Revision 1345
Final spline code for master/slave
updated outdated libdragonfly and libwireless
slave.c | ||
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18 | 18 |
volatile int left_ref; |
19 | 19 |
volatile int right_ref; |
20 | 20 |
|
21 |
volatile int left_old; |
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22 |
volatile int right_old; |
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21 |
volatile int left_err_old;
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22 |
volatile int right_err_old;
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23 | 23 |
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24 |
volatile int left_vel_old = 0; |
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25 |
volatile int right_vel_old = 0; |
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26 |
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24 | 27 |
volatile int left_i = 0; |
25 | 28 |
volatile int right_i = 0; |
26 | 29 |
|
27 | 30 |
volatile int left_u; |
28 | 31 |
volatile int right_u; |
29 | 32 |
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30 |
volatile int left_vel = 0;
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31 |
volatile int right_vel = 0;
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33 |
volatile int left_vel; |
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34 |
volatile int right_vel; |
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32 | 35 |
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33 | 36 |
#define PL 1 |
34 | 37 |
#define DL 0.1 |
35 | 38 |
#define IL 0.1 |
36 | 39 |
|
40 |
/* |
|
37 | 41 |
#define PR 1.5 |
38 | 42 |
#define DR 0.2 |
39 | 43 |
#define IR 0.1 |
44 |
*/ |
|
45 |
#define PR 1 |
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46 |
#define DR 0.1 |
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#define IR 0.1 |
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40 | 48 |
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41 | 49 |
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42 |
#define INTERVAL 50
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50 |
#define INTERVAL 20
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43 | 51 |
|
44 | 52 |
/* receive motor speed from master: |
45 | 53 |
* left_speed left_dir right_speed right_dir |
... | ... | |
50 | 58 |
if (type != MOTOR) return; |
51 | 59 |
|
52 | 60 |
left_ref = packet[0]; |
61 |
if (left_ref > 127) |
|
62 |
left_ref -= 256; |
|
53 | 63 |
right_ref = packet[1]; |
64 |
if (right_ref > 127) |
|
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right_ref -= 256; |
|
54 | 66 |
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sprintf(buf, "received: %d %d\n", left_ref, right_ref); |
|
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usb_puts(buf); |
|
67 |
// sprintf(buf, "received: %d %d\n", left_ref, right_ref);
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68 |
// usb_puts(buf);
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57 | 69 |
//orb_set_color(GREEN); |
58 | 70 |
} |
59 | 71 |
|
... | ... | |
61 | 73 |
int left_err = left_ref - left_vel; |
62 | 74 |
int right_err = right_ref - right_vel; |
63 | 75 |
|
64 |
left_err = left_vel == 2048 ? left_old : left_err; |
|
65 |
right_err = right_vel == 2048 ? right_old : right_err; |
|
76 |
if (!left_ref) |
|
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left_err = 0; |
|
78 |
if (!right_ref) |
|
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right_err = 0; |
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80 |
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81 |
// left_err = left_vel == 2048 ? left_err_old : left_err; |
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// right_err = right_vel == 2048 ? right_err_old : right_err; |
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66 | 83 |
|
67 | 84 |
left_i += left_err; |
68 |
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; |
|
85 |
left_u = (int)(PL*(float)left_err + DL*(float)(left_err - left_err_old) + IL*(float)left_i);
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left_err_old = left_err;
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70 | 87 |
|
71 | 88 |
right_i += right_err; |
72 |
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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right_u = (int)(PR*(float)right_err + DR*(float)(right_err - right_err_old) + IR*(float)right_i);
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right_err_old = right_err;
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74 | 91 |
|
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// sprintf(buf, "u: %d %d\n", left_u, right_u); |
|
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// usb_puts(buf); |
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75 | 95 |
if (left_u < 0) { |
76 | 96 |
left_dir = 0; |
77 | 97 |
left_u = -left_u; |
... | ... | |
91 | 111 |
|
92 | 112 |
left_u = left_u > 210 ? 210 : left_u; |
93 | 113 |
right_u = right_u > 210 ? 210 : right_u; |
114 |
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115 |
if (!left_ref) |
|
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left_u = 0; |
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117 |
if (!right_ref) |
|
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right_u = 0; |
|
94 | 119 |
} |
95 | 120 |
|
96 | 121 |
int main (void) { |
... | ... | |
101 | 126 |
//usb_puts("xbee id "); |
102 | 127 |
//usb_putc(wl_get_xbee_id()); |
103 | 128 |
wl_init(); |
104 |
left_ref = 20; |
|
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right_ref = 20; |
|
129 |
|
|
106 | 130 |
wl_register_packet_group(&packetHandler); |
107 | 131 |
//orb_set_color(RED); |
108 | 132 |
//motor1_set(FORWARD,230); |
109 | 133 |
//motor2_set(FORWARD,230); |
110 | 134 |
|
111 | 135 |
while (1) { |
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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136 |
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left_vel = encoder_get_v(0); |
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138 |
right_vel = encoder_get_v(1); |
|
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// err handling |
|
140 |
if (left_vel == 2048) |
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left_vel = left_vel_old; |
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else |
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left_vel_old = left_vel; |
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144 |
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if (right_vel == 2048) |
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right_vel = right_vel_old; |
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147 |
else |
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148 |
right_vel_old = right_vel; |
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149 |
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150 |
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|
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if (!(count % INTERVAL)) { |
|
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wl_send_global_packet(GROUP, ENCODER, encoder, 2, 0); |
|
118 | 153 |
encoder[0] = left_vel; |
119 | 154 |
encoder[1] = right_vel; |
120 |
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121 |
// usb_puti(left_vel); |
|
122 |
// 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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155 |
//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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} |
|
127 | 158 |
|
128 |
//ctrl();
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159 |
ctrl(); |
|
129 | 160 |
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130 |
// if (!(count % INTERVAL))
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131 |
// wl_do();
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161 |
if (!(count % INTERVAL))
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wl_do();
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132 | 163 |
|
133 | 164 |
// sprintf(buf, "motor (%d): %d %d %d %d\n", count, left_dir, left_ref, right_dir, right_ref); |
134 | 165 |
// usb_puts(buf); |
135 | 166 |
|
136 |
//motor1_set(left_dir, left_u);
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137 |
//motor2_set(right_dir, right_u);
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167 |
motor1_set(left_dir, left_u);
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168 |
motor2_set(right_dir, right_u); |
|
138 | 169 |
|
139 | 170 |
count++; |
140 |
delay_ms(1000);
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171 |
// delay_ms(100);
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141 | 172 |
} |
142 | 173 |
} |
174 |
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