Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

stateMachines.cpp@41:4dd36f607279, 2018-09-19 (annotated)

Committer:
GaspardD
Date:
Wed Sep 19 13:42:04 2018 +0000
Revision:
41:4dd36f607279
Parent:
40:b9450d753782
Child:
42:3f12252862b9
plus propre

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