David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
main.cpp@24:fc01d9125d3b, 2014-02-28 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Fri Feb 28 01:07:14 2014 +0000
- Revision:
- 24:fc01d9125d3b
- Parent:
- 23:aae5cbe3b924
- Child:
- 25:73c2eedb3b91
Fixed the problem with LineTracker always thinking the line was visible.
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 | 23:aae5cbe3b924 | 46 | //testCalibrate(); |
DavidEGrayson | 2:968338353aef | 47 | |
DavidEGrayson | 21:c279c6a83671 | 48 | // Real routines for the contest. |
DavidEGrayson | 21:c279c6a83671 | 49 | setLeds(1, 0, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 50 | waitForSignalToStart(); |
DavidEGrayson | 21:c279c6a83671 | 51 | setLeds(0, 1, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 52 | findLineAndCalibrate(); |
DavidEGrayson | 21:c279c6a83671 | 53 | setLeds(1, 1, 0, 0); |
DavidEGrayson | 21:c279c6a83671 | 54 | turnRightToFindLine(); |
DavidEGrayson | 21:c279c6a83671 | 55 | setLeds(0, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 56 | followLineToEnd(); |
DavidEGrayson | 21:c279c6a83671 | 57 | setLeds(1, 0, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 58 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 59 | setLeds(0, 1, 1, 0); |
DavidEGrayson | 21:c279c6a83671 | 60 | finalSettleIn(); |
DavidEGrayson | 21:c279c6a83671 | 61 | setLeds(1, 1, 1, 1); |
DavidEGrayson | 21:c279c6a83671 | 62 | while(1){} |
DavidEGrayson | 0:e77a0edb9878 | 63 | } |
DavidEGrayson | 12:835a4d24ae3b | 64 | |
DavidEGrayson | 12:835a4d24ae3b | 65 | void updateReckonerFromEncoders() |
DavidEGrayson | 12:835a4d24ae3b | 66 | { |
DavidEGrayson | 12:835a4d24ae3b | 67 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 12:835a4d24ae3b | 68 | { |
DavidEGrayson | 12:835a4d24ae3b | 69 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 12:835a4d24ae3b | 70 | switch(event) |
DavidEGrayson | 12:835a4d24ae3b | 71 | { |
DavidEGrayson | 17:2df9861f53ee | 72 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 73 | reckoner.handleTickLeftForward(); |
DavidEGrayson | 17:2df9861f53ee | 74 | break; |
DavidEGrayson | 17:2df9861f53ee | 75 | case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 76 | reckoner.handleTickLeftBackward(); |
DavidEGrayson | 17:2df9861f53ee | 77 | break; |
DavidEGrayson | 17:2df9861f53ee | 78 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: |
DavidEGrayson | 17:2df9861f53ee | 79 | reckoner.handleTickRightForward(); |
DavidEGrayson | 17:2df9861f53ee | 80 | break; |
DavidEGrayson | 17:2df9861f53ee | 81 | case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: |
DavidEGrayson | 17:2df9861f53ee | 82 | reckoner.handleTickRightBackward(); |
DavidEGrayson | 17:2df9861f53ee | 83 | break; |
DavidEGrayson | 12:835a4d24ae3b | 84 | } |
DavidEGrayson | 12:835a4d24ae3b | 85 | } |
DavidEGrayson | 12:835a4d24ae3b | 86 | } |
DavidEGrayson | 17:2df9861f53ee | 87 | |
DavidEGrayson | 19:a11ffc903774 | 88 | float magnitude() |
DavidEGrayson | 19:a11ffc903774 | 89 | { |
DavidEGrayson | 19:a11ffc903774 | 90 | return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y); |
DavidEGrayson | 19:a11ffc903774 | 91 | } |
DavidEGrayson | 19:a11ffc903774 | 92 | |
DavidEGrayson | 20:dbec34f0e76b | 93 | float dotProduct() |
DavidEGrayson | 20:dbec34f0e76b | 94 | { |
DavidEGrayson | 20:dbec34f0e76b | 95 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 96 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 20:dbec34f0e76b | 97 | float magn = magnitude(); |
DavidEGrayson | 20:dbec34f0e76b | 98 | if (magn == 0){ return 0; } |
DavidEGrayson | 20:dbec34f0e76b | 99 | return ((float)reckoner.x * c + (float)reckoner.y * s) / magn; |
DavidEGrayson | 20:dbec34f0e76b | 100 | } |
DavidEGrayson | 20:dbec34f0e76b | 101 | |
DavidEGrayson | 18:b65fbb795396 | 102 | // The closer this is to zero, the closer we are to pointing towards the home position. |
DavidEGrayson | 18:b65fbb795396 | 103 | // It is basically a cross product of the two vectors (x, y) and (cos, sin). |
DavidEGrayson | 19:a11ffc903774 | 104 | float determinant() |
DavidEGrayson | 18:b65fbb795396 | 105 | { |
DavidEGrayson | 18:b65fbb795396 | 106 | // TODO: get rid of the magic numbers here (i.e. 30) |
DavidEGrayson | 18:b65fbb795396 | 107 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 18:b65fbb795396 | 108 | float c = (float)reckoner.cos / (1 << 30); |
DavidEGrayson | 19:a11ffc903774 | 109 | return (reckoner.x * s - reckoner.y * c) / magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 110 | } |
DavidEGrayson | 19:a11ffc903774 | 111 | |
DavidEGrayson | 21:c279c6a83671 | 112 | int16_t reduceSpeed(int16_t speed, int32_t reduction) |
DavidEGrayson | 19:a11ffc903774 | 113 | { |
DavidEGrayson | 19:a11ffc903774 | 114 | if (reduction > speed) |
DavidEGrayson | 19:a11ffc903774 | 115 | { |
DavidEGrayson | 19:a11ffc903774 | 116 | return 0; |
DavidEGrayson | 19:a11ffc903774 | 117 | } |
DavidEGrayson | 19:a11ffc903774 | 118 | else |
DavidEGrayson | 19:a11ffc903774 | 119 | { |
DavidEGrayson | 19:a11ffc903774 | 120 | return speed - reduction; |
DavidEGrayson | 19:a11ffc903774 | 121 | } |
DavidEGrayson | 18:b65fbb795396 | 122 | } |
DavidEGrayson | 18:b65fbb795396 | 123 | |
DavidEGrayson | 21:c279c6a83671 | 124 | // Returns true if each line sensor has one third of a volt of difference between the |
DavidEGrayson | 21:c279c6a83671 | 125 | // maximum seen value and the minimum. |
DavidEGrayson | 21:c279c6a83671 | 126 | bool calibrationLooksGood() |
DavidEGrayson | 21:c279c6a83671 | 127 | { |
DavidEGrayson | 21:c279c6a83671 | 128 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 21:c279c6a83671 | 129 | { |
DavidEGrayson | 21:c279c6a83671 | 130 | uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s]; |
DavidEGrayson | 21:c279c6a83671 | 131 | if (contrast < 9929) // 0xFFFF*0.5/3.3 = 9929 |
DavidEGrayson | 21:c279c6a83671 | 132 | { |
DavidEGrayson | 21:c279c6a83671 | 133 | return false; |
DavidEGrayson | 21:c279c6a83671 | 134 | } |
DavidEGrayson | 21:c279c6a83671 | 135 | } |
DavidEGrayson | 21:c279c6a83671 | 136 | return true; |
DavidEGrayson | 21:c279c6a83671 | 137 | } |
DavidEGrayson | 21:c279c6a83671 | 138 | |
DavidEGrayson | 21:c279c6a83671 | 139 | void waitForSignalToStart() |
DavidEGrayson | 21:c279c6a83671 | 140 | { |
DavidEGrayson | 21:c279c6a83671 | 141 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 21:c279c6a83671 | 142 | { |
DavidEGrayson | 21:c279c6a83671 | 143 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 144 | } |
DavidEGrayson | 21:c279c6a83671 | 145 | reckoner.reset(); |
DavidEGrayson | 21:c279c6a83671 | 146 | } |
DavidEGrayson | 21:c279c6a83671 | 147 | |
DavidEGrayson | 24:fc01d9125d3b | 148 | // Keep the robot pointing the in the right direction (1, 0). |
DavidEGrayson | 24:fc01d9125d3b | 149 | // This should basically keep it going straight. |
DavidEGrayson | 24:fc01d9125d3b | 150 | void updateMotorsToDriveStraight() |
DavidEGrayson | 24:fc01d9125d3b | 151 | { |
DavidEGrayson | 24:fc01d9125d3b | 152 | const int32_t straightDriveStrength = 1000; |
DavidEGrayson | 24:fc01d9125d3b | 153 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 154 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 24:fc01d9125d3b | 155 | int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15); |
DavidEGrayson | 24:fc01d9125d3b | 156 | if (reduction > 0) |
DavidEGrayson | 24:fc01d9125d3b | 157 | { |
DavidEGrayson | 24:fc01d9125d3b | 158 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 24:fc01d9125d3b | 159 | } |
DavidEGrayson | 24:fc01d9125d3b | 160 | else |
DavidEGrayson | 24:fc01d9125d3b | 161 | { |
DavidEGrayson | 24:fc01d9125d3b | 162 | speedLeft = reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 24:fc01d9125d3b | 163 | } |
DavidEGrayson | 24:fc01d9125d3b | 164 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 24:fc01d9125d3b | 165 | } |
DavidEGrayson | 24:fc01d9125d3b | 166 | |
DavidEGrayson | 24:fc01d9125d3b | 167 | void loadCalibrationAndFindLine() |
DavidEGrayson | 24:fc01d9125d3b | 168 | { |
DavidEGrayson | 24:fc01d9125d3b | 169 | lineTracker.calibratedMinimum[0] = 34872; |
DavidEGrayson | 24:fc01d9125d3b | 170 | lineTracker.calibratedMinimum[1] = 29335; |
DavidEGrayson | 24:fc01d9125d3b | 171 | lineTracker.calibratedMinimum[2] = 23845; |
DavidEGrayson | 24:fc01d9125d3b | 172 | lineTracker.calibratedMaximum[0] = 59726; |
DavidEGrayson | 24:fc01d9125d3b | 173 | lineTracker.calibratedMaximum[1] = 60110; |
DavidEGrayson | 24:fc01d9125d3b | 174 | lineTracker.calibratedMaximum[2] = 58446; |
DavidEGrayson | 24:fc01d9125d3b | 175 | |
DavidEGrayson | 24:fc01d9125d3b | 176 | Timer foundLineTimer; |
DavidEGrayson | 24:fc01d9125d3b | 177 | foundLineTimer.start(); |
DavidEGrayson | 24:fc01d9125d3b | 178 | bool foundLine = false; |
DavidEGrayson | 24:fc01d9125d3b | 179 | |
DavidEGrayson | 24:fc01d9125d3b | 180 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 24:fc01d9125d3b | 181 | while(1) |
DavidEGrayson | 24:fc01d9125d3b | 182 | { |
DavidEGrayson | 24:fc01d9125d3b | 183 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 184 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 185 | updateReckonerFromEncoders(); |
DavidEGrayson | 24:fc01d9125d3b | 186 | updateMotorsToDriveStraight(); |
DavidEGrayson | 24:fc01d9125d3b | 187 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 24:fc01d9125d3b | 188 | |
DavidEGrayson | 24:fc01d9125d3b | 189 | if (foundLine) |
DavidEGrayson | 24:fc01d9125d3b | 190 | { |
DavidEGrayson | 24:fc01d9125d3b | 191 | if(foundLineTimer.read_ms() >= 500) |
DavidEGrayson | 24:fc01d9125d3b | 192 | { |
DavidEGrayson | 24:fc01d9125d3b | 193 | // We found the line and traveled for a bit more, so now we can be done. |
DavidEGrayson | 24:fc01d9125d3b | 194 | break; |
DavidEGrayson | 24:fc01d9125d3b | 195 | } |
DavidEGrayson | 24:fc01d9125d3b | 196 | } |
DavidEGrayson | 24:fc01d9125d3b | 197 | else |
DavidEGrayson | 24:fc01d9125d3b | 198 | { |
DavidEGrayson | 24:fc01d9125d3b | 199 | if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 150000) |
DavidEGrayson | 24:fc01d9125d3b | 200 | { |
DavidEGrayson | 24:fc01d9125d3b | 201 | foundLine = true; |
DavidEGrayson | 24:fc01d9125d3b | 202 | foundLineTimer.start(); |
DavidEGrayson | 24:fc01d9125d3b | 203 | } |
DavidEGrayson | 24:fc01d9125d3b | 204 | } |
DavidEGrayson | 24:fc01d9125d3b | 205 | } |
DavidEGrayson | 24:fc01d9125d3b | 206 | } |
DavidEGrayson | 20:dbec34f0e76b | 207 | |
DavidEGrayson | 21:c279c6a83671 | 208 | void findLineAndCalibrate() |
DavidEGrayson | 20:dbec34f0e76b | 209 | { |
DavidEGrayson | 21:c279c6a83671 | 210 | Timer timer; |
DavidEGrayson | 21:c279c6a83671 | 211 | timer.start(); |
DavidEGrayson | 21:c279c6a83671 | 212 | |
DavidEGrayson | 21:c279c6a83671 | 213 | Timer goodCalibrationTimer; |
DavidEGrayson | 21:c279c6a83671 | 214 | bool goodCalibration = false; |
DavidEGrayson | 21:c279c6a83671 | 215 | |
DavidEGrayson | 21:c279c6a83671 | 216 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 217 | { |
DavidEGrayson | 21:c279c6a83671 | 218 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 219 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 220 | updateReckonerFromEncoders(); |
DavidEGrayson | 24:fc01d9125d3b | 221 | updateMotorsToDriveStraight(); |
DavidEGrayson | 21:c279c6a83671 | 222 | |
DavidEGrayson | 21:c279c6a83671 | 223 | if (goodCalibration) |
DavidEGrayson | 21:c279c6a83671 | 224 | { |
DavidEGrayson | 22:44c032e59ff5 | 225 | if(goodCalibrationTimer.read_ms() >= 300) |
DavidEGrayson | 21:c279c6a83671 | 226 | { |
DavidEGrayson | 21:c279c6a83671 | 227 | // The calibration was good and we traveled for a bit of time after that, |
DavidEGrayson | 21:c279c6a83671 | 228 | // so we must be a bit over the line. |
DavidEGrayson | 21:c279c6a83671 | 229 | break; |
DavidEGrayson | 21:c279c6a83671 | 230 | } |
DavidEGrayson | 21:c279c6a83671 | 231 | } |
DavidEGrayson | 21:c279c6a83671 | 232 | else |
DavidEGrayson | 21:c279c6a83671 | 233 | { |
DavidEGrayson | 21:c279c6a83671 | 234 | if(calibrationLooksGood()) |
DavidEGrayson | 21:c279c6a83671 | 235 | { |
DavidEGrayson | 21:c279c6a83671 | 236 | goodCalibration = true; |
DavidEGrayson | 21:c279c6a83671 | 237 | goodCalibrationTimer.start(); |
DavidEGrayson | 21:c279c6a83671 | 238 | } |
DavidEGrayson | 21:c279c6a83671 | 239 | } |
DavidEGrayson | 21:c279c6a83671 | 240 | } |
DavidEGrayson | 21:c279c6a83671 | 241 | } |
DavidEGrayson | 21:c279c6a83671 | 242 | |
DavidEGrayson | 21:c279c6a83671 | 243 | void turnRightToFindLine() |
DavidEGrayson | 21:c279c6a83671 | 244 | { |
DavidEGrayson | 21:c279c6a83671 | 245 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 246 | { |
DavidEGrayson | 21:c279c6a83671 | 247 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 248 | lineTracker.updateCalibration(); |
DavidEGrayson | 21:c279c6a83671 | 249 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 250 | |
DavidEGrayson | 21:c279c6a83671 | 251 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 252 | { |
DavidEGrayson | 21:c279c6a83671 | 253 | break; |
DavidEGrayson | 21:c279c6a83671 | 254 | } |
DavidEGrayson | 21:c279c6a83671 | 255 | |
DavidEGrayson | 21:c279c6a83671 | 256 | motorsSpeedSet(300, 100); |
DavidEGrayson | 21:c279c6a83671 | 257 | } |
DavidEGrayson | 21:c279c6a83671 | 258 | } |
DavidEGrayson | 21:c279c6a83671 | 259 | |
DavidEGrayson | 21:c279c6a83671 | 260 | void followLineToEnd() |
DavidEGrayson | 21:c279c6a83671 | 261 | { |
DavidEGrayson | 21:c279c6a83671 | 262 | GeneralDebouncer lineStatus(10000); |
DavidEGrayson | 21:c279c6a83671 | 263 | const uint32_t lineDebounceTime = 100000; |
DavidEGrayson | 21:c279c6a83671 | 264 | const int followLineStrength = 300; |
DavidEGrayson | 21:c279c6a83671 | 265 | |
DavidEGrayson | 21:c279c6a83671 | 266 | while(1) |
DavidEGrayson | 21:c279c6a83671 | 267 | { |
DavidEGrayson | 21:c279c6a83671 | 268 | lineTracker.read(); |
DavidEGrayson | 21:c279c6a83671 | 269 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 270 | |
DavidEGrayson | 21:c279c6a83671 | 271 | lineStatus.update(lineTracker.getLineVisible()); |
DavidEGrayson | 21:c279c6a83671 | 272 | |
DavidEGrayson | 21:c279c6a83671 | 273 | bool lostLine = lineStatus.getState() == false && |
DavidEGrayson | 21:c279c6a83671 | 274 | lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime; |
DavidEGrayson | 21:c279c6a83671 | 275 | |
DavidEGrayson | 21:c279c6a83671 | 276 | if(lostLine) |
DavidEGrayson | 21:c279c6a83671 | 277 | { |
DavidEGrayson | 21:c279c6a83671 | 278 | break; |
DavidEGrayson | 21:c279c6a83671 | 279 | } |
DavidEGrayson | 21:c279c6a83671 | 280 | |
DavidEGrayson | 21:c279c6a83671 | 281 | if(lineTracker.getLineVisible()) |
DavidEGrayson | 21:c279c6a83671 | 282 | { |
DavidEGrayson | 21:c279c6a83671 | 283 | break; |
DavidEGrayson | 21:c279c6a83671 | 284 | } |
DavidEGrayson | 21:c279c6a83671 | 285 | |
DavidEGrayson | 21:c279c6a83671 | 286 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 287 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 288 | int16_t reduction = (lineTracker.getLinePosition() - 1500) * followLineStrength / 1500; |
DavidEGrayson | 21:c279c6a83671 | 289 | if(reduction < 0) |
DavidEGrayson | 21:c279c6a83671 | 290 | { |
DavidEGrayson | 21:c279c6a83671 | 291 | reduceSpeed(speedLeft, -reduction); |
DavidEGrayson | 21:c279c6a83671 | 292 | } |
DavidEGrayson | 21:c279c6a83671 | 293 | else |
DavidEGrayson | 21:c279c6a83671 | 294 | { |
DavidEGrayson | 21:c279c6a83671 | 295 | reduceSpeed(speedRight, reduction); |
DavidEGrayson | 21:c279c6a83671 | 296 | } |
DavidEGrayson | 21:c279c6a83671 | 297 | |
DavidEGrayson | 21:c279c6a83671 | 298 | |
DavidEGrayson | 21:c279c6a83671 | 299 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 21:c279c6a83671 | 300 | } |
DavidEGrayson | 20:dbec34f0e76b | 301 | } |
DavidEGrayson | 20:dbec34f0e76b | 302 | |
DavidEGrayson | 20:dbec34f0e76b | 303 | void driveHomeAlmost() |
DavidEGrayson | 18:b65fbb795396 | 304 | { |
DavidEGrayson | 18:b65fbb795396 | 305 | Timer timer; |
DavidEGrayson | 18:b65fbb795396 | 306 | timer.start(); |
DavidEGrayson | 19:a11ffc903774 | 307 | |
DavidEGrayson | 19:a11ffc903774 | 308 | while(1) |
DavidEGrayson | 18:b65fbb795396 | 309 | { |
DavidEGrayson | 18:b65fbb795396 | 310 | updateReckonerFromEncoders(); |
DavidEGrayson | 19:a11ffc903774 | 311 | |
DavidEGrayson | 19:a11ffc903774 | 312 | float magn = magnitude(); |
DavidEGrayson | 19:a11ffc903774 | 313 | |
DavidEGrayson | 19:a11ffc903774 | 314 | if (magn < (1<<17)) |
DavidEGrayson | 18:b65fbb795396 | 315 | { |
DavidEGrayson | 19:a11ffc903774 | 316 | // We are within 8 encoder ticks, so go to the next step. |
DavidEGrayson | 19:a11ffc903774 | 317 | break; |
DavidEGrayson | 19:a11ffc903774 | 318 | } |
DavidEGrayson | 19:a11ffc903774 | 319 | |
DavidEGrayson | 19:a11ffc903774 | 320 | float det = determinant(); |
DavidEGrayson | 19:a11ffc903774 | 321 | |
DavidEGrayson | 21:c279c6a83671 | 322 | int16_t speedLeft = drivingSpeed; |
DavidEGrayson | 21:c279c6a83671 | 323 | int16_t speedRight = drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 324 | if (magn < (1<<20)) // Within 64 encoder ticks of the origin, so slow down. |
DavidEGrayson | 18:b65fbb795396 | 325 | { |
DavidEGrayson | 21:c279c6a83671 | 326 | int16_t reduction = (1 - magn/(1<<20)) * drivingSpeed; |
DavidEGrayson | 19:a11ffc903774 | 327 | speedLeft = reduceSpeed(speedLeft, reduction); |
DavidEGrayson | 19:a11ffc903774 | 328 | speedRight = reduceSpeed(speedRight, reduction); |
DavidEGrayson | 19:a11ffc903774 | 329 | } |
DavidEGrayson | 19:a11ffc903774 | 330 | |
DavidEGrayson | 19:a11ffc903774 | 331 | if (det > 0) |
DavidEGrayson | 19:a11ffc903774 | 332 | { |
DavidEGrayson | 19:a11ffc903774 | 333 | speedLeft = reduceSpeed(speedLeft, det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 334 | } |
DavidEGrayson | 18:b65fbb795396 | 335 | else |
DavidEGrayson | 18:b65fbb795396 | 336 | { |
DavidEGrayson | 19:a11ffc903774 | 337 | speedRight = reduceSpeed(speedRight, -det * 1000); |
DavidEGrayson | 18:b65fbb795396 | 338 | } |
DavidEGrayson | 19:a11ffc903774 | 339 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 18:b65fbb795396 | 340 | } |
DavidEGrayson | 18:b65fbb795396 | 341 | |
DavidEGrayson | 20:dbec34f0e76b | 342 | motorsSpeedSet(0, 0); |
DavidEGrayson | 20:dbec34f0e76b | 343 | } |
DavidEGrayson | 20:dbec34f0e76b | 344 | |
DavidEGrayson | 20:dbec34f0e76b | 345 | void finalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 346 | { |
DavidEGrayson | 20:dbec34f0e76b | 347 | const int16_t settleSpeed = 200; |
DavidEGrayson | 20:dbec34f0e76b | 348 | const int16_t settleModificationStrength = 100; |
DavidEGrayson | 20:dbec34f0e76b | 349 | |
DavidEGrayson | 20:dbec34f0e76b | 350 | Timer timer; |
DavidEGrayson | 20:dbec34f0e76b | 351 | timer.start(); |
DavidEGrayson | 20:dbec34f0e76b | 352 | |
DavidEGrayson | 20:dbec34f0e76b | 353 | // State 0: rotating |
DavidEGrayson | 20:dbec34f0e76b | 354 | // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0]. |
DavidEGrayson | 20:dbec34f0e76b | 355 | uint8_t state = 0; |
DavidEGrayson | 20:dbec34f0e76b | 356 | |
DavidEGrayson | 21:c279c6a83671 | 357 | Pacer reportPacer(200000); |
DavidEGrayson | 21:c279c6a83671 | 358 | |
DavidEGrayson | 19:a11ffc903774 | 359 | while(1) |
DavidEGrayson | 19:a11ffc903774 | 360 | { |
DavidEGrayson | 20:dbec34f0e76b | 361 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 362 | |
DavidEGrayson | 20:dbec34f0e76b | 363 | float dot = dotProduct(); |
DavidEGrayson | 20:dbec34f0e76b | 364 | int16_t speedModification = -dot * settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 365 | if (speedModification > settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 366 | { |
DavidEGrayson | 20:dbec34f0e76b | 367 | speedModification = settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 368 | } |
DavidEGrayson | 20:dbec34f0e76b | 369 | else if (speedModification < -settleModificationStrength) |
DavidEGrayson | 20:dbec34f0e76b | 370 | { |
DavidEGrayson | 20:dbec34f0e76b | 371 | speedModification = -settleModificationStrength; |
DavidEGrayson | 20:dbec34f0e76b | 372 | } |
DavidEGrayson | 20:dbec34f0e76b | 373 | |
DavidEGrayson | 21:c279c6a83671 | 374 | if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29)) |
DavidEGrayson | 19:a11ffc903774 | 375 | { |
DavidEGrayson | 21:c279c6a83671 | 376 | // Stop turning and start trying to maintain the right position. |
DavidEGrayson | 20:dbec34f0e76b | 377 | state = 1; |
DavidEGrayson | 20:dbec34f0e76b | 378 | } |
DavidEGrayson | 20:dbec34f0e76b | 379 | |
DavidEGrayson | 21:c279c6a83671 | 380 | if (state == 1 && timer.read_ms() >= 5000) |
DavidEGrayson | 21:c279c6a83671 | 381 | { |
DavidEGrayson | 21:c279c6a83671 | 382 | // Stop moving. |
DavidEGrayson | 21:c279c6a83671 | 383 | break; |
DavidEGrayson | 21:c279c6a83671 | 384 | } |
DavidEGrayson | 21:c279c6a83671 | 385 | |
DavidEGrayson | 20:dbec34f0e76b | 386 | int16_t rotationSpeed; |
DavidEGrayson | 20:dbec34f0e76b | 387 | if (state == 1) |
DavidEGrayson | 20:dbec34f0e76b | 388 | { |
DavidEGrayson | 20:dbec34f0e76b | 389 | float s = (float)reckoner.sin / (1 << 30); |
DavidEGrayson | 21:c279c6a83671 | 390 | rotationSpeed = -s * 600; |
DavidEGrayson | 20:dbec34f0e76b | 391 | } |
DavidEGrayson | 20:dbec34f0e76b | 392 | else |
DavidEGrayson | 20:dbec34f0e76b | 393 | { |
DavidEGrayson | 20:dbec34f0e76b | 394 | rotationSpeed = settleSpeed; |
DavidEGrayson | 20:dbec34f0e76b | 395 | } |
DavidEGrayson | 20:dbec34f0e76b | 396 | |
DavidEGrayson | 20:dbec34f0e76b | 397 | int16_t speedLeft = -rotationSpeed + speedModification; |
DavidEGrayson | 20:dbec34f0e76b | 398 | int16_t speedRight = rotationSpeed + speedModification; |
DavidEGrayson | 20:dbec34f0e76b | 399 | motorsSpeedSet(speedLeft, speedRight); |
DavidEGrayson | 21:c279c6a83671 | 400 | |
DavidEGrayson | 21:c279c6a83671 | 401 | if (state == 1 && reportPacer.pace()) |
DavidEGrayson | 21:c279c6a83671 | 402 | { |
DavidEGrayson | 21:c279c6a83671 | 403 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 21:c279c6a83671 | 404 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 21:c279c6a83671 | 405 | determinant(), dotProduct()); |
DavidEGrayson | 21:c279c6a83671 | 406 | } |
DavidEGrayson | 19:a11ffc903774 | 407 | } |
DavidEGrayson | 20:dbec34f0e76b | 408 | |
DavidEGrayson | 21:c279c6a83671 | 409 | // Done! Stop moving. |
DavidEGrayson | 20:dbec34f0e76b | 410 | motorsSpeedSet(0, 0); |
DavidEGrayson | 18:b65fbb795396 | 411 | } |