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TRR2018 omar
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stateMachines.cpp@12:51b1b40cc017, 2018-09-10 (annotated)
- Committer:
- GaspardD
- Date:
- Mon Sep 10 20:23:03 2018 +0000
- Revision:
- 12:51b1b40cc017
- Parent:
- 11:bc24b3ba51a9
- Child:
- 13:af9a59ccf60b
complile propre
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
GaspardD | 12:51b1b40cc017 | 1 | #include "stateMachines.h" |
GaspardD | 8:1d8c3ca5e508 | 2 | |
GaspardD | 11:bc24b3ba51a9 | 3 | uint16_t distMurG90[NB_ECHANTILLONS_IR];//buffer tournant ir coté gauche pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 4 | uint16_t distMurD90[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 5 | uint16_t distMurG45[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 45deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 6 | uint16_t distMurD45[NB_ECHANTILLONS_IR];//buffer tournant ir avant droit 45deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 7 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 8 | uint16_t distMurG10[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 10deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 9 | uint16_t distMurD10[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit 10deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 10 | uint16_t distMurFront[NB_ECHANTILLONS_IR];//buffer tournant ir front |
GaspardD | 11:bc24b3ba51a9 | 11 | #endif |
GaspardD | 12:51b1b40cc017 | 12 | uint16_t distMurG90Moy; |
GaspardD | 12:51b1b40cc017 | 13 | uint16_t distMurD90Moy; |
GaspardD | 12:51b1b40cc017 | 14 | uint16_t distMurG45Moy; |
GaspardD | 12:51b1b40cc017 | 15 | uint16_t distMurD45Moy; |
GaspardD | 12:51b1b40cc017 | 16 | #ifdef DLVV |
GaspardD | 12:51b1b40cc017 | 17 | uint16_t distMurG10Moy; |
GaspardD | 12:51b1b40cc017 | 18 | uint16_t distMurD10Moy; |
GaspardD | 12:51b1b40cc017 | 19 | uint16_t distMurFrontMoy |
GaspardD | 12:51b1b40cc017 | 20 | |
GaspardD | 12:51b1b40cc017 | 21 | |
GaspardD | 12:51b1b40cc017 | 22 | |
GaspardD | 12:51b1b40cc017 | 23 | #endif |
GaspardD | 8:1d8c3ca5e508 | 24 | int dist_obstacle_lidar[NB_ECHANTILLONS_LIDAR];//buffer tournant |
GaspardD | 8:1d8c3ca5e508 | 25 | int index_fifo_ir = 0;//pour géreer le buffer tournant |
GaspardD | 8:1d8c3ca5e508 | 26 | int index_fifo_lidar = 0; |
GaspardD | 11:bc24b3ba51a9 | 27 | //sections |
GaspardD | 11:bc24b3ba51a9 | 28 | s_Section p_section1; |
GaspardD | 2:fd0ffe46a87d | 29 | |
GaspardD | 12:51b1b40cc017 | 30 | //Controls |
GaspardD | 12:51b1b40cc017 | 31 | PwmOut PwmMotor(PB_6); // PWM4 ch1 TIM4 |
GaspardD | 12:51b1b40cc017 | 32 | PwmOut PwmDirection(PB_5); // PWM3 ch2 TIM3 |
GaspardD | 8:1d8c3ca5e508 | 33 | |
GaspardD | 12:51b1b40cc017 | 34 | float pulseDirection = 0.0015; |
GaspardD | 12:51b1b40cc017 | 35 | float pulseSpeed = 0.015; |
GaspardD | 12:51b1b40cc017 | 36 | |
GaspardD | 12:51b1b40cc017 | 37 | |
GaspardD | 12:51b1b40cc017 | 38 | //Capteurs direction |
GaspardD | 8:1d8c3ca5e508 | 39 | |
GaspardD | 12:51b1b40cc017 | 40 | AnalogIn anaG90(PC_1);//capteur ir coté gauche |
GaspardD | 12:51b1b40cc017 | 41 | AnalogIn anaD90(PA_1);//capteur ir coté droit |
GaspardD | 12:51b1b40cc017 | 42 | AnalogIn anaG45(PC_0);//capteur ir avant gauche 45 deg |
GaspardD | 12:51b1b40cc017 | 43 | AnalogIn anaD45(PC_2);//capteur ir avant droit 45deg |
GaspardD | 11:bc24b3ba51a9 | 44 | #ifdef DLVV |
GaspardD | 12:51b1b40cc017 | 45 | AnalogIn anaDlvvG(PB_0);//capteur ir avant droit 10 deg |
GaspardD | 12:51b1b40cc017 | 46 | AnalogIn anaDlvvD(PC_3);//capteur ir coté droit 10 deg |
GaspardD | 12:51b1b40cc017 | 47 | AnalogIn anaDlvvFront(PA_4);//capteur ir avant |
GaspardD | 11:bc24b3ba51a9 | 48 | #endif |
GaspardD | 12:51b1b40cc017 | 49 | |
GaspardD | 12:51b1b40cc017 | 50 | int differenceGD45; |
GaspardD | 12:51b1b40cc017 | 51 | |
GaspardD | 12:51b1b40cc017 | 52 | //Capteur vitesse |
GaspardD | 12:51b1b40cc017 | 53 | InterruptIn it_tachymeter(PA_11); |
GaspardD | 2:fd0ffe46a87d | 54 | |
GaspardD | 11:bc24b3ba51a9 | 55 | |
GaspardD | 11:bc24b3ba51a9 | 56 | //LIDAR |
GaspardD | 12:51b1b40cc017 | 57 | Serial serialLidar(PC_10,PC_11); // tx, rx |
GaspardD | 11:bc24b3ba51a9 | 58 | |
GaspardD | 11:bc24b3ba51a9 | 59 | int distLidar;// LiDAR actually measured distance value |
GaspardD | 11:bc24b3ba51a9 | 60 | int strengthLidar;// LiDAR signal strength |
GaspardD | 11:bc24b3ba51a9 | 61 | int check;// check numerical value storage |
GaspardD | 12:51b1b40cc017 | 62 | int i; |
GaspardD | 11:bc24b3ba51a9 | 63 | int uart[9];// store data measured by LiDAR |
GaspardD | 11:bc24b3ba51a9 | 64 | const int HEADER=0x59;// data package frame header |
GaspardD | 11:bc24b3ba51a9 | 65 | |
GaspardD | 11:bc24b3ba51a9 | 66 | //SPEED |
GaspardD | 11:bc24b3ba51a9 | 67 | int maxSpeed_cmps = 0; |
GaspardD | 11:bc24b3ba51a9 | 68 | int tachySpeed_cmps = 0; |
GaspardD | 11:bc24b3ba51a9 | 69 | int tachyStepsRegister = 0; |
GaspardD | 11:bc24b3ba51a9 | 70 | int tachySectionDist_cm = 0; |
GaspardD | 11:bc24b3ba51a9 | 71 | float ms_pwmSpeedPulse = 0.0015;//IDLE |
GaspardD | 8:1d8c3ca5e508 | 72 | |
GaspardD | 8:1d8c3ca5e508 | 73 | //Etats |
GaspardD | 8:1d8c3ca5e508 | 74 | MUR_ST st_murs; |
GaspardD | 11:bc24b3ba51a9 | 75 | SECTION_ST st_currentSection; |
GaspardD | 11:bc24b3ba51a9 | 76 | MAX_SPEED_ST st_maxSpeed; |
GaspardD | 8:1d8c3ca5e508 | 77 | THROTTLE_ST st_thro; |
GaspardD | 11:bc24b3ba51a9 | 78 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 79 | OBSTACLE_ST st_obstacle; |
GaspardD | 11:bc24b3ba51a9 | 80 | #endif |
GaspardD | 11:bc24b3ba51a9 | 81 | |
GaspardD | 11:bc24b3ba51a9 | 82 | s_Section* p_sectionCourante = NULL; |
GaspardD | 8:1d8c3ca5e508 | 83 | |
GaspardD | 8:1d8c3ca5e508 | 84 | //time monitoring |
GaspardD | 8:1d8c3ca5e508 | 85 | |
GaspardD | 11:bc24b3ba51a9 | 86 | Timer timeSinceStart;// temps.start()/stop()/sec: read()/ms: read_ms()/µs: read_us() |
GaspardD | 11:bc24b3ba51a9 | 87 | Timer timerSinceGetTachy; |
GaspardD | 11:bc24b3ba51a9 | 88 | |
GaspardD | 11:bc24b3ba51a9 | 89 | void getTachySpeed() |
GaspardD | 11:bc24b3ba51a9 | 90 | { |
GaspardD | 11:bc24b3ba51a9 | 91 | //tachySteps = VALEUR_DU_PIN; |
GaspardD | 12:51b1b40cc017 | 92 | //poour gérer les vitesses lentes |
GaspardD | 12:51b1b40cc017 | 93 | if(tachyStepsRegister == 0 && timerSinceGetTachy.read_us() < 500000) |
GaspardD | 12:51b1b40cc017 | 94 | { |
GaspardD | 12:51b1b40cc017 | 95 | return;//on attend encore un peu l'aquisition de la vitesse |
GaspardD | 12:51b1b40cc017 | 96 | } |
GaspardD | 11:bc24b3ba51a9 | 97 | tachySectionDist_cm += tachyStepsRegister * 4; |
GaspardD | 11:bc24b3ba51a9 | 98 | tachySpeed_cmps = (tachyStepsRegister * 40000)/timerSinceGetTachy.read_us(); |
GaspardD | 11:bc24b3ba51a9 | 99 | tachyStepsRegister=0; |
GaspardD | 11:bc24b3ba51a9 | 100 | timerSinceGetTachy.reset(); |
GaspardD | 11:bc24b3ba51a9 | 101 | timerSinceGetTachy.start(); |
GaspardD | 11:bc24b3ba51a9 | 102 | return; |
GaspardD | 11:bc24b3ba51a9 | 103 | } |
GaspardD | 8:1d8c3ca5e508 | 104 | |
GaspardD | 12:51b1b40cc017 | 105 | uint16_t getDistMoy(uint16_t* tab,int size) |
GaspardD | 11:bc24b3ba51a9 | 106 | { |
GaspardD | 11:bc24b3ba51a9 | 107 | int sumMoy = 0; |
GaspardD | 11:bc24b3ba51a9 | 108 | for(int k=0; k<size;k++) |
GaspardD | 11:bc24b3ba51a9 | 109 | { |
GaspardD | 11:bc24b3ba51a9 | 110 | sumMoy+=tab[k]; |
GaspardD | 11:bc24b3ba51a9 | 111 | } |
GaspardD | 11:bc24b3ba51a9 | 112 | #if (NB_ECHANTILLONS_IR == 4 && NB_ECHANTILLONS_LIDAR == 4) |
GaspardD | 12:51b1b40cc017 | 113 | return (uint16_t)sumMoy >> 2; |
GaspardD | 11:bc24b3ba51a9 | 114 | #else |
GaspardD | 11:bc24b3ba51a9 | 115 | return sumMoy/size; |
GaspardD | 11:bc24b3ba51a9 | 116 | #endif |
GaspardD | 11:bc24b3ba51a9 | 117 | } |
GaspardD | 2:fd0ffe46a87d | 118 | |
GaspardD | 12:51b1b40cc017 | 119 | void it4cm() |
GaspardD | 12:51b1b40cc017 | 120 | { |
GaspardD | 12:51b1b40cc017 | 121 | tachyStepsRegister+=4; |
GaspardD | 12:51b1b40cc017 | 122 | } |
GaspardD | 12:51b1b40cc017 | 123 | |
GaspardD | 12:51b1b40cc017 | 124 | void it_serial() |
GaspardD | 12:51b1b40cc017 | 125 | { |
GaspardD | 12:51b1b40cc017 | 126 | if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59 |
GaspardD | 12:51b1b40cc017 | 127 | uart[0]=HEADER; |
GaspardD | 12:51b1b40cc017 | 128 | if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59 |
GaspardD | 12:51b1b40cc017 | 129 | uart[1]=HEADER; |
GaspardD | 12:51b1b40cc017 | 130 | for(i=2; i<9; i++) { // store data to array |
GaspardD | 12:51b1b40cc017 | 131 | uart[i]=serialLidar.getc(); |
GaspardD | 12:51b1b40cc017 | 132 | } |
GaspardD | 12:51b1b40cc017 | 133 | check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7]; |
GaspardD | 12:51b1b40cc017 | 134 | if(uart[8]==(check&0xff)) { // check the received data as per protocols |
GaspardD | 12:51b1b40cc017 | 135 | distLidar=uart[2]+uart[3]*256;// calculate distance value |
GaspardD | 12:51b1b40cc017 | 136 | strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value |
GaspardD | 12:51b1b40cc017 | 137 | } |
GaspardD | 12:51b1b40cc017 | 138 | } |
GaspardD | 12:51b1b40cc017 | 139 | } |
GaspardD | 12:51b1b40cc017 | 140 | } |
GaspardD | 8:1d8c3ca5e508 | 141 | //########## INIT STATES MACHINES ########## |
GaspardD | 11:bc24b3ba51a9 | 142 | void mursInit(void) |
GaspardD | 8:1d8c3ca5e508 | 143 | { |
GaspardD | 11:bc24b3ba51a9 | 144 | st_murs=EQUILIBRAGE_REPULSIF; |
GaspardD | 12:51b1b40cc017 | 145 | PwmDirection.period(0.010); //20 ms is default |
GaspardD | 12:51b1b40cc017 | 146 | PwmDirection.pulsewidth(0.0015); |
GaspardD | 8:1d8c3ca5e508 | 147 | return; |
GaspardD | 8:1d8c3ca5e508 | 148 | } |
GaspardD | 11:bc24b3ba51a9 | 149 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 150 | void obstacleInit(void) |
GaspardD | 8:1d8c3ca5e508 | 151 | { |
GaspardD | 11:bc24b3ba51a9 | 152 | st_speedLimit=FRONT_CLEAR; |
GaspardD | 8:1d8c3ca5e508 | 153 | return; |
GaspardD | 8:1d8c3ca5e508 | 154 | } |
GaspardD | 11:bc24b3ba51a9 | 155 | #endif |
GaspardD | 11:bc24b3ba51a9 | 156 | void sectionInit(void) |
GaspardD | 2:fd0ffe46a87d | 157 | { |
GaspardD | 11:bc24b3ba51a9 | 158 | timeSinceStart.reset(); |
GaspardD | 11:bc24b3ba51a9 | 159 | timeSinceStart.start(); |
GaspardD | 11:bc24b3ba51a9 | 160 | st_currentSection=ARRET; |
GaspardD | 11:bc24b3ba51a9 | 161 | p_sectionCourante->nextSection=&p_section1; |
GaspardD | 12:51b1b40cc017 | 162 | it_tachymeter.fall(&it4cm); |
GaspardD | 11:bc24b3ba51a9 | 163 | timerSinceGetTachy.start(); |
GaspardD | 11:bc24b3ba51a9 | 164 | getTachySpeed();//to reset |
GaspardD | 11:bc24b3ba51a9 | 165 | tachySectionDist_cm = 0; |
GaspardD | 11:bc24b3ba51a9 | 166 | tachyStepsRegister = 0; |
GaspardD | 11:bc24b3ba51a9 | 167 | |
GaspardD | 11:bc24b3ba51a9 | 168 | //section de test |
GaspardD | 11:bc24b3ba51a9 | 169 | p_section1.nextSection = NULL; |
GaspardD | 11:bc24b3ba51a9 | 170 | p_section1.targetSpeed_cmps = 50; |
GaspardD | 12:51b1b40cc017 | 171 | p_section1.slowSpeed_cmps = 15; |
GaspardD | 12:51b1b40cc017 | 172 | p_section1.brakingCoefficient = 20; // application de la formule |
GaspardD | 12:51b1b40cc017 | 173 | p_section1.ms_accel = 0.00005; |
GaspardD | 11:bc24b3ba51a9 | 174 | p_section1.ms_decel = 0.0001; |
GaspardD | 11:bc24b3ba51a9 | 175 | p_section1.lidarWarningDist_cm = 200; |
GaspardD | 11:bc24b3ba51a9 | 176 | p_section1.lng_section_cm = 1000;//10m |
GaspardD | 12:51b1b40cc017 | 177 | p_section1.coef_p = 93400000.0; |
GaspardD | 12:51b1b40cc017 | 178 | p_section1.coef_i = 0.0; |
GaspardD | 12:51b1b40cc017 | 179 | p_section1.coef_d = 0.0; |
GaspardD | 8:1d8c3ca5e508 | 180 | return; |
GaspardD | 8:1d8c3ca5e508 | 181 | } |
GaspardD | 11:bc24b3ba51a9 | 182 | |
GaspardD | 11:bc24b3ba51a9 | 183 | void maxSpeedInit(void) |
GaspardD | 11:bc24b3ba51a9 | 184 | { |
GaspardD | 11:bc24b3ba51a9 | 185 | st_maxSpeed=SPEED_MAX; |
GaspardD | 11:bc24b3ba51a9 | 186 | maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps; |
GaspardD | 11:bc24b3ba51a9 | 187 | serialLidar.baud(115200); |
GaspardD | 11:bc24b3ba51a9 | 188 | return; |
GaspardD | 11:bc24b3ba51a9 | 189 | } |
GaspardD | 11:bc24b3ba51a9 | 190 | |
GaspardD | 11:bc24b3ba51a9 | 191 | void throttleInit(void) |
GaspardD | 8:1d8c3ca5e508 | 192 | { |
GaspardD | 8:1d8c3ca5e508 | 193 | st_thro = AT_SPEED; |
GaspardD | 12:51b1b40cc017 | 194 | PwmMotor.period(0.020); //20 ms is default |
GaspardD | 12:51b1b40cc017 | 195 | PwmMotor.pulsewidth(0.0010); |
GaspardD | 12:51b1b40cc017 | 196 | wait(3); |
GaspardD | 12:51b1b40cc017 | 197 | PwmMotor.pulsewidth(0.0020); |
GaspardD | 12:51b1b40cc017 | 198 | wait(1); |
GaspardD | 12:51b1b40cc017 | 199 | PwmMotor.pulsewidth(0.0015); |
GaspardD | 12:51b1b40cc017 | 200 | wait(1); |
GaspardD | 12:51b1b40cc017 | 201 | |
GaspardD | 8:1d8c3ca5e508 | 202 | return; |
GaspardD | 8:1d8c3ca5e508 | 203 | } |
GaspardD | 2:fd0ffe46a87d | 204 | |
GaspardD | 8:1d8c3ca5e508 | 205 | |
GaspardD | 8:1d8c3ca5e508 | 206 | //########## UPDATE STATES ########## |
GaspardD | 11:bc24b3ba51a9 | 207 | void mursUpdate(void) |
GaspardD | 2:fd0ffe46a87d | 208 | { |
GaspardD | 11:bc24b3ba51a9 | 209 | MUR_ST st_tmpMurs; |
GaspardD | 11:bc24b3ba51a9 | 210 | //lectures |
GaspardD | 11:bc24b3ba51a9 | 211 | distMurG90[index_fifo_ir]=anaG90.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 212 | distMurD90[index_fifo_ir]=anaD90.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 213 | distMurG45[index_fifo_ir]=anaG45.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 214 | distMurD45[index_fifo_ir]=anaD45.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 215 | index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR; |
GaspardD | 8:1d8c3ca5e508 | 216 | |
GaspardD | 12:51b1b40cc017 | 217 | distMurG45Moy = getDistMoy(distMurG45,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 218 | distMurD45Moy = getDistMoy(distMurD45,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 219 | |
GaspardD | 11:bc24b3ba51a9 | 220 | switch (st_murs) { |
GaspardD | 11:bc24b3ba51a9 | 221 | case EQUILIBRAGE_REPULSIF: |
GaspardD | 12:51b1b40cc017 | 222 | distMurG90Moy = getDistMoy(distMurG90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 223 | distMurD90Moy = getDistMoy(distMurD90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 224 | if( distMurG90Moy <= IR_DEADZONE_U16_22cm) |
GaspardD | 11:bc24b3ba51a9 | 225 | { |
GaspardD | 11:bc24b3ba51a9 | 226 | st_tmpMurs = ATTRACTIF_D; |
GaspardD | 12:51b1b40cc017 | 227 | }else if(distMurD90Moy <= IR_DEADZONE_U16_22cm) |
GaspardD | 11:bc24b3ba51a9 | 228 | { |
GaspardD | 11:bc24b3ba51a9 | 229 | st_tmpMurs = ATTRACTIF_G; |
GaspardD | 11:bc24b3ba51a9 | 230 | }else |
GaspardD | 11:bc24b3ba51a9 | 231 | { |
GaspardD | 11:bc24b3ba51a9 | 232 | st_tmpMurs = EQUILIBRAGE_REPULSIF; |
GaspardD | 11:bc24b3ba51a9 | 233 | } |
GaspardD | 11:bc24b3ba51a9 | 234 | break; |
GaspardD | 11:bc24b3ba51a9 | 235 | case ATTRACTIF_D: |
GaspardD | 12:51b1b40cc017 | 236 | distMurD90Moy= getDistMoy(distMurD90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 237 | if( distMurD90Moy >= IR_FAR_U16_105cm) |
GaspardD | 11:bc24b3ba51a9 | 238 | { |
GaspardD | 11:bc24b3ba51a9 | 239 | st_tmpMurs = ATTRACTIF_D; |
GaspardD | 11:bc24b3ba51a9 | 240 | }else |
GaspardD | 11:bc24b3ba51a9 | 241 | { |
GaspardD | 11:bc24b3ba51a9 | 242 | st_tmpMurs = EQUILIBRAGE_REPULSIF; |
GaspardD | 11:bc24b3ba51a9 | 243 | } |
GaspardD | 11:bc24b3ba51a9 | 244 | break; |
GaspardD | 11:bc24b3ba51a9 | 245 | case ATTRACTIF_G: |
GaspardD | 12:51b1b40cc017 | 246 | distMurG90Moy= getDistMoy(distMurG90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 247 | if(distMurG90Moy >= IR_FAR_U16_105cm) |
GaspardD | 11:bc24b3ba51a9 | 248 | { |
GaspardD | 11:bc24b3ba51a9 | 249 | st_tmpMurs = ATTRACTIF_G; |
GaspardD | 11:bc24b3ba51a9 | 250 | }else |
GaspardD | 11:bc24b3ba51a9 | 251 | { |
GaspardD | 11:bc24b3ba51a9 | 252 | st_tmpMurs = EQUILIBRAGE_REPULSIF; |
GaspardD | 11:bc24b3ba51a9 | 253 | } |
GaspardD | 11:bc24b3ba51a9 | 254 | break; |
GaspardD | 11:bc24b3ba51a9 | 255 | default: |
GaspardD | 11:bc24b3ba51a9 | 256 | return; |
GaspardD | 8:1d8c3ca5e508 | 257 | } |
GaspardD | 11:bc24b3ba51a9 | 258 | st_murs = st_tmpMurs; |
GaspardD | 8:1d8c3ca5e508 | 259 | return; |
GaspardD | 8:1d8c3ca5e508 | 260 | } |
GaspardD | 11:bc24b3ba51a9 | 261 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 262 | void obstacleUpdate(void) |
GaspardD | 8:1d8c3ca5e508 | 263 | { |
GaspardD | 8:1d8c3ca5e508 | 264 | return; |
GaspardD | 8:1d8c3ca5e508 | 265 | } |
GaspardD | 11:bc24b3ba51a9 | 266 | #endif |
GaspardD | 11:bc24b3ba51a9 | 267 | |
GaspardD | 11:bc24b3ba51a9 | 268 | void sectionUpdate(void) |
GaspardD | 8:1d8c3ca5e508 | 269 | { |
GaspardD | 11:bc24b3ba51a9 | 270 | SECTION_ST st_tmpSection; |
GaspardD | 11:bc24b3ba51a9 | 271 | switch (st_currentSection) { |
GaspardD | 11:bc24b3ba51a9 | 272 | case RUNNING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 273 | if(tachySectionDist_cm > p_sectionCourante->lng_section_cm)//on pourrait rajouter un test lidar |
GaspardD | 11:bc24b3ba51a9 | 274 | { |
GaspardD | 11:bc24b3ba51a9 | 275 | st_tmpSection = LOADING_SECTION; |
GaspardD | 11:bc24b3ba51a9 | 276 | } |
GaspardD | 11:bc24b3ba51a9 | 277 | break; |
GaspardD | 11:bc24b3ba51a9 | 278 | case LOADING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 279 | if(p_sectionCourante->nextSection != NULL) |
GaspardD | 11:bc24b3ba51a9 | 280 | { |
GaspardD | 11:bc24b3ba51a9 | 281 | st_tmpSection = RUNNING_SECTION; |
GaspardD | 11:bc24b3ba51a9 | 282 | }else |
GaspardD | 11:bc24b3ba51a9 | 283 | { |
GaspardD | 11:bc24b3ba51a9 | 284 | st_tmpSection=ARRET; |
GaspardD | 11:bc24b3ba51a9 | 285 | } |
GaspardD | 11:bc24b3ba51a9 | 286 | break; |
GaspardD | 11:bc24b3ba51a9 | 287 | case ARRET: |
GaspardD | 11:bc24b3ba51a9 | 288 | if(p_sectionCourante != NULL) |
GaspardD | 11:bc24b3ba51a9 | 289 | { |
GaspardD | 11:bc24b3ba51a9 | 290 | st_tmpSection = RUNNING_SECTION; |
GaspardD | 11:bc24b3ba51a9 | 291 | } |
GaspardD | 11:bc24b3ba51a9 | 292 | else |
GaspardD | 11:bc24b3ba51a9 | 293 | { |
GaspardD | 11:bc24b3ba51a9 | 294 | return; |
GaspardD | 11:bc24b3ba51a9 | 295 | } |
GaspardD | 11:bc24b3ba51a9 | 296 | break; |
GaspardD | 11:bc24b3ba51a9 | 297 | default: |
GaspardD | 11:bc24b3ba51a9 | 298 | break; |
GaspardD | 11:bc24b3ba51a9 | 299 | } |
GaspardD | 11:bc24b3ba51a9 | 300 | st_currentSection = st_tmpSection; |
GaspardD | 8:1d8c3ca5e508 | 301 | return; |
GaspardD | 8:1d8c3ca5e508 | 302 | } |
GaspardD | 8:1d8c3ca5e508 | 303 | |
GaspardD | 11:bc24b3ba51a9 | 304 | void maxSpeedUpdate(void) |
GaspardD | 8:1d8c3ca5e508 | 305 | { |
GaspardD | 11:bc24b3ba51a9 | 306 | MAX_SPEED_ST st_tmpMaxSpeed; |
GaspardD | 11:bc24b3ba51a9 | 307 | i=0; |
GaspardD | 11:bc24b3ba51a9 | 308 | |
GaspardD | 11:bc24b3ba51a9 | 309 | if( strengthLidar > (LIDAR_STRENGTH_THRESOLD + LIDAR_STRENGH_DELTA) ) |
GaspardD | 11:bc24b3ba51a9 | 310 | { |
GaspardD | 11:bc24b3ba51a9 | 311 | if(distLidar > 30 && distLidar < p_sectionCourante->lidarWarningDist_cm) |
GaspardD | 11:bc24b3ba51a9 | 312 | { |
GaspardD | 11:bc24b3ba51a9 | 313 | st_tmpMaxSpeed = SPEED_VARIABLE; |
GaspardD | 11:bc24b3ba51a9 | 314 | }else |
GaspardD | 11:bc24b3ba51a9 | 315 | { |
GaspardD | 11:bc24b3ba51a9 | 316 | st_tmpMaxSpeed = SPEED_LIMITED; |
GaspardD | 11:bc24b3ba51a9 | 317 | } |
GaspardD | 11:bc24b3ba51a9 | 318 | }else if(strengthLidar < (LIDAR_STRENGTH_THRESOLD - LIDAR_STRENGH_DELTA)) |
GaspardD | 11:bc24b3ba51a9 | 319 | { |
GaspardD | 11:bc24b3ba51a9 | 320 | st_tmpMaxSpeed = SPEED_MAX; |
GaspardD | 11:bc24b3ba51a9 | 321 | } |
GaspardD | 11:bc24b3ba51a9 | 322 | else{ |
GaspardD | 11:bc24b3ba51a9 | 323 | return;//pour ne pas changer sans arret d'etats lorsque strengthLidar est à la limite du seuil |
GaspardD | 11:bc24b3ba51a9 | 324 | } |
GaspardD | 11:bc24b3ba51a9 | 325 | |
GaspardD | 11:bc24b3ba51a9 | 326 | |
GaspardD | 11:bc24b3ba51a9 | 327 | st_maxSpeed = st_tmpMaxSpeed; |
GaspardD | 11:bc24b3ba51a9 | 328 | return; |
GaspardD | 11:bc24b3ba51a9 | 329 | } |
GaspardD | 11:bc24b3ba51a9 | 330 | |
GaspardD | 11:bc24b3ba51a9 | 331 | void throttleUpdate(void) |
GaspardD | 11:bc24b3ba51a9 | 332 | { |
GaspardD | 11:bc24b3ba51a9 | 333 | THROTTLE_ST st_tmpThro; |
GaspardD | 11:bc24b3ba51a9 | 334 | |
GaspardD | 11:bc24b3ba51a9 | 335 | switch (st_thro) { |
GaspardD | 11:bc24b3ba51a9 | 336 | case UNDER_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 337 | if( tachySpeed_cmps > maxSpeed_cmps ) |
GaspardD | 11:bc24b3ba51a9 | 338 | { |
GaspardD | 11:bc24b3ba51a9 | 339 | st_tmpThro = AT_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 340 | }else |
GaspardD | 11:bc24b3ba51a9 | 341 | { |
GaspardD | 11:bc24b3ba51a9 | 342 | return; |
GaspardD | 11:bc24b3ba51a9 | 343 | } |
GaspardD | 11:bc24b3ba51a9 | 344 | break; |
GaspardD | 11:bc24b3ba51a9 | 345 | case OVER_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 346 | if( tachySpeed_cmps < maxSpeed_cmps ) |
GaspardD | 11:bc24b3ba51a9 | 347 | { |
GaspardD | 11:bc24b3ba51a9 | 348 | st_tmpThro = AT_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 349 | }else |
GaspardD | 11:bc24b3ba51a9 | 350 | { |
GaspardD | 11:bc24b3ba51a9 | 351 | return; |
GaspardD | 11:bc24b3ba51a9 | 352 | } |
GaspardD | 11:bc24b3ba51a9 | 353 | break; |
GaspardD | 11:bc24b3ba51a9 | 354 | case AT_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 355 | if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS) ) |
GaspardD | 11:bc24b3ba51a9 | 356 | { |
GaspardD | 11:bc24b3ba51a9 | 357 | st_tmpThro = OVER_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 358 | } else if( tachySpeed_cmps < (maxSpeed_cmps - SPEED_DELTA_CMPS) ) |
GaspardD | 11:bc24b3ba51a9 | 359 | { |
GaspardD | 11:bc24b3ba51a9 | 360 | st_tmpThro = UNDER_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 361 | }else |
GaspardD | 11:bc24b3ba51a9 | 362 | { |
GaspardD | 11:bc24b3ba51a9 | 363 | return; |
GaspardD | 11:bc24b3ba51a9 | 364 | } |
GaspardD | 11:bc24b3ba51a9 | 365 | break; |
GaspardD | 11:bc24b3ba51a9 | 366 | default: |
GaspardD | 11:bc24b3ba51a9 | 367 | break; |
GaspardD | 11:bc24b3ba51a9 | 368 | } |
GaspardD | 11:bc24b3ba51a9 | 369 | |
GaspardD | 11:bc24b3ba51a9 | 370 | st_thro = st_tmpThro; |
GaspardD | 8:1d8c3ca5e508 | 371 | return; |
GaspardD | 8:1d8c3ca5e508 | 372 | } |
GaspardD | 2:fd0ffe46a87d | 373 | |
GaspardD | 8:1d8c3ca5e508 | 374 | //########## OUTPUT STATES ########## |
GaspardD | 11:bc24b3ba51a9 | 375 | //updating output parameters |
GaspardD | 11:bc24b3ba51a9 | 376 | void mursOutput(void) |
GaspardD | 12:51b1b40cc017 | 377 | { |
GaspardD | 11:bc24b3ba51a9 | 378 | switch (st_murs) { |
GaspardD | 12:51b1b40cc017 | 379 | case EQUILIBRAGE_REPULSIF://TO DO TODO |
GaspardD | 11:bc24b3ba51a9 | 380 | case ATTRACTIF_G: |
GaspardD | 11:bc24b3ba51a9 | 381 | case ATTRACTIF_D: |
GaspardD | 12:51b1b40cc017 | 382 | differenceGD45 = distMurD45Moy - distMurG45Moy; |
GaspardD | 12:51b1b40cc017 | 383 | pulseDirection = (double) ((double)differenceGD45 / (double)p_sectionCourante->coef_p) + 0.0015; |
GaspardD | 11:bc24b3ba51a9 | 384 | default: |
GaspardD | 11:bc24b3ba51a9 | 385 | break; |
GaspardD | 11:bc24b3ba51a9 | 386 | } |
GaspardD | 12:51b1b40cc017 | 387 | PwmDirection.pulsewidth(pulseDirection); |
GaspardD | 8:1d8c3ca5e508 | 388 | return; |
GaspardD | 8:1d8c3ca5e508 | 389 | } |
GaspardD | 8:1d8c3ca5e508 | 390 | |
GaspardD | 11:bc24b3ba51a9 | 391 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 392 | void obstacleOutput(void) |
GaspardD | 8:1d8c3ca5e508 | 393 | { |
GaspardD | 8:1d8c3ca5e508 | 394 | return; |
GaspardD | 8:1d8c3ca5e508 | 395 | } |
GaspardD | 11:bc24b3ba51a9 | 396 | #endif |
GaspardD | 11:bc24b3ba51a9 | 397 | void sectionOutput(void) |
GaspardD | 8:1d8c3ca5e508 | 398 | { |
GaspardD | 11:bc24b3ba51a9 | 399 | |
GaspardD | 11:bc24b3ba51a9 | 400 | switch (st_currentSection) { |
GaspardD | 11:bc24b3ba51a9 | 401 | case RUNNING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 402 | break; |
GaspardD | 11:bc24b3ba51a9 | 403 | case LOADING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 404 | p_sectionCourante=p_sectionCourante->nextSection; |
GaspardD | 11:bc24b3ba51a9 | 405 | tachySectionDist_cm = 0; |
GaspardD | 11:bc24b3ba51a9 | 406 | break; |
GaspardD | 11:bc24b3ba51a9 | 407 | case ARRET: |
GaspardD | 11:bc24b3ba51a9 | 408 | wait(10);//on est à l'arret |
GaspardD | 11:bc24b3ba51a9 | 409 | break; |
GaspardD | 11:bc24b3ba51a9 | 410 | default: |
GaspardD | 11:bc24b3ba51a9 | 411 | break; |
GaspardD | 11:bc24b3ba51a9 | 412 | } |
GaspardD | 8:1d8c3ca5e508 | 413 | return; |
GaspardD | 8:1d8c3ca5e508 | 414 | } |
GaspardD | 8:1d8c3ca5e508 | 415 | |
GaspardD | 11:bc24b3ba51a9 | 416 | |
GaspardD | 11:bc24b3ba51a9 | 417 | void maxSpeedOutput(void) |
GaspardD | 8:1d8c3ca5e508 | 418 | { |
GaspardD | 11:bc24b3ba51a9 | 419 | switch(st_maxSpeed) |
GaspardD | 11:bc24b3ba51a9 | 420 | { |
GaspardD | 11:bc24b3ba51a9 | 421 | case SPEED_LIMITED: |
GaspardD | 11:bc24b3ba51a9 | 422 | maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps; |
GaspardD | 11:bc24b3ba51a9 | 423 | break; |
GaspardD | 11:bc24b3ba51a9 | 424 | case SPEED_VARIABLE: |
GaspardD | 11:bc24b3ba51a9 | 425 | maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps * (distLidar/(distLidar+p_sectionCourante->brakingCoefficient)); |
GaspardD | 11:bc24b3ba51a9 | 426 | break; |
GaspardD | 11:bc24b3ba51a9 | 427 | default: |
GaspardD | 11:bc24b3ba51a9 | 428 | maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps; |
GaspardD | 11:bc24b3ba51a9 | 429 | break; |
GaspardD | 11:bc24b3ba51a9 | 430 | } |
GaspardD | 8:1d8c3ca5e508 | 431 | return; |
GaspardD | 8:1d8c3ca5e508 | 432 | } |
GaspardD | 11:bc24b3ba51a9 | 433 | |
GaspardD | 11:bc24b3ba51a9 | 434 | void throttleOutput(void) |
GaspardD | 11:bc24b3ba51a9 | 435 | { |
GaspardD | 11:bc24b3ba51a9 | 436 | switch (st_thro) { |
GaspardD | 11:bc24b3ba51a9 | 437 | case UNDER_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 438 | ms_pwmSpeedPulse += p_sectionCourante->ms_accel; |
GaspardD | 11:bc24b3ba51a9 | 439 | break; |
GaspardD | 11:bc24b3ba51a9 | 440 | case OVER_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 441 | ms_pwmSpeedPulse -= p_sectionCourante->ms_decel; |
GaspardD | 11:bc24b3ba51a9 | 442 | break; |
GaspardD | 11:bc24b3ba51a9 | 443 | case AT_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 444 | default: |
GaspardD | 11:bc24b3ba51a9 | 445 | break; |
GaspardD | 11:bc24b3ba51a9 | 446 | } |
GaspardD | 11:bc24b3ba51a9 | 447 | return; |
GaspardD | 11:bc24b3ba51a9 | 448 | } |