Clark Lin / Mbed 2 deprecated BX-car_s

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Dependencies:   mbed-rtos mbed

Fork of BX-car_s by Tony Lin

main.cpp@14:303b22b76d7a, 2014-06-28 (annotated)

Committer:
TonyLin
Date:
Sat Jun 28 07:32:39 2014 +0000
Revision:
14:303b22b76d7a
Parent:
13:a33a7705fe2b
Child:
15:57567d3ee27e
Dynamic kp!!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 0:68c173249c01 1 #include "mbed.h"
backman 7:fd976e1ced33 2 #include "controller.h"
backman 1:82bc25a7b68b 3 #include "servo_api.h"
backman 1:82bc25a7b68b 4 #include "camera_api.h"
backman 6:5a39bde2e016 5 #include "motor_api.h"
backman 7:fd976e1ced33 6 #include "pot.h"
TonyLin 13:a33a7705fe2b 7
backman 3:c5f2281b3ed2 8
backman 3:c5f2281b3ed2 9 #define Debug_cam_uart
backman 6:5a39bde2e016 10 #define R_eye
TonyLin 14:303b22b76d7a 11 #define motor_on
backman 6:5a39bde2e016 12 #define Pcontroller
backman 8:8e49e21d80a2 13 #define task_ma_time
TonyLin 13:a33a7705fe2b 14 #define offset 65
TonyLin 13:a33a7705fe2b 15 #include "TSISensor.h"
backman 12:418e39749f48 16
TonyLin 13:a33a7705fe2b 17 Serial pc(USBTX, USBRX);
TonyLin 14:303b22b76d7a 18 BX_servo servo;
backman 6:5a39bde2e016 19 BX_camera cam;
backman 6:5a39bde2e016 20 BX_motor MotorA('A');
backman 6:5a39bde2e016 21 BX_motor MotorB('B');
TonyLin 13:a33a7705fe2b 22 BX_pot pot1('1'); // 90/30=3
TonyLin 13:a33a7705fe2b 23 BX_pot pot2('2');
TonyLin 13:a33a7705fe2b 24 PID cam_to_M_ctrlr(10.0,118.0,0.06,0.11,(0.104/30),0.0,0.0,10);
backman 8:8e49e21d80a2 25 DigitalOut task_pin(PTD1);
backman 9:33b99cb45e99 26 TSISensor tsi;
backman 12:418e39749f48 27
TonyLin 13:a33a7705fe2b 28 void run();
backman 12:418e39749f48 29
TonyLin 14:303b22b76d7a 30 int main()
TonyLin 14:303b22b76d7a 31 {
TonyLin 13:a33a7705fe2b 32 pc.baud(115200);
TonyLin 14:303b22b76d7a 33
TonyLin 14:303b22b76d7a 34 while(1) {
TonyLin 13:a33a7705fe2b 35 if(tsi.readPercentage()>0.00011)
TonyLin 14:303b22b76d7a 36 break;
backman 12:418e39749f48 37 }
TonyLin 13:a33a7705fe2b 38 run();
TonyLin 14:303b22b76d7a 39
TonyLin 14:303b22b76d7a 40 pc.baud(115200);
TonyLin 13:a33a7705fe2b 41 return 0;
TonyLin 14:303b22b76d7a 42 }
backman 12:418e39749f48 43
backman 12:418e39749f48 44
backman 7:fd976e1ced33 45
TonyLin 14:303b22b76d7a 46 void run()
TonyLin 14:303b22b76d7a 47 {
TonyLin 14:303b22b76d7a 48 double motor;
TonyLin 14:303b22b76d7a 49 double b_r_c;
TonyLin 14:303b22b76d7a 50 double PID_v;
TonyLin 14:303b22b76d7a 51 double error , P, I, D, kp, r_kp;
TonyLin 14:303b22b76d7a 52 double last_error=0.0 ,last_I=0.0, last_brc, brc_df;
TonyLin 14:303b22b76d7a 53 bool first_time=true, r_kp_neg=false;
TonyLin 14:303b22b76d7a 54
TonyLin 14:303b22b76d7a 55 while(1) {
TonyLin 14:303b22b76d7a 56 #ifdef task_ma_time
TonyLin 14:303b22b76d7a 57 task_pin=1;
TonyLin 14:303b22b76d7a 58 #endif
TonyLin 14:303b22b76d7a 59
TonyLin 14:303b22b76d7a 60 cam.read();
TonyLin 14:303b22b76d7a 61 #ifdef Debug_cam_uart
TonyLin 14:303b22b76d7a 62 #ifdef L_eye
TonyLin 14:303b22b76d7a 63 for(int i=0; i<128; i++) {
TonyLin 14:303b22b76d7a 64 if(i==64)
TonyLin 14:303b22b76d7a 65 pc.printf("X");
TonyLin 14:303b22b76d7a 66 else
TonyLin 14:303b22b76d7a 67 pc.printf("%c", cam.sign_line_imageL[i]);
TonyLin 14:303b22b76d7a 68 }
TonyLin 14:303b22b76d7a 69 pc.printf(" || ");
TonyLin 14:303b22b76d7a 70 #endif
TonyLin 14:303b22b76d7a 71 #ifdef R_eye
TonyLin 14:303b22b76d7a 72 for(int i=128; i>=0; i--) {
TonyLin 14:303b22b76d7a 73 if(i==64)
TonyLin 14:303b22b76d7a 74 pc.printf("X");
TonyLin 14:303b22b76d7a 75 else if(i<10)
TonyLin 14:303b22b76d7a 76 pc.printf("-");
TonyLin 14:303b22b76d7a 77 else if(i>117)
TonyLin 14:303b22b76d7a 78 pc.printf("-");
TonyLin 14:303b22b76d7a 79 else
TonyLin 14:303b22b76d7a 80 pc.printf("%c", cam.sign_line_imageR[i]);
TonyLin 14:303b22b76d7a 81 }
TonyLin 14:303b22b76d7a 82 pc.printf("\r\n");
TonyLin 14:303b22b76d7a 83 #endif
TonyLin 14:303b22b76d7a 84 #endif
TonyLin 14:303b22b76d7a 85
TonyLin 14:303b22b76d7a 86 #ifdef motor_on
TonyLin 14:303b22b76d7a 87 motor=pot1.read();
TonyLin 14:303b22b76d7a 88 MotorA.rotate(motor);
TonyLin 14:303b22b76d7a 89 MotorB.rotate(motor);
TonyLin 14:303b22b76d7a 90 #endif
TonyLin 14:303b22b76d7a 91
TonyLin 14:303b22b76d7a 92 b_r_c=(double)cam.black_centerR();
TonyLin 14:303b22b76d7a 93 pc.printf("%d %d speed :%f bk_center %f PID:%f \r\n",cam.de_v,cam.de_v2,motor,b_r_c,PID_v);
TonyLin 14:303b22b76d7a 94
TonyLin 14:303b22b76d7a 95 //compute
TonyLin 14:303b22b76d7a 96 //stand at 65
TonyLin 14:303b22b76d7a 97 error=b_r_c-offset;
TonyLin 14:303b22b76d7a 98 brc_df=b_r_c-last_brc;
TonyLin 14:303b22b76d7a 99 last_brc=b_r_c;
backman 12:418e39749f48 100
TonyLin 14:303b22b76d7a 101 if(first_time==true){
TonyLin 14:303b22b76d7a 102 r_kp=error;
TonyLin 14:303b22b76d7a 103 first_time=false;
TonyLin 13:a33a7705fe2b 104 }
TonyLin 13:a33a7705fe2b 105 else{
TonyLin 14:303b22b76d7a 106 r_kp+=df;
TonyLin 14:303b22b76d7a 107 }
backman 12:418e39749f48 108
TonyLin 14:303b22b76d7a 109 if(r_kp<0.0){
TonyLin 14:303b22b76d7a 110 r_kp*=-1.0;
TonyLin 14:303b22b76d7a 111 r_kp_neg=true;
TonyLin 14:303b22b76d7a 112 }
TonyLin 14:303b22b76d7a 113 kp=0.025/(4000/r_kp);
TonyLin 14:303b22b76d7a 114 if(r_kp_neg==true){
TonyLin 14:303b22b76d7a 115 r_kp_neg=false;
TonyLin 14:303b22b76d7a 116 r_kp*=-1.0;
TonyLin 14:303b22b76d7a 117 }
TonyLin 14:303b22b76d7a 118
TonyLin 14:303b22b76d7a 119 P=kp*error;
TonyLin 14:303b22b76d7a 120
TonyLin 14:303b22b76d7a 121 I=last_I*2.0/3.0+error;
TonyLin 14:303b22b76d7a 122 last_I=I;
TonyLin 14:303b22b76d7a 123 I=(kp*0.02/0.04)*I;
TonyLin 14:303b22b76d7a 124
TonyLin 14:303b22b76d7a 125 D=error-last_error;
TonyLin 14:303b22b76d7a 126 last_error=error;
TonyLin 14:303b22b76d7a 127 D=(kp*0.04/0.02)*D;
TonyLin 14:303b22b76d7a 128
TonyLin 14:303b22b76d7a 129 PID_v=P+D;
TonyLin 14:303b22b76d7a 130
TonyLin 14:303b22b76d7a 131
TonyLin 14:303b22b76d7a 132 if(PID_v < 0.0) {
TonyLin 13:a33a7705fe2b 133 PID_v*=-1;
TonyLin 14:303b22b76d7a 134 PID_v=0.085-(PID_v);
TonyLin 14:303b22b76d7a 135 } else if(PID_v > 0.0)
TonyLin 14:303b22b76d7a 136 PID_v=0.085+(PID_v);
TonyLin 13:a33a7705fe2b 137 else
TonyLin 13:a33a7705fe2b 138 PID_v=0.085;
TonyLin 14:303b22b76d7a 139
TonyLin 13:a33a7705fe2b 140 servo.set_angle(PID_v);
TonyLin 14:303b22b76d7a 141
TonyLin 14:303b22b76d7a 142 #ifdef task_ma_time
TonyLin 14:303b22b76d7a 143 task_pin=0;
TonyLin 14:303b22b76d7a 144 #endif
TonyLin 14:303b22b76d7a 145 }
TonyLin 13:a33a7705fe2b 146 }