Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

stateMachines.cpp@42:3f12252862b9, 2018-09-19 (annotated)

Committer:
GaspardD
Date:
Wed Sep 19 20:44:07 2018 +0000
Revision:
42:3f12252862b9
Parent:
41:4dd36f607279
Child:
43:d2164ee3336a
si y a un obstacle ? moins de 30 cm et que le lidar dit rien: on stoppe tout

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 12:51b1b40cc017 1 #include "stateMachines.h"
ohlimi2 36:bccddd02966a 2 //#if DEBUG >0
GaspardD 13:af9a59ccf60b 3 Serial pc(USBTX, USBRX); // tx, rx
ohlimi2 36:bccddd02966a 4 //#endif
GaspardD 29:fc984fe08ca7 5
GaspardD 29:fc984fe08ca7 6 //*************** declarations ***************
GaspardD 33:88d8f254c0b7 7
GaspardD 33:88d8f254c0b7 8 //time monitoring
GaspardD 23:04d393220daa 9 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 10 Timer timerLog;
GaspardD 19:771bf61be276 11 #endif
GaspardD 19:771bf61be276 12
GaspardD 33:88d8f254c0b7 13 Timer timeSinceStart;// temps.start()/stop()/sec: read()/ms: read_ms()/µs: read_us()
GaspardD 39:de3638276b7e 14 Timer timerSinceTachy;
GaspardD 42:3f12252862b9 15 Timer timersinceSerial;
GaspardD 33:88d8f254c0b7 16
GaspardD 29:fc984fe08ca7 17 double distMurG90[NB_ECHANTILLONS_IR];//buffer tournant ir coté gauche pour moyenne
GaspardD 29:fc984fe08ca7 18 double distMurD90[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit pour moyenne
GaspardD 29:fc984fe08ca7 19 double shortDistMurG90[NB_ECHANTILLONS_IR];//buffer tournant ir coté gauche petites distances pour moyenne
GaspardD 29:fc984fe08ca7 20 double shortDistMurD90[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit petites distances pour moyenne
GaspardD 29:fc984fe08ca7 21 double distMurG45[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 45deg pour moyenne
GaspardD 29:fc984fe08ca7 22 double distMurD45[NB_ECHANTILLONS_IR];//buffer tournant ir avant droit 45deg pour moyenne
GaspardD 11:bc24b3ba51a9 23 #ifdef DLVV
GaspardD 33:88d8f254c0b7 24 double distMurG10[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 10deg pour moyenne
GaspardD 33:88d8f254c0b7 25 double distMurD10[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit 10deg pour moyenne
GaspardD 33:88d8f254c0b7 26 double distMurFront[NB_ECHANTILLONS_IR];//buffer tournant ir front
GaspardD 11:bc24b3ba51a9 27 #endif
GaspardD 29:fc984fe08ca7 28 double distMurG90Moy;
GaspardD 29:fc984fe08ca7 29 double distMurD90Moy;
GaspardD 29:fc984fe08ca7 30 double shortDistMurG90Moy;
GaspardD 29:fc984fe08ca7 31 double shortDistMurD90Moy;
GaspardD 29:fc984fe08ca7 32 double trueDistMurG90Moy;
GaspardD 29:fc984fe08ca7 33 double trueDistMurD90Moy;
GaspardD 29:fc984fe08ca7 34 double distMurG45Moy;
GaspardD 29:fc984fe08ca7 35 double distMurD45Moy;
GaspardD 23:04d393220daa 36
GaspardD 12:51b1b40cc017 37 #ifdef DLVV
GaspardD 29:fc984fe08ca7 38 double distMurG10Moy;
GaspardD 29:fc984fe08ca7 39 double distMurD10Moy;
GaspardD 29:fc984fe08ca7 40 double distMurFrontMoy
GaspardD 12:51b1b40cc017 41 #endif
GaspardD 8:1d8c3ca5e508 42 int index_fifo_ir = 0;//pour géreer le buffer tournant
GaspardD 8:1d8c3ca5e508 43 int index_fifo_lidar = 0;
GaspardD 11:bc24b3ba51a9 44 //sections
GaspardD 11:bc24b3ba51a9 45 s_Section p_section1;
GaspardD 39:de3638276b7e 46 s_Section p_section2;
GaspardD 2:fd0ffe46a87d 47
GaspardD 15:129f205ff030 48 //PWM Controls
GaspardD 12:51b1b40cc017 49 PwmOut PwmMotor(PB_6); // PWM4 ch1 TIM4
GaspardD 12:51b1b40cc017 50 PwmOut PwmDirection(PB_5); // PWM3 ch2 TIM3
GaspardD 8:1d8c3ca5e508 51
GaspardD 21:de7a0a47f8a3 52 int pulseDirection_us = DIRECTION_PULSE_MIDDLE;
ohlimi2 36:bccddd02966a 53 double pulseDirection_us_temp ;
GaspardD 19:771bf61be276 54 int pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 12:51b1b40cc017 55 //Capteurs direction
GaspardD 22:26fc6e6f7a55 56 AnalogIn anaG90(CAPT_90_GAUCHE);//capteur ir coté gauche
GaspardD 22:26fc6e6f7a55 57 AnalogIn anaD90(CAPT_90_DROITE);//capteur ir coté droit
GaspardD 29:fc984fe08ca7 58 AnalogIn anaShortG90(CAPT_90_GAUCHE_SHORT);//capteur ir coté gauche short
GaspardD 29:fc984fe08ca7 59 AnalogIn anaShortD90(CAPT_90_DROITE_SHORT);//capteur ir coté droit short
GaspardD 22:26fc6e6f7a55 60 AnalogIn anaG45(CAPT_45_GAUCHE);//capteur ir avant gauche 45 deg
GaspardD 22:26fc6e6f7a55 61 AnalogIn anaD45(CAPT_45_DROITE);//capteur ir avant droit 45deg
GaspardD 11:bc24b3ba51a9 62 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 63 AnalogIn anaDlvvG(CAPT_10_GAUCHE);//capteur ir avant droit 10 deg
GaspardD 22:26fc6e6f7a55 64 AnalogIn anaDlvvD(CAPT_10_DROITE);//capteur ir coté droit 10 deg
GaspardD 22:26fc6e6f7a55 65 AnalogIn anaDlvvFront(CAPT_DEVANT);//capteur ir avant
GaspardD 11:bc24b3ba51a9 66 #endif
GaspardD 12:51b1b40cc017 67
GaspardD 29:fc984fe08ca7 68 //piste
ohlimi2 36:bccddd02966a 69 double largeurPiste90 = 150.0;
ohlimi2 36:bccddd02966a 70 double largeurPiste45 = 150.0;
GaspardD 29:fc984fe08ca7 71 double positionSurPiste90 = 75.0;
GaspardD 29:fc984fe08ca7 72 double positionSurPiste90Prev = positionSurPiste90;
GaspardD 29:fc984fe08ca7 73 double positionSurPiste45 = 75.0;
GaspardD 29:fc984fe08ca7 74 double positionSurPiste45Prev = positionSurPiste45;
GaspardD 29:fc984fe08ca7 75
ohlimi2 36:bccddd02966a 76 double derive45,derive90;
GaspardD 21:de7a0a47f8a3 77 int lastDifferences90[NB_INTEGRAL_SAMPLES] = {0};//for integral correction
GaspardD 21:de7a0a47f8a3 78 int lastDifferenceIndex = 0;
GaspardD 21:de7a0a47f8a3 79 int integralSum;
GaspardD 12:51b1b40cc017 80
GaspardD 12:51b1b40cc017 81 //Capteur vitesse
GaspardD 12:51b1b40cc017 82 InterruptIn it_tachymeter(PA_11);
GaspardD 2:fd0ffe46a87d 83
GaspardD 11:bc24b3ba51a9 84
GaspardD 11:bc24b3ba51a9 85 //LIDAR
GaspardD 12:51b1b40cc017 86 Serial serialLidar(PC_10,PC_11); // tx, rx
GaspardD 11:bc24b3ba51a9 87
GaspardD 11:bc24b3ba51a9 88 int distLidar;// LiDAR actually measured distance value
GaspardD 23:04d393220daa 89 int distLidarPrev;
GaspardD 11:bc24b3ba51a9 90 int strengthLidar;// LiDAR signal strength
GaspardD 23:04d393220daa 91 int strengthLidarPrev;
GaspardD 11:bc24b3ba51a9 92 int check;// check numerical value storage
GaspardD 12:51b1b40cc017 93 int i;
GaspardD 11:bc24b3ba51a9 94 int uart[9];// store data measured by LiDAR
GaspardD 11:bc24b3ba51a9 95 const int HEADER=0x59;// data package frame header
GaspardD 11:bc24b3ba51a9 96
GaspardD 11:bc24b3ba51a9 97 //SPEED
GaspardD 29:fc984fe08ca7 98 double maxSpeed_cmps = 0;
ohlimi2 36:bccddd02966a 99 double tachySpeed_cmps = 0; //en cm/s
GaspardD 39:de3638276b7e 100 double tachyStepsRegister = 0;
GaspardD 29:fc984fe08ca7 101 double tachySectionDist_cm = 0;
ohlimi2 36:bccddd02966a 102 double tachyTotalDist_cm = 0.0;
GaspardD 8:1d8c3ca5e508 103
GaspardD 27:f8c3f1524a64 104 #ifdef FREINAGE_ADAPTATIF
GaspardD 24:698fefbbee00 105 Timer brakingTimer;
GaspardD 24:698fefbbee00 106 int brakingDurationNeeded_us = 0;
GaspardD 27:f8c3f1524a64 107 #endif
GaspardD 24:698fefbbee00 108
GaspardD 8:1d8c3ca5e508 109 //Etats
GaspardD 8:1d8c3ca5e508 110 MUR_ST st_murs;
GaspardD 21:de7a0a47f8a3 111 MUR_ST st_tmpMurs;
GaspardD 11:bc24b3ba51a9 112 SECTION_ST st_currentSection;
GaspardD 21:de7a0a47f8a3 113 SECTION_ST st_tmpSection;
GaspardD 11:bc24b3ba51a9 114 MAX_SPEED_ST st_maxSpeed;
GaspardD 21:de7a0a47f8a3 115 MAX_SPEED_ST st_tmpMaxSpeed;
GaspardD 8:1d8c3ca5e508 116 THROTTLE_ST st_thro;
GaspardD 21:de7a0a47f8a3 117 THROTTLE_ST st_tmpThro;
GaspardD 11:bc24b3ba51a9 118 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 119 OBSTACLE_ST st_obstacle;
GaspardD 11:bc24b3ba51a9 120 #endif
GaspardD 11:bc24b3ba51a9 121
GaspardD 11:bc24b3ba51a9 122 s_Section* p_sectionCourante = NULL;
GaspardD 8:1d8c3ca5e508 123
GaspardD 19:771bf61be276 124
GaspardD 19:771bf61be276 125 // +++++++++++++++++++++++++++++++++++++++++++ SAMPLING +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 126 #ifdef SAMPLING
GaspardD 19:771bf61be276 127 s_Sample history[TAILLE_SAMPLES];
GaspardD 19:771bf61be276 128 int indexSample = 0;
GaspardD 19:771bf61be276 129 void initSamples(void)
GaspardD 19:771bf61be276 130 {
GaspardD 19:771bf61be276 131 for(int m=0; m<TAILLE_SAMPLES; m++) {
GaspardD 19:771bf61be276 132 history[m].states.murs_dlvv = '0';
GaspardD 19:771bf61be276 133 history[m].states.section = '0';
GaspardD 19:771bf61be276 134 history[m].states.maxSpeed = '0';
GaspardD 19:771bf61be276 135 history[m].states.throttle = '0';
GaspardD 19:771bf61be276 136 history[m].time = 0;
GaspardD 29:fc984fe08ca7 137 history[m].position45 = 0.0;
GaspardD 29:fc984fe08ca7 138 history[m].position90 = 0.0;
GaspardD 29:fc984fe08ca7 139 history[m].largeurPiste = 0.0;
GaspardD 29:fc984fe08ca7 140 history[m].dist = 0.0;
GaspardD 21:de7a0a47f8a3 141 history[m].pwm_thro_us = 0;
GaspardD 21:de7a0a47f8a3 142 history[m].pwm_dir_us = 0;
GaspardD 23:04d393220daa 143 history[m].distLidar = 0;
GaspardD 23:04d393220daa 144 history[m].strLidar = 0;
GaspardD 19:771bf61be276 145 }
GaspardD 21:de7a0a47f8a3 146 #if DEBUG > 0
GaspardD 19:771bf61be276 147 pc.printf("[INIT SAMPLE DONE]\r\n");
GaspardD 21:de7a0a47f8a3 148 #endif
GaspardD 19:771bf61be276 149 return;
GaspardD 19:771bf61be276 150 }
GaspardD 19:771bf61be276 151 void sampleLog(void)
GaspardD 19:771bf61be276 152 {
GaspardD 23:04d393220daa 153 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 23:04d393220daa 154 if(timerLog.read_us() > DUMP_SAMPLIG_PERIOD) {
GaspardD 22:26fc6e6f7a55 155 timerLog.reset();
GaspardD 22:26fc6e6f7a55 156 timerLog.start();
GaspardD 23:04d393220daa 157 #endif
GaspardD 22:26fc6e6f7a55 158 if(indexSample < TAILLE_SAMPLES) {
GaspardD 19:771bf61be276 159 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 160 history[indexSample].states.murs_dlvv = (char)st_obstacle;
GaspardD 19:771bf61be276 161 #else
GaspardD 22:26fc6e6f7a55 162 history[indexSample].states.murs_dlvv = (char)st_murs;
GaspardD 19:771bf61be276 163 #endif
GaspardD 22:26fc6e6f7a55 164 history[indexSample].states.section = (char)st_currentSection;
GaspardD 22:26fc6e6f7a55 165 history[indexSample].states.maxSpeed = (char)st_maxSpeed;
GaspardD 22:26fc6e6f7a55 166 history[indexSample].states.throttle = (char)st_thro;
GaspardD 22:26fc6e6f7a55 167 history[indexSample].time = timeSinceStart.read_us() ;
GaspardD 29:fc984fe08ca7 168 history[indexSample].position45 = positionSurPiste45;
GaspardD 29:fc984fe08ca7 169 history[indexSample].position90 = positionSurPiste90;
ohlimi2 36:bccddd02966a 170 history[indexSample].largeurPiste = largeurPiste90;
GaspardD 22:26fc6e6f7a55 171 history[indexSample].pwm_thro_us = pulseSpeed_us;
GaspardD 22:26fc6e6f7a55 172 history[indexSample].pwm_dir_us = pulseDirection_us;
GaspardD 22:26fc6e6f7a55 173 history[indexSample].dist = tachySectionDist_cm,
GaspardD 41:4dd36f607279 174 history[indexSample].distLidar = distLidar;
GaspardD 23:04d393220daa 175 history[indexSample].strLidar = strengthLidar;
GaspardD 23:04d393220daa 176 indexSample++;
GaspardD 19:771bf61be276 177 #if DEBUG > 0
ohlimi2 36:bccddd02966a 178 pc.printf("\r\nodo:%d dist = %.4lf \tstrength = %.4ld \tC45D: %.4lf C45G: %.4lf C90D: %.4lf C90G: %.4lf looptime: %.4lf micros",tachySectionDist_cm,distLidar,strengthLidar,distMurD45Moy,distMurG45Moy,distMurD90Moy,distMurG90Moy,timeSinceStart.read_us());// output signal strength value
ohlimi2 36:bccddd02966a 179 pc.printf("\r\nstate Murs: %.4lf, state Section %.4lf, state MaxSpeed %.4lf, state Throttle %.4lf\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);
ohlimi2 34:c98fd59c690a 180 //wait(2);
GaspardD 22:26fc6e6f7a55 181 timeSinceStart.reset();
GaspardD 22:26fc6e6f7a55 182 timeSinceStart.start();
GaspardD 19:771bf61be276 183 #endif
GaspardD 22:26fc6e6f7a55 184 }
GaspardD 22:26fc6e6f7a55 185 return;
GaspardD 23:04d393220daa 186 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 19:771bf61be276 187 }
GaspardD 23:04d393220daa 188 #endif
GaspardD 19:771bf61be276 189 }
GaspardD 19:771bf61be276 190 void transmitData(void)
GaspardD 19:771bf61be276 191 {
GaspardD 21:de7a0a47f8a3 192 #if DEBUG > 0
GaspardD 19:771bf61be276 193 pc.printf("[START TO TRANSMIT]\r\n");
GaspardD 21:de7a0a47f8a3 194 #endif
GaspardD 39:de3638276b7e 195 serialLidar.printf("time,position 45,position 90,largeur piste,pwm_thro_us,pwm_dir_us,dist,murs/dlvv,section,maxSpeed,throttle\r\n");
GaspardD 19:771bf61be276 196 for(int p=0; p<indexSample; p++) {
GaspardD 39:de3638276b7e 197 serialLidar.printf("%d,%.5f,%.5f,%.5f,%d,%d,%.5f,%d,%d,%d,%d\r\n",
GaspardD 21:de7a0a47f8a3 198 history[p].time,
GaspardD 29:fc984fe08ca7 199 history[p].position45,
GaspardD 29:fc984fe08ca7 200 history[p].position90,
GaspardD 39:de3638276b7e 201 history[p].largeurPiste,
GaspardD 21:de7a0a47f8a3 202 history[p].pwm_thro_us,
GaspardD 21:de7a0a47f8a3 203 history[p].pwm_dir_us,
GaspardD 21:de7a0a47f8a3 204 history[p].dist,
GaspardD 21:de7a0a47f8a3 205 history[p].states.murs_dlvv,
GaspardD 21:de7a0a47f8a3 206 history[p].states.section,
GaspardD 21:de7a0a47f8a3 207 history[p].states.maxSpeed,
GaspardD 21:de7a0a47f8a3 208 history[p].states.throttle);
GaspardD 19:771bf61be276 209 }
GaspardD 19:771bf61be276 210 return;
GaspardD 19:771bf61be276 211 }
GaspardD 19:771bf61be276 212
GaspardD 19:771bf61be276 213 #endif
GaspardD 19:771bf61be276 214
GaspardD 19:771bf61be276 215 // +++++++++++++++++++++++++++++++++++++++++++ FUNCTION UTILS +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 216
GaspardD 19:771bf61be276 217 #if DEBUG >= -1
GaspardD 19:771bf61be276 218 void pressed(void)
GaspardD 19:771bf61be276 219 {
GaspardD 21:de7a0a47f8a3 220 #if DEBUG > 0
GaspardD 19:771bf61be276 221 pc.printf("[BTN PRESSED]\r\n");
GaspardD 21:de7a0a47f8a3 222 #endif
GaspardD 19:771bf61be276 223 //p_sectionCourante = &p_section1;
GaspardD 19:771bf61be276 224 transmitData();
GaspardD 19:771bf61be276 225 }
GaspardD 19:771bf61be276 226 #endif
GaspardD 19:771bf61be276 227
GaspardD 29:fc984fe08ca7 228 void initIntegrationTable()
GaspardD 29:fc984fe08ca7 229 {
GaspardD 41:4dd36f607279 230 for(int h=0; h<NB_INTEGRAL_SAMPLES; h++) {
GaspardD 29:fc984fe08ca7 231 lastDifferences90[h] = 0;
GaspardD 29:fc984fe08ca7 232 }
GaspardD 29:fc984fe08ca7 233 return;
GaspardD 29:fc984fe08ca7 234 }
GaspardD 29:fc984fe08ca7 235
GaspardD 21:de7a0a47f8a3 236
GaspardD 29:fc984fe08ca7 237 double getShortDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 11:bc24b3ba51a9 238 {
GaspardD 29:fc984fe08ca7 239 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 240 //tension proportionelle à l'inverse de la distance en dessous de 2V
GaspardD 41:4dd36f607279 241 if(tab[index_fifo_ir]< 0.1034) {
GaspardD 41:4dd36f607279 242 tab[index_fifo_ir]= 0.11;
GaspardD 41:4dd36f607279 243 }
GaspardD 39:de3638276b7e 244 tab[index_fifo_ir] = (11.3531/(tab[index_fifo_ir]-0.1034))-0.42;
GaspardD 29:fc984fe08ca7 245
GaspardD 29:fc984fe08ca7 246 int sumMoy = 0;
GaspardD 29:fc984fe08ca7 247 for(int k=0; k<size; k++) {
GaspardD 29:fc984fe08ca7 248 sumMoy+=tab[k];
GaspardD 29:fc984fe08ca7 249 }
GaspardD 29:fc984fe08ca7 250 return sumMoy/size;
GaspardD 29:fc984fe08ca7 251 }
GaspardD 29:fc984fe08ca7 252
GaspardD 29:fc984fe08ca7 253 double getDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 29:fc984fe08ca7 254 {
GaspardD 29:fc984fe08ca7 255 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 256 //tension proportionelle à l'inverse de la distance
ohlimi2 36:bccddd02966a 257 tab[index_fifo_ir] = 1.0/(0.0161 * (double)tab[index_fifo_ir]);
GaspardD 11:bc24b3ba51a9 258 int sumMoy = 0;
GaspardD 19:771bf61be276 259 for(int k=0; k<size; k++) {
GaspardD 11:bc24b3ba51a9 260 sumMoy+=tab[k];
GaspardD 11:bc24b3ba51a9 261 }
GaspardD 11:bc24b3ba51a9 262 return sumMoy/size;
GaspardD 11:bc24b3ba51a9 263 }
GaspardD 39:de3638276b7e 264 void tachyCheck()
GaspardD 39:de3638276b7e 265 {
GaspardD 41:4dd36f607279 266 if(timerSinceTachy.read_us() > 500000) {
GaspardD 39:de3638276b7e 267 tachySpeed_cmps = 0.0;
GaspardD 39:de3638276b7e 268 }
GaspardD 41:4dd36f607279 269 return;
GaspardD 39:de3638276b7e 270 }
GaspardD 39:de3638276b7e 271
GaspardD 2:fd0ffe46a87d 272
GaspardD 12:51b1b40cc017 273 void it4cm()
GaspardD 12:51b1b40cc017 274 {
GaspardD 39:de3638276b7e 275 //le timer sert de flag sur le freinage:
GaspardD 39:de3638276b7e 276 //si le biniou ne bouge plus, il n'essaye plus de freiner tant qu'il n'y a pas un nouveau calcul de la vitesse
GaspardD 39:de3638276b7e 277 //dans la fonction tachyCheck() >> quand il n'y a pas eu d'IT en 500 ms si la vitesse est inférieure à 0.16 m/s, elle sera considérée comme nulle.
GaspardD 39:de3638276b7e 278
ohlimi2 36:bccddd02966a 279 tachySectionDist_cm += TACHY_CM;
ohlimi2 36:bccddd02966a 280 tachyTotalDist_cm += TACHY_CM;
GaspardD 39:de3638276b7e 281 tachySpeed_cmps = (TACHY_CM * 1000000.0)/(double)timerSinceTachy.read_us(); // a chaque IT on a parcouru 8 cm soit (8*1000000)/durée
ohlimi2 36:bccddd02966a 282 #if DEBUG > 2
ohlimi2 36:bccddd02966a 283 pc.printf("IT: distance parcourue %.4lf , vitesse:%.4lf \r\n",tachyTotalDist_cm,tachySpeed_cmps);
ohlimi2 36:bccddd02966a 284 #endif
GaspardD 39:de3638276b7e 285 timerSinceTachy.reset();
GaspardD 39:de3638276b7e 286 timerSinceTachy.start();
ohlimi2 36:bccddd02966a 287 return;
ohlimi2 36:bccddd02966a 288
GaspardD 19:771bf61be276 289 #if DEBUG > 0
GaspardD 14:d471faa7d1a2 290 pc.printf("IT tachy\r\n");
GaspardD 14:d471faa7d1a2 291 #endif
GaspardD 12:51b1b40cc017 292 }
GaspardD 12:51b1b40cc017 293
GaspardD 12:51b1b40cc017 294 void it_serial()
GaspardD 12:51b1b40cc017 295 {
GaspardD 12:51b1b40cc017 296 if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59
GaspardD 12:51b1b40cc017 297 uart[0]=HEADER;
GaspardD 12:51b1b40cc017 298 if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59
GaspardD 12:51b1b40cc017 299 uart[1]=HEADER;
GaspardD 12:51b1b40cc017 300 for(i=2; i<9; i++) { // store data to array
GaspardD 12:51b1b40cc017 301 uart[i]=serialLidar.getc();
GaspardD 12:51b1b40cc017 302 }
GaspardD 12:51b1b40cc017 303 check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
GaspardD 12:51b1b40cc017 304 if(uart[8]==(check&0xff)) { // check the received data as per protocols
GaspardD 23:04d393220daa 305 distLidarPrev = distLidar;
GaspardD 12:51b1b40cc017 306 distLidar=uart[2]+uart[3]*256;// calculate distance value
GaspardD 23:04d393220daa 307 strengthLidarPrev = strengthLidar;
GaspardD 12:51b1b40cc017 308 strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value
GaspardD 42:3f12252862b9 309 timersinceSerial.reset();
GaspardD 42:3f12252862b9 310 timersinceSerial.start();
GaspardD 12:51b1b40cc017 311 }
GaspardD 12:51b1b40cc017 312 }
GaspardD 12:51b1b40cc017 313 }
GaspardD 12:51b1b40cc017 314 }
GaspardD 19:771bf61be276 315 // +++++++++++++++++++++++++++++++++++++++++++ STATES MACHINES +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 316
GaspardD 8:1d8c3ca5e508 317 //########## INIT STATES MACHINES ##########
GaspardD 11:bc24b3ba51a9 318 void mursInit(void)
GaspardD 8:1d8c3ca5e508 319 {
GaspardD 39:de3638276b7e 320 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 321 pc.printf("Init Murs\r\n");
GaspardD 13:af9a59ccf60b 322 #endif
GaspardD 13:af9a59ccf60b 323 timeSinceStart.start();
GaspardD 29:fc984fe08ca7 324 st_murs=REF_BIDIR;
GaspardD 19:771bf61be276 325 PwmDirection.period_us(SPEED_PERIOD_US);
GaspardD 17:8c465656eea4 326 PwmDirection.pulsewidth_us(DIRECTION_PULSE_MIDDLE);// milieu
GaspardD 8:1d8c3ca5e508 327 return;
GaspardD 8:1d8c3ca5e508 328 }
GaspardD 11:bc24b3ba51a9 329 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 330 void obstacleInit(void)
GaspardD 8:1d8c3ca5e508 331 {
GaspardD 19:771bf61be276 332 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 333 pc.printf("Init Obstacle\r\n");
GaspardD 13:af9a59ccf60b 334 #endif
GaspardD 29:fc984fe08ca7 335 st_speedLimit=ALL_CLEAR;
GaspardD 8:1d8c3ca5e508 336 return;
GaspardD 8:1d8c3ca5e508 337 }
GaspardD 11:bc24b3ba51a9 338 #endif
GaspardD 11:bc24b3ba51a9 339 void sectionInit(void)
GaspardD 2:fd0ffe46a87d 340 {
GaspardD 19:771bf61be276 341 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 342 pc.printf("Init Section\r\n");
GaspardD 13:af9a59ccf60b 343 #endif
GaspardD 11:bc24b3ba51a9 344 st_currentSection=ARRET;
GaspardD 14:d471faa7d1a2 345 p_sectionCourante=&p_section1;
GaspardD 12:51b1b40cc017 346 it_tachymeter.fall(&it4cm);
GaspardD 39:de3638276b7e 347 timerSinceTachy.start();
GaspardD 39:de3638276b7e 348 tachySectionDist_cm = 0;
GaspardD 39:de3638276b7e 349 tachyStepsRegister = 0;
GaspardD 11:bc24b3ba51a9 350
GaspardD 23:04d393220daa 351 //section de test 1
GaspardD 23:04d393220daa 352 p_section1.nextSection =NULL;// &p_section2;
GaspardD 29:fc984fe08ca7 353 p_section1.consigne_position = 75.0;
GaspardD 39:de3638276b7e 354 p_section1.targetSpeed_cmps = 400.0;
GaspardD 40:b9450d753782 355 p_section1.targetSpeed_cmps = 500.0;
GaspardD 29:fc984fe08ca7 356 p_section1.slowSpeed_cmps = 328.0;
GaspardD 21:de7a0a47f8a3 357 p_section1.coef_p_speed = 1;
GaspardD 29:fc984fe08ca7 358 p_section1.lidarWarningDist_cm = 120.0;
GaspardD 40:b9450d753782 359 p_section1.lng_section_cm = 2000.0;//20m
GaspardD 40:b9450d753782 360 p_section1.coef_p = 0.40;
GaspardD 40:b9450d753782 361 p_section1.coef_d = 0.05;
GaspardD 40:b9450d753782 362 p_section1.coef_i = 0.001;
GaspardD 39:de3638276b7e 363
GaspardD 39:de3638276b7e 364 //section de test
GaspardD 39:de3638276b7e 365 p_section2.nextSection = NULL;
GaspardD 39:de3638276b7e 366 p_section2.consigne_position = 75.0;
GaspardD 39:de3638276b7e 367 p_section2.targetSpeed_cmps = 328.0;
GaspardD 39:de3638276b7e 368 p_section2.slowSpeed_cmps = 328.0;
GaspardD 39:de3638276b7e 369 p_section2.coef_p_speed = 1.0;
GaspardD 39:de3638276b7e 370 p_section2.lidarWarningDist_cm = 300.0;
GaspardD 39:de3638276b7e 371 p_section2.lng_section_cm = 200.0;//2m
GaspardD 39:de3638276b7e 372 p_section2.coef_p = 1;
GaspardD 39:de3638276b7e 373 p_section2.coef_i = 0.00001;
GaspardD 39:de3638276b7e 374 p_section2.coef_d = 0.00001;
GaspardD 23:04d393220daa 375
GaspardD 8:1d8c3ca5e508 376 return;
GaspardD 8:1d8c3ca5e508 377 }
GaspardD 11:bc24b3ba51a9 378
GaspardD 11:bc24b3ba51a9 379 void maxSpeedInit(void)
GaspardD 11:bc24b3ba51a9 380 {
GaspardD 19:771bf61be276 381 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 382 pc.printf("Init Max Speed\r\n");
GaspardD 13:af9a59ccf60b 383 #endif
GaspardD 11:bc24b3ba51a9 384 st_maxSpeed=SPEED_MAX;
GaspardD 11:bc24b3ba51a9 385 maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps;
GaspardD 11:bc24b3ba51a9 386 serialLidar.baud(115200);
GaspardD 14:d471faa7d1a2 387 serialLidar.attach(&it_serial);
GaspardD 11:bc24b3ba51a9 388 return;
GaspardD 11:bc24b3ba51a9 389 }
GaspardD 11:bc24b3ba51a9 390
GaspardD 11:bc24b3ba51a9 391 void throttleInit(void)
GaspardD 8:1d8c3ca5e508 392 {
GaspardD 19:771bf61be276 393 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 394 pc.printf("Init Throttle\r\n");
GaspardD 13:af9a59ccf60b 395 #endif
GaspardD 21:de7a0a47f8a3 396 st_thro = REGULATION_SPEED;
ohlimi2 36:bccddd02966a 397 PwmMotor.period_us(DIRECTION_PERIOD_MS); //20 ms is default
GaspardD 19:771bf61be276 398 PwmMotor.pulsewidth_us(1000);//MIN
GaspardD 12:51b1b40cc017 399 wait(3);
GaspardD 19:771bf61be276 400 PwmMotor.pulsewidth_us(2000);//MAX
GaspardD 12:51b1b40cc017 401 wait(1);
GaspardD 19:771bf61be276 402 PwmMotor.pulsewidth_us(1500);//ZEROING
GaspardD 12:51b1b40cc017 403 wait(1);
GaspardD 19:771bf61be276 404 pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 19:771bf61be276 405 #if DEBUG > 0
ohlimi2 36:bccddd02966a 406 pc.printf("temps init: %.4lf micros\r\n",timeSinceStart.read_us());
ohlimi2 36:bccddd02966a 407 pc.printf("\r\nStates INIT: state Murs: %.4lf, state Section %.4lf, state MaxSpeed %.4lf, state Throttle %.4lf\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);
GaspardD 13:af9a59ccf60b 408 timeSinceStart.reset();
GaspardD 13:af9a59ccf60b 409 timeSinceStart.start();
GaspardD 13:af9a59ccf60b 410 #endif
GaspardD 23:04d393220daa 411 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 412 timerLog.start();
GaspardD 22:26fc6e6f7a55 413 #endif
GaspardD 22:26fc6e6f7a55 414
GaspardD 8:1d8c3ca5e508 415 return;
GaspardD 8:1d8c3ca5e508 416 }
GaspardD 2:fd0ffe46a87d 417
GaspardD 8:1d8c3ca5e508 418
GaspardD 8:1d8c3ca5e508 419 //########## UPDATE STATES ##########
GaspardD 11:bc24b3ba51a9 420 void mursUpdate(void)
GaspardD 2:fd0ffe46a87d 421 {
GaspardD 14:d471faa7d1a2 422 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 423 pc.printf("\r\nUpdate MURS\r\n");
GaspardD 14:d471faa7d1a2 424 #endif
GaspardD 11:bc24b3ba51a9 425 //lectures
GaspardD 29:fc984fe08ca7 426
GaspardD 29:fc984fe08ca7 427 distMurG45Moy = getDistMoy(&anaG45,distMurG45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 428 distMurD45Moy = getDistMoy(&anaD45,distMurD45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 429 distMurG90Moy = getDistMoy(&anaG90,distMurG90,NB_ECHANTILLONS_IR);
ohlimi2 36:bccddd02966a 430 distMurD90Moy = getDistMoy(&anaD90,distMurD90,NB_ECHANTILLONS_IR);
GaspardD 39:de3638276b7e 431 shortDistMurG90Moy = getShortDistMoy(&anaShortG90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 39:de3638276b7e 432 shortDistMurD90Moy = getShortDistMoy(&anaShortD90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 11:bc24b3ba51a9 433 index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR;
GaspardD 29:fc984fe08ca7 434
ohlimi2 36:bccddd02966a 435
GaspardD 41:4dd36f607279 436 trueDistMurD90Moy = distMurD90Moy;
GaspardD 41:4dd36f607279 437 trueDistMurG90Moy = distMurG90Moy;
GaspardD 39:de3638276b7e 438
GaspardD 41:4dd36f607279 439 if(shortDistMurG90Moy < DIST_MIN_LONG_CM) {
GaspardD 29:fc984fe08ca7 440 trueDistMurG90Moy = shortDistMurG90Moy;
GaspardD 41:4dd36f607279 441 } else {
GaspardD 29:fc984fe08ca7 442 trueDistMurG90Moy = distMurG90Moy;
GaspardD 29:fc984fe08ca7 443 }
GaspardD 41:4dd36f607279 444 if(shortDistMurD90Moy < DIST_MIN_LONG_CM) {
GaspardD 29:fc984fe08ca7 445 trueDistMurD90Moy = shortDistMurD90Moy;
GaspardD 41:4dd36f607279 446 } else {
GaspardD 29:fc984fe08ca7 447 trueDistMurD90Moy = distMurD90Moy;
GaspardD 39:de3638276b7e 448 }
ohlimi2 36:bccddd02966a 449
GaspardD 29:fc984fe08ca7 450
GaspardD 29:fc984fe08ca7 451 #ifdef DLVV
GaspardD 29:fc984fe08ca7 452 switch (st_obstacle) {
GaspardD 41:4dd36f607279 453 case FRONT_OBSTRUCTED:
GaspardD 41:4dd36f607279 454 st_tmpMurs = REF_A_GAUCHE;
GaspardD 41:4dd36f607279 455 return;
GaspardD 41:4dd36f607279 456 case RIGHT_OBSTRUCTED:
GaspardD 41:4dd36f607279 457 st_tmpMurs = REF_A_GAUCHE;
GaspardD 41:4dd36f607279 458 return;
GaspardD 41:4dd36f607279 459 case LEFT_OBSTRUCTED:
GaspardD 41:4dd36f607279 460 st_tmpMurs = REF_A_DROITE;
GaspardD 41:4dd36f607279 461 return;
GaspardD 41:4dd36f607279 462 default:
GaspardD 41:4dd36f607279 463 break;
GaspardD 29:fc984fe08ca7 464 }
GaspardD 29:fc984fe08ca7 465
GaspardD 29:fc984fe08ca7 466 #endif
GaspardD 41:4dd36f607279 467 st_tmpMurs = REF_BIDIR;
GaspardD 29:fc984fe08ca7 468
GaspardD 41:4dd36f607279 469 st_murs = st_tmpMurs;
GaspardD 12:51b1b40cc017 470
GaspardD 8:1d8c3ca5e508 471 return;
GaspardD 8:1d8c3ca5e508 472 }
GaspardD 11:bc24b3ba51a9 473 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 474 void obstacleUpdate(void)
GaspardD 8:1d8c3ca5e508 475 {
GaspardD 8:1d8c3ca5e508 476 return;
GaspardD 8:1d8c3ca5e508 477 }
GaspardD 11:bc24b3ba51a9 478 #endif
GaspardD 11:bc24b3ba51a9 479
GaspardD 11:bc24b3ba51a9 480 void sectionUpdate(void)
GaspardD 8:1d8c3ca5e508 481 {
GaspardD 14:d471faa7d1a2 482 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 483 pc.printf("\r\nUpdate Section\r\n");
GaspardD 14:d471faa7d1a2 484 #endif
GaspardD 11:bc24b3ba51a9 485 switch (st_currentSection) {
GaspardD 19:771bf61be276 486 case RUNNING_SECTION:
GaspardD 19:771bf61be276 487 if(tachySectionDist_cm > p_sectionCourante->lng_section_cm) { //on pourrait rajouter un test lidar
GaspardD 19:771bf61be276 488 st_tmpSection = LOADING_SECTION;
GaspardD 19:771bf61be276 489 } else {
GaspardD 19:771bf61be276 490 return;
GaspardD 19:771bf61be276 491 }
GaspardD 19:771bf61be276 492 break;
GaspardD 19:771bf61be276 493 case LOADING_SECTION:
GaspardD 19:771bf61be276 494 if(p_sectionCourante != NULL) { //la section a ete chargee dans sectionOutput
GaspardD 19:771bf61be276 495 st_tmpSection = RUNNING_SECTION;
GaspardD 19:771bf61be276 496 } else {
GaspardD 19:771bf61be276 497 st_tmpSection=ARRET;
GaspardD 19:771bf61be276 498 }
GaspardD 19:771bf61be276 499 break;
GaspardD 19:771bf61be276 500 case ARRET:
GaspardD 19:771bf61be276 501 if(p_sectionCourante != NULL) {
GaspardD 19:771bf61be276 502 st_tmpSection = RUNNING_SECTION;
GaspardD 19:771bf61be276 503 } else {
GaspardD 19:771bf61be276 504 return;
GaspardD 19:771bf61be276 505 }
GaspardD 19:771bf61be276 506 break;
GaspardD 19:771bf61be276 507 default:
GaspardD 19:771bf61be276 508 break;
GaspardD 11:bc24b3ba51a9 509 }
GaspardD 11:bc24b3ba51a9 510 st_currentSection = st_tmpSection;
GaspardD 8:1d8c3ca5e508 511 return;
GaspardD 8:1d8c3ca5e508 512 }
GaspardD 8:1d8c3ca5e508 513
GaspardD 11:bc24b3ba51a9 514 void maxSpeedUpdate(void)
GaspardD 8:1d8c3ca5e508 515 {
GaspardD 14:d471faa7d1a2 516 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 517 pc.printf("\r\nUpdate MaxSpeed\r\n");
GaspardD 14:d471faa7d1a2 518 #endif
GaspardD 11:bc24b3ba51a9 519
GaspardD 41:4dd36f607279 520 if(st_maxSpeed == BLOCKED && strengthLidar > LIDAR_STRENGTH_THRESOLD && distLidar < p_sectionCourante->lidarWarningDist_cm) {
GaspardD 41:4dd36f607279 521 st_tmpMaxSpeed = BLOCKED;
GaspardD 41:4dd36f607279 522 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD ) {
GaspardD 23:04d393220daa 523 if( distLidar > p_sectionCourante->lidarWarningDist_cm ) {
GaspardD 19:771bf61be276 524 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 29:fc984fe08ca7 525 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 526 strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 527 distLidar < p_sectionCourante->lidarWarningDist_cm &&
GaspardD 41:4dd36f607279 528 distLidarPrev-distLidar > 3) {
GaspardD 21:de7a0a47f8a3 529 st_tmpMaxSpeed = BLOCKED;
GaspardD 41:4dd36f607279 530 } else {
GaspardD 24:698fefbbee00 531 st_tmpMaxSpeed = SPEED_WARNING;
GaspardD 24:698fefbbee00 532 }
GaspardD 21:de7a0a47f8a3 533 } else {
GaspardD 11:bc24b3ba51a9 534 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 11:bc24b3ba51a9 535 }
GaspardD 11:bc24b3ba51a9 536
GaspardD 11:bc24b3ba51a9 537 st_maxSpeed = st_tmpMaxSpeed;
GaspardD 11:bc24b3ba51a9 538 return;
GaspardD 11:bc24b3ba51a9 539 }
GaspardD 11:bc24b3ba51a9 540
GaspardD 11:bc24b3ba51a9 541 void throttleUpdate(void)
GaspardD 11:bc24b3ba51a9 542 {
GaspardD 14:d471faa7d1a2 543 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 544 pc.printf("\r\nUpdate Throttle\r\n");
GaspardD 14:d471faa7d1a2 545 #endif
GaspardD 11:bc24b3ba51a9 546 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 547 case REGULATION_SPEED:
GaspardD 24:698fefbbee00 548 if( st_currentSection == ARRET ||
GaspardD 41:4dd36f607279 549 st_maxSpeed == BLOCKED ) {
GaspardD 19:771bf61be276 550 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 551 }
GaspardD 27:f8c3f1524a64 552 #ifdef FREINAGE_ADAPTATIF
GaspardD 41:4dd36f607279 553 else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS)) {
GaspardD 24:698fefbbee00 554 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 555 brakingDurationNeeded_us = 10000.0 * 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 556 brakingTimer.reset();
GaspardD 24:698fefbbee00 557 brakingTimer.start();
GaspardD 27:f8c3f1524a64 558 }
GaspardD 27:f8c3f1524a64 559 #endif
GaspardD 41:4dd36f607279 560 else {
GaspardD 19:771bf61be276 561 return;
GaspardD 19:771bf61be276 562 }
GaspardD 19:771bf61be276 563 break;
GaspardD 16:63690703b5b6 564 case BRAKING:
GaspardD 42:3f12252862b9 565 if(st_maxSpeed == BLOCKED && timersinceSerial.read_us() > 200000) {
GaspardD 42:3f12252862b9 566 p_sectionCourante= NULL;
GaspardD 42:3f12252862b9 567 st_tmpThro = STOPPED;
GaspardD 42:3f12252862b9 568 } else if( st_maxSpeed == BLOCKED
GaspardD 41:4dd36f607279 569 #ifdef FREINAGE_ADAPTATIF
GaspardD 42:3f12252862b9 570 || brakingTimer.read_us() < brakingDurationNeeded_us
GaspardD 41:4dd36f607279 571 #endif
GaspardD 42:3f12252862b9 572 ) {
GaspardD 23:04d393220daa 573 st_tmpThro = BRAKING;
GaspardD 41:4dd36f607279 574 } else if(st_currentSection == ARRET) {
GaspardD 21:de7a0a47f8a3 575 st_tmpThro = STOPPED;
GaspardD 41:4dd36f607279 576 } else {
GaspardD 41:4dd36f607279 577 #ifdef FREINAGE_ADAPTATIF
GaspardD 24:698fefbbee00 578 brakingDurationNeeded_us = 0;
GaspardD 41:4dd36f607279 579 #endif
GaspardD 21:de7a0a47f8a3 580 st_tmpThro = REGULATION_SPEED;
GaspardD 21:de7a0a47f8a3 581 }
GaspardD 19:771bf61be276 582 break;
GaspardD 19:771bf61be276 583 case STOPPED:
GaspardD 19:771bf61be276 584 if(st_currentSection == RUNNING_SECTION) {
GaspardD 22:26fc6e6f7a55 585 st_tmpThro = REGULATION_SPEED;
GaspardD 19:771bf61be276 586 } else {
GaspardD 19:771bf61be276 587 st_tmpThro = STOPPED;
GaspardD 16:63690703b5b6 588 }
GaspardD 19:771bf61be276 589 break;
GaspardD 19:771bf61be276 590 default:
GaspardD 19:771bf61be276 591 break;
GaspardD 11:bc24b3ba51a9 592 }
GaspardD 11:bc24b3ba51a9 593 st_thro = st_tmpThro;
GaspardD 8:1d8c3ca5e508 594 return;
GaspardD 8:1d8c3ca5e508 595 }
GaspardD 2:fd0ffe46a87d 596
GaspardD 8:1d8c3ca5e508 597 //########## OUTPUT STATES ##########
GaspardD 11:bc24b3ba51a9 598 //updating output parameters
GaspardD 11:bc24b3ba51a9 599 void mursOutput(void)
GaspardD 12:51b1b40cc017 600 {
GaspardD 29:fc984fe08ca7 601 //pour dériver
GaspardD 29:fc984fe08ca7 602 positionSurPiste45Prev = positionSurPiste45;
GaspardD 29:fc984fe08ca7 603 positionSurPiste90Prev = positionSurPiste90;
GaspardD 14:d471faa7d1a2 604 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 605 pc.printf("\r\n Output MURS\r\n");
GaspardD 14:d471faa7d1a2 606 #endif
GaspardD 23:04d393220daa 607
GaspardD 29:fc984fe08ca7 608 switch (st_murs) {
GaspardD 41:4dd36f607279 609 case REF_A_GAUCHE://par defaut, on compte à partir de la bordure gauche
GaspardD 41:4dd36f607279 610 largeurPiste90 = 150.0;
GaspardD 41:4dd36f607279 611 positionSurPiste90 = ( trueDistMurG90Moy + DEMI_LARGEUR_BINIOU_CM );
GaspardD 41:4dd36f607279 612 positionSurPiste45 = ( distMurG45Moy * 1.414214/2.0 ) + DEMI_LARGEUR_BINIOU_CM;
GaspardD 39:de3638276b7e 613 #ifdef OMAR
GaspardD 41:4dd36f607279 614 pc.printf("REF_A_GAUCHE\r\n");
GaspardD 39:de3638276b7e 615 #endif
GaspardD 41:4dd36f607279 616 break;
GaspardD 41:4dd36f607279 617 case REF_A_DROITE://par defaut, on compte à partir de la bordure gauche
GaspardD 41:4dd36f607279 618 largeurPiste90 = 150.0;
GaspardD 41:4dd36f607279 619 positionSurPiste90 = largeurPiste90 - ( DEMI_LARGEUR_BINIOU_CM + trueDistMurD90Moy ) ;
GaspardD 41:4dd36f607279 620 positionSurPiste45 = largeurPiste90 - ( distMurD45Moy * (1.414214)/2 ) + DEMI_LARGEUR_BINIOU_CM;
GaspardD 39:de3638276b7e 621 #ifdef OMAR
GaspardD 41:4dd36f607279 622 pc.printf("REF_A_DROITE\r\n");
GaspardD 39:de3638276b7e 623 #endif
GaspardD 41:4dd36f607279 624 break;
GaspardD 41:4dd36f607279 625 default://REF_BIDIR
GaspardD 41:4dd36f607279 626 largeurPiste90 = trueDistMurG90Moy + trueDistMurD90Moy ;
GaspardD 41:4dd36f607279 627 largeurPiste45 = distMurG45Moy + distMurD45Moy ;
GaspardD 41:4dd36f607279 628 positionSurPiste90 = (trueDistMurG90Moy );
GaspardD 41:4dd36f607279 629 positionSurPiste45 = (distMurG45Moy);
GaspardD 39:de3638276b7e 630 #ifdef OMAR
GaspardD 41:4dd36f607279 631 pc.printf("REF_BIDIR\r\n");
GaspardD 39:de3638276b7e 632 #endif
GaspardD 41:4dd36f607279 633 break;
GaspardD 29:fc984fe08ca7 634 }
GaspardD 23:04d393220daa 635
GaspardD 22:26fc6e6f7a55 636
GaspardD 21:de7a0a47f8a3 637 //deriv correction
GaspardD 29:fc984fe08ca7 638 derive45 = positionSurPiste45 - positionSurPiste45Prev;
GaspardD 29:fc984fe08ca7 639 derive90 = positionSurPiste90 - positionSurPiste90Prev;
GaspardD 39:de3638276b7e 640
GaspardD 39:de3638276b7e 641 #ifdef OMAR/*
GaspardD 39:de3638276b7e 642 pc.printf("derive45 => %.4lf \r\n ",derive45);
GaspardD 39:de3638276b7e 643 pc.printf("derive90 => %.4lf \r\n ",derive90);
GaspardD 39:de3638276b7e 644 pc.printf("distMurG45Moy => %.4lf \r\n ",distMurG45Moy);
GaspardD 39:de3638276b7e 645 pc.printf("distMurD45Moy => %.4lf \r\n ",distMurD45Moy);
GaspardD 39:de3638276b7e 646 pc.printf("trueDistMurG90Moy => %.4lf \r\n ",trueDistMurG90Moy);
GaspardD 39:de3638276b7e 647 pc.printf("trueDistMurD90Moy => %.4lf \r\n ",trueDistMurD90Moy);
GaspardD 39:de3638276b7e 648 pc.printf("positionSurPiste90 => %.4lf \r\n ",positionSurPiste90);
GaspardD 39:de3638276b7e 649 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
GaspardD 39:de3638276b7e 650 pc.printf("largeurPiste90 => %.4lf \r\n ",largeurPiste90);*/
GaspardD 39:de3638276b7e 651 #endif
GaspardD 39:de3638276b7e 652
GaspardD 41:4dd36f607279 653 //integral correction
GaspardD 39:de3638276b7e 654 lastDifferences90[lastDifferenceIndex] = (p_sectionCourante->consigne_position - positionSurPiste90);
GaspardD 39:de3638276b7e 655 integralSum=0;
GaspardD 39:de3638276b7e 656 for(int f=0; f<NB_INTEGRAL_SAMPLES; f++) {
GaspardD 39:de3638276b7e 657 integralSum+=lastDifferences90[f];
GaspardD 39:de3638276b7e 658 }
GaspardD 39:de3638276b7e 659 lastDifferenceIndex = (lastDifferenceIndex + 1)%NB_INTEGRAL_SAMPLES;
GaspardD 39:de3638276b7e 660
GaspardD 41:4dd36f607279 661
GaspardD 41:4dd36f607279 662
GaspardD 41:4dd36f607279 663
GaspardD 21:de7a0a47f8a3 664 //application des coefficients
GaspardD 41:4dd36f607279 665
GaspardD 41:4dd36f607279 666 pulseDirection_us = (int)(
GaspardD 41:4dd36f607279 667 ((positionSurPiste45 - (largeurPiste45/2.0)) * p_sectionCourante->coef_p)
GaspardD 41:4dd36f607279 668 + ((positionSurPiste90 - (largeurPiste90/2.0)) * p_sectionCourante->coef_p)
GaspardD 41:4dd36f607279 669 + ( -derive45 * p_sectionCourante->coef_d)
GaspardD 41:4dd36f607279 670 + ( -derive90 * p_sectionCourante->coef_d)
GaspardD 41:4dd36f607279 671 + ( integralSum * p_sectionCourante->coef_i)
GaspardD 41:4dd36f607279 672 )* (300.0/(tachySpeed_cmps+1.0)) // faire du test reel pour afiné ou un calcul
GaspardD 41:4dd36f607279 673 + DIRECTION_PULSE_MIDDLE;
GaspardD 41:4dd36f607279 674
GaspardD 41:4dd36f607279 675
GaspardD 39:de3638276b7e 676 #ifdef OMAR
GaspardD 41:4dd36f607279 677 pc.printf("p_sectionCourante->consigne_position => %.4lf \r\n ",p_sectionCourante->consigne_position);
GaspardD 41:4dd36f607279 678 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
GaspardD 41:4dd36f607279 679 pc.printf("p_sectionCourante->coef_p => %.4lf \r\n ",p_sectionCourante->coef_p);
GaspardD 39:de3638276b7e 680 #endif
GaspardD 21:de7a0a47f8a3 681 //gestioon du dépassement
GaspardD 21:de7a0a47f8a3 682 if(pulseDirection_us > DIRECTION_PULSE_MAX) { //POUR TOURNER A GAUCHE
GaspardD 19:771bf61be276 683 #if DEBUG > 1
ohlimi2 36:bccddd02966a 684 pc.printf("!!! OVER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 685 #endif
GaspardD 21:de7a0a47f8a3 686 pulseDirection_us = DIRECTION_PULSE_MAX;
GaspardD 21:de7a0a47f8a3 687 } else if(pulseDirection_us < DIRECTION_PULSE_MIN ) { //POUR TOURNER A DROITE
GaspardD 21:de7a0a47f8a3 688 #if DEBUG > 1
ohlimi2 36:bccddd02966a 689 pc.printf("!!! UNDER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 19:771bf61be276 690 #endif
GaspardD 21:de7a0a47f8a3 691 pulseDirection_us = DIRECTION_PULSE_MIN ;
GaspardD 21:de7a0a47f8a3 692 }
GaspardD 21:de7a0a47f8a3 693 #if DEBUG > 1
ohlimi2 36:bccddd02966a 694 pc.printf("PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 695 #endif
GaspardD 21:de7a0a47f8a3 696 PwmDirection.pulsewidth_us(pulseDirection_us);
GaspardD 8:1d8c3ca5e508 697 return;
GaspardD 8:1d8c3ca5e508 698 }
GaspardD 8:1d8c3ca5e508 699
GaspardD 11:bc24b3ba51a9 700 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 701 void obstacleOutput(void)
GaspardD 8:1d8c3ca5e508 702 {
GaspardD 8:1d8c3ca5e508 703 return;
GaspardD 8:1d8c3ca5e508 704 }
GaspardD 11:bc24b3ba51a9 705 #endif
GaspardD 11:bc24b3ba51a9 706 void sectionOutput(void)
GaspardD 8:1d8c3ca5e508 707 {
GaspardD 14:d471faa7d1a2 708 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 709 pc.printf("\r\n Output Section\r\n");
GaspardD 14:d471faa7d1a2 710 #endif
GaspardD 11:bc24b3ba51a9 711 switch (st_currentSection) {
GaspardD 19:771bf61be276 712 case RUNNING_SECTION:
GaspardD 19:771bf61be276 713 break;
GaspardD 19:771bf61be276 714 case LOADING_SECTION:
GaspardD 19:771bf61be276 715 p_sectionCourante=p_sectionCourante->nextSection;
GaspardD 19:771bf61be276 716 tachySectionDist_cm = 0;
GaspardD 19:771bf61be276 717 break;
GaspardD 19:771bf61be276 718 case ARRET:
GaspardD 19:771bf61be276 719 //on est à l'arret
GaspardD 19:771bf61be276 720 break;
GaspardD 19:771bf61be276 721 default:
GaspardD 19:771bf61be276 722 break;
GaspardD 11:bc24b3ba51a9 723 }
GaspardD 8:1d8c3ca5e508 724 return;
GaspardD 8:1d8c3ca5e508 725 }
GaspardD 8:1d8c3ca5e508 726
GaspardD 11:bc24b3ba51a9 727
GaspardD 11:bc24b3ba51a9 728 void maxSpeedOutput(void)
GaspardD 8:1d8c3ca5e508 729 {
GaspardD 14:d471faa7d1a2 730 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 731 pc.printf("\r\n Output MAX SPEED\r\n");
GaspardD 14:d471faa7d1a2 732 #endif
GaspardD 19:771bf61be276 733 switch(st_maxSpeed) {
GaspardD 21:de7a0a47f8a3 734 case BLOCKED:
GaspardD 41:4dd36f607279 735 maxSpeed_cmps = 0;
GaspardD 19:771bf61be276 736 break;
GaspardD 21:de7a0a47f8a3 737 case SPEED_WARNING:
GaspardD 24:698fefbbee00 738 maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps;
GaspardD 19:771bf61be276 739 break;
GaspardD 19:771bf61be276 740 default:
GaspardD 19:771bf61be276 741 maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps;
GaspardD 19:771bf61be276 742 break;
GaspardD 11:bc24b3ba51a9 743 }
GaspardD 8:1d8c3ca5e508 744 return;
GaspardD 8:1d8c3ca5e508 745 }
GaspardD 11:bc24b3ba51a9 746
GaspardD 11:bc24b3ba51a9 747 void throttleOutput(void)
GaspardD 11:bc24b3ba51a9 748 {
GaspardD 14:d471faa7d1a2 749 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 750 pc.printf("\r\n Output TROTTLE\r\n");
GaspardD 14:d471faa7d1a2 751 #endif
GaspardD 11:bc24b3ba51a9 752 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 753 case REGULATION_SPEED:
GaspardD 22:26fc6e6f7a55 754 pulseSpeed_us = maxSpeed_cmps * 279 / 2048 + 1558 ;
GaspardD 19:771bf61be276 755 break;
GaspardD 19:771bf61be276 756 case BRAKING:
GaspardD 16:63690703b5b6 757 #if DEBUG > 2
GaspardD 19:771bf61be276 758 pc.printf("BRAKINGGGGGGGGGGGGGGGGGG !!! \r\n");
GaspardD 19:771bf61be276 759 #endif
GaspardD 19:771bf61be276 760 pulseSpeed_us = BRAKING_PULSE_US;
GaspardD 19:771bf61be276 761 break;
GaspardD 19:771bf61be276 762 case STOPPED:
GaspardD 19:771bf61be276 763 #if DEBUG > 2
GaspardD 19:771bf61be276 764 pc.printf("STOPPED\r\n");
GaspardD 16:63690703b5b6 765 #endif
GaspardD 19:771bf61be276 766 pulseSpeed_us = ZERO_PULSE_SPEED_US;
GaspardD 19:771bf61be276 767 break;
GaspardD 19:771bf61be276 768 default:
GaspardD 19:771bf61be276 769 break;
GaspardD 11:bc24b3ba51a9 770 }
GaspardD 22:26fc6e6f7a55 771
GaspardD 19:771bf61be276 772 PwmMotor.pulsewidth_us(pulseSpeed_us);
GaspardD 15:129f205ff030 773 #if DEBUG > 1
ohlimi2 36:bccddd02966a 774 pc.printf("PWM Thro pulse: %.4lf micros\r\n",pulseSpeed_us);
GaspardD 13:af9a59ccf60b 775 #endif
GaspardD 11:bc24b3ba51a9 776 return;
GaspardD 11:bc24b3ba51a9 777 }