Revision 32:83a13b06093c, committed 2014-03-04

Comitter:

DavidEGrayson

Date:

Tue Mar 04 04:32:51 2014 +0000

Parent:

31:739b91331f31

Child:

33:58a0ab6e9ad2

Commit message:

getting line sensors to work again;

Changed in this revision

--- a/line_sensors.cpp	Tue Mar 04 03:04:00 2014 +0000
+++ b/line_sensors.cpp	Tue Mar 04 04:32:51 2014 +0000
@@ -10,9 +10,9 @@
 **/
 
 DigitalInOut lineSensorsDigital[LINE_SENSOR_COUNT] = {
-    DigitalInOut(p18), // brown wire, left-most sensor
+    DigitalInOut(p18), // white wire, left-most sensor
     DigitalInOut(p19), // orange wire, middle sensor
-    DigitalInOut(p20), // blue wire, right-most sensor
+    DigitalInOut(p20), // brown wire, right-most sensor
 };
 
 void readSensors(uint16_t * values)

--- a/main.cpp	Tue Mar 04 03:04:00 2014 +0000
+++ b/main.cpp	Tue Mar 04 04:32:51 2014 +0000
@@ -38,13 +38,13 @@
     // Test routines
     //testMotors();
     //testEncoders();
-    testLineSensors();
+    //testLineSensors();
     //testReckoner();
     //testButtons();
     //testDriveHome();
     //testFinalSettleIn();
     //testCalibrate();
-    //testLineFollowing();
+    testLineFollowing();
     //testAnalog();
     //testSensorGlitches();
 
@@ -56,7 +56,6 @@
     setLeds(0, 1, 0, 0);
     
     findLine();
-    //findLineAndCalibrate();
     
     //setLeds(1, 1, 0, 0);
     //turnRightToFindLine();
@@ -72,12 +71,22 @@
 
 void loadCalibration()
 {
+    /** QTR-3RC **/
+    lineTracker.calibratedMinimum[0] =  100;
+    lineTracker.calibratedMinimum[1] =   94;
+    lineTracker.calibratedMinimum[2] =  103;
+    lineTracker.calibratedMaximum[0] =  792;
+    lineTracker.calibratedMaximum[1] =  807;
+    lineTracker.calibratedMaximum[2] = 1000;    
+    
+    /** QTR-3A
     lineTracker.calibratedMinimum[0] = 34872;
     lineTracker.calibratedMinimum[1] = 29335;
     lineTracker.calibratedMinimum[2] = 23845;
     lineTracker.calibratedMaximum[0] = 59726;
     lineTracker.calibratedMaximum[1] = 60110;
-    lineTracker.calibratedMaximum[2] = 58446;   
+    lineTracker.calibratedMaximum[2] = 58446;
+    **/
 }
 
 void updateReckonerFromEncoders()
@@ -139,21 +148,6 @@
     }
 }
 
-// Returns true if each line sensor has one third of a volt of difference between the
-// maximum seen value and the minimum.
-bool calibrationLooksGood()
-{
-    for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
-    {
-        uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s];
-        if (contrast < 9929)  // 0xFFFF*0.5/3.3 = 9929
-        {
-            return false;
-        }
-    }
-    return true;
-}
-
 void waitForSignalToStart()
 {
     while(!button1DefinitelyPressed())
@@ -219,42 +213,6 @@
     }
 }
 
-// THIS IS DEPRECATED.  Instead we are using loadCalibrationAndFindLine.
-void findLineAndCalibrate()
-{
-    Timer timer;
-    timer.start();
-    
-    Timer goodCalibrationTimer;
-    bool goodCalibration = false;
-    
-    while(1)
-    {
-        lineTracker.read();
-        lineTracker.updateCalibration();       
-        updateReckonerFromEncoders();        
-        updateMotorsToDriveStraight();
-        
-        if (goodCalibration)
-        {
-            if(goodCalibrationTimer.read_ms() >= 300)
-            {
-                // The calibration was good and we traveled for a bit of time after that,
-                // so we must be a bit over the line.
-                break;
-            }
-        }
-        else
-        {
-            if(calibrationLooksGood())
-            {
-                goodCalibration = true;
-                goodCalibrationTimer.start();
-            }
-        }
-    }
-}
-
 void turnRightToFindLine()
 {   
     while(1)

--- a/main.h	Tue Mar 04 03:04:00 2014 +0000
+++ b/main.h	Tue Mar 04 04:32:51 2014 +0000
@@ -16,7 +16,6 @@
 void updateReckonerFromEncoders();
 float determinant();
 float dotProduct();
-bool calibrationLooksGood();
 
 extern Reckoner reckoner;
 extern LineTracker lineTracker;

--- a/motors.cpp	Tue Mar 04 03:04:00 2014 +0000
+++ b/motors.cpp	Tue Mar 04 04:32:51 2014 +0000
@@ -15,6 +15,9 @@
 DigitalOut motorLeftDir(p25);
 DigitalOut motorRightDir(p23);
 
+int16_t motorLeftSpeed = 0;;
+int16_t motorRightSpeed = 0;
+
 void motorsInit()
 {
     //PwmOut(p26).period_us(100);
@@ -45,8 +48,11 @@
     LPC_PWM1->TCR = (1 << 0) | (1 << 3);   // Enable the PWM counter and enable PWM.
 }
 
-void motorsSpeedSet(int16_t motorLeftSpeed, int16_t motorRightSpeed)
+void motorsSpeedSet(int16_t newMotorLeftSpeed, int16_t newMotorRightSpeed)
 {
+    motorLeftSpeed = newMotorLeftSpeed;
+    motorRightSpeed = newMotorRightSpeed;
+    
     if (motorLeftSpeed < 0)
     {
         motorLeftSpeed = -motorLeftSpeed;

--- a/motors.h	Tue Mar 04 03:04:00 2014 +0000
+++ b/motors.h	Tue Mar 04 04:32:51 2014 +0000
@@ -2,3 +2,5 @@
 
 void motorsInit();
 void motorsSpeedSet(int16_t motorLeftSpeed, int16_t motorRightSpeed);
+
+extern int16_t motorLeftSpeed, motorRightSpeed;
\ No newline at end of file

--- a/test.cpp	Tue Mar 04 03:04:00 2014 +0000
+++ b/test.cpp	Tue Mar 04 04:32:51 2014 +0000
@@ -183,16 +183,18 @@
         
         if (lineVisiblePrevious != lineTracker.getLineVisible())
         {
-            pc.printf("%5d ! %1d %4d | %4d %4d %4d | %5d %5d %5d\r\n",
+            pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\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]
+                motorLeftSpeed, motorRightSpeed,
+                lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2]
                 );
         }
         
         if (reportPacer.pace())
         {
-            pc.printf("%5d   %1d %4d | %4d %4d %4d\r\n", loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(),
+            pc.printf("%5d   %1d %4d | %5d %5d | %4d %4d %4d\r\n",
+                loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(),
+                motorLeftSpeed, motorRightSpeed,
                 lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2]
                 );
         }
@@ -341,7 +343,6 @@
             lineTracker.updateCalibration();
         }
 
-        led2 = calibrationLooksGood();
         led3 = doneCalibrating;
         led4 = lineTracker.getLineVisible();
         
@@ -357,14 +358,6 @@
             {
                 pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]);
             }
-            if (calibrationLooksGood())
-            {
-                pc.puts("Good.        \r\n");
-            }
-            else
-            {
-                pc.puts("Not good yet.\r\n");   
-            }
         }
     }
 }