Helvijs Kiselis
/
Micromouse
Algorithmus
Motion.cpp@15:0ae61d3d199f, 2018-05-04 (annotated)
- Committer:
- Helvis
- Date:
- Fri May 04 20:36:38 2018 +0000
- Revision:
- 15:0ae61d3d199f
- Parent:
- 14:2926932e26df
- Child:
- 16:c5b864804632
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Helvis | 1:2b5f79285a3e | 1 | |
Helvis | 1:2b5f79285a3e | 2 | #include <cmath> |
Helvis | 1:2b5f79285a3e | 3 | #include "Motion.h" |
Helvis | 1:2b5f79285a3e | 4 | |
Helvis | 1:2b5f79285a3e | 5 | using namespace std; |
Helvis | 1:2b5f79285a3e | 6 | |
Helvis | 6:4868f789c223 | 7 | const float Motion::LEFT_MID_VAL = 41.73f; //44.73 |
Helvis | 6:4868f789c223 | 8 | const float Motion::RIGHT_MID_VAL = 44.03f; //47.03 |
Helvis | 6:4868f789c223 | 9 | const float Motion::KP = 2.5; |
Helvis | 5:e2c0a4388d85 | 10 | const float Motion::KD = 0.0f; |
Helvis | 6:4868f789c223 | 11 | const int Motion::MOVE_DIST = 1605; |
Helvis | 15:0ae61d3d199f | 12 | const float Motion::MOVE_SPEED = 50.0f; |
Helvis | 13:845e49f20426 | 13 | const float Motion::SCAN_SPEED = 50.0f; |
Helvis | 13:845e49f20426 | 14 | const float Motion::ROTATE_SPEED = 80.0f; |
Helvis | 15:0ae61d3d199f | 15 | const float Motion::ACCEL_CONST = 2.212f; // |
Helvis | 1:2b5f79285a3e | 16 | |
Helvis | 1:2b5f79285a3e | 17 | |
Helvis | 1:2b5f79285a3e | 18 | Motion::Motion(Controller& controller, EncoderCounter& counterLeft, |
Helvis | 1:2b5f79285a3e | 19 | EncoderCounter& counterRight, IRSensor& irSensorL, |
Helvis | 1:2b5f79285a3e | 20 | IRSensor& irSensorC, IRSensor& irSensorR, AnalogIn& lineSensor, |
Helvis | 1:2b5f79285a3e | 21 | DigitalOut& enableMotorDriver) : |
Helvis | 1:2b5f79285a3e | 22 | controller(controller), counterLeft(counterLeft), |
Helvis | 1:2b5f79285a3e | 23 | counterRight(counterRight), irSensorL(irSensorL), |
Helvis | 1:2b5f79285a3e | 24 | irSensorC(irSensorC), irSensorR(irSensorR), lineSensor(lineSensor), |
Helvis | 1:2b5f79285a3e | 25 | enableMotorDriver(enableMotorDriver) {} |
Helvis | 1:2b5f79285a3e | 26 | |
Helvis | 1:2b5f79285a3e | 27 | Motion::~Motion() {} |
Helvis | 1:2b5f79285a3e | 28 | |
Helvis | 1:2b5f79285a3e | 29 | /** |
Helvis | 1:2b5f79285a3e | 30 | * Eine Feldstrecke druchführen |
Helvis | 1:2b5f79285a3e | 31 | */ |
Helvis | 1:2b5f79285a3e | 32 | void Motion::move() { |
Helvis | 1:2b5f79285a3e | 33 | |
Helvis | 1:2b5f79285a3e | 34 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 35 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 36 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 37 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 38 | |
Helvis | 11:2960fc540616 | 39 | speedLeft = MOVE_SPEED; |
Helvis | 11:2960fc540616 | 40 | speedRight = -MOVE_SPEED; |
Helvis | 1:2b5f79285a3e | 41 | |
Helvis | 15:0ae61d3d199f | 42 | //controller.setDesiredSpeedLeft(actSpeed); |
Helvis | 15:0ae61d3d199f | 43 | //controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 1:2b5f79285a3e | 44 | |
Helvis | 13:845e49f20426 | 45 | t.start(); |
Helvis | 13:845e49f20426 | 46 | |
Helvis | 6:4868f789c223 | 47 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 48 | |
Helvis | 1:2b5f79285a3e | 49 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 50 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 51 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 52 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 53 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 54 | |
Helvis | 1:2b5f79285a3e | 55 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 56 | |
Helvis | 15:0ae61d3d199f | 57 | accel(MOVE_SPEED); |
Helvis | 12:75d0291a9785 | 58 | control(); |
Helvis | 12:75d0291a9785 | 59 | /* |
Helvis | 13:845e49f20426 | 60 | accel(MOVE_SPEED); |
Helvis | 12:75d0291a9785 | 61 | controller.setDesiredSpeedLeft(actSpeed); |
Helvis | 12:75d0291a9785 | 62 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 12:75d0291a9785 | 63 | */ |
Helvis | 5:e2c0a4388d85 | 64 | |
Helvis | 5:e2c0a4388d85 | 65 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 66 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 67 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 68 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 69 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 70 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 71 | } |
Helvis | 5:e2c0a4388d85 | 72 | stop(); |
Helvis | 5:e2c0a4388d85 | 73 | break; |
Helvis | 12:75d0291a9785 | 74 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 130.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 75 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 76 | countsROld += 500; |
Helvis | 12:75d0291a9785 | 77 | }/* else if ( distanceL < 80.0f || distanceR < 80.0f ) { |
Helvis | 12:75d0291a9785 | 78 | countsLOld = countsL; |
Helvis | 12:75d0291a9785 | 79 | countsROld = countsR; |
Helvis | 12:75d0291a9785 | 80 | while ((countsL - countsLOld) < MOVE_DIST*0.5f || (countsR - countsROld) > -0.5f*MOVE_DIST) { |
Helvis | 12:75d0291a9785 | 81 | countsL = counterLeft.read(); |
Helvis | 12:75d0291a9785 | 82 | countsR = counterRight.read(); |
Helvis | 12:75d0291a9785 | 83 | } |
Helvis | 12:75d0291a9785 | 84 | stop(); |
Helvis | 12:75d0291a9785 | 85 | break; |
Helvis | 12:75d0291a9785 | 86 | }*/ |
Helvis | 1:2b5f79285a3e | 87 | |
Helvis | 1:2b5f79285a3e | 88 | } |
Helvis | 13:845e49f20426 | 89 | |
Helvis | 13:845e49f20426 | 90 | t.stop(); |
Helvis | 13:845e49f20426 | 91 | t.reset(); |
Helvis | 1:2b5f79285a3e | 92 | } |
Helvis | 1:2b5f79285a3e | 93 | /** |
Helvis | 1:2b5f79285a3e | 94 | * Eine Feldstrecke mit höherer Geschwindigkeit fahren |
Helvis | 1:2b5f79285a3e | 95 | */ |
Helvis | 1:2b5f79285a3e | 96 | void Motion::moveFast() { |
Helvis | 1:2b5f79285a3e | 97 | |
Helvis | 1:2b5f79285a3e | 98 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 99 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 100 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 101 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 102 | |
Helvis | 1:2b5f79285a3e | 103 | speedLeft = 100.0f; |
Helvis | 1:2b5f79285a3e | 104 | speedRight = -100.0f; |
Helvis | 1:2b5f79285a3e | 105 | |
Helvis | 1:2b5f79285a3e | 106 | controller.setDesiredSpeedLeft(speedLeft); |
Helvis | 1:2b5f79285a3e | 107 | controller.setDesiredSpeedRight(speedRight); |
Helvis | 1:2b5f79285a3e | 108 | |
Helvis | 1:2b5f79285a3e | 109 | while ((countsL - countsLOld) < 1647 || (countsR - countsROld) > -1647) { |
Helvis | 1:2b5f79285a3e | 110 | |
Helvis | 1:2b5f79285a3e | 111 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 112 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 113 | distanceC = irSensorC.readC(); |
Helvis | 1:2b5f79285a3e | 114 | |
Helvis | 1:2b5f79285a3e | 115 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 116 | |
Helvis | 1:2b5f79285a3e | 117 | control(); |
Helvis | 1:2b5f79285a3e | 118 | |
Helvis | 5:e2c0a4388d85 | 119 | if (distanceC < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 120 | stop(); |
Helvis | 5:e2c0a4388d85 | 121 | break; |
Helvis | 5:e2c0a4388d85 | 122 | } |
Helvis | 1:2b5f79285a3e | 123 | } |
Helvis | 1:2b5f79285a3e | 124 | } |
Helvis | 1:2b5f79285a3e | 125 | /** |
Helvis | 1:2b5f79285a3e | 126 | * Eine Feldstrecke mit überprüfung der Ziellinie fahren |
Helvis | 1:2b5f79285a3e | 127 | */ |
Helvis | 1:2b5f79285a3e | 128 | void Motion::scanMove() { |
Helvis | 1:2b5f79285a3e | 129 | |
Helvis | 1:2b5f79285a3e | 130 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 131 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 132 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 133 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 134 | |
Helvis | 13:845e49f20426 | 135 | speedLeft = SCAN_SPEED; |
Helvis | 13:845e49f20426 | 136 | speedRight = -SCAN_SPEED; |
Helvis | 1:2b5f79285a3e | 137 | |
Helvis | 15:0ae61d3d199f | 138 | //controller.setDesiredSpeedLeft(actSpeed); |
Helvis | 15:0ae61d3d199f | 139 | //controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 1:2b5f79285a3e | 140 | |
Helvis | 5:e2c0a4388d85 | 141 | distanceC = irSensorC.readC(); |
Helvis | 13:845e49f20426 | 142 | t.start(); |
Helvis | 5:e2c0a4388d85 | 143 | |
Helvis | 6:4868f789c223 | 144 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 145 | |
Helvis | 1:2b5f79285a3e | 146 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 147 | countsR = counterRight.read(); |
Helvis | 3:076dd7ec7eb4 | 148 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 149 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 150 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 151 | |
Helvis | 1:2b5f79285a3e | 152 | if (enableMotorDriver == 0) { |
Helvis | 1:2b5f79285a3e | 153 | enableMotorDriver = 1; |
Helvis | 1:2b5f79285a3e | 154 | } |
Helvis | 1:2b5f79285a3e | 155 | |
Helvis | 3:076dd7ec7eb4 | 156 | if (lineSensor.read() == 1.0f) { |
Helvis | 1:2b5f79285a3e | 157 | line = 1; |
Helvis | 1:2b5f79285a3e | 158 | } |
Helvis | 1:2b5f79285a3e | 159 | |
Helvis | 13:845e49f20426 | 160 | |
Helvis | 15:0ae61d3d199f | 161 | accel(SCAN_SPEED); |
Helvis | 13:845e49f20426 | 162 | control(); |
Helvis | 13:845e49f20426 | 163 | |
Helvis | 13:845e49f20426 | 164 | //controller.setDesiredSpeedLeft(actSpeed); |
Helvis | 13:845e49f20426 | 165 | //controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 1:2b5f79285a3e | 166 | |
Helvis | 5:e2c0a4388d85 | 167 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 168 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 169 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 170 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 171 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 172 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 173 | } |
Helvis | 3:076dd7ec7eb4 | 174 | stop(); |
Helvis | 3:076dd7ec7eb4 | 175 | break; |
Helvis | 6:4868f789c223 | 176 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 177 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 178 | countsROld += 500; |
Helvis | 12:75d0291a9785 | 179 | }/*else if ( distanceL > 80.0f || distanceR > 80.0f ) { |
Helvis | 12:75d0291a9785 | 180 | countsLOld = countsL; |
Helvis | 12:75d0291a9785 | 181 | countsROld = countsR; |
Helvis | 12:75d0291a9785 | 182 | while ((countsL - countsLOld) < MOVE_DIST*0.5f + 330.0f || (countsR - countsROld) > -0.5f*MOVE_DIST - 330.0f) { |
Helvis | 12:75d0291a9785 | 183 | countsL = counterLeft.read(); |
Helvis | 12:75d0291a9785 | 184 | countsR = counterRight.read(); |
Helvis | 12:75d0291a9785 | 185 | } |
Helvis | 12:75d0291a9785 | 186 | stop(); |
Helvis | 12:75d0291a9785 | 187 | break; |
Helvis | 12:75d0291a9785 | 188 | }*/ |
Helvis | 5:e2c0a4388d85 | 189 | } |
Helvis | 13:845e49f20426 | 190 | t.stop(); |
Helvis | 13:845e49f20426 | 191 | t.reset(); |
Helvis | 1:2b5f79285a3e | 192 | } |
Helvis | 1:2b5f79285a3e | 193 | /** |
Helvis | 1:2b5f79285a3e | 194 | * 90° Rotation nach Links |
Helvis | 1:2b5f79285a3e | 195 | */ |
Helvis | 1:2b5f79285a3e | 196 | void Motion::rotateL() { |
Helvis | 1:2b5f79285a3e | 197 | |
Helvis | 1:2b5f79285a3e | 198 | stop(); |
Helvis | 1:2b5f79285a3e | 199 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 200 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 201 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 202 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 203 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 204 | |
Helvis | 12:75d0291a9785 | 205 | controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 206 | controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 207 | |
Helvis | 13:845e49f20426 | 208 | while ((countsL - countsLOld) > -870 || (countsR - countsROld) > -870) { |
Helvis | 1:2b5f79285a3e | 209 | |
Helvis | 12:75d0291a9785 | 210 | //accel(); |
Helvis | 12:75d0291a9785 | 211 | |
Helvis | 1:2b5f79285a3e | 212 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 213 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 214 | |
Helvis | 1:2b5f79285a3e | 215 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 216 | |
Helvis | 1:2b5f79285a3e | 217 | } |
Helvis | 1:2b5f79285a3e | 218 | |
Helvis | 1:2b5f79285a3e | 219 | stop(); |
Helvis | 1:2b5f79285a3e | 220 | } |
Helvis | 1:2b5f79285a3e | 221 | |
Helvis | 1:2b5f79285a3e | 222 | /** |
Helvis | 1:2b5f79285a3e | 223 | * 90° Rotation nach Rechts |
Helvis | 1:2b5f79285a3e | 224 | */ |
Helvis | 1:2b5f79285a3e | 225 | void Motion::rotateR() { |
Helvis | 1:2b5f79285a3e | 226 | |
Helvis | 1:2b5f79285a3e | 227 | stop(); |
Helvis | 1:2b5f79285a3e | 228 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 229 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 230 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 231 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 232 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 233 | |
Helvis | 12:75d0291a9785 | 234 | controller.setDesiredSpeedLeft(ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 235 | controller.setDesiredSpeedRight(ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 236 | |
Helvis | 13:845e49f20426 | 237 | while ((countsL - countsLOld) < 870 || (countsR - countsROld) < 870) { |
Helvis | 1:2b5f79285a3e | 238 | |
Helvis | 12:75d0291a9785 | 239 | //accel(); |
Helvis | 12:75d0291a9785 | 240 | |
Helvis | 1:2b5f79285a3e | 241 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 242 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 243 | |
Helvis | 1:2b5f79285a3e | 244 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 245 | |
Helvis | 1:2b5f79285a3e | 246 | } |
Helvis | 1:2b5f79285a3e | 247 | |
Helvis | 1:2b5f79285a3e | 248 | stop(); |
Helvis | 1:2b5f79285a3e | 249 | } |
Helvis | 2:f898adf2d817 | 250 | /** |
Helvis | 2:f898adf2d817 | 251 | * Links abbiegen |
Helvis | 2:f898adf2d817 | 252 | */ |
Helvis | 3:076dd7ec7eb4 | 253 | void Motion::turnL() { |
Helvis | 2:f898adf2d817 | 254 | |
Helvis | 2:f898adf2d817 | 255 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 256 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 257 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 258 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 259 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 260 | |
Helvis | 2:f898adf2d817 | 261 | controller.setDesiredSpeedLeft(17.0f); |
Helvis | 2:f898adf2d817 | 262 | controller.setDesiredSpeedRight(-83.0f); |
Helvis | 2:f898adf2d817 | 263 | |
Helvis | 2:f898adf2d817 | 264 | while ((countsL - countsLOld) < 440 || (countsR - countsROld) > -2148) { |
Helvis | 2:f898adf2d817 | 265 | |
Helvis | 2:f898adf2d817 | 266 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 267 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 268 | |
Helvis | 2:f898adf2d817 | 269 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 2:f898adf2d817 | 270 | } |
Helvis | 2:f898adf2d817 | 271 | } |
Helvis | 2:f898adf2d817 | 272 | /** |
Helvis | 2:f898adf2d817 | 273 | * Rechts abbiegen |
Helvis | 2:f898adf2d817 | 274 | */ |
Helvis | 3:076dd7ec7eb4 | 275 | void Motion::turnR() { |
Helvis | 2:f898adf2d817 | 276 | |
Helvis | 2:f898adf2d817 | 277 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 278 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 279 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 280 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 281 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 282 | |
Helvis | 2:f898adf2d817 | 283 | controller.setDesiredSpeedLeft(83.0f); |
Helvis | 2:f898adf2d817 | 284 | controller.setDesiredSpeedRight(-17.0f); |
Helvis | 2:f898adf2d817 | 285 | |
Helvis | 2:f898adf2d817 | 286 | while ((countsL - countsLOld) < 2148 || (countsR - countsROld) > -440) { |
Helvis | 2:f898adf2d817 | 287 | |
Helvis | 2:f898adf2d817 | 288 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 289 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 290 | |
Helvis | 2:f898adf2d817 | 291 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 3:076dd7ec7eb4 | 292 | } |
Helvis | 2:f898adf2d817 | 293 | } |
Helvis | 1:2b5f79285a3e | 294 | /** |
Helvis | 1:2b5f79285a3e | 295 | * Motor Stop |
Helvis | 1:2b5f79285a3e | 296 | */ |
Helvis | 1:2b5f79285a3e | 297 | void Motion::stop() { |
Helvis | 1:2b5f79285a3e | 298 | |
Helvis | 1:2b5f79285a3e | 299 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 1:2b5f79285a3e | 300 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 1:2b5f79285a3e | 301 | |
Helvis | 1:2b5f79285a3e | 302 | float sL = controller.getSpeedLeft(); |
Helvis | 1:2b5f79285a3e | 303 | float ticks = 0.08f*sL; |
Helvis | 1:2b5f79285a3e | 304 | |
Helvis | 1:2b5f79285a3e | 305 | waitStop = 0; |
Helvis | 1:2b5f79285a3e | 306 | while( waitStop < ticks) { |
Helvis | 1:2b5f79285a3e | 307 | waitStop+= 1; |
Helvis | 1:2b5f79285a3e | 308 | } |
Helvis | 1:2b5f79285a3e | 309 | } |
Helvis | 1:2b5f79285a3e | 310 | /** |
Helvis | 1:2b5f79285a3e | 311 | * 180° Rotation |
Helvis | 1:2b5f79285a3e | 312 | */ |
Helvis | 1:2b5f79285a3e | 313 | void Motion::rotate180() { |
Helvis | 13:845e49f20426 | 314 | //1723 |
Helvis | 1:2b5f79285a3e | 315 | stop(); |
Helvis | 1:2b5f79285a3e | 316 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 317 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 318 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 319 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 320 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 321 | |
Helvis | 13:845e49f20426 | 322 | //controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 13:845e49f20426 | 323 | //controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 13:845e49f20426 | 324 | |
Helvis | 13:845e49f20426 | 325 | t.start(); |
Helvis | 1:2b5f79285a3e | 326 | |
Helvis | 13:845e49f20426 | 327 | while ((countsL - countsLOld) > -900 || (countsR - countsROld) > -900) { |
Helvis | 1:2b5f79285a3e | 328 | |
Helvis | 13:845e49f20426 | 329 | actSpeed = 3.5f * t.read()*60.0f; |
Helvis | 13:845e49f20426 | 330 | |
Helvis | 13:845e49f20426 | 331 | controller.setDesiredSpeedLeft(-actSpeed); |
Helvis | 13:845e49f20426 | 332 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 12:75d0291a9785 | 333 | |
Helvis | 1:2b5f79285a3e | 334 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 335 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 336 | |
Helvis | 1:2b5f79285a3e | 337 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 338 | } |
Helvis | 1:2b5f79285a3e | 339 | |
Helvis | 13:845e49f20426 | 340 | t.reset(); |
Helvis | 13:845e49f20426 | 341 | |
Helvis | 13:845e49f20426 | 342 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 13:845e49f20426 | 343 | |
Helvis | 13:845e49f20426 | 344 | while ((countsL - countsLOld) > -1720 || (countsR - countsROld) > -1720) { |
Helvis | 13:845e49f20426 | 345 | |
Helvis | 13:845e49f20426 | 346 | actSpeed = avgSpeed + (-3.5f * t.read()*60.0f); |
Helvis | 13:845e49f20426 | 347 | |
Helvis | 13:845e49f20426 | 348 | controller.setDesiredSpeedLeft(-actSpeed); |
Helvis | 13:845e49f20426 | 349 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 13:845e49f20426 | 350 | |
Helvis | 13:845e49f20426 | 351 | countsL = counterLeft.read(); |
Helvis | 13:845e49f20426 | 352 | countsR = counterRight.read(); |
Helvis | 13:845e49f20426 | 353 | |
Helvis | 13:845e49f20426 | 354 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 13:845e49f20426 | 355 | } |
Helvis | 13:845e49f20426 | 356 | t.stop(); |
Helvis | 13:845e49f20426 | 357 | t.reset(); |
Helvis | 1:2b5f79285a3e | 358 | stop(); |
Helvis | 1:2b5f79285a3e | 359 | } |
Helvis | 1:2b5f79285a3e | 360 | |
Helvis | 1:2b5f79285a3e | 361 | |
Helvis | 1:2b5f79285a3e | 362 | void Motion::control() { |
Helvis | 1:2b5f79285a3e | 363 | |
Helvis | 12:75d0291a9785 | 364 | float wallLeft = 48.73f; |
Helvis | 12:75d0291a9785 | 365 | float wallRight = 51.03f; |
Helvis | 1:2b5f79285a3e | 366 | |
Helvis | 12:75d0291a9785 | 367 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 368 | distanceR = irSensorR.readR(); |
Helvis | 12:75d0291a9785 | 369 | |
Helvis | 6:4868f789c223 | 370 | |
Helvis | 12:75d0291a9785 | 371 | if (distanceL < wallLeft && distanceR < wallRight) { |
Helvis | 12:75d0291a9785 | 372 | |
Helvis | 12:75d0291a9785 | 373 | errorP = distanceL - distanceR + 2.30f; |
Helvis | 1:2b5f79285a3e | 374 | |
Helvis | 12:75d0291a9785 | 375 | }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 376 | |
Helvis | 12:75d0291a9785 | 377 | errorP = distanceL - LEFT_MID_VAL; |
Helvis | 12:75d0291a9785 | 378 | |
Helvis | 12:75d0291a9785 | 379 | }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 380 | |
Helvis | 12:75d0291a9785 | 381 | errorP = RIGHT_MID_VAL - distanceR; |
Helvis | 12:75d0291a9785 | 382 | |
Helvis | 12:75d0291a9785 | 383 | }else{ |
Helvis | 12:75d0291a9785 | 384 | |
Helvis | 12:75d0291a9785 | 385 | errorP = 0; |
Helvis | 12:75d0291a9785 | 386 | errorD = 0; |
Helvis | 12:75d0291a9785 | 387 | } |
Helvis | 12:75d0291a9785 | 388 | |
Helvis | 12:75d0291a9785 | 389 | errorD = errorP - oldErrorP; |
Helvis | 12:75d0291a9785 | 390 | |
Helvis | 12:75d0291a9785 | 391 | oldErrorP = errorP; |
Helvis | 12:75d0291a9785 | 392 | |
Helvis | 12:75d0291a9785 | 393 | if (abs(errorP) < 80.0f) { |
Helvis | 12:75d0291a9785 | 394 | totalError = KP*errorP + KD*errorD; |
Helvis | 12:75d0291a9785 | 395 | }else{ |
Helvis | 12:75d0291a9785 | 396 | totalError = 0; |
Helvis | 12:75d0291a9785 | 397 | } |
Helvis | 12:75d0291a9785 | 398 | |
Helvis | 13:845e49f20426 | 399 | controller.setDesiredSpeedLeft(actSpeed - totalError); |
Helvis | 13:845e49f20426 | 400 | controller.setDesiredSpeedRight(-actSpeed - totalError); |
Helvis | 1:2b5f79285a3e | 401 | } |
Helvis | 1:2b5f79285a3e | 402 | |
Helvis | 12:75d0291a9785 | 403 | void Motion::runTask(int path[],int task, bool reverse) { |
Helvis | 1:2b5f79285a3e | 404 | |
Helvis | 12:75d0291a9785 | 405 | switch(path[task]) { |
Helvis | 12:75d0291a9785 | 406 | |
Helvis | 12:75d0291a9785 | 407 | case 1: |
Helvis | 15:0ae61d3d199f | 408 | if (reverse == true && path[task-1] == path[task]) { |
Helvis | 12:75d0291a9785 | 409 | acceleration = true; |
Helvis | 15:0ae61d3d199f | 410 | deceleration = false; |
Helvis | 12:75d0291a9785 | 411 | }else{ |
Helvis | 12:75d0291a9785 | 412 | acceleration = false; |
Helvis | 12:75d0291a9785 | 413 | } |
Helvis | 12:75d0291a9785 | 414 | |
Helvis | 15:0ae61d3d199f | 415 | if (reverse == false && path[task+1] == path[task]) { |
Helvis | 15:0ae61d3d199f | 416 | acceleration = true; |
Helvis | 15:0ae61d3d199f | 417 | deceleration = false; |
Helvis | 12:75d0291a9785 | 418 | }else{ |
Helvis | 12:75d0291a9785 | 419 | acceleration = false; |
Helvis | 12:75d0291a9785 | 420 | } |
Helvis | 12:75d0291a9785 | 421 | |
Helvis | 12:75d0291a9785 | 422 | if (reverse == true && path[task-1] != path[task]) { |
Helvis | 12:75d0291a9785 | 423 | deceleration = true; |
Helvis | 15:0ae61d3d199f | 424 | acceleration = false; |
Helvis | 12:75d0291a9785 | 425 | }else{ |
Helvis | 12:75d0291a9785 | 426 | deceleration = false; |
Helvis | 12:75d0291a9785 | 427 | } |
Helvis | 12:75d0291a9785 | 428 | |
Helvis | 12:75d0291a9785 | 429 | if (reverse == false && path[task+1] != path[task]) { |
Helvis | 12:75d0291a9785 | 430 | deceleration = true; |
Helvis | 15:0ae61d3d199f | 431 | acceleration = false; |
Helvis | 12:75d0291a9785 | 432 | }else{ |
Helvis | 12:75d0291a9785 | 433 | deceleration = false; |
Helvis | 12:75d0291a9785 | 434 | } |
Helvis | 12:75d0291a9785 | 435 | move(); |
Helvis | 12:75d0291a9785 | 436 | break; |
Helvis | 12:75d0291a9785 | 437 | case 2: |
Helvis | 12:75d0291a9785 | 438 | rotateL(); |
Helvis | 12:75d0291a9785 | 439 | break; |
Helvis | 12:75d0291a9785 | 440 | case 3: |
Helvis | 12:75d0291a9785 | 441 | rotateR(); |
Helvis | 12:75d0291a9785 | 442 | break; |
Helvis | 12:75d0291a9785 | 443 | case 4: |
Helvis | 12:75d0291a9785 | 444 | moveFast(); |
Helvis | 12:75d0291a9785 | 445 | break; |
Helvis | 12:75d0291a9785 | 446 | case 5: |
Helvis | 12:75d0291a9785 | 447 | stop(); |
Helvis | 12:75d0291a9785 | 448 | break; |
Helvis | 12:75d0291a9785 | 449 | } |
Helvis | 1:2b5f79285a3e | 450 | } |
Helvis | 1:2b5f79285a3e | 451 | |
Helvis | 1:2b5f79285a3e | 452 | int Motion::finish() { |
Helvis | 12:75d0291a9785 | 453 | |
Helvis | 12:75d0291a9785 | 454 | return line; |
Helvis | 1:2b5f79285a3e | 455 | } |
Helvis | 11:2960fc540616 | 456 | |
Helvis | 12:75d0291a9785 | 457 | |
Helvis | 13:845e49f20426 | 458 | void Motion::accel(float targetSpeed) { |
Helvis | 13:845e49f20426 | 459 | |
Helvis | 13:845e49f20426 | 460 | |
Helvis | 12:75d0291a9785 | 461 | |
Helvis | 12:75d0291a9785 | 462 | avgCounts = ( abs(countsL - countsLOld) + abs(countsR - countsROld)) * 0.5f; |
Helvis | 12:75d0291a9785 | 463 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 12:75d0291a9785 | 464 | |
Helvis | 15:0ae61d3d199f | 465 | if ( avgSpeed < targetSpeed) { |
Helvis | 12:75d0291a9785 | 466 | |
Helvis | 13:845e49f20426 | 467 | actSpeed = ACCEL_CONST * t.read()*60.0f; |
Helvis | 12:75d0291a9785 | 468 | } |
Helvis | 15:0ae61d3d199f | 469 | |
Helvis | 15:0ae61d3d199f | 470 | if ( avgSpeed < targetSpeed*2.6f && acceleration == true) { |
Helvis | 12:75d0291a9785 | 471 | |
Helvis | 15:0ae61d3d199f | 472 | actSpeed = 3.0f * t.read()*60.0f; |
Helvis | 15:0ae61d3d199f | 473 | } |
Helvis | 15:0ae61d3d199f | 474 | |
Helvis | 15:0ae61d3d199f | 475 | if ( avgSpeed > targetSpeed && deceleration == true) { |
Helvis | 11:2960fc540616 | 476 | |
Helvis | 15:0ae61d3d199f | 477 | actSpeed = targetSpeed*2.6f - ACCEL_CONST * t.read()*60.0f; |
Helvis | 12:75d0291a9785 | 478 | } |
Helvis | 12:75d0291a9785 | 479 | |
Helvis | 12:75d0291a9785 | 480 | |
Helvis | 12:75d0291a9785 | 481 | } |
Helvis | 12:75d0291a9785 | 482 |