File content as of revision 7:22392ed60534:

#include <cmath>
#include "Motion.h"

using namespace std;

const float Motion::LEFT_MID_VAL = 41.73f; //44.73
const float Motion::RIGHT_MID_VAL = 44.03f; //47.03
const float Motion::KP = 2.5;
const float Motion::KD = 0.0f;
const int Motion::MOVE_DIST = 1605;
const float Motion::MOVE_SPEED = 50.0f;


Motion::Motion(Controller& controller, EncoderCounter& counterLeft, 
                EncoderCounter& counterRight, IRSensor& irSensorL,
                IRSensor& irSensorC, IRSensor& irSensorR, AnalogIn& lineSensor,
                DigitalOut& enableMotorDriver) :
                controller(controller), counterLeft(counterLeft),
                counterRight(counterRight), irSensorL(irSensorL),
                irSensorC(irSensorC), irSensorR(irSensorR), lineSensor(lineSensor),
                enableMotorDriver(enableMotorDriver) {}
               
Motion::~Motion() {}

/**
 * Eine Feldstrecke druchführen
 */
void Motion::move() {
        
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        speedLeft = 50.0f;
        speedRight = -50.0f;
        
        controller.setDesiredSpeedLeft(MOVE_SPEED);
        controller.setDesiredSpeedRight(-MOVE_SPEED);
        
        while ((countsL - countsLOld)  < MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
            distanceC = irSensorC.readC();
            
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
            
                control();
            
            if ((distanceC) < 40.0f) {
                countsLOld = countsL;
                countsROld = countsR;
                while ((countsL - countsLOld)  <  70 || (countsR - countsROld) > -70) {
                    countsL = counterLeft.read();
                    countsR = counterRight.read(); 
                }
                stop();
                break;    
            }else if ( ((countsL - countsLOld)  >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 150.0f) && (distanceC > 40.0f)) {
                countsLOld += 500;
                countsROld += 500;   
            }
            
        }    
}
/**
 * Eine Feldstrecke mit höherer Geschwindigkeit fahren
 */
void Motion::moveFast() {
        
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        speedLeft = 100.0f;
        speedRight = -100.0f;
        
        controller.setDesiredSpeedLeft(speedLeft);
        controller.setDesiredSpeedRight(speedRight);
        
        while ((countsL - countsLOld)  < 1647 || (countsR - countsROld) > -1647) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
            distanceC = irSensorC.readC();
            
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
            
            control();
            
            if (distanceC < 40.0f) {
                stop();
                break;    
            }
        }    
}
/**
 * Eine Feldstrecke mit überprüfung der Ziellinie fahren
 */
void Motion::scanMove() {
        
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        speedLeft = 50.0f;
        speedRight = -50.0f;
        
        controller.setDesiredSpeedLeft(MOVE_SPEED);
        controller.setDesiredSpeedRight(-MOVE_SPEED);
        
        distanceC = irSensorC.readC();
        
        while ((countsL - countsLOld)  <  MOVE_DIST || (countsR - countsROld) > -MOVE_DIST) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
            distanceC = irSensorC.readC();
            
            if (enableMotorDriver == 0) {
                enableMotorDriver = 1;
            }
            
            if (lineSensor.read() == 1.0f) {
                line = 1;  
            }
            
                control();
            
            if ((distanceC) < 40.0f) {
                countsLOld = countsL;
                countsROld = countsR;
                while ((countsL - countsLOld)  <  70 || (countsR - countsROld) > -70) {
                    countsL = counterLeft.read();
                    countsR = counterRight.read(); 
                }
                stop();
                break;    
            }else if ( ((countsL - countsLOld)  >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) {
                countsLOld += 500;
                countsROld += 500;   
            }
        }  
}
/**
 * 90° Rotation nach Links
 */
void Motion::rotateL() {
    
        stop();
        controller.counterReset();
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        controller.setDesiredSpeedLeft(-20.0f);
        controller.setDesiredSpeedRight(-20.0f);
        
        while ((countsL - countsLOld)  > -862 || (countsR - countsROld) > -862) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
            
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
        }    
        
        stop();
}
    
/**
 * 90° Rotation nach Rechts
 */
void Motion::rotateR() {
    
        stop();
        controller.counterReset();
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        controller.setDesiredSpeedLeft(20.0f);
        controller.setDesiredSpeedRight(20.0f);
        
        while ((countsL - countsLOld)  < 862 || (countsR - countsROld) < 862) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
        
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
        }    
        
        stop();
}
/**
 * Links abbiegen
 */
void Motion::turnL() {     
        
        controller.counterReset();
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        controller.setDesiredSpeedLeft(17.0f);
        controller.setDesiredSpeedRight(-83.0f);  
        
        while ((countsL - countsLOld)  < 440 || (countsR - countsROld) > -2148) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
        
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
        }         
}
/**
 * Rechts abbiegen
 */
void Motion::turnR() {    
        
        controller.counterReset();
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        controller.setDesiredSpeedLeft(83.0f);
        controller.setDesiredSpeedRight(-17.0f);
        
        while ((countsL - countsLOld)  < 2148 || (countsR - countsROld) > -440) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
        
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
        }        
}
/**
 * Motor Stop
 */
void Motion::stop() {
        
        controller.setDesiredSpeedLeft(0.0f);
        controller.setDesiredSpeedRight(0.0f);
        
        float sL = controller.getSpeedLeft();
        float ticks = 0.08f*sL;
        
        waitStop = 0;
        while( waitStop < ticks) {
            waitStop+= 1;
        }
}
/**
 * 180° Rotation
 */
void Motion::rotate180() {
    
        stop();
        controller.counterReset();
        countsLOld = counterLeft.read();
        countsROld = counterRight.read();
        countsL = counterLeft.read();
        countsR = counterRight.read();
        
        controller.setDesiredSpeedLeft(-50.0f);
        controller.setDesiredSpeedRight(-50.0f);
        
        while ((countsL - countsLOld)  > -1723 || (countsR - countsROld) > -1723) {
            
            countsL = counterLeft.read();
            countsR = counterRight.read();
        
            if (enableMotorDriver == 0) {enableMotorDriver = 1;}
        }    
        
        stop();
}


void Motion::control() {
        
    float wallLeft = 48.73f;
    float wallRight = 51.03f;
    
    distanceL = irSensorL.readL();
    distanceR = irSensorR.readR();
    
    
    if (distanceL < wallLeft && distanceR < wallRight) {
        
        errorP = distanceL - distanceR + 2.30f;

    }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) {
            
        errorP = distanceL - LEFT_MID_VAL;
               
    }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) {
            
        errorP = RIGHT_MID_VAL - distanceR;
        
    }else{
        
        errorP = 0; 
        errorD = 0; 
    }
    
    errorD = errorP - oldErrorP;  
    
    oldErrorP = errorP;
    
    if (abs(errorP) < 80.0f) {
        totalError = KP*errorP + KD*errorD;
    }else{
        totalError = 0;
    }
    
    controller.setDesiredSpeedLeft(speedLeft - totalError);
    controller.setDesiredSpeedRight(speedRight - totalError);
}

void Motion::runTask(int task) {
      
    switch(task) {
        
        case 1:
            move();
            break;
        case 2:
            rotateL();
            break;
        case 3:
            rotateR();
            break;
        case 4:
            moveFast();
            break;  
        case 5:
            stop();
            break;  
    }
}

int Motion::finish() {
    
    return line;   
}