File content as of revision 11:967469d7e01c:

#include "robot.h"

#define MIN(a,b) ((b<a)?(b):(a))
#define MAX(a,b) ((b>a)?(b):(a))

//this is the main place pinouts are put
//also sets up the control system constants
robot::robot() : spi(PTD2, PTD3, PTD1), bigenc(spi,PTD0), gyro(PTE0, PTE1),
            right(bigenc,0,1,PTA5), left(bigenc,2,3,PTA4), motors(spi,PTD0) {
    
    //bigenc.setDirections(1,-1,1,1);
    left.setReversed(1);
    x=y=rot=0;
    
    //set our set point in memory to match the current set point of the encoders
    const int *referenceCounts = bigenc.getReferences();
    motors.setSetPoint(referenceCounts[0],referenceCounts[1]);
    
    //control system constants
    pfac=0.00035;
    ifac=0.00000001;
    dfac=0.000001;
    
    angfac=0.0000016;
}

//driveforward, but set up so that 
int robot::absDriveForward(double desangle, int distance){
    Timer tim;
    int dir=1;
    if(distance < 0){
        dir = -1;
        distance = -distance;
    }
    int i,move;
    int maxSpeed=41;
    int stepsPerInc=3;
    int stepsToMax=(maxSpeed-1)*stepsPerInc;
    int distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
    int stopRaise,startFall;
    if(distance<distToMax*2){
        maxSpeed =  ((2*stepsPerInc)+sqrt((double)(2*stepsPerInc)*((2*stepsPerInc)+8*distance)))/(4*stepsPerInc);
        stepsToMax=(maxSpeed-1)*stepsPerInc;
        distToMax=(maxSpeed*(maxSpeed-1)*stepsPerInc)/2;
        stopRaise = stepsToMax;
        startFall = stopRaise+(distance-distToMax*2)/(maxSpeed)+1;
        DBGPRINT("Insufficent Ramp-Up\r\n",1);
    } else {
        stopRaise=stepsToMax;
        startFall=stopRaise+(distance-distToMax*2)/maxSpeed;
        DBGPRINT("Sufficent Ramp-Up\r\n",1);
    }
    DBGPRINT("[%d %d %d] {%d, %d}\n\r",maxSpeed,stepsToMax,distToMax,stopRaise,startFall);
    tim.start();
    move = 0;
    int totalMove=0;
    for(i=0;i<startFall+stepsToMax;i++){
        tim.reset();
        if(i<=stopRaise && i%stepsPerInc==0){
            move++;
        }
        if(i==startFall-1){
            move = distance-totalMove-distToMax;
        }
        if(i>=startFall && (i-startFall)%stepsPerInc==0){
            if(i==startFall)
                move=maxSpeed;
            move--;
        }
        totalMove+=move;
        motors.moveForward(move*dir);
        //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
        while(tim.read_ms()<10);
    }
    return totalMove;
}

//this is the main thing that both turns and goes forward
// desangle is a angle in degrees to head towards (this is relative to the direction the robot starts pointing in
// distance is a distance to head in that direction in units of encoder ticks
int robot::driveForward(double desangle, int distance){
    bigenc.resetAll();
    const int* constbuf = bigenc.getVals();
    int prev[4]={0,0,0,0};
    int distTraveled=0, i;
    double maxPow=0.4;
    int loopcount=0;
    double minmain=0.05;
    double minalt=0.05;
    
    //find a point in front of where we're heading
    int targetang = desangle*4050000.0/360.0;//gyro.getZ();
    int startang = targetang;
    double angle=double(startang)*2*3.14159/4050000.0;
    double targx = x + double((distance==0)?10000:distance)*0.0035362*cos(angle)*1.5;
    double targy = y + double((distance==0)?10000:distance)*0.0035362*sin(angle)*1.5;
    int invfactor = 0;
    
    //if going backwards, point away from the point
    if(distance<0) {
        invfactor = 2025000;
    }
    double realfac=0.1;
    
    int pmain=distance;
    int imain=0;
    int dmain=0;
    
    int dterm=0;
    const int ptol = 75;
    const int dtol = 10;
    while((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol)|| (realfac <= -0.03 || realfac >= 0.03) /*|| (fmod(rot*180.0/3.14159-desangle+3600000.0,360.0) >= 1 && fmod(rot*180.0/3.14159-desangle+3600000.0,360.0) <= 359)*/){

        //DBGPRINT("=%d of %d [%f] (%d, %d) \t{%f,\t%f,/t%f}",distTraveled,distance, maxPow, constbuf[0], constbuf[1],x,y,rot*180.0/3.14159);
        for(i=0;i<4;i++)
            prev[i]=constbuf[i];
        //wait(0.05);
        constbuf = bigenc.getVals();
        
        //control system (Proportional, Derivative, Integral)
        pmain = distance - (constbuf[0]+constbuf[1])/2;
        dmain = ((constbuf[0]+constbuf[1]) - (prev[0]+prev[1]))/2;
        imain += pmain;
        
        //DBGPRINT("%f like %f [%f] {%d,%d,%f,%f}\n\r", gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159))*360.0/4050000.0,angle*180/3.14159,rot,pmain,dmain,fmod(rot*180.0/3.14159-desangle+3600000.0,360.0), realfac);\
        
        //finds the difference between the angle to the imaginary point we're headed to and the current angle and turns it into a power level
        realfac = (gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159)))*angfac;
        realfac = MAX(MIN(realfac,0.3),-0.3); // limits how much the motors can turn to fix the angle
        
        //uses PID control for the forward/back motions and adds in the angular component
        //the forward/back motions is limited to a certain speed
        double leftpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)-realfac;
        double rightpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)+realfac;
        
        //if we haven't settled, but also aren't moving, then speed up until it moves
        if((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol) || (realfac <= -0.02 || realfac >= 0.02) ){
            if (leftpow>0){
                if (leftpow<minalt){
                    leftpow=minalt;
                }
            }else if (leftpow>-minalt){
                leftpow=-minalt;
            }
            if (rightpow>0){
                if (rightpow<minmain){
                    rightpow=minmain;
                }
            }else if (rightpow>-minmain){
                rightpow=-minmain;
            }
        }
        left.setPower(leftpow);
        right.setPower(rightpow);
        
        //how far we've moved in the last timestep
        int deltaTraveled=(constbuf[0]-prev[0]+constbuf[1]-prev[1])/2;
        //DBGPRINT("\t %d\r\n",deltaTraveled);
        addforward(double(deltaTraveled)*0.0035362); //update our position
        distTraveled+=deltaTraveled;
        loopcount++;
        
        //increase min speed so that it will actually move
        if((dmain<5&&dmain>-5)&&minmain<0.2){
            minmain+=0.003;
        } else if (minmain>=0.05) {
            minmain-=0.003;
        }
        if((dterm<5&&dterm>-5)&&minalt<0.2){
            minalt+=0.003;
        } else if (minalt>=0.05) {
            minalt-=0.003;
        }
    }
    left.brake();
    right.brake();
    DBGPRINT("Loops: %d\r\n",loopcount);
    
    //catch the slowdown movement
    wait(0.2);
    for(i=0;i<4;i++)
        prev[i]=constbuf[i];
    //wait(0.05);
    constbuf = bigenc.getVals();
    addforward(double(constbuf[0]-prev[0]+constbuf[1]-prev[1])*0.0035362/2.0);
    DBGPRINT("loss of %d and %d\n\r",constbuf[0]-prev[0],constbuf[1]-prev[1]);
    return 0;
}

//add the motion in the direction that the robot is facing
void robot::addforward(double dist){
    double angle=double(gyro.getZ())*2*3.14159/4050000.0;
    x+=dist*cos(angle);
    y+=dist*sin(angle);
    rot=angle;
}

//doesn't work yet
int robot::moveTo(double xInches, double yInches){
    double power=.2;
    turntowards(xInches,yInches);
    double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
    double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
    double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
    bigenc.resetAll();
    const int* constbuf = bigenc.getVals();
    int prev[4]={0,0,0,0};
    int distTraveled=0, i;
    double maxPow;
    DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
    while(distTraveled<distance){
        angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
        currangle=double(gyro.getZ())*2*3.14159/4050000.0;
        maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
        if(currangle>angle+2.0){ //too far to the right, brake left
            left.brake();
        } else {
            left.setPower(MIN(power,maxPow));
        }
        if(currangle<angle-2){
            right.brake();
        } else {
            right.setPower(MIN(power,maxPow));
        }
        DBGPRINT("=%d of %d [%f] (%d, %d, %d, %d) \t{%f,\t%f,\t%f}\r\n",distTraveled,distance, maxPow, constbuf[0], constbuf[1], constbuf[2], constbuf[3],x,y,rot*180.0/3.14159);
        for(i=0;i<4;i++)
            prev[i]=constbuf[i];
        //wait(0.05);
        constbuf = bigenc.getVals();
        int deltaTraveled=MAX((MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2,0);
        addforward(double(deltaTraveled)*0.0035362);
        distTraveled+=deltaTraveled;
        //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
    }
    left.brake();
    right.brake();
    return 0;
    
}

//also doesn't work
int robot::turntowards(double xInches, double yInches){
    double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
    double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
    double finangle=angle;
    /*if(int(currangle-angle)%360>180){ //needs to turn positive degrees
        finangle=currangle+double(int(angle-currangle)%360);
    } else {//negative degrees
        finangle=currangle-double(int(currangle-angle)%360);
    }*/
    double acc=turn(0.4,finangle);
    if(acc<-0.75 && acc>0.75){
        acc=turn(0.3,finangle);
    }
        
    
    return 1;
}
    
//still no
double robot::turn(double power, double degrees){
    bigenc.resetAll();
    const int* constbuf = bigenc.getVals();
    int prev[4]={0,0,0,0};
    int startz;
    startz=gyro.getZ();
    int gyroticks=(degrees*4050000)/360;
    double maxPow;
    int nowz=startz;
    int dir=0;
    if(gyroticks>startz){
        right.setPower(-power);
        left.setPower(power);
        dir=1;
    } else {
        right.setPower(power);
        left.setPower(-power);
        dir=-1;
    }
    while((gyroticks-nowz)*dir>0){
        maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
        if(gyroticks<nowz){
            right.setPower(-MIN(power,maxPow));
            left.setPower(MIN(power,maxPow));
        } else {
            right.setPower(MIN(power,maxPow));
            left.setPower(-MIN(power,maxPow));
        }
        DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
        for(int i=0;i<4;i++)
            prev[i]=constbuf[i];
        constbuf = bigenc.getVals();
        int deltaTraveled;
        if(gyroticks<nowz){
            deltaTraveled=(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])-MIN(-constbuf[2]+prev[2],-constbuf[3]+prev[3]))/2;
        } else {
            deltaTraveled=(-MIN(constbuf[0]-prev[0],constbuf[1]-prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2;
        }
        addforward(double(deltaTraveled)*0.0035362);
        nowz=gyro.getZ();
    }
    right.brake();
    left.brake();
    return (gyroticks-nowz)*dir;
}