David Grayson / Mbed 2 deprecated DeadReckoning

David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.

Dependencies:   PololuEncoder Pacer mbed GeneralDebouncer

main.cpp@34:6c84680d823a, 2014-03-05 (annotated)

Committer:
DavidEGrayson
Date:
Wed Mar 05 04:38:45 2014 +0000
Revision:
34:6c84680d823a
Parent:
33:58a0ab6e9ad2
Child:
37:23000a47ed2b
Not sure.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 0:e77a0edb9878 1 #include <mbed.h>
DavidEGrayson 8:78b1ff957cba 2 #include <Pacer.h>
DavidEGrayson 21:c279c6a83671 3 #include <GeneralDebouncer.h>
DavidEGrayson 19:a11ffc903774 4 #include <math.h>
DavidEGrayson 0:e77a0edb9878 5
DavidEGrayson 21:c279c6a83671 6 #include "main.h"
DavidEGrayson 8:78b1ff957cba 7 #include "motors.h"
DavidEGrayson 8:78b1ff957cba 8 #include "encoders.h"
DavidEGrayson 9:9734347b5756 9 #include "leds.h"
DavidEGrayson 8:78b1ff957cba 10 #include "pc_serial.h"
DavidEGrayson 9:9734347b5756 11 #include "test.h"
DavidEGrayson 12:835a4d24ae3b 12 #include "reckoner.h"
DavidEGrayson 16:8eaa5bc2bdb1 13 #include "buttons.h"
DavidEGrayson 21:c279c6a83671 14 #include "line_tracker.h"
DavidEGrayson 21:c279c6a83671 15
DavidEGrayson 21:c279c6a83671 16 Reckoner reckoner;
DavidEGrayson 21:c279c6a83671 17 LineTracker lineTracker;
DavidEGrayson 21:c279c6a83671 18
DavidEGrayson 33:58a0ab6e9ad2 19 const int16_t drivingSpeed = 400;
DavidEGrayson 21:c279c6a83671 20
DavidEGrayson 21:c279c6a83671 21 void setLeds(bool v1, bool v2, bool v3, bool v4)
DavidEGrayson 21:c279c6a83671 22 {
DavidEGrayson 21:c279c6a83671 23 led1 = v1;
DavidEGrayson 21:c279c6a83671 24 led2 = v2;
DavidEGrayson 21:c279c6a83671 25 led3 = v3;
DavidEGrayson 21:c279c6a83671 26 led4 = v4;
DavidEGrayson 21:c279c6a83671 27 }
DavidEGrayson 0:e77a0edb9878 28
DavidEGrayson 10:e4dd36148539 29 int __attribute__((noreturn)) main()
DavidEGrayson 2:968338353aef 30 {
DavidEGrayson 2:968338353aef 31 pc.baud(115200);
DavidEGrayson 2:968338353aef 32
DavidEGrayson 2:968338353aef 33 // Enable pull-ups on encoder pins and give them a chance to settle.
DavidEGrayson 9:9734347b5756 34 encodersInit();
DavidEGrayson 9:9734347b5756 35 motorsInit();
DavidEGrayson 16:8eaa5bc2bdb1 36 buttonsInit();
DavidEGrayson 4:1b20a11765c8 37
DavidEGrayson 8:78b1ff957cba 38 // Test routines
DavidEGrayson 9:9734347b5756 39 //testMotors();
DavidEGrayson 10:e4dd36148539 40 //testEncoders();
DavidEGrayson 32:83a13b06093c 41 //testLineSensors();
DavidEGrayson 16:8eaa5bc2bdb1 42 //testReckoner();
DavidEGrayson 17:2df9861f53ee 43 //testButtons();
DavidEGrayson 34:6c84680d823a 44 //testDriveHome();
DavidEGrayson 21:c279c6a83671 45 //testFinalSettleIn();
DavidEGrayson 23:aae5cbe3b924 46 //testCalibrate();
DavidEGrayson 33:58a0ab6e9ad2 47 //testLineFollowing();
DavidEGrayson 29:cfcf08d8ac79 48 //testAnalog();
DavidEGrayson 31:739b91331f31 49 //testSensorGlitches();
DavidEGrayson 33:58a0ab6e9ad2 50 //testTurnInPlace();
DavidEGrayson 33:58a0ab6e9ad2 51 //testCloseness();
DavidEGrayson 2:968338353aef 52
DavidEGrayson 21:c279c6a83671 53 // Real routines for the contest.
DavidEGrayson 28:4374035df5e0 54 loadCalibration();
DavidEGrayson 28:4374035df5e0 55
DavidEGrayson 21:c279c6a83671 56 setLeds(1, 0, 0, 0);
DavidEGrayson 21:c279c6a83671 57 waitForSignalToStart();
DavidEGrayson 25:73c2eedb3b91 58
DavidEGrayson 33:58a0ab6e9ad2 59 setLeds(0, 1, 0, 0);
DavidEGrayson 28:4374035df5e0 60 findLine();
DavidEGrayson 25:73c2eedb3b91 61
DavidEGrayson 27:2456f68be679 62 //setLeds(1, 1, 0, 0);
DavidEGrayson 27:2456f68be679 63 //turnRightToFindLine();
DavidEGrayson 33:58a0ab6e9ad2 64
DavidEGrayson 21:c279c6a83671 65 setLeds(0, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 66 followLineToEnd();
DavidEGrayson 33:58a0ab6e9ad2 67
DavidEGrayson 21:c279c6a83671 68 setLeds(1, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 69 driveHomeAlmost();
DavidEGrayson 33:58a0ab6e9ad2 70
DavidEGrayson 33:58a0ab6e9ad2 71 //setLeds(0, 1, 1, 0);
DavidEGrayson 33:58a0ab6e9ad2 72 //finalSettleIn();
DavidEGrayson 33:58a0ab6e9ad2 73
DavidEGrayson 21:c279c6a83671 74 setLeds(1, 1, 1, 1);
DavidEGrayson 21:c279c6a83671 75 while(1){}
DavidEGrayson 0:e77a0edb9878 76 }
DavidEGrayson 12:835a4d24ae3b 77
DavidEGrayson 28:4374035df5e0 78 void loadCalibration()
DavidEGrayson 28:4374035df5e0 79 {
DavidEGrayson 32:83a13b06093c 80 /** QTR-3RC **/
DavidEGrayson 32:83a13b06093c 81 lineTracker.calibratedMinimum[0] = 100;
DavidEGrayson 32:83a13b06093c 82 lineTracker.calibratedMinimum[1] = 94;
DavidEGrayson 32:83a13b06093c 83 lineTracker.calibratedMinimum[2] = 103;
DavidEGrayson 32:83a13b06093c 84 lineTracker.calibratedMaximum[0] = 792;
DavidEGrayson 32:83a13b06093c 85 lineTracker.calibratedMaximum[1] = 807;
DavidEGrayson 32:83a13b06093c 86 lineTracker.calibratedMaximum[2] = 1000;
DavidEGrayson 32:83a13b06093c 87
DavidEGrayson 32:83a13b06093c 88 /** QTR-3A
DavidEGrayson 28:4374035df5e0 89 lineTracker.calibratedMinimum[0] = 34872;
DavidEGrayson 28:4374035df5e0 90 lineTracker.calibratedMinimum[1] = 29335;
DavidEGrayson 28:4374035df5e0 91 lineTracker.calibratedMinimum[2] = 23845;
DavidEGrayson 28:4374035df5e0 92 lineTracker.calibratedMaximum[0] = 59726;
DavidEGrayson 28:4374035df5e0 93 lineTracker.calibratedMaximum[1] = 60110;
DavidEGrayson 32:83a13b06093c 94 lineTracker.calibratedMaximum[2] = 58446;
DavidEGrayson 32:83a13b06093c 95 **/
DavidEGrayson 28:4374035df5e0 96 }
DavidEGrayson 28:4374035df5e0 97
DavidEGrayson 12:835a4d24ae3b 98 void updateReckonerFromEncoders()
DavidEGrayson 12:835a4d24ae3b 99 {
DavidEGrayson 12:835a4d24ae3b 100 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 101 {
DavidEGrayson 12:835a4d24ae3b 102 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 103 switch(event)
DavidEGrayson 12:835a4d24ae3b 104 {
DavidEGrayson 17:2df9861f53ee 105 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 106 reckoner.handleTickLeftForward();
DavidEGrayson 17:2df9861f53ee 107 break;
DavidEGrayson 17:2df9861f53ee 108 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 109 reckoner.handleTickLeftBackward();
DavidEGrayson 17:2df9861f53ee 110 break;
DavidEGrayson 17:2df9861f53ee 111 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 112 reckoner.handleTickRightForward();
DavidEGrayson 17:2df9861f53ee 113 break;
DavidEGrayson 17:2df9861f53ee 114 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 115 reckoner.handleTickRightBackward();
DavidEGrayson 17:2df9861f53ee 116 break;
DavidEGrayson 12:835a4d24ae3b 117 }
DavidEGrayson 12:835a4d24ae3b 118 }
DavidEGrayson 12:835a4d24ae3b 119 }
DavidEGrayson 17:2df9861f53ee 120
DavidEGrayson 19:a11ffc903774 121 float magnitude()
DavidEGrayson 19:a11ffc903774 122 {
DavidEGrayson 19:a11ffc903774 123 return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y);
DavidEGrayson 19:a11ffc903774 124 }
DavidEGrayson 19:a11ffc903774 125
DavidEGrayson 20:dbec34f0e76b 126 float dotProduct()
DavidEGrayson 20:dbec34f0e76b 127 {
DavidEGrayson 20:dbec34f0e76b 128 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 129 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 130 float magn = magnitude();
DavidEGrayson 20:dbec34f0e76b 131 if (magn == 0){ return 0; }
DavidEGrayson 20:dbec34f0e76b 132 return ((float)reckoner.x * c + (float)reckoner.y * s) / magn;
DavidEGrayson 20:dbec34f0e76b 133 }
DavidEGrayson 20:dbec34f0e76b 134
DavidEGrayson 18:b65fbb795396 135 // The closer this is to zero, the closer we are to pointing towards the home position.
DavidEGrayson 18:b65fbb795396 136 // It is basically a cross product of the two vectors (x, y) and (cos, sin).
DavidEGrayson 19:a11ffc903774 137 float determinant()
DavidEGrayson 18:b65fbb795396 138 {
DavidEGrayson 18:b65fbb795396 139 // TODO: get rid of the magic numbers here (i.e. 30)
DavidEGrayson 18:b65fbb795396 140 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 18:b65fbb795396 141 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 19:a11ffc903774 142 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 143 }
DavidEGrayson 19:a11ffc903774 144
DavidEGrayson 21:c279c6a83671 145 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 146 {
DavidEGrayson 19:a11ffc903774 147 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 148 {
DavidEGrayson 19:a11ffc903774 149 return 0;
DavidEGrayson 19:a11ffc903774 150 }
DavidEGrayson 19:a11ffc903774 151 else
DavidEGrayson 19:a11ffc903774 152 {
DavidEGrayson 19:a11ffc903774 153 return speed - reduction;
DavidEGrayson 19:a11ffc903774 154 }
DavidEGrayson 18:b65fbb795396 155 }
DavidEGrayson 18:b65fbb795396 156
DavidEGrayson 21:c279c6a83671 157 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 158 {
DavidEGrayson 21:c279c6a83671 159 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 160 {
DavidEGrayson 21:c279c6a83671 161 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 162 }
DavidEGrayson 21:c279c6a83671 163 reckoner.reset();
DavidEGrayson 21:c279c6a83671 164 }
DavidEGrayson 21:c279c6a83671 165
DavidEGrayson 24:fc01d9125d3b 166 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 167 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 168 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 169 {
DavidEGrayson 24:fc01d9125d3b 170 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 171 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 172 int16_t speedRight = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 173 int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
DavidEGrayson 24:fc01d9125d3b 174 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 175 {
DavidEGrayson 24:fc01d9125d3b 176 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 177 }
DavidEGrayson 24:fc01d9125d3b 178 else
DavidEGrayson 24:fc01d9125d3b 179 {
DavidEGrayson 24:fc01d9125d3b 180 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 181 }
DavidEGrayson 24:fc01d9125d3b 182 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 183 }
DavidEGrayson 24:fc01d9125d3b 184
DavidEGrayson 28:4374035df5e0 185 void updateMotorsToFollowLine()
DavidEGrayson 24:fc01d9125d3b 186 {
DavidEGrayson 34:6c84680d823a 187 const int followLineStrength = drivingSpeed * 5 / 4;
DavidEGrayson 28:4374035df5e0 188
DavidEGrayson 28:4374035df5e0 189 int16_t speedLeft = drivingSpeed;
DavidEGrayson 28:4374035df5e0 190 int16_t speedRight = drivingSpeed;
DavidEGrayson 28:4374035df5e0 191 int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000;
DavidEGrayson 28:4374035df5e0 192 if(reduction < 0)
DavidEGrayson 28:4374035df5e0 193 {
DavidEGrayson 28:4374035df5e0 194 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 28:4374035df5e0 195 }
DavidEGrayson 28:4374035df5e0 196 else
DavidEGrayson 28:4374035df5e0 197 {
DavidEGrayson 28:4374035df5e0 198 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 28:4374035df5e0 199 }
DavidEGrayson 24:fc01d9125d3b 200
DavidEGrayson 28:4374035df5e0 201 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 28:4374035df5e0 202 }
DavidEGrayson 28:4374035df5e0 203
DavidEGrayson 28:4374035df5e0 204 void findLine()
DavidEGrayson 28:4374035df5e0 205 {
DavidEGrayson 24:fc01d9125d3b 206 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 207 while(1)
DavidEGrayson 24:fc01d9125d3b 208 {
DavidEGrayson 24:fc01d9125d3b 209 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 210 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 211 updateReckonerFromEncoders();
DavidEGrayson 24:fc01d9125d3b 212 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 213 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 214
DavidEGrayson 33:58a0ab6e9ad2 215 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 20000)
DavidEGrayson 24:fc01d9125d3b 216 {
DavidEGrayson 26:7e7c376a7446 217 break;
DavidEGrayson 24:fc01d9125d3b 218 }
DavidEGrayson 24:fc01d9125d3b 219 }
DavidEGrayson 24:fc01d9125d3b 220 }
DavidEGrayson 20:dbec34f0e76b 221
DavidEGrayson 33:58a0ab6e9ad2 222 /**
DavidEGrayson 21:c279c6a83671 223 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 224 {
DavidEGrayson 21:c279c6a83671 225 while(1)
DavidEGrayson 21:c279c6a83671 226 {
DavidEGrayson 21:c279c6a83671 227 lineTracker.read();
DavidEGrayson 21:c279c6a83671 228 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 229 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 230
DavidEGrayson 21:c279c6a83671 231 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 232 {
DavidEGrayson 21:c279c6a83671 233 break;
DavidEGrayson 21:c279c6a83671 234 }
DavidEGrayson 21:c279c6a83671 235
DavidEGrayson 21:c279c6a83671 236 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 237 }
DavidEGrayson 33:58a0ab6e9ad2 238 }**/
DavidEGrayson 21:c279c6a83671 239
DavidEGrayson 21:c279c6a83671 240 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 241 {
DavidEGrayson 26:7e7c376a7446 242 Timer timer;
DavidEGrayson 26:7e7c376a7446 243 timer.start();
DavidEGrayson 26:7e7c376a7446 244
DavidEGrayson 21:c279c6a83671 245 GeneralDebouncer lineStatus(10000);
DavidEGrayson 34:6c84680d823a 246 const uint32_t lineDebounceTime = 1000000;
DavidEGrayson 21:c279c6a83671 247
DavidEGrayson 21:c279c6a83671 248 while(1)
DavidEGrayson 21:c279c6a83671 249 {
DavidEGrayson 21:c279c6a83671 250 lineTracker.read();
DavidEGrayson 21:c279c6a83671 251 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 252
DavidEGrayson 21:c279c6a83671 253 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 254
DavidEGrayson 21:c279c6a83671 255 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 26:7e7c376a7446 256 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 28:4374035df5e0 257 if(lostLine && timer.read_us() >= 2000000)
DavidEGrayson 21:c279c6a83671 258 {
DavidEGrayson 21:c279c6a83671 259 break;
DavidEGrayson 21:c279c6a83671 260 }
DavidEGrayson 21:c279c6a83671 261
DavidEGrayson 28:4374035df5e0 262 updateMotorsToFollowLine();
DavidEGrayson 21:c279c6a83671 263 }
DavidEGrayson 20:dbec34f0e76b 264 }
DavidEGrayson 20:dbec34f0e76b 265
DavidEGrayson 20:dbec34f0e76b 266 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 267 {
DavidEGrayson 18:b65fbb795396 268 Timer timer;
DavidEGrayson 18:b65fbb795396 269 timer.start();
DavidEGrayson 19:a11ffc903774 270
DavidEGrayson 19:a11ffc903774 271 while(1)
DavidEGrayson 18:b65fbb795396 272 {
DavidEGrayson 18:b65fbb795396 273 updateReckonerFromEncoders();
DavidEGrayson 19:a11ffc903774 274
DavidEGrayson 19:a11ffc903774 275 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 276
DavidEGrayson 33:58a0ab6e9ad2 277 if (magn < (1<<(14+7)))
DavidEGrayson 18:b65fbb795396 278 {
DavidEGrayson 33:58a0ab6e9ad2 279 // We are within 128 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 280 break;
DavidEGrayson 19:a11ffc903774 281 }
DavidEGrayson 19:a11ffc903774 282
DavidEGrayson 19:a11ffc903774 283 float det = determinant();
DavidEGrayson 19:a11ffc903774 284
DavidEGrayson 21:c279c6a83671 285 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 286 int16_t speedRight = drivingSpeed;
DavidEGrayson 33:58a0ab6e9ad2 287 if (magn < (1<<(14+9))) // Within 512 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 288 {
DavidEGrayson 33:58a0ab6e9ad2 289 int16_t reduction = (1 - magn/(1<<(14+8))) * (drivingSpeed/2);
DavidEGrayson 19:a11ffc903774 290 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 291 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 292 }
DavidEGrayson 19:a11ffc903774 293
DavidEGrayson 19:a11ffc903774 294 if (det > 0)
DavidEGrayson 19:a11ffc903774 295 {
DavidEGrayson 19:a11ffc903774 296 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 297 }
DavidEGrayson 18:b65fbb795396 298 else
DavidEGrayson 18:b65fbb795396 299 {
DavidEGrayson 19:a11ffc903774 300 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 301 }
DavidEGrayson 19:a11ffc903774 302 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 303 }
DavidEGrayson 18:b65fbb795396 304
DavidEGrayson 20:dbec34f0e76b 305 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 306 }
DavidEGrayson 20:dbec34f0e76b 307
DavidEGrayson 20:dbec34f0e76b 308 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 309 {
DavidEGrayson 27:2456f68be679 310 const int16_t settleSpeed = 300;
DavidEGrayson 27:2456f68be679 311 const int16_t settleModificationStrength = 150;
DavidEGrayson 20:dbec34f0e76b 312
DavidEGrayson 20:dbec34f0e76b 313 Timer timer;
DavidEGrayson 20:dbec34f0e76b 314 timer.start();
DavidEGrayson 20:dbec34f0e76b 315
DavidEGrayson 20:dbec34f0e76b 316 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 317 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 318 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 319
DavidEGrayson 27:2456f68be679 320 Pacer reportPacer(200000);
DavidEGrayson 27:2456f68be679 321 Pacer motorUpdatePacer(10000);
DavidEGrayson 21:c279c6a83671 322
DavidEGrayson 27:2456f68be679 323 float integral = 0;
DavidEGrayson 27:2456f68be679 324
DavidEGrayson 27:2456f68be679 325 motorsSpeedSet(-settleSpeed, settleSpeed); // avoid waiting 10 ms before we start settling
DavidEGrayson 27:2456f68be679 326
DavidEGrayson 19:a11ffc903774 327 while(1)
DavidEGrayson 19:a11ffc903774 328 {
DavidEGrayson 27:2456f68be679 329 led1 = (state == 1);
DavidEGrayson 27:2456f68be679 330
DavidEGrayson 20:dbec34f0e76b 331 updateReckonerFromEncoders();
DavidEGrayson 20:dbec34f0e76b 332
DavidEGrayson 20:dbec34f0e76b 333 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 334 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 335 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 336 {
DavidEGrayson 20:dbec34f0e76b 337 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 338 }
DavidEGrayson 20:dbec34f0e76b 339 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 340 {
DavidEGrayson 20:dbec34f0e76b 341 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 342 }
DavidEGrayson 20:dbec34f0e76b 343
DavidEGrayson 21:c279c6a83671 344 if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29))
DavidEGrayson 19:a11ffc903774 345 {
DavidEGrayson 21:c279c6a83671 346 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 347 state = 1;
DavidEGrayson 20:dbec34f0e76b 348 }
DavidEGrayson 20:dbec34f0e76b 349
DavidEGrayson 21:c279c6a83671 350 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 351 {
DavidEGrayson 21:c279c6a83671 352 // Stop moving.
DavidEGrayson 21:c279c6a83671 353 break;
DavidEGrayson 21:c279c6a83671 354 }
DavidEGrayson 21:c279c6a83671 355
DavidEGrayson 27:2456f68be679 356 if (motorUpdatePacer.pace())
DavidEGrayson 20:dbec34f0e76b 357 {
DavidEGrayson 27:2456f68be679 358 int16_t rotationSpeed;
DavidEGrayson 27:2456f68be679 359 if (state == 1)
DavidEGrayson 27:2456f68be679 360 {
DavidEGrayson 27:2456f68be679 361 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 27:2456f68be679 362 integral += s;
DavidEGrayson 27:2456f68be679 363 rotationSpeed = -(s * 2400 + integral * 20);
DavidEGrayson 27:2456f68be679 364
DavidEGrayson 27:2456f68be679 365 if (rotationSpeed > 300)
DavidEGrayson 27:2456f68be679 366 {
DavidEGrayson 27:2456f68be679 367 rotationSpeed = 300;
DavidEGrayson 27:2456f68be679 368 }
DavidEGrayson 27:2456f68be679 369 if (rotationSpeed < -300)
DavidEGrayson 27:2456f68be679 370 {
DavidEGrayson 27:2456f68be679 371 rotationSpeed = -300;
DavidEGrayson 27:2456f68be679 372 }
DavidEGrayson 27:2456f68be679 373 }
DavidEGrayson 27:2456f68be679 374 else
DavidEGrayson 27:2456f68be679 375 {
DavidEGrayson 27:2456f68be679 376 rotationSpeed = settleSpeed;
DavidEGrayson 27:2456f68be679 377 }
DavidEGrayson 27:2456f68be679 378
DavidEGrayson 27:2456f68be679 379 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 380 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 27:2456f68be679 381 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 20:dbec34f0e76b 382 }
DavidEGrayson 21:c279c6a83671 383
DavidEGrayson 21:c279c6a83671 384 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 385 {
DavidEGrayson 21:c279c6a83671 386 pc.printf("%11d %11d %11d %11d | %11f %11f\r\n",
DavidEGrayson 21:c279c6a83671 387 reckoner.cos, reckoner.sin, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 388 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 389 }
DavidEGrayson 19:a11ffc903774 390 }
DavidEGrayson 20:dbec34f0e76b 391
DavidEGrayson 21:c279c6a83671 392 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 393 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 394 }