Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

stateMachines.cpp@45:7d67809bd7bf, 2018-09-20 (annotated)

Committer:
GaspardD
Date:
Thu Sep 20 12:11:11 2018 +0000
Revision:
45:7d67809bd7bf
Parent:
44:69751c05a8f3
Child:
46:9262b07b0833
Child:
48:df2b4b6feceb
erreur d'innatention;

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 44:69751c05a8f3 123 bool dumped = false;
GaspardD 8:1d8c3ca5e508 124
GaspardD 19:771bf61be276 125
GaspardD 19:771bf61be276 126 // +++++++++++++++++++++++++++++++++++++++++++ SAMPLING +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 127 #ifdef SAMPLING
GaspardD 19:771bf61be276 128 s_Sample history[TAILLE_SAMPLES];
GaspardD 19:771bf61be276 129 int indexSample = 0;
GaspardD 19:771bf61be276 130 void initSamples(void)
GaspardD 19:771bf61be276 131 {
GaspardD 19:771bf61be276 132 for(int m=0; m<TAILLE_SAMPLES; m++) {
GaspardD 19:771bf61be276 133 history[m].states.murs_dlvv = '0';
GaspardD 19:771bf61be276 134 history[m].states.section = '0';
GaspardD 19:771bf61be276 135 history[m].states.maxSpeed = '0';
GaspardD 19:771bf61be276 136 history[m].states.throttle = '0';
GaspardD 19:771bf61be276 137 history[m].time = 0;
GaspardD 29:fc984fe08ca7 138 history[m].position45 = 0.0;
GaspardD 29:fc984fe08ca7 139 history[m].position90 = 0.0;
GaspardD 29:fc984fe08ca7 140 history[m].largeurPiste = 0.0;
GaspardD 29:fc984fe08ca7 141 history[m].dist = 0.0;
GaspardD 21:de7a0a47f8a3 142 history[m].pwm_thro_us = 0;
GaspardD 21:de7a0a47f8a3 143 history[m].pwm_dir_us = 0;
GaspardD 23:04d393220daa 144 history[m].distLidar = 0;
GaspardD 23:04d393220daa 145 history[m].strLidar = 0;
GaspardD 19:771bf61be276 146 }
GaspardD 21:de7a0a47f8a3 147 #if DEBUG > 0
GaspardD 19:771bf61be276 148 pc.printf("[INIT SAMPLE DONE]\r\n");
GaspardD 21:de7a0a47f8a3 149 #endif
GaspardD 19:771bf61be276 150 return;
GaspardD 19:771bf61be276 151 }
GaspardD 19:771bf61be276 152 void sampleLog(void)
GaspardD 19:771bf61be276 153 {
GaspardD 23:04d393220daa 154 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 23:04d393220daa 155 if(timerLog.read_us() > DUMP_SAMPLIG_PERIOD) {
GaspardD 22:26fc6e6f7a55 156 timerLog.reset();
GaspardD 22:26fc6e6f7a55 157 timerLog.start();
GaspardD 23:04d393220daa 158 #endif
GaspardD 22:26fc6e6f7a55 159 if(indexSample < TAILLE_SAMPLES) {
GaspardD 19:771bf61be276 160 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 161 history[indexSample].states.murs_dlvv = (char)st_obstacle;
GaspardD 19:771bf61be276 162 #else
GaspardD 22:26fc6e6f7a55 163 history[indexSample].states.murs_dlvv = (char)st_murs;
GaspardD 19:771bf61be276 164 #endif
GaspardD 22:26fc6e6f7a55 165 history[indexSample].states.section = (char)st_currentSection;
GaspardD 22:26fc6e6f7a55 166 history[indexSample].states.maxSpeed = (char)st_maxSpeed;
GaspardD 22:26fc6e6f7a55 167 history[indexSample].states.throttle = (char)st_thro;
GaspardD 22:26fc6e6f7a55 168 history[indexSample].time = timeSinceStart.read_us() ;
GaspardD 29:fc984fe08ca7 169 history[indexSample].position45 = positionSurPiste45;
GaspardD 29:fc984fe08ca7 170 history[indexSample].position90 = positionSurPiste90;
ohlimi2 36:bccddd02966a 171 history[indexSample].largeurPiste = largeurPiste90;
GaspardD 22:26fc6e6f7a55 172 history[indexSample].pwm_thro_us = pulseSpeed_us;
GaspardD 22:26fc6e6f7a55 173 history[indexSample].pwm_dir_us = pulseDirection_us;
GaspardD 22:26fc6e6f7a55 174 history[indexSample].dist = tachySectionDist_cm,
GaspardD 41:4dd36f607279 175 history[indexSample].distLidar = distLidar;
GaspardD 23:04d393220daa 176 history[indexSample].strLidar = strengthLidar;
GaspardD 23:04d393220daa 177 indexSample++;
GaspardD 19:771bf61be276 178 #if DEBUG > 0
ohlimi2 36:bccddd02966a 179 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 180 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 181 //wait(2);
GaspardD 22:26fc6e6f7a55 182 timeSinceStart.reset();
GaspardD 22:26fc6e6f7a55 183 timeSinceStart.start();
GaspardD 19:771bf61be276 184 #endif
GaspardD 22:26fc6e6f7a55 185 }
GaspardD 22:26fc6e6f7a55 186 return;
GaspardD 23:04d393220daa 187 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 19:771bf61be276 188 }
GaspardD 23:04d393220daa 189 #endif
GaspardD 19:771bf61be276 190 }
GaspardD 19:771bf61be276 191 void transmitData(void)
GaspardD 19:771bf61be276 192 {
GaspardD 21:de7a0a47f8a3 193 #if DEBUG > 0
GaspardD 19:771bf61be276 194 pc.printf("[START TO TRANSMIT]\r\n");
GaspardD 21:de7a0a47f8a3 195 #endif
GaspardD 39:de3638276b7e 196 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 197 for(int p=0; p<indexSample; p++) {
GaspardD 39:de3638276b7e 198 serialLidar.printf("%d,%.5f,%.5f,%.5f,%d,%d,%.5f,%d,%d,%d,%d\r\n",
GaspardD 21:de7a0a47f8a3 199 history[p].time,
GaspardD 29:fc984fe08ca7 200 history[p].position45,
GaspardD 29:fc984fe08ca7 201 history[p].position90,
GaspardD 39:de3638276b7e 202 history[p].largeurPiste,
GaspardD 21:de7a0a47f8a3 203 history[p].pwm_thro_us,
GaspardD 21:de7a0a47f8a3 204 history[p].pwm_dir_us,
GaspardD 21:de7a0a47f8a3 205 history[p].dist,
GaspardD 21:de7a0a47f8a3 206 history[p].states.murs_dlvv,
GaspardD 21:de7a0a47f8a3 207 history[p].states.section,
GaspardD 21:de7a0a47f8a3 208 history[p].states.maxSpeed,
GaspardD 21:de7a0a47f8a3 209 history[p].states.throttle);
GaspardD 19:771bf61be276 210 }
GaspardD 19:771bf61be276 211 return;
GaspardD 19:771bf61be276 212 }
GaspardD 19:771bf61be276 213
GaspardD 19:771bf61be276 214 #endif
GaspardD 19:771bf61be276 215
GaspardD 19:771bf61be276 216 // +++++++++++++++++++++++++++++++++++++++++++ FUNCTION UTILS +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 217
GaspardD 19:771bf61be276 218 #if DEBUG >= -1
GaspardD 19:771bf61be276 219 void pressed(void)
GaspardD 19:771bf61be276 220 {
GaspardD 21:de7a0a47f8a3 221 #if DEBUG > 0
GaspardD 19:771bf61be276 222 pc.printf("[BTN PRESSED]\r\n");
GaspardD 21:de7a0a47f8a3 223 #endif
GaspardD 44:69751c05a8f3 224 if(!dumped)
GaspardD 44:69751c05a8f3 225 {
GaspardD 19:771bf61be276 226 transmitData();
GaspardD 44:69751c05a8f3 227 dumped = true;
GaspardD 44:69751c05a8f3 228 }else{
GaspardD 44:69751c05a8f3 229 initSamples();
GaspardD 44:69751c05a8f3 230 p_sectionCourante = &p_section1;
GaspardD 44:69751c05a8f3 231 dumped = false;
GaspardD 44:69751c05a8f3 232 }
GaspardD 19:771bf61be276 233 }
GaspardD 19:771bf61be276 234 #endif
GaspardD 19:771bf61be276 235
GaspardD 29:fc984fe08ca7 236 void initIntegrationTable()
GaspardD 29:fc984fe08ca7 237 {
GaspardD 41:4dd36f607279 238 for(int h=0; h<NB_INTEGRAL_SAMPLES; h++) {
GaspardD 29:fc984fe08ca7 239 lastDifferences90[h] = 0;
GaspardD 29:fc984fe08ca7 240 }
GaspardD 29:fc984fe08ca7 241 return;
GaspardD 29:fc984fe08ca7 242 }
GaspardD 29:fc984fe08ca7 243
GaspardD 21:de7a0a47f8a3 244
GaspardD 29:fc984fe08ca7 245 double getShortDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 11:bc24b3ba51a9 246 {
GaspardD 29:fc984fe08ca7 247 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 248 //tension proportionelle à l'inverse de la distance en dessous de 2V
GaspardD 41:4dd36f607279 249 if(tab[index_fifo_ir]< 0.1034) {
GaspardD 41:4dd36f607279 250 tab[index_fifo_ir]= 0.11;
GaspardD 41:4dd36f607279 251 }
GaspardD 39:de3638276b7e 252 tab[index_fifo_ir] = (11.3531/(tab[index_fifo_ir]-0.1034))-0.42;
GaspardD 29:fc984fe08ca7 253
GaspardD 29:fc984fe08ca7 254 int sumMoy = 0;
GaspardD 29:fc984fe08ca7 255 for(int k=0; k<size; k++) {
GaspardD 29:fc984fe08ca7 256 sumMoy+=tab[k];
GaspardD 29:fc984fe08ca7 257 }
GaspardD 29:fc984fe08ca7 258 return sumMoy/size;
GaspardD 29:fc984fe08ca7 259 }
GaspardD 29:fc984fe08ca7 260
GaspardD 29:fc984fe08ca7 261 double getDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 29:fc984fe08ca7 262 {
GaspardD 29:fc984fe08ca7 263 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 264 //tension proportionelle à l'inverse de la distance
ohlimi2 36:bccddd02966a 265 tab[index_fifo_ir] = 1.0/(0.0161 * (double)tab[index_fifo_ir]);
GaspardD 11:bc24b3ba51a9 266 int sumMoy = 0;
GaspardD 19:771bf61be276 267 for(int k=0; k<size; k++) {
GaspardD 11:bc24b3ba51a9 268 sumMoy+=tab[k];
GaspardD 11:bc24b3ba51a9 269 }
GaspardD 11:bc24b3ba51a9 270 return sumMoy/size;
GaspardD 11:bc24b3ba51a9 271 }
GaspardD 39:de3638276b7e 272 void tachyCheck()
GaspardD 39:de3638276b7e 273 {
GaspardD 41:4dd36f607279 274 if(timerSinceTachy.read_us() > 500000) {
GaspardD 39:de3638276b7e 275 tachySpeed_cmps = 0.0;
GaspardD 39:de3638276b7e 276 }
GaspardD 41:4dd36f607279 277 return;
GaspardD 39:de3638276b7e 278 }
GaspardD 39:de3638276b7e 279
GaspardD 2:fd0ffe46a87d 280
GaspardD 12:51b1b40cc017 281 void it4cm()
GaspardD 12:51b1b40cc017 282 {
GaspardD 39:de3638276b7e 283 //le timer sert de flag sur le freinage:
GaspardD 39:de3638276b7e 284 //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 285 //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 286
ohlimi2 36:bccddd02966a 287 tachySectionDist_cm += TACHY_CM;
ohlimi2 36:bccddd02966a 288 tachyTotalDist_cm += TACHY_CM;
GaspardD 39:de3638276b7e 289 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 290 #if DEBUG > 2
ohlimi2 36:bccddd02966a 291 pc.printf("IT: distance parcourue %.4lf , vitesse:%.4lf \r\n",tachyTotalDist_cm,tachySpeed_cmps);
ohlimi2 36:bccddd02966a 292 #endif
GaspardD 39:de3638276b7e 293 timerSinceTachy.reset();
GaspardD 39:de3638276b7e 294 timerSinceTachy.start();
ohlimi2 36:bccddd02966a 295 return;
ohlimi2 36:bccddd02966a 296
GaspardD 19:771bf61be276 297 #if DEBUG > 0
GaspardD 14:d471faa7d1a2 298 pc.printf("IT tachy\r\n");
GaspardD 14:d471faa7d1a2 299 #endif
GaspardD 12:51b1b40cc017 300 }
GaspardD 12:51b1b40cc017 301
GaspardD 12:51b1b40cc017 302 void it_serial()
GaspardD 12:51b1b40cc017 303 {
GaspardD 12:51b1b40cc017 304 if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59
GaspardD 12:51b1b40cc017 305 uart[0]=HEADER;
GaspardD 12:51b1b40cc017 306 if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59
GaspardD 12:51b1b40cc017 307 uart[1]=HEADER;
GaspardD 12:51b1b40cc017 308 for(i=2; i<9; i++) { // store data to array
GaspardD 12:51b1b40cc017 309 uart[i]=serialLidar.getc();
GaspardD 12:51b1b40cc017 310 }
GaspardD 12:51b1b40cc017 311 check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
GaspardD 12:51b1b40cc017 312 if(uart[8]==(check&0xff)) { // check the received data as per protocols
GaspardD 23:04d393220daa 313 distLidarPrev = distLidar;
GaspardD 12:51b1b40cc017 314 distLidar=uart[2]+uart[3]*256;// calculate distance value
GaspardD 23:04d393220daa 315 strengthLidarPrev = strengthLidar;
GaspardD 12:51b1b40cc017 316 strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value
GaspardD 42:3f12252862b9 317 timersinceSerial.reset();
GaspardD 42:3f12252862b9 318 timersinceSerial.start();
GaspardD 12:51b1b40cc017 319 }
GaspardD 12:51b1b40cc017 320 }
GaspardD 12:51b1b40cc017 321 }
GaspardD 12:51b1b40cc017 322 }
GaspardD 19:771bf61be276 323 // +++++++++++++++++++++++++++++++++++++++++++ STATES MACHINES +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 324
GaspardD 8:1d8c3ca5e508 325 //########## INIT STATES MACHINES ##########
GaspardD 11:bc24b3ba51a9 326 void mursInit(void)
GaspardD 8:1d8c3ca5e508 327 {
GaspardD 39:de3638276b7e 328 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 329 pc.printf("Init Murs\r\n");
GaspardD 13:af9a59ccf60b 330 #endif
GaspardD 13:af9a59ccf60b 331 timeSinceStart.start();
GaspardD 29:fc984fe08ca7 332 st_murs=REF_BIDIR;
GaspardD 19:771bf61be276 333 PwmDirection.period_us(SPEED_PERIOD_US);
GaspardD 17:8c465656eea4 334 PwmDirection.pulsewidth_us(DIRECTION_PULSE_MIDDLE);// milieu
GaspardD 8:1d8c3ca5e508 335 return;
GaspardD 8:1d8c3ca5e508 336 }
GaspardD 11:bc24b3ba51a9 337 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 338 void obstacleInit(void)
GaspardD 8:1d8c3ca5e508 339 {
GaspardD 19:771bf61be276 340 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 341 pc.printf("Init Obstacle\r\n");
GaspardD 13:af9a59ccf60b 342 #endif
GaspardD 29:fc984fe08ca7 343 st_speedLimit=ALL_CLEAR;
GaspardD 8:1d8c3ca5e508 344 return;
GaspardD 8:1d8c3ca5e508 345 }
GaspardD 11:bc24b3ba51a9 346 #endif
GaspardD 11:bc24b3ba51a9 347 void sectionInit(void)
GaspardD 2:fd0ffe46a87d 348 {
GaspardD 19:771bf61be276 349 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 350 pc.printf("Init Section\r\n");
GaspardD 13:af9a59ccf60b 351 #endif
GaspardD 11:bc24b3ba51a9 352 st_currentSection=ARRET;
GaspardD 14:d471faa7d1a2 353 p_sectionCourante=&p_section1;
GaspardD 12:51b1b40cc017 354 it_tachymeter.fall(&it4cm);
GaspardD 39:de3638276b7e 355 timerSinceTachy.start();
GaspardD 39:de3638276b7e 356 tachySectionDist_cm = 0;
GaspardD 39:de3638276b7e 357 tachyStepsRegister = 0;
GaspardD 11:bc24b3ba51a9 358
GaspardD 23:04d393220daa 359 //section de test 1
GaspardD 23:04d393220daa 360 p_section1.nextSection =NULL;// &p_section2;
GaspardD 29:fc984fe08ca7 361 p_section1.consigne_position = 75.0;
GaspardD 39:de3638276b7e 362 p_section1.targetSpeed_cmps = 400.0;
GaspardD 40:b9450d753782 363 p_section1.targetSpeed_cmps = 500.0;
GaspardD 29:fc984fe08ca7 364 p_section1.slowSpeed_cmps = 328.0;
GaspardD 21:de7a0a47f8a3 365 p_section1.coef_p_speed = 1;
GaspardD 29:fc984fe08ca7 366 p_section1.lidarWarningDist_cm = 120.0;
GaspardD 40:b9450d753782 367 p_section1.lng_section_cm = 2000.0;//20m
GaspardD 40:b9450d753782 368 p_section1.coef_p = 0.40;
GaspardD 40:b9450d753782 369 p_section1.coef_d = 0.05;
GaspardD 40:b9450d753782 370 p_section1.coef_i = 0.001;
GaspardD 39:de3638276b7e 371
GaspardD 39:de3638276b7e 372 //section de test
GaspardD 39:de3638276b7e 373 p_section2.nextSection = NULL;
GaspardD 39:de3638276b7e 374 p_section2.consigne_position = 75.0;
GaspardD 39:de3638276b7e 375 p_section2.targetSpeed_cmps = 328.0;
GaspardD 39:de3638276b7e 376 p_section2.slowSpeed_cmps = 328.0;
GaspardD 39:de3638276b7e 377 p_section2.coef_p_speed = 1.0;
GaspardD 39:de3638276b7e 378 p_section2.lidarWarningDist_cm = 300.0;
GaspardD 39:de3638276b7e 379 p_section2.lng_section_cm = 200.0;//2m
GaspardD 39:de3638276b7e 380 p_section2.coef_p = 1;
GaspardD 39:de3638276b7e 381 p_section2.coef_i = 0.00001;
GaspardD 39:de3638276b7e 382 p_section2.coef_d = 0.00001;
GaspardD 23:04d393220daa 383
GaspardD 8:1d8c3ca5e508 384 return;
GaspardD 8:1d8c3ca5e508 385 }
GaspardD 11:bc24b3ba51a9 386
GaspardD 11:bc24b3ba51a9 387 void maxSpeedInit(void)
GaspardD 11:bc24b3ba51a9 388 {
GaspardD 19:771bf61be276 389 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 390 pc.printf("Init Max Speed\r\n");
GaspardD 13:af9a59ccf60b 391 #endif
GaspardD 11:bc24b3ba51a9 392 st_maxSpeed=SPEED_MAX;
GaspardD 11:bc24b3ba51a9 393 maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps;
GaspardD 11:bc24b3ba51a9 394 serialLidar.baud(115200);
GaspardD 14:d471faa7d1a2 395 serialLidar.attach(&it_serial);
GaspardD 11:bc24b3ba51a9 396 return;
GaspardD 11:bc24b3ba51a9 397 }
GaspardD 11:bc24b3ba51a9 398
GaspardD 11:bc24b3ba51a9 399 void throttleInit(void)
GaspardD 8:1d8c3ca5e508 400 {
GaspardD 19:771bf61be276 401 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 402 pc.printf("Init Throttle\r\n");
GaspardD 13:af9a59ccf60b 403 #endif
GaspardD 21:de7a0a47f8a3 404 st_thro = REGULATION_SPEED;
ohlimi2 36:bccddd02966a 405 PwmMotor.period_us(DIRECTION_PERIOD_MS); //20 ms is default
GaspardD 19:771bf61be276 406 PwmMotor.pulsewidth_us(1000);//MIN
GaspardD 12:51b1b40cc017 407 wait(3);
GaspardD 19:771bf61be276 408 PwmMotor.pulsewidth_us(2000);//MAX
GaspardD 12:51b1b40cc017 409 wait(1);
GaspardD 19:771bf61be276 410 PwmMotor.pulsewidth_us(1500);//ZEROING
GaspardD 12:51b1b40cc017 411 wait(1);
GaspardD 19:771bf61be276 412 pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 19:771bf61be276 413 #if DEBUG > 0
ohlimi2 36:bccddd02966a 414 pc.printf("temps init: %.4lf micros\r\n",timeSinceStart.read_us());
ohlimi2 36:bccddd02966a 415 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 416 timeSinceStart.reset();
GaspardD 13:af9a59ccf60b 417 timeSinceStart.start();
GaspardD 13:af9a59ccf60b 418 #endif
GaspardD 23:04d393220daa 419 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 420 timerLog.start();
GaspardD 22:26fc6e6f7a55 421 #endif
GaspardD 22:26fc6e6f7a55 422
GaspardD 8:1d8c3ca5e508 423 return;
GaspardD 8:1d8c3ca5e508 424 }
GaspardD 2:fd0ffe46a87d 425
GaspardD 8:1d8c3ca5e508 426
GaspardD 8:1d8c3ca5e508 427 //########## UPDATE STATES ##########
GaspardD 11:bc24b3ba51a9 428 void mursUpdate(void)
GaspardD 2:fd0ffe46a87d 429 {
GaspardD 14:d471faa7d1a2 430 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 431 pc.printf("\r\nUpdate MURS\r\n");
GaspardD 14:d471faa7d1a2 432 #endif
GaspardD 11:bc24b3ba51a9 433 //lectures
GaspardD 29:fc984fe08ca7 434
GaspardD 29:fc984fe08ca7 435 distMurG45Moy = getDistMoy(&anaG45,distMurG45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 436 distMurD45Moy = getDistMoy(&anaD45,distMurD45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 437 distMurG90Moy = getDistMoy(&anaG90,distMurG90,NB_ECHANTILLONS_IR);
ohlimi2 36:bccddd02966a 438 distMurD90Moy = getDistMoy(&anaD90,distMurD90,NB_ECHANTILLONS_IR);
GaspardD 39:de3638276b7e 439 shortDistMurG90Moy = getShortDistMoy(&anaShortG90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 39:de3638276b7e 440 shortDistMurD90Moy = getShortDistMoy(&anaShortD90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 11:bc24b3ba51a9 441 index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR;
GaspardD 29:fc984fe08ca7 442
ohlimi2 36:bccddd02966a 443
GaspardD 41:4dd36f607279 444 trueDistMurD90Moy = distMurD90Moy;
GaspardD 41:4dd36f607279 445 trueDistMurG90Moy = distMurG90Moy;
GaspardD 39:de3638276b7e 446
GaspardD 41:4dd36f607279 447 if(shortDistMurG90Moy < DIST_MIN_LONG_CM) {
GaspardD 29:fc984fe08ca7 448 trueDistMurG90Moy = shortDistMurG90Moy;
GaspardD 41:4dd36f607279 449 } else {
GaspardD 29:fc984fe08ca7 450 trueDistMurG90Moy = distMurG90Moy;
GaspardD 29:fc984fe08ca7 451 }
GaspardD 41:4dd36f607279 452 if(shortDistMurD90Moy < DIST_MIN_LONG_CM) {
GaspardD 29:fc984fe08ca7 453 trueDistMurD90Moy = shortDistMurD90Moy;
GaspardD 41:4dd36f607279 454 } else {
GaspardD 29:fc984fe08ca7 455 trueDistMurD90Moy = distMurD90Moy;
GaspardD 39:de3638276b7e 456 }
ohlimi2 36:bccddd02966a 457
GaspardD 29:fc984fe08ca7 458
GaspardD 29:fc984fe08ca7 459 #ifdef DLVV
GaspardD 29:fc984fe08ca7 460 switch (st_obstacle) {
GaspardD 41:4dd36f607279 461 case FRONT_OBSTRUCTED:
GaspardD 41:4dd36f607279 462 st_tmpMurs = REF_A_GAUCHE;
GaspardD 41:4dd36f607279 463 return;
GaspardD 41:4dd36f607279 464 case RIGHT_OBSTRUCTED:
GaspardD 41:4dd36f607279 465 st_tmpMurs = REF_A_GAUCHE;
GaspardD 41:4dd36f607279 466 return;
GaspardD 41:4dd36f607279 467 case LEFT_OBSTRUCTED:
GaspardD 41:4dd36f607279 468 st_tmpMurs = REF_A_DROITE;
GaspardD 41:4dd36f607279 469 return;
GaspardD 41:4dd36f607279 470 default:
GaspardD 41:4dd36f607279 471 break;
GaspardD 29:fc984fe08ca7 472 }
GaspardD 29:fc984fe08ca7 473
GaspardD 29:fc984fe08ca7 474 #endif
GaspardD 41:4dd36f607279 475 st_tmpMurs = REF_BIDIR;
GaspardD 29:fc984fe08ca7 476
GaspardD 41:4dd36f607279 477 st_murs = st_tmpMurs;
GaspardD 12:51b1b40cc017 478
GaspardD 8:1d8c3ca5e508 479 return;
GaspardD 8:1d8c3ca5e508 480 }
GaspardD 11:bc24b3ba51a9 481 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 482 void obstacleUpdate(void)
GaspardD 8:1d8c3ca5e508 483 {
GaspardD 8:1d8c3ca5e508 484 return;
GaspardD 8:1d8c3ca5e508 485 }
GaspardD 11:bc24b3ba51a9 486 #endif
GaspardD 11:bc24b3ba51a9 487
GaspardD 11:bc24b3ba51a9 488 void sectionUpdate(void)
GaspardD 8:1d8c3ca5e508 489 {
GaspardD 14:d471faa7d1a2 490 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 491 pc.printf("\r\nUpdate Section\r\n");
GaspardD 14:d471faa7d1a2 492 #endif
GaspardD 43:d2164ee3336a 493
GaspardD 43:d2164ee3336a 494 if(p_sectionCourante == NULL) {
GaspardD 43:d2164ee3336a 495 st_tmpSection = ARRET;
GaspardD 43:d2164ee3336a 496 } else {
GaspardD 43:d2164ee3336a 497
GaspardD 43:d2164ee3336a 498 switch (st_currentSection) {
GaspardD 43:d2164ee3336a 499 case RUNNING_SECTION:
GaspardD 43:d2164ee3336a 500 if(tachySectionDist_cm > p_sectionCourante->lng_section_cm) { //on pourrait rajouter un test lidar
GaspardD 43:d2164ee3336a 501 st_tmpSection = LOADING_SECTION;
GaspardD 43:d2164ee3336a 502 } else {
GaspardD 43:d2164ee3336a 503 return;
GaspardD 43:d2164ee3336a 504 }
GaspardD 43:d2164ee3336a 505 break;
GaspardD 43:d2164ee3336a 506 case LOADING_SECTION:
GaspardD 43:d2164ee3336a 507 if(p_sectionCourante != NULL) { //la section a ete chargee dans sectionOutput
GaspardD 43:d2164ee3336a 508 st_tmpSection = RUNNING_SECTION;
GaspardD 43:d2164ee3336a 509 } else {
GaspardD 43:d2164ee3336a 510 st_tmpSection=ARRET;
GaspardD 43:d2164ee3336a 511 }
GaspardD 43:d2164ee3336a 512 break;
GaspardD 43:d2164ee3336a 513 case ARRET:
GaspardD 43:d2164ee3336a 514 if(p_sectionCourante != NULL) {
GaspardD 43:d2164ee3336a 515 st_tmpSection = RUNNING_SECTION;
GaspardD 43:d2164ee3336a 516 } else {
GaspardD 43:d2164ee3336a 517 return;
GaspardD 43:d2164ee3336a 518 }
GaspardD 43:d2164ee3336a 519 break;
GaspardD 43:d2164ee3336a 520 default:
GaspardD 43:d2164ee3336a 521 break;
GaspardD 43:d2164ee3336a 522 }
GaspardD 11:bc24b3ba51a9 523 }
GaspardD 11:bc24b3ba51a9 524 st_currentSection = st_tmpSection;
GaspardD 8:1d8c3ca5e508 525 return;
GaspardD 8:1d8c3ca5e508 526 }
GaspardD 8:1d8c3ca5e508 527
GaspardD 11:bc24b3ba51a9 528 void maxSpeedUpdate(void)
GaspardD 8:1d8c3ca5e508 529 {
GaspardD 14:d471faa7d1a2 530 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 531 pc.printf("\r\nUpdate MaxSpeed\r\n");
GaspardD 14:d471faa7d1a2 532 #endif
GaspardD 45:7d67809bd7bf 533 if(p_sectionCourante == NULL) {
GaspardD 43:d2164ee3336a 534 st_tmpMaxSpeed = BLOCKED;
GaspardD 43:d2164ee3336a 535 } else if(st_maxSpeed == BLOCKED && strengthLidar > LIDAR_STRENGTH_THRESOLD && distLidar < p_sectionCourante->lidarWarningDist_cm) {
GaspardD 41:4dd36f607279 536 st_tmpMaxSpeed = BLOCKED;
GaspardD 41:4dd36f607279 537 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD ) {
GaspardD 23:04d393220daa 538 if( distLidar > p_sectionCourante->lidarWarningDist_cm ) {
GaspardD 19:771bf61be276 539 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 29:fc984fe08ca7 540 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 541 strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 542 distLidar < p_sectionCourante->lidarWarningDist_cm &&
GaspardD 41:4dd36f607279 543 distLidarPrev-distLidar > 3) {
GaspardD 21:de7a0a47f8a3 544 st_tmpMaxSpeed = BLOCKED;
GaspardD 41:4dd36f607279 545 } else {
GaspardD 24:698fefbbee00 546 st_tmpMaxSpeed = SPEED_WARNING;
GaspardD 24:698fefbbee00 547 }
GaspardD 21:de7a0a47f8a3 548 } else {
GaspardD 11:bc24b3ba51a9 549 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 11:bc24b3ba51a9 550 }
GaspardD 11:bc24b3ba51a9 551
GaspardD 11:bc24b3ba51a9 552 st_maxSpeed = st_tmpMaxSpeed;
GaspardD 11:bc24b3ba51a9 553 return;
GaspardD 11:bc24b3ba51a9 554 }
GaspardD 11:bc24b3ba51a9 555
GaspardD 11:bc24b3ba51a9 556 void throttleUpdate(void)
GaspardD 11:bc24b3ba51a9 557 {
GaspardD 14:d471faa7d1a2 558 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 559 pc.printf("\r\nUpdate Throttle\r\n");
GaspardD 14:d471faa7d1a2 560 #endif
GaspardD 11:bc24b3ba51a9 561 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 562 case REGULATION_SPEED:
GaspardD 24:698fefbbee00 563 if( st_currentSection == ARRET ||
GaspardD 41:4dd36f607279 564 st_maxSpeed == BLOCKED ) {
GaspardD 19:771bf61be276 565 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 566 }
GaspardD 27:f8c3f1524a64 567 #ifdef FREINAGE_ADAPTATIF
GaspardD 41:4dd36f607279 568 else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS)) {
GaspardD 24:698fefbbee00 569 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 570 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 571 brakingTimer.reset();
GaspardD 24:698fefbbee00 572 brakingTimer.start();
GaspardD 27:f8c3f1524a64 573 }
GaspardD 27:f8c3f1524a64 574 #endif
GaspardD 41:4dd36f607279 575 else {
GaspardD 19:771bf61be276 576 return;
GaspardD 19:771bf61be276 577 }
GaspardD 19:771bf61be276 578 break;
GaspardD 16:63690703b5b6 579 case BRAKING:
GaspardD 42:3f12252862b9 580 if(st_maxSpeed == BLOCKED && timersinceSerial.read_us() > 200000) {
GaspardD 42:3f12252862b9 581 p_sectionCourante= NULL;
GaspardD 42:3f12252862b9 582 st_tmpThro = STOPPED;
GaspardD 42:3f12252862b9 583 } else if( st_maxSpeed == BLOCKED
GaspardD 41:4dd36f607279 584 #ifdef FREINAGE_ADAPTATIF
GaspardD 42:3f12252862b9 585 || brakingTimer.read_us() < brakingDurationNeeded_us
GaspardD 41:4dd36f607279 586 #endif
GaspardD 42:3f12252862b9 587 ) {
GaspardD 23:04d393220daa 588 st_tmpThro = BRAKING;
GaspardD 41:4dd36f607279 589 } else if(st_currentSection == ARRET) {
GaspardD 21:de7a0a47f8a3 590 st_tmpThro = STOPPED;
GaspardD 41:4dd36f607279 591 } else {
GaspardD 41:4dd36f607279 592 #ifdef FREINAGE_ADAPTATIF
GaspardD 24:698fefbbee00 593 brakingDurationNeeded_us = 0;
GaspardD 41:4dd36f607279 594 #endif
GaspardD 21:de7a0a47f8a3 595 st_tmpThro = REGULATION_SPEED;
GaspardD 21:de7a0a47f8a3 596 }
GaspardD 19:771bf61be276 597 break;
GaspardD 19:771bf61be276 598 case STOPPED:
GaspardD 19:771bf61be276 599 if(st_currentSection == RUNNING_SECTION) {
GaspardD 22:26fc6e6f7a55 600 st_tmpThro = REGULATION_SPEED;
GaspardD 19:771bf61be276 601 } else {
GaspardD 19:771bf61be276 602 st_tmpThro = STOPPED;
GaspardD 16:63690703b5b6 603 }
GaspardD 19:771bf61be276 604 break;
GaspardD 19:771bf61be276 605 default:
GaspardD 19:771bf61be276 606 break;
GaspardD 11:bc24b3ba51a9 607 }
GaspardD 11:bc24b3ba51a9 608 st_thro = st_tmpThro;
GaspardD 8:1d8c3ca5e508 609 return;
GaspardD 8:1d8c3ca5e508 610 }
GaspardD 2:fd0ffe46a87d 611
GaspardD 8:1d8c3ca5e508 612 //########## OUTPUT STATES ##########
GaspardD 11:bc24b3ba51a9 613 //updating output parameters
GaspardD 11:bc24b3ba51a9 614 void mursOutput(void)
GaspardD 12:51b1b40cc017 615 {
GaspardD 43:d2164ee3336a 616 if(p_sectionCourante != NULL) {
GaspardD 43:d2164ee3336a 617 //pour dériver
GaspardD 43:d2164ee3336a 618 positionSurPiste45Prev = positionSurPiste45;
GaspardD 43:d2164ee3336a 619 positionSurPiste90Prev = positionSurPiste90;
GaspardD 14:d471faa7d1a2 620 #if (DEBUG > 3)
GaspardD 43:d2164ee3336a 621 pc.printf("\r\n Output MURS\r\n");
GaspardD 14:d471faa7d1a2 622 #endif
GaspardD 23:04d393220daa 623
GaspardD 43:d2164ee3336a 624 switch (st_murs) {
GaspardD 43:d2164ee3336a 625 case REF_A_GAUCHE://par defaut, on compte à partir de la bordure gauche
GaspardD 43:d2164ee3336a 626 largeurPiste90 = 150.0;
GaspardD 43:d2164ee3336a 627 positionSurPiste90 = ( trueDistMurG90Moy + DEMI_LARGEUR_BINIOU_CM );
GaspardD 43:d2164ee3336a 628 positionSurPiste45 = ( distMurG45Moy * 1.414214/2.0 ) + DEMI_LARGEUR_BINIOU_CM;
GaspardD 39:de3638276b7e 629 #ifdef OMAR
GaspardD 43:d2164ee3336a 630 pc.printf("REF_A_GAUCHE\r\n");
GaspardD 39:de3638276b7e 631 #endif
GaspardD 43:d2164ee3336a 632 break;
GaspardD 43:d2164ee3336a 633 case REF_A_DROITE://par defaut, on compte à partir de la bordure gauche
GaspardD 43:d2164ee3336a 634 largeurPiste90 = 150.0;
GaspardD 43:d2164ee3336a 635 positionSurPiste90 = largeurPiste90 - ( DEMI_LARGEUR_BINIOU_CM + trueDistMurD90Moy ) ;
GaspardD 43:d2164ee3336a 636 positionSurPiste45 = largeurPiste90 - ( distMurD45Moy * (1.414214)/2 ) + DEMI_LARGEUR_BINIOU_CM;
GaspardD 39:de3638276b7e 637 #ifdef OMAR
GaspardD 43:d2164ee3336a 638 pc.printf("REF_A_DROITE\r\n");
GaspardD 39:de3638276b7e 639 #endif
GaspardD 43:d2164ee3336a 640 break;
GaspardD 43:d2164ee3336a 641 default://REF_BIDIR
GaspardD 43:d2164ee3336a 642 largeurPiste90 = trueDistMurG90Moy + trueDistMurD90Moy ;
GaspardD 43:d2164ee3336a 643 largeurPiste45 = distMurG45Moy + distMurD45Moy ;
GaspardD 43:d2164ee3336a 644 positionSurPiste90 = (trueDistMurG90Moy );
GaspardD 43:d2164ee3336a 645 positionSurPiste45 = (distMurG45Moy);
GaspardD 39:de3638276b7e 646 #ifdef OMAR
GaspardD 43:d2164ee3336a 647 pc.printf("REF_BIDIR\r\n");
GaspardD 39:de3638276b7e 648 #endif
GaspardD 43:d2164ee3336a 649 break;
GaspardD 43:d2164ee3336a 650 }
GaspardD 23:04d393220daa 651
GaspardD 22:26fc6e6f7a55 652
GaspardD 43:d2164ee3336a 653 //deriv correction
GaspardD 43:d2164ee3336a 654 derive45 = positionSurPiste45 - positionSurPiste45Prev;
GaspardD 43:d2164ee3336a 655 derive90 = positionSurPiste90 - positionSurPiste90Prev;
GaspardD 39:de3638276b7e 656
GaspardD 39:de3638276b7e 657 #ifdef OMAR/*
GaspardD 43:d2164ee3336a 658 pc.printf("derive45 => %.4lf \r\n ",derive45);
GaspardD 43:d2164ee3336a 659 pc.printf("derive90 => %.4lf \r\n ",derive90);
GaspardD 43:d2164ee3336a 660 pc.printf("distMurG45Moy => %.4lf \r\n ",distMurG45Moy);
GaspardD 43:d2164ee3336a 661 pc.printf("distMurD45Moy => %.4lf \r\n ",distMurD45Moy);
GaspardD 43:d2164ee3336a 662 pc.printf("trueDistMurG90Moy => %.4lf \r\n ",trueDistMurG90Moy);
GaspardD 43:d2164ee3336a 663 pc.printf("trueDistMurD90Moy => %.4lf \r\n ",trueDistMurD90Moy);
GaspardD 43:d2164ee3336a 664 pc.printf("positionSurPiste90 => %.4lf \r\n ",positionSurPiste90);
GaspardD 43:d2164ee3336a 665 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
GaspardD 43:d2164ee3336a 666 pc.printf("largeurPiste90 => %.4lf \r\n ",largeurPiste90);*/
GaspardD 39:de3638276b7e 667 #endif
GaspardD 39:de3638276b7e 668
GaspardD 43:d2164ee3336a 669 //integral correction
GaspardD 43:d2164ee3336a 670 lastDifferences90[lastDifferenceIndex] = (p_sectionCourante->consigne_position - positionSurPiste90);
GaspardD 43:d2164ee3336a 671 integralSum=0;
GaspardD 43:d2164ee3336a 672 for(int f=0; f<NB_INTEGRAL_SAMPLES; f++) {
GaspardD 43:d2164ee3336a 673 integralSum+=lastDifferences90[f];
GaspardD 43:d2164ee3336a 674 }
GaspardD 43:d2164ee3336a 675 lastDifferenceIndex = (lastDifferenceIndex + 1)%NB_INTEGRAL_SAMPLES;
GaspardD 39:de3638276b7e 676
GaspardD 41:4dd36f607279 677
GaspardD 41:4dd36f607279 678
GaspardD 41:4dd36f607279 679
GaspardD 43:d2164ee3336a 680 //application des coefficients
GaspardD 41:4dd36f607279 681
GaspardD 43:d2164ee3336a 682 pulseDirection_us = (int)(
GaspardD 43:d2164ee3336a 683 ((positionSurPiste45 - (largeurPiste45/2.0)) * p_sectionCourante->coef_p)
GaspardD 43:d2164ee3336a 684 + ((positionSurPiste90 - (largeurPiste90/2.0)) * p_sectionCourante->coef_p)
GaspardD 43:d2164ee3336a 685 + ( -derive45 * p_sectionCourante->coef_d)
GaspardD 43:d2164ee3336a 686 + ( -derive90 * p_sectionCourante->coef_d)
GaspardD 43:d2164ee3336a 687 + ( integralSum * p_sectionCourante->coef_i)
GaspardD 43:d2164ee3336a 688 )* (300.0/(tachySpeed_cmps+1.0)) // faire du test reel pour afiné ou un calcul
GaspardD 43:d2164ee3336a 689 + DIRECTION_PULSE_MIDDLE;
GaspardD 41:4dd36f607279 690
GaspardD 41:4dd36f607279 691
GaspardD 39:de3638276b7e 692 #ifdef OMAR
GaspardD 43:d2164ee3336a 693 pc.printf("p_sectionCourante->consigne_position => %.4lf \r\n ",p_sectionCourante->consigne_position);
GaspardD 43:d2164ee3336a 694 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
GaspardD 43:d2164ee3336a 695 pc.printf("p_sectionCourante->coef_p => %.4lf \r\n ",p_sectionCourante->coef_p);
GaspardD 39:de3638276b7e 696 #endif
GaspardD 21:de7a0a47f8a3 697 //gestioon du dépassement
GaspardD 43:d2164ee3336a 698 if(pulseDirection_us > DIRECTION_PULSE_MAX) { //POUR TOURNER A GAUCHE
GaspardD 19:771bf61be276 699 #if DEBUG > 1
GaspardD 43:d2164ee3336a 700 pc.printf("!!! OVER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 701 #endif
GaspardD 43:d2164ee3336a 702 pulseDirection_us = DIRECTION_PULSE_MAX;
GaspardD 43:d2164ee3336a 703 } else if(pulseDirection_us < DIRECTION_PULSE_MIN ) { //POUR TOURNER A DROITE
GaspardD 21:de7a0a47f8a3 704 #if DEBUG > 1
GaspardD 43:d2164ee3336a 705 pc.printf("!!! UNDER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 19:771bf61be276 706 #endif
GaspardD 43:d2164ee3336a 707 pulseDirection_us = DIRECTION_PULSE_MIN ;
GaspardD 43:d2164ee3336a 708 }
GaspardD 21:de7a0a47f8a3 709 #if DEBUG > 1
GaspardD 43:d2164ee3336a 710 pc.printf("PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 711 #endif
GaspardD 43:d2164ee3336a 712 PwmDirection.pulsewidth_us(pulseDirection_us);
GaspardD 43:d2164ee3336a 713 return;
GaspardD 43:d2164ee3336a 714 }
GaspardD 8:1d8c3ca5e508 715 }
GaspardD 8:1d8c3ca5e508 716
GaspardD 11:bc24b3ba51a9 717 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 718 void obstacleOutput(void)
GaspardD 8:1d8c3ca5e508 719 {
GaspardD 8:1d8c3ca5e508 720 return;
GaspardD 8:1d8c3ca5e508 721 }
GaspardD 11:bc24b3ba51a9 722 #endif
GaspardD 11:bc24b3ba51a9 723 void sectionOutput(void)
GaspardD 8:1d8c3ca5e508 724 {
GaspardD 14:d471faa7d1a2 725 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 726 pc.printf("\r\n Output Section\r\n");
GaspardD 14:d471faa7d1a2 727 #endif
GaspardD 43:d2164ee3336a 728 if(p_sectionCourante !=NULL) {
GaspardD 43:d2164ee3336a 729 switch (st_currentSection) {
GaspardD 43:d2164ee3336a 730 case RUNNING_SECTION:
GaspardD 43:d2164ee3336a 731 break;
GaspardD 43:d2164ee3336a 732 case LOADING_SECTION:
GaspardD 43:d2164ee3336a 733 p_sectionCourante=p_sectionCourante->nextSection;
GaspardD 43:d2164ee3336a 734 tachySectionDist_cm = 0;
GaspardD 43:d2164ee3336a 735 break;
GaspardD 43:d2164ee3336a 736 case ARRET:
GaspardD 43:d2164ee3336a 737 //on est à l'arret
GaspardD 43:d2164ee3336a 738 break;
GaspardD 43:d2164ee3336a 739 default:
GaspardD 43:d2164ee3336a 740 break;
GaspardD 43:d2164ee3336a 741 }
GaspardD 11:bc24b3ba51a9 742 }
GaspardD 8:1d8c3ca5e508 743 return;
GaspardD 8:1d8c3ca5e508 744 }
GaspardD 8:1d8c3ca5e508 745
GaspardD 11:bc24b3ba51a9 746
GaspardD 11:bc24b3ba51a9 747 void maxSpeedOutput(void)
GaspardD 8:1d8c3ca5e508 748 {
GaspardD 14:d471faa7d1a2 749 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 750 pc.printf("\r\n Output MAX SPEED\r\n");
GaspardD 14:d471faa7d1a2 751 #endif
GaspardD 43:d2164ee3336a 752 if(p_sectionCourante !=NULL) {
GaspardD 43:d2164ee3336a 753 switch(st_maxSpeed) {
GaspardD 43:d2164ee3336a 754 case BLOCKED:
GaspardD 43:d2164ee3336a 755 maxSpeed_cmps = 0;
GaspardD 43:d2164ee3336a 756 break;
GaspardD 43:d2164ee3336a 757 case SPEED_WARNING:
GaspardD 43:d2164ee3336a 758 maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps;
GaspardD 43:d2164ee3336a 759 break;
GaspardD 43:d2164ee3336a 760 default:
GaspardD 43:d2164ee3336a 761 maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps;
GaspardD 43:d2164ee3336a 762 break;
GaspardD 43:d2164ee3336a 763 }
GaspardD 43:d2164ee3336a 764 } else {
GaspardD 43:d2164ee3336a 765 maxSpeed_cmps = 0.0;
GaspardD 11:bc24b3ba51a9 766 }
GaspardD 8:1d8c3ca5e508 767 return;
GaspardD 8:1d8c3ca5e508 768 }
GaspardD 11:bc24b3ba51a9 769
GaspardD 11:bc24b3ba51a9 770 void throttleOutput(void)
GaspardD 11:bc24b3ba51a9 771 {
GaspardD 14:d471faa7d1a2 772 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 773 pc.printf("\r\n Output TROTTLE\r\n");
GaspardD 14:d471faa7d1a2 774 #endif
GaspardD 11:bc24b3ba51a9 775 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 776 case REGULATION_SPEED:
GaspardD 22:26fc6e6f7a55 777 pulseSpeed_us = maxSpeed_cmps * 279 / 2048 + 1558 ;
GaspardD 19:771bf61be276 778 break;
GaspardD 19:771bf61be276 779 case BRAKING:
GaspardD 16:63690703b5b6 780 #if DEBUG > 2
GaspardD 19:771bf61be276 781 pc.printf("BRAKINGGGGGGGGGGGGGGGGGG !!! \r\n");
GaspardD 19:771bf61be276 782 #endif
GaspardD 19:771bf61be276 783 pulseSpeed_us = BRAKING_PULSE_US;
GaspardD 19:771bf61be276 784 break;
GaspardD 19:771bf61be276 785 case STOPPED:
GaspardD 19:771bf61be276 786 #if DEBUG > 2
GaspardD 19:771bf61be276 787 pc.printf("STOPPED\r\n");
GaspardD 16:63690703b5b6 788 #endif
GaspardD 19:771bf61be276 789 pulseSpeed_us = ZERO_PULSE_SPEED_US;
GaspardD 19:771bf61be276 790 break;
GaspardD 19:771bf61be276 791 default:
GaspardD 19:771bf61be276 792 break;
GaspardD 11:bc24b3ba51a9 793 }
GaspardD 22:26fc6e6f7a55 794
GaspardD 19:771bf61be276 795 PwmMotor.pulsewidth_us(pulseSpeed_us);
GaspardD 15:129f205ff030 796 #if DEBUG > 1
ohlimi2 36:bccddd02966a 797 pc.printf("PWM Thro pulse: %.4lf micros\r\n",pulseSpeed_us);
GaspardD 13:af9a59ccf60b 798 #endif
GaspardD 11:bc24b3ba51a9 799 return;
GaspardD 11:bc24b3ba51a9 800 }