Revision 1344
Final version of feedback controls project
| slave.c | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
#define GROUP 1 |
| 5 | 5 |
#define MOTOR 0 |
| 6 |
#define ENCODER 1 |
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| 6 |
#define ENCODER 132
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|
| 7 | 7 |
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| 8 |
#define LS 0 |
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| 9 |
#define LD 1 |
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| 10 |
#define RS 2 |
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| 11 |
#define RD 3 |
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| 8 |
void packet_receive (char type, int source, char* packet, int length); |
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| 9 |
void ctrl(void); |
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| 12 | 10 |
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#define H0 0 |
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#define L0 1 |
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#define H1 2 |
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#define L1 3 |
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void packet_receive (char type, int source, unsigned char* packet, int length); |
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| 19 |
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| 20 | 11 |
PacketGroupHandler packetHandler = {GROUP, NULL, NULL, &packet_receive, NULL};
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| 21 | 12 |
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| 22 | 13 |
char buf[32]; |
| 23 |
int count = 0; |
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| 24 |
int left_dir = FORWARD; |
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| 25 |
int right_dir = FORWARD; |
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| 26 |
int left_speed = 0; |
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int right_speed = 0; |
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| 14 |
long unsigned int count = 0; |
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| 15 |
volatile int left_dir = FORWARD; |
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volatile int right_dir = FORWARD; |
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| 28 | 17 |
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volatile int left_ref; |
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volatile int right_ref; |
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| 20 |
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volatile int left_old; |
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volatile int right_old; |
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volatile int left_i = 0; |
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| 25 |
volatile int right_i = 0; |
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| 26 |
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volatile int left_u; |
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volatile int right_u; |
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volatile int left_vel = 0; |
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| 31 |
volatile int right_vel = 0; |
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| 32 |
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#define PL 1 |
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| 34 |
#define DL 0.1 |
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#define IL 0.1 |
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| 36 |
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#define PR 1.5 |
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#define DR 0.2 |
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#define IR 0.1 |
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#define INTERVAL 50 |
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| 29 | 44 |
/* receive motor speed from master: |
| 30 | 45 |
* left_speed left_dir right_speed right_dir |
| 31 | 46 |
* then sent raw encoder values back to master: |
| 32 | 47 |
* high_left low_left high_right low_right |
| 33 | 48 |
*/ |
| 34 |
void packet_receive (char type, int source, unsigned char* packet, int length) {
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| 49 |
void packet_receive (char type, int source, char* packet, int length) {
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|
| 35 | 50 |
if (type != MOTOR) return; |
| 36 |
//orb_set_color(WHITE); |
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left_dir = packet[LD]; |
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left_speed = packet[LS]; |
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right_dir = packet[RD]; |
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right_speed = packet[RS]; |
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sprintf(buf, "Received: %d %d %d %d\n", packet[LS], packet[LD], packet[RS], packet[RD]); |
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| 51 |
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left_ref = packet[0]; |
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right_ref = packet[1]; |
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| 54 |
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sprintf(buf, "received: %d %d\n", left_ref, right_ref); |
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| 42 | 56 |
usb_puts(buf); |
| 43 |
//motor1_set(packet[LD],packet[LS]); |
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//motor2_set(packet[RD],packet[RS]); |
|
| 45 | 57 |
//orb_set_color(GREEN); |
| 46 | 58 |
} |
| 47 | 59 |
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void ctrl() {
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int left_err = left_ref - left_vel; |
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int right_err = right_ref - right_vel; |
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left_err = left_vel == 2048 ? left_old : left_err; |
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right_err = right_vel == 2048 ? right_old : right_err; |
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left_i += left_err; |
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left_u = (int)(PL*(float)left_err + DL*(float)(left_err - left_old) + IL*(float)left_i); |
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left_old = left_err; |
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right_i += right_err; |
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right_u = (int)(PR*(float)right_err + DR*(float)(right_err - right_old) + IR*(float)right_i); |
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right_old = right_err; |
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| 74 |
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if (left_u < 0) {
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left_dir = 0; |
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left_u = -left_u; |
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} |
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else |
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left_dir = 1; |
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if (right_u < 0) {
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right_u = -right_u; |
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right_dir = 0; |
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} |
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else |
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right_dir = 1; |
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| 88 |
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left_u += 160; |
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right_u += 160; |
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| 91 |
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left_u = left_u > 210 ? 210 : left_u; |
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right_u = right_u > 210 ? 210 : right_u; |
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} |
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|
| 48 | 96 |
int main (void) {
|
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char encoder[2]; |
|
| 49 | 98 |
dragonfly_init(ALL_ON); |
| 50 | 99 |
usb_init(); |
| 51 | 100 |
encoders_init(); |
| 52 | 101 |
//usb_puts("xbee id ");
|
| 53 | 102 |
//usb_putc(wl_get_xbee_id()); |
| 54 | 103 |
wl_init(); |
| 55 |
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| 104 |
left_ref = 20; |
|
| 105 |
right_ref = 20; |
|
| 56 | 106 |
wl_register_packet_group(&packetHandler); |
| 57 | 107 |
//orb_set_color(RED); |
| 58 | 108 |
//motor1_set(FORWARD,230); |
| 59 | 109 |
//motor2_set(FORWARD,230); |
| 60 |
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| 110 |
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|
| 61 | 111 |
while (1) {
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int encoder_left = encoder_get_v(LEFT); |
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int encoder_right = encoder_get_v(RIGHT); |
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unsigned char encoder[4]; |
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encoder[H0] = (encoder_left >> 8) & 0xFF; |
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encoder[L0] = (encoder_left) & 0xFF; |
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encoder[H1] = (encoder_right >> 8) & 0xFF; |
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encoder[L1] = (encoder_right) & 0xFF; |
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wl_send_global_packet(GROUP, ENCODER, encoder, 4, 0); |
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sprintf(buf, "Sent (%d): %d %d\n", count++, encoder_left, encoder_right); |
|
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usb_puts(buf); |
|
| 112 |
usb_puts("We Win\n");
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//left_vel = encoder_get_v(0); |
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//right_vel = encoder_get_v(1); |
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delay_ms(1000); |
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//if (!(count % INTERVAL)) {
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// wl_send_global_packet(GROUP, ENCODER, encoder, 2, 0); |
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encoder[0] = left_vel; |
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encoder[1] = right_vel; |
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| 120 |
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// usb_puti(left_vel); |
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// sprintf(buf, "sent (%d): %d %d %d %d\n", count, left_vel, right_vel, encoder[0], encoder[1]); |
|
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// usb_puts(buf); |
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// usb_puti(encoder[0]); |
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// } |
|
| 126 |
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| 72 | 127 |
|
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wl_do(); |
|
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motor1_set(left_dir, left_speed); |
|
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motor2_set(right_dir, right_speed); |
|
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delay_ms(100); |
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| 128 |
//ctrl(); |
|
| 129 |
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| 130 |
// if (!(count % INTERVAL)) |
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// wl_do(); |
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| 132 |
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| 133 |
// sprintf(buf, "motor (%d): %d %d %d %d\n", count, left_dir, left_ref, right_dir, right_ref); |
|
| 134 |
// usb_puts(buf); |
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| 135 |
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//motor1_set(left_dir, left_u); |
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//motor2_set(right_dir, right_u); |
|
| 138 |
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count++; |
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delay_ms(1000); |
|
| 77 | 141 |
} |
| 78 | 142 |
} |
| 79 |
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