Revision af93a91c devices/DiWheelDrive/main.cpp
| devices/DiWheelDrive/main.cpp | ||
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#include <chprintf.h> |
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#include <shell.h> |
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#include "linefollow2.hpp" |
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using namespace chibios_rt; |
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Global global; |
| ... | ... | |
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chprintf(chp, "Usage: calbrate_line_sensors [1,n]\nThis will calibrate the thresholds for the left and right sensor\naccording to the maximum delta value recorded.\n"); |
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return; |
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} |
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for (uint8_t led = 0; led < 8; ++led) {
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global.robot.setLightColor(led, Color(Color::BLACK)); |
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} |
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for (int j = 0; j < rounds; j++) {
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for (int i = 0; i < 4; i++) {
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vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight(); |
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vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
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} |
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global.robot.setLightColor(j % 8, Color(Color::BLACK)); |
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global.robot.setLightColor(j+1 % 8, Color(Color::WHITE)); |
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int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] |
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- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
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// Update proximity thresh |
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if (delta > maxDelta) {
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for (uint8_t led = 0; led < 8; ++led) {
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global.robot.setLightColor(led, Color(Color::GREEN)); |
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} |
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maxDelta = delta; |
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proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]; |
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proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
| ... | ... | |
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void proxySensorData(BaseSequentialStream *chp, int argc, char *argv[]) {
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int vcnl4020AmbientLight[4];
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int vcnl4020Proximity[4];
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int rounds = 1;
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int proxyL = global.threshProxyL;
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int proxyR = global.threshProxyR;
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int maxDelta = 0;
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uint16_t vcnl4020AmbientLight[4];
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uint16_t vcnl4020Proximity[4];
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uint16_t rounds = 1;
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uint16_t proxyL = global.threshProxyL;
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uint16_t proxyR = global.threshProxyR;
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uint16_t maxDelta = 0;
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if (argc == 1){
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chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
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rounds = atoi(argv[0]); |
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} |
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for (int j = 0; j < rounds; j++) {
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for (int i = 0; i < 4; i++) {
|
| ... | ... | |
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vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
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} |
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int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
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uint16_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
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- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
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// // Update proximity thresh |
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// if (delta > maxDelta) {
|
| ... | ... | |
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// proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
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// } |
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if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
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delta *= -1; |
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} |
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// if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
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// delta *= -1;
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// }
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chprintf(chp,"WL: %x, FL: %x, FR: %x, WR: %x, ProxyL: %x, ProxyR: %x, Delta: %d\n",
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chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n",
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vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], |
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vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
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vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
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vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], |
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proxyL, |
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proxyR, |
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delta); |
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// sleep(CAN::UPDATE_PERIOD); |
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BaseThread::sleep(CAN::UPDATE_PERIOD); |
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} |
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chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR); |
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// chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
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return; |
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} |
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void zieglerMeth2(BaseSequentialStream *chp, int argc, char *argv[]) {
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int vcnl4020AmbientLight[4]; |
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int vcnl4020Proximity[4]; |
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int rpmSpeed[2] = {0};
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int steps = 0; |
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int proxyL = global.threshProxyL; |
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int proxyR = global.threshProxyR; |
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int maxDelta = 0; |
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float KCrit = 0.0f; |
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LineFollow lf(&global); |
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if (argc == 2){
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chprintf(chp, "KCrti %f\n", atof(argv[0])); |
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chprintf(chp, "Steps %i\n", atoi(argv[1])); |
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KCrit = atof(argv[0]); |
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steps = atoi(argv[1]); |
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} else{
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chprintf(chp, "Usage: dev_ziegler2 <K_crit> <steps>"); |
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return; |
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} |
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// global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
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for(int s=0; s < steps; s++){
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chprintf(chp,"S:%d,",s); |
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lf.calibrateZiegler(KCrit, rpmSpeed); |
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global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
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BaseThread::sleep(CAN::UPDATE_PERIOD); |
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} |
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global.motorcontrol.setTargetRPM(0,0); |
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} |
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static const ShellCommand commands[] = {
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{"shutdown", shellRequestShutdown},
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{"wakeup", shellRequestWakeup},
|
| ... | ... | |
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{"motor_getGains", shellRequestMotorGetGains},
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{"motor_resetGains", shellRequestMotorResetGains},
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{"dev_proxi_sensor_data", proxySensorData},
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{"calibrate_line", calibrateLineSensores},
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{"dev_ziegler2", zieglerMeth2},
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// TODO: Stop user process from execution to finish/force calibration before anything starts |
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{"calibrate_line", calibrateLineSensores},
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{NULL, NULL}
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}; |
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