Justin Eng
Spring 2014, ECE 4180 project, Georgia Institute of Technolgoy. This is the human driver (RF controller) program for the Robotics Cat and Mouse program.
Dependencies: ADXL345_I2C_NEST HMC6352 IMUfilter ITG3200_NEST USBHost mbed-rtos mbed
Fork of
Project
by 
Ganesh Subramaniam
Revision 6:3fb9f96765f6, committed 2014-04-30
- Comitter:
- Strikewolf
- Date:
- Wed Apr 30 12:23:04 2014 +0000
- Parent:
- 5:210cd333f770
- Commit message:
- Final product before demo
Changed in this revision
diff -r 210cd333f770 -r 3fb9f96765f6 ADXL345_I2C.lib --- a/ADXL345_I2C.lib Wed Apr 30 05:53:51 2014 +0000 +++ b/ADXL345_I2C.lib Wed Apr 30 12:23:04 2014 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/peterswanson87/code/ADXL345_I2C/#7e41b9136e7a +http://mbed.org/users/Strikewolf/code/ADXL345_I2C_NEST/#7e41b9136e7a
diff -r 210cd333f770 -r 3fb9f96765f6 AI.cpp
--- a/AI.cpp Wed Apr 30 05:53:51 2014 +0000
+++ b/AI.cpp Wed Apr 30 12:23:04 2014 +0000
@@ -40,7 +40,9 @@
// get away from user before starting game
pc.printf("Getting head start (straight)...\n\r");
- wait(5);
+ gyroDriveStraight(0.8, false, 5000);
+ //wait(5);
+
// gyroDriveStraight(0.7, false, 10000);
// pc.printf("Getting head start (turn right)...\n\r");
// centerTurnRight(90);
diff -r 210cd333f770 -r 3fb9f96765f6 AIControl.h
--- a/AIControl.h Wed Apr 30 05:53:51 2014 +0000
+++ b/AIControl.h Wed Apr 30 12:23:04 2014 +0000
@@ -76,11 +76,12 @@
}
//Turn left about the center
-void centerTurnLeft(int delta_degrees)
+void centerTurnLeft(bool gameRun)
{
//Reset the filter and re-init the IMU
imuFilter.reset();
rpy_init();
+ int delta_degrees = 0;
//So there's this weird thing where the gyro treats left turns as POSITIVE degrees...
float initial = toDegrees(imuFilter.getYaw());
@@ -91,20 +92,25 @@
//Continue to turn to target
while (!gameOver) {
setTurnLeft(0.6);
+ if(gameRun) {
+ receivePosition(NULL);
+ }
sample = toDegrees(imuFilter.getYaw());
wait(0.02);
- if(sample > target - 5)
+ if((sonar3.read()*100) > (SONAR_STOP+6))
break;
}
stop();
}
//Turn right about the center
-void centerTurnRight(int delta_degrees)
+void centerTurnRight(bool gameRun)
{
//Reset the filter and re-init the IMU
imuFilter.reset();
rpy_init();
+
+ int delta_degrees = 0;
//So there's this weird thing where the gyro treats right turns as NEGATIVE degrees...
float initial = toDegrees(imuFilter.getYaw());
@@ -116,15 +122,18 @@
//Continue to turn to target
while (!gameOver) {
setTurnRight(0.6);
+ if(gameRun) {
+ receivePosition(NULL);
+ }
sample = toDegrees(imuFilter.getYaw());
wait(0.02);
- if(sample < target)
+ if((sonar1.read()*100) > (SONAR_STOP+6))
break;
}
stop();
}
-void checkSonars()
+void checkSonars(bool gameRun)
{
//Collision Detection
// read all sonar sensors
@@ -133,16 +142,16 @@
float s3 = sonar3.read() * 100;
// check if obstacle is near and adjust
- pc.printf("%.2f, %.2f, %.2f, %f\n\r", s1, s2, s3, SONAR_STOP);
+ // pc.printf("%.2f, %.2f, %.2f, %f\n\r", s1, s2, s3, SONAR_STOP);
if(s2 < SONAR_STOP) {
if(s1 <= s3) {
- centerTurnRight(90);
+ centerTurnRight(gameRun);
} else {
- centerTurnLeft(90);
+ centerTurnLeft(gameRun);
}
- imuFilter.reset();
- rpy_init();
+ //imuFilter.reset();
+ //rpy_init();
}
}
@@ -162,7 +171,7 @@
while (timer.read_ms() < ms) {
timer.stop();
- //checkSonars();
+ checkSonars(gameRun);
if(gameRun) {
receivePosition(NULL);
}
@@ -170,14 +179,14 @@
imuFilter.computeEuler();
sample = toDegrees(imuFilter.getYaw());
-/*
+
//Drift Correction
sample = sample + float(timer.read_ms() / 800);
// pc.printf("%f :::", sample);
if (sample < 3) {
// pc.printf("Steer Left\r\n");
- leftMotorPWM = speed - 0.2;
+ leftMotorPWM = speed;
rightMotorPWM = speed;
leftMotor1 = 0;
leftMotor2 = 1;
@@ -186,7 +195,7 @@
} else if (sample > -3) {
// pc.printf("Steer Right \r\n");
leftMotorPWM = speed;
- rightMotorPWM = speed - 0.18;
+ rightMotorPWM = speed - 0.2;
leftMotor1 = 0;
leftMotor2 = 1;
rightMotor1 = 0;
@@ -194,7 +203,7 @@
} else {
// pc.printf("Straight\r\n");
setMove(speed, false);
- }*/
+ }
}
stop();
}
diff -r 210cd333f770 -r 3fb9f96765f6 AIPosition.h
--- a/AIPosition.h Wed Apr 30 05:53:51 2014 +0000
+++ b/AIPosition.h Wed Apr 30 12:23:04 2014 +0000
@@ -48,8 +48,6 @@
double g_temp = imuFilter.getYaw();
// determine direction we are facing and add to that direction
- //y_position += y_temp;
- //x_position += y_temp * tan(g_temp);
double dx = 0;
double dy = 0;
QUADRANT quadrant;
@@ -81,13 +79,10 @@
break;
}
+ // add to total position
x_position += dx;
y_position += dy;
- // pc.printf("sin(g): %f, cos(g): %f\n\r", sin(g_temp), cos(g_temp));
- // pc.printf("DEBUG: dx: %f, dy: %f, gyro: %f, quadrant: %d\n\r", dx, dy, toDegrees(g_temp), quadrant);
- // pc.printf("x: %f, y: %f, dx: %f, dy: %f, g: %f, q: %d\n\r", x_position, y_position, dx, dy, toDegrees(g_temp), quadrant);
-
// check if human car is close enough to end game
gameOver = isGameOver(x_hum, y_hum, x_position, y_position);
if(gameOver) {
@@ -95,6 +90,10 @@
xbee.putc('d');
pc.printf("Game over sent!\n\r");
+ // sanity
+ for(int i = 0; i < 500; i++)
+ xbee.putc('d');
+
// go to end game routine
endGame();
}
@@ -122,17 +121,12 @@
void receivePosition(void const *)
{
+ // temp variables
char buffer[SERIAL_BUFFER_SIZE];
int index = 0;
int xt = 0;
int yt = 0;
- // clear any garbage
- // xbee.getc();
- //xbee.getc();
-
- // while(!gameOver) {
-
// wait for start character
while(xbee.readable() && xbee.getc() != 'x' && !gameOver);
diff -r 210cd333f770 -r 3fb9f96765f6 GameCode.h
--- a/GameCode.h Wed Apr 30 05:53:51 2014 +0000
+++ b/GameCode.h Wed Apr 30 12:23:04 2014 +0000
@@ -1,6 +1,7 @@
-#define THRESHOLD 500
+#define THRESHOLD 1000
Serial pc(USBTX, USBRX);
+void stop();
bool gameOver = false;
@@ -17,5 +18,6 @@
void endGame()
{
pc.printf("GAME OVER\n\r");
+ stop();
exit(1);
}
\ No newline at end of file
diff -r 210cd333f770 -r 3fb9f96765f6 ITG3200.lib --- a/ITG3200.lib Wed Apr 30 05:53:51 2014 +0000 +++ b/ITG3200.lib Wed Apr 30 12:23:04 2014 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/aberk/code/ITG3200/#9e6042257318 +http://mbed.org/users/Strikewolf/code/ITG3200_NEST/#9e6042257318