Diff: Spices/Spices.h

Revision:

0:98e98e01a6ce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Spices/Spices.h	Sun Apr 20 03:33:03 2014 +0000
@@ -0,0 +1,133 @@
+#include "mbed.h"
+
+#ifndef _SPICES_H
+#define _SPICES_H
+
+// *******************************************
+// MASTER CONTROL PROGRAM
+
+// Loop at Servo cycle (currently 50Hz / 20mS)
+// Camera gets updated at its own period
+//   (currently 50Hz / 20mS)
+// 
+//   REQUIREMENTS:
+//   - Control servos in response to track line position
+//   - Gather as much camera data as possible between
+//     servo update cycles to get best read on the line
+//     (currently 1:1 though @ 50Hz)
+//   - Ignore erronous signals:
+//       - "mud" on track
+//       - low contrast light situations
+//       - track crossing itself (all black situation)
+//   - Detects 'starting line' -- ignores first detect (START)
+//     and stops after second detect (FINISH)
+//
+//   INPUTS:
+//   - linescancamera data (0-127)
+//   - maximum speed
+//   - filter settings:
+//       A = 15 (number of pixels at each end to ignore)
+//       B = 20 (estimated width of line)(possible issue if line far away)
+//       C = 2^12 (max value based on ADC sample rate of 12 bits)
+//       D = Edge threshold of Derivative (max / 4 = 2^10)
+//   - control parameters, KP and KD
+//
+//   CONTROL ALGORITHM:
+//   1 - Get Line Position
+//   2 - Compute Error from Line Position
+//   3 - Set Servo position based on Error and Derivative of Error
+//   4 - Store error for next cycle to perform derivative
+//   
+//
+//   GET LINE POSITION
+//     INPUTS: linescan data
+//     RETURNS: either position or starting gate flag
+//   ALGO:
+//   - Find line edges:
+//      - filter out first and last A number of pixels from left and right
+//      - calculate derivative of data
+//      - search for line edges in derivative data (search for either track line or starting gate)
+//        - Search for all pixels with Value < -D, indicating negative edge (large negative means going from white to black)
+//        - Search for all pixels with Value > D, indicating positive edge (large positive means going from black to white)
+//        - Clean up adjacent line edges-- edges 1 pixel away from each other combined to be considered a single edge, average pixel value
+//   - if starting gate then send up flag
+//   - if track, calculate position
+//
+//
+//   COMPUTE LINE ERROR
+//   - take line position and target-- calculate error (negative or positive)
+//
+//   SET SERVO POSITION 
+//      -  int servoPosition = KP * Error + KD * (Error - lastError);
+//      -  lastError = Error;
+//
+//
+//   TBD:
+//   - store multiple edge positions in order to average prior to next servo update
+//
+// *******************************************
+//
+void MasterControlProgram();
+
+
+// prints out line scan data for you
+void printLineScanData(uint16_t *LineScanData);
+
+// calculates derivative of line scan data
+void derivativeLineScan(uint16_t* LineScanDataIn, float* DerivLineScanDataOut);
+
+// prints out derivative of line scan data -- assumes deriv already calculated
+void printDerivLineScanData(float* derivLineScanData);
+
+// serves to grab a frame of camera data
+void grabCameraFrame();
+
+// find negative and positive edges in image data, store in array, combines edges found in adjacent pixels
+void findEdges(float* derivLineScanData);
+
+// improved algo to find negative and positive edges in image data, store in array, combines edges found in adjacent pixels
+void findEdges_v2(float* derivLineScanData);
+
+// prints out edge data found
+void printEdgesFound();
+
+// review edge data
+//   - report line position if there
+//   - set starting gate flag if there
+//   - do nothing with position value otherwise
+void reviewEdges();
+
+// Decide new actions based on track status
+void ActOnTrackStatus();
+
+// Update Steering settings
+void SteeringControl();
+
+// Apply steering setting to servo!
+void Steer();
+
+// Update speed settings
+void SpeedControl();
+
+// Apply speed settings to motors!
+void Drive();
+
+// Adjust parameters based on max light measured value
+void adjustLights();
+
+// print out light adjust data
+void printAdjustLightsData();
+
+// Give user feedback as to detection state via LEDs
+void feedbackLights();
+
+// read DIP switches and potentiometers for setting changes
+void readSwitches();
+     
+// capture log data
+void captureData();
+
+// dump log data to terminal
+void dumpData();
+           
+#endif