David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@48:c84b7b3ab0e8, 2015-04-15 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Wed Apr 15 21:42:52 2015 +0000
- Revision:
- 48:c84b7b3ab0e8
- Parent:
- 46:f11cb4f93aac
- Child:
- 49:eaa6fd514f4f
made it record entries every 200 encoder counts, instead of every 200 ms;
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 | 44:edcacba44760 | 15 | #include "l3g.h" |
DavidEGrayson | 44:edcacba44760 | 16 | #include "turn_sensor.h" |
DavidEGrayson | 21:c279c6a83671 | 17 | |
DavidEGrayson | 21:c279c6a83671 | 18 | Reckoner reckoner; |
DavidEGrayson | 21:c279c6a83671 | 19 | LineTracker lineTracker; |
DavidEGrayson | 48:c84b7b3ab0e8 | 20 | TurnSensor turnSensor; |
DavidEGrayson | 37:23000a47ed2b | 21 | Logger logger; |
DavidEGrayson | 37:23000a47ed2b | 22 | Pacer loggerPacer(50000); |
DavidEGrayson | 21:c279c6a83671 | 23 | |
DavidEGrayson | 48:c84b7b3ab0e8 | 24 | uint32_t totalEncoderCounts = 0; |
DavidEGrayson | 48:c84b7b3ab0e8 | 25 | uint32_t nextLogEncoderCount = 0; |
DavidEGrayson | 48:c84b7b3ab0e8 | 26 | const uint32_t logSpacing = 200; |
DavidEGrayson | 48:c84b7b3ab0e8 | 27 | |
DavidEGrayson | 21:c279c6a83671 | 28 | void setLeds(bool v1, bool v2, bool v3, bool v4) |
DavidEGrayson | 21:c279c6a83671 | 29 | { |
DavidEGrayson | 21:c279c6a83671 | 30 | led1 = v1; |
DavidEGrayson | 21:c279c6a83671 | 31 | led2 = v2; |
DavidEGrayson | 21:c279c6a83671 | 32 | led3 = v3; |
DavidEGrayson | 21:c279c6a83671 | 33 | led4 = v4; |
DavidEGrayson | 21:c279c6a83671 | 34 | } |
DavidEGrayson | 0:e77a0edb9878 | 35 | |
DavidEGrayson | 10:e4dd36148539 | 36 | int __attribute__((noreturn)) main() |
DavidEGrayson | 2:968338353aef | 37 | { |
DavidEGrayson | 2:968338353aef | 38 | pc.baud(115200); |
DavidEGrayson | 2:968338353aef | 39 | |
DavidEGrayson | 2:968338353aef | 40 | // Enable pull-ups on encoder pins and give them a chance to settle. |
DavidEGrayson | 44:edcacba44760 | 41 | if (l3gInit()) |
DavidEGrayson | 44:edcacba44760 | 42 | { |
DavidEGrayson | 44:edcacba44760 | 43 | // Error initializing the gyro. |
DavidEGrayson | 44:edcacba44760 | 44 | setLeds(0, 0, 1, 1); |
DavidEGrayson | 44:edcacba44760 | 45 | while(1); |
DavidEGrayson | 44:edcacba44760 | 46 | } |
DavidEGrayson | 44:edcacba44760 | 47 | |
DavidEGrayson | 9:9734347b5756 | 48 | encodersInit(); |
DavidEGrayson | 9:9734347b5756 | 49 | motorsInit(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 50 | buttonsInit(); |
DavidEGrayson | 4:1b20a11765c8 | 51 | |
DavidEGrayson | 8:78b1ff957cba | 52 | // Test routines |
DavidEGrayson | 9:9734347b5756 | 53 | //testMotors(); |
DavidEGrayson | 10:e4dd36148539 | 54 | //testEncoders(); |
DavidEGrayson | 32:83a13b06093c | 55 | //testLineSensors(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 56 | //testReckoner(); |
DavidEGrayson | 17:2df9861f53ee | 57 | //testButtons(); |
DavidEGrayson | 34:6c84680d823a | 58 | //testDriveHome(); |
DavidEGrayson | 21:c279c6a83671 | 59 | //testFinalSettleIn(); |
DavidEGrayson | 23:aae5cbe3b924 | 60 | //testCalibrate(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 61 | //testLineFollowing(); |
DavidEGrayson | 29:cfcf08d8ac79 | 62 | //testAnalog(); |
DavidEGrayson | 31:739b91331f31 | 63 | //testSensorGlitches(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 64 | //testTurnInPlace(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 65 | //testCloseness(); |
DavidEGrayson | 37:23000a47ed2b | 66 | //testLogger(); |
DavidEGrayson | 45:e16e74bbbf8c | 67 | //testL3g(); |
DavidEGrayson | 46:f11cb4f93aac | 68 | //testTurnSensor(); |
DavidEGrayson | 46:f11cb4f93aac | 69 | //testReckoningWithGyro(); |
DavidEGrayson | 2:968338353aef | 70 | |
DavidEGrayson | 21:c279c6a83671 | 71 | // Real routines for the contest. |
DavidEGrayson | 28:4374035df5e0 | 72 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 73 | |
DavidEGrayson | 21:c279c6a83671 | 74 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 75 | waitForSignalToStart(); |
DavidEGrayson | 39:a5e25fd52ff8 | 76 | |
DavidEGrayson | 40:e79cefc241f8 | 77 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 39:a5e25fd52ff8 | 78 | followLineFast(); |
DavidEGrayson | 33:58a0ab6e9ad2 | 79 | |
DavidEGrayson | 21:c279c6a83671 | 80 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 37:23000a47ed2b | 81 | loggerReportLoop(); |
DavidEGrayson | 37:23000a47ed2b | 82 | } |
DavidEGrayson | 37:23000a47ed2b | 83 | |
DavidEGrayson | 37:23000a47ed2b | 84 | void loggerService() |
DavidEGrayson | 37:23000a47ed2b | 85 | { |
DavidEGrayson | 48:c84b7b3ab0e8 | 86 | // loggerPacer.pace() |
DavidEGrayson | 48:c84b7b3ab0e8 | 87 | if (totalEncoderCounts > nextLogEncoderCount) |
DavidEGrayson | 37:23000a47ed2b | 88 | { |
DavidEGrayson | 48:c84b7b3ab0e8 | 89 | nextLogEncoderCount += logSpacing; |
DavidEGrayson | 48:c84b7b3ab0e8 | 90 | |
DavidEGrayson | 48:c84b7b3ab0e8 | 91 | struct LogEntry entry; |
DavidEGrayson | 48:c84b7b3ab0e8 | 92 | entry.turnAngle = turnSensor.getAngle() >> 16; |
DavidEGrayson | 48:c84b7b3ab0e8 | 93 | entry.x = reckoner.x >> 16; |
DavidEGrayson | 48:c84b7b3ab0e8 | 94 | entry.y = reckoner.y >> 16; |
DavidEGrayson | 48:c84b7b3ab0e8 | 95 | logger.log(&entry); |
DavidEGrayson | 37:23000a47ed2b | 96 | } |
DavidEGrayson | 0:e77a0edb9878 | 97 | } |
DavidEGrayson | 12:835a4d24ae3b | 98 | |
DavidEGrayson | 37:23000a47ed2b | 99 | void loggerReportLoop() |
DavidEGrayson | 37:23000a47ed2b | 100 | { |
DavidEGrayson | 37:23000a47ed2b | 101 | while(1) |
DavidEGrayson | 37:23000a47ed2b | 102 | { |
DavidEGrayson | 37:23000a47ed2b | 103 | if(button1DefinitelyPressed()) |
DavidEGrayson | 37:23000a47ed2b | 104 | { |
DavidEGrayson | 37:23000a47ed2b | 105 | logger.dump(); |
DavidEGrayson | 37:23000a47ed2b | 106 | } |
DavidEGrayson | 37:23000a47ed2b | 107 | } |
DavidEGrayson | 37:23000a47ed2b | 108 | } |
DavidEGrayson | 37:23000a47ed2b | 109 | |
DavidEGrayson | 37:23000a47ed2b | 110 | |
DavidEGrayson | 28:4374035df5e0 | 111 | void loadCalibration() |
DavidEGrayson | 28:4374035df5e0 | 112 | { |
DavidEGrayson | 32:83a13b06093c | 113 | /** QTR-3RC **/ |
DavidEGrayson | 39:a5e25fd52ff8 | 114 | lineTracker.calibratedMinimum[0] = 137; |
DavidEGrayson | 39:a5e25fd52ff8 | 115 | lineTracker.calibratedMinimum[1] = 132; |
DavidEGrayson | 39:a5e25fd52ff8 | 116 | lineTracker.calibratedMinimum[2] = 154; |
DavidEGrayson | 39:a5e25fd52ff8 | 117 | lineTracker.calibratedMaximum[0] = 644; |
DavidEGrayson | 39:a5e25fd52ff8 | 118 | lineTracker.calibratedMaximum[1] = 779; |
DavidEGrayson | 32:83a13b06093c | 119 | lineTracker.calibratedMaximum[2] = 1000; |
DavidEGrayson | 32:83a13b06093c | 120 | |
DavidEGrayson | 32:83a13b06093c | 121 | /** QTR-3A |
DavidEGrayson | 28:4374035df5e0 | 122 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 28:4374035df5e0 | 123 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 28:4374035df5e0 | 124 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 28:4374035df5e0 | 125 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 28:4374035df5e0 | 126 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 32:83a13b06093c | 127 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 32:83a13b06093c | 128 | **/ |
DavidEGrayson | 28:4374035df5e0 | 129 | } |
DavidEGrayson | 28:4374035df5e0 | 130 | |
DavidEGrayson | 12:835a4d24ae3b | 131 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 132 | { |
DavidEGrayson | 12:835a4d24ae3b | 133 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 134 | { |
DavidEGrayson | 12:835a4d24ae3b | 135 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 136 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 137 | { |
DavidEGrayson | 17:2df9861f53ee | 138 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 139 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 48:c84b7b3ab0e8 | 140 | totalEncoderCounts++; |
DavidEGrayson | 17:2df9861f53ee | 141 | break; |
DavidEGrayson | 17:2df9861f53ee | 142 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 143 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 48:c84b7b3ab0e8 | 144 | totalEncoderCounts--; |
DavidEGrayson | 17:2df9861f53ee | 145 | break; |
DavidEGrayson | 17:2df9861f53ee | 146 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 147 | reckoner.handleTickRightForward(); |
DavidEGrayson | 48:c84b7b3ab0e8 | 148 | totalEncoderCounts++; |
DavidEGrayson | 17:2df9861f53ee | 149 | break; |
DavidEGrayson | 17:2df9861f53ee | 150 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 151 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 48:c84b7b3ab0e8 | 152 | totalEncoderCounts--; |
DavidEGrayson | 17:2df9861f53ee | 153 | break; |
DavidEGrayson | 12:835a4d24ae3b | 154 | } |
DavidEGrayson | 12:835a4d24ae3b | 155 | } |
DavidEGrayson | 12:835a4d24ae3b | 156 | } |
DavidEGrayson | 17:2df9861f53ee | 157 | |
DavidEGrayson | 46:f11cb4f93aac | 158 | void updateReckoner(TurnSensor & turnSensor) |
DavidEGrayson | 46:f11cb4f93aac | 159 | { |
DavidEGrayson | 46:f11cb4f93aac | 160 | if (!encoderBuffer.hasEvents()) |
DavidEGrayson | 46:f11cb4f93aac | 161 | { |
DavidEGrayson | 46:f11cb4f93aac | 162 | return; |
DavidEGrayson | 46:f11cb4f93aac | 163 | } |
DavidEGrayson | 46:f11cb4f93aac | 164 | |
DavidEGrayson | 46:f11cb4f93aac | 165 | reckoner.setTurnAngle(turnSensor.getAngle()); |
DavidEGrayson | 46:f11cb4f93aac | 166 | |
DavidEGrayson | 46:f11cb4f93aac | 167 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 46:f11cb4f93aac | 168 | { |
DavidEGrayson | 46:f11cb4f93aac | 169 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 46:f11cb4f93aac | 170 | switch(event) |
DavidEGrayson | 46:f11cb4f93aac | 171 | { |
DavidEGrayson | 46:f11cb4f93aac | 172 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 46:f11cb4f93aac | 173 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 48:c84b7b3ab0e8 | 174 | totalEncoderCounts++; |
DavidEGrayson | 46:f11cb4f93aac | 175 | reckoner.handleForward(); |
DavidEGrayson | 46:f11cb4f93aac | 176 | break; |
DavidEGrayson | 46:f11cb4f93aac | 177 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 46:f11cb4f93aac | 178 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 46:f11cb4f93aac | 179 | reckoner.handleBackward(); |
DavidEGrayson | 48:c84b7b3ab0e8 | 180 | totalEncoderCounts--; |
DavidEGrayson | 46:f11cb4f93aac | 181 | break; |
DavidEGrayson | 46:f11cb4f93aac | 182 | } |
DavidEGrayson | 46:f11cb4f93aac | 183 | } |
DavidEGrayson | 46:f11cb4f93aac | 184 | } |
DavidEGrayson | 46:f11cb4f93aac | 185 | |
DavidEGrayson | 19:a11ffc903774 | 186 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 187 | { |
DavidEGrayson | 19:a11ffc903774 | 188 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 189 | } |
DavidEGrayson | 19:a11ffc903774 | 190 | |
DavidEGrayson | 20:dbec34f0e76b | 191 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 192 | { |
DavidEGrayson | 46:f11cb4f93aac | 193 | float s = (float)reckoner.sinv / (1 << 30); |
DavidEGrayson | 46:f11cb4f93aac | 194 | float c = (float)reckoner.cosv / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 195 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 196 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 197 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 198 | } |
DavidEGrayson | 20:dbec34f0e76b | 199 | |
DavidEGrayson | 18:b65fbb795396 | 200 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 201 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 202 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 203 | { |
DavidEGrayson | 18:b65fbb795396 | 204 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 46:f11cb4f93aac | 205 | float s = (float)reckoner.sinv / (1 << 30); |
DavidEGrayson | 46:f11cb4f93aac | 206 | float c = (float)reckoner.cosv / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 207 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 208 | } |
DavidEGrayson | 19:a11ffc903774 | 209 | |
DavidEGrayson | 21:c279c6a83671 | 210 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 211 | { |
DavidEGrayson | 19:a11ffc903774 | 212 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 213 | { |
DavidEGrayson | 19:a11ffc903774 | 214 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 215 | } |
DavidEGrayson | 19:a11ffc903774 | 216 | else |
DavidEGrayson | 19:a11ffc903774 | 217 | { |
DavidEGrayson | 19:a11ffc903774 | 218 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 219 | } |
DavidEGrayson | 18:b65fbb795396 | 220 | } |
DavidEGrayson | 18:b65fbb795396 | 221 | |
DavidEGrayson | 21:c279c6a83671 | 222 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 223 | { |
DavidEGrayson | 21:c279c6a83671 | 224 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 225 | { |
DavidEGrayson | 21:c279c6a83671 | 226 | updateReckonerFromEncoders(); |
DavidEGrayson | 38:5e93a479c244 | 227 | } |
DavidEGrayson | 21:c279c6a83671 | 228 | reckoner.reset(); |
DavidEGrayson | 38:5e93a479c244 | 229 | while(button1DefinitelyPressed()) |
DavidEGrayson | 38:5e93a479c244 | 230 | { |
DavidEGrayson | 38:5e93a479c244 | 231 | updateReckonerFromEncoders(); |
DavidEGrayson | 38:5e93a479c244 | 232 | } |
DavidEGrayson | 38:5e93a479c244 | 233 | wait(0.2); |
DavidEGrayson | 21:c279c6a83671 | 234 | } |
DavidEGrayson | 21:c279c6a83671 | 235 | |
DavidEGrayson | 28:4374035df5e0 | 236 | void updateMotorsToFollowLine() |
DavidEGrayson | 24:fc01d9125d3b | 237 | { |
DavidEGrayson | 39:a5e25fd52ff8 | 238 | const int16_t drivingSpeed = 400; |
DavidEGrayson | 40:e79cefc241f8 | 239 | const int32_t followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 28:4374035df5e0 | 240 | |
DavidEGrayson | 28:4374035df5e0 | 241 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 242 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 28:4374035df5e0 | 243 | int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000; |
DavidEGrayson | 28:4374035df5e0 | 244 | if(reduction < 0) |
DavidEGrayson | 28:4374035df5e0 | 245 | { |
DavidEGrayson | 28:4374035df5e0 | 246 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 28:4374035df5e0 | 247 | } |
DavidEGrayson | 28:4374035df5e0 | 248 | else |
DavidEGrayson | 28:4374035df5e0 | 249 | { |
DavidEGrayson | 28:4374035df5e0 | 250 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 28:4374035df5e0 | 251 | } |
DavidEGrayson | 24:fc01d9125d3b | 252 | |
DavidEGrayson | 39:a5e25fd52ff8 | 253 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 254 | } |
DavidEGrayson | 20:dbec34f0e76b | 255 | |
DavidEGrayson | 39:a5e25fd52ff8 | 256 | void updateMotorsToFollowLineFast() |
DavidEGrayson | 21:c279c6a83671 | 257 | { |
DavidEGrayson | 48:c84b7b3ab0e8 | 258 | const int16_t drivingSpeed = 1000; |
DavidEGrayson | 40:e79cefc241f8 | 259 | const int32_t followLineStrength = drivingSpeed * 5 / 4; |
DavidEGrayson | 40:e79cefc241f8 | 260 | static int16_t lastPosition = 1000; |
DavidEGrayson | 39:a5e25fd52ff8 | 261 | |
DavidEGrayson | 39:a5e25fd52ff8 | 262 | int16_t position = lineTracker.getLinePosition(); |
DavidEGrayson | 21:c279c6a83671 | 263 | |
DavidEGrayson | 39:a5e25fd52ff8 | 264 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 39:a5e25fd52ff8 | 265 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 40:e79cefc241f8 | 266 | int32_t veer = (position - 1000) * followLineStrength / 1000 + (position - lastPosition) * 200; |
DavidEGrayson | 40:e79cefc241f8 | 267 | if(veer > 0) |
DavidEGrayson | 39:a5e25fd52ff8 | 268 | { |
DavidEGrayson | 40:e79cefc241f8 | 269 | speedRight = reduceSpeed(speedRight, veer); |
DavidEGrayson | 21:c279c6a83671 | 270 | } |
DavidEGrayson | 39:a5e25fd52ff8 | 271 | else |
DavidEGrayson | 39:a5e25fd52ff8 | 272 | { |
DavidEGrayson | 40:e79cefc241f8 | 273 | speedLeft = reduceSpeed(speedLeft, -veer); |
DavidEGrayson | 39:a5e25fd52ff8 | 274 | } |
DavidEGrayson | 39:a5e25fd52ff8 | 275 | |
DavidEGrayson | 39:a5e25fd52ff8 | 276 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 39:a5e25fd52ff8 | 277 | |
DavidEGrayson | 39:a5e25fd52ff8 | 278 | lastPosition = position; |
DavidEGrayson | 20:dbec34f0e76b | 279 | } |
DavidEGrayson | 20:dbec34f0e76b | 280 | |
DavidEGrayson | 39:a5e25fd52ff8 | 281 | void followLineFast() |
DavidEGrayson | 48:c84b7b3ab0e8 | 282 | { |
DavidEGrayson | 48:c84b7b3ab0e8 | 283 | totalEncoderCounts = 0; |
DavidEGrayson | 39:a5e25fd52ff8 | 284 | Pacer reportPacer(200000); |
DavidEGrayson | 19:a11ffc903774 | 285 | |
DavidEGrayson | 39:a5e25fd52ff8 | 286 | loadCalibration(); |
DavidEGrayson | 40:e79cefc241f8 | 287 | uint32_t loopCount = 0; |
DavidEGrayson | 40:e79cefc241f8 | 288 | Timer timer; |
DavidEGrayson | 40:e79cefc241f8 | 289 | timer.start(); |
DavidEGrayson | 46:f11cb4f93aac | 290 | turnSensor.start(); |
DavidEGrayson | 19:a11ffc903774 | 291 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 292 | { |
DavidEGrayson | 40:e79cefc241f8 | 293 | loopCount += 1; |
DavidEGrayson | 46:f11cb4f93aac | 294 | turnSensor.update(); |
DavidEGrayson | 46:f11cb4f93aac | 295 | updateReckoner(turnSensor); |
DavidEGrayson | 37:23000a47ed2b | 296 | loggerService(); |
DavidEGrayson | 40:e79cefc241f8 | 297 | |
DavidEGrayson | 40:e79cefc241f8 | 298 | if ((loopCount % 256) == 0) |
DavidEGrayson | 40:e79cefc241f8 | 299 | { |
DavidEGrayson | 40:e79cefc241f8 | 300 | pc.printf("%d\r\n", lineTracker.getLinePosition()); |
DavidEGrayson | 40:e79cefc241f8 | 301 | } |
DavidEGrayson | 40:e79cefc241f8 | 302 | |
DavidEGrayson | 39:a5e25fd52ff8 | 303 | lineTracker.read(); |
DavidEGrayson | 44:edcacba44760 | 304 | updateMotorsToFollowLineFast(); |
DavidEGrayson | 44:edcacba44760 | 305 | |
DavidEGrayson | 44:edcacba44760 | 306 | if (button1DefinitelyPressed()) |
DavidEGrayson | 44:edcacba44760 | 307 | { |
DavidEGrayson | 44:edcacba44760 | 308 | break; |
DavidEGrayson | 44:edcacba44760 | 309 | } |
DavidEGrayson | 18:b65fbb795396 | 310 | } |
DavidEGrayson | 44:edcacba44760 | 311 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 312 | } |
DavidEGrayson | 20:dbec34f0e76b | 313 |