Helvijs Kiselis
/
Micromouse
Algorithmus
Motion.cpp@22:91526c8d15ba, 2018-05-15 (annotated)
- Committer:
- Helvis
- Date:
- Tue May 15 11:19:15 2018 +0000
- Revision:
- 22:91526c8d15ba
- Parent:
- 21:41997651337a
- Child:
- 23:accd07ca2da7
v1.1b
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 | 19:6cd6cc5c8b4c | 7 | const float Motion::LEFT_MID_VAL = 40.73f; //44.73 |
Helvis | 19:6cd6cc5c8b4c | 8 | const float Motion::RIGHT_MID_VAL = 43.03f; //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 | 22:91526c8d15ba | 15 | const float Motion::ACCEL_CONST = 3.5f; //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 | 16:c5b864804632 | 39 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 16:c5b864804632 | 40 | |
Helvis | 13:845e49f20426 | 41 | t.start(); |
Helvis | 13:845e49f20426 | 42 | |
Helvis | 6:4868f789c223 | 43 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 44 | |
Helvis | 1:2b5f79285a3e | 45 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 46 | countsR = counterRight.read(); |
Helvis | 5:e2c0a4388d85 | 47 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 48 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 49 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 50 | |
Helvis | 1:2b5f79285a3e | 51 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 16:c5b864804632 | 52 | |
Helvis | 16:c5b864804632 | 53 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 16:c5b864804632 | 54 | |
Helvis | 15:0ae61d3d199f | 55 | accel(MOVE_SPEED); |
Helvis | 12:75d0291a9785 | 56 | control(); |
Helvis | 5:e2c0a4388d85 | 57 | |
Helvis | 5:e2c0a4388d85 | 58 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 59 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 60 | countsROld = countsR; |
Helvis | 19:6cd6cc5c8b4c | 61 | |
Helvis | 5:e2c0a4388d85 | 62 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 63 | countsL = counterLeft.read(); |
Helvis | 19:6cd6cc5c8b4c | 64 | countsR = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 65 | distanceC = irSensorC.readC(); |
Helvis | 19:6cd6cc5c8b4c | 66 | if (distanceC > 40.0f) { |
Helvis | 19:6cd6cc5c8b4c | 67 | stop(); |
Helvis | 19:6cd6cc5c8b4c | 68 | break; |
Helvis | 19:6cd6cc5c8b4c | 69 | } |
Helvis | 5:e2c0a4388d85 | 70 | } |
Helvis | 5:e2c0a4388d85 | 71 | stop(); |
Helvis | 5:e2c0a4388d85 | 72 | break; |
Helvis | 19:6cd6cc5c8b4c | 73 | |
Helvis | 19:6cd6cc5c8b4c | 74 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC <= 130.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 75 | countsLOld += 500; |
Helvis | 19:6cd6cc5c8b4c | 76 | countsROld += 500; |
Helvis | 19:6cd6cc5c8b4c | 77 | |
Helvis | 19:6cd6cc5c8b4c | 78 | }else if ( lastMove == true && ( distanceL < 80.0f || distanceR < 80.0f ) && distanceC > 120.0f ) { |
Helvis | 19:6cd6cc5c8b4c | 79 | countsLOld = counterLeft.read(); |
Helvis | 19:6cd6cc5c8b4c | 80 | countsROld = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 81 | |
Helvis | 19:6cd6cc5c8b4c | 82 | while ((countsL - countsLOld) < MOVE_DIST*0.5f + 816.0f || (countsR - countsROld) > -0.5f*MOVE_DIST - 816.0f) { |
Helvis | 12:75d0291a9785 | 83 | countsL = counterLeft.read(); |
Helvis | 12:75d0291a9785 | 84 | countsR = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 85 | accel(MOVE_SPEED); |
Helvis | 19:6cd6cc5c8b4c | 86 | control(); |
Helvis | 12:75d0291a9785 | 87 | } |
Helvis | 12:75d0291a9785 | 88 | stop(); |
Helvis | 12:75d0291a9785 | 89 | break; |
Helvis | 19:6cd6cc5c8b4c | 90 | } |
Helvis | 1:2b5f79285a3e | 91 | |
Helvis | 1:2b5f79285a3e | 92 | } |
Helvis | 13:845e49f20426 | 93 | |
Helvis | 13:845e49f20426 | 94 | t.stop(); |
Helvis | 13:845e49f20426 | 95 | t.reset(); |
Helvis | 19:6cd6cc5c8b4c | 96 | lastMove = false; |
Helvis | 1:2b5f79285a3e | 97 | } |
Helvis | 19:6cd6cc5c8b4c | 98 | |
Helvis | 1:2b5f79285a3e | 99 | /** |
Helvis | 1:2b5f79285a3e | 100 | * Eine Feldstrecke mit überprüfung der Ziellinie fahren |
Helvis | 1:2b5f79285a3e | 101 | */ |
Helvis | 1:2b5f79285a3e | 102 | void Motion::scanMove() { |
Helvis | 1:2b5f79285a3e | 103 | |
Helvis | 16:c5b864804632 | 104 | acceleration = false; |
Helvis | 17:8a8758bfe3c5 | 105 | deceleration = false; |
Helvis | 22:91526c8d15ba | 106 | longMove = false; |
Helvis | 16:c5b864804632 | 107 | |
Helvis | 1:2b5f79285a3e | 108 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 109 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 110 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 111 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 112 | |
Helvis | 13:845e49f20426 | 113 | t.start(); |
Helvis | 5:e2c0a4388d85 | 114 | |
Helvis | 6:4868f789c223 | 115 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 116 | |
Helvis | 1:2b5f79285a3e | 117 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 118 | countsR = counterRight.read(); |
Helvis | 3:076dd7ec7eb4 | 119 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 120 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 121 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 122 | |
Helvis | 1:2b5f79285a3e | 123 | if (enableMotorDriver == 0) { |
Helvis | 1:2b5f79285a3e | 124 | enableMotorDriver = 1; |
Helvis | 1:2b5f79285a3e | 125 | } |
Helvis | 1:2b5f79285a3e | 126 | |
Helvis | 19:6cd6cc5c8b4c | 127 | if (lineSensor.read() > 0.85f) { |
Helvis | 1:2b5f79285a3e | 128 | line = 1; |
Helvis | 1:2b5f79285a3e | 129 | } |
Helvis | 1:2b5f79285a3e | 130 | |
Helvis | 13:845e49f20426 | 131 | |
Helvis | 15:0ae61d3d199f | 132 | accel(SCAN_SPEED); |
Helvis | 13:845e49f20426 | 133 | control(); |
Helvis | 13:845e49f20426 | 134 | |
Helvis | 13:845e49f20426 | 135 | //controller.setDesiredSpeedLeft(actSpeed); |
Helvis | 13:845e49f20426 | 136 | //controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 1:2b5f79285a3e | 137 | |
Helvis | 5:e2c0a4388d85 | 138 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 139 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 140 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 141 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 142 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 143 | countsR = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 144 | if (distanceC > 40.0f) { |
Helvis | 19:6cd6cc5c8b4c | 145 | stop(); |
Helvis | 19:6cd6cc5c8b4c | 146 | break; |
Helvis | 19:6cd6cc5c8b4c | 147 | } |
Helvis | 5:e2c0a4388d85 | 148 | } |
Helvis | 3:076dd7ec7eb4 | 149 | stop(); |
Helvis | 3:076dd7ec7eb4 | 150 | break; |
Helvis | 6:4868f789c223 | 151 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 152 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 153 | countsROld += 500; |
Helvis | 19:6cd6cc5c8b4c | 154 | }/*else if ( ( distanceL > 80.0f || distanceR > 80.0f ) ) { |
Helvis | 19:6cd6cc5c8b4c | 155 | countsLOld = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 156 | countsROld = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 157 | while ((countsL - countsLOld) < MOVE_DIST*0.5f + 404.0f || (countsR - countsROld) > -0.5f*MOVE_DIST - 404.0f) { |
Helvis | 12:75d0291a9785 | 158 | countsL = counterLeft.read(); |
Helvis | 19:6cd6cc5c8b4c | 159 | countsR = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 160 | accel(SCAN_SPEED); |
Helvis | 19:6cd6cc5c8b4c | 161 | control(); |
Helvis | 12:75d0291a9785 | 162 | } |
Helvis | 12:75d0291a9785 | 163 | stop(); |
Helvis | 12:75d0291a9785 | 164 | break; |
Helvis | 12:75d0291a9785 | 165 | }*/ |
Helvis | 5:e2c0a4388d85 | 166 | } |
Helvis | 13:845e49f20426 | 167 | t.stop(); |
Helvis | 13:845e49f20426 | 168 | t.reset(); |
Helvis | 19:6cd6cc5c8b4c | 169 | lastMove = false; |
Helvis | 1:2b5f79285a3e | 170 | } |
Helvis | 1:2b5f79285a3e | 171 | /** |
Helvis | 1:2b5f79285a3e | 172 | * 90° Rotation nach Links |
Helvis | 1:2b5f79285a3e | 173 | */ |
Helvis | 1:2b5f79285a3e | 174 | void Motion::rotateL() { |
Helvis | 1:2b5f79285a3e | 175 | |
Helvis | 1:2b5f79285a3e | 176 | stop(); |
Helvis | 1:2b5f79285a3e | 177 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 178 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 179 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 180 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 181 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 182 | |
Helvis | 12:75d0291a9785 | 183 | controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 184 | controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 185 | |
Helvis | 13:845e49f20426 | 186 | while ((countsL - countsLOld) > -870 || (countsR - countsROld) > -870) { |
Helvis | 1:2b5f79285a3e | 187 | |
Helvis | 12:75d0291a9785 | 188 | //accel(); |
Helvis | 12:75d0291a9785 | 189 | |
Helvis | 1:2b5f79285a3e | 190 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 191 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 192 | |
Helvis | 1:2b5f79285a3e | 193 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 194 | |
Helvis | 1:2b5f79285a3e | 195 | } |
Helvis | 1:2b5f79285a3e | 196 | |
Helvis | 1:2b5f79285a3e | 197 | stop(); |
Helvis | 1:2b5f79285a3e | 198 | } |
Helvis | 1:2b5f79285a3e | 199 | |
Helvis | 1:2b5f79285a3e | 200 | /** |
Helvis | 1:2b5f79285a3e | 201 | * 90° Rotation nach Rechts |
Helvis | 1:2b5f79285a3e | 202 | */ |
Helvis | 1:2b5f79285a3e | 203 | void Motion::rotateR() { |
Helvis | 1:2b5f79285a3e | 204 | |
Helvis | 1:2b5f79285a3e | 205 | stop(); |
Helvis | 1:2b5f79285a3e | 206 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 207 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 208 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 209 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 210 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 211 | |
Helvis | 12:75d0291a9785 | 212 | controller.setDesiredSpeedLeft(ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 213 | controller.setDesiredSpeedRight(ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 214 | |
Helvis | 13:845e49f20426 | 215 | while ((countsL - countsLOld) < 870 || (countsR - countsROld) < 870) { |
Helvis | 1:2b5f79285a3e | 216 | |
Helvis | 12:75d0291a9785 | 217 | //accel(); |
Helvis | 12:75d0291a9785 | 218 | |
Helvis | 1:2b5f79285a3e | 219 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 220 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 221 | |
Helvis | 1:2b5f79285a3e | 222 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 223 | |
Helvis | 1:2b5f79285a3e | 224 | } |
Helvis | 1:2b5f79285a3e | 225 | |
Helvis | 1:2b5f79285a3e | 226 | stop(); |
Helvis | 1:2b5f79285a3e | 227 | } |
Helvis | 2:f898adf2d817 | 228 | /** |
Helvis | 2:f898adf2d817 | 229 | * Links abbiegen |
Helvis | 2:f898adf2d817 | 230 | */ |
Helvis | 3:076dd7ec7eb4 | 231 | void Motion::turnL() { |
Helvis | 2:f898adf2d817 | 232 | |
Helvis | 2:f898adf2d817 | 233 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 234 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 235 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 236 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 237 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 238 | |
Helvis | 2:f898adf2d817 | 239 | controller.setDesiredSpeedLeft(17.0f); |
Helvis | 2:f898adf2d817 | 240 | controller.setDesiredSpeedRight(-83.0f); |
Helvis | 2:f898adf2d817 | 241 | |
Helvis | 2:f898adf2d817 | 242 | while ((countsL - countsLOld) < 440 || (countsR - countsROld) > -2148) { |
Helvis | 2:f898adf2d817 | 243 | |
Helvis | 2:f898adf2d817 | 244 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 245 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 246 | |
Helvis | 2:f898adf2d817 | 247 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 2:f898adf2d817 | 248 | } |
Helvis | 2:f898adf2d817 | 249 | } |
Helvis | 2:f898adf2d817 | 250 | /** |
Helvis | 2:f898adf2d817 | 251 | * Rechts abbiegen |
Helvis | 2:f898adf2d817 | 252 | */ |
Helvis | 3:076dd7ec7eb4 | 253 | void Motion::turnR() { |
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(83.0f); |
Helvis | 2:f898adf2d817 | 262 | controller.setDesiredSpeedRight(-17.0f); |
Helvis | 2:f898adf2d817 | 263 | |
Helvis | 2:f898adf2d817 | 264 | while ((countsL - countsLOld) < 2148 || (countsR - countsROld) > -440) { |
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 | 3:076dd7ec7eb4 | 270 | } |
Helvis | 2:f898adf2d817 | 271 | } |
Helvis | 1:2b5f79285a3e | 272 | /** |
Helvis | 1:2b5f79285a3e | 273 | * Motor Stop |
Helvis | 1:2b5f79285a3e | 274 | */ |
Helvis | 1:2b5f79285a3e | 275 | void Motion::stop() { |
Helvis | 1:2b5f79285a3e | 276 | |
Helvis | 1:2b5f79285a3e | 277 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 1:2b5f79285a3e | 278 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 16:c5b864804632 | 279 | actSpeed = 0.0f; |
Helvis | 1:2b5f79285a3e | 280 | |
Helvis | 1:2b5f79285a3e | 281 | float sL = controller.getSpeedLeft(); |
Helvis | 1:2b5f79285a3e | 282 | float ticks = 0.08f*sL; |
Helvis | 1:2b5f79285a3e | 283 | |
Helvis | 1:2b5f79285a3e | 284 | waitStop = 0; |
Helvis | 1:2b5f79285a3e | 285 | while( waitStop < ticks) { |
Helvis | 16:c5b864804632 | 286 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 16:c5b864804632 | 287 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 1:2b5f79285a3e | 288 | waitStop+= 1; |
Helvis | 1:2b5f79285a3e | 289 | } |
Helvis | 1:2b5f79285a3e | 290 | } |
Helvis | 1:2b5f79285a3e | 291 | /** |
Helvis | 1:2b5f79285a3e | 292 | * 180° Rotation |
Helvis | 1:2b5f79285a3e | 293 | */ |
Helvis | 1:2b5f79285a3e | 294 | void Motion::rotate180() { |
Helvis | 13:845e49f20426 | 295 | //1723 |
Helvis | 1:2b5f79285a3e | 296 | stop(); |
Helvis | 1:2b5f79285a3e | 297 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 298 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 299 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 300 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 301 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 302 | |
Helvis | 13:845e49f20426 | 303 | //controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 13:845e49f20426 | 304 | //controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 13:845e49f20426 | 305 | |
Helvis | 13:845e49f20426 | 306 | t.start(); |
Helvis | 1:2b5f79285a3e | 307 | |
Helvis | 13:845e49f20426 | 308 | while ((countsL - countsLOld) > -900 || (countsR - countsROld) > -900) { |
Helvis | 1:2b5f79285a3e | 309 | |
Helvis | 13:845e49f20426 | 310 | actSpeed = 3.5f * t.read()*60.0f; |
Helvis | 13:845e49f20426 | 311 | |
Helvis | 13:845e49f20426 | 312 | controller.setDesiredSpeedLeft(-actSpeed); |
Helvis | 13:845e49f20426 | 313 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 12:75d0291a9785 | 314 | |
Helvis | 1:2b5f79285a3e | 315 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 316 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 317 | |
Helvis | 1:2b5f79285a3e | 318 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 319 | } |
Helvis | 1:2b5f79285a3e | 320 | |
Helvis | 13:845e49f20426 | 321 | t.reset(); |
Helvis | 13:845e49f20426 | 322 | |
Helvis | 13:845e49f20426 | 323 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 13:845e49f20426 | 324 | |
Helvis | 13:845e49f20426 | 325 | while ((countsL - countsLOld) > -1720 || (countsR - countsROld) > -1720) { |
Helvis | 13:845e49f20426 | 326 | |
Helvis | 13:845e49f20426 | 327 | actSpeed = avgSpeed + (-3.5f * t.read()*60.0f); |
Helvis | 13:845e49f20426 | 328 | |
Helvis | 13:845e49f20426 | 329 | controller.setDesiredSpeedLeft(-actSpeed); |
Helvis | 13:845e49f20426 | 330 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 13:845e49f20426 | 331 | |
Helvis | 13:845e49f20426 | 332 | countsL = counterLeft.read(); |
Helvis | 13:845e49f20426 | 333 | countsR = counterRight.read(); |
Helvis | 13:845e49f20426 | 334 | |
Helvis | 13:845e49f20426 | 335 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 13:845e49f20426 | 336 | } |
Helvis | 13:845e49f20426 | 337 | t.stop(); |
Helvis | 13:845e49f20426 | 338 | t.reset(); |
Helvis | 1:2b5f79285a3e | 339 | stop(); |
Helvis | 1:2b5f79285a3e | 340 | } |
Helvis | 1:2b5f79285a3e | 341 | |
Helvis | 1:2b5f79285a3e | 342 | |
Helvis | 1:2b5f79285a3e | 343 | void Motion::control() { |
Helvis | 1:2b5f79285a3e | 344 | |
Helvis | 12:75d0291a9785 | 345 | float wallLeft = 48.73f; |
Helvis | 12:75d0291a9785 | 346 | float wallRight = 51.03f; |
Helvis | 1:2b5f79285a3e | 347 | |
Helvis | 12:75d0291a9785 | 348 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 349 | distanceR = irSensorR.readR(); |
Helvis | 12:75d0291a9785 | 350 | |
Helvis | 6:4868f789c223 | 351 | |
Helvis | 12:75d0291a9785 | 352 | if (distanceL < wallLeft && distanceR < wallRight) { |
Helvis | 12:75d0291a9785 | 353 | |
Helvis | 12:75d0291a9785 | 354 | errorP = distanceL - distanceR + 2.30f; |
Helvis | 1:2b5f79285a3e | 355 | |
Helvis | 12:75d0291a9785 | 356 | }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 357 | |
Helvis | 12:75d0291a9785 | 358 | errorP = distanceL - LEFT_MID_VAL; |
Helvis | 12:75d0291a9785 | 359 | |
Helvis | 12:75d0291a9785 | 360 | }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 361 | |
Helvis | 12:75d0291a9785 | 362 | errorP = RIGHT_MID_VAL - distanceR; |
Helvis | 12:75d0291a9785 | 363 | |
Helvis | 12:75d0291a9785 | 364 | }else{ |
Helvis | 12:75d0291a9785 | 365 | |
Helvis | 12:75d0291a9785 | 366 | errorP = 0; |
Helvis | 12:75d0291a9785 | 367 | errorD = 0; |
Helvis | 12:75d0291a9785 | 368 | } |
Helvis | 12:75d0291a9785 | 369 | |
Helvis | 12:75d0291a9785 | 370 | errorD = errorP - oldErrorP; |
Helvis | 12:75d0291a9785 | 371 | |
Helvis | 12:75d0291a9785 | 372 | oldErrorP = errorP; |
Helvis | 12:75d0291a9785 | 373 | |
Helvis | 12:75d0291a9785 | 374 | if (abs(errorP) < 80.0f) { |
Helvis | 12:75d0291a9785 | 375 | totalError = KP*errorP + KD*errorD; |
Helvis | 21:41997651337a | 376 | }/*else{ |
Helvis | 12:75d0291a9785 | 377 | totalError = 0; |
Helvis | 21:41997651337a | 378 | }*/ |
Helvis | 12:75d0291a9785 | 379 | |
Helvis | 13:845e49f20426 | 380 | controller.setDesiredSpeedLeft(actSpeed - totalError); |
Helvis | 13:845e49f20426 | 381 | controller.setDesiredSpeedRight(-actSpeed - totalError); |
Helvis | 1:2b5f79285a3e | 382 | } |
Helvis | 1:2b5f79285a3e | 383 | |
Helvis | 18:3309329d5f42 | 384 | void Motion::runTask(int path[],int task, bool reverse, int junction) { |
Helvis | 1:2b5f79285a3e | 385 | |
Helvis | 12:75d0291a9785 | 386 | switch(path[task]) { |
Helvis | 12:75d0291a9785 | 387 | |
Helvis | 12:75d0291a9785 | 388 | case 1: |
Helvis | 18:3309329d5f42 | 389 | if ( reverse == true && path[task-1] == path[task] && path[task+1] != path[task] && task != junction) { |
Helvis | 22:91526c8d15ba | 390 | |
Helvis | 17:8a8758bfe3c5 | 391 | acceleration = true; |
Helvis | 21:41997651337a | 392 | longMove = true; |
Helvis | 17:8a8758bfe3c5 | 393 | deceleration = false; |
Helvis | 22:91526c8d15ba | 394 | |
Helvis | 18:3309329d5f42 | 395 | }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0)) { |
Helvis | 22:91526c8d15ba | 396 | |
Helvis | 12:75d0291a9785 | 397 | acceleration = true; |
Helvis | 21:41997651337a | 398 | longMove = true; |
Helvis | 15:0ae61d3d199f | 399 | deceleration = false; |
Helvis | 22:91526c8d15ba | 400 | |
Helvis | 12:75d0291a9785 | 401 | }else{ |
Helvis | 17:8a8758bfe3c5 | 402 | acceleration = false; |
Helvis | 15:0ae61d3d199f | 403 | deceleration = false; |
Helvis | 17:8a8758bfe3c5 | 404 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 12:75d0291a9785 | 405 | } |
Helvis | 12:75d0291a9785 | 406 | |
Helvis | 18:3309329d5f42 | 407 | if (reverse == true && ( path[task-1] != path[task] || task == junction ) && avgSpeed > 2.4f*MOVE_SPEED) { |
Helvis | 22:91526c8d15ba | 408 | |
Helvis | 17:8a8758bfe3c5 | 409 | deceleration = true; |
Helvis | 17:8a8758bfe3c5 | 410 | acceleration = false; |
Helvis | 19:6cd6cc5c8b4c | 411 | lastMove = true; |
Helvis | 21:41997651337a | 412 | longMove = false; |
Helvis | 22:91526c8d15ba | 413 | |
Helvis | 17:8a8758bfe3c5 | 414 | }else if (reverse == false && path[task+1] != path[task] && avgSpeed > 2.4f*MOVE_SPEED) { |
Helvis | 22:91526c8d15ba | 415 | |
Helvis | 12:75d0291a9785 | 416 | deceleration = true; |
Helvis | 15:0ae61d3d199f | 417 | acceleration = false; |
Helvis | 19:6cd6cc5c8b4c | 418 | lastMove = true; |
Helvis | 21:41997651337a | 419 | longMove = false; |
Helvis | 22:91526c8d15ba | 420 | |
Helvis | 12:75d0291a9785 | 421 | }else{ |
Helvis | 12:75d0291a9785 | 422 | deceleration = false; |
Helvis | 12:75d0291a9785 | 423 | } |
Helvis | 12:75d0291a9785 | 424 | |
Helvis | 17:8a8758bfe3c5 | 425 | //printf("\nSchritt: %d Befehl: %d Reverse: %d acceleration: %d deceleration: %d\n", task, path[task], reverse, acceleration, deceleration); |
Helvis | 17:8a8758bfe3c5 | 426 | //printf("\nVor: %d Nach: %d Speed: %f\n\n", path[task+1], path[task-1], avgSpeed); |
Helvis | 17:8a8758bfe3c5 | 427 | |
Helvis | 12:75d0291a9785 | 428 | move(); |
Helvis | 12:75d0291a9785 | 429 | break; |
Helvis | 12:75d0291a9785 | 430 | case 2: |
Helvis | 12:75d0291a9785 | 431 | rotateL(); |
Helvis | 12:75d0291a9785 | 432 | break; |
Helvis | 12:75d0291a9785 | 433 | case 3: |
Helvis | 12:75d0291a9785 | 434 | rotateR(); |
Helvis | 12:75d0291a9785 | 435 | break; |
Helvis | 12:75d0291a9785 | 436 | case 4: |
Helvis | 12:75d0291a9785 | 437 | stop(); |
Helvis | 19:6cd6cc5c8b4c | 438 | break; |
Helvis | 12:75d0291a9785 | 439 | } |
Helvis | 1:2b5f79285a3e | 440 | } |
Helvis | 1:2b5f79285a3e | 441 | |
Helvis | 1:2b5f79285a3e | 442 | int Motion::finish() { |
Helvis | 12:75d0291a9785 | 443 | |
Helvis | 12:75d0291a9785 | 444 | return line; |
Helvis | 1:2b5f79285a3e | 445 | } |
Helvis | 11:2960fc540616 | 446 | |
Helvis | 12:75d0291a9785 | 447 | |
Helvis | 13:845e49f20426 | 448 | void Motion::accel(float targetSpeed) { |
Helvis | 13:845e49f20426 | 449 | |
Helvis | 13:845e49f20426 | 450 | |
Helvis | 12:75d0291a9785 | 451 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 12:75d0291a9785 | 452 | |
Helvis | 19:6cd6cc5c8b4c | 453 | if ( avgSpeed < targetSpeed && deceleration == false && acceleration == false) { |
Helvis | 12:75d0291a9785 | 454 | |
Helvis | 16:c5b864804632 | 455 | actSpeed = ACCEL_CONST * t.read()*60.0f; |
Helvis | 19:6cd6cc5c8b4c | 456 | |
Helvis | 21:41997651337a | 457 | }else if(avgSpeed > targetSpeed+5.0f && deceleration == false && acceleration == false && longMove == false) { |
Helvis | 21:41997651337a | 458 | |
Helvis | 21:41997651337a | 459 | actSpeed = 55.0f; |
Helvis | 21:41997651337a | 460 | |
Helvis | 22:91526c8d15ba | 461 | }else if (avgSpeed < targetSpeed*2.8f && acceleration == true) { |
Helvis | 12:75d0291a9785 | 462 | |
Helvis | 22:91526c8d15ba | 463 | actSpeed = ACCEL_CONST * t.read()*60.0f; |
Helvis | 16:c5b864804632 | 464 | |
Helvis | 22:91526c8d15ba | 465 | }else if (avgSpeed > targetSpeed && deceleration == true) { |
Helvis | 11:2960fc540616 | 466 | |
Helvis | 22:91526c8d15ba | 467 | actSpeed = targetSpeed*2.8f - ACCEL_CONST * t.read()*60.0f; |
Helvis | 22:91526c8d15ba | 468 | } |
Helvis | 12:75d0291a9785 | 469 | } |
Helvis | 12:75d0291a9785 | 470 |