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@26:7e7c376a7446, 2014-02-28 (annotated)

Committer:
DavidEGrayson
Date:
Fri Feb 28 01:40:39 2014 +0000
Revision:
26:7e7c376a7446
Parent:
25:73c2eedb3b91
Child:
27:2456f68be679
This is my attempt to make it hang on to the line better after finding it.  I found a really bad bug in followLineToEnd that might explain all the problems, but I also changed the loadCalibrationAndFindLine function so it doesn't overshoot.

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 21:c279c6a83671 19 const int16_t drivingSpeed = 300;
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 12:835a4d24ae3b 41 //testLineSensors();
DavidEGrayson 16:8eaa5bc2bdb1 42 //testReckoner();
DavidEGrayson 17:2df9861f53ee 43 //testButtons();
DavidEGrayson 20:dbec34f0e76b 44 //testDriveHome();
DavidEGrayson 21:c279c6a83671 45 //testFinalSettleIn();
DavidEGrayson 23:aae5cbe3b924 46 //testCalibrate();
DavidEGrayson 2:968338353aef 47
DavidEGrayson 21:c279c6a83671 48 // Real routines for the contest.
DavidEGrayson 21:c279c6a83671 49 setLeds(1, 0, 0, 0);
DavidEGrayson 21:c279c6a83671 50 waitForSignalToStart();
DavidEGrayson 21:c279c6a83671 51 setLeds(0, 1, 0, 0);
DavidEGrayson 25:73c2eedb3b91 52
DavidEGrayson 25:73c2eedb3b91 53 loadCalibrationAndFindLine();
DavidEGrayson 25:73c2eedb3b91 54 //findLineAndCalibrate();
DavidEGrayson 25:73c2eedb3b91 55
DavidEGrayson 21:c279c6a83671 56 setLeds(1, 1, 0, 0);
DavidEGrayson 21:c279c6a83671 57 turnRightToFindLine();
DavidEGrayson 21:c279c6a83671 58 setLeds(0, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 59 followLineToEnd();
DavidEGrayson 21:c279c6a83671 60 setLeds(1, 0, 1, 0);
DavidEGrayson 21:c279c6a83671 61 driveHomeAlmost();
DavidEGrayson 21:c279c6a83671 62 setLeds(0, 1, 1, 0);
DavidEGrayson 21:c279c6a83671 63 finalSettleIn();
DavidEGrayson 21:c279c6a83671 64 setLeds(1, 1, 1, 1);
DavidEGrayson 21:c279c6a83671 65 while(1){}
DavidEGrayson 0:e77a0edb9878 66 }
DavidEGrayson 12:835a4d24ae3b 67
DavidEGrayson 12:835a4d24ae3b 68 void updateReckonerFromEncoders()
DavidEGrayson 12:835a4d24ae3b 69 {
DavidEGrayson 12:835a4d24ae3b 70 while(encoderBuffer.hasEvents())
DavidEGrayson 12:835a4d24ae3b 71 {
DavidEGrayson 12:835a4d24ae3b 72 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 12:835a4d24ae3b 73 switch(event)
DavidEGrayson 12:835a4d24ae3b 74 {
DavidEGrayson 17:2df9861f53ee 75 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 76 reckoner.handleTickLeftForward();
DavidEGrayson 17:2df9861f53ee 77 break;
DavidEGrayson 17:2df9861f53ee 78 case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 79 reckoner.handleTickLeftBackward();
DavidEGrayson 17:2df9861f53ee 80 break;
DavidEGrayson 17:2df9861f53ee 81 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
DavidEGrayson 17:2df9861f53ee 82 reckoner.handleTickRightForward();
DavidEGrayson 17:2df9861f53ee 83 break;
DavidEGrayson 17:2df9861f53ee 84 case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
DavidEGrayson 17:2df9861f53ee 85 reckoner.handleTickRightBackward();
DavidEGrayson 17:2df9861f53ee 86 break;
DavidEGrayson 12:835a4d24ae3b 87 }
DavidEGrayson 12:835a4d24ae3b 88 }
DavidEGrayson 12:835a4d24ae3b 89 }
DavidEGrayson 17:2df9861f53ee 90
DavidEGrayson 19:a11ffc903774 91 float magnitude()
DavidEGrayson 19:a11ffc903774 92 {
DavidEGrayson 19:a11ffc903774 93 return sqrt((float)reckoner.x * reckoner.x + (float)reckoner.y * reckoner.y);
DavidEGrayson 19:a11ffc903774 94 }
DavidEGrayson 19:a11ffc903774 95
DavidEGrayson 20:dbec34f0e76b 96 float dotProduct()
DavidEGrayson 20:dbec34f0e76b 97 {
DavidEGrayson 20:dbec34f0e76b 98 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 99 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 20:dbec34f0e76b 100 float magn = magnitude();
DavidEGrayson 20:dbec34f0e76b 101 if (magn == 0){ return 0; }
DavidEGrayson 20:dbec34f0e76b 102 return ((float)reckoner.x * c + (float)reckoner.y * s) / magn;
DavidEGrayson 20:dbec34f0e76b 103 }
DavidEGrayson 20:dbec34f0e76b 104
DavidEGrayson 18:b65fbb795396 105 // The closer this is to zero, the closer we are to pointing towards the home position.
DavidEGrayson 18:b65fbb795396 106 // It is basically a cross product of the two vectors (x, y) and (cos, sin).
DavidEGrayson 19:a11ffc903774 107 float determinant()
DavidEGrayson 18:b65fbb795396 108 {
DavidEGrayson 18:b65fbb795396 109 // TODO: get rid of the magic numbers here (i.e. 30)
DavidEGrayson 18:b65fbb795396 110 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 18:b65fbb795396 111 float c = (float)reckoner.cos / (1 << 30);
DavidEGrayson 19:a11ffc903774 112 return (reckoner.x * s - reckoner.y * c) / magnitude();
DavidEGrayson 19:a11ffc903774 113 }
DavidEGrayson 19:a11ffc903774 114
DavidEGrayson 21:c279c6a83671 115 int16_t reduceSpeed(int16_t speed, int32_t reduction)
DavidEGrayson 19:a11ffc903774 116 {
DavidEGrayson 19:a11ffc903774 117 if (reduction > speed)
DavidEGrayson 19:a11ffc903774 118 {
DavidEGrayson 19:a11ffc903774 119 return 0;
DavidEGrayson 19:a11ffc903774 120 }
DavidEGrayson 19:a11ffc903774 121 else
DavidEGrayson 19:a11ffc903774 122 {
DavidEGrayson 19:a11ffc903774 123 return speed - reduction;
DavidEGrayson 19:a11ffc903774 124 }
DavidEGrayson 18:b65fbb795396 125 }
DavidEGrayson 18:b65fbb795396 126
DavidEGrayson 21:c279c6a83671 127 // Returns true if each line sensor has one third of a volt of difference between the
DavidEGrayson 21:c279c6a83671 128 // maximum seen value and the minimum.
DavidEGrayson 21:c279c6a83671 129 bool calibrationLooksGood()
DavidEGrayson 21:c279c6a83671 130 {
DavidEGrayson 21:c279c6a83671 131 for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
DavidEGrayson 21:c279c6a83671 132 {
DavidEGrayson 21:c279c6a83671 133 uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s];
DavidEGrayson 21:c279c6a83671 134 if (contrast < 9929) // 0xFFFF*0.5/3.3 = 9929
DavidEGrayson 21:c279c6a83671 135 {
DavidEGrayson 21:c279c6a83671 136 return false;
DavidEGrayson 21:c279c6a83671 137 }
DavidEGrayson 21:c279c6a83671 138 }
DavidEGrayson 21:c279c6a83671 139 return true;
DavidEGrayson 21:c279c6a83671 140 }
DavidEGrayson 21:c279c6a83671 141
DavidEGrayson 21:c279c6a83671 142 void waitForSignalToStart()
DavidEGrayson 21:c279c6a83671 143 {
DavidEGrayson 21:c279c6a83671 144 while(!button1DefinitelyPressed())
DavidEGrayson 21:c279c6a83671 145 {
DavidEGrayson 21:c279c6a83671 146 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 147 }
DavidEGrayson 21:c279c6a83671 148 reckoner.reset();
DavidEGrayson 21:c279c6a83671 149 }
DavidEGrayson 21:c279c6a83671 150
DavidEGrayson 24:fc01d9125d3b 151 // Keep the robot pointing the in the right direction (1, 0).
DavidEGrayson 24:fc01d9125d3b 152 // This should basically keep it going straight.
DavidEGrayson 24:fc01d9125d3b 153 void updateMotorsToDriveStraight()
DavidEGrayson 24:fc01d9125d3b 154 {
DavidEGrayson 24:fc01d9125d3b 155 const int32_t straightDriveStrength = 1000;
DavidEGrayson 24:fc01d9125d3b 156 int16_t speedLeft = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 157 int16_t speedRight = drivingSpeed;
DavidEGrayson 24:fc01d9125d3b 158 int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
DavidEGrayson 24:fc01d9125d3b 159 if (reduction > 0)
DavidEGrayson 24:fc01d9125d3b 160 {
DavidEGrayson 24:fc01d9125d3b 161 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 24:fc01d9125d3b 162 }
DavidEGrayson 24:fc01d9125d3b 163 else
DavidEGrayson 24:fc01d9125d3b 164 {
DavidEGrayson 24:fc01d9125d3b 165 speedLeft = reduceSpeed(speedLeft, -reduction);
DavidEGrayson 24:fc01d9125d3b 166 }
DavidEGrayson 24:fc01d9125d3b 167 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 24:fc01d9125d3b 168 }
DavidEGrayson 24:fc01d9125d3b 169
DavidEGrayson 24:fc01d9125d3b 170 void loadCalibrationAndFindLine()
DavidEGrayson 24:fc01d9125d3b 171 {
DavidEGrayson 24:fc01d9125d3b 172 lineTracker.calibratedMinimum[0] = 34872;
DavidEGrayson 24:fc01d9125d3b 173 lineTracker.calibratedMinimum[1] = 29335;
DavidEGrayson 24:fc01d9125d3b 174 lineTracker.calibratedMinimum[2] = 23845;
DavidEGrayson 24:fc01d9125d3b 175 lineTracker.calibratedMaximum[0] = 59726;
DavidEGrayson 24:fc01d9125d3b 176 lineTracker.calibratedMaximum[1] = 60110;
DavidEGrayson 24:fc01d9125d3b 177 lineTracker.calibratedMaximum[2] = 58446;
DavidEGrayson 24:fc01d9125d3b 178
DavidEGrayson 24:fc01d9125d3b 179 GeneralDebouncer lineStatus(10000);
DavidEGrayson 24:fc01d9125d3b 180 while(1)
DavidEGrayson 24:fc01d9125d3b 181 {
DavidEGrayson 24:fc01d9125d3b 182 lineTracker.read();
DavidEGrayson 24:fc01d9125d3b 183 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 184 updateReckonerFromEncoders();
DavidEGrayson 24:fc01d9125d3b 185 updateMotorsToDriveStraight();
DavidEGrayson 24:fc01d9125d3b 186 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 24:fc01d9125d3b 187
DavidEGrayson 26:7e7c376a7446 188 if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 100000)
DavidEGrayson 24:fc01d9125d3b 189 {
DavidEGrayson 26:7e7c376a7446 190 break;
DavidEGrayson 24:fc01d9125d3b 191 }
DavidEGrayson 24:fc01d9125d3b 192 }
DavidEGrayson 24:fc01d9125d3b 193 }
DavidEGrayson 20:dbec34f0e76b 194
DavidEGrayson 25:73c2eedb3b91 195 // THIS IS DEPRECATED. Instead we are using loadCalibrationAndFindLine.
DavidEGrayson 21:c279c6a83671 196 void findLineAndCalibrate()
DavidEGrayson 20:dbec34f0e76b 197 {
DavidEGrayson 21:c279c6a83671 198 Timer timer;
DavidEGrayson 21:c279c6a83671 199 timer.start();
DavidEGrayson 21:c279c6a83671 200
DavidEGrayson 21:c279c6a83671 201 Timer goodCalibrationTimer;
DavidEGrayson 21:c279c6a83671 202 bool goodCalibration = false;
DavidEGrayson 21:c279c6a83671 203
DavidEGrayson 21:c279c6a83671 204 while(1)
DavidEGrayson 21:c279c6a83671 205 {
DavidEGrayson 21:c279c6a83671 206 lineTracker.read();
DavidEGrayson 21:c279c6a83671 207 lineTracker.updateCalibration();
DavidEGrayson 24:fc01d9125d3b 208 updateReckonerFromEncoders();
DavidEGrayson 24:fc01d9125d3b 209 updateMotorsToDriveStraight();
DavidEGrayson 21:c279c6a83671 210
DavidEGrayson 21:c279c6a83671 211 if (goodCalibration)
DavidEGrayson 21:c279c6a83671 212 {
DavidEGrayson 22:44c032e59ff5 213 if(goodCalibrationTimer.read_ms() >= 300)
DavidEGrayson 21:c279c6a83671 214 {
DavidEGrayson 21:c279c6a83671 215 // The calibration was good and we traveled for a bit of time after that,
DavidEGrayson 21:c279c6a83671 216 // so we must be a bit over the line.
DavidEGrayson 21:c279c6a83671 217 break;
DavidEGrayson 21:c279c6a83671 218 }
DavidEGrayson 21:c279c6a83671 219 }
DavidEGrayson 21:c279c6a83671 220 else
DavidEGrayson 21:c279c6a83671 221 {
DavidEGrayson 21:c279c6a83671 222 if(calibrationLooksGood())
DavidEGrayson 21:c279c6a83671 223 {
DavidEGrayson 21:c279c6a83671 224 goodCalibration = true;
DavidEGrayson 21:c279c6a83671 225 goodCalibrationTimer.start();
DavidEGrayson 21:c279c6a83671 226 }
DavidEGrayson 21:c279c6a83671 227 }
DavidEGrayson 21:c279c6a83671 228 }
DavidEGrayson 21:c279c6a83671 229 }
DavidEGrayson 21:c279c6a83671 230
DavidEGrayson 21:c279c6a83671 231 void turnRightToFindLine()
DavidEGrayson 21:c279c6a83671 232 {
DavidEGrayson 21:c279c6a83671 233 while(1)
DavidEGrayson 21:c279c6a83671 234 {
DavidEGrayson 21:c279c6a83671 235 lineTracker.read();
DavidEGrayson 21:c279c6a83671 236 lineTracker.updateCalibration();
DavidEGrayson 21:c279c6a83671 237 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 238
DavidEGrayson 21:c279c6a83671 239 if(lineTracker.getLineVisible())
DavidEGrayson 21:c279c6a83671 240 {
DavidEGrayson 21:c279c6a83671 241 break;
DavidEGrayson 21:c279c6a83671 242 }
DavidEGrayson 21:c279c6a83671 243
DavidEGrayson 21:c279c6a83671 244 motorsSpeedSet(300, 100);
DavidEGrayson 21:c279c6a83671 245 }
DavidEGrayson 21:c279c6a83671 246 }
DavidEGrayson 21:c279c6a83671 247
DavidEGrayson 21:c279c6a83671 248 void followLineToEnd()
DavidEGrayson 21:c279c6a83671 249 {
DavidEGrayson 26:7e7c376a7446 250 Timer timer;
DavidEGrayson 26:7e7c376a7446 251 timer.start();
DavidEGrayson 26:7e7c376a7446 252
DavidEGrayson 21:c279c6a83671 253 GeneralDebouncer lineStatus(10000);
DavidEGrayson 21:c279c6a83671 254 const uint32_t lineDebounceTime = 100000;
DavidEGrayson 21:c279c6a83671 255 const int followLineStrength = 300;
DavidEGrayson 21:c279c6a83671 256
DavidEGrayson 21:c279c6a83671 257 while(1)
DavidEGrayson 21:c279c6a83671 258 {
DavidEGrayson 21:c279c6a83671 259 lineTracker.read();
DavidEGrayson 21:c279c6a83671 260 updateReckonerFromEncoders();
DavidEGrayson 21:c279c6a83671 261
DavidEGrayson 21:c279c6a83671 262 lineStatus.update(lineTracker.getLineVisible());
DavidEGrayson 21:c279c6a83671 263
DavidEGrayson 21:c279c6a83671 264 bool lostLine = lineStatus.getState() == false &&
DavidEGrayson 26:7e7c376a7446 265 lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
DavidEGrayson 26:7e7c376a7446 266 if(lostLine && timer.read_us() >= 300000)
DavidEGrayson 21:c279c6a83671 267 {
DavidEGrayson 21:c279c6a83671 268 break;
DavidEGrayson 21:c279c6a83671 269 }
DavidEGrayson 21:c279c6a83671 270
DavidEGrayson 21:c279c6a83671 271 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 272 int16_t speedRight = drivingSpeed;
DavidEGrayson 21:c279c6a83671 273 int16_t reduction = (lineTracker.getLinePosition() - 1500) * followLineStrength / 1500;
DavidEGrayson 21:c279c6a83671 274 if(reduction < 0)
DavidEGrayson 21:c279c6a83671 275 {
DavidEGrayson 21:c279c6a83671 276 reduceSpeed(speedLeft, -reduction);
DavidEGrayson 21:c279c6a83671 277 }
DavidEGrayson 21:c279c6a83671 278 else
DavidEGrayson 21:c279c6a83671 279 {
DavidEGrayson 21:c279c6a83671 280 reduceSpeed(speedRight, reduction);
DavidEGrayson 21:c279c6a83671 281 }
DavidEGrayson 21:c279c6a83671 282
DavidEGrayson 21:c279c6a83671 283
DavidEGrayson 21:c279c6a83671 284 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 21:c279c6a83671 285 }
DavidEGrayson 20:dbec34f0e76b 286 }
DavidEGrayson 20:dbec34f0e76b 287
DavidEGrayson 20:dbec34f0e76b 288 void driveHomeAlmost()
DavidEGrayson 18:b65fbb795396 289 {
DavidEGrayson 18:b65fbb795396 290 Timer timer;
DavidEGrayson 18:b65fbb795396 291 timer.start();
DavidEGrayson 19:a11ffc903774 292
DavidEGrayson 19:a11ffc903774 293 while(1)
DavidEGrayson 18:b65fbb795396 294 {
DavidEGrayson 18:b65fbb795396 295 updateReckonerFromEncoders();
DavidEGrayson 19:a11ffc903774 296
DavidEGrayson 19:a11ffc903774 297 float magn = magnitude();
DavidEGrayson 19:a11ffc903774 298
DavidEGrayson 19:a11ffc903774 299 if (magn < (1<<17))
DavidEGrayson 18:b65fbb795396 300 {
DavidEGrayson 19:a11ffc903774 301 // We are within 8 encoder ticks, so go to the next step.
DavidEGrayson 19:a11ffc903774 302 break;
DavidEGrayson 19:a11ffc903774 303 }
DavidEGrayson 19:a11ffc903774 304
DavidEGrayson 19:a11ffc903774 305 float det = determinant();
DavidEGrayson 19:a11ffc903774 306
DavidEGrayson 21:c279c6a83671 307 int16_t speedLeft = drivingSpeed;
DavidEGrayson 21:c279c6a83671 308 int16_t speedRight = drivingSpeed;
DavidEGrayson 19:a11ffc903774 309 if (magn < (1<<20)) // Within 64 encoder ticks of the origin, so slow down.
DavidEGrayson 18:b65fbb795396 310 {
DavidEGrayson 21:c279c6a83671 311 int16_t reduction = (1 - magn/(1<<20)) * drivingSpeed;
DavidEGrayson 19:a11ffc903774 312 speedLeft = reduceSpeed(speedLeft, reduction);
DavidEGrayson 19:a11ffc903774 313 speedRight = reduceSpeed(speedRight, reduction);
DavidEGrayson 19:a11ffc903774 314 }
DavidEGrayson 19:a11ffc903774 315
DavidEGrayson 19:a11ffc903774 316 if (det > 0)
DavidEGrayson 19:a11ffc903774 317 {
DavidEGrayson 19:a11ffc903774 318 speedLeft = reduceSpeed(speedLeft, det * 1000);
DavidEGrayson 18:b65fbb795396 319 }
DavidEGrayson 18:b65fbb795396 320 else
DavidEGrayson 18:b65fbb795396 321 {
DavidEGrayson 19:a11ffc903774 322 speedRight = reduceSpeed(speedRight, -det * 1000);
DavidEGrayson 18:b65fbb795396 323 }
DavidEGrayson 19:a11ffc903774 324 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 18:b65fbb795396 325 }
DavidEGrayson 18:b65fbb795396 326
DavidEGrayson 20:dbec34f0e76b 327 motorsSpeedSet(0, 0);
DavidEGrayson 20:dbec34f0e76b 328 }
DavidEGrayson 20:dbec34f0e76b 329
DavidEGrayson 20:dbec34f0e76b 330 void finalSettleIn()
DavidEGrayson 20:dbec34f0e76b 331 {
DavidEGrayson 20:dbec34f0e76b 332 const int16_t settleSpeed = 200;
DavidEGrayson 20:dbec34f0e76b 333 const int16_t settleModificationStrength = 100;
DavidEGrayson 20:dbec34f0e76b 334
DavidEGrayson 20:dbec34f0e76b 335 Timer timer;
DavidEGrayson 20:dbec34f0e76b 336 timer.start();
DavidEGrayson 20:dbec34f0e76b 337
DavidEGrayson 20:dbec34f0e76b 338 // State 0: rotating
DavidEGrayson 20:dbec34f0e76b 339 // State 1: Trying to get into final orientation: want [cos, sin] == [1<<30, 0].
DavidEGrayson 20:dbec34f0e76b 340 uint8_t state = 0;
DavidEGrayson 20:dbec34f0e76b 341
DavidEGrayson 21:c279c6a83671 342 Pacer reportPacer(200000);
DavidEGrayson 21:c279c6a83671 343
DavidEGrayson 19:a11ffc903774 344 while(1)
DavidEGrayson 19:a11ffc903774 345 {
DavidEGrayson 20:dbec34f0e76b 346 updateReckonerFromEncoders();
DavidEGrayson 20:dbec34f0e76b 347
DavidEGrayson 20:dbec34f0e76b 348 float dot = dotProduct();
DavidEGrayson 20:dbec34f0e76b 349 int16_t speedModification = -dot * settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 350 if (speedModification > settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 351 {
DavidEGrayson 20:dbec34f0e76b 352 speedModification = settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 353 }
DavidEGrayson 20:dbec34f0e76b 354 else if (speedModification < -settleModificationStrength)
DavidEGrayson 20:dbec34f0e76b 355 {
DavidEGrayson 20:dbec34f0e76b 356 speedModification = -settleModificationStrength;
DavidEGrayson 20:dbec34f0e76b 357 }
DavidEGrayson 20:dbec34f0e76b 358
DavidEGrayson 21:c279c6a83671 359 if (state == 0 && timer.read_ms() >= 2000 && reckoner.cos > (1 << 29))
DavidEGrayson 19:a11ffc903774 360 {
DavidEGrayson 21:c279c6a83671 361 // Stop turning and start trying to maintain the right position.
DavidEGrayson 20:dbec34f0e76b 362 state = 1;
DavidEGrayson 20:dbec34f0e76b 363 }
DavidEGrayson 20:dbec34f0e76b 364
DavidEGrayson 21:c279c6a83671 365 if (state == 1 && timer.read_ms() >= 5000)
DavidEGrayson 21:c279c6a83671 366 {
DavidEGrayson 21:c279c6a83671 367 // Stop moving.
DavidEGrayson 21:c279c6a83671 368 break;
DavidEGrayson 21:c279c6a83671 369 }
DavidEGrayson 21:c279c6a83671 370
DavidEGrayson 20:dbec34f0e76b 371 int16_t rotationSpeed;
DavidEGrayson 20:dbec34f0e76b 372 if (state == 1)
DavidEGrayson 20:dbec34f0e76b 373 {
DavidEGrayson 20:dbec34f0e76b 374 float s = (float)reckoner.sin / (1 << 30);
DavidEGrayson 21:c279c6a83671 375 rotationSpeed = -s * 600;
DavidEGrayson 20:dbec34f0e76b 376 }
DavidEGrayson 20:dbec34f0e76b 377 else
DavidEGrayson 20:dbec34f0e76b 378 {
DavidEGrayson 20:dbec34f0e76b 379 rotationSpeed = settleSpeed;
DavidEGrayson 20:dbec34f0e76b 380 }
DavidEGrayson 20:dbec34f0e76b 381
DavidEGrayson 20:dbec34f0e76b 382 int16_t speedLeft = -rotationSpeed + speedModification;
DavidEGrayson 20:dbec34f0e76b 383 int16_t speedRight = rotationSpeed + speedModification;
DavidEGrayson 20:dbec34f0e76b 384 motorsSpeedSet(speedLeft, speedRight);
DavidEGrayson 21:c279c6a83671 385
DavidEGrayson 21:c279c6a83671 386 if (state == 1 && reportPacer.pace())
DavidEGrayson 21:c279c6a83671 387 {
DavidEGrayson 21:c279c6a83671 388 pc.printf("%11d %11d %11d %11d | %11f %11f\r\n",
DavidEGrayson 21:c279c6a83671 389 reckoner.cos, reckoner.sin, reckoner.x, reckoner.y,
DavidEGrayson 21:c279c6a83671 390 determinant(), dotProduct());
DavidEGrayson 21:c279c6a83671 391 }
DavidEGrayson 19:a11ffc903774 392 }
DavidEGrayson 20:dbec34f0e76b 393
DavidEGrayson 21:c279c6a83671 394 // Done! Stop moving.
DavidEGrayson 20:dbec34f0e76b 395 motorsSpeedSet(0, 0);
DavidEGrayson 18:b65fbb795396 396 }