Tobias Berger / Mbed 2 deprecated Robocode

Tobis Programm forked to not destroy your golden files

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/movement.cpp@20:859c7aebf8a6, 2017-03-02 (annotated)

Committer:
cittecla
Date:
Thu Mar 02 16:20:41 2017 +0000
Revision:
20:859c7aebf8a6
Parent:
19:baa8371d55b4
Child:
21:cb40c0533bc2
Movement implemented;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 18:a82994e67297 1 /**
cittecla 18:a82994e67297 2 * Movement function library
cittecla 18:a82994e67297 3 * Handels Movement of the Robot
cittecla 18:a82994e67297 4 **/
cittecla 18:a82994e67297 5
cittecla 18:a82994e67297 6
cittecla 18:a82994e67297 7 #include "mbed.h"
cittecla 19:baa8371d55b4 8 #include "move.h"
cittecla 18:a82994e67297 9
cittecla 19:baa8371d55b4 10 static double time_counter = 0.0f;
cittecla 19:baa8371d55b4 11 static double timer0 = 0.0f;
cittecla 20:859c7aebf8a6 12 static float PID_correction_value = 1.0f;
cittecla 19:baa8371d55b4 13
cittecla 19:baa8371d55b4 14 static float power_value_slow = 0.6f;
cittecla 19:baa8371d55b4 15 static float power_value_medium = 0.7f;
cittecla 19:baa8371d55b4 16 static float power_value_fast = 0.8f;
cittecla 19:baa8371d55b4 17 static float ludicrous_value = 1.0f;
cittecla 19:baa8371d55b4 18
cittecla 20:859c7aebf8a6 19
cittecla 19:baa8371d55b4 20 //motor stuff
cittecla 19:baa8371d55b4 21 DigitalOut enableMotorDriver(PB_2);
cittecla 19:baa8371d55b4 22 PwmOut pwmL(PA_8);
cittecla 19:baa8371d55b4 23 PwmOut pwmR(PA_9);
cittecla 18:a82994e67297 24
cittecla 18:a82994e67297 25 void move_init()
cittecla 18:a82994e67297 26 {
cittecla 19:baa8371d55b4 27 pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
cittecla 19:baa8371d55b4 28 pwmR.period(0.00005f);
cittecla 19:baa8371d55b4 29
cittecla 19:baa8371d55b4 30 pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
cittecla 19:baa8371d55b4 31 pwmR = 0.5f;
cittecla 19:baa8371d55b4 32 enableMotorDriver = 0;
cittecla 18:a82994e67297 33 }
cittecla 18:a82994e67297 34
cittecla 20:859c7aebf8a6 35 void move_forward_slow(float correction_value)
cittecla 18:a82994e67297 36 {
cittecla 19:baa8371d55b4 37 pwmL = power_value_slow;
cittecla 19:baa8371d55b4 38 pwmR = 1-power_value_slow*correction_value;
cittecla 19:baa8371d55b4 39 enableMotorDriver = 1;
cittecla 18:a82994e67297 40 }
cittecla 18:a82994e67297 41
cittecla 20:859c7aebf8a6 42 void move_forward_medium(float correction_value)
cittecla 18:a82994e67297 43 {
cittecla 19:baa8371d55b4 44 pwmL = power_value_medium;
cittecla 19:baa8371d55b4 45 pwmR = 1-power_value_medium*correction_value;
cittecla 19:baa8371d55b4 46 enableMotorDriver = 1;
cittecla 18:a82994e67297 47 }
cittecla 18:a82994e67297 48
cittecla 20:859c7aebf8a6 49 void move_forward_fast(float correction_value)
cittecla 18:a82994e67297 50 {
cittecla 19:baa8371d55b4 51 pwmL = power_value_fast;
cittecla 19:baa8371d55b4 52 pwmR = 1-power_value_fast*correction_value;
cittecla 19:baa8371d55b4 53 enableMotorDriver = 1;
cittecla 18:a82994e67297 54 }
cittecla 18:a82994e67297 55
cittecla 20:859c7aebf8a6 56 void move_backward_slow(float correction_value)
cittecla 18:a82994e67297 57 {
cittecla 19:baa8371d55b4 58 pwmL = 1-power_value_slow*correction_value;
cittecla 19:baa8371d55b4 59 pwmR = power_value_slow;
cittecla 19:baa8371d55b4 60 enableMotorDriver = 1;
cittecla 18:a82994e67297 61 }
cittecla 18:a82994e67297 62
cittecla 20:859c7aebf8a6 63 void move_backward_medium(float correction_value)
cittecla 18:a82994e67297 64 {
cittecla 19:baa8371d55b4 65 pwmL = 1-power_value_slow*correction_value;
cittecla 19:baa8371d55b4 66 pwmR = power_value_slow;
cittecla 19:baa8371d55b4 67 enableMotorDriver = 1;
cittecla 18:a82994e67297 68 }
cittecla 18:a82994e67297 69
cittecla 20:859c7aebf8a6 70 void move_backward_fast(float correction_value)
cittecla 18:a82994e67297 71 {
cittecla 19:baa8371d55b4 72 pwmL = 1-power_value_slow*correction_value;
cittecla 19:baa8371d55b4 73 pwmR = power_value_slow;
cittecla 19:baa8371d55b4 74 enableMotorDriver = 1;
cittecla 19:baa8371d55b4 75 }
cittecla 18:a82994e67297 76
cittecla 19:baa8371d55b4 77 void stop_movement()
cittecla 19:baa8371d55b4 78 {
cittecla 19:baa8371d55b4 79 enableMotorDriver = 1;
cittecla 18:a82994e67297 80 }
cittecla 18:a82994e67297 81
cittecla 20:859c7aebf8a6 82 void sync_movement(bool speed, bool direction)
cittecla 20:859c7aebf8a6 83 // PID correction Value calcualtion
cittecla 18:a82994e67297 84
cittecla 20:859c7aebf8a6 85
cittecla 20:859c7aebf8a6 86
cittecla 20:859c7aebf8a6 87
cittecla 20:859c7aebf8a6 88
cittecla 20:859c7aebf8a6 89
cittecla 20:859c7aebf8a6 90
cittecla 20:859c7aebf8a6 91
cittecla 20:859c7aebf8a6 92 // Call movement:
cittecla 20:859c7aebf8a6 93 // direction 0 = backward, direction 1 = forward
cittecla 20:859c7aebf8a6 94 // speed 0 = slow, speed 1 = medium
cittecla 20:859c7aebf8a6 95 {
cittecla 20:859c7aebf8a6 96 if(direction && speed) {
cittecla 20:859c7aebf8a6 97 move_forward_medium(PID_correction_value);
cittecla 20:859c7aebf8a6 98 }
cittecla 20:859c7aebf8a6 99 if(direction && !speed) {
cittecla 20:859c7aebf8a6 100 move_forward_slow(PID_correction_value);
cittecla 20:859c7aebf8a6 101 }
cittecla 20:859c7aebf8a6 102 if(!direction && speed) {
cittecla 20:859c7aebf8a6 103 move_backward_medium(PID_correction_value);
cittecla 20:859c7aebf8a6 104 }
cittecla 20:859c7aebf8a6 105 if(!direction && !speed {
cittecla 20:859c7aebf8a6 106 move_backward_slow(PID_correction_value);
cittecla 20:859c7aebf8a6 107 }
cittecla 20:859c7aebf8a6 108 }
cittecla 20:859c7aebf8a6 109
cittecla 20:859c7aebf8a6 110 void termiante_sync_movement(){
cittecla 20:859c7aebf8a6 111 PID_correction_value = 1.0f;
cittecla 20:859c7aebf8a6 112 }
cittecla 20:859c7aebf8a6 113