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Bluetooth communication for flocking.
Fork of BeautifulMemeProject by
PsiSwarm/sensors.cpp@27:7eb032772bc2, 2016-01-31 (annotated)
- Committer:
- alanmillard
- Date:
- Sun Jan 31 15:14:54 2016 +0000
- Revision:
- 27:7eb032772bc2
- Parent:
- 7:ef9ab01b9e26
Flocking seems to work better now, however the robot controller sometimes "crashes" (unsure why).
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 0:8a5497a2e366 | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Source File |
jah128 | 0:8a5497a2e366 | 2 | * |
jah128 | 0:8a5497a2e366 | 3 | * File: sensors.cpp |
jah128 | 0:8a5497a2e366 | 4 | * |
jah128 | 6:ff3c66f7372b | 5 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 6:ff3c66f7372b | 6 | * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis |
jah128 | 0:8a5497a2e366 | 7 | * |
jah128 | 6:ff3c66f7372b | 8 | * Sensor bearing code by Alan Millard |
jah128 | 0:8a5497a2e366 | 9 | * |
jah128 | 6:ff3c66f7372b | 10 | * PsiSwarm Library Version: 0.3 |
jah128 | 6:ff3c66f7372b | 11 | * |
jah128 | 6:ff3c66f7372b | 12 | * October 2015 |
jah128 | 0:8a5497a2e366 | 13 | * |
jah128 | 0:8a5497a2e366 | 14 | */ |
jah128 | 0:8a5497a2e366 | 15 | |
jah128 | 0:8a5497a2e366 | 16 | #include "psiswarm.h" |
jah128 | 0:8a5497a2e366 | 17 | |
jah128 | 0:8a5497a2e366 | 18 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 19 | // Ultrasonic Sensor (SRF02) Functions |
jah128 | 0:8a5497a2e366 | 20 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 21 | |
jah128 | 0:8a5497a2e366 | 22 | // The ultrasonic sensor needs a start command to be sent: this is done by calling update_ultrasonic_measure(). |
jah128 | 0:8a5497a2e366 | 23 | // It can be set to automatically refresh at 10Hz by called enable_ultrasonic_ticker and disable with disabled_ultrasonic_ticker |
jah128 | 0:8a5497a2e366 | 24 | |
jah128 | 0:8a5497a2e366 | 25 | void enable_ultrasonic_ticker(){ |
jah128 | 0:8a5497a2e366 | 26 | ultrasonic_ticker.attach_us(update_ultrasonic_measure,100000); |
jah128 | 0:8a5497a2e366 | 27 | } |
jah128 | 0:8a5497a2e366 | 28 | |
jah128 | 0:8a5497a2e366 | 29 | void disable_ultrasonic_ticker(){ |
jah128 | 0:8a5497a2e366 | 30 | ultrasonic_ticker.detach(); |
jah128 | 0:8a5497a2e366 | 31 | } |
jah128 | 0:8a5497a2e366 | 32 | |
jah128 | 0:8a5497a2e366 | 33 | void update_ultrasonic_measure(){ |
jah128 | 0:8a5497a2e366 | 34 | if(waiting_for_ultrasonic == 0){ |
jah128 | 0:8a5497a2e366 | 35 | waiting_for_ultrasonic = 1; |
jah128 | 0:8a5497a2e366 | 36 | |
jah128 | 0:8a5497a2e366 | 37 | char command[2]; |
jah128 | 0:8a5497a2e366 | 38 | command[0] = 0x00; // Set the command register |
jah128 | 0:8a5497a2e366 | 39 | command[1] = 0x51; // Get result is centimeters |
jah128 | 0:8a5497a2e366 | 40 | primary_i2c.write(ULTRASONIC_ADDRESS, command, 2); // Send the command to start a ranging burst |
jah128 | 0:8a5497a2e366 | 41 | |
jah128 | 0:8a5497a2e366 | 42 | ultrasonic_timeout.attach_us(IF_read_ultrasonic_measure,70000); |
jah128 | 0:8a5497a2e366 | 43 | }else{ |
jah128 | 0:8a5497a2e366 | 44 | debug("WARNING: Ultrasonic sensor called too frequently.\n"); |
jah128 | 0:8a5497a2e366 | 45 | } |
jah128 | 0:8a5497a2e366 | 46 | } |
jah128 | 0:8a5497a2e366 | 47 | |
jah128 | 0:8a5497a2e366 | 48 | void IF_read_ultrasonic_measure(){ |
jah128 | 0:8a5497a2e366 | 49 | char command[1]; |
jah128 | 0:8a5497a2e366 | 50 | char result[2]; |
jah128 | 0:8a5497a2e366 | 51 | command[0] = 0x02; // The start address of measure result |
jah128 | 0:8a5497a2e366 | 52 | primary_i2c.write(ULTRASONIC_ADDRESS, command, 1, 1); // Send address to read a measure |
jah128 | 0:8a5497a2e366 | 53 | primary_i2c.read(ULTRASONIC_ADDRESS, result, 2); // Read two byte of measure |
jah128 | 0:8a5497a2e366 | 54 | ultrasonic_distance = (result[0]<<8)+result[1]; |
jah128 | 0:8a5497a2e366 | 55 | ultrasonic_distance_updated = 1; |
jah128 | 0:8a5497a2e366 | 56 | waiting_for_ultrasonic = 0; |
jah128 | 0:8a5497a2e366 | 57 | debug("US:%d cm\n",ultrasonic_distance); |
jah128 | 0:8a5497a2e366 | 58 | } |
jah128 | 0:8a5497a2e366 | 59 | |
jah128 | 0:8a5497a2e366 | 60 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 61 | // Additional Sensing Functions |
jah128 | 0:8a5497a2e366 | 62 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 63 | |
jah128 | 0:8a5497a2e366 | 64 | float get_temperature(){ |
jah128 | 0:8a5497a2e366 | 65 | return IF_read_from_temperature_sensor(); |
jah128 | 0:8a5497a2e366 | 66 | } |
jah128 | 0:8a5497a2e366 | 67 | |
jah128 | 0:8a5497a2e366 | 68 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 69 | // Voltage Sensing Functions |
jah128 | 0:8a5497a2e366 | 70 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 71 | |
jah128 | 0:8a5497a2e366 | 72 | float get_battery_voltage (){ |
jah128 | 0:8a5497a2e366 | 73 | float raw_value = vin_battery.read(); |
jah128 | 0:8a5497a2e366 | 74 | return raw_value * 4.95; |
jah128 | 0:8a5497a2e366 | 75 | } |
jah128 | 0:8a5497a2e366 | 76 | |
jah128 | 0:8a5497a2e366 | 77 | float get_current (){ |
jah128 | 0:8a5497a2e366 | 78 | // Device uses a INA211 current sense monitor measuring voltage drop across a 2mOhm resistor |
jah128 | 0:8a5497a2e366 | 79 | // Device gain = 500 |
jah128 | 0:8a5497a2e366 | 80 | float raw_value = vin_current.read(); |
jah128 | 0:8a5497a2e366 | 81 | return raw_value * 3.3; |
jah128 | 0:8a5497a2e366 | 82 | } |
jah128 | 0:8a5497a2e366 | 83 | |
jah128 | 0:8a5497a2e366 | 84 | float get_dc_voltage (){ |
jah128 | 0:8a5497a2e366 | 85 | float raw_value = vin_dc.read(); |
jah128 | 0:8a5497a2e366 | 86 | return raw_value * 6.6; |
jah128 | 0:8a5497a2e366 | 87 | } |
jah128 | 0:8a5497a2e366 | 88 | |
jah128 | 0:8a5497a2e366 | 89 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 90 | // IR Sensor Functions |
jah128 | 0:8a5497a2e366 | 91 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:8a5497a2e366 | 92 | |
jah128 | 0:8a5497a2e366 | 93 | // Estimates the distance to an obstacle from one of the IR sensors, defined by index (range 0-7). |
jah128 | 0:8a5497a2e366 | 94 | // The value is converted to an approximate distance in millimetres, or 100.0 if no obstacle found. |
jah128 | 0:8a5497a2e366 | 95 | // NB This function is preserved for code-compatability and cases where only a single reading is needed |
jah128 | 0:8a5497a2e366 | 96 | // In many cases it is preferable to call store_reflected_ir_distances() to save all 8 values then read using get_reflected_ir_distance() |
jah128 | 0:8a5497a2e366 | 97 | float read_reflected_ir_distance ( char index ){ |
jah128 | 0:8a5497a2e366 | 98 | // Sanity check |
jah128 | 0:8a5497a2e366 | 99 | if(index>7) return 0.0; |
jah128 | 0:8a5497a2e366 | 100 | |
jah128 | 0:8a5497a2e366 | 101 | //1. Read the ADC value without IR emitter on; store in the background_ir_values[] array |
jah128 | 0:8a5497a2e366 | 102 | background_ir_values [index] = IF_read_IR_adc_value(1, index ); |
jah128 | 0:8a5497a2e366 | 103 | |
jah128 | 0:8a5497a2e366 | 104 | //2. Enable the relevant IR emitter by turning on its pulse output |
jah128 | 0:8a5497a2e366 | 105 | switch(index){ |
jah128 | 0:8a5497a2e366 | 106 | case 0: case 1: case 6: case 7: |
jah128 | 0:8a5497a2e366 | 107 | IF_set_IR_emitter_output(0, 1); |
jah128 | 0:8a5497a2e366 | 108 | break; |
jah128 | 0:8a5497a2e366 | 109 | case 2: case 3: case 4: case 5: |
jah128 | 0:8a5497a2e366 | 110 | IF_set_IR_emitter_output(1, 1); |
jah128 | 0:8a5497a2e366 | 111 | break; |
jah128 | 0:8a5497a2e366 | 112 | } |
jah128 | 0:8a5497a2e366 | 113 | wait_us(ir_pulse_delay); |
jah128 | 0:8a5497a2e366 | 114 | |
jah128 | 0:8a5497a2e366 | 115 | //3. Read the ADC value now IR emitter is on; store in the illuminated_ir_values[] array |
jah128 | 0:8a5497a2e366 | 116 | illuminated_ir_values [index] = IF_read_IR_adc_value (1, index ); |
jah128 | 0:8a5497a2e366 | 117 | |
jah128 | 0:8a5497a2e366 | 118 | //4. Turn off IR emitter |
jah128 | 0:8a5497a2e366 | 119 | switch(index){ |
jah128 | 0:8a5497a2e366 | 120 | case 0: case 1: case 6: case 7: |
jah128 | 0:8a5497a2e366 | 121 | IF_set_IR_emitter_output(0, 0); |
jah128 | 0:8a5497a2e366 | 122 | break; |
jah128 | 0:8a5497a2e366 | 123 | case 2: case 3: case 4: case 5: |
jah128 | 0:8a5497a2e366 | 124 | IF_set_IR_emitter_output(1, 0); |
jah128 | 0:8a5497a2e366 | 125 | break; |
jah128 | 0:8a5497a2e366 | 126 | } |
jah128 | 0:8a5497a2e366 | 127 | |
jah128 | 0:8a5497a2e366 | 128 | //5. Estimate distance based on 2 values using calculate_reflected_distances(); store in reflected_ir_distances() |
jah128 | 0:8a5497a2e366 | 129 | reflected_ir_distances [index] = calculate_reflected_distance( background_ir_values [index], illuminated_ir_values [index]); |
jah128 | 0:8a5497a2e366 | 130 | ir_values_stored = 1; |
jah128 | 0:8a5497a2e366 | 131 | return reflected_ir_distances [index]; |
jah128 | 0:8a5497a2e366 | 132 | } |
jah128 | 0:8a5497a2e366 | 133 | |
jah128 | 0:8a5497a2e366 | 134 | |
jah128 | 0:8a5497a2e366 | 135 | // Returns the stored value of the reflected obstacle based on last call of either read_reflected_ir_distance or store_reflected_distances |
jah128 | 0:8a5497a2e366 | 136 | float get_reflected_ir_distance ( char index ){ |
jah128 | 0:8a5497a2e366 | 137 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:8a5497a2e366 | 138 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 0:8a5497a2e366 | 139 | return reflected_ir_distances[index]; |
jah128 | 0:8a5497a2e366 | 140 | } |
jah128 | 0:8a5497a2e366 | 141 | |
jah128 | 0:8a5497a2e366 | 142 | // Returns the stored value of the non-illuminated sensor based on last call of store_background_raw_ir_values |
jah128 | 0:8a5497a2e366 | 143 | unsigned short get_background_raw_ir_value ( char index ){ |
jah128 | 0:8a5497a2e366 | 144 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:8a5497a2e366 | 145 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 0:8a5497a2e366 | 146 | return background_ir_values[index]; |
jah128 | 0:8a5497a2e366 | 147 | } |
jah128 | 0:8a5497a2e366 | 148 | |
jah128 | 0:8a5497a2e366 | 149 | // Returns the stored value of the illuminated sensor based on last call of store_illuminated_raw_ir_values |
jah128 | 0:8a5497a2e366 | 150 | unsigned short get_illuminated_raw_ir_value ( char index ){ |
jah128 | 0:8a5497a2e366 | 151 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:8a5497a2e366 | 152 | if (index>7 || ir_values_stored == 0) return 0.0; |
jah128 | 0:8a5497a2e366 | 153 | return illuminated_ir_values[index]; |
jah128 | 0:8a5497a2e366 | 154 | } |
jah128 | 0:8a5497a2e366 | 155 | |
jah128 | 0:8a5497a2e366 | 156 | // Stores the reflected distances for all 8 IR sensors |
jah128 | 0:8a5497a2e366 | 157 | void store_reflected_ir_distances ( void ){ |
jah128 | 0:8a5497a2e366 | 158 | store_ir_values(); |
jah128 | 0:8a5497a2e366 | 159 | for(int i=0;i<8;i++){ |
jah128 | 0:8a5497a2e366 | 160 | reflected_ir_distances [i] = calculate_reflected_distance( background_ir_values [i], illuminated_ir_values [i]); |
jah128 | 0:8a5497a2e366 | 161 | } |
jah128 | 0:8a5497a2e366 | 162 | } |
jah128 | 0:8a5497a2e366 | 163 | |
jah128 | 0:8a5497a2e366 | 164 | // Stores the rbackground and illuminated values for all 8 IR sensors |
jah128 | 0:8a5497a2e366 | 165 | void store_ir_values ( void ){ |
jah128 | 0:8a5497a2e366 | 166 | store_background_raw_ir_values(); |
jah128 | 0:8a5497a2e366 | 167 | store_illuminated_raw_ir_values(); |
jah128 | 0:8a5497a2e366 | 168 | } |
jah128 | 0:8a5497a2e366 | 169 | |
jah128 | 0:8a5497a2e366 | 170 | // Stores the raw ADC values for all 8 IR sensors without enabling IR emitters |
jah128 | 0:8a5497a2e366 | 171 | void store_background_raw_ir_values ( void ){ |
jah128 | 0:8a5497a2e366 | 172 | ir_values_stored = 1; |
jah128 | 0:8a5497a2e366 | 173 | for(int i=0;i<8;i++){ |
jah128 | 0:8a5497a2e366 | 174 | background_ir_values [i] = IF_read_IR_adc_value(1,i); |
jah128 | 0:8a5497a2e366 | 175 | } |
jah128 | 0:8a5497a2e366 | 176 | } |
jah128 | 0:8a5497a2e366 | 177 | |
jah128 | 0:8a5497a2e366 | 178 | // Stores the raw ADC values for all 8 IR sensors with a 500us emitter pulse |
jah128 | 0:8a5497a2e366 | 179 | void store_illuminated_raw_ir_values ( void ){ |
jah128 | 0:8a5497a2e366 | 180 | //1. Enable the front IR emitters and store the values |
jah128 | 0:8a5497a2e366 | 181 | IF_set_IR_emitter_output(0, 1); |
jah128 | 0:8a5497a2e366 | 182 | wait_us(ir_pulse_delay); |
jah128 | 0:8a5497a2e366 | 183 | illuminated_ir_values [0] = IF_read_IR_adc_value(1,0); |
jah128 | 0:8a5497a2e366 | 184 | illuminated_ir_values [1] = IF_read_IR_adc_value(1,1); |
jah128 | 0:8a5497a2e366 | 185 | illuminated_ir_values [6] = IF_read_IR_adc_value(1,6); |
jah128 | 0:8a5497a2e366 | 186 | illuminated_ir_values [7] = IF_read_IR_adc_value(1,7); |
jah128 | 0:8a5497a2e366 | 187 | IF_set_IR_emitter_output(0, 0); |
jah128 | 0:8a5497a2e366 | 188 | |
jah128 | 0:8a5497a2e366 | 189 | //2. Enable the rear+side IR emitters and store the values |
jah128 | 0:8a5497a2e366 | 190 | IF_set_IR_emitter_output(1, 1); |
jah128 | 0:8a5497a2e366 | 191 | wait_us(ir_pulse_delay); |
jah128 | 0:8a5497a2e366 | 192 | illuminated_ir_values [2] = IF_read_IR_adc_value(1,2); |
jah128 | 0:8a5497a2e366 | 193 | illuminated_ir_values [3] = IF_read_IR_adc_value(1,3); |
jah128 | 0:8a5497a2e366 | 194 | illuminated_ir_values [4] = IF_read_IR_adc_value(1,4); |
jah128 | 0:8a5497a2e366 | 195 | illuminated_ir_values [5] = IF_read_IR_adc_value(1,5); |
jah128 | 0:8a5497a2e366 | 196 | IF_set_IR_emitter_output(1, 0); |
jah128 | 0:8a5497a2e366 | 197 | } |
jah128 | 0:8a5497a2e366 | 198 | |
jah128 | 0:8a5497a2e366 | 199 | // Converts a background and illuminated value into a distance |
jah128 | 0:8a5497a2e366 | 200 | float calculate_reflected_distance ( unsigned short background_value, unsigned short illuminated_value ){ |
jah128 | 0:8a5497a2e366 | 201 | float approximate_distance = 4000 + background_value - illuminated_value; |
jah128 | 0:8a5497a2e366 | 202 | if(approximate_distance < 0) approximate_distance = 0; |
jah128 | 0:8a5497a2e366 | 203 | |
jah128 | 0:8a5497a2e366 | 204 | // Very approximate: root value, divide by 2, approx distance in mm |
jah128 | 0:8a5497a2e366 | 205 | approximate_distance = sqrt (approximate_distance) / 2.0; |
jah128 | 0:8a5497a2e366 | 206 | |
jah128 | 0:8a5497a2e366 | 207 | // Then add adjustment value if value >27 |
jah128 | 0:8a5497a2e366 | 208 | if(approximate_distance > 27) { |
jah128 | 0:8a5497a2e366 | 209 | float shift = pow(approximate_distance - 27,3); |
jah128 | 0:8a5497a2e366 | 210 | approximate_distance += shift; |
jah128 | 0:8a5497a2e366 | 211 | } |
jah128 | 0:8a5497a2e366 | 212 | if(approximate_distance > 90) approximate_distance = 100.0; |
jah128 | 0:8a5497a2e366 | 213 | return approximate_distance; |
jah128 | 0:8a5497a2e366 | 214 | } |
jah128 | 0:8a5497a2e366 | 215 | |
jah128 | 0:8a5497a2e366 | 216 | // Returns the illuminated raw sensor value for the IR sensor defined by index (range 0-7); turns on the emitters for a 500us pulse |
jah128 | 0:8a5497a2e366 | 217 | unsigned short read_illuminated_raw_ir_value ( char index ){ |
jah128 | 0:8a5497a2e366 | 218 | //This function reads the IR strength when illuminated - used for PC system debugging purposes |
jah128 | 0:8a5497a2e366 | 219 | //1. Enable the relevant IR emitter by turning on its pulse output |
jah128 | 0:8a5497a2e366 | 220 | switch(index){ |
jah128 | 0:8a5497a2e366 | 221 | case 0: case 1: case 6: case 7: |
jah128 | 0:8a5497a2e366 | 222 | IF_set_IR_emitter_output(0, 1); |
jah128 | 0:8a5497a2e366 | 223 | break; |
jah128 | 0:8a5497a2e366 | 224 | case 2: case 3: case 4: case 5: |
jah128 | 0:8a5497a2e366 | 225 | IF_set_IR_emitter_output(1, 1); |
jah128 | 0:8a5497a2e366 | 226 | break; |
jah128 | 0:8a5497a2e366 | 227 | } |
jah128 | 0:8a5497a2e366 | 228 | wait_us(ir_pulse_delay); |
jah128 | 0:8a5497a2e366 | 229 | //2. Read the ADC value now IR emitter is on |
jah128 | 0:8a5497a2e366 | 230 | unsigned short strong_value = IF_read_IR_adc_value( 1,index ); |
jah128 | 0:8a5497a2e366 | 231 | //3. Turn off IR emitter |
jah128 | 0:8a5497a2e366 | 232 | switch(index){ |
jah128 | 0:8a5497a2e366 | 233 | case 0: case 1: case 6: case 7: |
jah128 | 0:8a5497a2e366 | 234 | IF_set_IR_emitter_output(0, 0); |
jah128 | 0:8a5497a2e366 | 235 | break; |
jah128 | 0:8a5497a2e366 | 236 | case 2: case 3: case 4: case 5: |
jah128 | 0:8a5497a2e366 | 237 | IF_set_IR_emitter_output(1, 0); |
jah128 | 0:8a5497a2e366 | 238 | break; |
jah128 | 0:8a5497a2e366 | 239 | } |
jah128 | 0:8a5497a2e366 | 240 | return strong_value; |
jah128 | 0:8a5497a2e366 | 241 | } |
jah128 | 0:8a5497a2e366 | 242 | |
jah128 | 0:8a5497a2e366 | 243 | // Base IR sensor functions |
jah128 | 0:8a5497a2e366 | 244 | |
jah128 | 0:8a5497a2e366 | 245 | |
jah128 | 0:8a5497a2e366 | 246 | // Returns the stored value of the non-illuminated sensor based on last call of store_background_base_ir_values |
jah128 | 0:8a5497a2e366 | 247 | unsigned short get_background_base_ir_value ( char index ){ |
jah128 | 0:8a5497a2e366 | 248 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:8a5497a2e366 | 249 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 0:8a5497a2e366 | 250 | return background_base_ir_values[index]; |
jah128 | 0:8a5497a2e366 | 251 | } |
jah128 | 0:8a5497a2e366 | 252 | |
jah128 | 0:8a5497a2e366 | 253 | // Returns the stored value of the illuminated sensor based on last call of store_illuminated_base_ir_values |
jah128 | 0:8a5497a2e366 | 254 | unsigned short get_illuminated_base_ir_value ( char index ){ |
jah128 | 0:8a5497a2e366 | 255 | // Sanity check: check range of index and that values have been stored |
jah128 | 0:8a5497a2e366 | 256 | if (index>4 || base_ir_values_stored == 0) return 0.0; |
jah128 | 0:8a5497a2e366 | 257 | return illuminated_base_ir_values[index]; |
jah128 | 0:8a5497a2e366 | 258 | } |
jah128 | 0:8a5497a2e366 | 259 | |
jah128 | 0:8a5497a2e366 | 260 | // Stores the reflected distances for all 5 base IR sensors |
jah128 | 0:8a5497a2e366 | 261 | void store_base_ir_values ( void ){ |
jah128 | 0:8a5497a2e366 | 262 | store_background_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 263 | store_illuminated_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 264 | //for(int i=0;i<5;i++){ |
jah128 | 0:8a5497a2e366 | 265 | // reflected_ir_distances [i] = calculate_reflected_distance( background_base_ir_values [i], illuminated_base_ir_values [i]); |
jah128 | 0:8a5497a2e366 | 266 | //} |
jah128 | 0:8a5497a2e366 | 267 | } |
jah128 | 0:8a5497a2e366 | 268 | |
jah128 | 0:8a5497a2e366 | 269 | // Stores the raw ADC values for all 5 base IR sensors without enabling IR emitters |
jah128 | 0:8a5497a2e366 | 270 | void store_background_base_ir_values ( void ){ |
jah128 | 0:8a5497a2e366 | 271 | base_ir_values_stored = 1; |
jah128 | 0:8a5497a2e366 | 272 | for(int i=0;i<5;i++){ |
jah128 | 0:8a5497a2e366 | 273 | background_base_ir_values [i] = IF_read_IR_adc_value(2,i); |
jah128 | 0:8a5497a2e366 | 274 | } |
jah128 | 0:8a5497a2e366 | 275 | } |
jah128 | 0:8a5497a2e366 | 276 | |
jah128 | 0:8a5497a2e366 | 277 | // Stores the raw ADC values for all 5 base IR sensors with a 500us emitter pulse |
jah128 | 0:8a5497a2e366 | 278 | void store_illuminated_base_ir_values ( void ){ |
jah128 | 0:8a5497a2e366 | 279 | //1. Enable the base IR emitters and store the values |
jah128 | 0:8a5497a2e366 | 280 | IF_set_IR_emitter_output(2, 1); |
jah128 | 0:8a5497a2e366 | 281 | wait_us(base_ir_pulse_delay); |
jah128 | 0:8a5497a2e366 | 282 | for(int i=0;i<5;i++){ |
jah128 | 0:8a5497a2e366 | 283 | illuminated_base_ir_values [i] = IF_read_IR_adc_value(2,i); |
jah128 | 0:8a5497a2e366 | 284 | } |
jah128 | 0:8a5497a2e366 | 285 | |
jah128 | 0:8a5497a2e366 | 286 | IF_set_IR_emitter_output(2, 0); |
jah128 | 0:8a5497a2e366 | 287 | } |
jah128 | 0:8a5497a2e366 | 288 | |
jah128 | 2:a6214fd156ff | 289 | // Routine to store detected line position in a similar format to the used on 3Pi\m3Pi\PiSwarm |
jah128 | 3:cd048f6e544e | 290 | void store_line_position ( ){ |
jah128 | 2:a6214fd156ff | 291 | // Store background and reflected base IR values |
jah128 | 2:a6214fd156ff | 292 | store_base_ir_values(); |
jah128 | 3:cd048f6e544e | 293 | int h_value[5]; |
jah128 | 3:cd048f6e544e | 294 | int line_threshold = 1000; |
jah128 | 3:cd048f6e544e | 295 | int line_threshold_hi = 2000; |
jah128 | 3:cd048f6e544e | 296 | char count = 0; |
jah128 | 3:cd048f6e544e | 297 | line_found = 0; |
jah128 | 3:cd048f6e544e | 298 | line_position = 0; |
jah128 | 3:cd048f6e544e | 299 | for(int i=0;i<5;i++){ |
jah128 | 3:cd048f6e544e | 300 | if(get_background_base_ir_value(i) > get_illuminated_base_ir_value(i)) h_value[i]=0; |
jah128 | 3:cd048f6e544e | 301 | else h_value[i] = get_illuminated_base_ir_value(i) - get_background_base_ir_value(i); |
jah128 | 3:cd048f6e544e | 302 | if(h_value[i] < line_threshold) count++; |
jah128 | 3:cd048f6e544e | 303 | } |
jah128 | 3:cd048f6e544e | 304 | if(count == 1){ |
jah128 | 3:cd048f6e544e | 305 | line_found = 1; |
jah128 | 3:cd048f6e544e | 306 | if(h_value[0] < line_threshold) { |
jah128 | 3:cd048f6e544e | 307 | line_position = -1; |
jah128 | 3:cd048f6e544e | 308 | if(h_value[1] < line_threshold_hi) line_position = -0.8; |
jah128 | 3:cd048f6e544e | 309 | } |
jah128 | 3:cd048f6e544e | 310 | |
jah128 | 3:cd048f6e544e | 311 | if (h_value[1] < line_threshold) { |
jah128 | 3:cd048f6e544e | 312 | line_position = -0.5 + (0.00005 * h_value[0]) - (0.0001 * h_value[2]);; |
jah128 | 3:cd048f6e544e | 313 | } |
jah128 | 3:cd048f6e544e | 314 | if(h_value[2] < line_threshold) { |
jah128 | 3:cd048f6e544e | 315 | line_position = (0.00005 * h_value[1]) - (0.0001 * h_value[3]); |
jah128 | 3:cd048f6e544e | 316 | } |
jah128 | 3:cd048f6e544e | 317 | if(h_value[3] < line_threshold) { |
jah128 | 3:cd048f6e544e | 318 | line_position = 0.5 + (0.00005 * h_value[2]) - (0.0001 * h_value[4]);; |
jah128 | 3:cd048f6e544e | 319 | } |
jah128 | 3:cd048f6e544e | 320 | if(h_value[4] < line_threshold) { |
jah128 | 3:cd048f6e544e | 321 | line_position = 1; |
jah128 | 3:cd048f6e544e | 322 | if(h_value[3] < line_threshold_hi) line_position = 0.8; |
jah128 | 3:cd048f6e544e | 323 | } |
jah128 | 3:cd048f6e544e | 324 | } |
jah128 | 3:cd048f6e544e | 325 | if(count == 2){ |
jah128 | 3:cd048f6e544e | 326 | if(h_value[0] && h_value[1] < line_threshold){ |
jah128 | 3:cd048f6e544e | 327 | line_found = 1; |
jah128 | 3:cd048f6e544e | 328 | line_position = -0.6; |
jah128 | 3:cd048f6e544e | 329 | } |
jah128 | 3:cd048f6e544e | 330 | |
jah128 | 3:cd048f6e544e | 331 | if(h_value[1] && h_value[2] < line_threshold){ |
jah128 | 3:cd048f6e544e | 332 | line_found = 1; |
jah128 | 3:cd048f6e544e | 333 | line_position = -0.4; |
jah128 | 3:cd048f6e544e | 334 | } |
jah128 | 3:cd048f6e544e | 335 | |
jah128 | 3:cd048f6e544e | 336 | if(h_value[2] && h_value[3] < line_threshold){ |
jah128 | 3:cd048f6e544e | 337 | line_found = 1; |
jah128 | 3:cd048f6e544e | 338 | line_position = 0.4; |
jah128 | 3:cd048f6e544e | 339 | } |
jah128 | 3:cd048f6e544e | 340 | |
jah128 | 3:cd048f6e544e | 341 | if(h_value[3] && h_value[4] < line_threshold){ |
jah128 | 3:cd048f6e544e | 342 | line_found = 1; |
jah128 | 3:cd048f6e544e | 343 | line_position = 0.6; |
jah128 | 3:cd048f6e544e | 344 | } |
jah128 | 3:cd048f6e544e | 345 | } |
jah128 | 2:a6214fd156ff | 346 | } |
jah128 | 2:a6214fd156ff | 347 | |
jah128 | 2:a6214fd156ff | 348 | |
jah128 | 3:cd048f6e544e | 349 | |
jah128 | 0:8a5497a2e366 | 350 | void calibrate_base_ir_sensors (void) { |
jah128 | 0:8a5497a2e366 | 351 | short white_background[5]; |
jah128 | 0:8a5497a2e366 | 352 | short white_active[5]; |
jah128 | 0:8a5497a2e366 | 353 | short black_background[5]; |
jah128 | 0:8a5497a2e366 | 354 | short black_active[5]; |
jah128 | 0:8a5497a2e366 | 355 | for(int k=0;k<5;k++){ |
jah128 | 0:8a5497a2e366 | 356 | white_background[k]=0; |
jah128 | 0:8a5497a2e366 | 357 | black_background[k]=0; |
jah128 | 0:8a5497a2e366 | 358 | white_active[k]=0; |
jah128 | 0:8a5497a2e366 | 359 | black_active[k]=0; |
jah128 | 0:8a5497a2e366 | 360 | } |
jah128 | 0:8a5497a2e366 | 361 | pc.printf("Base IR Calibration\n"); |
jah128 | 0:8a5497a2e366 | 362 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 363 | display.write_string("Calibrating base"); |
jah128 | 0:8a5497a2e366 | 364 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 365 | display.write_string("IR sensor"); |
jah128 | 0:8a5497a2e366 | 366 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 367 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 368 | display.write_string("Place robot on"); |
jah128 | 0:8a5497a2e366 | 369 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 370 | display.write_string("white surface"); |
jah128 | 0:8a5497a2e366 | 371 | wait(3); |
jah128 | 0:8a5497a2e366 | 372 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 373 | display.write_string("Calibrating base"); |
jah128 | 0:8a5497a2e366 | 374 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 375 | display.write_string("IR sensor"); |
jah128 | 0:8a5497a2e366 | 376 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 377 | pc.printf("\nWhite Background Results:\n"); |
jah128 | 0:8a5497a2e366 | 378 | |
jah128 | 0:8a5497a2e366 | 379 | for(int i=0;i<5;i++){ |
jah128 | 0:8a5497a2e366 | 380 | wait(0.2); |
jah128 | 0:8a5497a2e366 | 381 | store_background_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 382 | |
jah128 | 0:8a5497a2e366 | 383 | display.set_position(1,9); |
jah128 | 0:8a5497a2e366 | 384 | display.write_string("."); |
jah128 | 0:8a5497a2e366 | 385 | wait(0.2); |
jah128 | 0:8a5497a2e366 | 386 | store_illuminated_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 387 | for(int k=0;k<5;k++){ |
jah128 | 0:8a5497a2e366 | 388 | white_background[k]+= get_background_base_ir_value(k); |
jah128 | 0:8a5497a2e366 | 389 | white_active[k] += get_illuminated_base_ir_value(k); |
jah128 | 0:8a5497a2e366 | 390 | } |
jah128 | 0:8a5497a2e366 | 391 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", (i+1), |
jah128 | 0:8a5497a2e366 | 392 | get_background_base_ir_value(0), get_illuminated_base_ir_value(0), |
jah128 | 0:8a5497a2e366 | 393 | get_background_base_ir_value(1), get_illuminated_base_ir_value(1), |
jah128 | 0:8a5497a2e366 | 394 | get_background_base_ir_value(2), get_illuminated_base_ir_value(2), |
jah128 | 0:8a5497a2e366 | 395 | get_background_base_ir_value(3), get_illuminated_base_ir_value(3), |
jah128 | 0:8a5497a2e366 | 396 | get_background_base_ir_value(4), get_illuminated_base_ir_value(4)); |
jah128 | 0:8a5497a2e366 | 397 | } |
jah128 | 0:8a5497a2e366 | 398 | for(int k=0;k<5;k++){ |
jah128 | 0:8a5497a2e366 | 399 | white_background[k]/=5; |
jah128 | 0:8a5497a2e366 | 400 | white_active[k]/=5; |
jah128 | 0:8a5497a2e366 | 401 | } |
jah128 | 0:8a5497a2e366 | 402 | pc.printf("Mean results 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", |
jah128 | 0:8a5497a2e366 | 403 | white_background[0], white_active[0], |
jah128 | 0:8a5497a2e366 | 404 | white_background[1], white_active[1], |
jah128 | 0:8a5497a2e366 | 405 | white_background[2], white_active[2], |
jah128 | 0:8a5497a2e366 | 406 | white_background[3], white_active[3], |
jah128 | 0:8a5497a2e366 | 407 | white_background[4], white_active[4]); |
jah128 | 0:8a5497a2e366 | 408 | |
jah128 | 0:8a5497a2e366 | 409 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 410 | display.write_string("Place robot on"); |
jah128 | 0:8a5497a2e366 | 411 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 412 | display.write_string("black surface"); |
jah128 | 0:8a5497a2e366 | 413 | wait(3); |
jah128 | 0:8a5497a2e366 | 414 | |
jah128 | 0:8a5497a2e366 | 415 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 416 | display.write_string("Calibrating base"); |
jah128 | 0:8a5497a2e366 | 417 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 418 | display.write_string("IR sensor"); |
jah128 | 0:8a5497a2e366 | 419 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 420 | pc.printf("\nBlack Background Results:\n"); |
jah128 | 0:8a5497a2e366 | 421 | |
jah128 | 0:8a5497a2e366 | 422 | for(int i=0;i<5;i++){ |
jah128 | 0:8a5497a2e366 | 423 | wait(0.2); |
jah128 | 0:8a5497a2e366 | 424 | |
jah128 | 0:8a5497a2e366 | 425 | store_background_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 426 | display.set_position(1,9); |
jah128 | 0:8a5497a2e366 | 427 | display.write_string("."); |
jah128 | 0:8a5497a2e366 | 428 | wait(0.2); |
jah128 | 0:8a5497a2e366 | 429 | store_illuminated_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 430 | for(int k=0;k<5;k++){ |
jah128 | 0:8a5497a2e366 | 431 | black_background[k]+= get_background_base_ir_value(k); |
jah128 | 0:8a5497a2e366 | 432 | black_active[k] += get_illuminated_base_ir_value(k); |
jah128 | 0:8a5497a2e366 | 433 | } |
jah128 | 0:8a5497a2e366 | 434 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", (i+1), |
jah128 | 0:8a5497a2e366 | 435 | get_background_base_ir_value(0), get_illuminated_base_ir_value(0), |
jah128 | 0:8a5497a2e366 | 436 | get_background_base_ir_value(1), get_illuminated_base_ir_value(1), |
jah128 | 0:8a5497a2e366 | 437 | get_background_base_ir_value(2), get_illuminated_base_ir_value(2), |
jah128 | 0:8a5497a2e366 | 438 | get_background_base_ir_value(3), get_illuminated_base_ir_value(3), |
jah128 | 0:8a5497a2e366 | 439 | get_background_base_ir_value(4), get_illuminated_base_ir_value(4)); |
jah128 | 0:8a5497a2e366 | 440 | } |
jah128 | 0:8a5497a2e366 | 441 | for(int k=0;k<5;k++){ |
jah128 | 0:8a5497a2e366 | 442 | black_background[k]/=5; |
jah128 | 0:8a5497a2e366 | 443 | black_active[k]/=5; |
jah128 | 0:8a5497a2e366 | 444 | } |
jah128 | 0:8a5497a2e366 | 445 | pc.printf("Mean results 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d\n", |
jah128 | 0:8a5497a2e366 | 446 | black_background[0], black_active[0], |
jah128 | 0:8a5497a2e366 | 447 | black_background[1], black_active[1], |
jah128 | 0:8a5497a2e366 | 448 | black_background[2], black_active[2], |
jah128 | 0:8a5497a2e366 | 449 | black_background[3], black_active[3], |
jah128 | 0:8a5497a2e366 | 450 | black_background[4], black_active[4]); |
jah128 | 0:8a5497a2e366 | 451 | |
jah128 | 6:ff3c66f7372b | 452 | } |
jah128 | 6:ff3c66f7372b | 453 | |
jah128 | 6:ff3c66f7372b | 454 | |
jah128 | 6:ff3c66f7372b | 455 | int get_bearing_from_ir_array (unsigned short * ir_sensor_readings){ |
jah128 | 7:ef9ab01b9e26 | 456 | //out("Getting bearing from array: [%d][%d][%d][%d][%d][%d][%d][%d]\n",ir_sensor_readings[0],ir_sensor_readings[1],ir_sensor_readings[2],ir_sensor_readings[3],ir_sensor_readings[4],ir_sensor_readings[5],ir_sensor_readings[6],ir_sensor_readings[7]); |
jah128 | 7:ef9ab01b9e26 | 457 | |
jah128 | 6:ff3c66f7372b | 458 | float degrees_per_radian = 57.295779513; |
jah128 | 6:ff3c66f7372b | 459 | |
jah128 | 6:ff3c66f7372b | 460 | // sin(IR sensor angle) and cos(IR sensor angle) LUT, for all 8 sensors |
jah128 | 6:ff3c66f7372b | 461 | float ir_sensor_sin[8] = {0.382683432, 0.923879533, 0.923879533, 0.382683432, -0.382683432, -0.923879533, -0.923879533, -0.382683432}; |
jah128 | 6:ff3c66f7372b | 462 | float ir_sensor_cos[8] = {0.923879533, 0.382683432, -0.382683432, -0.923879533, -0.923879533, -0.382683432, 0.382683432, 0.923879533}; |
jah128 | 6:ff3c66f7372b | 463 | |
jah128 | 6:ff3c66f7372b | 464 | float sin_sum = 0; |
jah128 | 6:ff3c66f7372b | 465 | float cos_sum = 0; |
jah128 | 6:ff3c66f7372b | 466 | |
jah128 | 6:ff3c66f7372b | 467 | for(int i = 0; i < 8; i++) |
jah128 | 6:ff3c66f7372b | 468 | { |
jah128 | 6:ff3c66f7372b | 469 | // Use IR sensor reading to weight bearing vector |
jah128 | 6:ff3c66f7372b | 470 | sin_sum += ir_sensor_sin[i] * ir_sensor_readings[i]; |
jah128 | 6:ff3c66f7372b | 471 | cos_sum += ir_sensor_cos[i] * ir_sensor_readings[i]; |
jah128 | 6:ff3c66f7372b | 472 | } |
jah128 | 6:ff3c66f7372b | 473 | |
jah128 | 7:ef9ab01b9e26 | 474 | float bearing = atan2(sin_sum, cos_sum); // Calculate vector towards IR light source |
jah128 | 6:ff3c66f7372b | 475 | bearing *= degrees_per_radian; // Convert to degrees |
jah128 | 6:ff3c66f7372b | 476 | |
jah128 | 7:ef9ab01b9e26 | 477 | //out("Sin sum:%f Cos sum:%f Bearing:%f\n",sin_sum,cos_sum,bearing); |
jah128 | 7:ef9ab01b9e26 | 478 | |
jah128 | 6:ff3c66f7372b | 479 | return (int) bearing; |
jah128 | 6:ff3c66f7372b | 480 | } |
jah128 | 6:ff3c66f7372b | 481 |