final cup
Dependencies: HMC6352 PID mbed
main.cpp
- Committer:
- akudohune
- Date:
- 2013-04-29
- Revision:
- 0:2eebd0301c66
File content as of revision 0:2eebd0301c66:
#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); } }