Hlimi Omar / Mbed 2 deprecated biniou

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stateMachines.cpp@26:3b144f243646, 2018-09-16 (annotated)

Committer:
GaspardD
Date:
Sun Sep 16 17:11:15 2018 +0000
Revision:
26:3b144f243646
Parent:
25:3d03756a7fa5
Child:
27:f8c3f1524a64
une division en moins dans le calcul du temps de freinage

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 12:51b1b40cc017 1 #include "stateMachines.h"
GaspardD 19:771bf61be276 2 #if DEBUG >0
GaspardD 13:af9a59ccf60b 3 Serial pc(USBTX, USBRX); // tx, rx
GaspardD 13:af9a59ccf60b 4 #endif
GaspardD 19:771bf61be276 5 #if DEBUG >= -1
GaspardD 19:771bf61be276 6 InterruptIn my_button(USER_BUTTON);
GaspardD 23:04d393220daa 7 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 8 Timer timerLog;
GaspardD 19:771bf61be276 9 #endif
GaspardD 23:04d393220daa 10 #endif
GaspardD 19:771bf61be276 11
GaspardD 11:bc24b3ba51a9 12 uint16_t distMurG90[NB_ECHANTILLONS_IR];//buffer tournant ir coté gauche pour moyenne
GaspardD 11:bc24b3ba51a9 13 uint16_t distMurD90[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit pour moyenne
GaspardD 11:bc24b3ba51a9 14 uint16_t distMurG45[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 45deg pour moyenne
GaspardD 11:bc24b3ba51a9 15 uint16_t distMurD45[NB_ECHANTILLONS_IR];//buffer tournant ir avant droit 45deg pour moyenne
GaspardD 11:bc24b3ba51a9 16 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 17 uint16_t distMurG10[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 10deg pour moyenne
GaspardD 11:bc24b3ba51a9 18 uint16_t distMurD10[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit 10deg pour moyenne
GaspardD 11:bc24b3ba51a9 19 uint16_t distMurFront[NB_ECHANTILLONS_IR];//buffer tournant ir front
GaspardD 11:bc24b3ba51a9 20 #endif
GaspardD 12:51b1b40cc017 21 uint16_t distMurG90Moy;
GaspardD 12:51b1b40cc017 22 uint16_t distMurD90Moy;
GaspardD 12:51b1b40cc017 23 uint16_t distMurG45Moy;
GaspardD 12:51b1b40cc017 24 uint16_t distMurD45Moy;
GaspardD 23:04d393220daa 25
GaspardD 12:51b1b40cc017 26 #ifdef DLVV
GaspardD 12:51b1b40cc017 27 uint16_t distMurG10Moy;
GaspardD 12:51b1b40cc017 28 uint16_t distMurD10Moy;
GaspardD 12:51b1b40cc017 29 uint16_t distMurFrontMoy
GaspardD 12:51b1b40cc017 30 #endif
GaspardD 8:1d8c3ca5e508 31 int index_fifo_ir = 0;//pour géreer le buffer tournant
GaspardD 8:1d8c3ca5e508 32 int index_fifo_lidar = 0;
GaspardD 11:bc24b3ba51a9 33 //sections
GaspardD 11:bc24b3ba51a9 34 s_Section p_section1;
GaspardD 23:04d393220daa 35 s_Section p_section2;
GaspardD 2:fd0ffe46a87d 36
GaspardD 15:129f205ff030 37 //PWM Controls
GaspardD 12:51b1b40cc017 38 PwmOut PwmMotor(PB_6); // PWM4 ch1 TIM4
GaspardD 12:51b1b40cc017 39 PwmOut PwmDirection(PB_5); // PWM3 ch2 TIM3
GaspardD 8:1d8c3ca5e508 40
GaspardD 21:de7a0a47f8a3 41 int pulseDirection_us = DIRECTION_PULSE_MIDDLE;
GaspardD 19:771bf61be276 42 int pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 12:51b1b40cc017 43 //Capteurs direction
GaspardD 8:1d8c3ca5e508 44
GaspardD 22:26fc6e6f7a55 45
GaspardD 22:26fc6e6f7a55 46
GaspardD 22:26fc6e6f7a55 47 AnalogIn anaG90(CAPT_90_GAUCHE);//capteur ir coté gauche
GaspardD 22:26fc6e6f7a55 48 AnalogIn anaD90(CAPT_90_DROITE);//capteur ir coté droit
GaspardD 22:26fc6e6f7a55 49 AnalogIn anaG45(CAPT_45_GAUCHE);//capteur ir avant gauche 45 deg
GaspardD 22:26fc6e6f7a55 50 AnalogIn anaD45(CAPT_45_DROITE);//capteur ir avant droit 45deg
GaspardD 11:bc24b3ba51a9 51 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 52 AnalogIn anaDlvvG(CAPT_10_GAUCHE);//capteur ir avant droit 10 deg
GaspardD 22:26fc6e6f7a55 53 AnalogIn anaDlvvD(CAPT_10_DROITE);//capteur ir coté droit 10 deg
GaspardD 22:26fc6e6f7a55 54 AnalogIn anaDlvvFront(CAPT_DEVANT);//capteur ir avant
GaspardD 11:bc24b3ba51a9 55 #endif
GaspardD 12:51b1b40cc017 56
GaspardD 19:771bf61be276 57 int differenceGD45,differenceGD90,prevDiffGD90,prevDiffGD45,derive45,derive90;
GaspardD 21:de7a0a47f8a3 58 int lastDifferences90[NB_INTEGRAL_SAMPLES] = {0};//for integral correction
GaspardD 21:de7a0a47f8a3 59 int lastDifferenceIndex = 0;
GaspardD 21:de7a0a47f8a3 60 int integralSum;
GaspardD 12:51b1b40cc017 61
GaspardD 12:51b1b40cc017 62 //Capteur vitesse
GaspardD 12:51b1b40cc017 63 InterruptIn it_tachymeter(PA_11);
GaspardD 2:fd0ffe46a87d 64
GaspardD 11:bc24b3ba51a9 65
GaspardD 11:bc24b3ba51a9 66 //LIDAR
GaspardD 12:51b1b40cc017 67 Serial serialLidar(PC_10,PC_11); // tx, rx
GaspardD 11:bc24b3ba51a9 68
GaspardD 11:bc24b3ba51a9 69 int distLidar;// LiDAR actually measured distance value
GaspardD 23:04d393220daa 70 int distLidarPrev;
GaspardD 11:bc24b3ba51a9 71 int strengthLidar;// LiDAR signal strength
GaspardD 23:04d393220daa 72 int strengthLidarPrev;
GaspardD 11:bc24b3ba51a9 73 int check;// check numerical value storage
GaspardD 12:51b1b40cc017 74 int i;
GaspardD 11:bc24b3ba51a9 75 int uart[9];// store data measured by LiDAR
GaspardD 11:bc24b3ba51a9 76 const int HEADER=0x59;// data package frame header
GaspardD 11:bc24b3ba51a9 77
GaspardD 11:bc24b3ba51a9 78 //SPEED
GaspardD 11:bc24b3ba51a9 79 int maxSpeed_cmps = 0;
GaspardD 11:bc24b3ba51a9 80 int tachySpeed_cmps = 0;
GaspardD 11:bc24b3ba51a9 81 int tachyStepsRegister = 0;
GaspardD 11:bc24b3ba51a9 82 int tachySectionDist_cm = 0;
GaspardD 8:1d8c3ca5e508 83
GaspardD 24:698fefbbee00 84 Timer brakingTimer;
GaspardD 24:698fefbbee00 85 int brakingDurationNeeded_us = 0;
GaspardD 24:698fefbbee00 86
GaspardD 8:1d8c3ca5e508 87 //Etats
GaspardD 8:1d8c3ca5e508 88 MUR_ST st_murs;
GaspardD 21:de7a0a47f8a3 89 MUR_ST st_tmpMurs;
GaspardD 11:bc24b3ba51a9 90 SECTION_ST st_currentSection;
GaspardD 21:de7a0a47f8a3 91 SECTION_ST st_tmpSection;
GaspardD 11:bc24b3ba51a9 92 MAX_SPEED_ST st_maxSpeed;
GaspardD 21:de7a0a47f8a3 93 MAX_SPEED_ST st_tmpMaxSpeed;
GaspardD 8:1d8c3ca5e508 94 THROTTLE_ST st_thro;
GaspardD 21:de7a0a47f8a3 95 THROTTLE_ST st_tmpThro;
GaspardD 11:bc24b3ba51a9 96 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 97 OBSTACLE_ST st_obstacle;
GaspardD 11:bc24b3ba51a9 98 #endif
GaspardD 11:bc24b3ba51a9 99
GaspardD 11:bc24b3ba51a9 100 s_Section* p_sectionCourante = NULL;
GaspardD 8:1d8c3ca5e508 101
GaspardD 8:1d8c3ca5e508 102 //time monitoring
GaspardD 8:1d8c3ca5e508 103
GaspardD 11:bc24b3ba51a9 104 Timer timeSinceStart;// temps.start()/stop()/sec: read()/ms: read_ms()/µs: read_us()
GaspardD 11:bc24b3ba51a9 105 Timer timerSinceGetTachy;
GaspardD 11:bc24b3ba51a9 106
GaspardD 19:771bf61be276 107
GaspardD 19:771bf61be276 108 // +++++++++++++++++++++++++++++++++++++++++++ SAMPLING +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 109 #ifdef SAMPLING
GaspardD 19:771bf61be276 110 s_Sample history[TAILLE_SAMPLES];
GaspardD 19:771bf61be276 111 int indexSample = 0;
GaspardD 19:771bf61be276 112 void initSamples(void)
GaspardD 19:771bf61be276 113 {
GaspardD 19:771bf61be276 114 for(int m=0; m<TAILLE_SAMPLES; m++) {
GaspardD 19:771bf61be276 115 history[m].states.murs_dlvv = '0';
GaspardD 19:771bf61be276 116 history[m].states.section = '0';
GaspardD 19:771bf61be276 117 history[m].states.maxSpeed = '0';
GaspardD 19:771bf61be276 118 history[m].states.throttle = '0';
GaspardD 19:771bf61be276 119 history[m].time = 0;
GaspardD 21:de7a0a47f8a3 120 history[m].diffgd45 = 0;
GaspardD 21:de7a0a47f8a3 121 history[m].diffgd90 = 0;
GaspardD 21:de7a0a47f8a3 122 history[m].pwm_thro_us = 0;
GaspardD 21:de7a0a47f8a3 123 history[m].pwm_dir_us = 0;
GaspardD 23:04d393220daa 124 history[m].distLidar = 0;
GaspardD 23:04d393220daa 125 history[m].strLidar = 0;
GaspardD 19:771bf61be276 126 }
GaspardD 21:de7a0a47f8a3 127 #if DEBUG > 0
GaspardD 19:771bf61be276 128 pc.printf("[INIT SAMPLE DONE]\r\n");
GaspardD 21:de7a0a47f8a3 129 #endif
GaspardD 19:771bf61be276 130 return;
GaspardD 19:771bf61be276 131 }
GaspardD 19:771bf61be276 132 void sampleLog(void)
GaspardD 19:771bf61be276 133 {
GaspardD 23:04d393220daa 134 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 23:04d393220daa 135 if(timerLog.read_us() > DUMP_SAMPLIG_PERIOD) {
GaspardD 22:26fc6e6f7a55 136 timerLog.reset();
GaspardD 22:26fc6e6f7a55 137 timerLog.start();
GaspardD 23:04d393220daa 138 #endif
GaspardD 22:26fc6e6f7a55 139 if(indexSample < TAILLE_SAMPLES) {
GaspardD 19:771bf61be276 140 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 141 history[indexSample].states.murs_dlvv = (char)st_obstacle;
GaspardD 19:771bf61be276 142 #else
GaspardD 22:26fc6e6f7a55 143 history[indexSample].states.murs_dlvv = (char)st_murs;
GaspardD 19:771bf61be276 144 #endif
GaspardD 22:26fc6e6f7a55 145 history[indexSample].states.section = (char)st_currentSection;
GaspardD 22:26fc6e6f7a55 146 history[indexSample].states.maxSpeed = (char)st_maxSpeed;
GaspardD 22:26fc6e6f7a55 147 history[indexSample].states.throttle = (char)st_thro;
GaspardD 22:26fc6e6f7a55 148 history[indexSample].time = timeSinceStart.read_us() ;
GaspardD 22:26fc6e6f7a55 149 history[indexSample].diffgd45 = differenceGD45;
GaspardD 22:26fc6e6f7a55 150 history[indexSample].diffgd90 = differenceGD90;
GaspardD 22:26fc6e6f7a55 151 history[indexSample].pwm_thro_us = pulseSpeed_us;
GaspardD 22:26fc6e6f7a55 152 history[indexSample].pwm_dir_us = pulseDirection_us;
GaspardD 22:26fc6e6f7a55 153 history[indexSample].dist = tachySectionDist_cm,
GaspardD 23:04d393220daa 154 history[indexSample].distLidar = distLidar;
GaspardD 23:04d393220daa 155 history[indexSample].strLidar = strengthLidar;
GaspardD 23:04d393220daa 156 indexSample++;
GaspardD 19:771bf61be276 157 #if DEBUG > 0
GaspardD 22:26fc6e6f7a55 158 pc.printf("\r\nodo:%d dist = %d \tstrength = %d \tC45D: %d C45G: %d C90D: %d C90G: %d looptime: %d micros",tachySectionDist_cm,distLidar,strengthLidar,distMurD45Moy,distMurG45Moy,distMurD90Moy,distMurG90Moy,timeSinceStart.read_us());// output signal strength value
GaspardD 22:26fc6e6f7a55 159 pc.printf("\r\nstate Murs: %d, state Section %d, state MaxSpeed %d, state Throttle %d\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);
GaspardD 22:26fc6e6f7a55 160 //wait(2);
GaspardD 22:26fc6e6f7a55 161 timeSinceStart.reset();
GaspardD 22:26fc6e6f7a55 162 timeSinceStart.start();
GaspardD 19:771bf61be276 163 #endif
GaspardD 22:26fc6e6f7a55 164 }
GaspardD 22:26fc6e6f7a55 165 return;
GaspardD 23:04d393220daa 166 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 19:771bf61be276 167 }
GaspardD 23:04d393220daa 168 #endif
GaspardD 19:771bf61be276 169 }
GaspardD 19:771bf61be276 170 void transmitData(void)
GaspardD 19:771bf61be276 171 {
GaspardD 21:de7a0a47f8a3 172 #if DEBUG > 0
GaspardD 19:771bf61be276 173 pc.printf("[START TO TRANSMIT]\r\n");
GaspardD 21:de7a0a47f8a3 174 #endif
GaspardD 22:26fc6e6f7a55 175 serialLidar.printf("time,diffgd 45,diffgd 90,pwm_thro_us,pwm_dir_us,dist,murs/dlvv,section,maxSpeed,throttle\r\n");
GaspardD 19:771bf61be276 176 for(int p=0; p<indexSample; p++) {
GaspardD 22:26fc6e6f7a55 177 serialLidar.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",
GaspardD 21:de7a0a47f8a3 178 history[p].time,
GaspardD 21:de7a0a47f8a3 179 history[p].diffgd45,
GaspardD 21:de7a0a47f8a3 180 history[p].diffgd90,
GaspardD 21:de7a0a47f8a3 181 history[p].pwm_thro_us,
GaspardD 21:de7a0a47f8a3 182 history[p].pwm_dir_us,
GaspardD 21:de7a0a47f8a3 183 history[p].dist,
GaspardD 21:de7a0a47f8a3 184 history[p].states.murs_dlvv,
GaspardD 21:de7a0a47f8a3 185 history[p].states.section,
GaspardD 21:de7a0a47f8a3 186 history[p].states.maxSpeed,
GaspardD 21:de7a0a47f8a3 187 history[p].states.throttle);
GaspardD 19:771bf61be276 188 }
GaspardD 19:771bf61be276 189 return;
GaspardD 19:771bf61be276 190 }
GaspardD 19:771bf61be276 191
GaspardD 19:771bf61be276 192 #endif
GaspardD 19:771bf61be276 193
GaspardD 19:771bf61be276 194 // +++++++++++++++++++++++++++++++++++++++++++ FUNCTION UTILS +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 195
GaspardD 19:771bf61be276 196 #if DEBUG >= -1
GaspardD 19:771bf61be276 197 void pressed(void)
GaspardD 19:771bf61be276 198 {
GaspardD 21:de7a0a47f8a3 199 #if DEBUG > 0
GaspardD 19:771bf61be276 200 pc.printf("[BTN PRESSED]\r\n");
GaspardD 21:de7a0a47f8a3 201 #endif
GaspardD 19:771bf61be276 202 //p_sectionCourante = &p_section1;
GaspardD 19:771bf61be276 203 transmitData();
GaspardD 19:771bf61be276 204 }
GaspardD 19:771bf61be276 205 #endif
GaspardD 19:771bf61be276 206
GaspardD 11:bc24b3ba51a9 207 void getTachySpeed()
GaspardD 11:bc24b3ba51a9 208 {
GaspardD 11:bc24b3ba51a9 209 //tachySteps = VALEUR_DU_PIN;
GaspardD 12:51b1b40cc017 210 //poour gérer les vitesses lentes
GaspardD 19:771bf61be276 211 if(tachyStepsRegister == 0 && timerSinceGetTachy.read_us() < 500000) {
GaspardD 12:51b1b40cc017 212 return;//on attend encore un peu l'aquisition de la vitesse
GaspardD 12:51b1b40cc017 213 }
GaspardD 15:129f205ff030 214 tachySectionDist_cm += tachyStepsRegister;
GaspardD 15:129f205ff030 215 tachySpeed_cmps = (tachyStepsRegister * 1000000)/timerSinceGetTachy.read_us();
GaspardD 19:771bf61be276 216 #if DEBUG > 2
GaspardD 19:771bf61be276 217 pc.printf("IT: distance parcourue %d , vitesse:%d \r\n",tachySectionDist_cm,tachySpeed_cmps);
GaspardD 19:771bf61be276 218 #endif
GaspardD 11:bc24b3ba51a9 219 tachyStepsRegister=0;
GaspardD 11:bc24b3ba51a9 220 timerSinceGetTachy.reset();
GaspardD 11:bc24b3ba51a9 221 timerSinceGetTachy.start();
GaspardD 11:bc24b3ba51a9 222 return;
GaspardD 11:bc24b3ba51a9 223 }
GaspardD 8:1d8c3ca5e508 224
GaspardD 21:de7a0a47f8a3 225
GaspardD 12:51b1b40cc017 226 uint16_t getDistMoy(uint16_t* tab,int size)
GaspardD 11:bc24b3ba51a9 227 {
GaspardD 11:bc24b3ba51a9 228 int sumMoy = 0;
GaspardD 19:771bf61be276 229 for(int k=0; k<size; k++) {
GaspardD 11:bc24b3ba51a9 230 sumMoy+=tab[k];
GaspardD 11:bc24b3ba51a9 231 }
GaspardD 11:bc24b3ba51a9 232 return sumMoy/size;
GaspardD 11:bc24b3ba51a9 233 }
GaspardD 2:fd0ffe46a87d 234
GaspardD 12:51b1b40cc017 235 void it4cm()
GaspardD 12:51b1b40cc017 236 {
GaspardD 22:26fc6e6f7a55 237 tachyStepsRegister+=TACHY_CM;
GaspardD 19:771bf61be276 238 #if DEBUG > 0
GaspardD 14:d471faa7d1a2 239 pc.printf("IT tachy\r\n");
GaspardD 14:d471faa7d1a2 240 #endif
GaspardD 12:51b1b40cc017 241 }
GaspardD 12:51b1b40cc017 242
GaspardD 12:51b1b40cc017 243 void it_serial()
GaspardD 12:51b1b40cc017 244 {
GaspardD 12:51b1b40cc017 245 if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59
GaspardD 12:51b1b40cc017 246 uart[0]=HEADER;
GaspardD 12:51b1b40cc017 247 if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59
GaspardD 12:51b1b40cc017 248 uart[1]=HEADER;
GaspardD 12:51b1b40cc017 249 for(i=2; i<9; i++) { // store data to array
GaspardD 12:51b1b40cc017 250 uart[i]=serialLidar.getc();
GaspardD 12:51b1b40cc017 251 }
GaspardD 12:51b1b40cc017 252 check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
GaspardD 12:51b1b40cc017 253 if(uart[8]==(check&0xff)) { // check the received data as per protocols
GaspardD 23:04d393220daa 254 distLidarPrev = distLidar;
GaspardD 12:51b1b40cc017 255 distLidar=uart[2]+uart[3]*256;// calculate distance value
GaspardD 23:04d393220daa 256 strengthLidarPrev = strengthLidar;
GaspardD 12:51b1b40cc017 257 strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value
GaspardD 12:51b1b40cc017 258 }
GaspardD 12:51b1b40cc017 259 }
GaspardD 12:51b1b40cc017 260 }
GaspardD 12:51b1b40cc017 261 }
GaspardD 19:771bf61be276 262 // +++++++++++++++++++++++++++++++++++++++++++ STATES MACHINES +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 263
GaspardD 8:1d8c3ca5e508 264 //########## INIT STATES MACHINES ##########
GaspardD 11:bc24b3ba51a9 265 void mursInit(void)
GaspardD 8:1d8c3ca5e508 266 {
GaspardD 19:771bf61be276 267 #if DEBUG >= -1
GaspardD 19:771bf61be276 268 my_button.fall(&pressed);
GaspardD 19:771bf61be276 269 initSamples();
GaspardD 19:771bf61be276 270 #endif
GaspardD 19:771bf61be276 271 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 272 pc.baud(115200);
GaspardD 13:af9a59ccf60b 273 pc.printf("Init Murs\r\n");
GaspardD 13:af9a59ccf60b 274 #endif
GaspardD 13:af9a59ccf60b 275 timeSinceStart.start();
GaspardD 11:bc24b3ba51a9 276 st_murs=EQUILIBRAGE_REPULSIF;
GaspardD 19:771bf61be276 277 PwmDirection.period_us(SPEED_PERIOD_US);
GaspardD 17:8c465656eea4 278 PwmDirection.pulsewidth_us(DIRECTION_PULSE_MIDDLE);// milieu
GaspardD 19:771bf61be276 279 prevDiffGD45 = 0;
GaspardD 19:771bf61be276 280 prevDiffGD90 = 0;
GaspardD 8:1d8c3ca5e508 281 return;
GaspardD 8:1d8c3ca5e508 282 }
GaspardD 11:bc24b3ba51a9 283 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 284 void obstacleInit(void)
GaspardD 8:1d8c3ca5e508 285 {
GaspardD 19:771bf61be276 286 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 287 pc.printf("Init Obstacle\r\n");
GaspardD 13:af9a59ccf60b 288 #endif
GaspardD 11:bc24b3ba51a9 289 st_speedLimit=FRONT_CLEAR;
GaspardD 8:1d8c3ca5e508 290 return;
GaspardD 8:1d8c3ca5e508 291 }
GaspardD 11:bc24b3ba51a9 292 #endif
GaspardD 11:bc24b3ba51a9 293 void sectionInit(void)
GaspardD 2:fd0ffe46a87d 294 {
GaspardD 19:771bf61be276 295 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 296 pc.printf("Init Section\r\n");
GaspardD 13:af9a59ccf60b 297 #endif
GaspardD 11:bc24b3ba51a9 298 st_currentSection=ARRET;
GaspardD 14:d471faa7d1a2 299 p_sectionCourante=&p_section1;
GaspardD 12:51b1b40cc017 300 it_tachymeter.fall(&it4cm);
GaspardD 11:bc24b3ba51a9 301 timerSinceGetTachy.start();
GaspardD 11:bc24b3ba51a9 302 getTachySpeed();//to reset
GaspardD 11:bc24b3ba51a9 303 tachySectionDist_cm = 0;
GaspardD 11:bc24b3ba51a9 304 tachyStepsRegister = 0;
GaspardD 11:bc24b3ba51a9 305
GaspardD 23:04d393220daa 306 //section de test 1
GaspardD 23:04d393220daa 307 p_section1.nextSection =NULL;// &p_section2;
GaspardD 23:04d393220daa 308 p_section1.targetSpeed_cmps = 400;
GaspardD 22:26fc6e6f7a55 309 p_section1.slowSpeed_cmps = 328;
GaspardD 23:04d393220daa 310 p_section1.brakingCoefficient = 61; // application de la formule
GaspardD 21:de7a0a47f8a3 311 p_section1.coef_p_speed = 1;
GaspardD 23:04d393220daa 312 p_section1.lidarWarningDist_cm = 120;
GaspardD 23:04d393220daa 313 p_section1.lng_section_cm = 30000;//30m
GaspardD 23:04d393220daa 314 p_section1.coef_p = 50;//35;
GaspardD 23:04d393220daa 315 p_section1.coef_i = 10000;//35*NB_INTEGRAL_SAMPLES;
GaspardD 23:04d393220daa 316 p_section1.coef_d = 10000;//35;
GaspardD 23:04d393220daa 317
GaspardD 23:04d393220daa 318 //section de test
GaspardD 23:04d393220daa 319 p_section2.nextSection = NULL;
GaspardD 23:04d393220daa 320 p_section2.targetSpeed_cmps = 328;
GaspardD 23:04d393220daa 321 p_section2.slowSpeed_cmps = 328;
GaspardD 23:04d393220daa 322 p_section2.brakingCoefficient = 0; // application de la formule
GaspardD 23:04d393220daa 323 p_section2.coef_p_speed = 1;
GaspardD 23:04d393220daa 324 p_section2.lidarWarningDist_cm = 300;
GaspardD 23:04d393220daa 325 p_section2.lng_section_cm = 200;//2m
GaspardD 23:04d393220daa 326 p_section2.coef_p = 50;
GaspardD 23:04d393220daa 327 p_section2.coef_i = 10000;//35*NB_INTEGRAL_SAMPLES;
GaspardD 23:04d393220daa 328 p_section2.coef_d = 10000;//35;
GaspardD 23:04d393220daa 329
GaspardD 8:1d8c3ca5e508 330 return;
GaspardD 8:1d8c3ca5e508 331 }
GaspardD 11:bc24b3ba51a9 332
GaspardD 11:bc24b3ba51a9 333 void maxSpeedInit(void)
GaspardD 11:bc24b3ba51a9 334 {
GaspardD 19:771bf61be276 335 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 336 pc.printf("Init Max Speed\r\n");
GaspardD 13:af9a59ccf60b 337 #endif
GaspardD 11:bc24b3ba51a9 338 st_maxSpeed=SPEED_MAX;
GaspardD 11:bc24b3ba51a9 339 maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps;
GaspardD 11:bc24b3ba51a9 340 serialLidar.baud(115200);
GaspardD 14:d471faa7d1a2 341 serialLidar.attach(&it_serial);
GaspardD 11:bc24b3ba51a9 342 return;
GaspardD 11:bc24b3ba51a9 343 }
GaspardD 11:bc24b3ba51a9 344
GaspardD 11:bc24b3ba51a9 345 void throttleInit(void)
GaspardD 8:1d8c3ca5e508 346 {
GaspardD 19:771bf61be276 347 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 348 pc.printf("Init Throttle\r\n");
GaspardD 13:af9a59ccf60b 349 #endif
GaspardD 21:de7a0a47f8a3 350 st_thro = REGULATION_SPEED;
GaspardD 19:771bf61be276 351 PwmMotor.period_us(DIERCTION_PERIOD_MS); //20 ms is default
GaspardD 19:771bf61be276 352 PwmMotor.pulsewidth_us(1000);//MIN
GaspardD 12:51b1b40cc017 353 wait(3);
GaspardD 19:771bf61be276 354 PwmMotor.pulsewidth_us(2000);//MAX
GaspardD 12:51b1b40cc017 355 wait(1);
GaspardD 19:771bf61be276 356 PwmMotor.pulsewidth_us(1500);//ZEROING
GaspardD 12:51b1b40cc017 357 wait(1);
GaspardD 19:771bf61be276 358 pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 19:771bf61be276 359 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 360 pc.printf("temps init: %d micros\r\n",timeSinceStart.read_us());
GaspardD 13:af9a59ccf60b 361 pc.printf("\r\nStates INIT: state Murs: %d, state Section %d, state MaxSpeed %d, state Throttle %d\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);
GaspardD 13:af9a59ccf60b 362 timeSinceStart.reset();
GaspardD 13:af9a59ccf60b 363 timeSinceStart.start();
GaspardD 13:af9a59ccf60b 364 #endif
GaspardD 23:04d393220daa 365 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 366 timerLog.start();
GaspardD 22:26fc6e6f7a55 367 #endif
GaspardD 22:26fc6e6f7a55 368
GaspardD 8:1d8c3ca5e508 369 return;
GaspardD 8:1d8c3ca5e508 370 }
GaspardD 2:fd0ffe46a87d 371
GaspardD 8:1d8c3ca5e508 372
GaspardD 8:1d8c3ca5e508 373 //########## UPDATE STATES ##########
GaspardD 11:bc24b3ba51a9 374 void mursUpdate(void)
GaspardD 2:fd0ffe46a87d 375 {
GaspardD 14:d471faa7d1a2 376 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 377 pc.printf("\r\nUpdate MURS\r\n");
GaspardD 14:d471faa7d1a2 378 #endif
GaspardD 11:bc24b3ba51a9 379 //lectures
GaspardD 11:bc24b3ba51a9 380 distMurG90[index_fifo_ir]=anaG90.read_u16();
GaspardD 11:bc24b3ba51a9 381 distMurD90[index_fifo_ir]=anaD90.read_u16();
GaspardD 11:bc24b3ba51a9 382 distMurG45[index_fifo_ir]=anaG45.read_u16();
GaspardD 11:bc24b3ba51a9 383 distMurD45[index_fifo_ir]=anaD45.read_u16();
GaspardD 11:bc24b3ba51a9 384 index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR;
GaspardD 23:04d393220daa 385
GaspardD 12:51b1b40cc017 386 distMurG45Moy = getDistMoy(distMurG45,NB_ECHANTILLONS_IR);
GaspardD 12:51b1b40cc017 387 distMurD45Moy = getDistMoy(distMurD45,NB_ECHANTILLONS_IR);
GaspardD 23:04d393220daa 388 distMurG90Moy = getDistMoy(distMurG90,NB_ECHANTILLONS_IR);
GaspardD 23:04d393220daa 389 distMurD90Moy = getDistMoy(distMurD90,NB_ECHANTILLONS_IR);
GaspardD 12:51b1b40cc017 390
GaspardD 8:1d8c3ca5e508 391 return;
GaspardD 8:1d8c3ca5e508 392 }
GaspardD 11:bc24b3ba51a9 393 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 394 void obstacleUpdate(void)
GaspardD 8:1d8c3ca5e508 395 {
GaspardD 8:1d8c3ca5e508 396 return;
GaspardD 8:1d8c3ca5e508 397 }
GaspardD 11:bc24b3ba51a9 398 #endif
GaspardD 11:bc24b3ba51a9 399
GaspardD 11:bc24b3ba51a9 400 void sectionUpdate(void)
GaspardD 8:1d8c3ca5e508 401 {
GaspardD 14:d471faa7d1a2 402 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 403 pc.printf("\r\nUpdate Section\r\n");
GaspardD 14:d471faa7d1a2 404 #endif
GaspardD 11:bc24b3ba51a9 405 switch (st_currentSection) {
GaspardD 19:771bf61be276 406 case RUNNING_SECTION:
GaspardD 19:771bf61be276 407 if(tachySectionDist_cm > p_sectionCourante->lng_section_cm) { //on pourrait rajouter un test lidar
GaspardD 19:771bf61be276 408 st_tmpSection = LOADING_SECTION;
GaspardD 19:771bf61be276 409 } else {
GaspardD 19:771bf61be276 410 return;
GaspardD 19:771bf61be276 411 }
GaspardD 19:771bf61be276 412 break;
GaspardD 19:771bf61be276 413 case LOADING_SECTION:
GaspardD 19:771bf61be276 414 if(p_sectionCourante != NULL) { //la section a ete chargee dans sectionOutput
GaspardD 19:771bf61be276 415 st_tmpSection = RUNNING_SECTION;
GaspardD 19:771bf61be276 416 } else {
GaspardD 19:771bf61be276 417 st_tmpSection=ARRET;
GaspardD 19:771bf61be276 418 }
GaspardD 19:771bf61be276 419 break;
GaspardD 19:771bf61be276 420 case ARRET:
GaspardD 19:771bf61be276 421 if(p_sectionCourante != NULL) {
GaspardD 19:771bf61be276 422 st_tmpSection = RUNNING_SECTION;
GaspardD 19:771bf61be276 423 } else {
GaspardD 19:771bf61be276 424 return;
GaspardD 19:771bf61be276 425 }
GaspardD 19:771bf61be276 426 break;
GaspardD 19:771bf61be276 427 default:
GaspardD 19:771bf61be276 428 break;
GaspardD 11:bc24b3ba51a9 429 }
GaspardD 11:bc24b3ba51a9 430 st_currentSection = st_tmpSection;
GaspardD 8:1d8c3ca5e508 431 return;
GaspardD 8:1d8c3ca5e508 432 }
GaspardD 8:1d8c3ca5e508 433
GaspardD 11:bc24b3ba51a9 434 void maxSpeedUpdate(void)
GaspardD 8:1d8c3ca5e508 435 {
GaspardD 14:d471faa7d1a2 436 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 437 pc.printf("\r\nUpdate MaxSpeed\r\n");
GaspardD 14:d471faa7d1a2 438 #endif
GaspardD 11:bc24b3ba51a9 439 i=0;
GaspardD 11:bc24b3ba51a9 440
GaspardD 23:04d393220daa 441 if( strengthLidar > LIDAR_STRENGTH_THRESOLD ) {
GaspardD 23:04d393220daa 442 if( distLidar > p_sectionCourante->lidarWarningDist_cm ) {
GaspardD 19:771bf61be276 443 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 24:698fefbbee00 444 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 445 strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 446 distLidar < p_sectionCourante->lidarWarningDist_cm &&
GaspardD 24:698fefbbee00 447 distLidarPrev-distLidar > 0)
GaspardD 24:698fefbbee00 448 {
GaspardD 21:de7a0a47f8a3 449 st_tmpMaxSpeed = BLOCKED;
GaspardD 11:bc24b3ba51a9 450 }
GaspardD 24:698fefbbee00 451 else{
GaspardD 24:698fefbbee00 452 st_tmpMaxSpeed = SPEED_WARNING;
GaspardD 24:698fefbbee00 453 }
GaspardD 21:de7a0a47f8a3 454 } else {
GaspardD 11:bc24b3ba51a9 455 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 11:bc24b3ba51a9 456 }
GaspardD 11:bc24b3ba51a9 457
GaspardD 11:bc24b3ba51a9 458 st_maxSpeed = st_tmpMaxSpeed;
GaspardD 11:bc24b3ba51a9 459 return;
GaspardD 11:bc24b3ba51a9 460 }
GaspardD 11:bc24b3ba51a9 461
GaspardD 11:bc24b3ba51a9 462 void throttleUpdate(void)
GaspardD 11:bc24b3ba51a9 463 {
GaspardD 14:d471faa7d1a2 464 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 465 pc.printf("\r\nUpdate Throttle\r\n");
GaspardD 14:d471faa7d1a2 466 #endif
GaspardD 14:d471faa7d1a2 467 getTachySpeed();
GaspardD 11:bc24b3ba51a9 468 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 469 case REGULATION_SPEED:
GaspardD 24:698fefbbee00 470 if( st_currentSection == ARRET ||
GaspardD 24:698fefbbee00 471 st_maxSpeed == BLOCKED )
GaspardD 24:698fefbbee00 472 {
GaspardD 19:771bf61be276 473 st_tmpThro = BRAKING;
GaspardD 24:698fefbbee00 474 } else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS))
GaspardD 24:698fefbbee00 475 {
GaspardD 24:698fefbbee00 476 st_tmpThro = BRAKING;
GaspardD 26:3b144f243646 477 brakingDurationNeeded_us = (10000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)) / (PUISSANCE_FREINAGE_W *2) ;//vitesse en m/s et temps en us
GaspardD 24:698fefbbee00 478 brakingTimer.reset();
GaspardD 24:698fefbbee00 479 brakingTimer.start();
GaspardD 24:698fefbbee00 480 } else
GaspardD 24:698fefbbee00 481 {
GaspardD 19:771bf61be276 482 return;
GaspardD 19:771bf61be276 483 }
GaspardD 19:771bf61be276 484 break;
GaspardD 16:63690703b5b6 485 case BRAKING:
GaspardD 25:3d03756a7fa5 486 if(brakingTimer.read_us() < brakingDurationNeeded_us || BLOCKED)//put a timer here
GaspardD 23:04d393220daa 487 {
GaspardD 23:04d393220daa 488 st_tmpThro = BRAKING;
GaspardD 23:04d393220daa 489 }else
GaspardD 21:de7a0a47f8a3 490 if(st_currentSection == ARRET) {
GaspardD 21:de7a0a47f8a3 491 st_tmpThro = STOPPED;
GaspardD 23:04d393220daa 492 } else{
GaspardD 24:698fefbbee00 493 brakingDurationNeeded_us = 0;
GaspardD 21:de7a0a47f8a3 494 st_tmpThro = REGULATION_SPEED;
GaspardD 21:de7a0a47f8a3 495 }
GaspardD 19:771bf61be276 496 break;
GaspardD 19:771bf61be276 497 case STOPPED:
GaspardD 19:771bf61be276 498 if(st_currentSection == RUNNING_SECTION) {
GaspardD 22:26fc6e6f7a55 499 st_tmpThro = REGULATION_SPEED;
GaspardD 19:771bf61be276 500 } else {
GaspardD 19:771bf61be276 501 st_tmpThro = STOPPED;
GaspardD 16:63690703b5b6 502 }
GaspardD 19:771bf61be276 503 break;
GaspardD 19:771bf61be276 504 default:
GaspardD 19:771bf61be276 505 break;
GaspardD 11:bc24b3ba51a9 506 }
GaspardD 11:bc24b3ba51a9 507 st_thro = st_tmpThro;
GaspardD 8:1d8c3ca5e508 508 return;
GaspardD 8:1d8c3ca5e508 509 }
GaspardD 2:fd0ffe46a87d 510
GaspardD 8:1d8c3ca5e508 511 //########## OUTPUT STATES ##########
GaspardD 11:bc24b3ba51a9 512 //updating output parameters
GaspardD 11:bc24b3ba51a9 513 void mursOutput(void)
GaspardD 12:51b1b40cc017 514 {
GaspardD 21:de7a0a47f8a3 515 prevDiffGD90 = differenceGD90;
GaspardD 21:de7a0a47f8a3 516 prevDiffGD45 = differenceGD45;
GaspardD 14:d471faa7d1a2 517 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 518 pc.printf("\r\n Output MURS\r\n");
GaspardD 14:d471faa7d1a2 519 #endif
GaspardD 23:04d393220daa 520
GaspardD 23:04d393220daa 521 differenceGD90 = distMurD90Moy - distMurG90Moy;
GaspardD 23:04d393220daa 522 differenceGD45 = distMurD45Moy - distMurG45Moy;
GaspardD 23:04d393220daa 523
GaspardD 22:26fc6e6f7a55 524
GaspardD 21:de7a0a47f8a3 525 //deriv correction
GaspardD 22:26fc6e6f7a55 526 derive45 = differenceGD45 - prevDiffGD45;
GaspardD 22:26fc6e6f7a55 527 derive90 = differenceGD90 - prevDiffGD90;
GaspardD 21:de7a0a47f8a3 528 //integral correction
GaspardD 22:26fc6e6f7a55 529 lastDifferences90[lastDifferenceIndex] = differenceGD90;
GaspardD 22:26fc6e6f7a55 530 integralSum=0;
GaspardD 22:26fc6e6f7a55 531 for(int f=0; f<NB_INTEGRAL_SAMPLES; f++) {
GaspardD 22:26fc6e6f7a55 532 integralSum+=lastDifferences90[f];
GaspardD 22:26fc6e6f7a55 533 }
GaspardD 22:26fc6e6f7a55 534 lastDifferenceIndex = (lastDifferenceIndex + 1)%NB_INTEGRAL_SAMPLES;
GaspardD 22:26fc6e6f7a55 535
GaspardD 21:de7a0a47f8a3 536 //application des coefficients
GaspardD 21:de7a0a47f8a3 537 pulseDirection_us = ( ((differenceGD90*2+differenceGD45*4)/8) / p_sectionCourante->coef_p)
GaspardD 23:04d393220daa 538 + ( derive45 / p_sectionCourante->coef_d)
GaspardD 21:de7a0a47f8a3 539 + (integralSum / p_sectionCourante->coef_i)
GaspardD 22:26fc6e6f7a55 540 + DIRECTION_PULSE_MIDDLE;
GaspardD 22:26fc6e6f7a55 541
GaspardD 21:de7a0a47f8a3 542 //gestioon du dépassement
GaspardD 21:de7a0a47f8a3 543 if(pulseDirection_us > DIRECTION_PULSE_MAX) { //POUR TOURNER A GAUCHE
GaspardD 19:771bf61be276 544 #if DEBUG > 1
GaspardD 21:de7a0a47f8a3 545 pc.printf("!!! OVER PWM Direction pulse: %d\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 546 #endif
GaspardD 21:de7a0a47f8a3 547 pulseDirection_us = DIRECTION_PULSE_MAX;
GaspardD 21:de7a0a47f8a3 548 } else if(pulseDirection_us < DIRECTION_PULSE_MIN ) { //POUR TOURNER A DROITE
GaspardD 21:de7a0a47f8a3 549 #if DEBUG > 1
GaspardD 21:de7a0a47f8a3 550 pc.printf("!!! UNDER PWM Direction pulse: %d\r\n",pulseDirection_us);
GaspardD 19:771bf61be276 551 #endif
GaspardD 21:de7a0a47f8a3 552 pulseDirection_us = DIRECTION_PULSE_MIN ;
GaspardD 21:de7a0a47f8a3 553 }
GaspardD 21:de7a0a47f8a3 554 #if DEBUG > 1
GaspardD 21:de7a0a47f8a3 555 pc.printf("PWM Direction pulse: %d\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 556 #endif
GaspardD 21:de7a0a47f8a3 557 PwmDirection.pulsewidth_us(pulseDirection_us);
GaspardD 8:1d8c3ca5e508 558 return;
GaspardD 8:1d8c3ca5e508 559 }
GaspardD 8:1d8c3ca5e508 560
GaspardD 11:bc24b3ba51a9 561 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 562 void obstacleOutput(void)
GaspardD 8:1d8c3ca5e508 563 {
GaspardD 8:1d8c3ca5e508 564 return;
GaspardD 8:1d8c3ca5e508 565 }
GaspardD 11:bc24b3ba51a9 566 #endif
GaspardD 11:bc24b3ba51a9 567 void sectionOutput(void)
GaspardD 8:1d8c3ca5e508 568 {
GaspardD 14:d471faa7d1a2 569 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 570 pc.printf("\r\n Output Section\r\n");
GaspardD 14:d471faa7d1a2 571 #endif
GaspardD 11:bc24b3ba51a9 572 switch (st_currentSection) {
GaspardD 19:771bf61be276 573 case RUNNING_SECTION:
GaspardD 19:771bf61be276 574 break;
GaspardD 19:771bf61be276 575 case LOADING_SECTION:
GaspardD 19:771bf61be276 576 p_sectionCourante=p_sectionCourante->nextSection;
GaspardD 19:771bf61be276 577 tachySectionDist_cm = 0;
GaspardD 19:771bf61be276 578 break;
GaspardD 19:771bf61be276 579 case ARRET:
GaspardD 19:771bf61be276 580 //on est à l'arret
GaspardD 19:771bf61be276 581 break;
GaspardD 19:771bf61be276 582 default:
GaspardD 19:771bf61be276 583 break;
GaspardD 11:bc24b3ba51a9 584 }
GaspardD 8:1d8c3ca5e508 585 return;
GaspardD 8:1d8c3ca5e508 586 }
GaspardD 8:1d8c3ca5e508 587
GaspardD 11:bc24b3ba51a9 588
GaspardD 11:bc24b3ba51a9 589 void maxSpeedOutput(void)
GaspardD 8:1d8c3ca5e508 590 {
GaspardD 14:d471faa7d1a2 591 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 592 pc.printf("\r\n Output MAX SPEED\r\n");
GaspardD 14:d471faa7d1a2 593 #endif
GaspardD 19:771bf61be276 594 switch(st_maxSpeed) {
GaspardD 21:de7a0a47f8a3 595 case BLOCKED:
GaspardD 24:698fefbbee00 596 maxSpeed_cmps = 0;
GaspardD 19:771bf61be276 597 break;
GaspardD 21:de7a0a47f8a3 598 case SPEED_WARNING:
GaspardD 24:698fefbbee00 599 maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps;
GaspardD 19:771bf61be276 600 break;
GaspardD 19:771bf61be276 601 default:
GaspardD 19:771bf61be276 602 maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps;
GaspardD 19:771bf61be276 603 break;
GaspardD 11:bc24b3ba51a9 604 }
GaspardD 8:1d8c3ca5e508 605 return;
GaspardD 8:1d8c3ca5e508 606 }
GaspardD 11:bc24b3ba51a9 607
GaspardD 11:bc24b3ba51a9 608 void throttleOutput(void)
GaspardD 11:bc24b3ba51a9 609 {
GaspardD 14:d471faa7d1a2 610 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 611 pc.printf("\r\n Output TROTTLE\r\n");
GaspardD 14:d471faa7d1a2 612 #endif
GaspardD 11:bc24b3ba51a9 613 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 614 case REGULATION_SPEED:
GaspardD 22:26fc6e6f7a55 615 pulseSpeed_us = maxSpeed_cmps * 279 / 2048 + 1558 ;
GaspardD 19:771bf61be276 616 break;
GaspardD 19:771bf61be276 617 case BRAKING:
GaspardD 16:63690703b5b6 618 #if DEBUG > 2
GaspardD 19:771bf61be276 619 pc.printf("BRAKINGGGGGGGGGGGGGGGGGG !!! \r\n");
GaspardD 19:771bf61be276 620 #endif
GaspardD 19:771bf61be276 621 pulseSpeed_us = BRAKING_PULSE_US;
GaspardD 19:771bf61be276 622 break;
GaspardD 19:771bf61be276 623 case STOPPED:
GaspardD 19:771bf61be276 624 #if DEBUG > 2
GaspardD 19:771bf61be276 625 pc.printf("STOPPED\r\n");
GaspardD 16:63690703b5b6 626 #endif
GaspardD 19:771bf61be276 627 pulseSpeed_us = ZERO_PULSE_SPEED_US;
GaspardD 19:771bf61be276 628 break;
GaspardD 19:771bf61be276 629 default:
GaspardD 19:771bf61be276 630 break;
GaspardD 11:bc24b3ba51a9 631 }
GaspardD 22:26fc6e6f7a55 632
GaspardD 19:771bf61be276 633 PwmMotor.pulsewidth_us(pulseSpeed_us);
GaspardD 15:129f205ff030 634 #if DEBUG > 1
GaspardD 19:771bf61be276 635 pc.printf("PWM Thro pulse: %d micros\r\n",pulseSpeed_us);
GaspardD 13:af9a59ccf60b 636 #endif
GaspardD 11:bc24b3ba51a9 637 return;
GaspardD 11:bc24b3ba51a9 638 }