Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

stateMachines.cpp@38:dba82d8b08e2, 2018-09-19 (annotated)

Committer:
ohlimi2
Date:
Wed Sep 19 11:51:26 2018 +0000
Revision:
38:dba82d8b08e2
Parent:
37:810cdbcbbf3f
Child:
39:de3638276b7e
correction des coefficients de PID

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 33:88d8f254c0b7 14 Timer timerSinceGetTachy;
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;
ohlimi2 38:dba82d8b08e2 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
ohlimi2 36:bccddd02966a 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 29:fc984fe08ca7 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 29:fc984fe08ca7 194 serialLidar.printf("time,position 45,position 90,largeur pistepwm_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 29:fc984fe08ca7 196 serialLidar.printf("%d,%.5f,%.5f,%.5f,%d,%d,%.5f,%d,%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 21:de7a0a47f8a3 200 history[p].pwm_thro_us,
GaspardD 21:de7a0a47f8a3 201 history[p].pwm_dir_us,
GaspardD 21:de7a0a47f8a3 202 history[p].dist,
GaspardD 21:de7a0a47f8a3 203 history[p].states.murs_dlvv,
GaspardD 21:de7a0a47f8a3 204 history[p].states.section,
GaspardD 21:de7a0a47f8a3 205 history[p].states.maxSpeed,
GaspardD 21:de7a0a47f8a3 206 history[p].states.throttle);
GaspardD 19:771bf61be276 207 }
GaspardD 19:771bf61be276 208 return;
GaspardD 19:771bf61be276 209 }
GaspardD 19:771bf61be276 210
GaspardD 19:771bf61be276 211 #endif
GaspardD 19:771bf61be276 212
GaspardD 19:771bf61be276 213 // +++++++++++++++++++++++++++++++++++++++++++ FUNCTION UTILS +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 214
GaspardD 19:771bf61be276 215 #if DEBUG >= -1
GaspardD 19:771bf61be276 216 void pressed(void)
GaspardD 19:771bf61be276 217 {
GaspardD 21:de7a0a47f8a3 218 #if DEBUG > 0
GaspardD 19:771bf61be276 219 pc.printf("[BTN PRESSED]\r\n");
GaspardD 21:de7a0a47f8a3 220 #endif
GaspardD 19:771bf61be276 221 //p_sectionCourante = &p_section1;
GaspardD 19:771bf61be276 222 transmitData();
GaspardD 19:771bf61be276 223 }
GaspardD 19:771bf61be276 224 #endif
GaspardD 19:771bf61be276 225
GaspardD 29:fc984fe08ca7 226 void initIntegrationTable()
GaspardD 29:fc984fe08ca7 227 {
GaspardD 29:fc984fe08ca7 228 for(int h=0;h<NB_INTEGRAL_SAMPLES;h++)
GaspardD 29:fc984fe08ca7 229 {
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 11:bc24b3ba51a9 235 void getTachySpeed()
GaspardD 11:bc24b3ba51a9 236 {
ohlimi2 36:bccddd02966a 237
GaspardD 11:bc24b3ba51a9 238 }
GaspardD 8:1d8c3ca5e508 239
GaspardD 21:de7a0a47f8a3 240
GaspardD 29:fc984fe08ca7 241 double getShortDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 11:bc24b3ba51a9 242 {
GaspardD 29:fc984fe08ca7 243 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 244 //tension proportionelle à l'inverse de la distance en dessous de 2V
GaspardD 29:fc984fe08ca7 245 tab[index_fifo_ir] = 20.0/(tab[index_fifo_ir]-0.3);
GaspardD 29:fc984fe08ca7 246
GaspardD 29:fc984fe08ca7 247 int sumMoy = 0;
GaspardD 29:fc984fe08ca7 248 for(int k=0; k<size; k++) {
GaspardD 29:fc984fe08ca7 249 sumMoy+=tab[k];
GaspardD 29:fc984fe08ca7 250 }
GaspardD 29:fc984fe08ca7 251 return sumMoy/size;
GaspardD 29:fc984fe08ca7 252 }
GaspardD 29:fc984fe08ca7 253
GaspardD 29:fc984fe08ca7 254 double getDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 29:fc984fe08ca7 255 {
GaspardD 29:fc984fe08ca7 256 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 257 //tension proportionelle à l'inverse de la distance
ohlimi2 36:bccddd02966a 258 tab[index_fifo_ir] = 1.0/(0.0161 * (double)tab[index_fifo_ir]);
GaspardD 11:bc24b3ba51a9 259 int sumMoy = 0;
GaspardD 19:771bf61be276 260 for(int k=0; k<size; k++) {
GaspardD 11:bc24b3ba51a9 261 sumMoy+=tab[k];
GaspardD 11:bc24b3ba51a9 262 }
GaspardD 11:bc24b3ba51a9 263 return sumMoy/size;
GaspardD 11:bc24b3ba51a9 264 }
GaspardD 2:fd0ffe46a87d 265
GaspardD 12:51b1b40cc017 266 void it4cm()
GaspardD 12:51b1b40cc017 267 {
ohlimi2 36:bccddd02966a 268 //faire un flag sur l'IT pour le freinage.
ohlimi2 36:bccddd02966a 269 //pour que si le biniou ne bouge plus, il n'essaye plus de freiner tant
ohlimi2 36:bccddd02966a 270 //qu'il n'y a pa un nouveau calcul de la vitesse.
ohlimi2 36:bccddd02966a 271
ohlimi2 36:bccddd02966a 272 tachySectionDist_cm += TACHY_CM;
ohlimi2 36:bccddd02966a 273 tachyTotalDist_cm += TACHY_CM;
ohlimi2 36:bccddd02966a 274 tachySpeed_cmps = (TACHY_CM * 1000000.0)/(double)timerSinceGetTachy.read_us(); // a chaque IT on a parcouru 8 cm soit (8*1000000)/durée
ohlimi2 36:bccddd02966a 275 #if DEBUG > 2
ohlimi2 36:bccddd02966a 276 pc.printf("IT: distance parcourue %.4lf , vitesse:%.4lf \r\n",tachyTotalDist_cm,tachySpeed_cmps);
ohlimi2 36:bccddd02966a 277 #endif
ohlimi2 36:bccddd02966a 278 timerSinceGetTachy.reset();
ohlimi2 36:bccddd02966a 279 timerSinceGetTachy.start();
ohlimi2 36:bccddd02966a 280 return;
ohlimi2 36:bccddd02966a 281
GaspardD 19:771bf61be276 282 #if DEBUG > 0
GaspardD 14:d471faa7d1a2 283 pc.printf("IT tachy\r\n");
GaspardD 14:d471faa7d1a2 284 #endif
GaspardD 12:51b1b40cc017 285 }
GaspardD 12:51b1b40cc017 286
GaspardD 12:51b1b40cc017 287 void it_serial()
GaspardD 12:51b1b40cc017 288 {
GaspardD 12:51b1b40cc017 289 if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59
GaspardD 12:51b1b40cc017 290 uart[0]=HEADER;
GaspardD 12:51b1b40cc017 291 if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59
GaspardD 12:51b1b40cc017 292 uart[1]=HEADER;
GaspardD 12:51b1b40cc017 293 for(i=2; i<9; i++) { // store data to array
GaspardD 12:51b1b40cc017 294 uart[i]=serialLidar.getc();
GaspardD 12:51b1b40cc017 295 }
GaspardD 12:51b1b40cc017 296 check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
GaspardD 12:51b1b40cc017 297 if(uart[8]==(check&0xff)) { // check the received data as per protocols
GaspardD 23:04d393220daa 298 distLidarPrev = distLidar;
GaspardD 12:51b1b40cc017 299 distLidar=uart[2]+uart[3]*256;// calculate distance value
GaspardD 23:04d393220daa 300 strengthLidarPrev = strengthLidar;
GaspardD 12:51b1b40cc017 301 strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value
GaspardD 12:51b1b40cc017 302 }
GaspardD 12:51b1b40cc017 303 }
GaspardD 12:51b1b40cc017 304 }
GaspardD 12:51b1b40cc017 305 }
GaspardD 19:771bf61be276 306 // +++++++++++++++++++++++++++++++++++++++++++ STATES MACHINES +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 307
GaspardD 8:1d8c3ca5e508 308 //########## INIT STATES MACHINES ##########
GaspardD 11:bc24b3ba51a9 309 void mursInit(void)
GaspardD 8:1d8c3ca5e508 310 {
ohlimi2 36:bccddd02966a 311
ohlimi2 36:bccddd02966a 312 pc.baud(115200); // pourquoi c'est la ?
ohlimi2 36:bccddd02966a 313 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 314 pc.printf("Init Murs\r\n");
GaspardD 13:af9a59ccf60b 315 #endif
GaspardD 13:af9a59ccf60b 316 timeSinceStart.start();
GaspardD 29:fc984fe08ca7 317 st_murs=REF_BIDIR;
GaspardD 19:771bf61be276 318 PwmDirection.period_us(SPEED_PERIOD_US);
GaspardD 17:8c465656eea4 319 PwmDirection.pulsewidth_us(DIRECTION_PULSE_MIDDLE);// milieu
GaspardD 8:1d8c3ca5e508 320 return;
GaspardD 8:1d8c3ca5e508 321 }
GaspardD 11:bc24b3ba51a9 322 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 323 void obstacleInit(void)
GaspardD 8:1d8c3ca5e508 324 {
GaspardD 19:771bf61be276 325 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 326 pc.printf("Init Obstacle\r\n");
GaspardD 13:af9a59ccf60b 327 #endif
GaspardD 29:fc984fe08ca7 328 st_speedLimit=ALL_CLEAR;
GaspardD 8:1d8c3ca5e508 329 return;
GaspardD 8:1d8c3ca5e508 330 }
GaspardD 11:bc24b3ba51a9 331 #endif
GaspardD 11:bc24b3ba51a9 332 void sectionInit(void)
GaspardD 2:fd0ffe46a87d 333 {
GaspardD 19:771bf61be276 334 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 335 pc.printf("Init Section\r\n");
GaspardD 13:af9a59ccf60b 336 #endif
GaspardD 11:bc24b3ba51a9 337 st_currentSection=ARRET;
GaspardD 14:d471faa7d1a2 338 p_sectionCourante=&p_section1;
GaspardD 12:51b1b40cc017 339 it_tachymeter.fall(&it4cm);
GaspardD 11:bc24b3ba51a9 340 timerSinceGetTachy.start();
ohlimi2 36:bccddd02966a 341 //getTachySpeed();//to reset
ohlimi2 38:dba82d8b08e2 342 tachySectionDist_cm = 0.0;
ohlimi2 36:bccddd02966a 343 //tachyStepsRegister = 0;
GaspardD 11:bc24b3ba51a9 344
GaspardD 23:04d393220daa 345 //section de test 1
GaspardD 23:04d393220daa 346 p_section1.nextSection =NULL;// &p_section2;
GaspardD 29:fc984fe08ca7 347 p_section1.consigne_position = 75.0;
ohlimi2 38:dba82d8b08e2 348 p_section1.targetSpeed_cmps = 500.0;
GaspardD 29:fc984fe08ca7 349 p_section1.slowSpeed_cmps = 328.0;
GaspardD 21:de7a0a47f8a3 350 p_section1.coef_p_speed = 1;
GaspardD 29:fc984fe08ca7 351 p_section1.lidarWarningDist_cm = 120.0;
ohlimi2 38:dba82d8b08e2 352 p_section1.lng_section_cm = 2000.0;//20m
ohlimi2 38:dba82d8b08e2 353 p_section1.coef_p = 0.40;
ohlimi2 38:dba82d8b08e2 354 p_section1.coef_i = 0.01;
ohlimi2 38:dba82d8b08e2 355 p_section1.coef_d = 0.05;
GaspardD 23:04d393220daa 356
GaspardD 8:1d8c3ca5e508 357 return;
GaspardD 8:1d8c3ca5e508 358 }
GaspardD 11:bc24b3ba51a9 359
GaspardD 11:bc24b3ba51a9 360 void maxSpeedInit(void)
GaspardD 11:bc24b3ba51a9 361 {
GaspardD 19:771bf61be276 362 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 363 pc.printf("Init Max Speed\r\n");
GaspardD 13:af9a59ccf60b 364 #endif
GaspardD 11:bc24b3ba51a9 365 st_maxSpeed=SPEED_MAX;
GaspardD 11:bc24b3ba51a9 366 maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps;
GaspardD 11:bc24b3ba51a9 367 serialLidar.baud(115200);
GaspardD 14:d471faa7d1a2 368 serialLidar.attach(&it_serial);
GaspardD 11:bc24b3ba51a9 369 return;
GaspardD 11:bc24b3ba51a9 370 }
GaspardD 11:bc24b3ba51a9 371
GaspardD 11:bc24b3ba51a9 372 void throttleInit(void)
GaspardD 8:1d8c3ca5e508 373 {
GaspardD 19:771bf61be276 374 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 375 pc.printf("Init Throttle\r\n");
GaspardD 13:af9a59ccf60b 376 #endif
GaspardD 21:de7a0a47f8a3 377 st_thro = REGULATION_SPEED;
ohlimi2 36:bccddd02966a 378 PwmMotor.period_us(DIRECTION_PERIOD_MS); //20 ms is default
GaspardD 19:771bf61be276 379 PwmMotor.pulsewidth_us(1000);//MIN
GaspardD 12:51b1b40cc017 380 wait(3);
GaspardD 19:771bf61be276 381 PwmMotor.pulsewidth_us(2000);//MAX
GaspardD 12:51b1b40cc017 382 wait(1);
GaspardD 19:771bf61be276 383 PwmMotor.pulsewidth_us(1500);//ZEROING
GaspardD 12:51b1b40cc017 384 wait(1);
GaspardD 19:771bf61be276 385 pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 19:771bf61be276 386 #if DEBUG > 0
ohlimi2 36:bccddd02966a 387 pc.printf("temps init: %.4lf micros\r\n",timeSinceStart.read_us());
ohlimi2 36:bccddd02966a 388 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 389 timeSinceStart.reset();
GaspardD 13:af9a59ccf60b 390 timeSinceStart.start();
GaspardD 13:af9a59ccf60b 391 #endif
GaspardD 23:04d393220daa 392 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 393 timerLog.start();
GaspardD 22:26fc6e6f7a55 394 #endif
GaspardD 22:26fc6e6f7a55 395
GaspardD 8:1d8c3ca5e508 396 return;
GaspardD 8:1d8c3ca5e508 397 }
GaspardD 2:fd0ffe46a87d 398
GaspardD 8:1d8c3ca5e508 399
GaspardD 8:1d8c3ca5e508 400 //########## UPDATE STATES ##########
GaspardD 11:bc24b3ba51a9 401 void mursUpdate(void)
GaspardD 2:fd0ffe46a87d 402 {
GaspardD 14:d471faa7d1a2 403 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 404 pc.printf("\r\nUpdate MURS\r\n");
GaspardD 14:d471faa7d1a2 405 #endif
GaspardD 11:bc24b3ba51a9 406 //lectures
GaspardD 29:fc984fe08ca7 407
GaspardD 29:fc984fe08ca7 408 distMurG45Moy = getDistMoy(&anaG45,distMurG45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 409 distMurD45Moy = getDistMoy(&anaD45,distMurD45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 410 distMurG90Moy = getDistMoy(&anaG90,distMurG90,NB_ECHANTILLONS_IR);
ohlimi2 36:bccddd02966a 411 distMurD90Moy = getDistMoy(&anaD90,distMurD90,NB_ECHANTILLONS_IR);
ohlimi2 36:bccddd02966a 412 //shortDistMurG90Moy = getShortDistMoy(&anaShortG90,shortDistMurD90,NB_ECHANTILLONS_IR);
ohlimi2 36:bccddd02966a 413 //shortDistMurD90Moy = getShortDistMoy(&anaShortD90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 11:bc24b3ba51a9 414 index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR;
GaspardD 29:fc984fe08ca7 415
ohlimi2 36:bccddd02966a 416
ohlimi2 36:bccddd02966a 417 // pour debug je supprime la fonction avec les courts et les longs
ohlimi2 36:bccddd02966a 418 trueDistMurD90Moy = distMurD90Moy;
ohlimi2 36:bccddd02966a 419 trueDistMurG90Moy = distMurG90Moy;
ohlimi2 36:bccddd02966a 420 /*
GaspardD 29:fc984fe08ca7 421 if(shortDistMurG90Moy < DIST_MIN_LONG_CM)
GaspardD 29:fc984fe08ca7 422 {
GaspardD 29:fc984fe08ca7 423 trueDistMurG90Moy = shortDistMurG90Moy;
GaspardD 29:fc984fe08ca7 424 }else
GaspardD 29:fc984fe08ca7 425 {
GaspardD 29:fc984fe08ca7 426 trueDistMurG90Moy = distMurG90Moy;
GaspardD 29:fc984fe08ca7 427 }
GaspardD 29:fc984fe08ca7 428 if(shortDistMurD90Moy < DIST_MIN_LONG_CM)
GaspardD 29:fc984fe08ca7 429 {
GaspardD 29:fc984fe08ca7 430 trueDistMurD90Moy = shortDistMurD90Moy;
GaspardD 29:fc984fe08ca7 431 }else
GaspardD 29:fc984fe08ca7 432 {
GaspardD 29:fc984fe08ca7 433 trueDistMurD90Moy = distMurD90Moy;
ohlimi2 36:bccddd02966a 434 }*/
ohlimi2 36:bccddd02966a 435
GaspardD 29:fc984fe08ca7 436
GaspardD 29:fc984fe08ca7 437 #ifdef DLVV
GaspardD 29:fc984fe08ca7 438 switch (st_obstacle) {
GaspardD 29:fc984fe08ca7 439 case FRONT_OBSTRUCTED:
GaspardD 29:fc984fe08ca7 440 st_murs = REF_A_GAUCHE;
GaspardD 29:fc984fe08ca7 441 return;
GaspardD 29:fc984fe08ca7 442 case RIGHT_OBSTRUCTED:
GaspardD 29:fc984fe08ca7 443 st_murs = REF_A_GAUCHE;
GaspardD 29:fc984fe08ca7 444 return;
GaspardD 29:fc984fe08ca7 445 case LEFT_OBSTRUCTED:
GaspardD 29:fc984fe08ca7 446 st_murs = REF_A_DROITE;
GaspardD 29:fc984fe08ca7 447 return;
GaspardD 29:fc984fe08ca7 448 default:
GaspardD 29:fc984fe08ca7 449 break;
GaspardD 29:fc984fe08ca7 450 }
GaspardD 29:fc984fe08ca7 451
GaspardD 29:fc984fe08ca7 452 #endif
GaspardD 29:fc984fe08ca7 453 st_murs = REF_BIDIR;
GaspardD 29:fc984fe08ca7 454
GaspardD 12:51b1b40cc017 455
GaspardD 8:1d8c3ca5e508 456 return;
GaspardD 8:1d8c3ca5e508 457 }
GaspardD 11:bc24b3ba51a9 458 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 459 void obstacleUpdate(void)
GaspardD 8:1d8c3ca5e508 460 {
GaspardD 8:1d8c3ca5e508 461 return;
GaspardD 8:1d8c3ca5e508 462 }
GaspardD 11:bc24b3ba51a9 463 #endif
GaspardD 11:bc24b3ba51a9 464
GaspardD 11:bc24b3ba51a9 465 void sectionUpdate(void)
GaspardD 8:1d8c3ca5e508 466 {
GaspardD 14:d471faa7d1a2 467 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 468 pc.printf("\r\nUpdate Section\r\n");
GaspardD 14:d471faa7d1a2 469 #endif
GaspardD 11:bc24b3ba51a9 470 switch (st_currentSection) {
GaspardD 19:771bf61be276 471 case RUNNING_SECTION:
GaspardD 19:771bf61be276 472 if(tachySectionDist_cm > p_sectionCourante->lng_section_cm) { //on pourrait rajouter un test lidar
GaspardD 19:771bf61be276 473 st_tmpSection = LOADING_SECTION;
GaspardD 19:771bf61be276 474 } else {
GaspardD 19:771bf61be276 475 return;
GaspardD 19:771bf61be276 476 }
GaspardD 19:771bf61be276 477 break;
GaspardD 19:771bf61be276 478 case LOADING_SECTION:
GaspardD 19:771bf61be276 479 if(p_sectionCourante != NULL) { //la section a ete chargee dans sectionOutput
GaspardD 19:771bf61be276 480 st_tmpSection = RUNNING_SECTION;
GaspardD 19:771bf61be276 481 } else {
GaspardD 19:771bf61be276 482 st_tmpSection=ARRET;
GaspardD 19:771bf61be276 483 }
GaspardD 19:771bf61be276 484 break;
GaspardD 19:771bf61be276 485 case ARRET:
GaspardD 19:771bf61be276 486 if(p_sectionCourante != NULL) {
GaspardD 19:771bf61be276 487 st_tmpSection = RUNNING_SECTION;
GaspardD 19:771bf61be276 488 } else {
GaspardD 19:771bf61be276 489 return;
GaspardD 19:771bf61be276 490 }
GaspardD 19:771bf61be276 491 break;
GaspardD 19:771bf61be276 492 default:
GaspardD 19:771bf61be276 493 break;
GaspardD 11:bc24b3ba51a9 494 }
GaspardD 11:bc24b3ba51a9 495 st_currentSection = st_tmpSection;
GaspardD 8:1d8c3ca5e508 496 return;
GaspardD 8:1d8c3ca5e508 497 }
GaspardD 8:1d8c3ca5e508 498
GaspardD 11:bc24b3ba51a9 499 void maxSpeedUpdate(void)
GaspardD 8:1d8c3ca5e508 500 {
GaspardD 14:d471faa7d1a2 501 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 502 pc.printf("\r\nUpdate MaxSpeed\r\n");
GaspardD 14:d471faa7d1a2 503 #endif
GaspardD 11:bc24b3ba51a9 504 i=0;
GaspardD 11:bc24b3ba51a9 505
GaspardD 23:04d393220daa 506 if( strengthLidar > LIDAR_STRENGTH_THRESOLD ) {
GaspardD 23:04d393220daa 507 if( distLidar > p_sectionCourante->lidarWarningDist_cm ) {
GaspardD 19:771bf61be276 508 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 29:fc984fe08ca7 509 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 510 strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 511 distLidar < p_sectionCourante->lidarWarningDist_cm &&
GaspardD 27:f8c3f1524a64 512 distLidarPrev-distLidar > 3)
GaspardD 24:698fefbbee00 513 {
GaspardD 21:de7a0a47f8a3 514 st_tmpMaxSpeed = BLOCKED;
GaspardD 11:bc24b3ba51a9 515 }
GaspardD 24:698fefbbee00 516 else{
GaspardD 24:698fefbbee00 517 st_tmpMaxSpeed = SPEED_WARNING;
GaspardD 24:698fefbbee00 518 }
GaspardD 21:de7a0a47f8a3 519 } else {
GaspardD 11:bc24b3ba51a9 520 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 11:bc24b3ba51a9 521 }
GaspardD 11:bc24b3ba51a9 522
GaspardD 11:bc24b3ba51a9 523 st_maxSpeed = st_tmpMaxSpeed;
GaspardD 11:bc24b3ba51a9 524 return;
GaspardD 11:bc24b3ba51a9 525 }
GaspardD 11:bc24b3ba51a9 526
GaspardD 11:bc24b3ba51a9 527 void throttleUpdate(void)
GaspardD 11:bc24b3ba51a9 528 {
GaspardD 14:d471faa7d1a2 529 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 530 pc.printf("\r\nUpdate Throttle\r\n");
GaspardD 14:d471faa7d1a2 531 #endif
ohlimi2 36:bccddd02966a 532 //getTachySpeed();
GaspardD 11:bc24b3ba51a9 533 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 534 case REGULATION_SPEED:
GaspardD 24:698fefbbee00 535 if( st_currentSection == ARRET ||
GaspardD 29:fc984fe08ca7 536 st_maxSpeed == BLOCKED )
GaspardD 24:698fefbbee00 537 {
GaspardD 19:771bf61be276 538 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 539 }
GaspardD 27:f8c3f1524a64 540 #ifdef FREINAGE_ADAPTATIF
GaspardD 27:f8c3f1524a64 541 else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS))
GaspardD 24:698fefbbee00 542 {
GaspardD 24:698fefbbee00 543 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 544 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 545 brakingTimer.reset();
GaspardD 24:698fefbbee00 546 brakingTimer.start();
GaspardD 27:f8c3f1524a64 547 }
GaspardD 27:f8c3f1524a64 548 #endif
GaspardD 27:f8c3f1524a64 549 else
GaspardD 24:698fefbbee00 550 {
GaspardD 19:771bf61be276 551 return;
GaspardD 19:771bf61be276 552 }
GaspardD 19:771bf61be276 553 break;
GaspardD 16:63690703b5b6 554 case BRAKING:
GaspardD 29:fc984fe08ca7 555 if( st_maxSpeed == BLOCKED
GaspardD 27:f8c3f1524a64 556 #ifdef FREINAGE_ADAPTATIF
GaspardD 27:f8c3f1524a64 557 || brakingTimer.read_us() < brakingDurationNeeded_us
GaspardD 27:f8c3f1524a64 558 #endif
GaspardD 27:f8c3f1524a64 559 )
GaspardD 23:04d393220daa 560 {
GaspardD 23:04d393220daa 561 st_tmpThro = BRAKING;
GaspardD 23:04d393220daa 562 }else
GaspardD 21:de7a0a47f8a3 563 if(st_currentSection == ARRET) {
GaspardD 21:de7a0a47f8a3 564 st_tmpThro = STOPPED;
GaspardD 23:04d393220daa 565 } else{
GaspardD 27:f8c3f1524a64 566 #ifdef FREINAGE_ADAPTATIF
GaspardD 24:698fefbbee00 567 brakingDurationNeeded_us = 0;
GaspardD 27:f8c3f1524a64 568 #endif
GaspardD 21:de7a0a47f8a3 569 st_tmpThro = REGULATION_SPEED;
GaspardD 21:de7a0a47f8a3 570 }
GaspardD 19:771bf61be276 571 break;
GaspardD 19:771bf61be276 572 case STOPPED:
GaspardD 19:771bf61be276 573 if(st_currentSection == RUNNING_SECTION) {
GaspardD 22:26fc6e6f7a55 574 st_tmpThro = REGULATION_SPEED;
GaspardD 19:771bf61be276 575 } else {
GaspardD 19:771bf61be276 576 st_tmpThro = STOPPED;
GaspardD 16:63690703b5b6 577 }
GaspardD 19:771bf61be276 578 break;
GaspardD 19:771bf61be276 579 default:
GaspardD 19:771bf61be276 580 break;
GaspardD 11:bc24b3ba51a9 581 }
GaspardD 11:bc24b3ba51a9 582 st_thro = st_tmpThro;
GaspardD 8:1d8c3ca5e508 583 return;
GaspardD 8:1d8c3ca5e508 584 }
GaspardD 2:fd0ffe46a87d 585
GaspardD 8:1d8c3ca5e508 586 //########## OUTPUT STATES ##########
GaspardD 11:bc24b3ba51a9 587 //updating output parameters
GaspardD 11:bc24b3ba51a9 588 void mursOutput(void)
GaspardD 12:51b1b40cc017 589 {
GaspardD 29:fc984fe08ca7 590 //pour dériver
GaspardD 29:fc984fe08ca7 591 positionSurPiste45Prev = positionSurPiste45;
GaspardD 29:fc984fe08ca7 592 positionSurPiste90Prev = positionSurPiste90;
GaspardD 14:d471faa7d1a2 593 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 594 pc.printf("\r\n Output MURS\r\n");
GaspardD 14:d471faa7d1a2 595 #endif
GaspardD 23:04d393220daa 596
GaspardD 29:fc984fe08ca7 597 switch (st_murs) {
GaspardD 29:fc984fe08ca7 598 case REF_A_GAUCHE://par defaut, on compte à partir de la bordure gauche
ohlimi2 36:bccddd02966a 599 largeurPiste90 = 150.0;
GaspardD 29:fc984fe08ca7 600 positionSurPiste90 = ( trueDistMurG90Moy + DEMI_LARGEUR_BINIOU_CM );
GaspardD 29:fc984fe08ca7 601 positionSurPiste45 = ( distMurG45Moy * 1.414214/2.0 ) + DEMI_LARGEUR_BINIOU_CM;
ohlimi2 36:bccddd02966a 602 pc.printf("REF_A_GAUCHE\r\n");
GaspardD 29:fc984fe08ca7 603 break;
GaspardD 29:fc984fe08ca7 604 case REF_A_DROITE://par defaut, on compte à partir de la bordure gauche
ohlimi2 36:bccddd02966a 605 largeurPiste90 = 150.0;
ohlimi2 36:bccddd02966a 606 positionSurPiste90 = largeurPiste90 - ( DEMI_LARGEUR_BINIOU_CM + trueDistMurD90Moy ) ;
ohlimi2 36:bccddd02966a 607 positionSurPiste45 = largeurPiste90 - ( distMurD45Moy * (1.414214)/2 ) + DEMI_LARGEUR_BINIOU_CM;
ohlimi2 36:bccddd02966a 608 pc.printf("REF_A_DROITE\r\n");
GaspardD 29:fc984fe08ca7 609 break;
GaspardD 29:fc984fe08ca7 610 default://REF_BIDIR
ohlimi2 36:bccddd02966a 611 largeurPiste90 = trueDistMurG90Moy + trueDistMurD90Moy ;
ohlimi2 36:bccddd02966a 612 largeurPiste45 = distMurG45Moy + distMurD45Moy ;
ohlimi2 36:bccddd02966a 613 positionSurPiste90 = (trueDistMurG90Moy );
ohlimi2 36:bccddd02966a 614 positionSurPiste45 = (distMurG45Moy);
ohlimi2 36:bccddd02966a 615 pc.printf("default\r\n");
GaspardD 29:fc984fe08ca7 616 break;
GaspardD 29:fc984fe08ca7 617 }
GaspardD 23:04d393220daa 618
GaspardD 22:26fc6e6f7a55 619
GaspardD 21:de7a0a47f8a3 620 //deriv correction
GaspardD 29:fc984fe08ca7 621 derive45 = positionSurPiste45 - positionSurPiste45Prev;
GaspardD 29:fc984fe08ca7 622 derive90 = positionSurPiste90 - positionSurPiste90Prev;
ohlimi2 36:bccddd02966a 623
ohlimi2 36:bccddd02966a 624 //pc.printf("derive45 => %.4lf \r\n ",derive45);
ohlimi2 36:bccddd02966a 625 // pc.printf("derive90 => %.4lf \r\n ",derive90);
ohlimi2 36:bccddd02966a 626 /*
ohlimi2 36:bccddd02966a 627 pc.printf("distMurG45Moy => %.4lf \r\n ",distMurG45Moy);
ohlimi2 36:bccddd02966a 628 pc.printf("distMurD45Moy => %.4lf \r\n ",distMurD45Moy);
ohlimi2 36:bccddd02966a 629 pc.printf("trueDistMurG90Moy => %.4lf \r\n ",trueDistMurG90Moy);
ohlimi2 36:bccddd02966a 630 pc.printf("trueDistMurD90Moy => %.4lf \r\n ",trueDistMurD90Moy);
ohlimi2 36:bccddd02966a 631 pc.printf("positionSurPiste90 => %.4lf \r\n ",positionSurPiste90);
ohlimi2 36:bccddd02966a 632 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
ohlimi2 36:bccddd02966a 633 pc.printf("largeurPiste90 => %.4lf \r\n ",largeurPiste90);
ohlimi2 36:bccddd02966a 634 */
ohlimi2 36:bccddd02966a 635
ohlimi2 36:bccddd02966a 636
GaspardD 21:de7a0a47f8a3 637 //integral correction
ohlimi2 38:dba82d8b08e2 638 //lastDifferences90[lastDifferenceIndex] = (p_sectionCourante->consigne_position - positionSurPiste90);
ohlimi2 38:dba82d8b08e2 639 // integralSum=0;
ohlimi2 38:dba82d8b08e2 640 //for(int f=0; f<NB_INTEGRAL_SAMPLES; f++) {
ohlimi2 38:dba82d8b08e2 641 // integralSum+=lastDifferences90[f];
ohlimi2 38:dba82d8b08e2 642 // }
ohlimi2 38:dba82d8b08e2 643 //integral correction
ohlimi2 38:dba82d8b08e2 644 integralSum += (positionSurPiste90 - (largeurPiste90/2.0));
ohlimi2 38:dba82d8b08e2 645
ohlimi2 36:bccddd02966a 646
ohlimi2 36:bccddd02966a 647
GaspardD 21:de7a0a47f8a3 648 //application des coefficients
ohlimi2 38:dba82d8b08e2 649 pulseDirection_us_temp = (
ohlimi2 38:dba82d8b08e2 650 ((positionSurPiste45 - (largeurPiste45/2.0)) * p_sectionCourante->coef_p)
ohlimi2 38:dba82d8b08e2 651 + ((positionSurPiste90 - (largeurPiste90/2.0)) * p_sectionCourante->coef_p)
ohlimi2 38:dba82d8b08e2 652 + ( -derive45 * p_sectionCourante->coef_d)
ohlimi2 38:dba82d8b08e2 653 + ( -derive90 * p_sectionCourante->coef_d)
ohlimi2 38:dba82d8b08e2 654 + ( integralSum * p_sectionCourante->coef_i)
ohlimi2 38:dba82d8b08e2 655 )* (300.0/(tachySpeed_cmps+1.0)) // faire du test reel pour afiné ou un calcul
ohlimi2 36:bccddd02966a 656 + DIRECTION_PULSE_MIDDLE;
ohlimi2 38:dba82d8b08e2 657
ohlimi2 38:dba82d8b08e2 658
ohlimi2 36:bccddd02966a 659 /*pulseDirection_us_temp = COEF_RAYON_BR_S_DIST/tachySpeed_cmps * //facteur de vitesse: plus on va vite, moins on corrige
GaspardD 29:fc984fe08ca7 660 (
GaspardD 29:fc984fe08ca7 661 ( (p_sectionCourante->consigne_position - positionSurPiste45) * p_sectionCourante->coef_p)
ohlimi2 36:bccddd02966a 662 //+ ( derive45 * p_sectionCourante->coef_d)
ohlimi2 36:bccddd02966a 663 //+ ( integralSum * p_sectionCourante->coef_i)
ohlimi2 36:bccddd02966a 664 )
ohlimi2 36:bccddd02966a 665 + DIRECTION_PULSE_MIDDLE;*/
ohlimi2 36:bccddd02966a 666 //pc.printf("\r %.4lf ",pulseDirection_us);
ohlimi2 36:bccddd02966a 667 pulseDirection_us = (int)pulseDirection_us_temp ;
ohlimi2 36:bccddd02966a 668 pc.printf("p_sectionCourante->consigne_position => %.4lf \r\n ",p_sectionCourante->consigne_position);
ohlimi2 36:bccddd02966a 669 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
ohlimi2 36:bccddd02966a 670 pc.printf("p_sectionCourante->coef_p => %.4lf \r\n ",p_sectionCourante->coef_p);
ohlimi2 36:bccddd02966a 671 pc.printf("pulseDirection_us_temp => %.4lf \r\n ",pulseDirection_us_temp);
GaspardD 21:de7a0a47f8a3 672 //gestioon du dépassement
GaspardD 21:de7a0a47f8a3 673 if(pulseDirection_us > DIRECTION_PULSE_MAX) { //POUR TOURNER A GAUCHE
GaspardD 19:771bf61be276 674 #if DEBUG > 1
ohlimi2 36:bccddd02966a 675 pc.printf("!!! OVER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 676 #endif
GaspardD 21:de7a0a47f8a3 677 pulseDirection_us = DIRECTION_PULSE_MAX;
GaspardD 21:de7a0a47f8a3 678 } else if(pulseDirection_us < DIRECTION_PULSE_MIN ) { //POUR TOURNER A DROITE
GaspardD 21:de7a0a47f8a3 679 #if DEBUG > 1
ohlimi2 36:bccddd02966a 680 pc.printf("!!! UNDER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 19:771bf61be276 681 #endif
GaspardD 21:de7a0a47f8a3 682 pulseDirection_us = DIRECTION_PULSE_MIN ;
GaspardD 21:de7a0a47f8a3 683 }
GaspardD 21:de7a0a47f8a3 684 #if DEBUG > 1
ohlimi2 36:bccddd02966a 685 pc.printf("PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 686 #endif
GaspardD 21:de7a0a47f8a3 687 PwmDirection.pulsewidth_us(pulseDirection_us);
GaspardD 8:1d8c3ca5e508 688 return;
GaspardD 8:1d8c3ca5e508 689 }
GaspardD 8:1d8c3ca5e508 690
GaspardD 11:bc24b3ba51a9 691 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 692 void obstacleOutput(void)
GaspardD 8:1d8c3ca5e508 693 {
GaspardD 8:1d8c3ca5e508 694 return;
GaspardD 8:1d8c3ca5e508 695 }
GaspardD 11:bc24b3ba51a9 696 #endif
GaspardD 11:bc24b3ba51a9 697 void sectionOutput(void)
GaspardD 8:1d8c3ca5e508 698 {
GaspardD 14:d471faa7d1a2 699 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 700 pc.printf("\r\n Output Section\r\n");
GaspardD 14:d471faa7d1a2 701 #endif
GaspardD 11:bc24b3ba51a9 702 switch (st_currentSection) {
GaspardD 19:771bf61be276 703 case RUNNING_SECTION:
GaspardD 19:771bf61be276 704 break;
GaspardD 19:771bf61be276 705 case LOADING_SECTION:
GaspardD 19:771bf61be276 706 p_sectionCourante=p_sectionCourante->nextSection;
GaspardD 19:771bf61be276 707 tachySectionDist_cm = 0;
GaspardD 19:771bf61be276 708 break;
GaspardD 19:771bf61be276 709 case ARRET:
GaspardD 19:771bf61be276 710 //on est à l'arret
GaspardD 19:771bf61be276 711 break;
GaspardD 19:771bf61be276 712 default:
GaspardD 19:771bf61be276 713 break;
GaspardD 11:bc24b3ba51a9 714 }
GaspardD 8:1d8c3ca5e508 715 return;
GaspardD 8:1d8c3ca5e508 716 }
GaspardD 8:1d8c3ca5e508 717
GaspardD 11:bc24b3ba51a9 718
GaspardD 11:bc24b3ba51a9 719 void maxSpeedOutput(void)
GaspardD 8:1d8c3ca5e508 720 {
GaspardD 14:d471faa7d1a2 721 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 722 pc.printf("\r\n Output MAX SPEED\r\n");
GaspardD 14:d471faa7d1a2 723 #endif
GaspardD 19:771bf61be276 724 switch(st_maxSpeed) {
GaspardD 21:de7a0a47f8a3 725 case BLOCKED:
GaspardD 24:698fefbbee00 726 maxSpeed_cmps = 0;
GaspardD 19:771bf61be276 727 break;
GaspardD 21:de7a0a47f8a3 728 case SPEED_WARNING:
GaspardD 24:698fefbbee00 729 maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps;
GaspardD 19:771bf61be276 730 break;
GaspardD 19:771bf61be276 731 default:
GaspardD 19:771bf61be276 732 maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps;
GaspardD 19:771bf61be276 733 break;
GaspardD 11:bc24b3ba51a9 734 }
GaspardD 8:1d8c3ca5e508 735 return;
GaspardD 8:1d8c3ca5e508 736 }
GaspardD 11:bc24b3ba51a9 737
GaspardD 11:bc24b3ba51a9 738 void throttleOutput(void)
GaspardD 11:bc24b3ba51a9 739 {
GaspardD 14:d471faa7d1a2 740 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 741 pc.printf("\r\n Output TROTTLE\r\n");
GaspardD 14:d471faa7d1a2 742 #endif
GaspardD 11:bc24b3ba51a9 743 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 744 case REGULATION_SPEED:
GaspardD 22:26fc6e6f7a55 745 pulseSpeed_us = maxSpeed_cmps * 279 / 2048 + 1558 ;
GaspardD 19:771bf61be276 746 break;
GaspardD 19:771bf61be276 747 case BRAKING:
GaspardD 16:63690703b5b6 748 #if DEBUG > 2
GaspardD 19:771bf61be276 749 pc.printf("BRAKINGGGGGGGGGGGGGGGGGG !!! \r\n");
GaspardD 19:771bf61be276 750 #endif
GaspardD 19:771bf61be276 751 pulseSpeed_us = BRAKING_PULSE_US;
GaspardD 19:771bf61be276 752 break;
GaspardD 19:771bf61be276 753 case STOPPED:
GaspardD 19:771bf61be276 754 #if DEBUG > 2
GaspardD 19:771bf61be276 755 pc.printf("STOPPED\r\n");
GaspardD 16:63690703b5b6 756 #endif
GaspardD 19:771bf61be276 757 pulseSpeed_us = ZERO_PULSE_SPEED_US;
GaspardD 19:771bf61be276 758 break;
GaspardD 19:771bf61be276 759 default:
GaspardD 19:771bf61be276 760 break;
GaspardD 11:bc24b3ba51a9 761 }
GaspardD 22:26fc6e6f7a55 762
GaspardD 19:771bf61be276 763 PwmMotor.pulsewidth_us(pulseSpeed_us);
GaspardD 15:129f205ff030 764 #if DEBUG > 1
ohlimi2 36:bccddd02966a 765 pc.printf("PWM Thro pulse: %.4lf micros\r\n",pulseSpeed_us);
GaspardD 13:af9a59ccf60b 766 #endif
GaspardD 11:bc24b3ba51a9 767 return;
GaspardD 11:bc24b3ba51a9 768 }