Revision 4:369caebdf5dc, committed 2016-03-09

Comitter:

mpanetta

Date:

Wed Mar 09 17:40:26 2016 +0000

Parent:

3:aa1a77b080eb

Commit message:

Making Public

Changed in this revision

diff -r aa1a77b080eb -r 369caebdf5dc IRBehaviorController.cpp
--- a/IRBehaviorController.cpp	Sat Nov 03 01:03:33 2012 +0000
+++ b/IRBehaviorController.cpp	Wed Mar 09 17:40:26 2016 +0000
@@ -70,6 +70,30 @@
     return tmp;
 }
 
+float
+IRBehaviorController::getBrightness(void)
+{
+    float tmp;
+    
+    NVIC_DisableIRQ(TIMER3_IRQn);   // Disable Ticker IRQ for atomicity
+    tmp = brightness;
+    NVIC_EnableIRQ(TIMER3_IRQn);    // Enable Ticker IRQ
+    
+    return tmp;
+}
+
+float
+IRBehaviorController::getCenteroid(void)
+{
+    float tmp;
+    
+    NVIC_DisableIRQ(TIMER3_IRQn);   // Disable Ticker IRQ for atomicity
+    tmp = centeroid;
+    NVIC_EnableIRQ(TIMER3_IRQn);    // Enable Ticker IRQ
+    
+    return tmp;
+}
+
 void
 IRBehaviorController::dumpDebug(Serial *debug)
 {

diff -r aa1a77b080eb -r 369caebdf5dc IRBehaviorController.h
--- a/IRBehaviorController.h	Sat Nov 03 01:03:33 2012 +0000
+++ b/IRBehaviorController.h	Wed Mar 09 17:40:26 2016 +0000
@@ -33,6 +33,8 @@
     void runSeeking(void);                      // Execute seeking behavior
     
     float getPower(void);                       // Returns the power value needed to execute the behavior.
+    float getBrightness(void);
+    float getCenteroid(void);
     
     void  dumpDebug(Serial *debug);
     

diff -r aa1a77b080eb -r 369caebdf5dc MODSERIAL.lib
--- a/MODSERIAL.lib	Sat Nov 03 01:03:33 2012 +0000
+++ b/MODSERIAL.lib	Wed Mar 09 17:40:26 2016 +0000
@@ -1,1 +1,1 @@
-MODSERIAL#ef4645a79fca
+https://developer.mbed.org/users/mpanetta/code/MODSERIAL/#ef4645a79fca

diff -r aa1a77b080eb -r 369caebdf5dc PiSlingers.lib
--- a/PiSlingers.lib	Sat Nov 03 01:03:33 2012 +0000
+++ b/PiSlingers.lib	Wed Mar 09 17:40:26 2016 +0000
@@ -1,1 +1,1 @@
-PiSlingers#a9351d7f92b4
+https://developer.mbed.org/users/mpanetta/code/PiSlingers/#a9351d7f92b4

diff -r aa1a77b080eb -r 369caebdf5dc m3pi.lib
--- a/m3pi.lib	Sat Nov 03 01:03:33 2012 +0000
+++ b/m3pi.lib	Wed Mar 09 17:40:26 2016 +0000
@@ -1,1 +1,1 @@
-m3pi#1ce8bf1f4452
+https://developer.mbed.org/users/mpanetta/code/m3pi/#1ce8bf1f4452

diff -r aa1a77b080eb -r 369caebdf5dc main.cpp
--- a/main.cpp	Sat Nov 03 01:03:33 2012 +0000
+++ b/main.cpp	Wed Mar 09 17:40:26 2016 +0000
@@ -19,8 +19,8 @@
 // PID terms
 #define P_TERM    0.10f
 #define I_TERM    0.00f
-#define D_TERM    0.05f
-#define THRESHOLD 0.40f
+#define D_TERM    0.08f
+#define THRESHOLD 0.20f
 
 //PID                  pid(P_TERM, I_TERM, D_TERM, &blueTooth);
 PID                  pid(P_TERM, I_TERM, D_TERM);
@@ -90,7 +90,7 @@
 #define BEACON_P_TERM 1.0f
 #define BEACON_I_TERM 0.0f
 #define BEACON_D_TERM 0.0f
-#define GO_SPEED 0.8f
+#define GO_SPEED 0.5f
 
 PID beaconPID(BEACON_P_TERM, BEACON_I_TERM, BEACON_D_TERM);
 
@@ -113,11 +113,11 @@
     
     //FunctionPointer ird_scan(&ird, &IRObjDetector::scan);
     
-        
+    wait(1);    
     base.reset();
     base.locate(0, 0);
     base.printf("IR Track");
-    wait(5);
+    wait(4);
 
     //semihost_powerdown(); // Disable the secondary controller, this reduces both power and noise.
         
@@ -140,6 +140,8 @@
     {
         uint16_t rssiL;
         uint16_t rssiR;
+        float    irBrightness;
+        float    irCenteroid;
         
         blueTooth.printf("\e[1J");      // Clear terminal screen
         blueTooth.printf("\e[H");       // Home terminal screen
@@ -149,10 +151,16 @@
         //pid.dumpDebug(&blueTooth);
         //irController.dumpDebug(&blueTooth);
         
-        blueTooth.printf("Getting power from IR.\r\n");
-        ipower    = irController.getPower();
+        blueTooth.printf("Getting power brightness and centeroid from IR.\r\n");
+        ipower       = irController.getPower();
+        irBrightness = irController.getBrightness();
+        irCenteroid  = irController.getCenteroid();
         blueTooth.printf("IR:     power     = %3.2f\r\n", ipower);
-        ipower    = 0; // Temp disable.
+        blueTooth.printf("IR:     brightness= %3.2f\r\n", irBrightness);
+        blueTooth.printf("IR:     centeroid = %3.2f\r\n", irCenteroid);
+        //ipower    = 0; // Temp disable.
+        ipower = ipower * irBrightness; // We want more avoidance for closer objects
+        //ipower = -ipower;
         
         beacon.scan();
         
@@ -180,7 +188,7 @@
         else
             power = bpower;
             
-        if (rssi > 140)
+        if (rssi > 180)
         {
             speed = 0;
         }