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Dependencies:   mbed

Fork of biniou by TRR 2018

stateMachines.cpp@46:9262b07b0833, 2018-09-20 (annotated)

Committer:
ohlimi2
Date:
Thu Sep 20 18:45:07 2018 +0000
Revision:
46:9262b07b0833
Parent:
45:7d67809bd7bf
Child:
47:b17061738568
test en cours

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;
ohlimi2 46:9262b07b0833 47 s_Section p_section3;
GaspardD 2:fd0ffe46a87d 48
GaspardD 15:129f205ff030 49 //PWM Controls
GaspardD 12:51b1b40cc017 50 PwmOut PwmMotor(PB_6); // PWM4 ch1 TIM4
GaspardD 12:51b1b40cc017 51 PwmOut PwmDirection(PB_5); // PWM3 ch2 TIM3
GaspardD 8:1d8c3ca5e508 52
GaspardD 21:de7a0a47f8a3 53 int pulseDirection_us = DIRECTION_PULSE_MIDDLE;
ohlimi2 36:bccddd02966a 54 double pulseDirection_us_temp ;
GaspardD 19:771bf61be276 55 int pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 12:51b1b40cc017 56 //Capteurs direction
GaspardD 22:26fc6e6f7a55 57 AnalogIn anaG90(CAPT_90_GAUCHE);//capteur ir coté gauche
GaspardD 22:26fc6e6f7a55 58 AnalogIn anaD90(CAPT_90_DROITE);//capteur ir coté droit
GaspardD 29:fc984fe08ca7 59 AnalogIn anaShortG90(CAPT_90_GAUCHE_SHORT);//capteur ir coté gauche short
GaspardD 29:fc984fe08ca7 60 AnalogIn anaShortD90(CAPT_90_DROITE_SHORT);//capteur ir coté droit short
GaspardD 22:26fc6e6f7a55 61 AnalogIn anaG45(CAPT_45_GAUCHE);//capteur ir avant gauche 45 deg
GaspardD 22:26fc6e6f7a55 62 AnalogIn anaD45(CAPT_45_DROITE);//capteur ir avant droit 45deg
GaspardD 11:bc24b3ba51a9 63 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 64 AnalogIn anaDlvvG(CAPT_10_GAUCHE);//capteur ir avant droit 10 deg
GaspardD 22:26fc6e6f7a55 65 AnalogIn anaDlvvD(CAPT_10_DROITE);//capteur ir coté droit 10 deg
GaspardD 22:26fc6e6f7a55 66 AnalogIn anaDlvvFront(CAPT_DEVANT);//capteur ir avant
GaspardD 11:bc24b3ba51a9 67 #endif
GaspardD 12:51b1b40cc017 68
GaspardD 29:fc984fe08ca7 69 //piste
ohlimi2 36:bccddd02966a 70 double largeurPiste90 = 150.0;
ohlimi2 36:bccddd02966a 71 double largeurPiste45 = 150.0;
GaspardD 29:fc984fe08ca7 72 double positionSurPiste90 = 75.0;
GaspardD 29:fc984fe08ca7 73 double positionSurPiste90Prev = positionSurPiste90;
GaspardD 29:fc984fe08ca7 74 double positionSurPiste45 = 75.0;
GaspardD 29:fc984fe08ca7 75 double positionSurPiste45Prev = positionSurPiste45;
GaspardD 29:fc984fe08ca7 76
ohlimi2 36:bccddd02966a 77 double derive45,derive90;
GaspardD 21:de7a0a47f8a3 78 int lastDifferences90[NB_INTEGRAL_SAMPLES] = {0};//for integral correction
GaspardD 21:de7a0a47f8a3 79 int lastDifferenceIndex = 0;
GaspardD 21:de7a0a47f8a3 80 int integralSum;
GaspardD 12:51b1b40cc017 81
GaspardD 12:51b1b40cc017 82 //Capteur vitesse
GaspardD 12:51b1b40cc017 83 InterruptIn it_tachymeter(PA_11);
GaspardD 2:fd0ffe46a87d 84
GaspardD 11:bc24b3ba51a9 85
GaspardD 11:bc24b3ba51a9 86 //LIDAR
GaspardD 12:51b1b40cc017 87 Serial serialLidar(PC_10,PC_11); // tx, rx
GaspardD 11:bc24b3ba51a9 88
GaspardD 11:bc24b3ba51a9 89 int distLidar;// LiDAR actually measured distance value
GaspardD 23:04d393220daa 90 int distLidarPrev;
GaspardD 11:bc24b3ba51a9 91 int strengthLidar;// LiDAR signal strength
GaspardD 23:04d393220daa 92 int strengthLidarPrev;
GaspardD 11:bc24b3ba51a9 93 int check;// check numerical value storage
GaspardD 12:51b1b40cc017 94 int i;
GaspardD 11:bc24b3ba51a9 95 int uart[9];// store data measured by LiDAR
GaspardD 11:bc24b3ba51a9 96 const int HEADER=0x59;// data package frame header
GaspardD 11:bc24b3ba51a9 97
GaspardD 11:bc24b3ba51a9 98 //SPEED
GaspardD 29:fc984fe08ca7 99 double maxSpeed_cmps = 0;
ohlimi2 36:bccddd02966a 100 double tachySpeed_cmps = 0; //en cm/s
GaspardD 39:de3638276b7e 101 double tachyStepsRegister = 0;
GaspardD 29:fc984fe08ca7 102 double tachySectionDist_cm = 0;
ohlimi2 36:bccddd02966a 103 double tachyTotalDist_cm = 0.0;
GaspardD 8:1d8c3ca5e508 104
GaspardD 27:f8c3f1524a64 105 #ifdef FREINAGE_ADAPTATIF
GaspardD 24:698fefbbee00 106 Timer brakingTimer;
GaspardD 24:698fefbbee00 107 int brakingDurationNeeded_us = 0;
GaspardD 27:f8c3f1524a64 108 #endif
GaspardD 24:698fefbbee00 109
GaspardD 8:1d8c3ca5e508 110 //Etats
GaspardD 8:1d8c3ca5e508 111 MUR_ST st_murs;
GaspardD 21:de7a0a47f8a3 112 MUR_ST st_tmpMurs;
GaspardD 11:bc24b3ba51a9 113 SECTION_ST st_currentSection;
GaspardD 21:de7a0a47f8a3 114 SECTION_ST st_tmpSection;
GaspardD 11:bc24b3ba51a9 115 MAX_SPEED_ST st_maxSpeed;
GaspardD 21:de7a0a47f8a3 116 MAX_SPEED_ST st_tmpMaxSpeed;
GaspardD 8:1d8c3ca5e508 117 THROTTLE_ST st_thro;
GaspardD 21:de7a0a47f8a3 118 THROTTLE_ST st_tmpThro;
GaspardD 11:bc24b3ba51a9 119 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 120 OBSTACLE_ST st_obstacle;
GaspardD 11:bc24b3ba51a9 121 #endif
GaspardD 11:bc24b3ba51a9 122
GaspardD 11:bc24b3ba51a9 123 s_Section* p_sectionCourante = NULL;
GaspardD 44:69751c05a8f3 124 bool dumped = false;
GaspardD 8:1d8c3ca5e508 125
GaspardD 19:771bf61be276 126
GaspardD 19:771bf61be276 127 // +++++++++++++++++++++++++++++++++++++++++++ SAMPLING +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 128 #ifdef SAMPLING
GaspardD 19:771bf61be276 129 s_Sample history[TAILLE_SAMPLES];
GaspardD 19:771bf61be276 130 int indexSample = 0;
GaspardD 19:771bf61be276 131 void initSamples(void)
GaspardD 19:771bf61be276 132 {
GaspardD 19:771bf61be276 133 for(int m=0; m<TAILLE_SAMPLES; m++) {
GaspardD 19:771bf61be276 134 history[m].states.murs_dlvv = '0';
GaspardD 19:771bf61be276 135 history[m].states.section = '0';
GaspardD 19:771bf61be276 136 history[m].states.maxSpeed = '0';
GaspardD 19:771bf61be276 137 history[m].states.throttle = '0';
GaspardD 19:771bf61be276 138 history[m].time = 0;
GaspardD 29:fc984fe08ca7 139 history[m].position45 = 0.0;
GaspardD 29:fc984fe08ca7 140 history[m].position90 = 0.0;
GaspardD 29:fc984fe08ca7 141 history[m].largeurPiste = 0.0;
GaspardD 29:fc984fe08ca7 142 history[m].dist = 0.0;
GaspardD 21:de7a0a47f8a3 143 history[m].pwm_thro_us = 0;
GaspardD 21:de7a0a47f8a3 144 history[m].pwm_dir_us = 0;
GaspardD 23:04d393220daa 145 history[m].distLidar = 0;
GaspardD 23:04d393220daa 146 history[m].strLidar = 0;
GaspardD 19:771bf61be276 147 }
GaspardD 21:de7a0a47f8a3 148 #if DEBUG > 0
GaspardD 19:771bf61be276 149 pc.printf("[INIT SAMPLE DONE]\r\n");
GaspardD 21:de7a0a47f8a3 150 #endif
GaspardD 19:771bf61be276 151 return;
GaspardD 19:771bf61be276 152 }
GaspardD 19:771bf61be276 153 void sampleLog(void)
GaspardD 19:771bf61be276 154 {
GaspardD 23:04d393220daa 155 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 23:04d393220daa 156 if(timerLog.read_us() > DUMP_SAMPLIG_PERIOD) {
GaspardD 22:26fc6e6f7a55 157 timerLog.reset();
GaspardD 22:26fc6e6f7a55 158 timerLog.start();
GaspardD 23:04d393220daa 159 #endif
GaspardD 22:26fc6e6f7a55 160 if(indexSample < TAILLE_SAMPLES) {
GaspardD 19:771bf61be276 161 #ifdef DLVV
GaspardD 22:26fc6e6f7a55 162 history[indexSample].states.murs_dlvv = (char)st_obstacle;
GaspardD 19:771bf61be276 163 #else
GaspardD 22:26fc6e6f7a55 164 history[indexSample].states.murs_dlvv = (char)st_murs;
GaspardD 19:771bf61be276 165 #endif
GaspardD 22:26fc6e6f7a55 166 history[indexSample].states.section = (char)st_currentSection;
GaspardD 22:26fc6e6f7a55 167 history[indexSample].states.maxSpeed = (char)st_maxSpeed;
GaspardD 22:26fc6e6f7a55 168 history[indexSample].states.throttle = (char)st_thro;
GaspardD 22:26fc6e6f7a55 169 history[indexSample].time = timeSinceStart.read_us() ;
GaspardD 29:fc984fe08ca7 170 history[indexSample].position45 = positionSurPiste45;
GaspardD 29:fc984fe08ca7 171 history[indexSample].position90 = positionSurPiste90;
ohlimi2 36:bccddd02966a 172 history[indexSample].largeurPiste = largeurPiste90;
GaspardD 22:26fc6e6f7a55 173 history[indexSample].pwm_thro_us = pulseSpeed_us;
GaspardD 22:26fc6e6f7a55 174 history[indexSample].pwm_dir_us = pulseDirection_us;
GaspardD 22:26fc6e6f7a55 175 history[indexSample].dist = tachySectionDist_cm,
GaspardD 41:4dd36f607279 176 history[indexSample].distLidar = distLidar;
GaspardD 23:04d393220daa 177 history[indexSample].strLidar = strengthLidar;
GaspardD 23:04d393220daa 178 indexSample++;
GaspardD 19:771bf61be276 179 #if DEBUG > 0
ohlimi2 36:bccddd02966a 180 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 181 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 182 //wait(2);
GaspardD 22:26fc6e6f7a55 183 timeSinceStart.reset();
GaspardD 22:26fc6e6f7a55 184 timeSinceStart.start();
GaspardD 19:771bf61be276 185 #endif
GaspardD 22:26fc6e6f7a55 186 }
GaspardD 22:26fc6e6f7a55 187 return;
GaspardD 23:04d393220daa 188 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 19:771bf61be276 189 }
GaspardD 23:04d393220daa 190 #endif
GaspardD 19:771bf61be276 191 }
GaspardD 19:771bf61be276 192 void transmitData(void)
GaspardD 19:771bf61be276 193 {
GaspardD 21:de7a0a47f8a3 194 #if DEBUG > 0
GaspardD 19:771bf61be276 195 pc.printf("[START TO TRANSMIT]\r\n");
GaspardD 21:de7a0a47f8a3 196 #endif
GaspardD 39:de3638276b7e 197 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 198 for(int p=0; p<indexSample; p++) {
GaspardD 39:de3638276b7e 199 serialLidar.printf("%d,%.5f,%.5f,%.5f,%d,%d,%.5f,%d,%d,%d,%d\r\n",
GaspardD 21:de7a0a47f8a3 200 history[p].time,
GaspardD 29:fc984fe08ca7 201 history[p].position45,
GaspardD 29:fc984fe08ca7 202 history[p].position90,
GaspardD 39:de3638276b7e 203 history[p].largeurPiste,
GaspardD 21:de7a0a47f8a3 204 history[p].pwm_thro_us,
GaspardD 21:de7a0a47f8a3 205 history[p].pwm_dir_us,
GaspardD 21:de7a0a47f8a3 206 history[p].dist,
GaspardD 21:de7a0a47f8a3 207 history[p].states.murs_dlvv,
GaspardD 21:de7a0a47f8a3 208 history[p].states.section,
GaspardD 21:de7a0a47f8a3 209 history[p].states.maxSpeed,
GaspardD 21:de7a0a47f8a3 210 history[p].states.throttle);
GaspardD 19:771bf61be276 211 }
GaspardD 19:771bf61be276 212 return;
GaspardD 19:771bf61be276 213 }
GaspardD 19:771bf61be276 214
GaspardD 19:771bf61be276 215 #endif
GaspardD 19:771bf61be276 216
GaspardD 19:771bf61be276 217 // +++++++++++++++++++++++++++++++++++++++++++ FUNCTION UTILS +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 218
GaspardD 19:771bf61be276 219 #if DEBUG >= -1
GaspardD 19:771bf61be276 220 void pressed(void)
GaspardD 19:771bf61be276 221 {
GaspardD 21:de7a0a47f8a3 222 #if DEBUG > 0
GaspardD 19:771bf61be276 223 pc.printf("[BTN PRESSED]\r\n");
GaspardD 21:de7a0a47f8a3 224 #endif
GaspardD 44:69751c05a8f3 225 if(!dumped)
GaspardD 44:69751c05a8f3 226 {
GaspardD 19:771bf61be276 227 transmitData();
GaspardD 44:69751c05a8f3 228 dumped = true;
GaspardD 44:69751c05a8f3 229 }else{
GaspardD 44:69751c05a8f3 230 initSamples();
GaspardD 44:69751c05a8f3 231 p_sectionCourante = &p_section1;
GaspardD 44:69751c05a8f3 232 dumped = false;
GaspardD 44:69751c05a8f3 233 }
GaspardD 19:771bf61be276 234 }
GaspardD 19:771bf61be276 235 #endif
GaspardD 19:771bf61be276 236
GaspardD 29:fc984fe08ca7 237 void initIntegrationTable()
GaspardD 29:fc984fe08ca7 238 {
GaspardD 41:4dd36f607279 239 for(int h=0; h<NB_INTEGRAL_SAMPLES; h++) {
GaspardD 29:fc984fe08ca7 240 lastDifferences90[h] = 0;
GaspardD 29:fc984fe08ca7 241 }
GaspardD 29:fc984fe08ca7 242 return;
GaspardD 29:fc984fe08ca7 243 }
GaspardD 29:fc984fe08ca7 244
GaspardD 21:de7a0a47f8a3 245
GaspardD 29:fc984fe08ca7 246 double getShortDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 11:bc24b3ba51a9 247 {
GaspardD 29:fc984fe08ca7 248 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 249 //tension proportionelle à l'inverse de la distance en dessous de 2V
GaspardD 41:4dd36f607279 250 if(tab[index_fifo_ir]< 0.1034) {
GaspardD 41:4dd36f607279 251 tab[index_fifo_ir]= 0.11;
GaspardD 41:4dd36f607279 252 }
GaspardD 39:de3638276b7e 253 tab[index_fifo_ir] = (11.3531/(tab[index_fifo_ir]-0.1034))-0.42;
GaspardD 29:fc984fe08ca7 254
GaspardD 29:fc984fe08ca7 255 int sumMoy = 0;
GaspardD 29:fc984fe08ca7 256 for(int k=0; k<size; k++) {
GaspardD 29:fc984fe08ca7 257 sumMoy+=tab[k];
GaspardD 29:fc984fe08ca7 258 }
GaspardD 29:fc984fe08ca7 259 return sumMoy/size;
GaspardD 29:fc984fe08ca7 260 }
GaspardD 29:fc984fe08ca7 261
GaspardD 29:fc984fe08ca7 262 double getDistMoy(AnalogIn* p,double* tab,int size)
GaspardD 29:fc984fe08ca7 263 {
GaspardD 29:fc984fe08ca7 264 tab[index_fifo_ir] = 3.3 * (double)p->read(); // on convertit directement en volts
GaspardD 29:fc984fe08ca7 265 //tension proportionelle à l'inverse de la distance
ohlimi2 36:bccddd02966a 266 tab[index_fifo_ir] = 1.0/(0.0161 * (double)tab[index_fifo_ir]);
GaspardD 11:bc24b3ba51a9 267 int sumMoy = 0;
GaspardD 19:771bf61be276 268 for(int k=0; k<size; k++) {
GaspardD 11:bc24b3ba51a9 269 sumMoy+=tab[k];
GaspardD 11:bc24b3ba51a9 270 }
GaspardD 11:bc24b3ba51a9 271 return sumMoy/size;
GaspardD 11:bc24b3ba51a9 272 }
GaspardD 39:de3638276b7e 273 void tachyCheck()
GaspardD 39:de3638276b7e 274 {
GaspardD 41:4dd36f607279 275 if(timerSinceTachy.read_us() > 500000) {
GaspardD 39:de3638276b7e 276 tachySpeed_cmps = 0.0;
GaspardD 39:de3638276b7e 277 }
GaspardD 41:4dd36f607279 278 return;
GaspardD 39:de3638276b7e 279 }
GaspardD 39:de3638276b7e 280
GaspardD 2:fd0ffe46a87d 281
GaspardD 12:51b1b40cc017 282 void it4cm()
GaspardD 12:51b1b40cc017 283 {
GaspardD 39:de3638276b7e 284 //le timer sert de flag sur le freinage:
GaspardD 39:de3638276b7e 285 //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 286 //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 287
ohlimi2 36:bccddd02966a 288 tachySectionDist_cm += TACHY_CM;
ohlimi2 36:bccddd02966a 289 tachyTotalDist_cm += TACHY_CM;
GaspardD 39:de3638276b7e 290 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 291 #if DEBUG > 2
ohlimi2 36:bccddd02966a 292 pc.printf("IT: distance parcourue %.4lf , vitesse:%.4lf \r\n",tachyTotalDist_cm,tachySpeed_cmps);
ohlimi2 36:bccddd02966a 293 #endif
GaspardD 39:de3638276b7e 294 timerSinceTachy.reset();
GaspardD 39:de3638276b7e 295 timerSinceTachy.start();
ohlimi2 36:bccddd02966a 296 return;
ohlimi2 36:bccddd02966a 297
GaspardD 19:771bf61be276 298 #if DEBUG > 0
GaspardD 14:d471faa7d1a2 299 pc.printf("IT tachy\r\n");
GaspardD 14:d471faa7d1a2 300 #endif
GaspardD 12:51b1b40cc017 301 }
GaspardD 12:51b1b40cc017 302
GaspardD 12:51b1b40cc017 303 void it_serial()
GaspardD 12:51b1b40cc017 304 {
GaspardD 12:51b1b40cc017 305 if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59
GaspardD 12:51b1b40cc017 306 uart[0]=HEADER;
GaspardD 12:51b1b40cc017 307 if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59
GaspardD 12:51b1b40cc017 308 uart[1]=HEADER;
GaspardD 12:51b1b40cc017 309 for(i=2; i<9; i++) { // store data to array
GaspardD 12:51b1b40cc017 310 uart[i]=serialLidar.getc();
GaspardD 12:51b1b40cc017 311 }
GaspardD 12:51b1b40cc017 312 check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
GaspardD 12:51b1b40cc017 313 if(uart[8]==(check&0xff)) { // check the received data as per protocols
GaspardD 23:04d393220daa 314 distLidarPrev = distLidar;
GaspardD 12:51b1b40cc017 315 distLidar=uart[2]+uart[3]*256;// calculate distance value
GaspardD 23:04d393220daa 316 strengthLidarPrev = strengthLidar;
GaspardD 12:51b1b40cc017 317 strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value
GaspardD 42:3f12252862b9 318 timersinceSerial.reset();
GaspardD 42:3f12252862b9 319 timersinceSerial.start();
GaspardD 12:51b1b40cc017 320 }
GaspardD 12:51b1b40cc017 321 }
GaspardD 12:51b1b40cc017 322 }
GaspardD 12:51b1b40cc017 323 }
GaspardD 19:771bf61be276 324 // +++++++++++++++++++++++++++++++++++++++++++ STATES MACHINES +++++++++++++++++++++++++++++++++++++++++++
GaspardD 19:771bf61be276 325
GaspardD 8:1d8c3ca5e508 326 //########## INIT STATES MACHINES ##########
GaspardD 11:bc24b3ba51a9 327 void mursInit(void)
GaspardD 8:1d8c3ca5e508 328 {
GaspardD 39:de3638276b7e 329 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 330 pc.printf("Init Murs\r\n");
GaspardD 13:af9a59ccf60b 331 #endif
GaspardD 13:af9a59ccf60b 332 timeSinceStart.start();
GaspardD 29:fc984fe08ca7 333 st_murs=REF_BIDIR;
GaspardD 19:771bf61be276 334 PwmDirection.period_us(SPEED_PERIOD_US);
GaspardD 17:8c465656eea4 335 PwmDirection.pulsewidth_us(DIRECTION_PULSE_MIDDLE);// milieu
GaspardD 8:1d8c3ca5e508 336 return;
GaspardD 8:1d8c3ca5e508 337 }
GaspardD 11:bc24b3ba51a9 338 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 339 void obstacleInit(void)
GaspardD 8:1d8c3ca5e508 340 {
GaspardD 19:771bf61be276 341 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 342 pc.printf("Init Obstacle\r\n");
GaspardD 13:af9a59ccf60b 343 #endif
GaspardD 29:fc984fe08ca7 344 st_speedLimit=ALL_CLEAR;
GaspardD 8:1d8c3ca5e508 345 return;
GaspardD 8:1d8c3ca5e508 346 }
GaspardD 11:bc24b3ba51a9 347 #endif
GaspardD 11:bc24b3ba51a9 348 void sectionInit(void)
GaspardD 2:fd0ffe46a87d 349 {
GaspardD 19:771bf61be276 350 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 351 pc.printf("Init Section\r\n");
GaspardD 13:af9a59ccf60b 352 #endif
GaspardD 11:bc24b3ba51a9 353 st_currentSection=ARRET;
GaspardD 14:d471faa7d1a2 354 p_sectionCourante=&p_section1;
GaspardD 12:51b1b40cc017 355 it_tachymeter.fall(&it4cm);
GaspardD 39:de3638276b7e 356 timerSinceTachy.start();
GaspardD 39:de3638276b7e 357 tachySectionDist_cm = 0;
GaspardD 39:de3638276b7e 358 tachyStepsRegister = 0;
GaspardD 11:bc24b3ba51a9 359
GaspardD 23:04d393220daa 360 //section de test 1
ohlimi2 46:9262b07b0833 361 p_section1.nextSection =&p_section3;// &p_section2;
GaspardD 29:fc984fe08ca7 362 p_section1.consigne_position = 75.0;
GaspardD 39:de3638276b7e 363 p_section1.targetSpeed_cmps = 400.0;
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;
ohlimi2 46:9262b07b0833 367 p_section1.lng_section_cm = 1000.0;//10m
ohlimi2 46:9262b07b0833 368 p_section1.coef_p = 4.0;
ohlimi2 46:9262b07b0833 369 p_section1.coef_d = 0.2;
ohlimi2 46:9262b07b0833 370 p_section1.coef_i = 0.000;
GaspardD 39:de3638276b7e 371
GaspardD 39:de3638276b7e 372 //section de test
ohlimi2 46:9262b07b0833 373 p_section2.nextSection = &p_section3;
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
ohlimi2 46:9262b07b0833 384 p_section3.nextSection = NULL;
ohlimi2 46:9262b07b0833 385 p_section3.consigne_position = 75.0;
ohlimi2 46:9262b07b0833 386 p_section3.targetSpeed_cmps = 0.0;
ohlimi2 46:9262b07b0833 387 p_section3.slowSpeed_cmps = 0.0;
ohlimi2 46:9262b07b0833 388 p_section3.coef_p_speed = 1.0;
ohlimi2 46:9262b07b0833 389 p_section3.lidarWarningDist_cm = 300.0;
ohlimi2 46:9262b07b0833 390 p_section3.lng_section_cm = 200.0;//2m
ohlimi2 46:9262b07b0833 391 p_section3.coef_p = 1.0;
ohlimi2 46:9262b07b0833 392 p_section3.coef_i = 0.2;
ohlimi2 46:9262b07b0833 393 p_section3.coef_d = 0.0000;
ohlimi2 46:9262b07b0833 394
GaspardD 8:1d8c3ca5e508 395 return;
GaspardD 8:1d8c3ca5e508 396 }
GaspardD 11:bc24b3ba51a9 397
GaspardD 11:bc24b3ba51a9 398 void maxSpeedInit(void)
GaspardD 11:bc24b3ba51a9 399 {
GaspardD 19:771bf61be276 400 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 401 pc.printf("Init Max Speed\r\n");
GaspardD 13:af9a59ccf60b 402 #endif
GaspardD 11:bc24b3ba51a9 403 st_maxSpeed=SPEED_MAX;
GaspardD 11:bc24b3ba51a9 404 maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps;
GaspardD 11:bc24b3ba51a9 405 serialLidar.baud(115200);
GaspardD 14:d471faa7d1a2 406 serialLidar.attach(&it_serial);
GaspardD 11:bc24b3ba51a9 407 return;
GaspardD 11:bc24b3ba51a9 408 }
GaspardD 11:bc24b3ba51a9 409
GaspardD 11:bc24b3ba51a9 410 void throttleInit(void)
GaspardD 8:1d8c3ca5e508 411 {
GaspardD 19:771bf61be276 412 #if DEBUG > 0
GaspardD 13:af9a59ccf60b 413 pc.printf("Init Throttle\r\n");
GaspardD 13:af9a59ccf60b 414 #endif
GaspardD 21:de7a0a47f8a3 415 st_thro = REGULATION_SPEED;
ohlimi2 36:bccddd02966a 416 PwmMotor.period_us(DIRECTION_PERIOD_MS); //20 ms is default
GaspardD 19:771bf61be276 417 PwmMotor.pulsewidth_us(1000);//MIN
GaspardD 12:51b1b40cc017 418 wait(3);
GaspardD 19:771bf61be276 419 PwmMotor.pulsewidth_us(2000);//MAX
GaspardD 12:51b1b40cc017 420 wait(1);
GaspardD 19:771bf61be276 421 PwmMotor.pulsewidth_us(1500);//ZEROING
GaspardD 12:51b1b40cc017 422 wait(1);
GaspardD 19:771bf61be276 423 pulseSpeed_us = INITAL_PULSE_SPEED_US;
GaspardD 19:771bf61be276 424 #if DEBUG > 0
ohlimi2 36:bccddd02966a 425 pc.printf("temps init: %.4lf micros\r\n",timeSinceStart.read_us());
ohlimi2 36:bccddd02966a 426 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 427 timeSinceStart.reset();
GaspardD 13:af9a59ccf60b 428 timeSinceStart.start();
GaspardD 13:af9a59ccf60b 429 #endif
GaspardD 23:04d393220daa 430 #ifdef DUMP_SAMPLIG_PERIOD
GaspardD 22:26fc6e6f7a55 431 timerLog.start();
GaspardD 22:26fc6e6f7a55 432 #endif
GaspardD 22:26fc6e6f7a55 433
GaspardD 8:1d8c3ca5e508 434 return;
GaspardD 8:1d8c3ca5e508 435 }
GaspardD 2:fd0ffe46a87d 436
GaspardD 8:1d8c3ca5e508 437
GaspardD 8:1d8c3ca5e508 438 //########## UPDATE STATES ##########
GaspardD 11:bc24b3ba51a9 439 void mursUpdate(void)
GaspardD 2:fd0ffe46a87d 440 {
GaspardD 14:d471faa7d1a2 441 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 442 pc.printf("\r\nUpdate MURS\r\n");
GaspardD 14:d471faa7d1a2 443 #endif
GaspardD 11:bc24b3ba51a9 444 //lectures
GaspardD 29:fc984fe08ca7 445
GaspardD 29:fc984fe08ca7 446 distMurG45Moy = getDistMoy(&anaG45,distMurG45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 447 distMurD45Moy = getDistMoy(&anaD45,distMurD45,NB_ECHANTILLONS_IR);
GaspardD 29:fc984fe08ca7 448 distMurG90Moy = getDistMoy(&anaG90,distMurG90,NB_ECHANTILLONS_IR);
ohlimi2 36:bccddd02966a 449 distMurD90Moy = getDistMoy(&anaD90,distMurD90,NB_ECHANTILLONS_IR);
GaspardD 39:de3638276b7e 450 shortDistMurG90Moy = getShortDistMoy(&anaShortG90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 39:de3638276b7e 451 shortDistMurD90Moy = getShortDistMoy(&anaShortD90,shortDistMurD90,NB_ECHANTILLONS_IR);
GaspardD 11:bc24b3ba51a9 452 index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR;
GaspardD 29:fc984fe08ca7 453
ohlimi2 36:bccddd02966a 454
GaspardD 41:4dd36f607279 455 trueDistMurD90Moy = distMurD90Moy;
GaspardD 41:4dd36f607279 456 trueDistMurG90Moy = distMurG90Moy;
GaspardD 39:de3638276b7e 457
GaspardD 41:4dd36f607279 458 if(shortDistMurG90Moy < DIST_MIN_LONG_CM) {
GaspardD 29:fc984fe08ca7 459 trueDistMurG90Moy = shortDistMurG90Moy;
GaspardD 41:4dd36f607279 460 } else {
GaspardD 29:fc984fe08ca7 461 trueDistMurG90Moy = distMurG90Moy;
GaspardD 29:fc984fe08ca7 462 }
GaspardD 41:4dd36f607279 463 if(shortDistMurD90Moy < DIST_MIN_LONG_CM) {
GaspardD 29:fc984fe08ca7 464 trueDistMurD90Moy = shortDistMurD90Moy;
GaspardD 41:4dd36f607279 465 } else {
GaspardD 29:fc984fe08ca7 466 trueDistMurD90Moy = distMurD90Moy;
GaspardD 39:de3638276b7e 467 }
ohlimi2 36:bccddd02966a 468
GaspardD 29:fc984fe08ca7 469
GaspardD 29:fc984fe08ca7 470 #ifdef DLVV
GaspardD 29:fc984fe08ca7 471 switch (st_obstacle) {
GaspardD 41:4dd36f607279 472 case FRONT_OBSTRUCTED:
GaspardD 41:4dd36f607279 473 st_tmpMurs = REF_A_GAUCHE;
GaspardD 41:4dd36f607279 474 return;
GaspardD 41:4dd36f607279 475 case RIGHT_OBSTRUCTED:
GaspardD 41:4dd36f607279 476 st_tmpMurs = REF_A_GAUCHE;
GaspardD 41:4dd36f607279 477 return;
GaspardD 41:4dd36f607279 478 case LEFT_OBSTRUCTED:
GaspardD 41:4dd36f607279 479 st_tmpMurs = REF_A_DROITE;
GaspardD 41:4dd36f607279 480 return;
GaspardD 41:4dd36f607279 481 default:
GaspardD 41:4dd36f607279 482 break;
GaspardD 29:fc984fe08ca7 483 }
GaspardD 29:fc984fe08ca7 484
GaspardD 29:fc984fe08ca7 485 #endif
GaspardD 41:4dd36f607279 486 st_tmpMurs = REF_BIDIR;
GaspardD 29:fc984fe08ca7 487
GaspardD 41:4dd36f607279 488 st_murs = st_tmpMurs;
GaspardD 12:51b1b40cc017 489
GaspardD 8:1d8c3ca5e508 490 return;
GaspardD 8:1d8c3ca5e508 491 }
GaspardD 11:bc24b3ba51a9 492 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 493 void obstacleUpdate(void)
GaspardD 8:1d8c3ca5e508 494 {
GaspardD 8:1d8c3ca5e508 495 return;
GaspardD 8:1d8c3ca5e508 496 }
GaspardD 11:bc24b3ba51a9 497 #endif
GaspardD 11:bc24b3ba51a9 498
GaspardD 11:bc24b3ba51a9 499 void sectionUpdate(void)
GaspardD 8:1d8c3ca5e508 500 {
GaspardD 14:d471faa7d1a2 501 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 502 pc.printf("\r\nUpdate Section\r\n");
GaspardD 14:d471faa7d1a2 503 #endif
GaspardD 43:d2164ee3336a 504
GaspardD 43:d2164ee3336a 505 if(p_sectionCourante == NULL) {
GaspardD 43:d2164ee3336a 506 st_tmpSection = ARRET;
GaspardD 43:d2164ee3336a 507 } else {
GaspardD 43:d2164ee3336a 508
GaspardD 43:d2164ee3336a 509 switch (st_currentSection) {
GaspardD 43:d2164ee3336a 510 case RUNNING_SECTION:
GaspardD 43:d2164ee3336a 511 if(tachySectionDist_cm > p_sectionCourante->lng_section_cm) { //on pourrait rajouter un test lidar
GaspardD 43:d2164ee3336a 512 st_tmpSection = LOADING_SECTION;
GaspardD 43:d2164ee3336a 513 } else {
GaspardD 43:d2164ee3336a 514 return;
GaspardD 43:d2164ee3336a 515 }
GaspardD 43:d2164ee3336a 516 break;
GaspardD 43:d2164ee3336a 517 case LOADING_SECTION:
GaspardD 43:d2164ee3336a 518 if(p_sectionCourante != NULL) { //la section a ete chargee dans sectionOutput
GaspardD 43:d2164ee3336a 519 st_tmpSection = RUNNING_SECTION;
GaspardD 43:d2164ee3336a 520 } else {
GaspardD 43:d2164ee3336a 521 st_tmpSection=ARRET;
GaspardD 43:d2164ee3336a 522 }
GaspardD 43:d2164ee3336a 523 break;
GaspardD 43:d2164ee3336a 524 case ARRET:
GaspardD 43:d2164ee3336a 525 if(p_sectionCourante != NULL) {
GaspardD 43:d2164ee3336a 526 st_tmpSection = RUNNING_SECTION;
GaspardD 43:d2164ee3336a 527 } else {
GaspardD 43:d2164ee3336a 528 return;
GaspardD 43:d2164ee3336a 529 }
GaspardD 43:d2164ee3336a 530 break;
GaspardD 43:d2164ee3336a 531 default:
GaspardD 43:d2164ee3336a 532 break;
GaspardD 43:d2164ee3336a 533 }
GaspardD 11:bc24b3ba51a9 534 }
GaspardD 11:bc24b3ba51a9 535 st_currentSection = st_tmpSection;
GaspardD 8:1d8c3ca5e508 536 return;
GaspardD 8:1d8c3ca5e508 537 }
GaspardD 8:1d8c3ca5e508 538
GaspardD 11:bc24b3ba51a9 539 void maxSpeedUpdate(void)
GaspardD 8:1d8c3ca5e508 540 {
GaspardD 14:d471faa7d1a2 541 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 542 pc.printf("\r\nUpdate MaxSpeed\r\n");
GaspardD 14:d471faa7d1a2 543 #endif
GaspardD 45:7d67809bd7bf 544 if(p_sectionCourante == NULL) {
GaspardD 43:d2164ee3336a 545 st_tmpMaxSpeed = BLOCKED;
GaspardD 43:d2164ee3336a 546 } else if(st_maxSpeed == BLOCKED && strengthLidar > LIDAR_STRENGTH_THRESOLD && distLidar < p_sectionCourante->lidarWarningDist_cm) {
GaspardD 41:4dd36f607279 547 st_tmpMaxSpeed = BLOCKED;
GaspardD 41:4dd36f607279 548 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD ) {
GaspardD 23:04d393220daa 549 if( distLidar > p_sectionCourante->lidarWarningDist_cm ) {
GaspardD 19:771bf61be276 550 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 29:fc984fe08ca7 551 } else if( strengthLidar > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 552 strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
GaspardD 24:698fefbbee00 553 distLidar < p_sectionCourante->lidarWarningDist_cm &&
GaspardD 41:4dd36f607279 554 distLidarPrev-distLidar > 3) {
GaspardD 21:de7a0a47f8a3 555 st_tmpMaxSpeed = BLOCKED;
GaspardD 41:4dd36f607279 556 } else {
GaspardD 24:698fefbbee00 557 st_tmpMaxSpeed = SPEED_WARNING;
GaspardD 24:698fefbbee00 558 }
GaspardD 21:de7a0a47f8a3 559 } else {
GaspardD 11:bc24b3ba51a9 560 st_tmpMaxSpeed = SPEED_MAX;
GaspardD 11:bc24b3ba51a9 561 }
GaspardD 11:bc24b3ba51a9 562
GaspardD 11:bc24b3ba51a9 563 st_maxSpeed = st_tmpMaxSpeed;
GaspardD 11:bc24b3ba51a9 564 return;
GaspardD 11:bc24b3ba51a9 565 }
GaspardD 11:bc24b3ba51a9 566
GaspardD 11:bc24b3ba51a9 567 void throttleUpdate(void)
GaspardD 11:bc24b3ba51a9 568 {
GaspardD 14:d471faa7d1a2 569 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 570 pc.printf("\r\nUpdate Throttle\r\n");
GaspardD 14:d471faa7d1a2 571 #endif
GaspardD 11:bc24b3ba51a9 572 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 573 case REGULATION_SPEED:
GaspardD 24:698fefbbee00 574 if( st_currentSection == ARRET ||
GaspardD 41:4dd36f607279 575 st_maxSpeed == BLOCKED ) {
GaspardD 19:771bf61be276 576 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 577 }
GaspardD 27:f8c3f1524a64 578 #ifdef FREINAGE_ADAPTATIF
GaspardD 41:4dd36f607279 579 else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS)) {
GaspardD 24:698fefbbee00 580 st_tmpThro = BRAKING;
GaspardD 29:fc984fe08ca7 581 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 582 brakingTimer.reset();
GaspardD 24:698fefbbee00 583 brakingTimer.start();
GaspardD 27:f8c3f1524a64 584 }
GaspardD 27:f8c3f1524a64 585 #endif
GaspardD 41:4dd36f607279 586 else {
GaspardD 19:771bf61be276 587 return;
GaspardD 19:771bf61be276 588 }
GaspardD 19:771bf61be276 589 break;
GaspardD 16:63690703b5b6 590 case BRAKING:
GaspardD 42:3f12252862b9 591 if(st_maxSpeed == BLOCKED && timersinceSerial.read_us() > 200000) {
GaspardD 42:3f12252862b9 592 p_sectionCourante= NULL;
GaspardD 42:3f12252862b9 593 st_tmpThro = STOPPED;
GaspardD 42:3f12252862b9 594 } else if( st_maxSpeed == BLOCKED
GaspardD 41:4dd36f607279 595 #ifdef FREINAGE_ADAPTATIF
GaspardD 42:3f12252862b9 596 || brakingTimer.read_us() < brakingDurationNeeded_us
GaspardD 41:4dd36f607279 597 #endif
GaspardD 42:3f12252862b9 598 ) {
GaspardD 23:04d393220daa 599 st_tmpThro = BRAKING;
GaspardD 41:4dd36f607279 600 } else if(st_currentSection == ARRET) {
GaspardD 21:de7a0a47f8a3 601 st_tmpThro = STOPPED;
GaspardD 41:4dd36f607279 602 } else {
GaspardD 41:4dd36f607279 603 #ifdef FREINAGE_ADAPTATIF
GaspardD 24:698fefbbee00 604 brakingDurationNeeded_us = 0;
GaspardD 41:4dd36f607279 605 #endif
GaspardD 21:de7a0a47f8a3 606 st_tmpThro = REGULATION_SPEED;
GaspardD 21:de7a0a47f8a3 607 }
GaspardD 19:771bf61be276 608 break;
GaspardD 19:771bf61be276 609 case STOPPED:
GaspardD 19:771bf61be276 610 if(st_currentSection == RUNNING_SECTION) {
GaspardD 22:26fc6e6f7a55 611 st_tmpThro = REGULATION_SPEED;
GaspardD 19:771bf61be276 612 } else {
GaspardD 19:771bf61be276 613 st_tmpThro = STOPPED;
GaspardD 16:63690703b5b6 614 }
GaspardD 19:771bf61be276 615 break;
GaspardD 19:771bf61be276 616 default:
GaspardD 19:771bf61be276 617 break;
GaspardD 11:bc24b3ba51a9 618 }
GaspardD 11:bc24b3ba51a9 619 st_thro = st_tmpThro;
GaspardD 8:1d8c3ca5e508 620 return;
GaspardD 8:1d8c3ca5e508 621 }
GaspardD 2:fd0ffe46a87d 622
GaspardD 8:1d8c3ca5e508 623 //########## OUTPUT STATES ##########
GaspardD 11:bc24b3ba51a9 624 //updating output parameters
GaspardD 11:bc24b3ba51a9 625 void mursOutput(void)
GaspardD 12:51b1b40cc017 626 {
GaspardD 43:d2164ee3336a 627 if(p_sectionCourante != NULL) {
GaspardD 43:d2164ee3336a 628 //pour dériver
GaspardD 43:d2164ee3336a 629 positionSurPiste45Prev = positionSurPiste45;
GaspardD 43:d2164ee3336a 630 positionSurPiste90Prev = positionSurPiste90;
GaspardD 14:d471faa7d1a2 631 #if (DEBUG > 3)
GaspardD 43:d2164ee3336a 632 pc.printf("\r\n Output MURS\r\n");
GaspardD 14:d471faa7d1a2 633 #endif
GaspardD 23:04d393220daa 634
GaspardD 43:d2164ee3336a 635 switch (st_murs) {
GaspardD 43:d2164ee3336a 636 case REF_A_GAUCHE://par defaut, on compte à partir de la bordure gauche
GaspardD 43:d2164ee3336a 637 largeurPiste90 = 150.0;
GaspardD 43:d2164ee3336a 638 positionSurPiste90 = ( trueDistMurG90Moy + DEMI_LARGEUR_BINIOU_CM );
GaspardD 43:d2164ee3336a 639 positionSurPiste45 = ( distMurG45Moy * 1.414214/2.0 ) + DEMI_LARGEUR_BINIOU_CM;
GaspardD 39:de3638276b7e 640 #ifdef OMAR
GaspardD 43:d2164ee3336a 641 pc.printf("REF_A_GAUCHE\r\n");
GaspardD 39:de3638276b7e 642 #endif
GaspardD 43:d2164ee3336a 643 break;
GaspardD 43:d2164ee3336a 644 case REF_A_DROITE://par defaut, on compte à partir de la bordure gauche
GaspardD 43:d2164ee3336a 645 largeurPiste90 = 150.0;
GaspardD 43:d2164ee3336a 646 positionSurPiste90 = largeurPiste90 - ( DEMI_LARGEUR_BINIOU_CM + trueDistMurD90Moy ) ;
GaspardD 43:d2164ee3336a 647 positionSurPiste45 = largeurPiste90 - ( distMurD45Moy * (1.414214)/2 ) + DEMI_LARGEUR_BINIOU_CM;
GaspardD 39:de3638276b7e 648 #ifdef OMAR
GaspardD 43:d2164ee3336a 649 pc.printf("REF_A_DROITE\r\n");
GaspardD 39:de3638276b7e 650 #endif
GaspardD 43:d2164ee3336a 651 break;
GaspardD 43:d2164ee3336a 652 default://REF_BIDIR
GaspardD 43:d2164ee3336a 653 largeurPiste90 = trueDistMurG90Moy + trueDistMurD90Moy ;
GaspardD 43:d2164ee3336a 654 largeurPiste45 = distMurG45Moy + distMurD45Moy ;
GaspardD 43:d2164ee3336a 655 positionSurPiste90 = (trueDistMurG90Moy );
GaspardD 43:d2164ee3336a 656 positionSurPiste45 = (distMurG45Moy);
GaspardD 39:de3638276b7e 657 #ifdef OMAR
GaspardD 43:d2164ee3336a 658 pc.printf("REF_BIDIR\r\n");
GaspardD 39:de3638276b7e 659 #endif
GaspardD 43:d2164ee3336a 660 break;
GaspardD 43:d2164ee3336a 661 }
GaspardD 23:04d393220daa 662
GaspardD 22:26fc6e6f7a55 663
GaspardD 43:d2164ee3336a 664 //deriv correction
GaspardD 43:d2164ee3336a 665 derive45 = positionSurPiste45 - positionSurPiste45Prev;
GaspardD 43:d2164ee3336a 666 derive90 = positionSurPiste90 - positionSurPiste90Prev;
GaspardD 39:de3638276b7e 667
GaspardD 39:de3638276b7e 668 #ifdef OMAR/*
GaspardD 43:d2164ee3336a 669 pc.printf("derive45 => %.4lf \r\n ",derive45);
GaspardD 43:d2164ee3336a 670 pc.printf("derive90 => %.4lf \r\n ",derive90);
GaspardD 43:d2164ee3336a 671 pc.printf("distMurG45Moy => %.4lf \r\n ",distMurG45Moy);
GaspardD 43:d2164ee3336a 672 pc.printf("distMurD45Moy => %.4lf \r\n ",distMurD45Moy);
GaspardD 43:d2164ee3336a 673 pc.printf("trueDistMurG90Moy => %.4lf \r\n ",trueDistMurG90Moy);
GaspardD 43:d2164ee3336a 674 pc.printf("trueDistMurD90Moy => %.4lf \r\n ",trueDistMurD90Moy);
GaspardD 43:d2164ee3336a 675 pc.printf("positionSurPiste90 => %.4lf \r\n ",positionSurPiste90);
GaspardD 43:d2164ee3336a 676 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
GaspardD 43:d2164ee3336a 677 pc.printf("largeurPiste90 => %.4lf \r\n ",largeurPiste90);*/
GaspardD 39:de3638276b7e 678 #endif
GaspardD 39:de3638276b7e 679
GaspardD 43:d2164ee3336a 680 //integral correction
GaspardD 43:d2164ee3336a 681 lastDifferences90[lastDifferenceIndex] = (p_sectionCourante->consigne_position - positionSurPiste90);
GaspardD 43:d2164ee3336a 682 integralSum=0;
GaspardD 43:d2164ee3336a 683 for(int f=0; f<NB_INTEGRAL_SAMPLES; f++) {
GaspardD 43:d2164ee3336a 684 integralSum+=lastDifferences90[f];
GaspardD 43:d2164ee3336a 685 }
GaspardD 43:d2164ee3336a 686 lastDifferenceIndex = (lastDifferenceIndex + 1)%NB_INTEGRAL_SAMPLES;
GaspardD 39:de3638276b7e 687
GaspardD 41:4dd36f607279 688
GaspardD 41:4dd36f607279 689
GaspardD 41:4dd36f607279 690
GaspardD 43:d2164ee3336a 691 //application des coefficients
GaspardD 41:4dd36f607279 692
GaspardD 43:d2164ee3336a 693 pulseDirection_us = (int)(
ohlimi2 46:9262b07b0833 694 ((positionSurPiste45 - 75.0) * p_sectionCourante->coef_p)
ohlimi2 46:9262b07b0833 695 //+ ((positionSurPiste90 - 75.0) * p_sectionCourante->coef_p)
ohlimi2 46:9262b07b0833 696 //+ ( -derive45 * p_sectionCourante->coef_d)
ohlimi2 46:9262b07b0833 697 //+ ( -derive90 * p_sectionCourante->coef_d)
ohlimi2 46:9262b07b0833 698 //+ ( -integralSum * p_sectionCourante->coef_i)
ohlimi2 46:9262b07b0833 699 )* 1;//(300.0/(tachySpeed_cmps+1.0)) // faire du test reel pour afiné ou un calcul
GaspardD 43:d2164ee3336a 700 + DIRECTION_PULSE_MIDDLE;
GaspardD 41:4dd36f607279 701
GaspardD 41:4dd36f607279 702
GaspardD 39:de3638276b7e 703 #ifdef OMAR
GaspardD 43:d2164ee3336a 704 pc.printf("p_sectionCourante->consigne_position => %.4lf \r\n ",p_sectionCourante->consigne_position);
GaspardD 43:d2164ee3336a 705 pc.printf("positionSurPiste45 => %.4lf \r\n ",positionSurPiste45);
GaspardD 43:d2164ee3336a 706 pc.printf("p_sectionCourante->coef_p => %.4lf \r\n ",p_sectionCourante->coef_p);
GaspardD 39:de3638276b7e 707 #endif
GaspardD 21:de7a0a47f8a3 708 //gestioon du dépassement
GaspardD 43:d2164ee3336a 709 if(pulseDirection_us > DIRECTION_PULSE_MAX) { //POUR TOURNER A GAUCHE
GaspardD 19:771bf61be276 710 #if DEBUG > 1
GaspardD 43:d2164ee3336a 711 pc.printf("!!! OVER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 712 #endif
GaspardD 43:d2164ee3336a 713 pulseDirection_us = DIRECTION_PULSE_MAX;
GaspardD 43:d2164ee3336a 714 } else if(pulseDirection_us < DIRECTION_PULSE_MIN ) { //POUR TOURNER A DROITE
GaspardD 21:de7a0a47f8a3 715 #if DEBUG > 1
GaspardD 43:d2164ee3336a 716 pc.printf("!!! UNDER PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 19:771bf61be276 717 #endif
GaspardD 43:d2164ee3336a 718 pulseDirection_us = DIRECTION_PULSE_MIN ;
GaspardD 43:d2164ee3336a 719 }
GaspardD 21:de7a0a47f8a3 720 #if DEBUG > 1
GaspardD 43:d2164ee3336a 721 pc.printf("PWM Direction pulse: %.4lf\r\n",pulseDirection_us);
GaspardD 21:de7a0a47f8a3 722 #endif
GaspardD 43:d2164ee3336a 723 PwmDirection.pulsewidth_us(pulseDirection_us);
GaspardD 43:d2164ee3336a 724 return;
GaspardD 43:d2164ee3336a 725 }
GaspardD 8:1d8c3ca5e508 726 }
GaspardD 8:1d8c3ca5e508 727
GaspardD 11:bc24b3ba51a9 728 #ifdef DLVV
GaspardD 11:bc24b3ba51a9 729 void obstacleOutput(void)
GaspardD 8:1d8c3ca5e508 730 {
GaspardD 8:1d8c3ca5e508 731 return;
GaspardD 8:1d8c3ca5e508 732 }
GaspardD 11:bc24b3ba51a9 733 #endif
GaspardD 11:bc24b3ba51a9 734 void sectionOutput(void)
GaspardD 8:1d8c3ca5e508 735 {
GaspardD 14:d471faa7d1a2 736 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 737 pc.printf("\r\n Output Section\r\n");
GaspardD 14:d471faa7d1a2 738 #endif
GaspardD 43:d2164ee3336a 739 if(p_sectionCourante !=NULL) {
GaspardD 43:d2164ee3336a 740 switch (st_currentSection) {
GaspardD 43:d2164ee3336a 741 case RUNNING_SECTION:
GaspardD 43:d2164ee3336a 742 break;
GaspardD 43:d2164ee3336a 743 case LOADING_SECTION:
GaspardD 43:d2164ee3336a 744 p_sectionCourante=p_sectionCourante->nextSection;
GaspardD 43:d2164ee3336a 745 tachySectionDist_cm = 0;
GaspardD 43:d2164ee3336a 746 break;
GaspardD 43:d2164ee3336a 747 case ARRET:
GaspardD 43:d2164ee3336a 748 //on est à l'arret
GaspardD 43:d2164ee3336a 749 break;
GaspardD 43:d2164ee3336a 750 default:
GaspardD 43:d2164ee3336a 751 break;
GaspardD 43:d2164ee3336a 752 }
GaspardD 11:bc24b3ba51a9 753 }
GaspardD 8:1d8c3ca5e508 754 return;
GaspardD 8:1d8c3ca5e508 755 }
GaspardD 8:1d8c3ca5e508 756
GaspardD 11:bc24b3ba51a9 757
GaspardD 11:bc24b3ba51a9 758 void maxSpeedOutput(void)
GaspardD 8:1d8c3ca5e508 759 {
GaspardD 14:d471faa7d1a2 760 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 761 pc.printf("\r\n Output MAX SPEED\r\n");
GaspardD 14:d471faa7d1a2 762 #endif
GaspardD 43:d2164ee3336a 763 if(p_sectionCourante !=NULL) {
GaspardD 43:d2164ee3336a 764 switch(st_maxSpeed) {
GaspardD 43:d2164ee3336a 765 case BLOCKED:
GaspardD 43:d2164ee3336a 766 maxSpeed_cmps = 0;
GaspardD 43:d2164ee3336a 767 break;
GaspardD 43:d2164ee3336a 768 case SPEED_WARNING:
GaspardD 43:d2164ee3336a 769 maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps;
GaspardD 43:d2164ee3336a 770 break;
GaspardD 43:d2164ee3336a 771 default:
GaspardD 43:d2164ee3336a 772 maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps;
GaspardD 43:d2164ee3336a 773 break;
GaspardD 43:d2164ee3336a 774 }
GaspardD 43:d2164ee3336a 775 } else {
GaspardD 43:d2164ee3336a 776 maxSpeed_cmps = 0.0;
GaspardD 11:bc24b3ba51a9 777 }
GaspardD 8:1d8c3ca5e508 778 return;
GaspardD 8:1d8c3ca5e508 779 }
GaspardD 11:bc24b3ba51a9 780
GaspardD 11:bc24b3ba51a9 781 void throttleOutput(void)
GaspardD 11:bc24b3ba51a9 782 {
GaspardD 14:d471faa7d1a2 783 #if (DEBUG > 3)
GaspardD 14:d471faa7d1a2 784 pc.printf("\r\n Output TROTTLE\r\n");
GaspardD 14:d471faa7d1a2 785 #endif
GaspardD 11:bc24b3ba51a9 786 switch (st_thro) {
GaspardD 21:de7a0a47f8a3 787 case REGULATION_SPEED:
GaspardD 22:26fc6e6f7a55 788 pulseSpeed_us = maxSpeed_cmps * 279 / 2048 + 1558 ;
GaspardD 19:771bf61be276 789 break;
GaspardD 19:771bf61be276 790 case BRAKING:
GaspardD 16:63690703b5b6 791 #if DEBUG > 2
GaspardD 19:771bf61be276 792 pc.printf("BRAKINGGGGGGGGGGGGGGGGGG !!! \r\n");
GaspardD 19:771bf61be276 793 #endif
GaspardD 19:771bf61be276 794 pulseSpeed_us = BRAKING_PULSE_US;
GaspardD 19:771bf61be276 795 break;
GaspardD 19:771bf61be276 796 case STOPPED:
GaspardD 19:771bf61be276 797 #if DEBUG > 2
GaspardD 19:771bf61be276 798 pc.printf("STOPPED\r\n");
GaspardD 16:63690703b5b6 799 #endif
GaspardD 19:771bf61be276 800 pulseSpeed_us = ZERO_PULSE_SPEED_US;
GaspardD 19:771bf61be276 801 break;
GaspardD 19:771bf61be276 802 default:
GaspardD 19:771bf61be276 803 break;
GaspardD 11:bc24b3ba51a9 804 }
GaspardD 22:26fc6e6f7a55 805
GaspardD 19:771bf61be276 806 PwmMotor.pulsewidth_us(pulseSpeed_us);
GaspardD 15:129f205ff030 807 #if DEBUG > 1
ohlimi2 36:bccddd02966a 808 pc.printf("PWM Thro pulse: %.4lf micros\r\n",pulseSpeed_us);
GaspardD 13:af9a59ccf60b 809 #endif
GaspardD 11:bc24b3ba51a9 810 return;
GaspardD 11:bc24b3ba51a9 811 }