Shumelev dima / TFC-RACING-DEMO

This is an example program that actually allows the car to race using the FRDM-TFC library!

Dependencies:   FRDM-TFC

Fork of TFC-RACING-DEMO by Daniel Hadad

Spices/Spices.cpp@1:2ca599933725, 2014-04-28 (annotated)

Committer:
morgonXak
Date:
Mon Apr 28 15:05:37 2014 +0000
Revision:
1:2ca599933725
Parent:
0:98e98e01a6ce 
jguh; \; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
redxeth 0:98e98e01a6ce 1 #include "mbed.h"
redxeth 0:98e98e01a6ce 2
redxeth 0:98e98e01a6ce 3 #include "Spices.h"
redxeth 0:98e98e01a6ce 4 #include "common.h"
redxeth 0:98e98e01a6ce 5 #include "TFC.h"
redxeth 0:98e98e01a6ce 6
redxeth 0:98e98e01a6ce 7 // camera params
redxeth 0:98e98e01a6ce 8 #define NUM_LINE_SCAN 128
redxeth 0:98e98e01a6ce 9 #define MAX_LINE_SCAN NUM_LINE_SCAN-1
redxeth 0:98e98e01a6ce 10 #define MIN_LINE_WIDTH 0
redxeth 0:98e98e01a6ce 11 #define MAX_LINE_WIDTH 15
redxeth 0:98e98e01a6ce 12 #define FILTER_ENDS 0 // # of pixels at end of camera data to ignore; set to 0 for now, later make 15
redxeth 0:98e98e01a6ce 13 #define RANGE (NUM_LINE_SCAN - (2 * FILTER_ENDS)) // range of camera pixels to consider
redxeth 0:98e98e01a6ce 14 #define ERR_RATIO 0.85 // ratio of max possible error to pixels (have to measure!)
redxeth 0:98e98e01a6ce 15 #define DER_RATIO 0.5 // ratio for der threshold level (was 0.5 initially, may put back)
redxeth 0:98e98e01a6ce 16
redxeth 0:98e98e01a6ce 17 // steer/servo params
redxeth 0:98e98e01a6ce 18 #define MAX_STEER_LEFT -0.51 // value determined by demo mode 1 measure (have to be adjusted with every servo horn attach)
redxeth 0:98e98e01a6ce 19 #define MAX_STEER_RIGHT 0.39 // value determined by demo mode 1 measure
redxeth 0:98e98e01a6ce 20 #define DT 0.02 // # MS of time between intervals (doesn't really matter)
redxeth 0:98e98e01a6ce 21
redxeth 0:98e98e01a6ce 22 // logging parameters
redxeth 0:98e98e01a6ce 23 #define NUM_LOG_FRAMES 700 // # of frames to log (when logging active) ~14 sec worth!
redxeth 0:98e98e01a6ce 24
redxeth 0:98e98e01a6ce 25 // ****** for debug tuning ******
redxeth 0:98e98e01a6ce 26 #define TUNE_SPEED 0.7
redxeth 0:98e98e01a6ce 27 #define TUNE_KP 0.008
redxeth 0:98e98e01a6ce 28 #define TUNE_KI 0
redxeth 0:98e98e01a6ce 29 #define TUNE_KD 0
redxeth 0:98e98e01a6ce 30 #define MIN_POWER 60 // percent min power (estimating for a 2-ft turn => 24" / (24" + 6" car) = 4/5; speed of inner wheel is 20% lower worst case
redxeth 0:98e98e01a6ce 31 #define SPEED_ADJUST 4
redxeth 0:98e98e01a6ce 32 #define ABS_ERROR_THRESH 10 // number of pixels line position offset before changing KP value
redxeth 0:98e98e01a6ce 33 #define CONTROL_METHOD 2 // which control method to use
redxeth 0:98e98e01a6ce 34
redxeth 0:98e98e01a6ce 35
redxeth 0:98e98e01a6ce 36 // Drive/motor params
redxeth 0:98e98e01a6ce 37 // 0.4 way too slow!! need to charge battery
redxeth 0:98e98e01a6ce 38 #define SUB_LIGHT_SPEED 0.5 // moderate speed (value 0 to 1 sent to motors)
redxeth 0:98e98e01a6ce 39 #define LIGHT_SPEED 0.6 // fast...
redxeth 0:98e98e01a6ce 40 #define RIDICULOUS_SPEED 0.7 // faster...
redxeth 0:98e98e01a6ce 41 #define LUDICROUS_SPEED 0.9 // faster still!
redxeth 0:98e98e01a6ce 42 #define MAX_POWER 100 // percent max power (for speed adjustments)
redxeth 0:98e98e01a6ce 43
redxeth 0:98e98e01a6ce 44 // algo params
redxeth 0:98e98e01a6ce 45 #define UNKNOWN_COUNT_MAX 50 // max value to allow for unknown track conditions before killing engine
redxeth 0:98e98e01a6ce 46 #define STARTGATEFOUNDMAX 0 // max value to allow for finding starting gate before killing engine
redxeth 0:98e98e01a6ce 47 #define STARTGATEDELAY 50 // Delay before searching for starting gate to kill engine
redxeth 0:98e98e01a6ce 48
redxeth 0:98e98e01a6ce 49 #define MMA8451_I2C_ADDRESS (0x1d<<1) // address for accelerometer?
redxeth 0:98e98e01a6ce 50
redxeth 0:98e98e01a6ce 51
redxeth 0:98e98e01a6ce 52 /* CAR INTERFACE
redxeth 0:98e98e01a6ce 53
redxeth 0:98e98e01a6ce 54 DIP SWITCH:
redxeth 0:98e98e01a6ce 55 -----------------------------------------------------------------
redxeth 0:98e98e01a6ce 56 1 - ON: Run MCP below; OFF: Run Demo program (see main.cpp)
redxeth 0:98e98e01a6ce 57 2 - ON: Log frame data to array
redxeth 0:98e98e01a6ce 58 3 - ON: Risky race option; OFF: Conservative race option
redxeth 0:98e98e01a6ce 59 4 - ON: Start Gate Kill Switch Active
redxeth 0:98e98e01a6ce 60
redxeth 0:98e98e01a6ce 61 POTS
redxeth 0:98e98e01a6ce 62 -----------------------------------------------------------------
redxeth 0:98e98e01a6ce 63 0 - controls nothing at the moment
redxeth 0:98e98e01a6ce 64 1 - controls nothing at the moment
redxeth 0:98e98e01a6ce 65
redxeth 0:98e98e01a6ce 66 PUSHBUTTONS
redxeth 0:98e98e01a6ce 67 -----------------------------------------------------------------
redxeth 0:98e98e01a6ce 68 A - START car race!
redxeth 0:98e98e01a6ce 69 B - END CAR RACE / (while holding down when 'log frame data' active will also output terminal data)
redxeth 0:98e98e01a6ce 70
redxeth 0:98e98e01a6ce 71 */
redxeth 0:98e98e01a6ce 72
redxeth 0:98e98e01a6ce 73 // LEARNING CAR CLUB 9/10/13:
redxeth 0:98e98e01a6ce 74 // IP need to test-- get around U turns -- more aggressive proportional control? Or derivative? Have camera look farther ahead but not too far ahead
redxeth 0:98e98e01a6ce 75 // IP need to test -- fix lighting for tunnels (if good algo doesn't need lighting!!)
redxeth 0:98e98e01a6ce 76 // -- increase power up to get up hills, brake down hills (accel: http://mbed.org/users/SomeRandomBloke/code/MMA8451Q/#)
redxeth 0:98e98e01a6ce 77 // -- add speed control? (hall effect sensor)
redxeth 0:98e98e01a6ce 78 // DONE -- make sure steering won't go past limits!!
redxeth 0:98e98e01a6ce 79 // 9/12/13 - adjust camera exposure time based on maximum light intensity!!
redxeth 0:98e98e01a6ce 80 // 9/14/13 - DONE -- make derivative threshold related to maximum light intensity!
redxeth 0:98e98e01a6ce 81 // 9/16/13 - crash at car club blew out resistor R8, replaced it and getty twitching when powering servo from USB only. Ok when powering from battery.
redxeth 0:98e98e01a6ce 82 // 9/17/13 - experiments show that derivative control just doesn't work very well-- the tinest error delta causes huge drastic changes, need to use non-linear proportional
redxeth 0:98e98e01a6ce 83 // control instead... parabolic??
redxeth 0:98e98e01a6ce 84 // DONE -- Also need to slow down on curves
redxeth 0:98e98e01a6ce 85 // speed up hills and slow down on downhill...
redxeth 0:98e98e01a6ce 86 // measure speed?
redxeth 0:98e98e01a6ce 87 // 9/18/13 - Test track work: doesn't appear to be sampling camera fast enough-- not able to handle the wiggly track and sometimes not able to handle the curves!
redxeth 0:98e98e01a6ce 88 // TODO: Need to increase rate at which camera sampled and decisions are made!! Look to codewarrior code
redxeth 0:98e98e01a6ce 89 // Need to cut off left/right ends of camera data-- seems to not read line properly in well lit rooms
redxeth 0:98e98e01a6ce 90 // DONE Speed adjust as you go round; Need to have it slow down "into" curve, speed up again "out of curve"
redxeth 0:98e98e01a6ce 91 // 9/23/13 - Definitely not processing camera fast enough-- seems to not react well when speed up the car. Goes slow just fine all the way 'round.
redxeth 0:98e98e01a6ce 92 // TODO: Need to see how often TFC_LineScanImageReady gets updated. If update camera sample freq how will that impact exposure? Light adjustment algos should
redxeth 0:98e98e01a6ce 93 // be able to handle it. Need to be able to measure the 'processing time' required. Also wondering if 20mS is fast enough for updating the servo?? Need
redxeth 0:98e98e01a6ce 94 // to calculate how fast servo needs to really go based on track curves and speed.
redxeth 0:98e98e01a6ce 95 // TODO: Need a way to measure speed I think as well.
redxeth 0:98e98e01a6ce 96 // TODO: Need to control speed differentially across the different motors!! See Eli video!!
redxeth 0:98e98e01a6ce 97 // TODO: Use this to get excel feedback quicker: http://strokescribe.com/en/serial-port-download.html (Doesn't work too well-- prefer my own excel method)
redxeth 0:98e98e01a6ce 98 // TODO: Use PID control for steering!
redxeth 0:98e98e01a6ce 99 // TODO: Use Speed control (PID?) --- add speed sensor!
redxeth 0:98e98e01a6ce 100 // 10/8/13 Reduced speed control to 90% (was 85%)-- seems to go off track and lose line at high speed-- mainly on the U turns
redxeth 0:98e98e01a6ce 101 // Need to figure out why derivative control in steering doesn't work well. Add integral control.
redxeth 0:98e98e01a6ce 102 // Latest track times (no hill, no bumps, no tunnel, only squiggles) = 11.8sec at high speed with speed control
redxeth 0:98e98e01a6ce 103 // Losing time on the curves-- need to optimize!!
redxeth 0:98e98e01a6ce 104 // Worry about hill later-- need to get track times down around 8sec first.
redxeth 0:98e98e01a6ce 105 // *****************************
redxeth 0:98e98e01a6ce 106 // ** Implement some method to acount for U-TURNS on track-- and to help even go beyond what camera can see as far as estimating line position
redxeth 0:98e98e01a6ce 107 // ** (U-TURNS take the longest time out of track)
redxeth 0:98e98e01a6ce 108 // ** Method to help find the line even when not really visible
redxeth 0:98e98e01a6ce 109 // *****************************
redxeth 0:98e98e01a6ce 110 // 10/17/13
redxeth 0:98e98e01a6ce 111 // NEED CURVE AND WIGGLE DETECT!!
redxeth 0:98e98e01a6ce 112 // 10/20/13 Added logging capability and 'algo time' detect
redxeth 0:98e98e01a6ce 113 // It is not finding the line on the edges when on a curve-- likely because my line detect algo requires both edges
redxeth 0:98e98e01a6ce 114 // TODO-- need method that can use only one edge!
redxeth 0:98e98e01a6ce 115
redxeth 0:98e98e01a6ce 116 // TODO LIST
redxeth 0:98e98e01a6ce 117 // - Speed Control via Sensor WAITING ON SENSOR
redxeth 0:98e98e01a6ce 118 // - Differential drive around curves DONE -- still trying to figure out what %age to drop on turns
redxeth 0:98e98e01a6ce 119 // - Full PID steering control IN PROGRESS
redxeth 0:98e98e01a6ce 120 // - Starting gate kill engine debug IN PROGRESS -- need to add delay
redxeth 0:98e98e01a6ce 121 // - Off track kill engine debug -- IN PROGRESS-- seems to kill car prematurely
redxeth 0:98e98e01a6ce 122
redxeth 0:98e98e01a6ce 123 // image processing vars
redxeth 0:98e98e01a6ce 124 uint16_t GrabLineScanImage0[NUM_LINE_SCAN]; // snapshot of camera data for this 'frame'
redxeth 0:98e98e01a6ce 125 float DerivLineScanImage0[NUM_LINE_SCAN]; // derivative of line scan data
redxeth 0:98e98e01a6ce 126 float NegEdges[NUM_LINE_SCAN]; // array-- set of where in line scan data negative edges found
redxeth 0:98e98e01a6ce 127 float PosEdges[NUM_LINE_SCAN]; // array-- set of where in line scan data positive edges found
redxeth 0:98e98e01a6ce 128 uint16_t numNegEdges = 0, numPosEdges = 0; // max value of valid neg and positive indices (also serves as a count of # edges found)
redxeth 0:98e98e01a6ce 129 uint16_t MaxLightIntensity = 0; // max measured light intensity -- to account for lighting differences
redxeth 0:98e98e01a6ce 130 uint16_t MinLightIntensity = (1 << 12); // min measured light intensity -- to account for lighting differences
redxeth 0:98e98e01a6ce 131 float maxDerVal = 0; // max deriv value
redxeth 0:98e98e01a6ce 132 float minDerVal = (float) (1 << 12); // min deriv value
redxeth 0:98e98e01a6ce 133 float aveDerVal = 0; // average deriv value
redxeth 0:98e98e01a6ce 134 float DerivThreshold = (1 << 9); // Derivative Threshold (default)
redxeth 0:98e98e01a6ce 135 float PosDerivThreshold = (1 << 9); // Pos Edge Derivative Threshold (default)
redxeth 0:98e98e01a6ce 136 float NegDerivThreshold = (1 << 9); // Neg Edge Derivative Threshold (default)
redxeth 0:98e98e01a6ce 137
redxeth 0:98e98e01a6ce 138
redxeth 0:98e98e01a6ce 139 // Steering control variables
redxeth 0:98e98e01a6ce 140 float CurrentLinePosition; // Current position of track line (in pixels -- 0 to 127)
redxeth 0:98e98e01a6ce 141 float LastLinePosition; // Last position of track line (in pixels -- 0 to 127)
redxeth 0:98e98e01a6ce 142 float CurrentLinePosError = 0; // Current line position error (used for derivative calc)
redxeth 0:98e98e01a6ce 143 float AbsError;
redxeth 0:98e98e01a6ce 144 float LastLinePosError = 0; // Last line position error (used for derivative calc)
redxeth 0:98e98e01a6ce 145 float SumLinePosError = 0; // Sum of line position error (used for integral calc)
redxeth 0:98e98e01a6ce 146 float DerivError = 0; // Derivative of error
redxeth 0:98e98e01a6ce 147 float CurrentSteerSetting = (MAX_STEER_RIGHT + MAX_STEER_LEFT) / 2; // drive straight at first
redxeth 0:98e98e01a6ce 148 float CurrentLeftDriveSetting = 0; // Drive setting (left wheel)
redxeth 0:98e98e01a6ce 149 float CurrentRightDriveSetting = 0; // Drive setting (right wheel)
redxeth 0:98e98e01a6ce 150
redxeth 0:98e98e01a6ce 151 // Speed control vars
redxeth 0:98e98e01a6ce 152 float MaxSpeed; // maximum speed allowed
redxeth 0:98e98e01a6ce 153
redxeth 0:98e98e01a6ce 154 uint16_t startRaceTicker; // ticker at start of race1
redxeth 0:98e98e01a6ce 155
redxeth 0:98e98e01a6ce 156 // Custom Data Types
redxeth 0:98e98e01a6ce 157 typedef enum TrackStatusType {Unknown,
redxeth 0:98e98e01a6ce 158 LineFound,
redxeth 0:98e98e01a6ce 159 StartGateFound,
redxeth 0:98e98e01a6ce 160 LineJustLeft} TrackStatusType;
redxeth 0:98e98e01a6ce 161
redxeth 0:98e98e01a6ce 162 TrackStatusType CurrentTrackStatus; // current track status
redxeth 0:98e98e01a6ce 163 TrackStatusType LastTrackStatus; // last track status
redxeth 0:98e98e01a6ce 164
redxeth 0:98e98e01a6ce 165 /* typedef enum TrackType {NotSure,
redxeth 0:98e98e01a6ce 166 Straight,
redxeth 0:98e98e01a6ce 167 Curve,
redxeth 0:98e98e01a6ce 168 Wiggle,
redxeth 0:98e98e01a6ce 169 Bumps,
redxeth 0:98e98e01a6ce 170 StartGate,
redxeth 0:98e98e01a6ce 171 UpHill,
redxeth 0:98e98e01a6ce 172 DownHill} TrackType;
redxeth 0:98e98e01a6ce 173
redxeth 0:98e98e01a6ce 174 TrackType CurrentTrack; */
redxeth 0:98e98e01a6ce 175
redxeth 0:98e98e01a6ce 176
redxeth 0:98e98e01a6ce 177 struct LogData {
redxeth 0:98e98e01a6ce 178 float linepos;
redxeth 0:98e98e01a6ce 179 float steersetting;
redxeth 0:98e98e01a6ce 180 float leftdrivesetting;
redxeth 0:98e98e01a6ce 181 float rightdrivesetting;
redxeth 0:98e98e01a6ce 182 };
redxeth 0:98e98e01a6ce 183
redxeth 0:98e98e01a6ce 184 LogData frameLogs[NUM_LOG_FRAMES]; // array of log data to store
redxeth 0:98e98e01a6ce 185 int logDataIndex; // index for log data
redxeth 0:98e98e01a6ce 186
redxeth 0:98e98e01a6ce 187
redxeth 0:98e98e01a6ce 188 int StartGateFoundCount = 0; // how many times start gate has been found
redxeth 0:98e98e01a6ce 189 int UnknownCount = 0; // how many times nothing has been found (to help with kill switch implementation)
redxeth 0:98e98e01a6ce 190 bool go = false; // Car can go! Should be set to false to start.
redxeth 0:98e98e01a6ce 191
redxeth 0:98e98e01a6ce 192 // EXTRA CONTROL PARAMETERS
redxeth 0:98e98e01a6ce 193 bool debugFakeMode = false; // if true, ignores real camera and uses fake camera input instead; used for data processing debug
redxeth 0:98e98e01a6ce 194 int terminalOutput = 0; // set debug level for terminal output
redxeth 0:98e98e01a6ce 195 // 0 : no terminal output, race!
redxeth 0:98e98e01a6ce 196 // 1 : output just to measure frame rate
redxeth 0:98e98e01a6ce 197 // 2 : output for measuring time of operations
redxeth 0:98e98e01a6ce 198 // 3 : output with delay
redxeth 0:98e98e01a6ce 199 bool doLogData = false; // whether to capture log data to output later on
redxeth 0:98e98e01a6ce 200 bool killSwitch = false; // whether to enable Kill Switch (allow engine to stop after not finding track)
redxeth 0:98e98e01a6ce 201 bool startGateStop = false; // whether to stop or not depending on starting gate reading
redxeth 0:98e98e01a6ce 202 bool doRisky = false; // race style-- whether conservative or risky
redxeth 0:98e98e01a6ce 203
redxeth 0:98e98e01a6ce 204 // timer stuff
redxeth 0:98e98e01a6ce 205 Timer timer;
redxeth 0:98e98e01a6ce 206 int after_time, before_time, start_time, last_start_time;
redxeth 0:98e98e01a6ce 207 bool run_once = false;
redxeth 0:98e98e01a6ce 208
redxeth 0:98e98e01a6ce 209 void MasterControlProgram()
redxeth 0:98e98e01a6ce 210 {
redxeth 0:98e98e01a6ce 211
redxeth 0:98e98e01a6ce 212 // put here all things want to run only once after reset
redxeth 0:98e98e01a6ce 213 if (!run_once){
redxeth 0:98e98e01a6ce 214 if ((terminalOutput == 1) || (terminalOutput == 2)){
redxeth 0:98e98e01a6ce 215 timer.start();
redxeth 0:98e98e01a6ce 216 }
redxeth 0:98e98e01a6ce 217 run_once = true;
redxeth 0:98e98e01a6ce 218 }
redxeth 0:98e98e01a6ce 219
redxeth 0:98e98e01a6ce 220 // read DIP switches and Pots for data
redxeth 0:98e98e01a6ce 221 readSwitches();
redxeth 0:98e98e01a6ce 222
redxeth 0:98e98e01a6ce 223 // Every 4s (or Terminal Output is off, i.e. race mode!)
redxeth 0:98e98e01a6ce 224 // AND line scan image ready (or fake mode where image is always ready)
redxeth 0:98e98e01a6ce 225 // (ticker updates every 2ms) (Line scan image ready very 20mS?)
redxeth 0:98e98e01a6ce 226 if((TFC_Ticker[0]>2000 || (terminalOutput != 3)) && (TFC_LineScanImageReady>0 || debugFakeMode))
redxeth 0:98e98e01a6ce 227 {
redxeth 0:98e98e01a6ce 228
redxeth 0:98e98e01a6ce 229 // stuff that needs to be reset with each image frame
redxeth 0:98e98e01a6ce 230 if (terminalOutput == 1) {
redxeth 0:98e98e01a6ce 231 last_start_time = start_time;
redxeth 0:98e98e01a6ce 232 start_time = timer.read_us();
redxeth 0:98e98e01a6ce 233 TERMINAL_PRINTF("TIME:Between frames:%d:uSec\r\n", start_time - last_start_time);
redxeth 0:98e98e01a6ce 234 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 235 }
redxeth 0:98e98e01a6ce 236 TFC_Ticker[0] = 0;
redxeth 0:98e98e01a6ce 237 TFC_LineScanImageReady=0; // must reset to 0 after detecting non-zero
redxeth 0:98e98e01a6ce 238 MaxLightIntensity = 0; // reset
redxeth 0:98e98e01a6ce 239 MinLightIntensity = (1 << 12); // reset
redxeth 0:98e98e01a6ce 240
redxeth 0:98e98e01a6ce 241 // grab camera frame
redxeth 0:98e98e01a6ce 242 grabCameraFrame();
redxeth 0:98e98e01a6ce 243
redxeth 0:98e98e01a6ce 244 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 245 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 246 TERMINAL_PRINTF("TIME:TO AFTER grabCameraFrame:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 247 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 248 }
redxeth 0:98e98e01a6ce 249
redxeth 0:98e98e01a6ce 250 // calcalate derivative of linescandata, filter starttime data
redxeth 0:98e98e01a6ce 251 derivativeLineScan(&GrabLineScanImage0[0], &DerivLineScanImage0[0]);
redxeth 0:98e98e01a6ce 252
redxeth 0:98e98e01a6ce 253 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 254 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 255 TERMINAL_PRINTF("TIME:TO AFTER derivativeLineScan:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 256 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 257 }
redxeth 0:98e98e01a6ce 258
redxeth 0:98e98e01a6ce 259 // adjust deriv threshold based on max lighting value
redxeth 0:98e98e01a6ce 260 // has to be called before find edges
redxeth 0:98e98e01a6ce 261 adjustLights();
redxeth 0:98e98e01a6ce 262
redxeth 0:98e98e01a6ce 263 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 264 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 265 TERMINAL_PRINTF("TIME:TO AFTER adjustLights:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 266 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 267 }
redxeth 0:98e98e01a6ce 268
redxeth 0:98e98e01a6ce 269 //find edges from derivative data
redxeth 0:98e98e01a6ce 270 findEdges_v2(&DerivLineScanImage0[0]);
redxeth 0:98e98e01a6ce 271
redxeth 0:98e98e01a6ce 272 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 273 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 274 TERMINAL_PRINTF("TIME:TO AFTER findEdges_v2:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 275 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 276 }
redxeth 0:98e98e01a6ce 277
redxeth 0:98e98e01a6ce 278 // turn on terminal output if line not found -- FOR DEBUG
redxeth 0:98e98e01a6ce 279 //if (CurrentTrackStatus == Unknown)
redxeth 0:98e98e01a6ce 280 // terminalOutput = 1;
redxeth 0:98e98e01a6ce 281
redxeth 0:98e98e01a6ce 282 //review edge data and set position or starting flag appropriately
redxeth 0:98e98e01a6ce 283 reviewEdges();
redxeth 0:98e98e01a6ce 284
redxeth 0:98e98e01a6ce 285 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 286 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 287 TERMINAL_PRINTF("TIME:TO AFTER reviewEdges:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 288 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 289 }
redxeth 0:98e98e01a6ce 290
redxeth 0:98e98e01a6ce 291 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 292 // print data to Terminal for camera 0
redxeth 0:98e98e01a6ce 293 printLineScanData(&GrabLineScanImage0[0]);
redxeth 0:98e98e01a6ce 294
redxeth 0:98e98e01a6ce 295 // print deriviative of linescandata, filter starttime data
redxeth 0:98e98e01a6ce 296 printDerivLineScanData(&DerivLineScanImage0[0]);
redxeth 0:98e98e01a6ce 297
redxeth 0:98e98e01a6ce 298 printAdjustLightsData();
redxeth 0:98e98e01a6ce 299
redxeth 0:98e98e01a6ce 300 printEdgesFound();
redxeth 0:98e98e01a6ce 301
redxeth 0:98e98e01a6ce 302 }
redxeth 0:98e98e01a6ce 303
redxeth 0:98e98e01a6ce 304 // ** Track Status available at this point **
redxeth 0:98e98e01a6ce 305
redxeth 0:98e98e01a6ce 306
redxeth 0:98e98e01a6ce 307 // test out accelerometer
redxeth 0:98e98e01a6ce 308 // accelTest();
redxeth 0:98e98e01a6ce 309
redxeth 0:98e98e01a6ce 310 // Update things based on latest track status
redxeth 0:98e98e01a6ce 311 // e.g. change steering setting, stop car, ...
redxeth 0:98e98e01a6ce 312 ActOnTrackStatus();
redxeth 0:98e98e01a6ce 313
redxeth 0:98e98e01a6ce 314 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 315 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 316 TERMINAL_PRINTF("TIME:TO AFTER ActOnTrackStatus:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 317 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 318 }
redxeth 0:98e98e01a6ce 319
redxeth 0:98e98e01a6ce 320
redxeth 0:98e98e01a6ce 321 //give LED feedback as to track status
redxeth 0:98e98e01a6ce 322 feedbackLights();
redxeth 0:98e98e01a6ce 323
redxeth 0:98e98e01a6ce 324 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 325 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 326 TERMINAL_PRINTF("TIME:TO AFTER feedbackLights:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 327 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 328 }
redxeth 0:98e98e01a6ce 329
redxeth 0:98e98e01a6ce 330 // control max power (speed)
redxeth 0:98e98e01a6ce 331 SpeedControl();
redxeth 0:98e98e01a6ce 332
redxeth 0:98e98e01a6ce 333 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 334 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 335 TERMINAL_PRINTF("TIME:TO AFTER SpeedControl:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 336 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 337 }
redxeth 0:98e98e01a6ce 338
redxeth 0:98e98e01a6ce 339 // Drive!!
redxeth 0:98e98e01a6ce 340 Drive();
redxeth 0:98e98e01a6ce 341
redxeth 0:98e98e01a6ce 342 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 343 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 344 TERMINAL_PRINTF("TIME:TO AFTER Drive:%d:uSec\r\n", after_time - before_time);
redxeth 0:98e98e01a6ce 345 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 346 }
redxeth 0:98e98e01a6ce 347
redxeth 0:98e98e01a6ce 348 // wait_ms(1);
redxeth 0:98e98e01a6ce 349
redxeth 0:98e98e01a6ce 350 // Capture Log data while driving
redxeth 0:98e98e01a6ce 351 if (go && doLogData) {
redxeth 0:98e98e01a6ce 352 captureData();
redxeth 0:98e98e01a6ce 353 }
redxeth 0:98e98e01a6ce 354
redxeth 0:98e98e01a6ce 355 // Dump Log data to Terminal while stopped and holding B button
redxeth 0:98e98e01a6ce 356 if (!go && doLogData && TFC_PUSH_BUTTON_1_PRESSED) {
redxeth 0:98e98e01a6ce 357 dumpData();
redxeth 0:98e98e01a6ce 358 }
redxeth 0:98e98e01a6ce 359
redxeth 0:98e98e01a6ce 360 if (terminalOutput == 2) {
redxeth 0:98e98e01a6ce 361 after_time = timer.read_us();
redxeth 0:98e98e01a6ce 362 TERMINAL_PRINTF("TIME: ENTIRE FRAME (include prints):%d:uSec\r\n", after_time - start_time);
redxeth 0:98e98e01a6ce 363 before_time = timer.read_us();
redxeth 0:98e98e01a6ce 364 }
redxeth 0:98e98e01a6ce 365
redxeth 0:98e98e01a6ce 366 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 367 TERMINAL_PRINTF("\r\n**************************END********************************\r\n");
redxeth 0:98e98e01a6ce 368 }
redxeth 0:98e98e01a6ce 369
redxeth 0:98e98e01a6ce 370 }
redxeth 0:98e98e01a6ce 371 }
redxeth 0:98e98e01a6ce 372
redxeth 0:98e98e01a6ce 373 void dumpData()
redxeth 0:98e98e01a6ce 374 {
redxeth 0:98e98e01a6ce 375 TERMINAL_PRINTF("INDEX,LINEPOS,STEERSETTING,LEFTDRIVESETTING,RIGHTDRIVESETTING\r\n");
redxeth 0:98e98e01a6ce 376 for(logDataIndex=0;logDataIndex<NUM_LOG_FRAMES;logDataIndex++) {
redxeth 0:98e98e01a6ce 377 TERMINAL_PRINTF("%d,%6.2f,%6.2f,%6.2f,%6.2f\r\n",logDataIndex,frameLogs[logDataIndex].linepos,frameLogs[logDataIndex].steersetting,frameLogs[logDataIndex].leftdrivesetting,frameLogs[logDataIndex].rightdrivesetting);
redxeth 0:98e98e01a6ce 378 }
redxeth 0:98e98e01a6ce 379 }
redxeth 0:98e98e01a6ce 380
redxeth 0:98e98e01a6ce 381 void captureData()
redxeth 0:98e98e01a6ce 382 {
redxeth 0:98e98e01a6ce 383 frameLogs[logDataIndex].linepos = CurrentLinePosition;
redxeth 0:98e98e01a6ce 384 frameLogs[logDataIndex].steersetting = CurrentSteerSetting;
redxeth 0:98e98e01a6ce 385 frameLogs[logDataIndex].leftdrivesetting = CurrentLeftDriveSetting;
redxeth 0:98e98e01a6ce 386 frameLogs[logDataIndex].rightdrivesetting = CurrentRightDriveSetting;
redxeth 0:98e98e01a6ce 387
redxeth 0:98e98e01a6ce 388 // increment index
redxeth 0:98e98e01a6ce 389 logDataIndex++;
redxeth 0:98e98e01a6ce 390 if (logDataIndex > NUM_LOG_FRAMES)
redxeth 0:98e98e01a6ce 391 logDataIndex = 0;
redxeth 0:98e98e01a6ce 392 }
redxeth 0:98e98e01a6ce 393
redxeth 0:98e98e01a6ce 394 void readSwitches()
redxeth 0:98e98e01a6ce 395 {
redxeth 0:98e98e01a6ce 396
redxeth 0:98e98e01a6ce 397 // ********* GATHER DIP SWITCH INPUTS *********
redxeth 0:98e98e01a6ce 398 if(TFC_GetDIP_Switch()&0x02) // SWITCH 2
redxeth 0:98e98e01a6ce 399 doLogData = true; // Log data to array
redxeth 0:98e98e01a6ce 400 else
redxeth 0:98e98e01a6ce 401 doLogData = false; // normal operation
redxeth 0:98e98e01a6ce 402
redxeth 0:98e98e01a6ce 403 if(TFC_GetDIP_Switch()&0x04) // SWITCH 3
redxeth 0:98e98e01a6ce 404 doRisky = true;
redxeth 0:98e98e01a6ce 405 else
redxeth 0:98e98e01a6ce 406 doRisky = false;
redxeth 0:98e98e01a6ce 407
redxeth 0:98e98e01a6ce 408 if(TFC_GetDIP_Switch()&0x08) // SWITCH 4 control start stop gate
redxeth 0:98e98e01a6ce 409 startGateStop = true;
redxeth 0:98e98e01a6ce 410 else
redxeth 0:98e98e01a6ce 411 startGateStop = false;
redxeth 0:98e98e01a6ce 412
redxeth 0:98e98e01a6ce 413
redxeth 0:98e98e01a6ce 414 }
redxeth 0:98e98e01a6ce 415
redxeth 0:98e98e01a6ce 416 void grabCameraFrame()
redxeth 0:98e98e01a6ce 417 {
redxeth 0:98e98e01a6ce 418 uint32_t i = 0;
redxeth 0:98e98e01a6ce 419 uint8_t fake_type = 4; // type of fake data if used
redxeth 0:98e98e01a6ce 420
redxeth 0:98e98e01a6ce 421 for(i=0;i<NUM_LINE_SCAN;i++) // print one line worth of data (128) from Camera 0
redxeth 0:98e98e01a6ce 422 {
redxeth 0:98e98e01a6ce 423
redxeth 0:98e98e01a6ce 424 if (debugFakeMode) { // use fake camera data
redxeth 0:98e98e01a6ce 425 switch (fake_type) {
redxeth 0:98e98e01a6ce 426 case 0: // ideal track -- line in center
redxeth 0:98e98e01a6ce 427 if (i<57 || i > 70)
redxeth 0:98e98e01a6ce 428 GrabLineScanImage0[i] = 0xFFF; // no line
redxeth 0:98e98e01a6ce 429 else
redxeth 0:98e98e01a6ce 430 GrabLineScanImage0[i] = 0x4B0; // line
redxeth 0:98e98e01a6ce 431 break;
redxeth 0:98e98e01a6ce 432 case 1: // ideal track -- line to the left
redxeth 0:98e98e01a6ce 433 if (i<27 || i > 40)
redxeth 0:98e98e01a6ce 434 GrabLineScanImage0[i] = 0xFFF; // no line
redxeth 0:98e98e01a6ce 435 else
redxeth 0:98e98e01a6ce 436 GrabLineScanImage0[i] = 0x4B0; // line
redxeth 0:98e98e01a6ce 437 break;
redxeth 0:98e98e01a6ce 438 case 2: // ideal track -- line to the right
redxeth 0:98e98e01a6ce 439 if (i<87 || i > 100)
redxeth 0:98e98e01a6ce 440 GrabLineScanImage0[i] = 0xFFF; // no line
redxeth 0:98e98e01a6ce 441 else
redxeth 0:98e98e01a6ce 442 GrabLineScanImage0[i] = 0x4B0; // line
redxeth 0:98e98e01a6ce 443 break;
redxeth 0:98e98e01a6ce 444 case 3: // ideal track -- starting gate!
redxeth 0:98e98e01a6ce 445 // TBD
redxeth 0:98e98e01a6ce 446 break;
redxeth 0:98e98e01a6ce 447 case 4: // less than ideal track -- debug multi-edge issue!
redxeth 0:98e98e01a6ce 448 if (i<54)
redxeth 0:98e98e01a6ce 449 GrabLineScanImage0[i] = 4000; // no line
redxeth 0:98e98e01a6ce 450 if (i == 54)
redxeth 0:98e98e01a6ce 451 GrabLineScanImage0[i] = 3370; // neg edge
redxeth 0:98e98e01a6ce 452 if (i == 55)
redxeth 0:98e98e01a6ce 453 GrabLineScanImage0[i] = 3309; // neg edge
redxeth 0:98e98e01a6ce 454 if (i == 56)
redxeth 0:98e98e01a6ce 455 GrabLineScanImage0[i] = 2016; // neg edge
redxeth 0:98e98e01a6ce 456 if (i == 57)
redxeth 0:98e98e01a6ce 457 GrabLineScanImage0[i] = 711; // neg edge
redxeth 0:98e98e01a6ce 458 if (i == 58)
redxeth 0:98e98e01a6ce 459 GrabLineScanImage0[i] = 696; // neg edge
redxeth 0:98e98e01a6ce 460 if ((i>58) && (i<69))
redxeth 0:98e98e01a6ce 461 GrabLineScanImage0[i] = 500; // line
redxeth 0:98e98e01a6ce 462 if (i == 69)
redxeth 0:98e98e01a6ce 463 GrabLineScanImage0[i] = 1800; // pos edge
redxeth 0:98e98e01a6ce 464 if (i > 69)
redxeth 0:98e98e01a6ce 465 GrabLineScanImage0[i] = 4000; // no line
redxeth 0:98e98e01a6ce 466 default:
redxeth 0:98e98e01a6ce 467 break;
redxeth 0:98e98e01a6ce 468 }
redxeth 0:98e98e01a6ce 469
redxeth 0:98e98e01a6ce 470 } else { // use real camera data
redxeth 0:98e98e01a6ce 471 GrabLineScanImage0[i] = TFC_LineScanImage0[i];
redxeth 0:98e98e01a6ce 472 }
redxeth 0:98e98e01a6ce 473 }
redxeth 0:98e98e01a6ce 474
redxeth 0:98e98e01a6ce 475
redxeth 0:98e98e01a6ce 476 }
redxeth 0:98e98e01a6ce 477
redxeth 0:98e98e01a6ce 478 void printLineScanData(uint16_t* LineScanData)
redxeth 0:98e98e01a6ce 479 {
redxeth 0:98e98e01a6ce 480 uint32_t i = 0;
redxeth 0:98e98e01a6ce 481 float Val;
redxeth 0:98e98e01a6ce 482
redxeth 0:98e98e01a6ce 483 TERMINAL_PRINTF("LINE SCAN DATA:,");
redxeth 0:98e98e01a6ce 484
redxeth 0:98e98e01a6ce 485 for(i=0;i<NUM_LINE_SCAN;i++) // print one line worth of data (128) from Camera 0
redxeth 0:98e98e01a6ce 486 {
redxeth 0:98e98e01a6ce 487 if (1 == 1) { // use float to print
redxeth 0:98e98e01a6ce 488 Val = (float) LineScanData[i];
redxeth 0:98e98e01a6ce 489 TERMINAL_PRINTF("%9.3f",Val);
redxeth 0:98e98e01a6ce 490 if(i==MAX_LINE_SCAN) // when last data reached put in line return
redxeth 0:98e98e01a6ce 491 TERMINAL_PRINTF("\r\n");
redxeth 0:98e98e01a6ce 492 else
redxeth 0:98e98e01a6ce 493 TERMINAL_PRINTF(",");
redxeth 0:98e98e01a6ce 494 } else {
redxeth 0:98e98e01a6ce 495 TERMINAL_PRINTF("0x%X",LineScanData[i]);
redxeth 0:98e98e01a6ce 496 if(i==MAX_LINE_SCAN) // when last data reached put in line return
redxeth 0:98e98e01a6ce 497 TERMINAL_PRINTF("\r\n",LineScanData[i]);
redxeth 0:98e98e01a6ce 498 else
redxeth 0:98e98e01a6ce 499 TERMINAL_PRINTF(",",LineScanData[i]);
redxeth 0:98e98e01a6ce 500 }
redxeth 0:98e98e01a6ce 501 }
redxeth 0:98e98e01a6ce 502
redxeth 0:98e98e01a6ce 503 }
redxeth 0:98e98e01a6ce 504
redxeth 0:98e98e01a6ce 505 void printDerivLineScanData(float* derivLineScanData)
redxeth 0:98e98e01a6ce 506 {
redxeth 0:98e98e01a6ce 507 uint32_t i, minCnt = 0, maxCnt = 0;
redxeth 0:98e98e01a6ce 508
redxeth 0:98e98e01a6ce 509 minCnt = FILTER_ENDS;
redxeth 0:98e98e01a6ce 510 maxCnt = NUM_LINE_SCAN - FILTER_ENDS;
redxeth 0:98e98e01a6ce 511
redxeth 0:98e98e01a6ce 512 TERMINAL_PRINTF("DERIVATIVE DATA:,");
redxeth 0:98e98e01a6ce 513
redxeth 0:98e98e01a6ce 514 for(i=minCnt;i<maxCnt;i++) // print one line worth of data (128) from Camera 0
redxeth 0:98e98e01a6ce 515 {
redxeth 0:98e98e01a6ce 516 TERMINAL_PRINTF("%9.3f",derivLineScanData[i]);
redxeth 0:98e98e01a6ce 517 if(i==maxCnt-1) // when last data reached put in line return
redxeth 0:98e98e01a6ce 518 TERMINAL_PRINTF("\r\n",derivLineScanData[i]);
redxeth 0:98e98e01a6ce 519 else
redxeth 0:98e98e01a6ce 520 TERMINAL_PRINTF(", ",derivLineScanData[i]);
redxeth 0:98e98e01a6ce 521 }
redxeth 0:98e98e01a6ce 522
redxeth 0:98e98e01a6ce 523 }
redxeth 0:98e98e01a6ce 524
redxeth 0:98e98e01a6ce 525 void derivativeLineScan(uint16_t* LineScanDataIn, float* DerivLineScanDataOut)
redxeth 0:98e98e01a6ce 526 {
redxeth 0:98e98e01a6ce 527
redxeth 0:98e98e01a6ce 528 uint32_t i, minCnt = 0, maxCnt = 0;
redxeth 0:98e98e01a6ce 529 float DerVal, upperDerVal, lowerDerVal = 0;
redxeth 0:98e98e01a6ce 530
redxeth 0:98e98e01a6ce 531 maxDerVal = 0;
redxeth 0:98e98e01a6ce 532 minDerVal = (float) (1 << 12);
redxeth 0:98e98e01a6ce 533 aveDerVal = 0;
redxeth 0:98e98e01a6ce 534
redxeth 0:98e98e01a6ce 535 minCnt = FILTER_ENDS;
redxeth 0:98e98e01a6ce 536 maxCnt = NUM_LINE_SCAN - FILTER_ENDS;
redxeth 0:98e98e01a6ce 537
redxeth 0:98e98e01a6ce 538 // TERMINAL_PRINTF("i, upperDerVal, lowerDerVal, DerVal\r\n");
redxeth 0:98e98e01a6ce 539
redxeth 0:98e98e01a6ce 540 for(i=minCnt;i<maxCnt;i++) // print one line worth of data from Camera 0
redxeth 0:98e98e01a6ce 541 {
redxeth 0:98e98e01a6ce 542
redxeth 0:98e98e01a6ce 543 // store max light intensity value
redxeth 0:98e98e01a6ce 544 if (LineScanDataIn[i] > MaxLightIntensity)
redxeth 0:98e98e01a6ce 545 MaxLightIntensity = LineScanDataIn[i];
redxeth 0:98e98e01a6ce 546
redxeth 0:98e98e01a6ce 547 // store min light intensity value
redxeth 0:98e98e01a6ce 548 if (LineScanDataIn[i] < MinLightIntensity)
redxeth 0:98e98e01a6ce 549 MinLightIntensity = LineScanDataIn[i];
redxeth 0:98e98e01a6ce 550
redxeth 0:98e98e01a6ce 551
redxeth 0:98e98e01a6ce 552 // Central Derivative
redxeth 0:98e98e01a6ce 553 if (i==minCnt) { // start point
redxeth 0:98e98e01a6ce 554 upperDerVal = (float)(LineScanDataIn[i+1]);
redxeth 0:98e98e01a6ce 555 lowerDerVal = (float)(LineScanDataIn[i]); // make same as start point
redxeth 0:98e98e01a6ce 556 } else if (i==maxCnt - 1){ // end point
redxeth 0:98e98e01a6ce 557 upperDerVal = (float)(LineScanDataIn[i]); // make same as end point
redxeth 0:98e98e01a6ce 558 lowerDerVal = (float)(LineScanDataIn[i-1]);
redxeth 0:98e98e01a6ce 559 } else { // any other point
redxeth 0:98e98e01a6ce 560 upperDerVal = (float)(LineScanDataIn[i+1]);
redxeth 0:98e98e01a6ce 561 lowerDerVal = (float)(LineScanDataIn[i-1]);
redxeth 0:98e98e01a6ce 562 }
redxeth 0:98e98e01a6ce 563 DerVal = (upperDerVal - lowerDerVal) / 2;
redxeth 0:98e98e01a6ce 564 // TERMINAL_PRINTF("%d,%9.3f,%9.3f,%9.3f\r\n", i, upperDerVal, lowerDerVal, DerVal);
redxeth 0:98e98e01a6ce 565
redxeth 0:98e98e01a6ce 566 if (DerVal > maxDerVal) {
redxeth 0:98e98e01a6ce 567 maxDerVal = DerVal;
redxeth 0:98e98e01a6ce 568 }
redxeth 0:98e98e01a6ce 569 if (DerVal < minDerVal) {
redxeth 0:98e98e01a6ce 570 minDerVal = DerVal;
redxeth 0:98e98e01a6ce 571 }
redxeth 0:98e98e01a6ce 572 aveDerVal = aveDerVal + DerVal; //get sum
redxeth 0:98e98e01a6ce 573 DerivLineScanDataOut[i] = DerVal;
redxeth 0:98e98e01a6ce 574 }
redxeth 0:98e98e01a6ce 575 aveDerVal = (float) aveDerVal / (maxCnt - minCnt);
redxeth 0:98e98e01a6ce 576 }
redxeth 0:98e98e01a6ce 577
redxeth 0:98e98e01a6ce 578 //Not reliable for finding edges!
redxeth 0:98e98e01a6ce 579 void findEdges(float* derivLineScanData)
redxeth 0:98e98e01a6ce 580 {
redxeth 0:98e98e01a6ce 581 // search for edges in deriviative data using a threshold
redxeth 0:98e98e01a6ce 582 // need to store in a hash if that's possible...
redxeth 0:98e98e01a6ce 583 // combine edges that are a pixel apart
redxeth 0:98e98e01a6ce 584
redxeth 0:98e98e01a6ce 585 int i, minCnt = 0, maxCnt = 0;
redxeth 0:98e98e01a6ce 586 int multiNegEdgeCnt = 1, multiNegEdgeSum = 0;
redxeth 0:98e98e01a6ce 587 int multiPosEdgeCnt = 1, multiPosEdgeSum = 0;
redxeth 0:98e98e01a6ce 588
redxeth 0:98e98e01a6ce 589 minCnt = FILTER_ENDS;
redxeth 0:98e98e01a6ce 590 maxCnt = NUM_LINE_SCAN - FILTER_ENDS;
redxeth 0:98e98e01a6ce 591
redxeth 0:98e98e01a6ce 592 numNegEdges = 0;
redxeth 0:98e98e01a6ce 593 numPosEdges = 0;
redxeth 0:98e98e01a6ce 594 for(i=minCnt;i<maxCnt;i++) // print one line worth of data from Camera 0
redxeth 0:98e98e01a6ce 595 {
redxeth 0:98e98e01a6ce 596 if (derivLineScanData[i] <= NegDerivThreshold) // NEGATIVE EDGE FOUND!
redxeth 0:98e98e01a6ce 597 {
redxeth 0:98e98e01a6ce 598 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 599 TERMINAL_PRINTF("NEG EDGE FOUND AT INDEX %d WITH VALUE %9.3f\r\n", i, derivLineScanData[i]);
redxeth 0:98e98e01a6ce 600 }
redxeth 0:98e98e01a6ce 601
redxeth 0:98e98e01a6ce 602 if ((numNegEdges > 0) && (NegEdges[numNegEdges - 1] + 1 == i )) // if no multi edges
redxeth 0:98e98e01a6ce 603 { // edge actually across multiple pixels
redxeth 0:98e98e01a6ce 604 multiNegEdgeCnt++;
redxeth 0:98e98e01a6ce 605 multiNegEdgeSum = multiNegEdgeSum + i;
redxeth 0:98e98e01a6ce 606 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 607 TERMINAL_PRINTF("MULTIEDGE FOUND! MultiNegEdgeCnt: %d; MultiNegEdgeSum: %d\r\n", multiNegEdgeCnt, multiNegEdgeSum);
redxeth 0:98e98e01a6ce 608 }
redxeth 0:98e98e01a6ce 609 } else { // not a multi-pixel edge known at this time, store negative edge index value
redxeth 0:98e98e01a6ce 610 numNegEdges++;
redxeth 0:98e98e01a6ce 611 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 612 TERMINAL_PRINTF("NEG EDGE STORED WITH INDEX %d. NUM NEG EDGES = %d\r\n", i, numNegEdges);
redxeth 0:98e98e01a6ce 613 }
redxeth 0:98e98e01a6ce 614 NegEdges[numNegEdges - 1] = (float) i;
redxeth 0:98e98e01a6ce 615 multiNegEdgeSum = i;
redxeth 0:98e98e01a6ce 616 }
redxeth 0:98e98e01a6ce 617
redxeth 0:98e98e01a6ce 618
redxeth 0:98e98e01a6ce 619 } else if (derivLineScanData[i] > PosDerivThreshold) { // POSITIVE EDGE FOUND!
redxeth 0:98e98e01a6ce 620
redxeth 0:98e98e01a6ce 621 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 622 TERMINAL_PRINTF("POS EDGE FOUND AT INDEX %d WITH VALUE %9.3f\r\n", i, derivLineScanData[i]);
redxeth 0:98e98e01a6ce 623 }
redxeth 0:98e98e01a6ce 624
redxeth 0:98e98e01a6ce 625 if ((numPosEdges > 0) && (PosEdges[numPosEdges - 1] + 1 == i ))
redxeth 0:98e98e01a6ce 626 { // edge actually across multiple pixels
redxeth 0:98e98e01a6ce 627 multiPosEdgeCnt++;
redxeth 0:98e98e01a6ce 628 multiPosEdgeSum = multiPosEdgeSum + i;
redxeth 0:98e98e01a6ce 629 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 630 TERMINAL_PRINTF("MULTIEDGE FOUND! MultiPosEdgeCnt: %d; MultiPosEdgeSum: %d\r\n", multiPosEdgeCnt, multiPosEdgeSum);
redxeth 0:98e98e01a6ce 631 }
redxeth 0:98e98e01a6ce 632 } else { // not a multi-pixel edge known at this time, store Posative edge index value
redxeth 0:98e98e01a6ce 633 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 634 TERMINAL_PRINTF("POS EDGE STORED WITH INDEX %d. NUM POS EDGES = %d\r\n", i, numPosEdges);
redxeth 0:98e98e01a6ce 635 }
redxeth 0:98e98e01a6ce 636 numPosEdges++;
redxeth 0:98e98e01a6ce 637 PosEdges[numPosEdges - 1] = (float) i;
redxeth 0:98e98e01a6ce 638 multiPosEdgeSum = i;
redxeth 0:98e98e01a6ce 639 }
redxeth 0:98e98e01a6ce 640
redxeth 0:98e98e01a6ce 641 } else { // NO EDGE FOUND
redxeth 0:98e98e01a6ce 642 // combine multi-edges if there are any
redxeth 0:98e98e01a6ce 643 if (multiNegEdgeCnt > 1)
redxeth 0:98e98e01a6ce 644 {
redxeth 0:98e98e01a6ce 645 NegEdges[numNegEdges - 1] = (float) multiNegEdgeSum / multiNegEdgeCnt;
redxeth 0:98e98e01a6ce 646 multiNegEdgeCnt = 1; multiNegEdgeSum = 0;
redxeth 0:98e98e01a6ce 647 }
redxeth 0:98e98e01a6ce 648 if (multiPosEdgeCnt > 1)
redxeth 0:98e98e01a6ce 649 {
redxeth 0:98e98e01a6ce 650 PosEdges[numPosEdges - 1] = (float) multiPosEdgeSum / multiPosEdgeCnt;
redxeth 0:98e98e01a6ce 651 multiPosEdgeCnt = 1; multiPosEdgeSum = 0;
redxeth 0:98e98e01a6ce 652 }
redxeth 0:98e98e01a6ce 653
redxeth 0:98e98e01a6ce 654 }
redxeth 0:98e98e01a6ce 655 }
redxeth 0:98e98e01a6ce 656
redxeth 0:98e98e01a6ce 657 }
redxeth 0:98e98e01a6ce 658
redxeth 0:98e98e01a6ce 659
redxeth 0:98e98e01a6ce 660 void findEdges_v2(float* derivLineScanData)
redxeth 0:98e98e01a6ce 661 {
redxeth 0:98e98e01a6ce 662 // search for edges in deriviative data using a threshold
redxeth 0:98e98e01a6ce 663 // need to store in a hash if that's possible...
redxeth 0:98e98e01a6ce 664 // combine edges that are a pixel apart
redxeth 0:98e98e01a6ce 665
redxeth 0:98e98e01a6ce 666 int i;
redxeth 0:98e98e01a6ce 667
redxeth 0:98e98e01a6ce 668 int NegEdgeBufCnt = 0, NegEdgeBufSum = 0; // serves as buffer to store neg edges found next to each other
redxeth 0:98e98e01a6ce 669 int PosEdgeBufCnt = 0, PosEdgeBufSum = 0; // serves as buffer to store pos edges found next to each other
redxeth 0:98e98e01a6ce 670
redxeth 0:98e98e01a6ce 671 int minCnt = FILTER_ENDS;
redxeth 0:98e98e01a6ce 672 int maxCnt = NUM_LINE_SCAN - FILTER_ENDS;
redxeth 0:98e98e01a6ce 673
redxeth 0:98e98e01a6ce 674
redxeth 0:98e98e01a6ce 675
redxeth 0:98e98e01a6ce 676 numNegEdges = 0; // count of neg edges found thus far
redxeth 0:98e98e01a6ce 677 numPosEdges = 0; // count of pos edges found thus far
redxeth 0:98e98e01a6ce 678 for(i=minCnt;i<maxCnt;i++) // print one line worth of data from Camera 0
redxeth 0:98e98e01a6ce 679 {
redxeth 0:98e98e01a6ce 680
redxeth 0:98e98e01a6ce 681 if (derivLineScanData[i] <= NegDerivThreshold) // NEGATIVE EDGE FOUND!
redxeth 0:98e98e01a6ce 682 {
redxeth 0:98e98e01a6ce 683
redxeth 0:98e98e01a6ce 684 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 685 TERMINAL_PRINTF("NEG EDGE FOUND AT INDEX %d WITH VALUE %9.3f\r\n", i, derivLineScanData[i]);
redxeth 0:98e98e01a6ce 686 }
redxeth 0:98e98e01a6ce 687
redxeth 0:98e98e01a6ce 688 NegEdgeBufCnt++; // add value to neg edge buffer
redxeth 0:98e98e01a6ce 689 NegEdgeBufSum = NegEdgeBufSum + i;
redxeth 0:98e98e01a6ce 690
redxeth 0:98e98e01a6ce 691 } else if (derivLineScanData[i] > PosDerivThreshold) { // POSITIVE EDGE FOUND!
redxeth 0:98e98e01a6ce 692
redxeth 0:98e98e01a6ce 693 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 694 TERMINAL_PRINTF("POS EDGE FOUND AT INDEX %d WITH VALUE %9.3f\r\n", i, derivLineScanData[i]);
redxeth 0:98e98e01a6ce 695 }
redxeth 0:98e98e01a6ce 696
redxeth 0:98e98e01a6ce 697 PosEdgeBufCnt++; // add value to pos edge buffer
redxeth 0:98e98e01a6ce 698 PosEdgeBufSum = PosEdgeBufSum + i;
redxeth 0:98e98e01a6ce 699
redxeth 0:98e98e01a6ce 700 } else { // NO EDGE FOUND
redxeth 0:98e98e01a6ce 701
redxeth 0:98e98e01a6ce 702 // POP EDGE BUFFERS IF NON-EMPTY AND STORE TO EDGE "STACK" (i.e. edges found)
redxeth 0:98e98e01a6ce 703
redxeth 0:98e98e01a6ce 704 if (NegEdgeBufCnt > 0) {
redxeth 0:98e98e01a6ce 705 // store edge value
redxeth 0:98e98e01a6ce 706 numNegEdges++;
redxeth 0:98e98e01a6ce 707 NegEdges[numNegEdges - 1] = (float) NegEdgeBufSum / NegEdgeBufCnt;
redxeth 0:98e98e01a6ce 708
redxeth 0:98e98e01a6ce 709 // clear edge buffer
redxeth 0:98e98e01a6ce 710 NegEdgeBufSum = 0; NegEdgeBufCnt = 0;
redxeth 0:98e98e01a6ce 711 }
redxeth 0:98e98e01a6ce 712
redxeth 0:98e98e01a6ce 713 if (PosEdgeBufCnt > 0) {
redxeth 0:98e98e01a6ce 714 // store edge value
redxeth 0:98e98e01a6ce 715 numPosEdges++;
redxeth 0:98e98e01a6ce 716 PosEdges[numPosEdges - 1] = (float) PosEdgeBufSum / PosEdgeBufCnt;
redxeth 0:98e98e01a6ce 717
redxeth 0:98e98e01a6ce 718 // clear edge buffer
redxeth 0:98e98e01a6ce 719 PosEdgeBufSum = 0; PosEdgeBufCnt = 0;
redxeth 0:98e98e01a6ce 720 }
redxeth 0:98e98e01a6ce 721
redxeth 0:98e98e01a6ce 722 }
redxeth 0:98e98e01a6ce 723
redxeth 0:98e98e01a6ce 724 }
redxeth 0:98e98e01a6ce 725
redxeth 0:98e98e01a6ce 726 }
redxeth 0:98e98e01a6ce 727
redxeth 0:98e98e01a6ce 728 void printEdgesFound()
redxeth 0:98e98e01a6ce 729 {
redxeth 0:98e98e01a6ce 730 int i;
redxeth 0:98e98e01a6ce 731
redxeth 0:98e98e01a6ce 732 // Check that neg edges captured ok
redxeth 0:98e98e01a6ce 733 TERMINAL_PRINTF("NEGATIVE EDGES FOUND:,");
redxeth 0:98e98e01a6ce 734 for(i=0;i<=numNegEdges-1;i++)
redxeth 0:98e98e01a6ce 735 {
redxeth 0:98e98e01a6ce 736 TERMINAL_PRINTF("%9.3f",NegEdges[i]);
redxeth 0:98e98e01a6ce 737 if(i==numNegEdges-1) // when last data reached put in line return
redxeth 0:98e98e01a6ce 738 TERMINAL_PRINTF("\r\n");
redxeth 0:98e98e01a6ce 739 else
redxeth 0:98e98e01a6ce 740 TERMINAL_PRINTF(", ");
redxeth 0:98e98e01a6ce 741 }
redxeth 0:98e98e01a6ce 742
redxeth 0:98e98e01a6ce 743
redxeth 0:98e98e01a6ce 744 // Check that pos edges captured ok
redxeth 0:98e98e01a6ce 745 TERMINAL_PRINTF("POSITIVE EDGES FOUND:,");
redxeth 0:98e98e01a6ce 746 for(i=0;i<=numPosEdges-1;i++)
redxeth 0:98e98e01a6ce 747 {
redxeth 0:98e98e01a6ce 748 TERMINAL_PRINTF("%9.3f",PosEdges[i]);
redxeth 0:98e98e01a6ce 749 if(i==numPosEdges-1) // when last data reached put in line return
redxeth 0:98e98e01a6ce 750 TERMINAL_PRINTF("\r\n");
redxeth 0:98e98e01a6ce 751 else
redxeth 0:98e98e01a6ce 752 TERMINAL_PRINTF(", ");
redxeth 0:98e98e01a6ce 753 }
redxeth 0:98e98e01a6ce 754
redxeth 0:98e98e01a6ce 755 }
redxeth 0:98e98e01a6ce 756
redxeth 0:98e98e01a6ce 757 void reviewEdges()
redxeth 0:98e98e01a6ce 758 {
redxeth 0:98e98e01a6ce 759 LastTrackStatus = CurrentTrackStatus;
redxeth 0:98e98e01a6ce 760
redxeth 0:98e98e01a6ce 761 if ((numPosEdges == 1) && (numNegEdges == 1)) // only one negative and positive edge found (LINE)
redxeth 0:98e98e01a6ce 762 {
redxeth 0:98e98e01a6ce 763 if (((PosEdges[0] - NegEdges[0]) >= MIN_LINE_WIDTH) && ((PosEdges[0] - NegEdges[0]) <= MAX_LINE_WIDTH)) // has proper expected width
redxeth 0:98e98e01a6ce 764 {
redxeth 0:98e98e01a6ce 765 CurrentTrackStatus = LineFound; // report line found!
redxeth 0:98e98e01a6ce 766 UnknownCount = 0; // reset unknown status count
redxeth 0:98e98e01a6ce 767 LastLinePosition = CurrentLinePosition;
redxeth 0:98e98e01a6ce 768 CurrentLinePosition = (PosEdges[0]+NegEdges[0]) / 2; // update line position
redxeth 0:98e98e01a6ce 769 }
redxeth 0:98e98e01a6ce 770 } else if ((numPosEdges == 1) && (numNegEdges == 0)) { // 1 pos edge found (POSSIBLE LINE)
redxeth 0:98e98e01a6ce 771 if ((PosEdges[0] <= MAX_LINE_WIDTH) && (LastLinePosError < 0)) // pos edge is within line width of edge of camera (LEFT)
redxeth 0:98e98e01a6ce 772 {
redxeth 0:98e98e01a6ce 773 CurrentTrackStatus = LineFound; // report line found!
redxeth 0:98e98e01a6ce 774 UnknownCount = 0; // reset unknown status count
redxeth 0:98e98e01a6ce 775 LastLinePosition = CurrentLinePosition;
redxeth 0:98e98e01a6ce 776 CurrentLinePosition = PosEdges[0] - ( MAX_LINE_WIDTH / 2); // update line position
redxeth 0:98e98e01a6ce 777 // TERMINAL_PRINTF("*** SINGLE POSEDGE LINE FOUND AT POSITION %9.3f *** \r\n", CurrentLinePosition);
redxeth 0:98e98e01a6ce 778 }
redxeth 0:98e98e01a6ce 779 } else if ((numNegEdges == 1) && (numPosEdges == 0)) { // 1 neg edge found (POSSIBLE LINE)
redxeth 0:98e98e01a6ce 780 if ((NegEdges[0] >= (MAX_LINE_SCAN - MAX_LINE_WIDTH)) && (LastLinePosError > 0)) // neg edge is within line width of edge of camera (RIGHT)
redxeth 0:98e98e01a6ce 781 {
redxeth 0:98e98e01a6ce 782 CurrentTrackStatus = LineFound; // report line found!
redxeth 0:98e98e01a6ce 783 UnknownCount = 0; // reset unknown status count
redxeth 0:98e98e01a6ce 784 LastLinePosition = CurrentLinePosition;
redxeth 0:98e98e01a6ce 785 CurrentLinePosition = NegEdges[0] + ( MAX_LINE_WIDTH / 2); // update line position
redxeth 0:98e98e01a6ce 786 // TERMINAL_PRINTF("*** SINGLE NEGEDGE LINE FOUND AT POSITION %9.3f *** \r\n", CurrentLinePosition);
redxeth 0:98e98e01a6ce 787 }
redxeth 0:98e98e01a6ce 788 } else if ((numPosEdges == 2) && (numNegEdges == 2)) { // 2 negative and 2 positive edges found (STARTING/FINISH GATE)
redxeth 0:98e98e01a6ce 789
redxeth 0:98e98e01a6ce 790 if ((((NegEdges[0] - PosEdges[0]) >= MIN_LINE_WIDTH) && ((NegEdges[0] - PosEdges[0]) <= MAX_LINE_WIDTH)) && // white left 'line'
redxeth 0:98e98e01a6ce 791 (((NegEdges[1] - PosEdges[1]) >= MIN_LINE_WIDTH) && ((NegEdges[1] - PosEdges[1]) <= MAX_LINE_WIDTH)) && // white right 'line'
redxeth 0:98e98e01a6ce 792 (((PosEdges[1] - NegEdges[0]) >= MIN_LINE_WIDTH) && ((PosEdges[1] - NegEdges[0]) <= MAX_LINE_WIDTH)) // actual track line
redxeth 0:98e98e01a6ce 793 )
redxeth 0:98e98e01a6ce 794
redxeth 0:98e98e01a6ce 795
redxeth 0:98e98e01a6ce 796 if (startRaceTicker > STARTGATEDELAY) { // only start counting for starting gate until after delay
redxeth 0:98e98e01a6ce 797 StartGateFoundCount++;
redxeth 0:98e98e01a6ce 798 }
redxeth 0:98e98e01a6ce 799
redxeth 0:98e98e01a6ce 800 CurrentTrackStatus = StartGateFound;
redxeth 0:98e98e01a6ce 801 UnknownCount = 0; // reset unknown status count
redxeth 0:98e98e01a6ce 802
redxeth 0:98e98e01a6ce 803 } else if ((numPosEdges > 1) && (numNegEdges > 1)) { // more than 1 negative edge and positive edge found (but not 2 for both) (STARTING / FINISH GATE)
redxeth 0:98e98e01a6ce 804
redxeth 0:98e98e01a6ce 805 // remove edges that aren't close to center TBD DDHH
redxeth 0:98e98e01a6ce 806
redxeth 0:98e98e01a6ce 807 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 808 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 809 TERMINAL_PRINTF("********** NOT SURE FOUND ********** \r\n");
redxeth 0:98e98e01a6ce 810 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 811 }
redxeth 0:98e98e01a6ce 812 CurrentTrackStatus = Unknown;
redxeth 0:98e98e01a6ce 813
redxeth 0:98e98e01a6ce 814 } else { // no track or starting gate found
redxeth 0:98e98e01a6ce 815
redxeth 0:98e98e01a6ce 816 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 817 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 818 TERMINAL_PRINTF("*** !!!!!!!!!! LINE NOT FOUND !!!!!!! *** \r\n", CurrentLinePosition);
redxeth 0:98e98e01a6ce 819 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 820 }
redxeth 0:98e98e01a6ce 821
redxeth 0:98e98e01a6ce 822 CurrentTrackStatus = Unknown;
redxeth 0:98e98e01a6ce 823 UnknownCount++;
redxeth 0:98e98e01a6ce 824 }
redxeth 0:98e98e01a6ce 825
redxeth 0:98e98e01a6ce 826
redxeth 0:98e98e01a6ce 827
redxeth 0:98e98e01a6ce 828
redxeth 0:98e98e01a6ce 829 }
redxeth 0:98e98e01a6ce 830
redxeth 0:98e98e01a6ce 831 void ActOnTrackStatus()
redxeth 0:98e98e01a6ce 832 {
redxeth 0:98e98e01a6ce 833 // Decide what to do next based on current track status
redxeth 0:98e98e01a6ce 834
redxeth 0:98e98e01a6ce 835 if (CurrentTrackStatus == LineFound) { // LINE FOUND!
redxeth 0:98e98e01a6ce 836
redxeth 0:98e98e01a6ce 837 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 838 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 839 TERMINAL_PRINTF("*** LINE FOUND AT POSITION %9.3f *** \r\n", CurrentLinePosition);
redxeth 0:98e98e01a6ce 840 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 841 }
redxeth 0:98e98e01a6ce 842
redxeth 0:98e98e01a6ce 843 // Update steering position
redxeth 0:98e98e01a6ce 844 SteeringControl();
redxeth 0:98e98e01a6ce 845
redxeth 0:98e98e01a6ce 846 // Apply to servo
redxeth 0:98e98e01a6ce 847 Steer();
redxeth 0:98e98e01a6ce 848
redxeth 0:98e98e01a6ce 849 } else if (CurrentTrackStatus == StartGateFound) { // STARTING GATE FOUND
redxeth 0:98e98e01a6ce 850
redxeth 0:98e98e01a6ce 851 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 852 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 853 TERMINAL_PRINTF("********** STARTING GATE FOUND ********** \r\n");
redxeth 0:98e98e01a6ce 854 TERMINAL_PRINTF("********** count = %d ********** \r\n", StartGateFoundCount);
redxeth 0:98e98e01a6ce 855 TERMINAL_PRINTF("***************************************** \r\n");
redxeth 0:98e98e01a6ce 856 }
redxeth 0:98e98e01a6ce 857
redxeth 0:98e98e01a6ce 858 // END RACE!
redxeth 0:98e98e01a6ce 859 if (startGateStop) {
redxeth 0:98e98e01a6ce 860 if (StartGateFoundCount > STARTGATEFOUNDMAX)
redxeth 0:98e98e01a6ce 861 {
redxeth 0:98e98e01a6ce 862 go = false; // STOP!!
redxeth 0:98e98e01a6ce 863 }
redxeth 0:98e98e01a6ce 864 }
redxeth 0:98e98e01a6ce 865
redxeth 0:98e98e01a6ce 866 }
redxeth 0:98e98e01a6ce 867
redxeth 0:98e98e01a6ce 868
redxeth 0:98e98e01a6ce 869
redxeth 0:98e98e01a6ce 870 }
redxeth 0:98e98e01a6ce 871
redxeth 0:98e98e01a6ce 872 void SteeringControl()
redxeth 0:98e98e01a6ce 873 {
redxeth 0:98e98e01a6ce 874
redxeth 0:98e98e01a6ce 875 float targetPosition = (float)( (NUM_LINE_SCAN / 2) - 0.5); // target to achieve for line position
redxeth 0:98e98e01a6ce 876
redxeth 0:98e98e01a6ce 877 float KP; // proportional control factor
redxeth 0:98e98e01a6ce 878 float KI; // integral control factor
redxeth 0:98e98e01a6ce 879 float KD; // derivative control factor
redxeth 0:98e98e01a6ce 880
redxeth 0:98e98e01a6ce 881 float Pout, Iout, Dout; // PID terms
redxeth 0:98e98e01a6ce 882
redxeth 0:98e98e01a6ce 883 // Calculate error
redxeth 0:98e98e01a6ce 884 // make error to the right positive
redxeth 0:98e98e01a6ce 885 // i.e. if LINE to the right-- then CurrentLinePosError > 0
redxeth 0:98e98e01a6ce 886 // if LINE to the left -- then CurrentLinePosError < 0
redxeth 0:98e98e01a6ce 887 CurrentLinePosError = CurrentLinePosition - targetPosition;
redxeth 0:98e98e01a6ce 888
redxeth 0:98e98e01a6ce 889 // Get absolute error
redxeth 0:98e98e01a6ce 890 if (CurrentLinePosError >= 0)
redxeth 0:98e98e01a6ce 891 AbsError = CurrentLinePosError;
redxeth 0:98e98e01a6ce 892 else
redxeth 0:98e98e01a6ce 893 AbsError = -1 * CurrentLinePosError;
redxeth 0:98e98e01a6ce 894
redxeth 0:98e98e01a6ce 895 // CHOOSE SET OF PID CONTROL PARAMETERS
redxeth 0:98e98e01a6ce 896 switch (CONTROL_METHOD) {
redxeth 0:98e98e01a6ce 897 case 0:
redxeth 0:98e98e01a6ce 898 // Pure proportional control based on range of steering values vs. range of error values
redxeth 0:98e98e01a6ce 899 KP = (float) ( MAX_STEER_RIGHT - MAX_STEER_LEFT ) / ( NUM_LINE_SCAN - (2*FILTER_ENDS) - MIN_LINE_WIDTH );
redxeth 0:98e98e01a6ce 900 KD = 0;
redxeth 0:98e98e01a6ce 901 KI = 0;
redxeth 0:98e98e01a6ce 902 break;
redxeth 0:98e98e01a6ce 903 case 1:
redxeth 0:98e98e01a6ce 904 // Proportional control with 50% bit more oomph --- a bit more aggressive around the bends
redxeth 0:98e98e01a6ce 905 KP = (float) ( MAX_STEER_RIGHT - MAX_STEER_LEFT ) / ( NUM_LINE_SCAN - (2*FILTER_ENDS) - MIN_LINE_WIDTH );
redxeth 0:98e98e01a6ce 906 KP = KP * 1.5;
redxeth 0:98e98e01a6ce 907 KD = 0;
redxeth 0:98e98e01a6ce 908 KI = 0;
redxeth 0:98e98e01a6ce 909 break;
redxeth 0:98e98e01a6ce 910 case 2: // MANUAL TUNING CASE 1 (use pot to help determine tuning parameters)
redxeth 0:98e98e01a6ce 911 KP = TUNE_KP;
redxeth 0:98e98e01a6ce 912 KI = TUNE_KI;
redxeth 0:98e98e01a6ce 913 KD = TUNE_KD;
redxeth 0:98e98e01a6ce 914 case 3:
redxeth 0:98e98e01a6ce 915 if (AbsError < ABS_ERROR_THRESH) {
redxeth 0:98e98e01a6ce 916 KP = 0.003; // when relatively straight, keep KP gain low
redxeth 0:98e98e01a6ce 917 } else {
redxeth 0:98e98e01a6ce 918 KP = 0.010; // when curve begins or off track, increase KP gain
redxeth 0:98e98e01a6ce 919 }
redxeth 0:98e98e01a6ce 920 KI = 0;
redxeth 0:98e98e01a6ce 921 KD = 0;
redxeth 0:98e98e01a6ce 922
redxeth 0:98e98e01a6ce 923 default:
redxeth 0:98e98e01a6ce 924 break;
redxeth 0:98e98e01a6ce 925 }
redxeth 0:98e98e01a6ce 926
redxeth 0:98e98e01a6ce 927 /* Pseudocode
redxeth 0:98e98e01a6ce 928 previous_error = 0
redxeth 0:98e98e01a6ce 929 integral = 0
redxeth 0:98e98e01a6ce 930 start:
redxeth 0:98e98e01a6ce 931 error = setpoint - measured_value
redxeth 0:98e98e01a6ce 932 integral = integral + error*dt
redxeth 0:98e98e01a6ce 933 derivative = (error - previous_error)/dt
redxeth 0:98e98e01a6ce 934 output = Kp*error + Ki*integral + Kd*derivative
redxeth 0:98e98e01a6ce 935 previous_error = error
redxeth 0:98e98e01a6ce 936 wait(dt)
redxeth 0:98e98e01a6ce 937 goto start
redxeth 0:98e98e01a6ce 938 */
redxeth 0:98e98e01a6ce 939
redxeth 0:98e98e01a6ce 940
redxeth 0:98e98e01a6ce 941 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 942 TERMINAL_PRINTF("KP = %6.4f\r\n", KP);
redxeth 0:98e98e01a6ce 943 TERMINAL_PRINTF("TARGET %6.3f\r\n", targetPosition);
redxeth 0:98e98e01a6ce 944 }
redxeth 0:98e98e01a6ce 945
redxeth 0:98e98e01a6ce 946
redxeth 0:98e98e01a6ce 947
redxeth 0:98e98e01a6ce 948 // Update integral of error
redxeth 0:98e98e01a6ce 949 // i.e. if LINE stays to the right, then SumLinePosError increases
redxeth 0:98e98e01a6ce 950 // i.e. if LINE stays to the left, then SumLinePosError decreases
redxeth 0:98e98e01a6ce 951 SumLinePosError = SumLinePosError + ( CurrentLinePosError * DT );
redxeth 0:98e98e01a6ce 952
redxeth 0:98e98e01a6ce 953 DerivError = (CurrentLinePosError - LastLinePosError) / DT;
redxeth 0:98e98e01a6ce 954
redxeth 0:98e98e01a6ce 955 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 956 TERMINAL_PRINTF("CURRENT LINE POSITION %9.3f\r\n", CurrentLinePosition);
redxeth 0:98e98e01a6ce 957 TERMINAL_PRINTF("CURRENT LINE POSITION ERROR %9.3f\r\n", CurrentLinePosError);
redxeth 0:98e98e01a6ce 958 }
redxeth 0:98e98e01a6ce 959
redxeth 0:98e98e01a6ce 960 // SECOND- calculate new servo position
redxeth 0:98e98e01a6ce 961
redxeth 0:98e98e01a6ce 962 // proportional control term
redxeth 0:98e98e01a6ce 963 Pout = KP * CurrentLinePosError;
redxeth 0:98e98e01a6ce 964
redxeth 0:98e98e01a6ce 965 // integral control term
redxeth 0:98e98e01a6ce 966 Iout = KI * SumLinePosError;
redxeth 0:98e98e01a6ce 967
redxeth 0:98e98e01a6ce 968 // Derivative control term
redxeth 0:98e98e01a6ce 969 Dout = KD * DerivError;
redxeth 0:98e98e01a6ce 970
redxeth 0:98e98e01a6ce 971 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 972 TERMINAL_PRINTF("KP = %6.4f\r\n", KP);
redxeth 0:98e98e01a6ce 973 TERMINAL_PRINTF("KI = %6.4f\r\n", KI);
redxeth 0:98e98e01a6ce 974 TERMINAL_PRINTF("KD = %6.4f\r\n", KD);
redxeth 0:98e98e01a6ce 975 TERMINAL_PRINTF("Pout = %6.4f\r\n", Pout);
redxeth 0:98e98e01a6ce 976 TERMINAL_PRINTF("Iout = %6.4f\r\n", Iout);
redxeth 0:98e98e01a6ce 977 TERMINAL_PRINTF("Dout = %6.4f\r\n", Dout);
redxeth 0:98e98e01a6ce 978 }
redxeth 0:98e98e01a6ce 979
redxeth 0:98e98e01a6ce 980 // Finally add offset to steering to account for non-centered servo mounting
redxeth 0:98e98e01a6ce 981 // CurrentSteerSetting = Pout + Iout + Dout + ( (float) (MAX_STEER_LEFT + MAX_STEER_RIGHT) / 2 );
redxeth 0:98e98e01a6ce 982 CurrentSteerSetting = Pout + ( (float) (MAX_STEER_LEFT + MAX_STEER_RIGHT) / 2 );
redxeth 0:98e98e01a6ce 983
redxeth 0:98e98e01a6ce 984 // store for next cycle deriv calculation
redxeth 0:98e98e01a6ce 985 LastLinePosError = CurrentLinePosError;
redxeth 0:98e98e01a6ce 986
redxeth 0:98e98e01a6ce 987 // for tuning control algo only
redxeth 0:98e98e01a6ce 988 if (1 == 0) {
redxeth 0:98e98e01a6ce 989 TERMINAL_PRINTF("*** ******************************** \r\n");
redxeth 0:98e98e01a6ce 990 TERMINAL_PRINTF("*** LINE FOUND AT POSITION %9.3f *** \r\n", CurrentLinePosition);
redxeth 0:98e98e01a6ce 991 TERMINAL_PRINTF("*** ERROR %9.3f *** \r\n", CurrentLinePosError);
redxeth 0:98e98e01a6ce 992 TERMINAL_PRINTF("*** INTEGRAL ERROR %9.3f *** \r\n", SumLinePosError);
redxeth 0:98e98e01a6ce 993 TERMINAL_PRINTF("*** DERIVATIVE ERROR %9.3f *** \r\n", DerivError);
redxeth 0:98e98e01a6ce 994 TERMINAL_PRINTF("*** P STEER SETTING %9.3f *** \r\n", CurrentSteerSetting);
redxeth 0:98e98e01a6ce 995 TERMINAL_PRINTF("*** PI STEER SETTING %9.3f *** \r\n", (CurrentSteerSetting + Iout));
redxeth 0:98e98e01a6ce 996 TERMINAL_PRINTF("*** ******************************** \r\n");
redxeth 0:98e98e01a6ce 997 wait_ms(1000);
redxeth 0:98e98e01a6ce 998 }
redxeth 0:98e98e01a6ce 999
redxeth 0:98e98e01a6ce 1000 }
redxeth 0:98e98e01a6ce 1001
redxeth 0:98e98e01a6ce 1002 void Steer()
redxeth 0:98e98e01a6ce 1003 {
redxeth 0:98e98e01a6ce 1004
redxeth 0:98e98e01a6ce 1005 // make sure doesn't go beyond steering limits
redxeth 0:98e98e01a6ce 1006 if (CurrentSteerSetting > MAX_STEER_RIGHT)
redxeth 0:98e98e01a6ce 1007 {
redxeth 0:98e98e01a6ce 1008 CurrentSteerSetting = MAX_STEER_RIGHT;
redxeth 0:98e98e01a6ce 1009 } else if (CurrentSteerSetting < MAX_STEER_LEFT)
redxeth 0:98e98e01a6ce 1010 {
redxeth 0:98e98e01a6ce 1011 CurrentSteerSetting = MAX_STEER_LEFT;
redxeth 0:98e98e01a6ce 1012 }
redxeth 0:98e98e01a6ce 1013
redxeth 0:98e98e01a6ce 1014 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 1015 TERMINAL_PRINTF("APPLYING SERVO SETTING %5.3f\r\n", CurrentSteerSetting);
redxeth 0:98e98e01a6ce 1016 }
redxeth 0:98e98e01a6ce 1017 TFC_SetServo(0,CurrentSteerSetting);
redxeth 0:98e98e01a6ce 1018
redxeth 0:98e98e01a6ce 1019 }
redxeth 0:98e98e01a6ce 1020
redxeth 0:98e98e01a6ce 1021 void SpeedControl()
redxeth 0:98e98e01a6ce 1022 {
redxeth 0:98e98e01a6ce 1023
redxeth 0:98e98e01a6ce 1024 // Get max speed setting from reading pot0
redxeth 0:98e98e01a6ce 1025 // then adjust
redxeth 0:98e98e01a6ce 1026
redxeth 0:98e98e01a6ce 1027 float ErrLimit;
redxeth 0:98e98e01a6ce 1028 float LeftDriveRatio, RightDriveRatio;
redxeth 0:98e98e01a6ce 1029
redxeth 0:98e98e01a6ce 1030 // set maximum speed allowed
redxeth 0:98e98e01a6ce 1031 switch (1)
redxeth 0:98e98e01a6ce 1032 {
redxeth 0:98e98e01a6ce 1033 case 0:
redxeth 0:98e98e01a6ce 1034 // read value off pot0
redxeth 0:98e98e01a6ce 1035 MaxSpeed = TFC_ReadPot(0);
redxeth 0:98e98e01a6ce 1036 break;
redxeth 0:98e98e01a6ce 1037 case 1:
redxeth 0:98e98e01a6ce 1038 if (doRisky)
redxeth 0:98e98e01a6ce 1039 MaxSpeed = TUNE_SPEED + 0.1;
redxeth 0:98e98e01a6ce 1040 else
redxeth 0:98e98e01a6ce 1041 MaxSpeed = TUNE_SPEED;
redxeth 0:98e98e01a6ce 1042 break;
redxeth 0:98e98e01a6ce 1043 case 2:
redxeth 0:98e98e01a6ce 1044 MaxSpeed = SUB_LIGHT_SPEED;
redxeth 0:98e98e01a6ce 1045 break;
redxeth 0:98e98e01a6ce 1046 case 3:
redxeth 0:98e98e01a6ce 1047 MaxSpeed = LIGHT_SPEED;
redxeth 0:98e98e01a6ce 1048 break;
redxeth 0:98e98e01a6ce 1049 case 4:
redxeth 0:98e98e01a6ce 1050 MaxSpeed = RIDICULOUS_SPEED;
redxeth 0:98e98e01a6ce 1051 break;
redxeth 0:98e98e01a6ce 1052 case 5:
redxeth 0:98e98e01a6ce 1053 MaxSpeed = LUDICROUS_SPEED;
redxeth 0:98e98e01a6ce 1054 break;
redxeth 0:98e98e01a6ce 1055 default:
redxeth 0:98e98e01a6ce 1056 break;
redxeth 0:98e98e01a6ce 1057 }
redxeth 0:98e98e01a6ce 1058
redxeth 0:98e98e01a6ce 1059 switch (SPEED_ADJUST)
redxeth 0:98e98e01a6ce 1060 {
redxeth 0:98e98e01a6ce 1061 case 0:
redxeth 0:98e98e01a6ce 1062 // SPEED ADJUST METHOD 0
redxeth 0:98e98e01a6ce 1063 // no speed adjust
redxeth 0:98e98e01a6ce 1064 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1065 RightDriveRatio = LeftDriveRatio;
redxeth 0:98e98e01a6ce 1066 case 1:
redxeth 0:98e98e01a6ce 1067 // SPEED ADJUST METHOD 1
redxeth 0:98e98e01a6ce 1068 // High speed when error is low, low speed when error is high
redxeth 0:98e98e01a6ce 1069 // lower speed when more than third outside of center
redxeth 0:98e98e01a6ce 1070 ErrLimit = ((float) RANGE ) * 0.5 * ERR_RATIO * 0.33;
redxeth 0:98e98e01a6ce 1071 if (AbsError > ErrLimit) {
redxeth 0:98e98e01a6ce 1072 LeftDriveRatio = MIN_POWER;
redxeth 0:98e98e01a6ce 1073 } else {
redxeth 0:98e98e01a6ce 1074 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1075 }
redxeth 0:98e98e01a6ce 1076 RightDriveRatio = LeftDriveRatio;
redxeth 0:98e98e01a6ce 1077 break;
redxeth 0:98e98e01a6ce 1078 case 2:
redxeth 0:98e98e01a6ce 1079 // SPEED ADJUST METHOD 2
redxeth 0:98e98e01a6ce 1080 // Have max/min speed adjust proportional to absolute value of line error
redxeth 0:98e98e01a6ce 1081 ErrLimit = ((float) RANGE ) * 0.5 * ERR_RATIO;
redxeth 0:98e98e01a6ce 1082 LeftDriveRatio = MAX_POWER - ((MAX_POWER - MIN_POWER) * (AbsError / ErrLimit));
redxeth 0:98e98e01a6ce 1083 RightDriveRatio = LeftDriveRatio;
redxeth 0:98e98e01a6ce 1084 break;
redxeth 0:98e98e01a6ce 1085 case 3:
redxeth 0:98e98e01a6ce 1086 // SPEED ADJUST METHOD 3
redxeth 0:98e98e01a6ce 1087 // have wheel relative speed proportional to absolute value of line error
redxeth 0:98e98e01a6ce 1088 ErrLimit = ((float) RANGE ) * 0.5 * ERR_RATIO;
redxeth 0:98e98e01a6ce 1089 if (CurrentLinePosError > 0) { // heading right
redxeth 0:98e98e01a6ce 1090 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1091 RightDriveRatio = (MIN_POWER - MAX_POWER) * (CurrentLinePosError * 2 / ( (float) RANGE ) ) + MAX_POWER;
redxeth 0:98e98e01a6ce 1092 } else if (CurrentLinePosError < 0) { // heading left
redxeth 0:98e98e01a6ce 1093 RightDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1094 LeftDriveRatio = (MAX_POWER - MIN_POWER) * (CurrentLinePosError * 2 / ( (float) RANGE ) ) + MAX_POWER;
redxeth 0:98e98e01a6ce 1095 } else {
redxeth 0:98e98e01a6ce 1096 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1097 RightDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1098 }
redxeth 0:98e98e01a6ce 1099 break;
redxeth 0:98e98e01a6ce 1100 case 4:
redxeth 0:98e98e01a6ce 1101 // SPEED ADJUST METHOD 4
redxeth 0:98e98e01a6ce 1102 // have wheel relative speed proportional to absolute value of line error
redxeth 0:98e98e01a6ce 1103 // only when above a certain error
redxeth 0:98e98e01a6ce 1104 ErrLimit = ((float) RANGE ) * 0.5 * ERR_RATIO * 0.1;
redxeth 0:98e98e01a6ce 1105 if (CurrentLinePosError > ErrLimit) { // heading right
redxeth 0:98e98e01a6ce 1106 LeftDriveRatio = MAX_POWER - (MAX_POWER - MIN_POWER) * (CurrentLinePosError * 2 / ( (float) RANGE ) );
redxeth 0:98e98e01a6ce 1107 RightDriveRatio = MIN_POWER;
redxeth 0:98e98e01a6ce 1108 } else if (CurrentLinePosError < (-1 * ErrLimit)) { // heading left
redxeth 0:98e98e01a6ce 1109 RightDriveRatio = MAX_POWER - (MAX_POWER - MIN_POWER) * (CurrentLinePosError * 2 / ( (float) RANGE ) );
redxeth 0:98e98e01a6ce 1110 LeftDriveRatio = MIN_POWER;
redxeth 0:98e98e01a6ce 1111 } else {
redxeth 0:98e98e01a6ce 1112 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1113 RightDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1114 }
redxeth 0:98e98e01a6ce 1115 break;
redxeth 0:98e98e01a6ce 1116 case 5:
redxeth 0:98e98e01a6ce 1117 // SPEED ADJUST METHOD 5
redxeth 0:98e98e01a6ce 1118 // High speed when error is low, low speed when error is high
redxeth 0:98e98e01a6ce 1119 // lower speed when more than third outside of center
redxeth 0:98e98e01a6ce 1120 ErrLimit = ((float) RANGE ) * 0.5 * ERR_RATIO * 0.2;
redxeth 0:98e98e01a6ce 1121 if (AbsError > ErrLimit) {
redxeth 0:98e98e01a6ce 1122 LeftDriveRatio = MIN_POWER;
redxeth 0:98e98e01a6ce 1123 } else {
redxeth 0:98e98e01a6ce 1124 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1125 }
redxeth 0:98e98e01a6ce 1126 RightDriveRatio = LeftDriveRatio;
redxeth 0:98e98e01a6ce 1127 break;
redxeth 0:98e98e01a6ce 1128 case 6:
redxeth 0:98e98e01a6ce 1129 // SPEED ADJUST METHOD 6
redxeth 0:98e98e01a6ce 1130 // High speed when error is low, low speed when error is high
redxeth 0:98e98e01a6ce 1131 // lower speed when more than third outside of center
redxeth 0:98e98e01a6ce 1132 if (AbsError > ABS_ERROR_THRESH) {
redxeth 0:98e98e01a6ce 1133 LeftDriveRatio = MIN_POWER;
redxeth 0:98e98e01a6ce 1134 } else {
redxeth 0:98e98e01a6ce 1135 LeftDriveRatio = MAX_POWER;
redxeth 0:98e98e01a6ce 1136 }
redxeth 0:98e98e01a6ce 1137 RightDriveRatio = LeftDriveRatio;
redxeth 0:98e98e01a6ce 1138 break;
redxeth 0:98e98e01a6ce 1139 default:
redxeth 0:98e98e01a6ce 1140 break;
redxeth 0:98e98e01a6ce 1141
redxeth 0:98e98e01a6ce 1142 }
redxeth 0:98e98e01a6ce 1143 // TBD-- add speed adjust based on Xaccel sensor!
redxeth 0:98e98e01a6ce 1144
redxeth 0:98e98e01a6ce 1145
redxeth 0:98e98e01a6ce 1146 // currently no control mechanism as don't have speed sensor
redxeth 0:98e98e01a6ce 1147 CurrentLeftDriveSetting = (float) (LeftDriveRatio / 100) * MaxSpeed;
redxeth 0:98e98e01a6ce 1148 CurrentRightDriveSetting = (float) (RightDriveRatio / 100) * MaxSpeed;
redxeth 0:98e98e01a6ce 1149
redxeth 0:98e98e01a6ce 1150
redxeth 0:98e98e01a6ce 1151 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 1152 TERMINAL_PRINTF("Abs Error: %4.2f\r\n", AbsError);
redxeth 0:98e98e01a6ce 1153 TERMINAL_PRINTF("Error Limit: %4.2f\r\n", ErrLimit);
redxeth 0:98e98e01a6ce 1154 TERMINAL_PRINTF("MAX SPEED = %5.2f\n", MaxSpeed);
redxeth 0:98e98e01a6ce 1155 TERMINAL_PRINTF("Current Left Drive Setting: %5.2f\r\n", CurrentLeftDriveSetting);
redxeth 0:98e98e01a6ce 1156 TERMINAL_PRINTF("Current Right Drive Setting: %5.2f\r\n", CurrentRightDriveSetting);
redxeth 0:98e98e01a6ce 1157 }
redxeth 0:98e98e01a6ce 1158 if (1 == 0) {
redxeth 0:98e98e01a6ce 1159 TERMINAL_PRINTF("Current Left Drive Setting: %5.2f\r\n", CurrentLeftDriveSetting);
redxeth 0:98e98e01a6ce 1160 TERMINAL_PRINTF("Current Right Drive Setting: %5.2f\r\n", CurrentRightDriveSetting);
redxeth 0:98e98e01a6ce 1161 }
redxeth 0:98e98e01a6ce 1162
redxeth 0:98e98e01a6ce 1163 }
redxeth 0:98e98e01a6ce 1164
redxeth 0:98e98e01a6ce 1165 void Drive()
redxeth 0:98e98e01a6ce 1166 {
redxeth 0:98e98e01a6ce 1167
redxeth 0:98e98e01a6ce 1168 // START!
redxeth 0:98e98e01a6ce 1169 // if not going, go when button A is pressed
redxeth 0:98e98e01a6ce 1170 if (!go) {
redxeth 0:98e98e01a6ce 1171 if(TFC_PUSH_BUTTON_0_PRESSED) {
redxeth 0:98e98e01a6ce 1172 go = true;
redxeth 0:98e98e01a6ce 1173 UnknownCount = 0;
redxeth 0:98e98e01a6ce 1174 StartGateFoundCount = 0;
redxeth 0:98e98e01a6ce 1175 startRaceTicker = TFC_Ticker[0]; // keep track of start of race
redxeth 0:98e98e01a6ce 1176 logDataIndex = 0; // reset log data index
redxeth 0:98e98e01a6ce 1177 }
redxeth 0:98e98e01a6ce 1178 }
redxeth 0:98e98e01a6ce 1179
redxeth 0:98e98e01a6ce 1180 // STOP!
redxeth 0:98e98e01a6ce 1181 // if going, stop when button A is pressed
redxeth 0:98e98e01a6ce 1182 if (go) {
redxeth 0:98e98e01a6ce 1183 if(TFC_PUSH_BUTTON_1_PRESSED) {
redxeth 0:98e98e01a6ce 1184 go = false;
redxeth 0:98e98e01a6ce 1185 StartGateFoundCount = 0;
redxeth 0:98e98e01a6ce 1186 }
redxeth 0:98e98e01a6ce 1187 }
redxeth 0:98e98e01a6ce 1188
redxeth 0:98e98e01a6ce 1189 // EMERGENCY STOP!
redxeth 0:98e98e01a6ce 1190 // 'kill switch' to prevent crashes off-track
redxeth 0:98e98e01a6ce 1191 if (killSwitch) {
redxeth 0:98e98e01a6ce 1192 if (UnknownCount > UNKNOWN_COUNT_MAX) { // if track not found after certain time
redxeth 0:98e98e01a6ce 1193 go = false; // kill engine
redxeth 0:98e98e01a6ce 1194 StartGateFoundCount = 0;
redxeth 0:98e98e01a6ce 1195 }
redxeth 0:98e98e01a6ce 1196 }
redxeth 0:98e98e01a6ce 1197
redxeth 0:98e98e01a6ce 1198 // ****************
redxeth 0:98e98e01a6ce 1199
redxeth 0:98e98e01a6ce 1200 if (!go) { // stop!
redxeth 0:98e98e01a6ce 1201 TFC_SetMotorPWM(0,0); //Make sure motors are off
redxeth 0:98e98e01a6ce 1202 TFC_HBRIDGE_DISABLE;
redxeth 0:98e98e01a6ce 1203 }
redxeth 0:98e98e01a6ce 1204
redxeth 0:98e98e01a6ce 1205 if (go) { // go!
redxeth 0:98e98e01a6ce 1206 TFC_HBRIDGE_ENABLE;
redxeth 0:98e98e01a6ce 1207 // motor A = right, motor B = left based on way it is mounted
redxeth 0:98e98e01a6ce 1208 TFC_SetMotorPWM(CurrentRightDriveSetting,CurrentLeftDriveSetting);
redxeth 0:98e98e01a6ce 1209 }
redxeth 0:98e98e01a6ce 1210 }
redxeth 0:98e98e01a6ce 1211
redxeth 0:98e98e01a6ce 1212
redxeth 0:98e98e01a6ce 1213 void adjustLights()
redxeth 0:98e98e01a6ce 1214 {
redxeth 0:98e98e01a6ce 1215
redxeth 0:98e98e01a6ce 1216 // LIGHT ADJUST METHOD 1
redxeth 0:98e98e01a6ce 1217 // threshold is 1/5 of light intensity 'range'
redxeth 0:98e98e01a6ce 1218 if (1 == 0) {
redxeth 0:98e98e01a6ce 1219 DerivThreshold = (float) (MaxLightIntensity - MinLightIntensity) / 5;
redxeth 0:98e98e01a6ce 1220 NegDerivThreshold = (float) -1 * (DerivThreshold);
redxeth 0:98e98e01a6ce 1221 PosDerivThreshold = (float) (DerivThreshold);
redxeth 0:98e98e01a6ce 1222 } else {
redxeth 0:98e98e01a6ce 1223 // LIGHT ADJUST METHOD 2 -- SEEMS TO WORK MUCH BETTER
redxeth 0:98e98e01a6ce 1224 // pos edge threshold is half range of max deriv above aver derive
redxeth 0:98e98e01a6ce 1225 // neg edge threshold is half range of min deriv above aver derive
redxeth 0:98e98e01a6ce 1226
redxeth 0:98e98e01a6ce 1227 NegDerivThreshold = (float) (minDerVal - aveDerVal) * DER_RATIO;
redxeth 0:98e98e01a6ce 1228 PosDerivThreshold = (float) (maxDerVal - aveDerVal) * DER_RATIO;
redxeth 0:98e98e01a6ce 1229
redxeth 0:98e98e01a6ce 1230 }
redxeth 0:98e98e01a6ce 1231
redxeth 0:98e98e01a6ce 1232 printAdjustLightsData();
redxeth 0:98e98e01a6ce 1233
redxeth 0:98e98e01a6ce 1234 }
redxeth 0:98e98e01a6ce 1235
redxeth 0:98e98e01a6ce 1236 void printAdjustLightsData()
redxeth 0:98e98e01a6ce 1237 {
redxeth 0:98e98e01a6ce 1238 if (terminalOutput == 3) {
redxeth 0:98e98e01a6ce 1239 TERMINAL_PRINTF("Max Light Intensity: %4d\r\n", MaxLightIntensity);
redxeth 0:98e98e01a6ce 1240 TERMINAL_PRINTF("Min Light Intensity: %4d\r\n", MinLightIntensity);
redxeth 0:98e98e01a6ce 1241 TERMINAL_PRINTF("Deriv Threshold: %9.3f\r\n", DerivThreshold);
redxeth 0:98e98e01a6ce 1242 }
redxeth 0:98e98e01a6ce 1243
redxeth 0:98e98e01a6ce 1244 }
redxeth 0:98e98e01a6ce 1245
redxeth 0:98e98e01a6ce 1246 void feedbackLights()
redxeth 0:98e98e01a6ce 1247 {
redxeth 0:98e98e01a6ce 1248 switch (CurrentTrackStatus)
redxeth 0:98e98e01a6ce 1249 {
redxeth 0:98e98e01a6ce 1250 case LineFound:
redxeth 0:98e98e01a6ce 1251 TFC_BAT_LED0_OFF;
redxeth 0:98e98e01a6ce 1252 TFC_BAT_LED1_ON;
redxeth 0:98e98e01a6ce 1253 TFC_BAT_LED2_ON;
redxeth 0:98e98e01a6ce 1254 TFC_BAT_LED3_OFF;
redxeth 0:98e98e01a6ce 1255 break;
redxeth 0:98e98e01a6ce 1256 case StartGateFound:
redxeth 0:98e98e01a6ce 1257 TFC_BAT_LED0_ON;
redxeth 0:98e98e01a6ce 1258 TFC_BAT_LED1_OFF;
redxeth 0:98e98e01a6ce 1259 TFC_BAT_LED2_OFF;
redxeth 0:98e98e01a6ce 1260 TFC_BAT_LED3_ON;
redxeth 0:98e98e01a6ce 1261 break;
redxeth 0:98e98e01a6ce 1262 default:
redxeth 0:98e98e01a6ce 1263 TFC_BAT_LED0_OFF;
redxeth 0:98e98e01a6ce 1264 TFC_BAT_LED1_OFF;
redxeth 0:98e98e01a6ce 1265 TFC_BAT_LED2_OFF;
redxeth 0:98e98e01a6ce 1266 TFC_BAT_LED3_OFF;
redxeth 0:98e98e01a6ce 1267 }
redxeth 0:98e98e01a6ce 1268
redxeth 0:98e98e01a6ce 1269 }
redxeth 0:98e98e01a6ce 1270