Helvijs Kiselis
/
Micromouse
Algorithmus
Motion.cpp@23:accd07ca2da7, 2018-05-15 (annotated)
- Committer:
- Helvis
- Date:
- Tue May 15 13:35:50 2018 +0000
- Revision:
- 23:accd07ca2da7
- Parent:
- 22:91526c8d15ba
- Child:
- 24:11c5fb5280eb
v2.0 Turn implementiert; - Regelung muss mit 1 Seitenwand verbessert werden
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 | 23:accd07ca2da7 | 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 | 23:accd07ca2da7 | 90 | }*/ |
Helvis | 23:accd07ca2da7 | 91 | |
Helvis | 23:accd07ca2da7 | 92 | } |
Helvis | 23:accd07ca2da7 | 93 | |
Helvis | 23:accd07ca2da7 | 94 | t.stop(); |
Helvis | 23:accd07ca2da7 | 95 | t.reset(); |
Helvis | 23:accd07ca2da7 | 96 | lastMove = false; |
Helvis | 23:accd07ca2da7 | 97 | } |
Helvis | 23:accd07ca2da7 | 98 | |
Helvis | 23:accd07ca2da7 | 99 | /** |
Helvis | 23:accd07ca2da7 | 100 | * Eine Feldstrecke druchführen |
Helvis | 23:accd07ca2da7 | 101 | */ |
Helvis | 23:accd07ca2da7 | 102 | void Motion::moveHalf() { |
Helvis | 23:accd07ca2da7 | 103 | |
Helvis | 23:accd07ca2da7 | 104 | countsLOld = counterLeft.read(); |
Helvis | 23:accd07ca2da7 | 105 | countsROld = counterRight.read(); |
Helvis | 23:accd07ca2da7 | 106 | countsL = counterLeft.read(); |
Helvis | 23:accd07ca2da7 | 107 | countsR = counterRight.read(); |
Helvis | 23:accd07ca2da7 | 108 | |
Helvis | 23:accd07ca2da7 | 109 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 23:accd07ca2da7 | 110 | |
Helvis | 23:accd07ca2da7 | 111 | t.start(); |
Helvis | 23:accd07ca2da7 | 112 | |
Helvis | 23:accd07ca2da7 | 113 | while ((countsL - countsLOld) < 824 || (countsR - countsROld) > -824) { |
Helvis | 23:accd07ca2da7 | 114 | |
Helvis | 23:accd07ca2da7 | 115 | countsL = counterLeft.read(); |
Helvis | 23:accd07ca2da7 | 116 | countsR = counterRight.read(); |
Helvis | 23:accd07ca2da7 | 117 | distanceC = irSensorC.readC(); |
Helvis | 23:accd07ca2da7 | 118 | distanceL = irSensorL.readL(); |
Helvis | 23:accd07ca2da7 | 119 | distanceR = irSensorR.readR(); |
Helvis | 23:accd07ca2da7 | 120 | |
Helvis | 23:accd07ca2da7 | 121 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 23:accd07ca2da7 | 122 | |
Helvis | 23:accd07ca2da7 | 123 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 23:accd07ca2da7 | 124 | |
Helvis | 23:accd07ca2da7 | 125 | accel(MOVE_SPEED); |
Helvis | 23:accd07ca2da7 | 126 | control(); |
Helvis | 23:accd07ca2da7 | 127 | |
Helvis | 23:accd07ca2da7 | 128 | if (distanceC < 101.0f && lastMove == false) { |
Helvis | 23:accd07ca2da7 | 129 | stop(); |
Helvis | 23:accd07ca2da7 | 130 | break; |
Helvis | 23:accd07ca2da7 | 131 | }else if (distanceC < 40.0 && lastMove == true) { |
Helvis | 23:accd07ca2da7 | 132 | stop(); |
Helvis | 23:accd07ca2da7 | 133 | break; |
Helvis | 19:6cd6cc5c8b4c | 134 | } |
Helvis | 1:2b5f79285a3e | 135 | |
Helvis | 1:2b5f79285a3e | 136 | } |
Helvis | 13:845e49f20426 | 137 | |
Helvis | 13:845e49f20426 | 138 | t.stop(); |
Helvis | 13:845e49f20426 | 139 | t.reset(); |
Helvis | 19:6cd6cc5c8b4c | 140 | lastMove = false; |
Helvis | 1:2b5f79285a3e | 141 | } |
Helvis | 19:6cd6cc5c8b4c | 142 | |
Helvis | 1:2b5f79285a3e | 143 | /** |
Helvis | 1:2b5f79285a3e | 144 | * Eine Feldstrecke mit überprüfung der Ziellinie fahren |
Helvis | 1:2b5f79285a3e | 145 | */ |
Helvis | 1:2b5f79285a3e | 146 | void Motion::scanMove() { |
Helvis | 1:2b5f79285a3e | 147 | |
Helvis | 16:c5b864804632 | 148 | acceleration = false; |
Helvis | 17:8a8758bfe3c5 | 149 | deceleration = false; |
Helvis | 22:91526c8d15ba | 150 | longMove = false; |
Helvis | 16:c5b864804632 | 151 | |
Helvis | 1:2b5f79285a3e | 152 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 153 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 154 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 155 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 156 | |
Helvis | 13:845e49f20426 | 157 | t.start(); |
Helvis | 5:e2c0a4388d85 | 158 | |
Helvis | 6:4868f789c223 | 159 | while ((countsL - countsLOld) < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) { |
Helvis | 1:2b5f79285a3e | 160 | |
Helvis | 1:2b5f79285a3e | 161 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 162 | countsR = counterRight.read(); |
Helvis | 3:076dd7ec7eb4 | 163 | distanceC = irSensorC.readC(); |
Helvis | 12:75d0291a9785 | 164 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 165 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 166 | |
Helvis | 1:2b5f79285a3e | 167 | if (enableMotorDriver == 0) { |
Helvis | 1:2b5f79285a3e | 168 | enableMotorDriver = 1; |
Helvis | 1:2b5f79285a3e | 169 | } |
Helvis | 1:2b5f79285a3e | 170 | |
Helvis | 19:6cd6cc5c8b4c | 171 | if (lineSensor.read() > 0.85f) { |
Helvis | 1:2b5f79285a3e | 172 | line = 1; |
Helvis | 1:2b5f79285a3e | 173 | } |
Helvis | 1:2b5f79285a3e | 174 | |
Helvis | 13:845e49f20426 | 175 | |
Helvis | 15:0ae61d3d199f | 176 | accel(SCAN_SPEED); |
Helvis | 13:845e49f20426 | 177 | control(); |
Helvis | 13:845e49f20426 | 178 | |
Helvis | 5:e2c0a4388d85 | 179 | if ((distanceC) < 40.0f) { |
Helvis | 5:e2c0a4388d85 | 180 | countsLOld = countsL; |
Helvis | 5:e2c0a4388d85 | 181 | countsROld = countsR; |
Helvis | 5:e2c0a4388d85 | 182 | while ((countsL - countsLOld) < 70 || (countsR - countsROld) > -70) { |
Helvis | 5:e2c0a4388d85 | 183 | countsL = counterLeft.read(); |
Helvis | 5:e2c0a4388d85 | 184 | countsR = counterRight.read(); |
Helvis | 19:6cd6cc5c8b4c | 185 | if (distanceC > 40.0f) { |
Helvis | 19:6cd6cc5c8b4c | 186 | stop(); |
Helvis | 19:6cd6cc5c8b4c | 187 | break; |
Helvis | 19:6cd6cc5c8b4c | 188 | } |
Helvis | 5:e2c0a4388d85 | 189 | } |
Helvis | 23:accd07ca2da7 | 190 | |
Helvis | 3:076dd7ec7eb4 | 191 | stop(); |
Helvis | 23:accd07ca2da7 | 192 | break; |
Helvis | 23:accd07ca2da7 | 193 | |
Helvis | 6:4868f789c223 | 194 | }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) { |
Helvis | 5:e2c0a4388d85 | 195 | countsLOld += 500; |
Helvis | 5:e2c0a4388d85 | 196 | countsROld += 500; |
Helvis | 23:accd07ca2da7 | 197 | } |
Helvis | 23:accd07ca2da7 | 198 | } |
Helvis | 23:accd07ca2da7 | 199 | |
Helvis | 13:845e49f20426 | 200 | t.stop(); |
Helvis | 13:845e49f20426 | 201 | t.reset(); |
Helvis | 19:6cd6cc5c8b4c | 202 | lastMove = false; |
Helvis | 1:2b5f79285a3e | 203 | } |
Helvis | 1:2b5f79285a3e | 204 | /** |
Helvis | 1:2b5f79285a3e | 205 | * 90° Rotation nach Links |
Helvis | 1:2b5f79285a3e | 206 | */ |
Helvis | 1:2b5f79285a3e | 207 | void Motion::rotateL() { |
Helvis | 1:2b5f79285a3e | 208 | |
Helvis | 1:2b5f79285a3e | 209 | stop(); |
Helvis | 1:2b5f79285a3e | 210 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 211 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 212 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 213 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 214 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 215 | |
Helvis | 12:75d0291a9785 | 216 | controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 217 | controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 218 | |
Helvis | 13:845e49f20426 | 219 | while ((countsL - countsLOld) > -870 || (countsR - countsROld) > -870) { |
Helvis | 1:2b5f79285a3e | 220 | |
Helvis | 12:75d0291a9785 | 221 | //accel(); |
Helvis | 12:75d0291a9785 | 222 | |
Helvis | 1:2b5f79285a3e | 223 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 224 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 225 | |
Helvis | 1:2b5f79285a3e | 226 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 227 | |
Helvis | 1:2b5f79285a3e | 228 | } |
Helvis | 1:2b5f79285a3e | 229 | |
Helvis | 1:2b5f79285a3e | 230 | stop(); |
Helvis | 1:2b5f79285a3e | 231 | } |
Helvis | 1:2b5f79285a3e | 232 | |
Helvis | 1:2b5f79285a3e | 233 | /** |
Helvis | 1:2b5f79285a3e | 234 | * 90° Rotation nach Rechts |
Helvis | 1:2b5f79285a3e | 235 | */ |
Helvis | 1:2b5f79285a3e | 236 | void Motion::rotateR() { |
Helvis | 1:2b5f79285a3e | 237 | |
Helvis | 1:2b5f79285a3e | 238 | stop(); |
Helvis | 1:2b5f79285a3e | 239 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 240 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 241 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 242 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 243 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 244 | |
Helvis | 12:75d0291a9785 | 245 | controller.setDesiredSpeedLeft(ROTATE_SPEED); |
Helvis | 12:75d0291a9785 | 246 | controller.setDesiredSpeedRight(ROTATE_SPEED); |
Helvis | 1:2b5f79285a3e | 247 | |
Helvis | 13:845e49f20426 | 248 | while ((countsL - countsLOld) < 870 || (countsR - countsROld) < 870) { |
Helvis | 1:2b5f79285a3e | 249 | |
Helvis | 12:75d0291a9785 | 250 | //accel(); |
Helvis | 12:75d0291a9785 | 251 | |
Helvis | 1:2b5f79285a3e | 252 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 253 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 254 | |
Helvis | 1:2b5f79285a3e | 255 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 12:75d0291a9785 | 256 | |
Helvis | 1:2b5f79285a3e | 257 | } |
Helvis | 1:2b5f79285a3e | 258 | |
Helvis | 1:2b5f79285a3e | 259 | stop(); |
Helvis | 1:2b5f79285a3e | 260 | } |
Helvis | 2:f898adf2d817 | 261 | /** |
Helvis | 2:f898adf2d817 | 262 | * Links abbiegen |
Helvis | 2:f898adf2d817 | 263 | */ |
Helvis | 3:076dd7ec7eb4 | 264 | void Motion::turnL() { |
Helvis | 2:f898adf2d817 | 265 | |
Helvis | 2:f898adf2d817 | 266 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 267 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 268 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 269 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 270 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 271 | |
Helvis | 2:f898adf2d817 | 272 | controller.setDesiredSpeedLeft(17.0f); |
Helvis | 2:f898adf2d817 | 273 | controller.setDesiredSpeedRight(-83.0f); |
Helvis | 2:f898adf2d817 | 274 | |
Helvis | 2:f898adf2d817 | 275 | while ((countsL - countsLOld) < 440 || (countsR - countsROld) > -2148) { |
Helvis | 2:f898adf2d817 | 276 | |
Helvis | 2:f898adf2d817 | 277 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 278 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 279 | |
Helvis | 2:f898adf2d817 | 280 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 2:f898adf2d817 | 281 | } |
Helvis | 2:f898adf2d817 | 282 | } |
Helvis | 2:f898adf2d817 | 283 | /** |
Helvis | 2:f898adf2d817 | 284 | * Rechts abbiegen |
Helvis | 2:f898adf2d817 | 285 | */ |
Helvis | 3:076dd7ec7eb4 | 286 | void Motion::turnR() { |
Helvis | 2:f898adf2d817 | 287 | |
Helvis | 2:f898adf2d817 | 288 | controller.counterReset(); |
Helvis | 2:f898adf2d817 | 289 | countsLOld = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 290 | countsROld = counterRight.read(); |
Helvis | 2:f898adf2d817 | 291 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 292 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 293 | |
Helvis | 2:f898adf2d817 | 294 | controller.setDesiredSpeedLeft(83.0f); |
Helvis | 2:f898adf2d817 | 295 | controller.setDesiredSpeedRight(-17.0f); |
Helvis | 2:f898adf2d817 | 296 | |
Helvis | 2:f898adf2d817 | 297 | while ((countsL - countsLOld) < 2148 || (countsR - countsROld) > -440) { |
Helvis | 2:f898adf2d817 | 298 | |
Helvis | 2:f898adf2d817 | 299 | countsL = counterLeft.read(); |
Helvis | 2:f898adf2d817 | 300 | countsR = counterRight.read(); |
Helvis | 2:f898adf2d817 | 301 | |
Helvis | 2:f898adf2d817 | 302 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 3:076dd7ec7eb4 | 303 | } |
Helvis | 2:f898adf2d817 | 304 | } |
Helvis | 1:2b5f79285a3e | 305 | /** |
Helvis | 1:2b5f79285a3e | 306 | * Motor Stop |
Helvis | 1:2b5f79285a3e | 307 | */ |
Helvis | 1:2b5f79285a3e | 308 | void Motion::stop() { |
Helvis | 1:2b5f79285a3e | 309 | |
Helvis | 1:2b5f79285a3e | 310 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 1:2b5f79285a3e | 311 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 16:c5b864804632 | 312 | actSpeed = 0.0f; |
Helvis | 1:2b5f79285a3e | 313 | |
Helvis | 1:2b5f79285a3e | 314 | float sL = controller.getSpeedLeft(); |
Helvis | 1:2b5f79285a3e | 315 | float ticks = 0.08f*sL; |
Helvis | 1:2b5f79285a3e | 316 | |
Helvis | 1:2b5f79285a3e | 317 | waitStop = 0; |
Helvis | 1:2b5f79285a3e | 318 | while( waitStop < ticks) { |
Helvis | 16:c5b864804632 | 319 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 16:c5b864804632 | 320 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 1:2b5f79285a3e | 321 | waitStop+= 1; |
Helvis | 1:2b5f79285a3e | 322 | } |
Helvis | 1:2b5f79285a3e | 323 | } |
Helvis | 1:2b5f79285a3e | 324 | /** |
Helvis | 1:2b5f79285a3e | 325 | * 180° Rotation |
Helvis | 1:2b5f79285a3e | 326 | */ |
Helvis | 1:2b5f79285a3e | 327 | void Motion::rotate180() { |
Helvis | 13:845e49f20426 | 328 | //1723 |
Helvis | 1:2b5f79285a3e | 329 | stop(); |
Helvis | 1:2b5f79285a3e | 330 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 331 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 332 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 333 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 334 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 335 | |
Helvis | 13:845e49f20426 | 336 | //controller.setDesiredSpeedLeft(-ROTATE_SPEED); |
Helvis | 13:845e49f20426 | 337 | //controller.setDesiredSpeedRight(-ROTATE_SPEED); |
Helvis | 13:845e49f20426 | 338 | |
Helvis | 13:845e49f20426 | 339 | t.start(); |
Helvis | 1:2b5f79285a3e | 340 | |
Helvis | 13:845e49f20426 | 341 | while ((countsL - countsLOld) > -900 || (countsR - countsROld) > -900) { |
Helvis | 1:2b5f79285a3e | 342 | |
Helvis | 13:845e49f20426 | 343 | actSpeed = 3.5f * t.read()*60.0f; |
Helvis | 13:845e49f20426 | 344 | |
Helvis | 13:845e49f20426 | 345 | controller.setDesiredSpeedLeft(-actSpeed); |
Helvis | 13:845e49f20426 | 346 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 12:75d0291a9785 | 347 | |
Helvis | 1:2b5f79285a3e | 348 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 349 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 350 | |
Helvis | 1:2b5f79285a3e | 351 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 352 | } |
Helvis | 1:2b5f79285a3e | 353 | |
Helvis | 13:845e49f20426 | 354 | t.reset(); |
Helvis | 13:845e49f20426 | 355 | |
Helvis | 13:845e49f20426 | 356 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 13:845e49f20426 | 357 | |
Helvis | 13:845e49f20426 | 358 | while ((countsL - countsLOld) > -1720 || (countsR - countsROld) > -1720) { |
Helvis | 13:845e49f20426 | 359 | |
Helvis | 13:845e49f20426 | 360 | actSpeed = avgSpeed + (-3.5f * t.read()*60.0f); |
Helvis | 13:845e49f20426 | 361 | |
Helvis | 13:845e49f20426 | 362 | controller.setDesiredSpeedLeft(-actSpeed); |
Helvis | 13:845e49f20426 | 363 | controller.setDesiredSpeedRight(-actSpeed); |
Helvis | 13:845e49f20426 | 364 | |
Helvis | 13:845e49f20426 | 365 | countsL = counterLeft.read(); |
Helvis | 13:845e49f20426 | 366 | countsR = counterRight.read(); |
Helvis | 13:845e49f20426 | 367 | |
Helvis | 13:845e49f20426 | 368 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 13:845e49f20426 | 369 | } |
Helvis | 13:845e49f20426 | 370 | t.stop(); |
Helvis | 13:845e49f20426 | 371 | t.reset(); |
Helvis | 1:2b5f79285a3e | 372 | stop(); |
Helvis | 1:2b5f79285a3e | 373 | } |
Helvis | 1:2b5f79285a3e | 374 | |
Helvis | 1:2b5f79285a3e | 375 | |
Helvis | 1:2b5f79285a3e | 376 | void Motion::control() { |
Helvis | 1:2b5f79285a3e | 377 | |
Helvis | 12:75d0291a9785 | 378 | float wallLeft = 48.73f; |
Helvis | 12:75d0291a9785 | 379 | float wallRight = 51.03f; |
Helvis | 1:2b5f79285a3e | 380 | |
Helvis | 12:75d0291a9785 | 381 | distanceL = irSensorL.readL(); |
Helvis | 12:75d0291a9785 | 382 | distanceR = irSensorR.readR(); |
Helvis | 12:75d0291a9785 | 383 | |
Helvis | 6:4868f789c223 | 384 | |
Helvis | 12:75d0291a9785 | 385 | if (distanceL < wallLeft && distanceR < wallRight) { |
Helvis | 12:75d0291a9785 | 386 | |
Helvis | 12:75d0291a9785 | 387 | errorP = distanceL - distanceR + 2.30f; |
Helvis | 1:2b5f79285a3e | 388 | |
Helvis | 12:75d0291a9785 | 389 | }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 390 | |
Helvis | 12:75d0291a9785 | 391 | errorP = distanceL - LEFT_MID_VAL; |
Helvis | 12:75d0291a9785 | 392 | |
Helvis | 12:75d0291a9785 | 393 | }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { |
Helvis | 12:75d0291a9785 | 394 | |
Helvis | 12:75d0291a9785 | 395 | errorP = RIGHT_MID_VAL - distanceR; |
Helvis | 12:75d0291a9785 | 396 | |
Helvis | 12:75d0291a9785 | 397 | }else{ |
Helvis | 12:75d0291a9785 | 398 | |
Helvis | 12:75d0291a9785 | 399 | errorP = 0; |
Helvis | 12:75d0291a9785 | 400 | errorD = 0; |
Helvis | 12:75d0291a9785 | 401 | } |
Helvis | 12:75d0291a9785 | 402 | |
Helvis | 12:75d0291a9785 | 403 | errorD = errorP - oldErrorP; |
Helvis | 12:75d0291a9785 | 404 | |
Helvis | 12:75d0291a9785 | 405 | oldErrorP = errorP; |
Helvis | 12:75d0291a9785 | 406 | |
Helvis | 12:75d0291a9785 | 407 | if (abs(errorP) < 80.0f) { |
Helvis | 12:75d0291a9785 | 408 | totalError = KP*errorP + KD*errorD; |
Helvis | 21:41997651337a | 409 | }/*else{ |
Helvis | 12:75d0291a9785 | 410 | totalError = 0; |
Helvis | 21:41997651337a | 411 | }*/ |
Helvis | 12:75d0291a9785 | 412 | |
Helvis | 13:845e49f20426 | 413 | controller.setDesiredSpeedLeft(actSpeed - totalError); |
Helvis | 13:845e49f20426 | 414 | controller.setDesiredSpeedRight(-actSpeed - totalError); |
Helvis | 1:2b5f79285a3e | 415 | } |
Helvis | 1:2b5f79285a3e | 416 | |
Helvis | 18:3309329d5f42 | 417 | void Motion::runTask(int path[],int task, bool reverse, int junction) { |
Helvis | 1:2b5f79285a3e | 418 | |
Helvis | 12:75d0291a9785 | 419 | switch(path[task]) { |
Helvis | 12:75d0291a9785 | 420 | |
Helvis | 12:75d0291a9785 | 421 | case 1: |
Helvis | 23:accd07ca2da7 | 422 | |
Helvis | 23:accd07ca2da7 | 423 | //Acceleration |
Helvis | 18:3309329d5f42 | 424 | if ( reverse == true && path[task-1] == path[task] && path[task+1] != path[task] && task != junction) { |
Helvis | 22:91526c8d15ba | 425 | |
Helvis | 17:8a8758bfe3c5 | 426 | acceleration = true; |
Helvis | 21:41997651337a | 427 | longMove = true; |
Helvis | 17:8a8758bfe3c5 | 428 | deceleration = false; |
Helvis | 22:91526c8d15ba | 429 | |
Helvis | 18:3309329d5f42 | 430 | }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0)) { |
Helvis | 22:91526c8d15ba | 431 | |
Helvis | 12:75d0291a9785 | 432 | acceleration = true; |
Helvis | 21:41997651337a | 433 | longMove = true; |
Helvis | 15:0ae61d3d199f | 434 | deceleration = false; |
Helvis | 22:91526c8d15ba | 435 | |
Helvis | 12:75d0291a9785 | 436 | }else{ |
Helvis | 17:8a8758bfe3c5 | 437 | acceleration = false; |
Helvis | 15:0ae61d3d199f | 438 | deceleration = false; |
Helvis | 17:8a8758bfe3c5 | 439 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 12:75d0291a9785 | 440 | } |
Helvis | 23:accd07ca2da7 | 441 | |
Helvis | 23:accd07ca2da7 | 442 | //Deceleration |
Helvis | 18:3309329d5f42 | 443 | if (reverse == true && ( path[task-1] != path[task] || task == junction ) && avgSpeed > 2.4f*MOVE_SPEED) { |
Helvis | 22:91526c8d15ba | 444 | |
Helvis | 17:8a8758bfe3c5 | 445 | deceleration = true; |
Helvis | 17:8a8758bfe3c5 | 446 | acceleration = false; |
Helvis | 19:6cd6cc5c8b4c | 447 | lastMove = true; |
Helvis | 21:41997651337a | 448 | longMove = false; |
Helvis | 22:91526c8d15ba | 449 | |
Helvis | 17:8a8758bfe3c5 | 450 | }else if (reverse == false && path[task+1] != path[task] && avgSpeed > 2.4f*MOVE_SPEED) { |
Helvis | 22:91526c8d15ba | 451 | |
Helvis | 12:75d0291a9785 | 452 | deceleration = true; |
Helvis | 15:0ae61d3d199f | 453 | acceleration = false; |
Helvis | 19:6cd6cc5c8b4c | 454 | lastMove = true; |
Helvis | 21:41997651337a | 455 | longMove = false; |
Helvis | 22:91526c8d15ba | 456 | |
Helvis | 12:75d0291a9785 | 457 | }else{ |
Helvis | 12:75d0291a9785 | 458 | deceleration = false; |
Helvis | 12:75d0291a9785 | 459 | } |
Helvis | 12:75d0291a9785 | 460 | |
Helvis | 17:8a8758bfe3c5 | 461 | //printf("\nSchritt: %d Befehl: %d Reverse: %d acceleration: %d deceleration: %d\n", task, path[task], reverse, acceleration, deceleration); |
Helvis | 17:8a8758bfe3c5 | 462 | //printf("\nVor: %d Nach: %d Speed: %f\n\n", path[task+1], path[task-1], avgSpeed); |
Helvis | 17:8a8758bfe3c5 | 463 | |
Helvis | 12:75d0291a9785 | 464 | move(); |
Helvis | 12:75d0291a9785 | 465 | break; |
Helvis | 12:75d0291a9785 | 466 | case 2: |
Helvis | 12:75d0291a9785 | 467 | rotateL(); |
Helvis | 12:75d0291a9785 | 468 | break; |
Helvis | 12:75d0291a9785 | 469 | case 3: |
Helvis | 12:75d0291a9785 | 470 | rotateR(); |
Helvis | 12:75d0291a9785 | 471 | break; |
Helvis | 12:75d0291a9785 | 472 | case 4: |
Helvis | 23:accd07ca2da7 | 473 | |
Helvis | 23:accd07ca2da7 | 474 | if (reverse == false && path[task] == 4 && path[task+1] == 1) { |
Helvis | 23:accd07ca2da7 | 475 | |
Helvis | 23:accd07ca2da7 | 476 | acceleration = true; |
Helvis | 23:accd07ca2da7 | 477 | longMove = true; |
Helvis | 23:accd07ca2da7 | 478 | deceleration = false; |
Helvis | 23:accd07ca2da7 | 479 | |
Helvis | 23:accd07ca2da7 | 480 | }else{ |
Helvis | 23:accd07ca2da7 | 481 | acceleration = false; |
Helvis | 23:accd07ca2da7 | 482 | deceleration = false; |
Helvis | 23:accd07ca2da7 | 483 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 23:accd07ca2da7 | 484 | } |
Helvis | 23:accd07ca2da7 | 485 | |
Helvis | 23:accd07ca2da7 | 486 | if (reverse == false && path[task-1] == 1 && path[task] == 4) { |
Helvis | 23:accd07ca2da7 | 487 | |
Helvis | 23:accd07ca2da7 | 488 | deceleration = true; |
Helvis | 23:accd07ca2da7 | 489 | acceleration = false; |
Helvis | 23:accd07ca2da7 | 490 | lastMove = true; |
Helvis | 23:accd07ca2da7 | 491 | longMove = false; |
Helvis | 23:accd07ca2da7 | 492 | |
Helvis | 23:accd07ca2da7 | 493 | }else{ |
Helvis | 23:accd07ca2da7 | 494 | deceleration = false; |
Helvis | 23:accd07ca2da7 | 495 | } |
Helvis | 23:accd07ca2da7 | 496 | |
Helvis | 23:accd07ca2da7 | 497 | if (reverse == false && path[task+1] == 0) { |
Helvis | 23:accd07ca2da7 | 498 | |
Helvis | 23:accd07ca2da7 | 499 | lastMove = true; |
Helvis | 23:accd07ca2da7 | 500 | |
Helvis | 23:accd07ca2da7 | 501 | } |
Helvis | 23:accd07ca2da7 | 502 | |
Helvis | 23:accd07ca2da7 | 503 | |
Helvis | 23:accd07ca2da7 | 504 | moveHalf(); |
Helvis | 23:accd07ca2da7 | 505 | break; |
Helvis | 23:accd07ca2da7 | 506 | case 5: |
Helvis | 23:accd07ca2da7 | 507 | turnL(); |
Helvis | 23:accd07ca2da7 | 508 | break; |
Helvis | 23:accd07ca2da7 | 509 | case 6: |
Helvis | 23:accd07ca2da7 | 510 | turnR(); |
Helvis | 23:accd07ca2da7 | 511 | break; |
Helvis | 23:accd07ca2da7 | 512 | case 7: |
Helvis | 23:accd07ca2da7 | 513 | break; |
Helvis | 12:75d0291a9785 | 514 | } |
Helvis | 1:2b5f79285a3e | 515 | } |
Helvis | 1:2b5f79285a3e | 516 | |
Helvis | 1:2b5f79285a3e | 517 | int Motion::finish() { |
Helvis | 12:75d0291a9785 | 518 | |
Helvis | 12:75d0291a9785 | 519 | return line; |
Helvis | 1:2b5f79285a3e | 520 | } |
Helvis | 11:2960fc540616 | 521 | |
Helvis | 12:75d0291a9785 | 522 | |
Helvis | 13:845e49f20426 | 523 | void Motion::accel(float targetSpeed) { |
Helvis | 13:845e49f20426 | 524 | |
Helvis | 13:845e49f20426 | 525 | |
Helvis | 12:75d0291a9785 | 526 | avgSpeed = ( abs(controller.getSpeedLeft()) + abs(controller.getSpeedRight()) ) * 0.5f; |
Helvis | 12:75d0291a9785 | 527 | |
Helvis | 19:6cd6cc5c8b4c | 528 | if ( avgSpeed < targetSpeed && deceleration == false && acceleration == false) { |
Helvis | 12:75d0291a9785 | 529 | |
Helvis | 16:c5b864804632 | 530 | actSpeed = ACCEL_CONST * t.read()*60.0f; |
Helvis | 19:6cd6cc5c8b4c | 531 | |
Helvis | 21:41997651337a | 532 | }else if(avgSpeed > targetSpeed+5.0f && deceleration == false && acceleration == false && longMove == false) { |
Helvis | 21:41997651337a | 533 | |
Helvis | 21:41997651337a | 534 | actSpeed = 55.0f; |
Helvis | 21:41997651337a | 535 | |
Helvis | 22:91526c8d15ba | 536 | }else if (avgSpeed < targetSpeed*2.8f && acceleration == true) { |
Helvis | 12:75d0291a9785 | 537 | |
Helvis | 22:91526c8d15ba | 538 | actSpeed = ACCEL_CONST * t.read()*60.0f; |
Helvis | 16:c5b864804632 | 539 | |
Helvis | 22:91526c8d15ba | 540 | }else if (avgSpeed > targetSpeed && deceleration == true) { |
Helvis | 11:2960fc540616 | 541 | |
Helvis | 22:91526c8d15ba | 542 | actSpeed = targetSpeed*2.8f - ACCEL_CONST * t.read()*60.0f; |
Helvis | 22:91526c8d15ba | 543 | } |
Helvis | 12:75d0291a9785 | 544 | } |
Helvis | 12:75d0291a9785 | 545 |