Helvijs Kiselis
/
Micromouse
Algorithmus
Motion.cpp@12:75d0291a9785, 2018-05-02 (annotated)
- Committer:
- Helvis
- Date:
- Wed May 02 14:58:48 2018 +0000
- Revision:
- 12:75d0291a9785
- Parent:
- 11:2960fc540616
- Child:
- 13:845e49f20426
v0.9.6b: funktioniert!
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 | 12:75d0291a9785 | 12 | const float Motion::MOVE_SPEED = 100.0f; |
Helvis | 12:75d0291a9785 | 13 | const float Motion::ROTATE_SPEED = 20.0f; |
Helvis | 12:75d0291a9785 | 14 | const float Motion::ACCEL_SCALE = 0.5f; |
Helvis | 1:2b5f79285a3e | 15 | |
Helvis | 1:2b5f79285a3e | 16 | |
Helvis | 1:2b5f79285a3e | 17 | Motion::Motion(Controller& controller, EncoderCounter& counterLeft, |
Helvis | 1:2b5f79285a3e | 18 | EncoderCounter& counterRight, IRSensor& irSensorL, |
Helvis | 1:2b5f79285a3e | 19 | IRSensor& irSensorC, IRSensor& irSensorR, AnalogIn& lineSensor, |
Helvis | 1:2b5f79285a3e | 20 | DigitalOut& enableMotorDriver) : |
Helvis | 1:2b5f79285a3e | 21 | controller(controller), counterLeft(counterLeft), |
Helvis | 1:2b5f79285a3e | 22 | counterRight(counterRight), irSensorL(irSensorL), |
Helvis | 1:2b5f79285a3e | 23 | irSensorC(irSensorC), irSensorR(irSensorR), lineSensor(lineSensor), |
Helvis | 1:2b5f79285a3e | 24 | enableMotorDriver(enableMotorDriver) {} |
Helvis | 1:2b5f79285a3e | 25 | |
Helvis | 1:2b5f79285a3e | 26 | Motion::~Motion() {} |
Helvis | 1:2b5f79285a3e | 27 | |
Helvis | 1:2b5f79285a3e | 28 | /** |
Helvis | 1:2b5f79285a3e | 29 | * Eine Feldstrecke druchführen |
Helvis | 1:2b5f79285a3e | 30 | */ |
Helvis | 1:2b5f79285a3e | 31 | void Motion::move() { |
Helvis | 1:2b5f79285a3e | 32 | |
Helvis | 1:2b5f79285a3e | 33 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 34 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 35 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 36 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 37 | |
Helvis | 11:2960fc540616 | 38 | speedLeft = MOVE_SPEED; |
Helvis | 11:2960fc540616 | 39 | speedRight = -MOVE_SPEED; |
Helvis | 1:2b5f79285a3e | 40 | |
Helvis | 6:4868f789c223 | 41 | controller.setDesiredSpeedLeft(MOVE_SPEED); |
Helvis | 6:4868f789c223 | 42 | controller.setDesiredSpeedRight(-MOVE_SPEED); |
Helvis | 1:2b5f79285a3e | 43 | |
Helvis | 6:4868f789c223 | 44 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 45 | |
Helvis | 1:2b5f79285a3e | 46 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 47 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 48 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 49 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 50 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 51 | |
Helvis | 1:2b5f79285a3e | 52 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 53 | |
Helvis | 12:75d0291a9785 | 54 | control(); |
Helvis | 12:75d0291a9785 | 55 | /* |
Helvis | 12:75d0291a9785 | 56 | accel(); |
Helvis | 12:75d0291a9785 | 57 | controller.setDesiredSpeedLeft(actSpeed); |
Helvis | 12:75d0291a9785 | 58 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 12:75d0291a9785 | 59 | */ |
Helvis | 5:e2c0a4388d85 | 60 | |
Helvis | 5:e2c0a4388d85 | 61 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 62 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 63 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 64 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 65 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 66 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 67 | } |
Helvis | 5:e2c0a4388d85 | 68 | stop(); |
Helvis | 5:e2c0a4388d85 | 69 | break; |
Helvis | 12:75d0291a9785 | 70 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 130.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 71 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 72 | countsROld += 500; |
Helvis | 12:75d0291a9785 | 73 | }/* else if ( distanceL < 80.0f || distanceR < 80.0f ) { |
Helvis | 12:75d0291a9785 | 74 | countsLOld = countsL; |
Helvis | 12:75d0291a9785 | 75 | countsROld = countsR; |
Helvis | 12:75d0291a9785 | 76 | while ((countsL - countsLOld) < MOVE_DIST*0.5f || (countsR - countsROld) > -0.5f*MOVE_DIST) { |
Helvis | 12:75d0291a9785 | 77 | countsL = counterLeft.read(); |
Helvis | 12:75d0291a9785 | 78 | countsR = counterRight.read(); |
Helvis | 12:75d0291a9785 | 79 | } |
Helvis | 12:75d0291a9785 | 80 | stop(); |
Helvis | 12:75d0291a9785 | 81 | break; |
Helvis | 12:75d0291a9785 | 82 | }*/ |
Helvis | 1:2b5f79285a3e | 83 | |
Helvis | 1:2b5f79285a3e | 84 | } |
Helvis | 1:2b5f79285a3e | 85 | } |
Helvis | 1:2b5f79285a3e | 86 | /** |
Helvis | 1:2b5f79285a3e | 87 | * Eine Feldstrecke mit höherer Geschwindigkeit fahren |
Helvis | 1:2b5f79285a3e | 88 | */ |
Helvis | 1:2b5f79285a3e | 89 | void Motion::moveFast() { |
Helvis | 1:2b5f79285a3e | 90 | |
Helvis | 1:2b5f79285a3e | 91 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 92 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 93 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 94 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 95 | |
Helvis | 1:2b5f79285a3e | 96 | speedLeft = 100.0f; |
Helvis | 1:2b5f79285a3e | 97 | speedRight = -100.0f; |
Helvis | 1:2b5f79285a3e | 98 | |
Helvis | 1:2b5f79285a3e | 99 | controller.setDesiredSpeedLeft(speedLeft); |
Helvis | 1:2b5f79285a3e | 100 | controller.setDesiredSpeedRight(speedRight); |
Helvis | 1:2b5f79285a3e | 101 | |
Helvis | 1:2b5f79285a3e | 102 | while ((countsL - countsLOld) < 1647 || (countsR - countsROld) > -1647) { |
Helvis | 1:2b5f79285a3e | 103 | |
Helvis | 1:2b5f79285a3e | 104 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 105 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 106 | distanceC = irSensorC.readC(); |
Helvis | 1:2b5f79285a3e | 107 | |
Helvis | 1:2b5f79285a3e | 108 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 109 | |
Helvis | 1:2b5f79285a3e | 110 | control(); |
Helvis | 1:2b5f79285a3e | 111 | |
Helvis | 5:e2c0a4388d85 | 112 | if (distanceC < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 113 | stop(); |
Helvis | 5:e2c0a4388d85 | 114 | break; |
Helvis | 5:e2c0a4388d85 | 115 | } |
Helvis | 1:2b5f79285a3e | 116 | } |
Helvis | 1:2b5f79285a3e | 117 | } |
Helvis | 1:2b5f79285a3e | 118 | /** |
Helvis | 1:2b5f79285a3e | 119 | * Eine Feldstrecke mit überprüfung der Ziellinie fahren |
Helvis | 1:2b5f79285a3e | 120 | */ |
Helvis | 1:2b5f79285a3e | 121 | void Motion::scanMove() { |
Helvis | 1:2b5f79285a3e | 122 | |
Helvis | 1:2b5f79285a3e | 123 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 124 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 125 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 126 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 127 | |
Helvis | 11:2960fc540616 | 128 | speedLeft = MOVE_SPEED; |
Helvis | 11:2960fc540616 | 129 | speedRight = -MOVE_SPEED; |
Helvis | 1:2b5f79285a3e | 130 | |
Helvis | 6:4868f789c223 | 131 | controller.setDesiredSpeedLeft(MOVE_SPEED); |
Helvis | 6:4868f789c223 | 132 | controller.setDesiredSpeedRight(-MOVE_SPEED); |
Helvis | 1:2b5f79285a3e | 133 | |
Helvis | 5:e2c0a4388d85 | 134 | distanceC = irSensorC.readC(); |
Helvis | 5:e2c0a4388d85 | 135 | |
Helvis | 6:4868f789c223 | 136 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 137 | |
Helvis | 1:2b5f79285a3e | 138 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 139 | countsR = counterRight.read(); |
Helvis | 3:076dd7ec7eb4 | 140 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 141 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 142 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 143 | |
Helvis | 1:2b5f79285a3e | 144 | if (enableMotorDriver == 0) { |
Helvis | 1:2b5f79285a3e | 145 | enableMotorDriver = 1; |
Helvis | 1:2b5f79285a3e | 146 | } |
Helvis | 1:2b5f79285a3e | 147 | |
Helvis | 3:076dd7ec7eb4 | 148 | if (lineSensor.read() == 1.0f) { |
Helvis | 1:2b5f79285a3e | 149 | line = 1; |
Helvis | 1:2b5f79285a3e | 150 | } |
Helvis | 1:2b5f79285a3e | 151 | |
Helvis | 5:e2c0a4388d85 | 152 | control(); |
Helvis | 1:2b5f79285a3e | 153 | |
Helvis | 5:e2c0a4388d85 | 154 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 155 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 156 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 157 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 158 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 159 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 160 | } |
Helvis | 3:076dd7ec7eb4 | 161 | stop(); |
Helvis | 3:076dd7ec7eb4 | 162 | break; |
Helvis | 6:4868f789c223 | 163 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 164 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 165 | countsROld += 500; |
Helvis | 12:75d0291a9785 | 166 | }/*else if ( distanceL > 80.0f || distanceR > 80.0f ) { |
Helvis | 12:75d0291a9785 | 167 | countsLOld = countsL; |
Helvis | 12:75d0291a9785 | 168 | countsROld = countsR; |
Helvis | 12:75d0291a9785 | 169 | while ((countsL - countsLOld) < MOVE_DIST*0.5f + 330.0f || (countsR - countsROld) > -0.5f*MOVE_DIST - 330.0f) { |
Helvis | 12:75d0291a9785 | 170 | countsL = counterLeft.read(); |
Helvis | 12:75d0291a9785 | 171 | countsR = counterRight.read(); |
Helvis | 12:75d0291a9785 | 172 | } |
Helvis | 12:75d0291a9785 | 173 | stop(); |
Helvis | 12:75d0291a9785 | 174 | break; |
Helvis | 12:75d0291a9785 | 175 | }*/ |
Helvis | 5:e2c0a4388d85 | 176 | } |
Helvis | 1:2b5f79285a3e | 177 | } |
Helvis | 1:2b5f79285a3e | 178 | /** |
Helvis | 1:2b5f79285a3e | 179 | * 90° Rotation nach Links |
Helvis | 1:2b5f79285a3e | 180 | */ |
Helvis | 1:2b5f79285a3e | 181 | void Motion::rotateL() { |
Helvis | 1:2b5f79285a3e | 182 | |
Helvis | 1:2b5f79285a3e | 183 | stop(); |
Helvis | 1:2b5f79285a3e | 184 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 185 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 186 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 187 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 188 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 189 | |
Helvis | 12:75d0291a9785 | 190 | controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 191 | controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 192 | |
Helvis | 1:2b5f79285a3e | 193 | while ((countsL - countsLOld) > -862 || (countsR - countsROld) > -862) { |
Helvis | 1:2b5f79285a3e | 194 | |
Helvis | 12:75d0291a9785 | 195 | //accel(); |
Helvis | 12:75d0291a9785 | 196 | |
Helvis | 1:2b5f79285a3e | 197 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 198 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 199 | |
Helvis | 1:2b5f79285a3e | 200 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 201 | |
Helvis | 1:2b5f79285a3e | 202 | } |
Helvis | 1:2b5f79285a3e | 203 | |
Helvis | 1:2b5f79285a3e | 204 | stop(); |
Helvis | 1:2b5f79285a3e | 205 | } |
Helvis | 1:2b5f79285a3e | 206 | |
Helvis | 1:2b5f79285a3e | 207 | /** |
Helvis | 1:2b5f79285a3e | 208 | * 90° Rotation nach Rechts |
Helvis | 1:2b5f79285a3e | 209 | */ |
Helvis | 1:2b5f79285a3e | 210 | void Motion::rotateR() { |
Helvis | 1:2b5f79285a3e | 211 | |
Helvis | 1:2b5f79285a3e | 212 | stop(); |
Helvis | 1:2b5f79285a3e | 213 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 214 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 215 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 216 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 217 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 218 | |
Helvis | 12:75d0291a9785 | 219 | controller.setDesiredSpeedLeft(ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 220 | controller.setDesiredSpeedRight(ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 221 | |
Helvis | 1:2b5f79285a3e | 222 | while ((countsL - countsLOld) < 862 || (countsR - countsROld) < 862) { |
Helvis | 1:2b5f79285a3e | 223 | |
Helvis | 12:75d0291a9785 | 224 | //accel(); |
Helvis | 12:75d0291a9785 | 225 | |
Helvis | 1:2b5f79285a3e | 226 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 227 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 228 | |
Helvis | 1:2b5f79285a3e | 229 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 230 | |
Helvis | 1:2b5f79285a3e | 231 | } |
Helvis | 1:2b5f79285a3e | 232 | |
Helvis | 1:2b5f79285a3e | 233 | stop(); |
Helvis | 1:2b5f79285a3e | 234 | } |
Helvis | 2:f898adf2d817 | 235 | /** |
Helvis | 2:f898adf2d817 | 236 | * Links abbiegen |
Helvis | 2:f898adf2d817 | 237 | */ |
Helvis | 3:076dd7ec7eb4 | 238 | void Motion::turnL() { |
Helvis | 2:f898adf2d817 | 239 | |
Helvis | 2:f898adf2d817 | 240 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 241 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 242 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 243 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 244 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 245 | |
Helvis | 2:f898adf2d817 | 246 | controller.setDesiredSpeedLeft(17.0f); |
Helvis | 2:f898adf2d817 | 247 | controller.setDesiredSpeedRight(-83.0f); |
Helvis | 2:f898adf2d817 | 248 | |
Helvis | 2:f898adf2d817 | 249 | while ((countsL - countsLOld) < 440 || (countsR - countsROld) > -2148) { |
Helvis | 2:f898adf2d817 | 250 | |
Helvis | 2:f898adf2d817 | 251 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 252 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 253 | |
Helvis | 2:f898adf2d817 | 254 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 2:f898adf2d817 | 255 | } |
Helvis | 2:f898adf2d817 | 256 | } |
Helvis | 2:f898adf2d817 | 257 | /** |
Helvis | 2:f898adf2d817 | 258 | * Rechts abbiegen |
Helvis | 2:f898adf2d817 | 259 | */ |
Helvis | 3:076dd7ec7eb4 | 260 | void Motion::turnR() { |
Helvis | 2:f898adf2d817 | 261 | |
Helvis | 2:f898adf2d817 | 262 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 263 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 264 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 265 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 266 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 267 | |
Helvis | 2:f898adf2d817 | 268 | controller.setDesiredSpeedLeft(83.0f); |
Helvis | 2:f898adf2d817 | 269 | controller.setDesiredSpeedRight(-17.0f); |
Helvis | 2:f898adf2d817 | 270 | |
Helvis | 2:f898adf2d817 | 271 | while ((countsL - countsLOld) < 2148 || (countsR - countsROld) > -440) { |
Helvis | 2:f898adf2d817 | 272 | |
Helvis | 2:f898adf2d817 | 273 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 274 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 275 | |
Helvis | 2:f898adf2d817 | 276 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 3:076dd7ec7eb4 | 277 | } |
Helvis | 2:f898adf2d817 | 278 | } |
Helvis | 1:2b5f79285a3e | 279 | /** |
Helvis | 1:2b5f79285a3e | 280 | * Motor Stop |
Helvis | 1:2b5f79285a3e | 281 | */ |
Helvis | 1:2b5f79285a3e | 282 | void Motion::stop() { |
Helvis | 1:2b5f79285a3e | 283 | |
Helvis | 1:2b5f79285a3e | 284 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 1:2b5f79285a3e | 285 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 1:2b5f79285a3e | 286 | |
Helvis | 1:2b5f79285a3e | 287 | float sL = controller.getSpeedLeft(); |
Helvis | 1:2b5f79285a3e | 288 | float ticks = 0.08f*sL; |
Helvis | 1:2b5f79285a3e | 289 | |
Helvis | 1:2b5f79285a3e | 290 | waitStop = 0; |
Helvis | 1:2b5f79285a3e | 291 | while( waitStop < ticks) { |
Helvis | 1:2b5f79285a3e | 292 | waitStop+= 1; |
Helvis | 1:2b5f79285a3e | 293 | } |
Helvis | 1:2b5f79285a3e | 294 | } |
Helvis | 1:2b5f79285a3e | 295 | /** |
Helvis | 1:2b5f79285a3e | 296 | * 180° Rotation |
Helvis | 1:2b5f79285a3e | 297 | */ |
Helvis | 1:2b5f79285a3e | 298 | void Motion::rotate180() { |
Helvis | 1:2b5f79285a3e | 299 | |
Helvis | 1:2b5f79285a3e | 300 | stop(); |
Helvis | 1:2b5f79285a3e | 301 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 302 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 303 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 304 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 305 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 306 | |
Helvis | 12:75d0291a9785 | 307 | controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 308 | controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 309 | |
Helvis | 1:2b5f79285a3e | 310 | while ((countsL - countsLOld) > -1723 || (countsR - countsROld) > -1723) { |
Helvis | 1:2b5f79285a3e | 311 | |
Helvis | 12:75d0291a9785 | 312 | //accel(); |
Helvis | 12:75d0291a9785 | 313 | |
Helvis | 1:2b5f79285a3e | 314 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 315 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 316 | |
Helvis | 1:2b5f79285a3e | 317 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 318 | } |
Helvis | 1:2b5f79285a3e | 319 | |
Helvis | 1:2b5f79285a3e | 320 | stop(); |
Helvis | 1:2b5f79285a3e | 321 | } |
Helvis | 1:2b5f79285a3e | 322 | |
Helvis | 1:2b5f79285a3e | 323 | |
Helvis | 1:2b5f79285a3e | 324 | void Motion::control() { |
Helvis | 1:2b5f79285a3e | 325 | |
Helvis | 12:75d0291a9785 | 326 | float wallLeft = 48.73f; |
Helvis | 12:75d0291a9785 | 327 | float wallRight = 51.03f; |
Helvis | 1:2b5f79285a3e | 328 | |
Helvis | 12:75d0291a9785 | 329 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 330 | distanceR = irSensorR.readR(); |
Helvis | 12:75d0291a9785 | 331 | |
Helvis | 6:4868f789c223 | 332 | |
Helvis | 12:75d0291a9785 | 333 | if (distanceL < wallLeft && distanceR < wallRight) { |
Helvis | 12:75d0291a9785 | 334 | |
Helvis | 12:75d0291a9785 | 335 | errorP = distanceL - distanceR + 2.30f; |
Helvis | 1:2b5f79285a3e | 336 | |
Helvis | 12:75d0291a9785 | 337 | }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 338 | |
Helvis | 12:75d0291a9785 | 339 | errorP = distanceL - LEFT_MID_VAL; |
Helvis | 12:75d0291a9785 | 340 | |
Helvis | 12:75d0291a9785 | 341 | }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 342 | |
Helvis | 12:75d0291a9785 | 343 | errorP = RIGHT_MID_VAL - distanceR; |
Helvis | 12:75d0291a9785 | 344 | |
Helvis | 12:75d0291a9785 | 345 | }else{ |
Helvis | 12:75d0291a9785 | 346 | |
Helvis | 12:75d0291a9785 | 347 | errorP = 0; |
Helvis | 12:75d0291a9785 | 348 | errorD = 0; |
Helvis | 12:75d0291a9785 | 349 | } |
Helvis | 12:75d0291a9785 | 350 | |
Helvis | 12:75d0291a9785 | 351 | errorD = errorP - oldErrorP; |
Helvis | 12:75d0291a9785 | 352 | |
Helvis | 12:75d0291a9785 | 353 | oldErrorP = errorP; |
Helvis | 12:75d0291a9785 | 354 | |
Helvis | 12:75d0291a9785 | 355 | if (abs(errorP) < 80.0f) { |
Helvis | 12:75d0291a9785 | 356 | totalError = KP*errorP + KD*errorD; |
Helvis | 12:75d0291a9785 | 357 | }else{ |
Helvis | 12:75d0291a9785 | 358 | totalError = 0; |
Helvis | 12:75d0291a9785 | 359 | } |
Helvis | 12:75d0291a9785 | 360 | |
Helvis | 12:75d0291a9785 | 361 | controller.setDesiredSpeedLeft(speedLeft - totalError); |
Helvis | 12:75d0291a9785 | 362 | controller.setDesiredSpeedRight(speedRight - totalError); |
Helvis | 1:2b5f79285a3e | 363 | } |
Helvis | 1:2b5f79285a3e | 364 | |
Helvis | 12:75d0291a9785 | 365 | void Motion::runTask(int path[],int task, bool reverse) { |
Helvis | 1:2b5f79285a3e | 366 | |
Helvis | 12:75d0291a9785 | 367 | switch(path[task]) { |
Helvis | 12:75d0291a9785 | 368 | |
Helvis | 12:75d0291a9785 | 369 | case 1: |
Helvis | 12:75d0291a9785 | 370 | if (reverse == true && path[task+1] == path[task]) { |
Helvis | 12:75d0291a9785 | 371 | acceleration = true; |
Helvis | 12:75d0291a9785 | 372 | }else{ |
Helvis | 12:75d0291a9785 | 373 | acceleration = false; |
Helvis | 12:75d0291a9785 | 374 | } |
Helvis | 12:75d0291a9785 | 375 | |
Helvis | 12:75d0291a9785 | 376 | if (reverse == false && path[task-1] == path[task]) { |
Helvis | 12:75d0291a9785 | 377 | acceleration = true; |
Helvis | 12:75d0291a9785 | 378 | }else{ |
Helvis | 12:75d0291a9785 | 379 | acceleration = false; |
Helvis | 12:75d0291a9785 | 380 | } |
Helvis | 12:75d0291a9785 | 381 | |
Helvis | 12:75d0291a9785 | 382 | if (reverse == true && path[task-1] != path[task]) { |
Helvis | 12:75d0291a9785 | 383 | deceleration = true; |
Helvis | 12:75d0291a9785 | 384 | }else{ |
Helvis | 12:75d0291a9785 | 385 | deceleration = false; |
Helvis | 12:75d0291a9785 | 386 | } |
Helvis | 12:75d0291a9785 | 387 | |
Helvis | 12:75d0291a9785 | 388 | if (reverse == false && path[task+1] != path[task]) { |
Helvis | 12:75d0291a9785 | 389 | deceleration = true; |
Helvis | 12:75d0291a9785 | 390 | }else{ |
Helvis | 12:75d0291a9785 | 391 | deceleration = false; |
Helvis | 12:75d0291a9785 | 392 | } |
Helvis | 12:75d0291a9785 | 393 | move(); |
Helvis | 12:75d0291a9785 | 394 | break; |
Helvis | 12:75d0291a9785 | 395 | case 2: |
Helvis | 12:75d0291a9785 | 396 | rotateL(); |
Helvis | 12:75d0291a9785 | 397 | break; |
Helvis | 12:75d0291a9785 | 398 | case 3: |
Helvis | 12:75d0291a9785 | 399 | rotateR(); |
Helvis | 12:75d0291a9785 | 400 | break; |
Helvis | 12:75d0291a9785 | 401 | case 4: |
Helvis | 12:75d0291a9785 | 402 | moveFast(); |
Helvis | 12:75d0291a9785 | 403 | break; |
Helvis | 12:75d0291a9785 | 404 | case 5: |
Helvis | 12:75d0291a9785 | 405 | stop(); |
Helvis | 12:75d0291a9785 | 406 | break; |
Helvis | 12:75d0291a9785 | 407 | } |
Helvis | 1:2b5f79285a3e | 408 | } |
Helvis | 1:2b5f79285a3e | 409 | |
Helvis | 1:2b5f79285a3e | 410 | int Motion::finish() { |
Helvis | 12:75d0291a9785 | 411 | |
Helvis | 12:75d0291a9785 | 412 | return line; |
Helvis | 1:2b5f79285a3e | 413 | } |
Helvis | 11:2960fc540616 | 414 | |
Helvis | 12:75d0291a9785 | 415 | |
Helvis | 12:75d0291a9785 | 416 | void Motion::accel() { |
Helvis | 12:75d0291a9785 | 417 | |
Helvis | 12:75d0291a9785 | 418 | avgCounts = ( abs(countsL - countsLOld) + abs(countsR - countsROld)) * 0.5f; |
Helvis | 12:75d0291a9785 | 419 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 12:75d0291a9785 | 420 | |
Helvis | 12:75d0291a9785 | 421 | if ( avgSpeed < MOVE_SPEED && acceleration == true) { |
Helvis | 12:75d0291a9785 | 422 | |
Helvis | 12:75d0291a9785 | 423 | actSpeed = avgCounts * ACCEL_SCALE; |
Helvis | 12:75d0291a9785 | 424 | } |
Helvis | 12:75d0291a9785 | 425 | |
Helvis | 12:75d0291a9785 | 426 | if ( MOVE_DIST - avgCounts < MOVE_SPEED*2 && deceleration == true) { |
Helvis | 11:2960fc540616 | 427 | |
Helvis | 12:75d0291a9785 | 428 | actSpeed = -ACCEL_SCALE * (avgCounts - (MOVE_DIST - MOVE_SPEED*2)) + MOVE_SPEED; |
Helvis | 12:75d0291a9785 | 429 | } |
Helvis | 12:75d0291a9785 | 430 | |
Helvis | 12:75d0291a9785 | 431 | |
Helvis | 12:75d0291a9785 | 432 | } |
Helvis | 12:75d0291a9785 | 433 |