root / trunk / code / behaviors / formation_control / encoder_censored_forward / encoder_censored_forward.c @ 1750
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1 | 1750 | hanzhang | |
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5 | #include <dragonfly_lib.h> |
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6 | #include <wl_basic.h> |
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7 | #include <encoders.h> |
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9 | |||
10 | int delta = 16; |
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11 | int divisor = 7; |
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12 | int epsilon = 8; |
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13 | /*
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14 | speed initial motor speed.
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15 | distance in encoder_get_x unit.
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16 | |||
17 | Has trouble when the distance difference is greater than epsilon * divisor
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18 | |||
19 | better re initiate with encoders_init() since it might overflow. or with initial difference.
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20 | |||
21 | @param speed
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22 | @param distance 30000 is roughly <10 meter
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23 | @param time
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24 | not yet implemented.
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25 | */
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26 | void encoder_censored_forward(int speed, int distance, int time){ |
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27 | encoders_init(); |
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28 | |||
29 | int dist_l = encoder_get_x(LEFT);
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30 | usb_puts("dist_l: ");
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31 | usb_puti(dist_l); |
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32 | usb_puts("\r");
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33 | |||
34 | int dist_r = encoder_get_x(RIGHT);
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35 | usb_puts("dist_l: ");
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36 | usb_puti(dist_l); |
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37 | usb_puts("\r");
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38 | |||
39 | motor_l_set(FORWARD, speed); |
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40 | motor_r_set(FORWARD, speed); |
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41 | |||
42 | int spd_l = speed;
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43 | int spd_r = speed;
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44 | int dist_diff = 0; |
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45 | // int dist_diff_new = 0; // was used for ensure the new speed is helping
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46 | int count = 0; // count for time |
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47 | while (dist_l<distance && dist_r<distance){
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48 | delay_ms(40);
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49 | count++; |
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50 | dist_l = encoder_get_x(LEFT); |
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51 | dist_r = encoder_get_x(RIGHT); |
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52 | dist_diff = dist_l-dist_r; |
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53 | if (dist_diff< -delta) {
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54 | spd_l += -dist_diff/divisor; |
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55 | spd_l = (spd_l >speed+epsilon)? speed+epsilon : spd_l; |
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56 | |||
57 | spd_r -= -dist_diff/divisor; |
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58 | spd_r = (spd_r <speed-epsilon)? speed-epsilon : spd_r; |
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59 | |||
60 | }else if (dist_diff > delta){ |
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61 | spd_l -= dist_diff/divisor; |
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62 | spd_l = (spd_l <speed-epsilon)? speed-epsilon : spd_l; |
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63 | |||
64 | spd_r += dist_diff/divisor; |
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65 | spd_r = (spd_r >speed+epsilon)? speed+epsilon : spd_r; |
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66 | |||
67 | } |
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68 | |||
69 | motor_l_set(FORWARD, spd_l); |
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70 | motor_r_set(FORWARD, spd_r); |
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71 | |||
72 | usb_puts( "dist_l and dist_r: ");
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73 | usb_puti(dist_l); |
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74 | usb_puts(" ");
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75 | usb_puti(dist_r); |
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76 | usb_puts("\r");
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77 | } |
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79 | motor_l_set(FORWARD, 0);
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80 | motor_r_set(FORWARD, 0);
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81 | usb_puts("time :");
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82 | usb_puti(count *40);
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83 | } |
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84 | |||
85 | void test_encoder(void){ |
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86 | encoders_init(); |
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87 | |||
88 | int dist_l = encoder_get_x(LEFT);
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89 | usb_puts("dist_l: ");
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90 | usb_puti(dist_l); |
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91 | usb_puts("\r");
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93 | int dist_r = encoder_get_x(RIGHT);
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94 | usb_puts("dist_r: ");
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95 | usb_puti(dist_r); |
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96 | usb_puts("\r\r\r");
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97 | |||
98 | for (int i=180;i<256; i++){ |
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99 | motor_l_set(FORWARD, i); |
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100 | motor_r_set(FORWARD, i); |
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101 | delay_ms(200);
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102 | usb_puts("\rspeed is: ");
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103 | usb_puti(i); |
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104 | usb_puts(" speed_l ");
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105 | usb_puti(encoder_get_dx(LEFT)); |
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106 | usb_puts(" speed_r ");
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107 | usb_puti(encoder_get_dx(RIGHT)); |
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108 | } |
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109 | |||
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111 | |||
112 | } |
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113 | |||
114 | int main(void) |
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115 | { |
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116 | /* Initialize dragonfly board */
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117 | dragonfly_init(ALL_ON); |
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118 | /* Initialize the basic wireless library */
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119 | wl_basic_init_default(); |
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120 | /* Set the XBee channel to 24 - must be standard among robots */
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121 | wl_set_channel(24);
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122 | |||
123 | encoder_censored_forward(225, 30000, 3000); |
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124 | // test_encoder();
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125 | |||
126 | while(1); /* END HERE, just in case something happened. This way we can see the red orb. */ |
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127 | } |
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128 |