Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

robot.cpp@9:aff48e331147, 2014-02-03 (annotated)

Committer:
soonerbot
Date:
Mon Feb 03 20:37:35 2014 +0000
Revision:
9:aff48e331147
Parent:
8:c23cd84befa2
Child:
10:926f142f16a3
First working absolute motor control "W" (moves reverse 100 counts)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soonerbot 1:c28fac16a109 1 #include "robot.h"
soonerbot 1:c28fac16a109 2
soonerbot 1:c28fac16a109 3 #define MIN(a,b) ((b<a)?(b):(a))
soonerbot 1:c28fac16a109 4 #define MAX(a,b) ((b>a)?(b):(a))
soonerbot 1:c28fac16a109 5
soonerbot 7:3b2cf7efe5d1 6 //this is the main place pinouts are put
soonerbot 7:3b2cf7efe5d1 7 //also sets up the control system constants
soonerbot 3:a223b0bf8256 8 robot::robot() : spi(PTD2, PTD3, PTD1), bigenc(spi,PTD0), gyro(PTE0, PTE1),
soonerbot 9:aff48e331147 9 right(bigenc,0,1,PTA5), left(bigenc,2,3,PTA4), motors(spi,PTD0) {
soonerbot 1:c28fac16a109 10
soonerbot 1:c28fac16a109 11 bigenc.setDirections(1,-1,1,1);
soonerbot 1:c28fac16a109 12 left.setReversed(1);
soonerbot 1:c28fac16a109 13 x=y=rot=0;
soonerbot 7:3b2cf7efe5d1 14
soonerbot 7:3b2cf7efe5d1 15 //control system constants
soonerbot 4:adc885f4ab75 16 pfac=0.00035;
soonerbot 4:adc885f4ab75 17 ifac=0.00000001;
soonerbot 4:adc885f4ab75 18 dfac=0.000001;
soonerbot 4:adc885f4ab75 19
soonerbot 5:74c8ce39334b 20 angfac=0.0000016;
soonerbot 1:c28fac16a109 21 }
soonerbot 1:c28fac16a109 22
soonerbot 7:3b2cf7efe5d1 23 //this is the main thing that both turns and goes forward
soonerbot 8:c23cd84befa2 24 // desangle is a angle in degrees to head towards (this is relative to the direction the robot starts pointing in
soonerbot 8:c23cd84befa2 25 // distance is a distance to head in that direction in units of encoder ticks
soonerbot 4:adc885f4ab75 26 int robot::driveForward(double desangle, int distance){
soonerbot 1:c28fac16a109 27 bigenc.resetAll();
soonerbot 1:c28fac16a109 28 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 29 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 30 int distTraveled=0, i;
soonerbot 6:62d498ee97cf 31 double maxPow=0.4;
soonerbot 4:adc885f4ab75 32 int loopcount=0;
soonerbot 4:adc885f4ab75 33 double minmain=0.05;
soonerbot 4:adc885f4ab75 34 double minalt=0.05;
soonerbot 4:adc885f4ab75 35
soonerbot 7:3b2cf7efe5d1 36 //find a point in front of where we're heading
soonerbot 4:adc885f4ab75 37 int targetang = desangle*4050000.0/360.0;//gyro.getZ();
soonerbot 4:adc885f4ab75 38 int startang = targetang;
soonerbot 4:adc885f4ab75 39 double angle=double(startang)*2*3.14159/4050000.0;
soonerbot 6:62d498ee97cf 40 double targx = x + double((distance==0)?10000:distance)*0.0035362*cos(angle)*1.5;
soonerbot 6:62d498ee97cf 41 double targy = y + double((distance==0)?10000:distance)*0.0035362*sin(angle)*1.5;
soonerbot 4:adc885f4ab75 42 int invfactor = 0;
soonerbot 7:3b2cf7efe5d1 43
soonerbot 7:3b2cf7efe5d1 44 //if going backwards, point away from the point
soonerbot 6:62d498ee97cf 45 if(distance<0) {
soonerbot 4:adc885f4ab75 46 invfactor = 2025000;
soonerbot 4:adc885f4ab75 47 }
soonerbot 6:62d498ee97cf 48 double realfac=0.1;
soonerbot 4:adc885f4ab75 49
soonerbot 4:adc885f4ab75 50 int pmain=distance;
soonerbot 4:adc885f4ab75 51 int imain=0;
soonerbot 4:adc885f4ab75 52 int dmain=0;
soonerbot 4:adc885f4ab75 53
soonerbot 4:adc885f4ab75 54 int dterm=0;
soonerbot 4:adc885f4ab75 55 const int ptol = 75;
soonerbot 4:adc885f4ab75 56 const int dtol = 10;
soonerbot 8:c23cd84befa2 57 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)*/){
soonerbot 8:c23cd84befa2 58
soonerbot 4:adc885f4ab75 59 //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);
soonerbot 1:c28fac16a109 60 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 61 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 62 //wait(0.05);
soonerbot 1:c28fac16a109 63 constbuf = bigenc.getVals();
soonerbot 4:adc885f4ab75 64
soonerbot 7:3b2cf7efe5d1 65 //control system (Proportional, Derivative, Integral)
soonerbot 5:74c8ce39334b 66 pmain = distance - (constbuf[0]+constbuf[1])/2;
soonerbot 5:74c8ce39334b 67 dmain = ((constbuf[0]+constbuf[1]) - (prev[0]+prev[1]))/2;
soonerbot 4:adc885f4ab75 68 imain += pmain;
soonerbot 4:adc885f4ab75 69
soonerbot 6:62d498ee97cf 70 //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);\
soonerbot 5:74c8ce39334b 71
soonerbot 7:3b2cf7efe5d1 72 //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
soonerbot 5:74c8ce39334b 73 realfac = (gyro.compZ(invfactor+atan2(targy-y,targx-x)*4050000.0/(2*3.14159)))*angfac;
soonerbot 7:3b2cf7efe5d1 74 realfac = MAX(MIN(realfac,0.3),-0.3); // limits how much the motors can turn to fix the angle
soonerbot 4:adc885f4ab75 75
soonerbot 7:3b2cf7efe5d1 76 //uses PID control for the forward/back motions and adds in the angular component
soonerbot 7:3b2cf7efe5d1 77 //the forward/back motions is limited to a certain speed
soonerbot 5:74c8ce39334b 78 double leftpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)-realfac;
soonerbot 5:74c8ce39334b 79 double rightpow = MAX(MIN(pfac*pmain+ifac*imain+dfac*dmain,maxPow),-maxPow)+realfac;
soonerbot 7:3b2cf7efe5d1 80
soonerbot 7:3b2cf7efe5d1 81 //if we haven't settled, but also aren't moving, then speed up until it moves
soonerbot 7:3b2cf7efe5d1 82 if((pmain <= -ptol || pmain >= ptol) || (dmain <= -dtol || dmain >= dtol) || (realfac <= -0.02 || realfac >= 0.02) ){
soonerbot 4:adc885f4ab75 83 if (leftpow>0){
soonerbot 4:adc885f4ab75 84 if (leftpow<minalt){
soonerbot 4:adc885f4ab75 85 leftpow=minalt;
soonerbot 4:adc885f4ab75 86 }
soonerbot 4:adc885f4ab75 87 }else if (leftpow>-minalt){
soonerbot 4:adc885f4ab75 88 leftpow=-minalt;
soonerbot 4:adc885f4ab75 89 }
soonerbot 4:adc885f4ab75 90 if (rightpow>0){
soonerbot 4:adc885f4ab75 91 if (rightpow<minmain){
soonerbot 4:adc885f4ab75 92 rightpow=minmain;
soonerbot 4:adc885f4ab75 93 }
soonerbot 4:adc885f4ab75 94 }else if (rightpow>-minmain){
soonerbot 4:adc885f4ab75 95 rightpow=-minmain;
soonerbot 4:adc885f4ab75 96 }
soonerbot 4:adc885f4ab75 97 }
soonerbot 4:adc885f4ab75 98 left.setPower(leftpow);
soonerbot 4:adc885f4ab75 99 right.setPower(rightpow);
soonerbot 7:3b2cf7efe5d1 100
soonerbot 7:3b2cf7efe5d1 101 //how far we've moved in the last timestep
soonerbot 4:adc885f4ab75 102 int deltaTraveled=(constbuf[0]-prev[0]+constbuf[1]-prev[1])/2;
soonerbot 4:adc885f4ab75 103 //DBGPRINT("\t %d\r\n",deltaTraveled);
soonerbot 7:3b2cf7efe5d1 104 addforward(double(deltaTraveled)*0.0035362); //update our position
soonerbot 1:c28fac16a109 105 distTraveled+=deltaTraveled;
soonerbot 4:adc885f4ab75 106 loopcount++;
soonerbot 7:3b2cf7efe5d1 107
soonerbot 7:3b2cf7efe5d1 108 //increase min speed so that it will actually move
soonerbot 4:adc885f4ab75 109 if((dmain<5&&dmain>-5)&&minmain<0.2){
soonerbot 5:74c8ce39334b 110 minmain+=0.003;
soonerbot 4:adc885f4ab75 111 } else if (minmain>=0.05) {
soonerbot 5:74c8ce39334b 112 minmain-=0.003;
soonerbot 4:adc885f4ab75 113 }
soonerbot 4:adc885f4ab75 114 if((dterm<5&&dterm>-5)&&minalt<0.2){
soonerbot 5:74c8ce39334b 115 minalt+=0.003;
soonerbot 4:adc885f4ab75 116 } else if (minalt>=0.05) {
soonerbot 5:74c8ce39334b 117 minalt-=0.003;
soonerbot 4:adc885f4ab75 118 }
soonerbot 1:c28fac16a109 119 }
soonerbot 1:c28fac16a109 120 left.brake();
soonerbot 1:c28fac16a109 121 right.brake();
soonerbot 6:62d498ee97cf 122 DBGPRINT("Loops: %d\r\n",loopcount);
soonerbot 7:3b2cf7efe5d1 123
soonerbot 7:3b2cf7efe5d1 124 //catch the slowdown movement
soonerbot 6:62d498ee97cf 125 wait(0.2);
soonerbot 5:74c8ce39334b 126 for(i=0;i<4;i++)
soonerbot 5:74c8ce39334b 127 prev[i]=constbuf[i];
soonerbot 5:74c8ce39334b 128 //wait(0.05);
soonerbot 5:74c8ce39334b 129 constbuf = bigenc.getVals();
soonerbot 6:62d498ee97cf 130 addforward(double(constbuf[0]-prev[0]+constbuf[1]-prev[1])*0.0035362/2.0);
soonerbot 5:74c8ce39334b 131 DBGPRINT("loss of %d and %d\n\r",constbuf[0]-prev[0],constbuf[1]-prev[1]);
soonerbot 1:c28fac16a109 132 return 0;
soonerbot 1:c28fac16a109 133 }
soonerbot 1:c28fac16a109 134
soonerbot 7:3b2cf7efe5d1 135 //add the motion in the direction that the robot is facing
soonerbot 4:adc885f4ab75 136 void robot::addforward(double dist){
soonerbot 4:adc885f4ab75 137 double angle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 138 x+=dist*cos(angle);
soonerbot 1:c28fac16a109 139 y+=dist*sin(angle);
soonerbot 1:c28fac16a109 140 rot=angle;
soonerbot 1:c28fac16a109 141 }
soonerbot 1:c28fac16a109 142
soonerbot 7:3b2cf7efe5d1 143 //doesn't work yet
soonerbot 1:c28fac16a109 144 int robot::moveTo(double xInches, double yInches){
soonerbot 1:c28fac16a109 145 double power=.2;
soonerbot 1:c28fac16a109 146 turntowards(xInches,yInches);
soonerbot 1:c28fac16a109 147 double distance=sqrt(pow(xInches-x,2)+pow(yInches-y,2))/0.0035362;
soonerbot 1:c28fac16a109 148 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 149 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 150 bigenc.resetAll();
soonerbot 1:c28fac16a109 151 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 152 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 153 int distTraveled=0, i;
soonerbot 1:c28fac16a109 154 double maxPow;
soonerbot 1:c28fac16a109 155 DBGPRINT("going %f at angle %f from current of %f\r\n",distance,angle,currangle);
soonerbot 1:c28fac16a109 156 while(distTraveled<distance){
soonerbot 1:c28fac16a109 157 angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 4:adc885f4ab75 158 currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 159 maxPow=MAX(double(distance-distTraveled-2000)/15000.0,0.1);
soonerbot 1:c28fac16a109 160 if(currangle>angle+2.0){ //too far to the right, brake left
soonerbot 1:c28fac16a109 161 left.brake();
soonerbot 1:c28fac16a109 162 } else {
soonerbot 1:c28fac16a109 163 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 164 }
soonerbot 1:c28fac16a109 165 if(currangle<angle-2){
soonerbot 1:c28fac16a109 166 right.brake();
soonerbot 1:c28fac16a109 167 } else {
soonerbot 1:c28fac16a109 168 right.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 169 }
soonerbot 1:c28fac16a109 170 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);
soonerbot 1:c28fac16a109 171 for(i=0;i<4;i++)
soonerbot 1:c28fac16a109 172 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 173 //wait(0.05);
soonerbot 1:c28fac16a109 174 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 175 int deltaTraveled=MAX((MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2,0);
soonerbot 1:c28fac16a109 176 addforward(double(deltaTraveled)*0.0035362);
soonerbot 1:c28fac16a109 177 distTraveled+=deltaTraveled;
soonerbot 1:c28fac16a109 178 //angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 179 }
soonerbot 1:c28fac16a109 180 left.brake();
soonerbot 1:c28fac16a109 181 right.brake();
soonerbot 1:c28fac16a109 182 return 0;
soonerbot 1:c28fac16a109 183
soonerbot 1:c28fac16a109 184 }
soonerbot 1:c28fac16a109 185
soonerbot 7:3b2cf7efe5d1 186 //also doesn't work
soonerbot 1:c28fac16a109 187 int robot::turntowards(double xInches, double yInches){
soonerbot 4:adc885f4ab75 188 double currangle=double(gyro.getZ())*2*3.14159/4050000.0;
soonerbot 1:c28fac16a109 189 double angle=atan2(xInches-x,yInches-y)*180.0/3.14159;
soonerbot 1:c28fac16a109 190 double finangle=angle;
soonerbot 1:c28fac16a109 191 /*if(int(currangle-angle)%360>180){ //needs to turn positive degrees
soonerbot 1:c28fac16a109 192 finangle=currangle+double(int(angle-currangle)%360);
soonerbot 1:c28fac16a109 193 } else {//negative degrees
soonerbot 1:c28fac16a109 194 finangle=currangle-double(int(currangle-angle)%360);
soonerbot 1:c28fac16a109 195 }*/
soonerbot 1:c28fac16a109 196 double acc=turn(0.4,finangle);
soonerbot 1:c28fac16a109 197 if(acc<-0.75 && acc>0.75){
soonerbot 1:c28fac16a109 198 acc=turn(0.3,finangle);
soonerbot 1:c28fac16a109 199 }
soonerbot 1:c28fac16a109 200
soonerbot 1:c28fac16a109 201
soonerbot 1:c28fac16a109 202 return 1;
soonerbot 1:c28fac16a109 203 }
soonerbot 1:c28fac16a109 204
soonerbot 7:3b2cf7efe5d1 205 //still no
soonerbot 1:c28fac16a109 206 double robot::turn(double power, double degrees){
soonerbot 1:c28fac16a109 207 bigenc.resetAll();
soonerbot 1:c28fac16a109 208 const int* constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 209 int prev[4]={0,0,0,0};
soonerbot 1:c28fac16a109 210 int startz;
soonerbot 4:adc885f4ab75 211 startz=gyro.getZ();
soonerbot 1:c28fac16a109 212 int gyroticks=(degrees*4050000)/360;
soonerbot 1:c28fac16a109 213 double maxPow;
soonerbot 1:c28fac16a109 214 int nowz=startz;
soonerbot 1:c28fac16a109 215 int dir=0;
soonerbot 1:c28fac16a109 216 if(gyroticks>startz){
soonerbot 1:c28fac16a109 217 right.setPower(-power);
soonerbot 1:c28fac16a109 218 left.setPower(power);
soonerbot 1:c28fac16a109 219 dir=1;
soonerbot 1:c28fac16a109 220 } else {
soonerbot 1:c28fac16a109 221 right.setPower(power);
soonerbot 1:c28fac16a109 222 left.setPower(-power);
soonerbot 1:c28fac16a109 223 dir=-1;
soonerbot 1:c28fac16a109 224 }
soonerbot 1:c28fac16a109 225 while((gyroticks-nowz)*dir>0){
soonerbot 1:c28fac16a109 226 maxPow=MAX(double(abs(gyroticks-nowz))/4050000.0,0.25);
soonerbot 1:c28fac16a109 227 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 228 right.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 229 left.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 230 } else {
soonerbot 1:c28fac16a109 231 right.setPower(MIN(power,maxPow));
soonerbot 1:c28fac16a109 232 left.setPower(-MIN(power,maxPow));
soonerbot 1:c28fac16a109 233 }
soonerbot 1:c28fac16a109 234 DBGPRINT("_%d of %d {%f, %f, %f}\r\n",(gyroticks-nowz)*dir, gyroticks,x,y,rot*180.0/3.14159);
soonerbot 1:c28fac16a109 235 for(int i=0;i<4;i++)
soonerbot 1:c28fac16a109 236 prev[i]=constbuf[i];
soonerbot 1:c28fac16a109 237 constbuf = bigenc.getVals();
soonerbot 1:c28fac16a109 238 int deltaTraveled;
soonerbot 1:c28fac16a109 239 if(gyroticks<nowz){
soonerbot 1:c28fac16a109 240 deltaTraveled=(MIN(-constbuf[0]+prev[0],-constbuf[1]+prev[1])-MIN(-constbuf[2]+prev[2],-constbuf[3]+prev[3]))/2;
soonerbot 1:c28fac16a109 241 } else {
soonerbot 1:c28fac16a109 242 deltaTraveled=(-MIN(constbuf[0]-prev[0],constbuf[1]-prev[1])+MIN(constbuf[2]-prev[2],constbuf[3]-prev[3]))/2;
soonerbot 1:c28fac16a109 243 }
soonerbot 1:c28fac16a109 244 addforward(double(deltaTraveled)*0.0035362);
soonerbot 4:adc885f4ab75 245 nowz=gyro.getZ();
soonerbot 1:c28fac16a109 246 }
soonerbot 1:c28fac16a109 247 right.brake();
soonerbot 1:c28fac16a109 248 left.brake();
soonerbot 1:c28fac16a109 249 return (gyroticks-nowz)*dir;
soonerbot 1:c28fac16a109 250 }