root / branches / encoders / code / behaviors / encoder_test / main.c @ 771
History | View | Annotate | Download (2.22 KB)
1 | 754 | bneuman | |
---|---|---|---|
2 | /* encoders_test: this behavior uses the encoders to move a given
|
||
3 | * distance, specified by GO where GO/1024 is the number of wheel
|
||
4 | * rotations.
|
||
5 | * It first calibrates the motors by finding the minimum reading
|
||
6 | * it can use to move them.
|
||
7 | */
|
||
8 | |||
9 | 749 | bneuman | #include <dragonfly_lib.h> |
10 | 752 | bneuman | //#define usb_puti(x) x
|
11 | 749 | bneuman | |
12 | 771 | bneuman | #define TARGET_V 25 |
13 | |||
14 | #define GO 1024 |
||
15 | 753 | bneuman | #define K 1 |
16 | |||
17 | #define ABS(x) ((x>0)?x:-x) |
||
18 | |||
19 | 749 | bneuman | int main(void) |
20 | { |
||
21 | 771 | bneuman | int l=0,r=0, motorl=0, motorr=0; |
22 | 753 | bneuman | |
23 | short int lmin=0,rmin=0; |
||
24 | 771 | bneuman | |
25 | dragonfly_init(ALL_ON); |
||
26 | 753 | bneuman | |
27 | 771 | bneuman | encoders_init(); |
28 | |||
29 | /*
|
||
30 | motor1_set(FORWARD,200);
|
||
31 | motor2_set(FORWARD,200);
|
||
32 | |||
33 | while(1){
|
||
34 | l=encoder_get_v(LEFT);
|
||
35 | r=encoder_get_v(RIGHT);
|
||
36 | |||
37 | usb_puti(l);usb_puts(" ");
|
||
38 | usb_puti(r);usb_puts("\r\n");
|
||
39 | }*/
|
||
40 | |||
41 | //calibration code:
|
||
42 | //TODO: this only find the min for stop->go, which is different than go->stop
|
||
43 | 749 | bneuman | |
44 | 771 | bneuman | while(l<10){ |
45 | 753 | bneuman | l=encoder_get_dx(LEFT); |
46 | motor1_set(FORWARD,++lmin); |
||
47 | 771 | bneuman | encoder_wait(1);
|
48 | usb_puts(".");
|
||
49 | 753 | bneuman | } |
50 | motor1_set(FORWARD,0);
|
||
51 | |||
52 | 754 | bneuman | while(r<10){ |
53 | 753 | bneuman | r=encoder_get_dx(RIGHT); |
54 | motor2_set(FORWARD,++rmin); |
||
55 | 771 | bneuman | encoder_wait(1);
|
56 | usb_puts("|");
|
||
57 | 753 | bneuman | } |
58 | motor2_set(FORWARD,0);
|
||
59 | |||
60 | usb_puts("lmin: ");usb_puti(lmin);
|
||
61 | usb_puts(" rmin: ");usb_puti(rmin);usb_puts("\r\n"); |
||
62 | 771 | bneuman | |
63 | |||
64 | //straight line forever code:
|
||
65 | |||
66 | motorl=lmin; |
||
67 | motorr=rmin; |
||
68 | |||
69 | while(1){ |
||
70 | l=encoder_get_v(LEFT); |
||
71 | r=encoder_get_v(RIGHT); |
||
72 | |||
73 | motorl += (TARGET_V - l)*2;
|
||
74 | motorr += (TARGET_V - r)*2;
|
||
75 | |||
76 | usb_puti(motorl);usb_puts(":");usb_puti(l);usb_puts(" "); |
||
77 | usb_puti(motorr);usb_puts(":");usb_puti(r);usb_puts("\r\n"); |
||
78 | |||
79 | if(motorl<0) |
||
80 | motorl=0;
|
||
81 | if(motorl>255) |
||
82 | motorl=255;
|
||
83 | |||
84 | if(motorr<0) |
||
85 | motorr=0;
|
||
86 | if(motorr>255) |
||
87 | motorr=255;
|
||
88 | |||
89 | motor1_set(FORWARD,motorl); |
||
90 | motor2_set(FORWARD,motorr); |
||
91 | |||
92 | encoder_wait(1);
|
||
93 | |||
94 | } |
||
95 | |||
96 | |||
97 | //go exact distance code:
|
||
98 | |||
99 | 753 | bneuman | |
100 | 749 | bneuman | while(1){ |
101 | 753 | bneuman | l=encoder_get_dx(LEFT); |
102 | r=encoder_get_dx(RIGHT); |
||
103 | |||
104 | l = (GO-l)/K; |
||
105 | |||
106 | r = (GO-r)/K; |
||
107 | |||
108 | if(l>255) |
||
109 | l=255;
|
||
110 | if(l<0) |
||
111 | l=0;
|
||
112 | |||
113 | if(r>255) |
||
114 | r=255;
|
||
115 | if(r<0) |
||
116 | r=0;
|
||
117 | |||
118 | 771 | bneuman | usb_puti(l);usb_puts(":");usb_puti(encoder_get_v(LEFT));usb_puts(" "); |
119 | usb_puti(r);usb_puts(":");usb_puti(encoder_get_v(RIGHT));usb_puts("\r\n"); |
||
120 | 753 | bneuman | |
121 | motor1_set(FORWARD,(l<lmin)?(lmin+5):l);
|
||
122 | motor2_set(FORWARD,(r<rmin)?(rmin+5):r);
|
||
123 | |||
124 | if(ABS(r)<2 && ABS(l)<2){ |
||
125 | move(0,0); |
||
126 | usb_puts("done!\r\n");
|
||
127 | while(1); |
||
128 | } |
||
129 | |||
130 | 749 | bneuman | } |
131 | |||
132 | } |