final cup
Dependencies: HMC6352 PID mbed
Diff: main.cpp
- Revision:
- 0:2eebd0301c66
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Apr 29 06:39:53 2013 +0000 @@ -0,0 +1,586 @@ +#include <math.h> +#include <sstream> +#include "mbed.h" +#include "HMC6352.h" +#include "PID.h" +#include "main.h" + + + +void PidUpdate() +{ + static uint8_t Fflag = 0; + + inputPID = (((int)(compass.sample() - ((standard + standTu) * 10.0) + 5400.0) % 3600) / 10.0); + + //pc.printf("%f\n",timer1.read()); + pid.setProcessValue(inputPID); + //timer1.reset(); + + compassPID = -(pid.compute()); + + if(!Fflag){ + Fflag = 1; + compassPID = 0; + } + //pc.printf("%f\n",standard); + //pc.printf("%d\n",diff); + //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); + //pc.printf("%d\n",(int)compassPID); + //pc.printf("%d\t%d\n",Distance,direction); + //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); +} + +void move(int vxx, int vyy, int vss) +{ + double motVal[MOT_NUM] = {0}; + + motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); + motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); + motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); + motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); + + for(uint8_t i = 0 ; i < MOT_NUM ; i++){ + if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; + else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; + speed[i] = (int)motVal[i]; + } +} + +/*********** Serial interrupt ***********/ + +void Tx_interrupt() +{ + array(speed[0],speed[1],speed[2],speed[3]); + driver.printf("%s",StringFIN.c_str()); + //pc.printf("%s",StringFIN.c_str()); +} +/* +void Rx_interrupt() +{ + if(driver.readable()){ + //pc.printf("%d\n",driver.getc()); + } +}*/ + + +/*********** Serial interrupt **********/ + + +void init() +{ + int scanfSuccess; + int printfSuccess; + int closeSuccess; + int close2Success; + FILE *fp; + + compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); + + StartButton.mode(PullUp); + CalibEnterButton.mode(PullUp); + CalibExitButton.mode(PullUp); + EEPROMButton.mode(PullUp); + + driver.baud(BAUD_RATE); + device2.baud(BAUD_RATE2); + wait_ms(MOTDRIVER_WAIT);/////////////////////////////////////////////////////////////// + driver.printf("1F0002F0003F0004F000\r\n"); + device2.printf("START"); + + driver.attach(&Tx_interrupt, Serial::TxIrq); + //driver.attach(&Rx_interrupt, Serial::RxIrq); + device2.attach(&dev_rx,Serial::RxIrq); + device2.attach(&dev_tx,Serial::TxIrq); + + mbedleds = 1; + + while(StartButton){ + if(!CalibEnterButton){ + mbedleds = 2; + compass.setCalibrationMode(ENTER); + while(CalibExitButton); + compass.setCalibrationMode(EXIT); + wait(BUT_WAIT); + mbedleds = 4; + } + + if(!EEPROMButton){ + fp = fopen("/local/out.txt", "r"); + if(fp == NULL){ + wait(BUT_WAIT); + mbedleds = 3; + }else{ + scanfSuccess = fscanf(fp, "%lf",&standard); + if(scanfSuccess == EOF){ + wait(BUT_WAIT); + mbedleds = 7; + }else{ + closeSuccess = fclose(fp); + if(closeSuccess == EOF){ + wait(BUT_WAIT); + mbedleds = 15; + }else{ + wait(BUT_WAIT); + mbedleds = 8; + } + } + } + } + + if(!CalibExitButton){ + standard = compass.sample() / 10.0; + + fp = fopen("/local/out.txt", "w"); + if(fp == NULL){ + wait(BUT_WAIT); + mbedleds = 3; + }else{ + printfSuccess = fprintf(fp, "%f",standard); + if(printfSuccess == EOF){ + wait(BUT_WAIT); + mbedleds = 7; + }else{ + close2Success = fclose(fp); + if(close2Success == EOF){ + wait(BUT_WAIT); + mbedleds = 15; + }else{ + wait(BUT_WAIT); + mbedleds = 4; + } + } + } + } + } + + mbedleds = 0; + + pid.setInputLimits(0.0, 360.0); + pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); + pid.setBias(0.0); + pid.setMode(AUTO_MODE); + pid.setSetPoint(180.0); + + pidUpdata.attach(&PidUpdate, 0.06); + + //timer1.start(); + //Ctimer.start(); +} + +int main() +{ + int vx=0,vy=0,vs=0; + + init(); + + while(1){ + + hold_flag = 0; + vx = 0; + vy = 0; + vs = (int)compassPID; + + + /*************** Change state **************************/ + + if(state == HOLD){ + if(FRONT_SONIC < 100)hold_flag = 1; + + if(Distance > 140){ + mbedleds = 1; + state = HOME_WAIT; + }else if(!((direction == 0) || (direction == 15) || (direction == 1))){ + mbedleds = 4; + state = DIFFENCE; + }else if(!(Distance <= 30)){ + mbedleds = 4; + state = DIFFENCE; + } + }else{ + standTu = 0; + if(state == DIFFENCE){ + + if((direction == 0) && (Distance <= 10) && (IR_found)){ + mbedleds = 8; + state = HOLD; + }else if((Distance <= 140) && (IR_found)){ + mbedleds = 4; + state = DIFFENCE; + }else{ + if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ + if(IR_found){ + mbedleds = 4; + state = DIFFENCE; + } + }else if(diff > 15){ + mbedleds = 4; + state = DIFFENCE; + }else{ + mbedleds = 1; + state = HOME_WAIT; + } + } + + }else{ + if((direction == 0) && (Distance <= 10) && (IR_found)){ + mbedleds = 8; + state = HOLD; + }else if((Distance <= 120) && (IR_found)){ + mbedleds = 4; + state = DIFFENCE; + }else{ + if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ + if(IR_found){ + mbedleds = 4; + state = DIFFENCE; + } + }else if(diff > 15){ + mbedleds = 4; + state = DIFFENCE; + }else if((Distance <= 120) && (IR_found)){ + mbedleds = 2; + state = WARNING; + }else{ + mbedleds = 1; + state = HOME_WAIT; + } + } + } + } + /*************** Change state **************************/ + //pc.printf("%f\t%f\t%f\t%f\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); + + if(state == HOME_WAIT){ + if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 900.0)){ + if((LEFT_SONIC > 450.0) && (RIGHT_SONIC > 450.0)){ + vx = 0; + }else if(RIGHT_SONIC < 450.0){ + vx = (int)((RIGHT_SONIC - 450.0) * 0.01 - 10.0); + if(vx < -15)vx = -15; + }else if(LEFT_SONIC < 450.0){ + vx = (int)((450.0 - LEFT_SONIC ) * 0.01 + 10.0); + if(vx > 15)vx = 15; + } + + if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ + if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ + vy = 0; + }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ + vy = 4; + }else{ + vy = (int)(0.01 * (30.0 - BACK_SONIC) - 4); + if(vy < -10)vy = -10; + } + }else{ + if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ + vy = 0; + }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ + vy = 4; + }else{ + vy = (int)(0.01 * (130.0 - BACK_SONIC) - 4); + if(vy < -10)vy = -10; + } + } + }else if((RIGHT_SONIC + LEFT_SONIC) <= 900.0){ + if(BACK_SONIC < 100.0){ + if(RIGHT_SONIC > LEFT_SONIC){ + vx = 10; + vy = 0; + }else{ + vx = -10; + vy = 0; + } + }else if(BACK_SONIC < 200.0){ + if(RIGHT_SONIC > LEFT_SONIC){ + vx = 10; + vy = -4; + }else{ + vx = -10; + vy = -4; + } + }else{ + vx = 0; + vy = -10; + } + }else{ + if(BACK_SONIC > 500.0){ + if(RIGHT_SONIC > LEFT_SONIC){ + vx = 10; + vy = -5; + }else{ + vx = -10; + vy = -5; + } + } + } + }else if(state == DIFFENCE){ + if(direction == 6){ + + if(BACK_SONIC < 110.0){ + vy = 4; + }else if(BACK_SONIC > 500.0){ + vy = -10; + }else if(BACK_SONIC > 300.0){ + vy = -7; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(LEFT_SONIC < 700.0){ + vx = 15; + }else{ + if((RIGHT_SONIC < 150.0) || (RIGHT_SONIC == PING_ERROR)){ + vx = 10; + vy = -5; + }else{ + vx = 10; + vy = -5; + } + } + + }else if(direction == 10){ + /* + if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ + if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ + vy = 0; + }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ + vy = 4; + }else{ + vy = (int)(0.01 * (30.0 - BACK_SONIC) - 4); + if(vy < -10)vy = -10; + } + }else{ + if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ + vy = 0; + }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ + vy = 4; + }else{ + vy = (int)(0.01 * (130.0 - BACK_SONIC) - 4); + if(vy < -10)vy = -10; + } + } + + if(RIGHT_SONIC < 700.0){ + vx = -15; + }else{ + if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ + vx = -10; + vy = -5; + }else{ + vx = -10; + vy = -5; + } + } + */ + if(BACK_SONIC < 110.0){ + vy = 4; + }else if(BACK_SONIC > 500.0){ + vy = -10; + }else if(BACK_SONIC > 300.0){ + vy = -7; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(RIGHT_SONIC < 700.0){ + vx = -15; + }else{ + if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ + vx = -10; + vy = -5; + }else{ + vx = -10; + vy = -5; + } + } + }else if(direction == 4){ + + if(BACK_SONIC < 110.0){ + vy = 4; + }else if(BACK_SONIC > 500.0){ + vy = -10; + }else if(BACK_SONIC > 300.0){ + vy = -7; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(LEFT_SONIC < 700.0){ + vx = 15; + }else{ + if((RIGHT_SONIC < 150.0) || (RIGHT_SONIC == PING_ERROR)){ + vx = 10; + vy = -5; + }else{ + vx = 10; + vy = -5; + } + } + + }else if(direction == 12){ + + if(BACK_SONIC < 110.0){ + vy = 4; + }else if(BACK_SONIC > 500.0){ + vy = -10; + }else if(BACK_SONIC > 300.0){ + vy = -7; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(RIGHT_SONIC < 700.0){ + vx = -15; + }else{ + if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ + vx = -10; + vy = -5; + }else{ + vx = -10; + vy = -5; + } + } + + }else if(direction == 8){ + + if(LEFT_SONIC > RIGHT_SONIC){ + vx = -10; + }else{ + vx = 10; + } + vy = -5; + + }else if(direction == 2){ + /* + if((RIGHT_SONIC > 700.0) && (!(RIGHT_SONIC == PING_ERROR))){ + vx = 30; + }else{ + vx = 20; + } + */ + vx = 15; + if(BACK_SONIC < 130.0){ + //vy = 5; + } + /* + if(BACK_SONIC > 140.0){ + vy = -10; + }else if(BACK_SONIC < 110.0){ + vy = 5; + } + */ + }else if(direction == 14){ + /* + if((LEFT_SONIC > 700.0) && (!(LEFT_SONIC == PING_ERROR))){ + vx = -30; + }else{ + vx = -20; + } + */ + vx = -15; + + if(BACK_SONIC < 130.0){ + //vy = 5; + } + + /* + if(BACK_SONIC > 140.0){ + vy = -10; + }else if(BACK_SONIC < 110.0){ + vy = 5; + } + */ + }else if(direction == 1){ + + vx = 10; + + }else if(direction == 15){ + + vx = -10; + + }else if(direction == 0){ + + vx = 0; + vy = 10; + + }else{//error + + vx = 0; + vy = 0; + + } + }else if(state == WARNING){ + if(direction == 0){ + + vx = 0; + + }else if(direction == 1){ + + vx = 15; + + }else if(direction == 2){ + + vx = 20; + + }else if(direction == 14){ + + vx = -20; + + }else if(direction == 15){ + + vx = -15; + + } + + if((LEFT_SONIC > 320) && (RIGHT_SONIC > 320)){ + if(BACK_SONIC > 150.0){ + vy = -5; + }else if(BACK_SONIC < 110.0){ + vy = 5; + }else{ + vy = 0; + } + }else{ + if(BACK_SONIC > 110.0){ + vy = -5; + }else if(BACK_SONIC < 70.0){ + vy = 5; + }else{ + vy = 0; + } + } + }else if(state == HOLD){ + vy = 10; + if(FRONT_SONIC < 100){ + if(RIGHT_SONIC < LEFT_SONIC){ + if(BACK_SONIC > 500){ + vy = 0; + vs = 3; + } + }else{ + if(BACK_SONIC > 500){ + vy = 0; + vs = -3; + } + } + }else{ + if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 800.0)){ + standTu = (RIGHT_SONIC - LEFT_SONIC) / 40.0; + }else{ + standTu = 0; + } + } + } + //vx = (int)(vx * 0.8); + move(vx,vy,vs); + } +} \ No newline at end of file