mbed controller for openroach
Dependencies: MPU6050IMU QEI RPCInterface TSL1401CL mbed
Fork of controller_with_imu by
main.cpp@0:4856445a8db9, 2017-05-30 (annotated)
- Committer:
- yxyang
- Date:
- Tue May 30 06:43:31 2017 +0000
- Revision:
- 0:4856445a8db9
- Child:
- 1:150bafe1bd61
Make public
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yxyang | 0:4856445a8db9 | 1 | /* |
yxyang | 0:4856445a8db9 | 2 | * A sample path following program for the Zumy board. |
yxyang | 0:4856445a8db9 | 3 | * Author: Galen Savidge |
yxyang | 0:4856445a8db9 | 4 | * |
yxyang | 0:4856445a8db9 | 5 | * Behavior: |
yxyang | 0:4856445a8db9 | 6 | * Zumy follows the edge of the line until no line is found for LINE_END_TIME |
yxyang | 0:4856445a8db9 | 7 | * cycles. Line position is recorded every frame as an 8 bit unsigned int. The |
yxyang | 0:4856445a8db9 | 8 | * general area of the line is shown on the 4 LEDs on the mbed board. If a line |
yxyang | 0:4856445a8db9 | 9 | * is not found all 4 LEDs are turned on. The Zumy stops and ine position data |
yxyang | 0:4856445a8db9 | 10 | * is output to serial once the end of the track is reached. |
yxyang | 0:4856445a8db9 | 11 | */ |
yxyang | 0:4856445a8db9 | 12 | |
yxyang | 0:4856445a8db9 | 13 | #include "MPU6050.h" |
yxyang | 0:4856445a8db9 | 14 | #include "TSL1401CL.h" |
yxyang | 0:4856445a8db9 | 15 | #include "mbed.h" |
yxyang | 0:4856445a8db9 | 16 | |
yxyang | 0:4856445a8db9 | 17 | /***** Constants ******/ |
yxyang | 0:4856445a8db9 | 18 | |
yxyang | 0:4856445a8db9 | 19 | MPU6050 mpu6050; |
yxyang | 0:4856445a8db9 | 20 | |
yxyang | 0:4856445a8db9 | 21 | #define CAM_INTEGRATION_TIME 80 |
yxyang | 0:4856445a8db9 | 22 | |
yxyang | 0:4856445a8db9 | 23 | // Higher line threshold -> the sensor will only recognize larger changes in |
yxyang | 0:4856445a8db9 | 24 | // brightness as a line edge |
yxyang | 0:4856445a8db9 | 25 | #define LINE_THRESHOLD 3000 |
yxyang | 0:4856445a8db9 | 26 | #define LINE_PRECISION 2 |
yxyang | 0:4856445a8db9 | 27 | #define LINE_CROP_AMOUNT 4 |
yxyang | 0:4856445a8db9 | 28 | |
yxyang | 0:4856445a8db9 | 29 | // These constants define the base pwm across the motors and how much the |
yxyang | 0:4856445a8db9 | 30 | // controller |
yxyang | 0:4856445a8db9 | 31 | // adjusts based on position of the line relative to the sensor |
yxyang | 0:4856445a8db9 | 32 | #define SPEED_PWM 0.23 |
yxyang | 0:4856445a8db9 | 33 | #define TURN_SENS_INNER 1.5F |
yxyang | 0:4856445a8db9 | 34 | #define TURN_SENS_OUTER 0.5F |
yxyang | 0:4856445a8db9 | 35 | |
yxyang | 0:4856445a8db9 | 36 | // Defines data |
yxyang | 0:4856445a8db9 | 37 | #define LINE_HIST_SIZE 1000 |
yxyang | 0:4856445a8db9 | 38 | #define LINE_END_TIME 2500 |
yxyang | 0:4856445a8db9 | 39 | |
yxyang | 0:4856445a8db9 | 40 | // Sensor pins |
yxyang | 0:4856445a8db9 | 41 | #define clk p16 |
yxyang | 0:4856445a8db9 | 42 | #define si p17 |
yxyang | 0:4856445a8db9 | 43 | #define adc p18 |
yxyang | 0:4856445a8db9 | 44 | |
yxyang | 0:4856445a8db9 | 45 | // Motors -- As labelled on the Zumy mbed board |
yxyang | 0:4856445a8db9 | 46 | PwmOut m1_fwd (p21); |
yxyang | 0:4856445a8db9 | 47 | PwmOut m1_back (p22); |
yxyang | 0:4856445a8db9 | 48 | |
yxyang | 0:4856445a8db9 | 49 | PwmOut m2_fwd (p23); |
yxyang | 0:4856445a8db9 | 50 | PwmOut m2_back (p24); |
yxyang | 0:4856445a8db9 | 51 | |
yxyang | 0:4856445a8db9 | 52 | // LEDs |
yxyang | 0:4856445a8db9 | 53 | DigitalOut led1 (LED1); |
yxyang | 0:4856445a8db9 | 54 | DigitalOut led2 (LED2); |
yxyang | 0:4856445a8db9 | 55 | DigitalOut led3 (LED3); |
yxyang | 0:4856445a8db9 | 56 | DigitalOut led4 (LED4); |
yxyang | 0:4856445a8db9 | 57 | |
yxyang | 0:4856445a8db9 | 58 | // USB serial |
yxyang | 0:4856445a8db9 | 59 | Serial pc (USBTX, USBRX); |
yxyang | 0:4856445a8db9 | 60 | |
yxyang | 0:4856445a8db9 | 61 | // Data storage |
yxyang | 0:4856445a8db9 | 62 | uint8_t line_hist[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 63 | int16_t accel_x[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 64 | int16_t accel_y[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 65 | int16_t accel_z[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 66 | int16_t gyro_x[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 67 | int16_t gyro_y[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 68 | int16_t gyro_z[LINE_HIST_SIZE]; |
yxyang | 0:4856445a8db9 | 69 | |
yxyang | 0:4856445a8db9 | 70 | uint16_t hist_index; |
yxyang | 0:4856445a8db9 | 71 | |
yxyang | 0:4856445a8db9 | 72 | /***** Helper functions *****/ |
yxyang | 0:4856445a8db9 | 73 | float max (float a, float b); |
yxyang | 0:4856445a8db9 | 74 | |
yxyang | 0:4856445a8db9 | 75 | // Sets the 4 LEDS on the mbed board to the four given binary values |
yxyang | 0:4856445a8db9 | 76 | void setLEDs (uint8_t a, uint8_t b, uint8_t c, uint8_t d); |
yxyang | 0:4856445a8db9 | 77 | |
yxyang | 0:4856445a8db9 | 78 | // Steers by linearly decreasing the inner wheel speed as the line moves from |
yxyang | 0:4856445a8db9 | 79 | // the center (unused in this program) |
yxyang | 0:4856445a8db9 | 80 | void steerStupid (int8_t line_pos); |
yxyang | 0:4856445a8db9 | 81 | |
yxyang | 0:4856445a8db9 | 82 | // Based on steerStupid; adds the ability for the inner wheel to rotate in |
yxyang | 0:4856445a8db9 | 83 | // reverse (unused in this program) |
yxyang | 0:4856445a8db9 | 84 | void steerPointTurns (int8_t line_pos); |
yxyang | 0:4856445a8db9 | 85 | |
yxyang | 0:4856445a8db9 | 86 | // Based on steerPointTurns; the outer wheel moves faster the farther the line |
yxyang | 0:4856445a8db9 | 87 | // is from center |
yxyang | 0:4856445a8db9 | 88 | void steerImprovedPointTurns (int8_t line_pos); |
yxyang | 0:4856445a8db9 | 89 | |
yxyang | 0:4856445a8db9 | 90 | int |
yxyang | 0:4856445a8db9 | 91 | main () |
yxyang | 0:4856445a8db9 | 92 | { |
yxyang | 0:4856445a8db9 | 93 | /********** SENSOR SETUP **********/ |
yxyang | 0:4856445a8db9 | 94 | TSL1401CL cam (clk, si, adc); |
yxyang | 0:4856445a8db9 | 95 | cam.setIntegrationTime (CAM_INTEGRATION_TIME); |
yxyang | 0:4856445a8db9 | 96 | |
yxyang | 0:4856445a8db9 | 97 | int8_t line_pos = -1; |
yxyang | 0:4856445a8db9 | 98 | int8_t line_pos_previous = -1; |
yxyang | 0:4856445a8db9 | 99 | uint8_t line_lost_time = 0; |
yxyang | 0:4856445a8db9 | 100 | |
yxyang | 0:4856445a8db9 | 101 | hist_index = 0; |
yxyang | 0:4856445a8db9 | 102 | |
yxyang | 0:4856445a8db9 | 103 | i2c.frequency (400000); |
yxyang | 0:4856445a8db9 | 104 | |
yxyang | 0:4856445a8db9 | 105 | volatile bool imu_ready = false; |
yxyang | 0:4856445a8db9 | 106 | |
yxyang | 0:4856445a8db9 | 107 | wait_ms (100); |
yxyang | 0:4856445a8db9 | 108 | uint8_t whoami = mpu6050.readByte (MPU6050_ADDRESS, WHO_AM_I_MPU6050); |
yxyang | 0:4856445a8db9 | 109 | |
yxyang | 0:4856445a8db9 | 110 | if (whoami == 0x68) // WHO_AM_I should always be 0x68 |
yxyang | 0:4856445a8db9 | 111 | { |
yxyang | 0:4856445a8db9 | 112 | mpu6050.MPU6050SelfTest (SelfTest); |
yxyang | 0:4856445a8db9 | 113 | if (SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f |
yxyang | 0:4856445a8db9 | 114 | && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) |
yxyang | 0:4856445a8db9 | 115 | { |
yxyang | 0:4856445a8db9 | 116 | mpu6050.resetMPU6050 (); |
yxyang | 0:4856445a8db9 | 117 | mpu6050.calibrateMPU6050 (gyroBias, accelBias); |
yxyang | 0:4856445a8db9 | 118 | mpu6050.initMPU6050 (); |
yxyang | 0:4856445a8db9 | 119 | mpu6050.getAres (); |
yxyang | 0:4856445a8db9 | 120 | mpu6050.getGres (); |
yxyang | 0:4856445a8db9 | 121 | imu_ready = true; |
yxyang | 0:4856445a8db9 | 122 | } |
yxyang | 0:4856445a8db9 | 123 | } |
yxyang | 0:4856445a8db9 | 124 | else |
yxyang | 0:4856445a8db9 | 125 | { |
yxyang | 0:4856445a8db9 | 126 | setLEDs (1, 0, 1, 0); |
yxyang | 0:4856445a8db9 | 127 | wait_ms (1000); |
yxyang | 0:4856445a8db9 | 128 | } |
yxyang | 0:4856445a8db9 | 129 | // Read garbage data |
yxyang | 0:4856445a8db9 | 130 | while (!cam.integrationReady ()) |
yxyang | 0:4856445a8db9 | 131 | ; |
yxyang | 0:4856445a8db9 | 132 | cam.read (); |
yxyang | 0:4856445a8db9 | 133 | |
yxyang | 0:4856445a8db9 | 134 | while (1) |
yxyang | 0:4856445a8db9 | 135 | { |
yxyang | 0:4856445a8db9 | 136 | /***** Read line sensor *****/ |
yxyang | 0:4856445a8db9 | 137 | while (!cam.integrationReady ()) |
yxyang | 0:4856445a8db9 | 138 | ; // Wait for integration |
yxyang | 0:4856445a8db9 | 139 | cam.read (); |
yxyang | 0:4856445a8db9 | 140 | /***** Line following loop *****/ |
yxyang | 0:4856445a8db9 | 141 | |
yxyang | 0:4856445a8db9 | 142 | line_pos = cam.findLineEdge (LINE_THRESHOLD, LINE_PRECISION, |
yxyang | 0:4856445a8db9 | 143 | LINE_CROP_AMOUNT); |
yxyang | 0:4856445a8db9 | 144 | |
yxyang | 0:4856445a8db9 | 145 | if (line_pos != -1) |
yxyang | 0:4856445a8db9 | 146 | { // On the line |
yxyang | 0:4856445a8db9 | 147 | // Set LEDs based on the position of the line |
yxyang | 0:4856445a8db9 | 148 | if (line_pos < (TSL1401CL_PIXEL_COUNT - 2 * LINE_CROP_AMOUNT) / 4) |
yxyang | 0:4856445a8db9 | 149 | { |
yxyang | 0:4856445a8db9 | 150 | setLEDs (1, 0, 0, 0); |
yxyang | 0:4856445a8db9 | 151 | } |
yxyang | 0:4856445a8db9 | 152 | else if (line_pos |
yxyang | 0:4856445a8db9 | 153 | < (TSL1401CL_PIXEL_COUNT - 2 * LINE_CROP_AMOUNT) / 2) |
yxyang | 0:4856445a8db9 | 154 | { |
yxyang | 0:4856445a8db9 | 155 | setLEDs (0, 1, 0, 0); |
yxyang | 0:4856445a8db9 | 156 | } |
yxyang | 0:4856445a8db9 | 157 | else if (line_pos |
yxyang | 0:4856445a8db9 | 158 | < (TSL1401CL_PIXEL_COUNT - 2 * LINE_CROP_AMOUNT) * 3 / 4) |
yxyang | 0:4856445a8db9 | 159 | { |
yxyang | 0:4856445a8db9 | 160 | setLEDs (0, 0, 1, 0); |
yxyang | 0:4856445a8db9 | 161 | } |
yxyang | 0:4856445a8db9 | 162 | else |
yxyang | 0:4856445a8db9 | 163 | { |
yxyang | 0:4856445a8db9 | 164 | setLEDs (0, 0, 0, 1); |
yxyang | 0:4856445a8db9 | 165 | } |
yxyang | 0:4856445a8db9 | 166 | |
yxyang | 0:4856445a8db9 | 167 | // Record the line position |
yxyang | 0:4856445a8db9 | 168 | line_hist[hist_index] = line_pos; |
yxyang | 0:4856445a8db9 | 169 | line_lost_time = 0; |
yxyang | 0:4856445a8db9 | 170 | if (imu_ready) |
yxyang | 0:4856445a8db9 | 171 | { |
yxyang | 0:4856445a8db9 | 172 | |
yxyang | 0:4856445a8db9 | 173 | if (mpu6050.readByte (MPU6050_ADDRESS, INT_STATUS) & 0x01) |
yxyang | 0:4856445a8db9 | 174 | { // check if data ready interrupt |
yxyang | 0:4856445a8db9 | 175 | mpu6050.readAccelData (accelCount); |
yxyang | 0:4856445a8db9 | 176 | // Read the x/y/z adc values |
yxyang | 0:4856445a8db9 | 177 | |
yxyang | 0:4856445a8db9 | 178 | accel_x[hist_index] = accelCount[0]; |
yxyang | 0:4856445a8db9 | 179 | accel_y[hist_index] = accelCount[1]; |
yxyang | 0:4856445a8db9 | 180 | accel_z[hist_index] = accelCount[2]; |
yxyang | 0:4856445a8db9 | 181 | |
yxyang | 0:4856445a8db9 | 182 | // Calculate the gyro value into actual degrees per |
yxyang | 0:4856445a8db9 | 183 | // second |
yxyang | 0:4856445a8db9 | 184 | |
yxyang | 0:4856445a8db9 | 185 | mpu6050.readGyroData (gyroCount); |
yxyang | 0:4856445a8db9 | 186 | |
yxyang | 0:4856445a8db9 | 187 | gyro_x[hist_index] = gyroCount[0]; |
yxyang | 0:4856445a8db9 | 188 | gyro_y[hist_index] = gyroCount[1]; |
yxyang | 0:4856445a8db9 | 189 | gyro_z[hist_index] = gyroCount[2]; |
yxyang | 0:4856445a8db9 | 190 | // Read the x/y/z ad values |
yxyang | 0:4856445a8db9 | 191 | // gyro_x = (float)gyroCount[0] * gRes |
yxyang | 0:4856445a8db9 | 192 | // - gyroBias[0]; // get actual gyro value, this |
yxyang | 0:4856445a8db9 | 193 | // // depends on scale being set |
yxyang | 0:4856445a8db9 | 194 | // gyro_y = (float)gyroCount[1] * gRes - gyroBias[1]; |
yxyang | 0:4856445a8db9 | 195 | // gyro_z = (float)gyroCount[2] * gRes - gyroBias[2]; |
yxyang | 0:4856445a8db9 | 196 | // pc.printf ("Gyro,%d,%d,%d\n", gyroCount[0], |
yxyang | 0:4856445a8db9 | 197 | // gyroCount[1], |
yxyang | 0:4856445a8db9 | 198 | // gyroCount[2]); |
yxyang | 0:4856445a8db9 | 199 | // |
yxyang | 0:4856445a8db9 | 200 | } |
yxyang | 0:4856445a8db9 | 201 | } |
yxyang | 0:4856445a8db9 | 202 | hist_index++; |
yxyang | 0:4856445a8db9 | 203 | |
yxyang | 0:4856445a8db9 | 204 | // Steer the vehicle |
yxyang | 0:4856445a8db9 | 205 | steerImprovedPointTurns (line_pos); |
yxyang | 0:4856445a8db9 | 206 | |
yxyang | 0:4856445a8db9 | 207 | line_pos_previous = line_pos; |
yxyang | 0:4856445a8db9 | 208 | } |
yxyang | 0:4856445a8db9 | 209 | else |
yxyang | 0:4856445a8db9 | 210 | { // Lost the line |
yxyang | 0:4856445a8db9 | 211 | // setLEDs (1, 1, 1, 1); |
yxyang | 0:4856445a8db9 | 212 | if (abs (line_pos_previous - TSL1401CL_PIXEL_COUNT / 2) |
yxyang | 0:4856445a8db9 | 213 | > TSL1401CL_PIXEL_COUNT / 4) |
yxyang | 0:4856445a8db9 | 214 | { |
yxyang | 0:4856445a8db9 | 215 | // Steer at maximum turn angle towards the last known line |
yxyang | 0:4856445a8db9 | 216 | // direction |
yxyang | 0:4856445a8db9 | 217 | if (line_pos_previous >= TSL1401CL_PIXEL_COUNT / 2) |
yxyang | 0:4856445a8db9 | 218 | { |
yxyang | 0:4856445a8db9 | 219 | steerImprovedPointTurns (TSL1401CL_PIXEL_COUNT - 1 |
yxyang | 0:4856445a8db9 | 220 | - LINE_CROP_AMOUNT); |
yxyang | 0:4856445a8db9 | 221 | // line_hist[hist_index] = TSL1401CL_PIXEL_COUNT - 1 - |
yxyang | 0:4856445a8db9 | 222 | // LINE_CROP_AMOUNT; |
yxyang | 0:4856445a8db9 | 223 | } |
yxyang | 0:4856445a8db9 | 224 | else |
yxyang | 0:4856445a8db9 | 225 | { |
yxyang | 0:4856445a8db9 | 226 | steerImprovedPointTurns (LINE_CROP_AMOUNT); |
yxyang | 0:4856445a8db9 | 227 | // line_hist[hist_index] = LINE_CROP_AMOUNT; |
yxyang | 0:4856445a8db9 | 228 | } |
yxyang | 0:4856445a8db9 | 229 | } |
yxyang | 0:4856445a8db9 | 230 | else |
yxyang | 0:4856445a8db9 | 231 | { |
yxyang | 0:4856445a8db9 | 232 | line_lost_time++; |
yxyang | 0:4856445a8db9 | 233 | if (line_lost_time >= LINE_END_TIME) |
yxyang | 0:4856445a8db9 | 234 | { |
yxyang | 0:4856445a8db9 | 235 | setLEDs (1, 0, 1, 0); |
yxyang | 0:4856445a8db9 | 236 | // Line end; transmit data to PC |
yxyang | 0:4856445a8db9 | 237 | m1_fwd.write (0); |
yxyang | 0:4856445a8db9 | 238 | m2_fwd.write (0); |
yxyang | 0:4856445a8db9 | 239 | // while (!pc.readable ()) |
yxyang | 0:4856445a8db9 | 240 | // ; |
yxyang | 0:4856445a8db9 | 241 | pc.printf ("----- Start line data -----\n"); |
yxyang | 0:4856445a8db9 | 242 | for (int i = 0; i <= hist_index; i++) |
yxyang | 0:4856445a8db9 | 243 | { |
yxyang | 0:4856445a8db9 | 244 | pc.printf ("Pos: %d\n", line_hist[i]); |
yxyang | 0:4856445a8db9 | 245 | float x, y, z; |
yxyang | 0:4856445a8db9 | 246 | x = (float)accel_x[i] * aRes - accelBias[0]; |
yxyang | 0:4856445a8db9 | 247 | y = (float)accel_y[i] * aRes - accelBias[1]; |
yxyang | 0:4856445a8db9 | 248 | z = (float)accel_z[i] * aRes - accelBias[2]; |
yxyang | 0:4856445a8db9 | 249 | pc.printf ("Acceleration,%f,%f,%f\n", x, y, z); |
yxyang | 0:4856445a8db9 | 250 | x = (float)gyro_x[i] * gRes - gyroBias[0]; |
yxyang | 0:4856445a8db9 | 251 | y = (float)gyro_y[i] * gRes - gyroBias[1]; |
yxyang | 0:4856445a8db9 | 252 | z = (float)gyro_z[i] * gRes - gyroBias[2]; |
yxyang | 0:4856445a8db9 | 253 | pc.printf ("Gyroscope,%f,%f,%f\n", x, y, z); |
yxyang | 0:4856445a8db9 | 254 | } |
yxyang | 0:4856445a8db9 | 255 | while (1) |
yxyang | 0:4856445a8db9 | 256 | ; |
yxyang | 0:4856445a8db9 | 257 | } |
yxyang | 0:4856445a8db9 | 258 | } |
yxyang | 0:4856445a8db9 | 259 | } |
yxyang | 0:4856445a8db9 | 260 | if (hist_index > LINE_HIST_SIZE) |
yxyang | 0:4856445a8db9 | 261 | { |
yxyang | 0:4856445a8db9 | 262 | setLEDs (1, 0, 0, 1); |
yxyang | 0:4856445a8db9 | 263 | |
yxyang | 0:4856445a8db9 | 264 | // Line end; transmit data to PC |
yxyang | 0:4856445a8db9 | 265 | m1_fwd.write (0); |
yxyang | 0:4856445a8db9 | 266 | m2_fwd.write (0); |
yxyang | 0:4856445a8db9 | 267 | // while (!pc.readable ()) |
yxyang | 0:4856445a8db9 | 268 | // ; |
yxyang | 0:4856445a8db9 | 269 | pc.printf ("----- Start line data -----\n"); |
yxyang | 0:4856445a8db9 | 270 | for (int i = 0; i <= hist_index; i++) |
yxyang | 0:4856445a8db9 | 271 | { |
yxyang | 0:4856445a8db9 | 272 | pc.printf ("Pos: %d\n", line_hist[i]); |
yxyang | 0:4856445a8db9 | 273 | float x, y, z; |
yxyang | 0:4856445a8db9 | 274 | x = (float)accel_x[i] * aRes - accelBias[0]; |
yxyang | 0:4856445a8db9 | 275 | y = (float)accel_y[i] * aRes - accelBias[1]; |
yxyang | 0:4856445a8db9 | 276 | z = (float)accel_z[i] * aRes - accelBias[2]; |
yxyang | 0:4856445a8db9 | 277 | pc.printf ("Acceleration,%f,%f,%f\n", x, y, z); |
yxyang | 0:4856445a8db9 | 278 | x = (float)gyro_x[i] * gRes - gyroBias[0]; |
yxyang | 0:4856445a8db9 | 279 | y = (float)gyro_y[i] * gRes - gyroBias[1]; |
yxyang | 0:4856445a8db9 | 280 | z = (float)gyro_z[i] * gRes - gyroBias[2]; |
yxyang | 0:4856445a8db9 | 281 | pc.printf ("Gyroscope,%f,%f,%f\n", x, y, z); |
yxyang | 0:4856445a8db9 | 282 | } |
yxyang | 0:4856445a8db9 | 283 | while (1) |
yxyang | 0:4856445a8db9 | 284 | ; |
yxyang | 0:4856445a8db9 | 285 | } |
yxyang | 0:4856445a8db9 | 286 | } |
yxyang | 0:4856445a8db9 | 287 | } |
yxyang | 0:4856445a8db9 | 288 | |
yxyang | 0:4856445a8db9 | 289 | float |
yxyang | 0:4856445a8db9 | 290 | max (float a, float b) |
yxyang | 0:4856445a8db9 | 291 | { |
yxyang | 0:4856445a8db9 | 292 | if (a >= b) |
yxyang | 0:4856445a8db9 | 293 | return a; |
yxyang | 0:4856445a8db9 | 294 | return b; |
yxyang | 0:4856445a8db9 | 295 | } |
yxyang | 0:4856445a8db9 | 296 | |
yxyang | 0:4856445a8db9 | 297 | void |
yxyang | 0:4856445a8db9 | 298 | setLEDs (uint8_t a, uint8_t b, uint8_t c, uint8_t d) |
yxyang | 0:4856445a8db9 | 299 | { |
yxyang | 0:4856445a8db9 | 300 | led1 = a; |
yxyang | 0:4856445a8db9 | 301 | led2 = b; |
yxyang | 0:4856445a8db9 | 302 | led3 = c; |
yxyang | 0:4856445a8db9 | 303 | led4 = d; |
yxyang | 0:4856445a8db9 | 304 | } |
yxyang | 0:4856445a8db9 | 305 | |
yxyang | 0:4856445a8db9 | 306 | void |
yxyang | 0:4856445a8db9 | 307 | steerStupid (int8_t line_pos) |
yxyang | 0:4856445a8db9 | 308 | { |
yxyang | 0:4856445a8db9 | 309 | line_pos -= TSL1401CL_PIXEL_COUNT / 2; // Find offset from center |
yxyang | 0:4856445a8db9 | 310 | |
yxyang | 0:4856445a8db9 | 311 | if (line_pos < 0) |
yxyang | 0:4856445a8db9 | 312 | { |
yxyang | 0:4856445a8db9 | 313 | m1_fwd.write (SPEED_PWM); |
yxyang | 0:4856445a8db9 | 314 | m1_back.write (0); |
yxyang | 0:4856445a8db9 | 315 | m2_fwd.write (max (SPEED_PWM * (1.0F |
yxyang | 0:4856445a8db9 | 316 | + TURN_SENS_INNER * line_pos * 2.0F |
yxyang | 0:4856445a8db9 | 317 | / (float)TSL1401CL_PIXEL_COUNT), |
yxyang | 0:4856445a8db9 | 318 | 0)); |
yxyang | 0:4856445a8db9 | 319 | m2_back.write (0); |
yxyang | 0:4856445a8db9 | 320 | } |
yxyang | 0:4856445a8db9 | 321 | |
yxyang | 0:4856445a8db9 | 322 | if (line_pos >= 0) |
yxyang | 0:4856445a8db9 | 323 | { |
yxyang | 0:4856445a8db9 | 324 | m2_fwd.write (SPEED_PWM); |
yxyang | 0:4856445a8db9 | 325 | m2_back.write (0); |
yxyang | 0:4856445a8db9 | 326 | m1_fwd.write (max (SPEED_PWM * (1.0F |
yxyang | 0:4856445a8db9 | 327 | - TURN_SENS_INNER * line_pos * 2.0F |
yxyang | 0:4856445a8db9 | 328 | / (float)TSL1401CL_PIXEL_COUNT), |
yxyang | 0:4856445a8db9 | 329 | 0)); |
yxyang | 0:4856445a8db9 | 330 | m1_back.write (0); |
yxyang | 0:4856445a8db9 | 331 | } |
yxyang | 0:4856445a8db9 | 332 | } |
yxyang | 0:4856445a8db9 | 333 | |
yxyang | 0:4856445a8db9 | 334 | void |
yxyang | 0:4856445a8db9 | 335 | steerPointTurns (int8_t line_pos) |
yxyang | 0:4856445a8db9 | 336 | { |
yxyang | 0:4856445a8db9 | 337 | line_pos -= TSL1401CL_PIXEL_COUNT / 2; // Find offset from center |
yxyang | 0:4856445a8db9 | 338 | |
yxyang | 0:4856445a8db9 | 339 | float pwm_outer = SPEED_PWM; |
yxyang | 0:4856445a8db9 | 340 | float pwm_inner = SPEED_PWM * (1.0F |
yxyang | 0:4856445a8db9 | 341 | - TURN_SENS_INNER * abs (line_pos) * 2.0F |
yxyang | 0:4856445a8db9 | 342 | / (float)TSL1401CL_PIXEL_COUNT); |
yxyang | 0:4856445a8db9 | 343 | |
yxyang | 0:4856445a8db9 | 344 | if (line_pos < 0) |
yxyang | 0:4856445a8db9 | 345 | { |
yxyang | 0:4856445a8db9 | 346 | m1_fwd.write (pwm_outer); |
yxyang | 0:4856445a8db9 | 347 | m1_back.write (0); |
yxyang | 0:4856445a8db9 | 348 | if (pwm_inner >= 0) |
yxyang | 0:4856445a8db9 | 349 | { |
yxyang | 0:4856445a8db9 | 350 | m2_fwd.write (pwm_inner); |
yxyang | 0:4856445a8db9 | 351 | m2_back.write (0); |
yxyang | 0:4856445a8db9 | 352 | } |
yxyang | 0:4856445a8db9 | 353 | else |
yxyang | 0:4856445a8db9 | 354 | { |
yxyang | 0:4856445a8db9 | 355 | m2_fwd.write (0); |
yxyang | 0:4856445a8db9 | 356 | m2_back.write (pwm_inner * -1.0F); |
yxyang | 0:4856445a8db9 | 357 | } |
yxyang | 0:4856445a8db9 | 358 | } |
yxyang | 0:4856445a8db9 | 359 | |
yxyang | 0:4856445a8db9 | 360 | if (line_pos >= 0) |
yxyang | 0:4856445a8db9 | 361 | { |
yxyang | 0:4856445a8db9 | 362 | m2_fwd.write (pwm_outer); |
yxyang | 0:4856445a8db9 | 363 | m2_back.write (0); |
yxyang | 0:4856445a8db9 | 364 | if (pwm_inner >= 0) |
yxyang | 0:4856445a8db9 | 365 | { |
yxyang | 0:4856445a8db9 | 366 | m1_fwd.write (pwm_inner); |
yxyang | 0:4856445a8db9 | 367 | m1_back.write (0); |
yxyang | 0:4856445a8db9 | 368 | } |
yxyang | 0:4856445a8db9 | 369 | else |
yxyang | 0:4856445a8db9 | 370 | { |
yxyang | 0:4856445a8db9 | 371 | m1_fwd.write (0); |
yxyang | 0:4856445a8db9 | 372 | m1_back.write (pwm_inner * -1.0F); |
yxyang | 0:4856445a8db9 | 373 | } |
yxyang | 0:4856445a8db9 | 374 | } |
yxyang | 0:4856445a8db9 | 375 | } |
yxyang | 0:4856445a8db9 | 376 | |
yxyang | 0:4856445a8db9 | 377 | void |
yxyang | 0:4856445a8db9 | 378 | steerImprovedPointTurns (int8_t line_pos) |
yxyang | 0:4856445a8db9 | 379 | { |
yxyang | 0:4856445a8db9 | 380 | line_pos -= TSL1401CL_PIXEL_COUNT / 2; // Find offset from center |
yxyang | 0:4856445a8db9 | 381 | |
yxyang | 0:4856445a8db9 | 382 | // Find desired motor voltages based on the controller |
yxyang | 0:4856445a8db9 | 383 | float pwm_outer = SPEED_PWM * (1.0F |
yxyang | 0:4856445a8db9 | 384 | + TURN_SENS_OUTER * abs (line_pos) * 2.0F |
yxyang | 0:4856445a8db9 | 385 | / (float)TSL1401CL_PIXEL_COUNT); |
yxyang | 0:4856445a8db9 | 386 | float pwm_inner = SPEED_PWM * (1.0F |
yxyang | 0:4856445a8db9 | 387 | - TURN_SENS_INNER * abs (line_pos) * 2.0F |
yxyang | 0:4856445a8db9 | 388 | / (float)TSL1401CL_PIXEL_COUNT); |
yxyang | 0:4856445a8db9 | 389 | |
yxyang | 0:4856445a8db9 | 390 | // Write to the appropriate PWM pins |
yxyang | 0:4856445a8db9 | 391 | if (line_pos < 0) |
yxyang | 0:4856445a8db9 | 392 | { |
yxyang | 0:4856445a8db9 | 393 | m1_fwd.write (pwm_outer); |
yxyang | 0:4856445a8db9 | 394 | m1_back.write (0); |
yxyang | 0:4856445a8db9 | 395 | if (pwm_inner >= 0) |
yxyang | 0:4856445a8db9 | 396 | { |
yxyang | 0:4856445a8db9 | 397 | m2_fwd.write (pwm_inner); |
yxyang | 0:4856445a8db9 | 398 | m2_back.write (0); |
yxyang | 0:4856445a8db9 | 399 | } |
yxyang | 0:4856445a8db9 | 400 | else |
yxyang | 0:4856445a8db9 | 401 | { |
yxyang | 0:4856445a8db9 | 402 | m2_fwd.write (0); |
yxyang | 0:4856445a8db9 | 403 | m2_back.write (pwm_inner * -1.0F); |
yxyang | 0:4856445a8db9 | 404 | } |
yxyang | 0:4856445a8db9 | 405 | } |
yxyang | 0:4856445a8db9 | 406 | |
yxyang | 0:4856445a8db9 | 407 | if (line_pos >= 0) |
yxyang | 0:4856445a8db9 | 408 | { |
yxyang | 0:4856445a8db9 | 409 | m2_fwd.write (pwm_outer); |
yxyang | 0:4856445a8db9 | 410 | m2_back.write (0); |
yxyang | 0:4856445a8db9 | 411 | if (pwm_inner >= 0) |
yxyang | 0:4856445a8db9 | 412 | { |
yxyang | 0:4856445a8db9 | 413 | m1_fwd.write (pwm_inner); |
yxyang | 0:4856445a8db9 | 414 | m1_back.write (0); |
yxyang | 0:4856445a8db9 | 415 | } |
yxyang | 0:4856445a8db9 | 416 | else |
yxyang | 0:4856445a8db9 | 417 | { |
yxyang | 0:4856445a8db9 | 418 | m1_fwd.write (0); |
yxyang | 0:4856445a8db9 | 419 | m1_back.write (pwm_inner * -1.0F); |
yxyang | 0:4856445a8db9 | 420 | } |
yxyang | 0:4856445a8db9 | 421 | } |
yxyang | 0:4856445a8db9 | 422 | } |