-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathline.h
175 lines (152 loc) · 6.28 KB
/
line.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
#ifndef LINE_H
#define LINE_H
#include "xc.h" // include processor files - each processor file is guarded.
#include "drive.h"
#define QRD_THRESHOLD 2048 // 4096 is max, so 2048 means half of reference volatage, ie. 2048/4096 * 3.3V = 1.65 V
#define LEFT_QRD ADC1BUF0
#define RIGHT_QRD ADC1BUF1
#define STRIPE_QRD ADC1BUF4
#define END_QRD ADC1BUF14 //pin8
#define STRAIGHT_DISTANCE 1 // Inches
#define ADJUSTMENT_DEGREES 2.5 // Degrees
#define ADJUSTMENT_DISTANCE 1 // Inches
#define DISTANCE_BETWEEN_QRD 2.25 // Inches
#define SPEED_MODIFIER_INCREMENT 0.08
#define SPEED_MODIFIER_INCREMENT2 0.015
static double speed_modifier = 1; // A multiplier for speed
static int line_state = 1; // A variable for keeping track of what state of line following the robot is on
static enum leftRight last_direction = LEFT;
/**
* Uses QRD Sensor and variably increase the speed of the wheels to compensate
* for larger readjustments
*/
void followLine(void) {
if (LEFT_QRD >= QRD_THRESHOLD && RIGHT_QRD >= QRD_THRESHOLD) {/* Both see black */
if (speed_modifier > 1) {
speed_modifier = speed_modifier - SPEED_MODIFIER_INCREMENT; // Increase turning speed if robot is still on line
}
if (motor_speed_modifier_low > 1) {
motor_speed_modifier_low = motor_speed_modifier_low - SPEED_MODIFIER_INCREMENT;
}
if (motor_speed_modifier_high > 1) {
motor_speed_modifier_high = motor_speed_modifier_high - SPEED_MODIFIER_INCREMENT;
}
driveDifferentialy(ADJUSTMENT_DISTANCE, last_direction, speed_modifier, true);
line_state = 0;
}
else if (LEFT_QRD >= QRD_THRESHOLD && RIGHT_QRD <= QRD_THRESHOLD) { /* Robot is drifting to the left */
if (line_state == 1) {
if (speed_modifier < 2.5) {
speed_modifier = speed_modifier + SPEED_MODIFIER_INCREMENT2; // Increase turning speed if robot is still on line
}
if (motor_speed_modifier_low < 2.5) {
motor_speed_modifier_low = motor_speed_modifier_low + SPEED_MODIFIER_INCREMENT2;
}
if (motor_speed_modifier_high < 2.5) {
motor_speed_modifier_high = motor_speed_modifier_high + SPEED_MODIFIER_INCREMENT2;
}
} else {
if (speed_modifier > 1) {
speed_modifier = speed_modifier - SPEED_MODIFIER_INCREMENT; // Increase turning speed if robot is still on line
}
if (motor_speed_modifier_low > 1) {
motor_speed_modifier_low = motor_speed_modifier_low - SPEED_MODIFIER_INCREMENT;
}
if (motor_speed_modifier_high > 1) {
motor_speed_modifier_high = motor_speed_modifier_high - SPEED_MODIFIER_INCREMENT;
}
}
last_direction = RIGHT;
driveDifferentialy(ADJUSTMENT_DISTANCE, RIGHT, speed_modifier, false);
line_state = 1;
}
else if (LEFT_QRD <= QRD_THRESHOLD && RIGHT_QRD >= QRD_THRESHOLD) { /* Robot is drifting to the right */
if (line_state == 2) {
if (speed_modifier < 2.5) {
speed_modifier = speed_modifier + SPEED_MODIFIER_INCREMENT2; // Increase turning speed if robot is still on line
}
if (motor_speed_modifier_low < 2.5) {
motor_speed_modifier_low = motor_speed_modifier_low + SPEED_MODIFIER_INCREMENT2;
}
if (motor_speed_modifier_high < 2.5) {
motor_speed_modifier_high = motor_speed_modifier_high + SPEED_MODIFIER_INCREMENT2;
}
} else {
if (speed_modifier > 1) {
speed_modifier = speed_modifier - SPEED_MODIFIER_INCREMENT; // Increase turning speed if robot is still on line
}
if (motor_speed_modifier_low > 1) {
motor_speed_modifier_low = motor_speed_modifier_low - SPEED_MODIFIER_INCREMENT;
}
if (motor_speed_modifier_high > 1) {
motor_speed_modifier_high = motor_speed_modifier_high - SPEED_MODIFIER_INCREMENT;
}
}
last_direction = LEFT;
driveDifferentialy(ADJUSTMENT_DISTANCE, LEFT, speed_modifier, false);
line_state = 2;
}
else if (LEFT_QRD <= QRD_THRESHOLD && RIGHT_QRD <= QRD_THRESHOLD) {
// Turn into lander or out of canyon
line_state = 3;
}
// State transition logic
if (stripe_steps > 6*STEPS_PER_INCH) {
stripe_flag = false;
end_flag = false;
end_steps = 0;
stripe_steps = 0;
if (stripe_count == 2) {
speed_modifier = 1.0; // Increase turning speed if robot is still on line
motor_speed_modifier_low = 1.0;
motor_speed_modifier_high = 1.0;
_AD1IE = 0;
current_state = COLLECT_SAMPLE;
}
else if (stripe_count == 3) {
speed_modifier = 1.0; // Increase turning speed if robot is still on line
motor_speed_modifier_low = 1.0;
motor_speed_modifier_high = 1.0;
_AD1IE = 0;
current_state = RETURN_SAMPLE;
}
else if (stripe_count >= 4) {
speed_modifier = 1.0; // Increase turning speed if robot is still on line
motor_speed_modifier_low = 1.0;
motor_speed_modifier_high = 1.0;
_AD1IE = 0;
has_turned = false;
createTimer(1, 3000, 256);
while (!timer_complete) {
OC1RS = 39999; // Period
OC1R = servo_frequency; // Duty cycle
followLine();
}
stopTimers();
current_state = NAVIGATE_CANYON;
}
stripe_count = 0;
end_detection = 0;
}
if (end_steps > 2*STEPS_PER_INCH) {
end_flag = false;
end_steps = 0;
if (end_detection > 15) {
speed_modifier = 1.0; // Increase turning speed if robot is still on line
motor_speed_modifier_low = 1.0;
motor_speed_modifier_high = 1.0;
_AD1IE = 0;
current_state = DATA_TRANSMISSION;
}
end_detection = 0;
}
if (!end_flag) {
end_steps = 0;
end_detection = 0;
}
if (!stripe_flag) {
stripe_count = 0;
stripe_steps = 0;
}
}
#endif /* LINE_H */