Alexander Lüthard
/
Micromouse
Alle Prinf's auskommentiert
Fork of Micromouse by
Motion.cpp@1:2b5f79285a3e, 2018-04-19 (annotated)
- Committer:
- Helvis
- Date:
- Thu Apr 19 06:19:43 2018 +0000
- Revision:
- 1:2b5f79285a3e
- Child:
- 2:f898adf2d817
Micromouse V0.9: Tresholds + Regler noch anpassen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Helvis | 1:2b5f79285a3e | 1 | |
Helvis | 1:2b5f79285a3e | 2 | #include <cmath> |
Helvis | 1:2b5f79285a3e | 3 | #include "Motion.h" |
Helvis | 1:2b5f79285a3e | 4 | |
Helvis | 1:2b5f79285a3e | 5 | using namespace std; |
Helvis | 1:2b5f79285a3e | 6 | |
Helvis | 1:2b5f79285a3e | 7 | const float Motion::LEFT_MID_VAL = 45.0f; |
Helvis | 1:2b5f79285a3e | 8 | const float Motion::RIGHT_MID_VAL = 45.0f; |
Helvis | 1:2b5f79285a3e | 9 | const float Motion::KP = 2.5f; |
Helvis | 1:2b5f79285a3e | 10 | const float Motion::KD = 0.00f; |
Helvis | 1:2b5f79285a3e | 11 | |
Helvis | 1:2b5f79285a3e | 12 | |
Helvis | 1:2b5f79285a3e | 13 | Motion::Motion(Controller& controller, EncoderCounter& counterLeft, |
Helvis | 1:2b5f79285a3e | 14 | EncoderCounter& counterRight, IRSensor& irSensorL, |
Helvis | 1:2b5f79285a3e | 15 | IRSensor& irSensorC, IRSensor& irSensorR, AnalogIn& lineSensor, |
Helvis | 1:2b5f79285a3e | 16 | DigitalOut& enableMotorDriver) : |
Helvis | 1:2b5f79285a3e | 17 | controller(controller), counterLeft(counterLeft), |
Helvis | 1:2b5f79285a3e | 18 | counterRight(counterRight), irSensorL(irSensorL), |
Helvis | 1:2b5f79285a3e | 19 | irSensorC(irSensorC), irSensorR(irSensorR), lineSensor(lineSensor), |
Helvis | 1:2b5f79285a3e | 20 | enableMotorDriver(enableMotorDriver) {} |
Helvis | 1:2b5f79285a3e | 21 | |
Helvis | 1:2b5f79285a3e | 22 | Motion::~Motion() {} |
Helvis | 1:2b5f79285a3e | 23 | |
Helvis | 1:2b5f79285a3e | 24 | /** |
Helvis | 1:2b5f79285a3e | 25 | * Eine Feldstrecke druchführen |
Helvis | 1:2b5f79285a3e | 26 | */ |
Helvis | 1:2b5f79285a3e | 27 | void Motion::move() { |
Helvis | 1:2b5f79285a3e | 28 | |
Helvis | 1:2b5f79285a3e | 29 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 30 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 31 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 32 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 33 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 34 | |
Helvis | 1:2b5f79285a3e | 35 | speedLeft = 50.0f; |
Helvis | 1:2b5f79285a3e | 36 | speedRight = -50.0f; |
Helvis | 1:2b5f79285a3e | 37 | |
Helvis | 1:2b5f79285a3e | 38 | controller.setDesiredSpeedLeft(speedLeft); |
Helvis | 1:2b5f79285a3e | 39 | controller.setDesiredSpeedRight(speedRight); |
Helvis | 1:2b5f79285a3e | 40 | |
Helvis | 1:2b5f79285a3e | 41 | while ((countsL - countsLOld) < 1647 || (countsR - countsROld) > -1647) { |
Helvis | 1:2b5f79285a3e | 42 | |
Helvis | 1:2b5f79285a3e | 43 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 44 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 45 | |
Helvis | 1:2b5f79285a3e | 46 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 47 | |
Helvis | 1:2b5f79285a3e | 48 | control(); |
Helvis | 1:2b5f79285a3e | 49 | |
Helvis | 1:2b5f79285a3e | 50 | } |
Helvis | 1:2b5f79285a3e | 51 | } |
Helvis | 1:2b5f79285a3e | 52 | /** |
Helvis | 1:2b5f79285a3e | 53 | * Eine Feldstrecke mit höherer Geschwindigkeit fahren |
Helvis | 1:2b5f79285a3e | 54 | */ |
Helvis | 1:2b5f79285a3e | 55 | void Motion::moveFast() { |
Helvis | 1:2b5f79285a3e | 56 | |
Helvis | 1:2b5f79285a3e | 57 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 58 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 59 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 60 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 61 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 62 | |
Helvis | 1:2b5f79285a3e | 63 | speedLeft = 100.0f; |
Helvis | 1:2b5f79285a3e | 64 | speedRight = -100.0f; |
Helvis | 1:2b5f79285a3e | 65 | |
Helvis | 1:2b5f79285a3e | 66 | controller.setDesiredSpeedLeft(speedLeft); |
Helvis | 1:2b5f79285a3e | 67 | controller.setDesiredSpeedRight(speedRight); |
Helvis | 1:2b5f79285a3e | 68 | |
Helvis | 1:2b5f79285a3e | 69 | while ((countsL - countsLOld) < 1647 || (countsR - countsROld) > -1647) { |
Helvis | 1:2b5f79285a3e | 70 | |
Helvis | 1:2b5f79285a3e | 71 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 72 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 73 | |
Helvis | 1:2b5f79285a3e | 74 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 75 | |
Helvis | 1:2b5f79285a3e | 76 | control(); |
Helvis | 1:2b5f79285a3e | 77 | |
Helvis | 1:2b5f79285a3e | 78 | } |
Helvis | 1:2b5f79285a3e | 79 | } |
Helvis | 1:2b5f79285a3e | 80 | /** |
Helvis | 1:2b5f79285a3e | 81 | * Eine Feldstrecke mit überprüfung der Ziellinie fahren |
Helvis | 1:2b5f79285a3e | 82 | */ |
Helvis | 1:2b5f79285a3e | 83 | void Motion::scanMove() { |
Helvis | 1:2b5f79285a3e | 84 | |
Helvis | 1:2b5f79285a3e | 85 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 86 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 87 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 88 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 89 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 90 | |
Helvis | 1:2b5f79285a3e | 91 | speedLeft = 50.0f; |
Helvis | 1:2b5f79285a3e | 92 | speedRight = -50.0f; |
Helvis | 1:2b5f79285a3e | 93 | |
Helvis | 1:2b5f79285a3e | 94 | controller.setDesiredSpeedLeft(speedLeft); |
Helvis | 1:2b5f79285a3e | 95 | controller.setDesiredSpeedRight(speedRight); |
Helvis | 1:2b5f79285a3e | 96 | |
Helvis | 1:2b5f79285a3e | 97 | while ((countsL - countsLOld) < 1647 || (countsR - countsROld) > -1647) { |
Helvis | 1:2b5f79285a3e | 98 | |
Helvis | 1:2b5f79285a3e | 99 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 100 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 101 | |
Helvis | 1:2b5f79285a3e | 102 | if (enableMotorDriver == 0) { |
Helvis | 1:2b5f79285a3e | 103 | enableMotorDriver = 1; |
Helvis | 1:2b5f79285a3e | 104 | } |
Helvis | 1:2b5f79285a3e | 105 | |
Helvis | 1:2b5f79285a3e | 106 | if (lineSensor.read() > 0.9f) { |
Helvis | 1:2b5f79285a3e | 107 | line = 1; |
Helvis | 1:2b5f79285a3e | 108 | }else{ |
Helvis | 1:2b5f79285a3e | 109 | line = 0; |
Helvis | 1:2b5f79285a3e | 110 | } |
Helvis | 1:2b5f79285a3e | 111 | |
Helvis | 1:2b5f79285a3e | 112 | control(); |
Helvis | 1:2b5f79285a3e | 113 | |
Helvis | 1:2b5f79285a3e | 114 | } |
Helvis | 1:2b5f79285a3e | 115 | |
Helvis | 1:2b5f79285a3e | 116 | } |
Helvis | 1:2b5f79285a3e | 117 | /** |
Helvis | 1:2b5f79285a3e | 118 | * 90° Rotation nach Links |
Helvis | 1:2b5f79285a3e | 119 | */ |
Helvis | 1:2b5f79285a3e | 120 | void Motion::rotateL() { |
Helvis | 1:2b5f79285a3e | 121 | |
Helvis | 1:2b5f79285a3e | 122 | stop(); |
Helvis | 1:2b5f79285a3e | 123 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 124 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 125 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 126 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 127 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 128 | |
Helvis | 1:2b5f79285a3e | 129 | controller.setDesiredSpeedLeft(-20.0f); |
Helvis | 1:2b5f79285a3e | 130 | controller.setDesiredSpeedRight(-20.0f); |
Helvis | 1:2b5f79285a3e | 131 | |
Helvis | 1:2b5f79285a3e | 132 | while ((countsL - countsLOld) > -862 || (countsR - countsROld) > -862) { |
Helvis | 1:2b5f79285a3e | 133 | |
Helvis | 1:2b5f79285a3e | 134 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 135 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 136 | |
Helvis | 1:2b5f79285a3e | 137 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 138 | } |
Helvis | 1:2b5f79285a3e | 139 | |
Helvis | 1:2b5f79285a3e | 140 | stop(); |
Helvis | 1:2b5f79285a3e | 141 | } |
Helvis | 1:2b5f79285a3e | 142 | |
Helvis | 1:2b5f79285a3e | 143 | /** |
Helvis | 1:2b5f79285a3e | 144 | * 90° Rotation nach Rechts |
Helvis | 1:2b5f79285a3e | 145 | */ |
Helvis | 1:2b5f79285a3e | 146 | void Motion::rotateR() { |
Helvis | 1:2b5f79285a3e | 147 | |
Helvis | 1:2b5f79285a3e | 148 | stop(); |
Helvis | 1:2b5f79285a3e | 149 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 150 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 151 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 152 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 153 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 154 | |
Helvis | 1:2b5f79285a3e | 155 | controller.setDesiredSpeedLeft(20.0f); |
Helvis | 1:2b5f79285a3e | 156 | controller.setDesiredSpeedRight(20.0f); |
Helvis | 1:2b5f79285a3e | 157 | |
Helvis | 1:2b5f79285a3e | 158 | while ((countsL - countsLOld) < 862 || (countsR - countsROld) < 862) { |
Helvis | 1:2b5f79285a3e | 159 | |
Helvis | 1:2b5f79285a3e | 160 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 161 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 162 | |
Helvis | 1:2b5f79285a3e | 163 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 164 | } |
Helvis | 1:2b5f79285a3e | 165 | |
Helvis | 1:2b5f79285a3e | 166 | stop(); |
Helvis | 1:2b5f79285a3e | 167 | } |
Helvis | 1:2b5f79285a3e | 168 | |
Helvis | 1:2b5f79285a3e | 169 | /** |
Helvis | 1:2b5f79285a3e | 170 | * Motor Stop |
Helvis | 1:2b5f79285a3e | 171 | */ |
Helvis | 1:2b5f79285a3e | 172 | void Motion::stop() { |
Helvis | 1:2b5f79285a3e | 173 | |
Helvis | 1:2b5f79285a3e | 174 | controller.setDesiredSpeedLeft(0.0f); |
Helvis | 1:2b5f79285a3e | 175 | controller.setDesiredSpeedRight(0.0f); |
Helvis | 1:2b5f79285a3e | 176 | |
Helvis | 1:2b5f79285a3e | 177 | float sL = controller.getSpeedLeft(); |
Helvis | 1:2b5f79285a3e | 178 | float ticks = 0.08f*sL; |
Helvis | 1:2b5f79285a3e | 179 | |
Helvis | 1:2b5f79285a3e | 180 | waitStop = 0; |
Helvis | 1:2b5f79285a3e | 181 | while( waitStop < ticks) { |
Helvis | 1:2b5f79285a3e | 182 | waitStop+= 1; |
Helvis | 1:2b5f79285a3e | 183 | } |
Helvis | 1:2b5f79285a3e | 184 | } |
Helvis | 1:2b5f79285a3e | 185 | /** |
Helvis | 1:2b5f79285a3e | 186 | * 180° Rotation |
Helvis | 1:2b5f79285a3e | 187 | */ |
Helvis | 1:2b5f79285a3e | 188 | void Motion::rotate180() { |
Helvis | 1:2b5f79285a3e | 189 | |
Helvis | 1:2b5f79285a3e | 190 | stop(); |
Helvis | 1:2b5f79285a3e | 191 | controller.counterReset(); |
Helvis | 1:2b5f79285a3e | 192 | countsLOld = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 193 | countsROld = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 194 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 195 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 196 | |
Helvis | 1:2b5f79285a3e | 197 | controller.setDesiredSpeedLeft(-50.0f); |
Helvis | 1:2b5f79285a3e | 198 | controller.setDesiredSpeedRight(-50.0f); |
Helvis | 1:2b5f79285a3e | 199 | |
Helvis | 1:2b5f79285a3e | 200 | while ((countsL - countsLOld) > -1723 || (countsR - countsROld) > -1723) { |
Helvis | 1:2b5f79285a3e | 201 | |
Helvis | 1:2b5f79285a3e | 202 | countsL = counterLeft.read(); |
Helvis | 1:2b5f79285a3e | 203 | countsR = counterRight.read(); |
Helvis | 1:2b5f79285a3e | 204 | |
Helvis | 1:2b5f79285a3e | 205 | if (enableMotorDriver == 0) {enableMotorDriver = 1;} |
Helvis | 1:2b5f79285a3e | 206 | } |
Helvis | 1:2b5f79285a3e | 207 | |
Helvis | 1:2b5f79285a3e | 208 | stop(); |
Helvis | 1:2b5f79285a3e | 209 | } |
Helvis | 1:2b5f79285a3e | 210 | |
Helvis | 1:2b5f79285a3e | 211 | |
Helvis | 1:2b5f79285a3e | 212 | void Motion::control() { |
Helvis | 1:2b5f79285a3e | 213 | |
Helvis | 1:2b5f79285a3e | 214 | //float wallLeft = 70.0f; |
Helvis | 1:2b5f79285a3e | 215 | //float wallRight = 70.0f; |
Helvis | 1:2b5f79285a3e | 216 | |
Helvis | 1:2b5f79285a3e | 217 | distanceL = irSensorL.readL(); |
Helvis | 1:2b5f79285a3e | 218 | distanceR = irSensorR.readR(); |
Helvis | 1:2b5f79285a3e | 219 | |
Helvis | 1:2b5f79285a3e | 220 | if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { |
Helvis | 1:2b5f79285a3e | 221 | |
Helvis | 1:2b5f79285a3e | 222 | errorP = LEFT_MID_VAL - distanceL; |
Helvis | 1:2b5f79285a3e | 223 | |
Helvis | 1:2b5f79285a3e | 224 | }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { |
Helvis | 1:2b5f79285a3e | 225 | |
Helvis | 1:2b5f79285a3e | 226 | errorP = distanceR - RIGHT_MID_VAL; |
Helvis | 1:2b5f79285a3e | 227 | |
Helvis | 1:2b5f79285a3e | 228 | }else{ |
Helvis | 1:2b5f79285a3e | 229 | |
Helvis | 1:2b5f79285a3e | 230 | errorP = 0; |
Helvis | 1:2b5f79285a3e | 231 | } |
Helvis | 1:2b5f79285a3e | 232 | |
Helvis | 1:2b5f79285a3e | 233 | errorD = errorP - oldErrorP; |
Helvis | 1:2b5f79285a3e | 234 | |
Helvis | 1:2b5f79285a3e | 235 | oldErrorP = errorP; |
Helvis | 1:2b5f79285a3e | 236 | |
Helvis | 1:2b5f79285a3e | 237 | totalError = KP*errorP + KD*errorD; |
Helvis | 1:2b5f79285a3e | 238 | |
Helvis | 1:2b5f79285a3e | 239 | controller.setDesiredSpeedLeft(speedLeft + totalError); |
Helvis | 1:2b5f79285a3e | 240 | controller.setDesiredSpeedRight(speedRight + totalError); |
Helvis | 1:2b5f79285a3e | 241 | } |
Helvis | 1:2b5f79285a3e | 242 | |
Helvis | 1:2b5f79285a3e | 243 | void Motion::runTask(int task) { |
Helvis | 1:2b5f79285a3e | 244 | |
Helvis | 1:2b5f79285a3e | 245 | switch(task) { |
Helvis | 1:2b5f79285a3e | 246 | |
Helvis | 1:2b5f79285a3e | 247 | case 1: |
Helvis | 1:2b5f79285a3e | 248 | move(); |
Helvis | 1:2b5f79285a3e | 249 | break; |
Helvis | 1:2b5f79285a3e | 250 | case 2: |
Helvis | 1:2b5f79285a3e | 251 | rotateL(); |
Helvis | 1:2b5f79285a3e | 252 | break; |
Helvis | 1:2b5f79285a3e | 253 | case 3: |
Helvis | 1:2b5f79285a3e | 254 | rotateR(); |
Helvis | 1:2b5f79285a3e | 255 | break; |
Helvis | 1:2b5f79285a3e | 256 | case 4: |
Helvis | 1:2b5f79285a3e | 257 | moveFast(); |
Helvis | 1:2b5f79285a3e | 258 | break; |
Helvis | 1:2b5f79285a3e | 259 | case 5: |
Helvis | 1:2b5f79285a3e | 260 | stop(); |
Helvis | 1:2b5f79285a3e | 261 | break; |
Helvis | 1:2b5f79285a3e | 262 | } |
Helvis | 1:2b5f79285a3e | 263 | } |
Helvis | 1:2b5f79285a3e | 264 | |
Helvis | 1:2b5f79285a3e | 265 | int Motion::finish() { |
Helvis | 1:2b5f79285a3e | 266 | |
Helvis | 1:2b5f79285a3e | 267 | return line; |
Helvis | 1:2b5f79285a3e | 268 | } |