Revision 28:4374035df5e0, committed 2014-03-01

Comitter:

DavidEGrayson

Date:

Sat Mar 01 03:13:57 2014 +0000

Parent:

27:2456f68be679

Child:

29:cfcf08d8ac79

Commit message:

Discovered that 4 out of the 6 analog inputs on the mbed are severely messed up. Might need to get a new mbed or do digital filtering (a median of three readings out to work).

Changed in this revision

--- a/line_sensors.cpp	Sat Mar 01 01:46:35 2014 +0000
+++ b/line_sensors.cpp	Sat Mar 01 03:13:57 2014 +0000
@@ -3,5 +3,5 @@
 AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT] = {
     AnalogIn(p20), // brown wire, left-most sensor
     AnalogIn(p19), // orange wire, middle sensor
-    AnalogIn(p18), // blue wire, right-most sensor
+    AnalogIn(p17), // blue wire, right-most sensor
 };
\ No newline at end of file

--- a/main.cpp	Sat Mar 01 01:46:35 2014 +0000
+++ b/main.cpp	Sat Mar 01 03:13:57 2014 +0000
@@ -44,13 +44,17 @@
     //testDriveHome();
     //testFinalSettleIn();
     //testCalibrate();
+    //testLineFollowing();
+    testAnalog();
 
     // Real routines for the contest.
+    loadCalibration();
+    
     setLeds(1, 0, 0, 0);
     waitForSignalToStart();
     setLeds(0, 1, 0, 0);
     
-    loadCalibrationAndFindLine();
+    findLine();
     //findLineAndCalibrate();
     
     //setLeds(1, 1, 0, 0);
@@ -65,6 +69,16 @@
     while(1){}
 }
 
+void loadCalibration()
+{
+    lineTracker.calibratedMinimum[0] = 34872;
+    lineTracker.calibratedMinimum[1] = 29335;
+    lineTracker.calibratedMinimum[2] = 23845;
+    lineTracker.calibratedMaximum[0] = 59726;
+    lineTracker.calibratedMaximum[1] = 60110;
+    lineTracker.calibratedMaximum[2] = 58446;   
+}
+
 void updateReckonerFromEncoders()
 {
     while(encoderBuffer.hasEvents())
@@ -167,15 +181,27 @@
     motorsSpeedSet(speedLeft, speedRight);   
 }
 
-void loadCalibrationAndFindLine()
+void updateMotorsToFollowLine()
 {
-    lineTracker.calibratedMinimum[0] = 34872;
-    lineTracker.calibratedMinimum[1] = 29335;
-    lineTracker.calibratedMinimum[2] = 23845;
-    lineTracker.calibratedMaximum[0] = 59726;
-    lineTracker.calibratedMaximum[1] = 60110;
-    lineTracker.calibratedMaximum[2] = 58446;
+    const int followLineStrength = 300;
+
+    int16_t speedLeft = drivingSpeed;
+    int16_t speedRight = drivingSpeed;
+    int16_t reduction = (lineTracker.getLinePosition() - 1000) * followLineStrength / 1000;
+    if(reduction < 0)
+    {
+        speedLeft = reduceSpeed(speedLeft, -reduction);   
+    }
+    else
+    {
+        speedRight = reduceSpeed(speedRight, reduction);
+    }
     
+    motorsSpeedSet(speedLeft, speedRight);      
+}
+
+void findLine()
+{   
     GeneralDebouncer lineStatus(10000);
     while(1)
     {
@@ -252,7 +278,6 @@
     
     GeneralDebouncer lineStatus(10000);
     const uint32_t lineDebounceTime = 100000;
-    const int followLineStrength = 300;
     
     while(1)
     {
@@ -263,25 +288,12 @@
         
         bool lostLine = lineStatus.getState() == false &&
           lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;        
-        if(lostLine && timer.read_us() >= 300000)
+        if(lostLine && timer.read_us() >= 2000000)
         {
             break;   
         }
         
-        int16_t speedLeft = drivingSpeed;
-        int16_t speedRight = drivingSpeed;
-        int16_t reduction = (lineTracker.getLinePosition() - 1500) * followLineStrength / 1500;
-        if(reduction < 0)
-        {
-            speedLeft = reduceSpeed(speedLeft, -reduction);   
-        }
-        else
-        {
-            speedRight = reduceSpeed(speedRight, reduction);
-        }
-        
-        
-        motorsSpeedSet(speedLeft, speedRight);        
+        updateMotorsToFollowLine();     
     }
 }
 

--- a/main.h	Sat Mar 01 01:46:35 2014 +0000
+++ b/main.h	Sat Mar 01 03:13:57 2014 +0000
@@ -3,13 +3,16 @@
 #include "reckoner.h"
 #include "line_tracker.h"
 
+void loadCalibration();
+
 void waitForSignalToStart();
-void findLineAndCalibrate(); void loadCalibrationAndFindLine();  // two alternatives
+void findLineAndCalibrate(); void findLine();  // two alternatives
 void turnRightToFindLine();
 void followLineToEnd();
 void driveHomeAlmost();
 void finalSettleIn();
 
+void updateMotorsToFollowLine();
 void updateReckonerFromEncoders();
 float determinant();
 float dotProduct();

--- a/test.cpp	Sat Mar 01 01:46:35 2014 +0000
+++ b/test.cpp	Sat Mar 01 03:13:57 2014 +0000
@@ -16,6 +16,74 @@
 void __attribute__((noreturn)) infiniteReckonerReportLoop();
 void printBar(const char * name, uint16_t adcResult);
 
+void testAnalog()
+{
+    AnalogIn testInput(p18);
+    
+    uint32_t badCount = 0, goodCount = 0;
+    
+    Pacer reportPacer(1000000);
+    while(1)
+    {
+        uint16_t reading = testInput.read_u16();
+        if(reading > 100)
+        {
+            badCount += 1;
+            pc.printf("%5d %11d %11d\r\n", reading, badCount, goodCount);   
+        }
+        else
+        {
+            goodCount += 1;   
+        }
+        
+        if (reportPacer.pace())
+        {
+            pc.printf("Hello\r\n");   
+        }
+    }
+}
+
+// This also tests the LineTracker by printing out a lot of data from it.
+void testLineFollowing()
+{
+    led1 = 1;   
+    while(!button1DefinitelyPressed())
+    {
+        updateReckonerFromEncoders();
+    }
+    led2 = 1;
+    
+    Pacer reportPacer(200000);
+    
+    loadCalibration();
+    uint16_t loopCount = 0;
+    while(1)
+    {
+        updateReckonerFromEncoders();
+        bool lineVisiblePrevious = lineTracker.getLineVisible();
+        lineTracker.read();
+        updateMotorsToFollowLine();
+        
+        loopCount += 1;
+        
+        if (lineVisiblePrevious != lineTracker.getLineVisible())
+        {
+            pc.printf("%5d ! %1d %4d | %4d %4d %4d | %5d %5d %5d\r\n",
+                loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(),
+                lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2],
+                lineTracker.rawValues[0], lineTracker.rawValues[1], lineTracker.rawValues[2]
+                );
+        }
+        
+        if (reportPacer.pace())
+        {
+            pc.printf("%5d   %1d %4d | %4d %4d %4d\r\n", loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(),
+                lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2]
+                );
+        }
+    }
+}
+
 void testDriveHome()
 {
     led1 = 1;   

--- a/test.h	Sat Mar 01 01:46:35 2014 +0000
+++ b/test.h	Sat Mar 01 03:13:57 2014 +0000
@@ -7,4 +7,6 @@
 void __attribute__((noreturn)) testButtons();
 void __attribute__((noreturn)) testDriveHome();
 void __attribute__((noreturn)) testFinalSettleIn();
-void __attribute__((noreturn)) testCalibrate();
\ No newline at end of file
+void __attribute__((noreturn)) testCalibrate();
+void __attribute__((noreturn)) testLineFollowing();
+void __attribute__((noreturn)) testAnalog();
\ No newline at end of file