Revision 46:df2c2d25c070, committed 2019-07-28

Comitter:

DavidEGrayson

Date:

Sun Jul 28 22:20:12 2019 +0000

Parent:

45:81dd782bc0b4

Child:

47:9773dc14c834

Commit message:

Some minor changes. The overall dead reckoning is working now, but I don't think I did much to fix it.

Changed in this revision

--- a/line_tracker.cpp	Sun Jul 28 01:52:34 2019 +0000
+++ b/line_tracker.cpp	Sun Jul 28 22:20:12 2019 +0000
@@ -24,20 +24,20 @@
 
 void LineTracker::updateCalibratedValues()
 {
-    for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
+    for (uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
     {
         uint16_t calmin = calibratedMinimum[s];
         uint16_t calmax = calibratedMaximum[s];
         uint16_t denominator = calmax - calmin;
         int32_t x = 0;
-        if(denominator != 0)
+        if (denominator != 0)
         {
             x = ((int32_t)rawValues[s] - calmin) * 1000 / denominator;
-            if(x < 0)
+            if (x < 0)
             {
                 x = 0;
             }
-            else if(x > 1000)
+            else if (x > 1000)
             {
                 x = 1000;
             }
@@ -52,7 +52,7 @@
     uint32_t sum = 0;
     
     lineVisible = false;
-    for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
+    for (uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
     {
         // keep track of whether we see the line at all
         uint16_t value = calibratedValues[s];
@@ -71,15 +71,15 @@
     
     if (lineVisible)
     {
-        linePosition = avg/sum;   
+        linePosition = avg / sum;   
     }
     else
     {
         // We cannot see the line, so just snap the position to the left-most or right-most
         // depending on what we saw previousl.
         
-        const uint32_t max = (LINE_SENSOR_COUNT-1)*1000;
-        if(linePosition < max/2)
+        const uint32_t max = (LINE_SENSOR_COUNT - 1) * 1000;
+        if(linePosition < max / 2)
         {
             linePosition = 0;
         }

--- a/line_tracker.h	Sun Jul 28 01:52:34 2019 +0000
+++ b/line_tracker.h	Sun Jul 28 22:20:12 2019 +0000
@@ -14,9 +14,9 @@
     uint16_t getLinePosition();
     
     uint16_t rawValues[LINE_SENSOR_COUNT];
-    uint16_t calibratedValues[LINE_SENSOR_COUNT];
+    uint16_t calibratedMinimum[LINE_SENSOR_COUNT];
     uint16_t calibratedMaximum[LINE_SENSOR_COUNT];
-    uint16_t calibratedMinimum[LINE_SENSOR_COUNT];
+    uint16_t calibratedValues[LINE_SENSOR_COUNT];
     
     private:
     void readRawValues();

--- a/main.cpp	Sun Jul 28 01:52:34 2019 +0000
+++ b/main.cpp	Sun Jul 28 22:20:12 2019 +0000
@@ -61,31 +61,29 @@
     //testL3gAndShowAverage();
     //testTurnSensor();
     //testReckoner();
+    //testCloseness();  // didn't do it in 2019
     //testDriveHome();
     //testFinalSettleIn();  // doesn't really work
     //testLineSensorsAndCalibrate();
-    testLineFollowing();
-    //testTurnInPlace();
-    //testCloseness();
-    //testLogger();
-
-    loadLineCalibration();
-    doGyroCalibration();
+    //testLineFollowing();
+    //testTurnInPlace();  // didn't do it in 2019
+    //testLogger();       // didn't do it in 2019
 
     doDeadReckoning();
 }
 
 void doDeadReckoning()
 {
+    loadLineCalibration();
+    doGyroCalibration();
+    turnSensor.start();
+
     setLeds(1, 0, 0, 0);
     waitForSignalToStart();
     
     setLeds(0, 1, 0, 0);    
     findLine();
 
-    //setLeds(1, 1, 0, 0);
-    //turnRightToFindLine();
-    
     setLeds(0, 0, 1, 0);
     followLineToEnd();
     
@@ -225,6 +223,7 @@
         updateReckoner();
     }
     reckoner.reset();
+    turnSensor.reset();
     while(button1DefinitelyPressed())
     {
         updateReckoner();
@@ -289,24 +288,6 @@
     }
 }
 
-/**
-void turnRightToFindLine()
-{   
-    while(1)
-    {
-        lineTracker.read();
-        lineTracker.updateCalibration();
-        updateReckonerFromEncoders();
-        
-        if(lineTracker.getLineVisible())
-        {
-            break;   
-        }
-        
-        motorsSpeedSet(300, 100);        
-    }
-}**/
-
 void followLineToEnd()
 {
     Timer timer;

--- a/main.h	Sun Jul 28 01:52:34 2019 +0000
+++ b/main.h	Sun Jul 28 22:20:12 2019 +0000
@@ -10,7 +10,6 @@
 
 void waitForSignalToStart();
 void findLineAndCalibrate(); void findLine();  // two alternatives
-void turnRightToFindLine();
 void followLineToEnd();
 void driveHomeAlmost();
 void finalSettleIn();

--- a/test.cpp	Sun Jul 28 01:52:34 2019 +0000
+++ b/test.cpp	Sun Jul 28 22:20:12 2019 +0000
@@ -108,19 +108,18 @@
 // This also tests the LineTracker by printing out a lot of data from it.
 void testLineFollowing()
 {
+    loadLineCalibration();
     doGyroCalibration();
     turnSensor.start();
 
-    led1 = 1;   
-    while(!button1DefinitelyPressed())
+    led1 = 1;
+    while (!button1DefinitelyPressed())
     {
         updateReckoner();
     }
-    led2 = 1;
     
     Pacer reportPacer(200000);
     
-    loadLineCalibration();
     uint16_t loopCount = 0;
     while(1)
     {
@@ -131,6 +130,10 @@
         
         loopCount += 1;
         
+        led2 = lineTracker.calibratedValues[0] > 500;
+        led3 = lineTracker.calibratedValues[1] > 500;
+        led4 = lineTracker.calibratedValues[2] > 500;
+
         if (lineVisiblePrevious != lineTracker.getLineVisible())
         {
             pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\r\n",
@@ -327,30 +330,36 @@
 
 void testLineSensorsAndCalibrate()
 {
-    led1 = 1;
     Pacer reportPacer(100000);
     
     const uint16_t * values = lineTracker.rawValues;
     const uint16_t * min = lineTracker.calibratedMinimum;
     const uint16_t * max = lineTracker.calibratedMaximum;
+    const uint16_t * calValues = lineTracker.calibratedValues;
+
+    // Comment this out, and hold down button 1 while exposing the line sensor
+    // to its typical surfaces to do calibration.
+    loadLineCalibration();
 
     const bool printBarGraph = true;
     while (1)
     {        
         lineTracker.read();
         
-        // Hold down button 1 and expose the line sensor to its typical
-        // values to do calibration.
         if (button1DefinitelyPressed())
         {
-            led2 = 1;
+            led1 = 0;
             lineTracker.updateCalibration();
         }
         else
         {
-            led2 = 0;
+            led1 = 1;
         }
         
+        led2 = calValues[0] > 500;
+        led3 = calValues[1] > 500;
+        led4 = calValues[2] > 500;
+        
         if (reportPacer.pace())
         {
             if (printBarGraph)