Helvijs Kiselis
/
Micromouse
Algorithmus
Motion.cpp@6:4868f789c223, 2018-04-24 (annotated)
- Committer:
- Helvis
- Date:
- Tue Apr 24 15:35:24 2018 +0000
- Revision:
- 6:4868f789c223
- Parent:
- 5:e2c0a4388d85
- Child:
- 7:22392ed60534
v0.9.5 Funktionierende Suchfahrt
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 | 6:4868f789c223 | 12 | const float Motion::MOVE_SPEED = 50.0f; |
Helvis | 1:2b5f79285a3e | 13 | |
Helvis | 1:2b5f79285a3e | 14 | |
Helvis | 1:2b5f79285a3e | 15 | Motion::Motion(Controller& controller, EncoderCounter& counterLeft, |
Helvis | 1:2b5f79285a3e | 16 | EncoderCounter& counterRight, IRSensor& irSensorL, |
Helvis | 1:2b5f79285a3e | 17 | IRSensor& irSensorC, IRSensor& irSensorR, AnalogIn& lineSensor, |
Helvis | 1:2b5f79285a3e | 18 | DigitalOut& enableMotorDriver) : |
Helvis | 1:2b5f79285a3e | 19 | controller(controller), counterLeft(counterLeft), |
Helvis | 1:2b5f79285a3e | 20 | counterRight(counterRight), irSensorL(irSensorL), |
Helvis | 1:2b5f79285a3e | 21 | irSensorC(irSensorC), irSensorR(irSensorR), lineSensor(lineSensor), |
Helvis | 1:2b5f79285a3e | 22 | enableMotorDriver(enableMotorDriver) {} |
Helvis | 1:2b5f79285a3e | 23 | |
Helvis | 1:2b5f79285a3e | 24 | Motion::~Motion() {} |
Helvis | 1:2b5f79285a3e | 25 | |
Helvis | 1:2b5f79285a3e | 26 | /** |
Helvis | 1:2b5f79285a3e | 27 | * Eine Feldstrecke druchführen |
Helvis | 1:2b5f79285a3e | 28 | */ |
Helvis | 1:2b5f79285a3e | 29 | void Motion::move() { |
Helvis | 1:2b5f79285a3e | 30 | |
Helvis | 1:2b5f79285a3e | 31 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 32 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 33 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 34 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 35 | |
Helvis | 1:2b5f79285a3e | 36 | speedLeft = 50.0f; |
Helvis | 1:2b5f79285a3e | 37 | speedRight = -50.0f; |
Helvis | 1:2b5f79285a3e | 38 | |
Helvis | 6:4868f789c223 | 39 | controller.setDesiredSpeedLeft(MOVE_SPEED); |
Helvis | 6:4868f789c223 | 40 | controller.setDesiredSpeedRight(-MOVE_SPEED); |
Helvis | 1:2b5f79285a3e | 41 | |
Helvis | 6:4868f789c223 | 42 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 43 | |
Helvis | 1:2b5f79285a3e | 44 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 45 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 46 | distanceC = irSensorC.readC(); |
Helvis | 1:2b5f79285a3e | 47 | |
Helvis | 1:2b5f79285a3e | 48 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 49 | |
Helvis | 5:e2c0a4388d85 | 50 | control(); |
Helvis | 5:e2c0a4388d85 | 51 | |
Helvis | 5:e2c0a4388d85 | 52 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 53 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 54 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 55 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 56 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 57 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 58 | } |
Helvis | 5:e2c0a4388d85 | 59 | stop(); |
Helvis | 5:e2c0a4388d85 | 60 | break; |
Helvis | 6:4868f789c223 | 61 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 62 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 63 | countsROld += 500; |
Helvis | 5:e2c0a4388d85 | 64 | } |
Helvis | 1:2b5f79285a3e | 65 | |
Helvis | 1:2b5f79285a3e | 66 | } |
Helvis | 1:2b5f79285a3e | 67 | } |
Helvis | 1:2b5f79285a3e | 68 | /** |
Helvis | 1:2b5f79285a3e | 69 | * Eine Feldstrecke mit höherer Geschwindigkeit fahren |
Helvis | 1:2b5f79285a3e | 70 | */ |
Helvis | 1:2b5f79285a3e | 71 | void Motion::moveFast() { |
Helvis | 1:2b5f79285a3e | 72 | |
Helvis | 1:2b5f79285a3e | 73 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 74 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 75 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 76 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 77 | |
Helvis | 1:2b5f79285a3e | 78 | speedLeft = 100.0f; |
Helvis | 1:2b5f79285a3e | 79 | speedRight = -100.0f; |
Helvis | 1:2b5f79285a3e | 80 | |
Helvis | 1:2b5f79285a3e | 81 | controller.setDesiredSpeedLeft(speedLeft); |
Helvis | 1:2b5f79285a3e | 82 | controller.setDesiredSpeedRight(speedRight); |
Helvis | 1:2b5f79285a3e | 83 | |
Helvis | 1:2b5f79285a3e | 84 | while ((countsL - countsLOld) < 1647 || (countsR - countsROld) > -1647) { |
Helvis | 1:2b5f79285a3e | 85 | |
Helvis | 1:2b5f79285a3e | 86 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 87 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 88 | distanceC = irSensorC.readC(); |
Helvis | 1:2b5f79285a3e | 89 | |
Helvis | 1:2b5f79285a3e | 90 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 91 | |
Helvis | 1:2b5f79285a3e | 92 | control(); |
Helvis | 1:2b5f79285a3e | 93 | |
Helvis | 5:e2c0a4388d85 | 94 | if (distanceC < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 95 | stop(); |
Helvis | 5:e2c0a4388d85 | 96 | break; |
Helvis | 5:e2c0a4388d85 | 97 | } |
Helvis | 1:2b5f79285a3e | 98 | } |
Helvis | 1:2b5f79285a3e | 99 | } |
Helvis | 1:2b5f79285a3e | 100 | /** |
Helvis | 1:2b5f79285a3e | 101 | * Eine Feldstrecke mit überprüfung der Ziellinie fahren |
Helvis | 1:2b5f79285a3e | 102 | */ |
Helvis | 1:2b5f79285a3e | 103 | void Motion::scanMove() { |
Helvis | 1:2b5f79285a3e | 104 | |
Helvis | 1:2b5f79285a3e | 105 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 106 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 107 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 108 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 109 | |
Helvis | 1:2b5f79285a3e | 110 | speedLeft = 50.0f; |
Helvis | 1:2b5f79285a3e | 111 | speedRight = -50.0f; |
Helvis | 1:2b5f79285a3e | 112 | |
Helvis | 6:4868f789c223 | 113 | controller.setDesiredSpeedLeft(MOVE_SPEED); |
Helvis | 6:4868f789c223 | 114 | controller.setDesiredSpeedRight(-MOVE_SPEED); |
Helvis | 1:2b5f79285a3e | 115 | |
Helvis | 5:e2c0a4388d85 | 116 | distanceC = irSensorC.readC(); |
Helvis | 5:e2c0a4388d85 | 117 | |
Helvis | 6:4868f789c223 | 118 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 119 | |
Helvis | 1:2b5f79285a3e | 120 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 121 | countsR = counterRight.read(); |
Helvis | 3:076dd7ec7eb4 | 122 | distanceC = irSensorC.readC(); |
Helvis | 1:2b5f79285a3e | 123 | |
Helvis | 1:2b5f79285a3e | 124 | if (enableMotorDriver == 0) { |
Helvis | 1:2b5f79285a3e | 125 | enableMotorDriver = 1; |
Helvis | 1:2b5f79285a3e | 126 | } |
Helvis | 1:2b5f79285a3e | 127 | |
Helvis | 3:076dd7ec7eb4 | 128 | if (lineSensor.read() == 1.0f) { |
Helvis | 1:2b5f79285a3e | 129 | line = 1; |
Helvis | 1:2b5f79285a3e | 130 | } |
Helvis | 1:2b5f79285a3e | 131 | |
Helvis | 5:e2c0a4388d85 | 132 | control(); |
Helvis | 1:2b5f79285a3e | 133 | |
Helvis | 5:e2c0a4388d85 | 134 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 135 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 136 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 137 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 138 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 139 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 140 | } |
Helvis | 3:076dd7ec7eb4 | 141 | stop(); |
Helvis | 3:076dd7ec7eb4 | 142 | break; |
Helvis | 6:4868f789c223 | 143 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 144 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 145 | countsROld += 500; |
Helvis | 3:076dd7ec7eb4 | 146 | } |
Helvis | 5:e2c0a4388d85 | 147 | } |
Helvis | 1:2b5f79285a3e | 148 | } |
Helvis | 1:2b5f79285a3e | 149 | /** |
Helvis | 1:2b5f79285a3e | 150 | * 90° Rotation nach Links |
Helvis | 1:2b5f79285a3e | 151 | */ |
Helvis | 1:2b5f79285a3e | 152 | void Motion::rotateL() { |
Helvis | 1:2b5f79285a3e | 153 | |
Helvis | 1:2b5f79285a3e | 154 | stop(); |
Helvis | 1:2b5f79285a3e | 155 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 156 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 157 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 158 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 159 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 160 | |
Helvis | 1:2b5f79285a3e | 161 | controller.setDesiredSpeedLeft(-20.0f); |
Helvis | 1:2b5f79285a3e | 162 | controller.setDesiredSpeedRight(-20.0f); |
Helvis | 1:2b5f79285a3e | 163 | |
Helvis | 1:2b5f79285a3e | 164 | while ((countsL - countsLOld) > -862 || (countsR - countsROld) > -862) { |
Helvis | 1:2b5f79285a3e | 165 | |
Helvis | 1:2b5f79285a3e | 166 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 167 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 168 | |
Helvis | 1:2b5f79285a3e | 169 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 170 | } |
Helvis | 1:2b5f79285a3e | 171 | |
Helvis | 1:2b5f79285a3e | 172 | stop(); |
Helvis | 1:2b5f79285a3e | 173 | } |
Helvis | 1:2b5f79285a3e | 174 | |
Helvis | 1:2b5f79285a3e | 175 | /** |
Helvis | 1:2b5f79285a3e | 176 | * 90° Rotation nach Rechts |
Helvis | 1:2b5f79285a3e | 177 | */ |
Helvis | 1:2b5f79285a3e | 178 | void Motion::rotateR() { |
Helvis | 1:2b5f79285a3e | 179 | |
Helvis | 1:2b5f79285a3e | 180 | stop(); |
Helvis | 1:2b5f79285a3e | 181 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 182 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 183 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 184 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 185 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 186 | |
Helvis | 1:2b5f79285a3e | 187 | controller.setDesiredSpeedLeft(20.0f); |
Helvis | 1:2b5f79285a3e | 188 | controller.setDesiredSpeedRight(20.0f); |
Helvis | 1:2b5f79285a3e | 189 | |
Helvis | 1:2b5f79285a3e | 190 | while ((countsL - countsLOld) < 862 || (countsR - countsROld) < 862) { |
Helvis | 1:2b5f79285a3e | 191 | |
Helvis | 1:2b5f79285a3e | 192 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 193 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 194 | |
Helvis | 1:2b5f79285a3e | 195 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 196 | } |
Helvis | 1:2b5f79285a3e | 197 | |
Helvis | 1:2b5f79285a3e | 198 | stop(); |
Helvis | 1:2b5f79285a3e | 199 | } |
Helvis | 2:f898adf2d817 | 200 | /** |
Helvis | 2:f898adf2d817 | 201 | * Links abbiegen |
Helvis | 2:f898adf2d817 | 202 | */ |
Helvis | 3:076dd7ec7eb4 | 203 | void Motion::turnL() { |
Helvis | 2:f898adf2d817 | 204 | |
Helvis | 2:f898adf2d817 | 205 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 206 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 207 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 208 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 209 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 210 | |
Helvis | 2:f898adf2d817 | 211 | controller.setDesiredSpeedLeft(17.0f); |
Helvis | 2:f898adf2d817 | 212 | controller.setDesiredSpeedRight(-83.0f); |
Helvis | 2:f898adf2d817 | 213 | |
Helvis | 2:f898adf2d817 | 214 | while ((countsL - countsLOld) < 440 || (countsR - countsROld) > -2148) { |
Helvis | 2:f898adf2d817 | 215 | |
Helvis | 2:f898adf2d817 | 216 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 217 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 218 | |
Helvis | 2:f898adf2d817 | 219 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 2:f898adf2d817 | 220 | } |
Helvis | 2:f898adf2d817 | 221 | } |
Helvis | 2:f898adf2d817 | 222 | /** |
Helvis | 2:f898adf2d817 | 223 | * Rechts abbiegen |
Helvis | 2:f898adf2d817 | 224 | */ |
Helvis | 3:076dd7ec7eb4 | 225 | void Motion::turnR() { |
Helvis | 2:f898adf2d817 | 226 | |
Helvis | 2:f898adf2d817 | 227 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 228 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 229 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 230 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 231 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 232 | |
Helvis | 2:f898adf2d817 | 233 | controller.setDesiredSpeedLeft(83.0f); |
Helvis | 2:f898adf2d817 | 234 | controller.setDesiredSpeedRight(-17.0f); |
Helvis | 2:f898adf2d817 | 235 | |
Helvis | 2:f898adf2d817 | 236 | while ((countsL - countsLOld) < 2148 || (countsR - countsROld) > -440) { |
Helvis | 2:f898adf2d817 | 237 | |
Helvis | 2:f898adf2d817 | 238 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 239 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 240 | |
Helvis | 2:f898adf2d817 | 241 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 3:076dd7ec7eb4 | 242 | } |
Helvis | 2:f898adf2d817 | 243 | } |
Helvis | 1:2b5f79285a3e | 244 | /** |
Helvis | 1:2b5f79285a3e | 245 | * Motor Stop |
Helvis | 1:2b5f79285a3e | 246 | */ |
Helvis | 1:2b5f79285a3e | 247 | void Motion::stop() { |
Helvis | 1:2b5f79285a3e | 248 | |
Helvis | 1:2b5f79285a3e | 249 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 1:2b5f79285a3e | 250 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 1:2b5f79285a3e | 251 | |
Helvis | 1:2b5f79285a3e | 252 | float sL = controller.getSpeedLeft(); |
Helvis | 1:2b5f79285a3e | 253 | float ticks = 0.08f*sL; |
Helvis | 1:2b5f79285a3e | 254 | |
Helvis | 1:2b5f79285a3e | 255 | waitStop = 0; |
Helvis | 1:2b5f79285a3e | 256 | while( waitStop < ticks) { |
Helvis | 1:2b5f79285a3e | 257 | waitStop+= 1; |
Helvis | 1:2b5f79285a3e | 258 | } |
Helvis | 1:2b5f79285a3e | 259 | } |
Helvis | 1:2b5f79285a3e | 260 | /** |
Helvis | 1:2b5f79285a3e | 261 | * 180° Rotation |
Helvis | 1:2b5f79285a3e | 262 | */ |
Helvis | 1:2b5f79285a3e | 263 | void Motion::rotate180() { |
Helvis | 1:2b5f79285a3e | 264 | |
Helvis | 1:2b5f79285a3e | 265 | stop(); |
Helvis | 1:2b5f79285a3e | 266 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 267 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 268 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 269 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 270 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 271 | |
Helvis | 1:2b5f79285a3e | 272 | controller.setDesiredSpeedLeft(-50.0f); |
Helvis | 1:2b5f79285a3e | 273 | controller.setDesiredSpeedRight(-50.0f); |
Helvis | 1:2b5f79285a3e | 274 | |
Helvis | 1:2b5f79285a3e | 275 | while ((countsL - countsLOld) > -1723 || (countsR - countsROld) > -1723) { |
Helvis | 1:2b5f79285a3e | 276 | |
Helvis | 1:2b5f79285a3e | 277 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 278 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 279 | |
Helvis | 1:2b5f79285a3e | 280 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 281 | } |
Helvis | 1:2b5f79285a3e | 282 | |
Helvis | 1:2b5f79285a3e | 283 | stop(); |
Helvis | 1:2b5f79285a3e | 284 | } |
Helvis | 1:2b5f79285a3e | 285 | |
Helvis | 1:2b5f79285a3e | 286 | |
Helvis | 1:2b5f79285a3e | 287 | void Motion::control() { |
Helvis | 1:2b5f79285a3e | 288 | |
Helvis | 6:4868f789c223 | 289 | float wallLeft = 48.73f; |
Helvis | 6:4868f789c223 | 290 | float wallRight = 51.03f; |
Helvis | 1:2b5f79285a3e | 291 | |
Helvis | 1:2b5f79285a3e | 292 | distanceL = irSensorL.readL(); |
Helvis | 1:2b5f79285a3e | 293 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 294 | |
Helvis | 5:e2c0a4388d85 | 295 | |
Helvis | 4:932eb2d29206 | 296 | if (distanceL < wallLeft && distanceR < wallRight) { |
Helvis | 1:2b5f79285a3e | 297 | |
Helvis | 4:932eb2d29206 | 298 | errorP = distanceL - distanceR + 2.30f; |
Helvis | 6:4868f789c223 | 299 | |
Helvis | 6:4868f789c223 | 300 | }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { |
Helvis | 6:4868f789c223 | 301 | |
Helvis | 6:4868f789c223 | 302 | errorP = distanceL - LEFT_MID_VAL; |
Helvis | 6:4868f789c223 | 303 | |
Helvis | 6:4868f789c223 | 304 | }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { |
Helvis | 6:4868f789c223 | 305 | |
Helvis | 6:4868f789c223 | 306 | errorP = RIGHT_MID_VAL - distanceR; |
Helvis | 6:4868f789c223 | 307 | |
Helvis | 1:2b5f79285a3e | 308 | }else{ |
Helvis | 1:2b5f79285a3e | 309 | |
Helvis | 5:e2c0a4388d85 | 310 | errorP = 0; |
Helvis | 5:e2c0a4388d85 | 311 | errorD = 0; |
Helvis | 1:2b5f79285a3e | 312 | } |
Helvis | 1:2b5f79285a3e | 313 | |
Helvis | 6:4868f789c223 | 314 | errorD = errorP - oldErrorP; |
Helvis | 1:2b5f79285a3e | 315 | |
Helvis | 1:2b5f79285a3e | 316 | oldErrorP = errorP; |
Helvis | 1:2b5f79285a3e | 317 | |
Helvis | 5:e2c0a4388d85 | 318 | if (abs(errorP) < 80.0f) { |
Helvis | 5:e2c0a4388d85 | 319 | totalError = KP*errorP + KD*errorD; |
Helvis | 5:e2c0a4388d85 | 320 | }else{ |
Helvis | 5:e2c0a4388d85 | 321 | totalError = 0; |
Helvis | 5:e2c0a4388d85 | 322 | } |
Helvis | 1:2b5f79285a3e | 323 | |
Helvis | 5:e2c0a4388d85 | 324 | controller.setDesiredSpeedLeft(speedLeft - totalError); |
Helvis | 5:e2c0a4388d85 | 325 | controller.setDesiredSpeedRight(speedRight - totalError); |
Helvis | 1:2b5f79285a3e | 326 | } |
Helvis | 1:2b5f79285a3e | 327 | |
Helvis | 1:2b5f79285a3e | 328 | void Motion::runTask(int task) { |
Helvis | 1:2b5f79285a3e | 329 | |
Helvis | 1:2b5f79285a3e | 330 | switch(task) { |
Helvis | 1:2b5f79285a3e | 331 | |
Helvis | 1:2b5f79285a3e | 332 | case 1: |
Helvis | 1:2b5f79285a3e | 333 | move(); |
Helvis | 1:2b5f79285a3e | 334 | break; |
Helvis | 1:2b5f79285a3e | 335 | case 2: |
Helvis | 1:2b5f79285a3e | 336 | rotateL(); |
Helvis | 1:2b5f79285a3e | 337 | break; |
Helvis | 1:2b5f79285a3e | 338 | case 3: |
Helvis | 1:2b5f79285a3e | 339 | rotateR(); |
Helvis | 1:2b5f79285a3e | 340 | break; |
Helvis | 1:2b5f79285a3e | 341 | case 4: |
Helvis | 1:2b5f79285a3e | 342 | moveFast(); |
Helvis | 1:2b5f79285a3e | 343 | break; |
Helvis | 1:2b5f79285a3e | 344 | case 5: |
Helvis | 1:2b5f79285a3e | 345 | stop(); |
Helvis | 1:2b5f79285a3e | 346 | break; |
Helvis | 1:2b5f79285a3e | 347 | } |
Helvis | 1:2b5f79285a3e | 348 | } |
Helvis | 1:2b5f79285a3e | 349 | |
Helvis | 1:2b5f79285a3e | 350 | int Motion::finish() { |
Helvis | 1:2b5f79285a3e | 351 | |
Helvis | 1:2b5f79285a3e | 352 | return line; |
Helvis | 1:2b5f79285a3e | 353 | } |