrayson | 21:c279c6a83671 | 197 | |
DavidEGrayson | 21:c279c6a83671 | 198 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 199 | { |
DavidEGrayson | 21:c279c6a83671 | 200 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 201 | { |
DavidEGrayson | 21:c279c6a83671 | 202 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 203 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 204 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 205 | |
DavidEGrayson | 21:c279c6a83671 | 206 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 207 | { |
DavidEGrayson | 21:c279c6a83671 | 208 | break; |
DavidEGrayson | 21:c279c6a83671 | 209 | } |
DavidEGrayson | 21:c279c6a83671 | 210 | |
DavidEGrayson | 21:c279c6a83671 | 211 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 212 | } |
DavidEGrayson | 21:c279c6a83671 | 213 | } |
DavidEGrayson | 21:c279c6a83671 | 214 | |
DavidEGrayson | 21:c279c6a83671 | 215 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 216 | { |
DavidEGrayson | 21:c279c6a83671 | 217 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 21:c279c6a83671 | 218 | const uint32_t lineDebounceTime = 100000; |
DavidEGrayson | 21:c279c6a83671 | 219 | const int followLineStrength = 300; |
DavidEGrayson | 21:c279c6a83671 | 220 | |
DavidEGrayson | 21:c279c6a83671 | 221 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 222 | { |
DavidEGrayson | 21:c279c6a83671 | 223 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 224 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 225 | |
DavidEGrayson | 21:c279c6a83671 | 226 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 227 | |
DavidEGrayson | 21:c279c6a83671 | 228 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 21:c279c6a83671 | 229 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 21:c279c6a83671 | 230 | |
DavidEGrayson | 21:c279c6a83671 | 231 | if(lostLine) |
DavidEGrayson | 21:c279c6a83671 | 232 | { |
DavidEGrayson | 21:c279c6a83671 | 233 | break; |
DavidEGrayson | 21:c279c6a83671 | 234 | } |
DavidEGrayson | 21:c279c6a83671 | 235 | |
DavidEGrayson | 21:c279c6a83671 | 236 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 237 | { |
DavidEGrayson | 21:c279c6a83671 | 238 | break; |
DavidEGrayson | 21:c279c6a83671 | 239 | } |
DavidEGrayson | 21:c279c6a83671 | 240 | |
DavidEGrayson | 21:c279c6a83671 | 241 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 242 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 243 | int16_t reduction = (lineTracker.getLinePosition() - 1500) * followLineStrength / 1500; |
DavidEGrayson | 21:c279c6a83671 | 244 | if(reduction < 0) |
DavidEGrayson | 21:c279c6a83671 | 245 | { |
DavidEGrayson | 21:c279c6a83671 | 246 | reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 21:c279c6a83671 | 247 | } |
DavidEGrayson | 21:c279c6a83671 | 248 | else |
DavidEGrayson | 21:c279c6a83671 | 249 | { |
DavidEGrayson | 21:c279c6a83671 | 250 | reduceSpeed(speedRight, reduction); |
DavidEGrayson | 21:c279c6a83671 | 251 | } |
DavidEGrayson | 21:c279c6a83671 | 252 | |
DavidEGrayson | 21:c279c6a83671 | 253 | |
DavidEGrayson | 21:c279c6a83671 | 254 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 21:c279c6a83671 | 255 | } |
DavidEGrayson | 20:dbec34f0e76b | 256 | } |
DavidEGrayson | 20:dbec34f0e76b | 257 | |
DavidEGrayson | 20:dbec34f0e76b | 258 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 259 | { |
DavidEGrayson | 18:b65fbb795396 | 260 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 261 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 262 | |
DavidEGrayson | 19:a11ffc903774 | 263 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 264 | { |
DavidEGrayson | 18:b65fbb795396 | 265 | updateReckonerFromEncoders(); |
DavidEGrayson | 19:a11ffc903774 | 266 | |
DavidEGrayson | 19:a11ffc903774 | 267 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 268 | |
DavidEGrayson | 19:a11ffc903774 | 269 | if (magn < (1<<17)) |
DavidEGrayson | 18:b65fbb795396 | 270 | { |
DavidEGrayson | 19:a11ffc903774 | 271 | // We are within 8 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 272 | break; |
DavidEGrayson | 19:a11ffc903774 | 273 | } |
DavidEGrayson | 19:a11ffc903774 | 274 | |
DavidEGrayson | 19:a11ffc903774 | 275 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 276 | |
DavidEGrayson | 21:c279c6a83671 | 277 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 278 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 279 | if (magn < (1<<20)) // Within 64 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 280 | { |
DavidEGrayson | 21:c279c6a83671 | 281 | int16_t reduction = (1 - magn/(1<<20)) * drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 282 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 283 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 284 | } |
DavidEGrayson | 19:a11ffc903774 | 285 | |
DavidEGrayson | 19:a11ffc903774 | 286 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 287 | { |
DavidEGrayson | 19:a11ffc903774 | 288 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 289 | } |
DavidEGrayson | 18:b65fbb795396 | 290 | else |
DavidEGrayson | 18:b65fbb795396 | 291 | { |
DavidEGrayson | 19:a11ffc903774 | 292 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 293 | } |
DavidEGrayson | 19:a11ffc903774 | 294 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 295 | } |
DavidEGrayson | 18:b65fbb795396 | 296 | |
DavidEGrayson | 20:dbec34f0e76b | 297 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 298 | } |
DavidEGrayson | 20:dbec34f0e76b | 299 | |
DavidEGrayson | 20:dbec34f0e76b | 300 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 301 | { |
DavidEGrayson | 20:dbec34f0e76b | 302 | const int16_t settleSpeed = 200; |
DavidEGrayson | 20:dbec34f0e76b | 303 | const int16_t settleModificationStrength = 100; |
DavidEGrayson | 20:dbec34f0e76b | 304 | |
DavidEGrayson | 20:dbec34f0e76b | 305 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 306 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 307 | |
DavidEGrayson | 20:dbec34f0e76b | 308 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 309 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 310 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 311 | |
DavidEGrayson | 21:c279c6a83671 | 312 | Pacer reportPacer(200000); |
DavidEGrayson | 21:c279c6a83671 | 313 | |
DavidEGrayson | 19:a11ffc903774 | 314 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 315 | { |
DavidEGrayson | 20:dbec34f0e76b | 316 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 317 | |
DavidEGrayson | 20:dbec34f0e76b | 318 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 319 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 320 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 321 | { |
DavidEGrayson | 20:dbec34f0e76b | 322 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 323 | } |
DavidEGrayson | 20:dbec34f0e76b | 324 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 325 | { |
DavidEGrayson | 20:dbec34f0e76b | 326 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 327 | } |
DavidEGrayson | 20:dbec34f0e76b | 328 | |
DavidEGrayson | 21:c279c6a83671 | 329 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 330 | { |
DavidEGrayson | 21:c279c6a83671 | 331 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 332 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 333 | } |
DavidEGrayson | 20:dbec34f0e76b | 334 | |
DavidEGrayson | 21:c279c6a83671 | 335 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 336 | { |
DavidEGrayson | 21:c279c6a83671 | 337 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 338 | break; |
DavidEGrayson | 21:c279c6a83671 | 339 | } |
DavidEGrayson | 21:c279c6a83671 | 340 | |
DavidEGrayson | 20:dbec34f0e76b | 341 | int16_t rotationSpeed; |
DavidEGrayson | 20:dbec34f0e76b | 342 | if (state == 1) |
DavidEGrayson | 20:dbec34f0e76b | 343 | { |
DavidEGrayson | 20:dbec34f0e76b | 344 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 21:c279c6a83671 | 345 | rotationSpeed = -s * 600; |
DavidEGrayson | 20:dbec34f0e76b | 346 | } |
DavidEGrayson | 20:dbec34f0e76b | 347 | else |
DavidEGrayson | 20:dbec34f0e76b | 348 | { |
DavidEGrayson | 20:dbec34f0e76b | 349 | rotationSpeed = settleSpeed; |
DavidEGrayson | 20:dbec34f0e76b | 350 | } |
DavidEGrayson | 20:dbec34f0e76b | 351 | |
DavidEGrayson | 20:dbec34f0e76b | 352 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 20:dbec34f0e76b | 353 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 20:dbec34f0e76b | 354 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 21:c279c6a83671 | 355 | |
DavidEGrayson | 21:c279c6a83671 | 356 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 357 | { |
DavidEGrayson | 21:c279c6a83671 | 358 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 359 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 360 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 361 | } |
DavidEGrayson | 19:a11ffc903774 | 362 | } |
DavidEGrayson | 20:dbec34f0e76b | 363 | |
DavidEGrayson | 21:c279c6a83671 | 364 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 365 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 366 | } |