Example #1
0
/**
 *	Move half cell at stopspeed
 */
void moveForwardHalf(void) {
	useIRSensors = 1;
	useSpeedProfile = 1;
	if (useGyroCorrection) 
		useGyro = 1;

	targetSpeedX = stopSpeed;
	int startEncCount = (getLeftEncCount() + getRightEncCount()) / 2;
	while( (getLeftEncCount() + getRightEncCount()) / 2 < startEncCount + cellDistance/2 ) {
		targetSpeedX = stopSpeed;
	}
	targetSpeedX = stopSpeed;
	useGyro = 0;
}
Example #2
0
/**
 *	Straight movement
 */
void moveForward(float cells) {
	if (cells < 0) {
		cells = 0;
	}
	
	useIRSensors = 1;
	useSpeedProfile = 1;
	
	int startEncCount = (getLeftEncCount() + getRightEncCount()) / 2;
	int remainingDist = cells*cellDistance;

	while( encCount - startEncCount < cells*cellDistance ) {
		remainingDist = cells*cellDistance - (encCount - startEncCount);
		if (remainingDist < cellDistance/2) {
			useIRSensors = 0;
		}
		if (getDecNeeded(counts_to_mm(remainingDist), curSpeedX, stopSpeed) < decX) {
			targetSpeedX = moveSpeed;
		}
		else {
			targetSpeedX = stopSpeed;
		}
	}
	targetSpeedX = stopSpeed;
}
Example #3
0
File: test.c Project: ktain/Slither
/*	
		Function: wheelOffsetTest()
		Parameters: motor speed, ontime
		Return: right - left encoder count
 */
int wheelOffsetTest(int speed, int ontime) {
	resetLeftEncCount();
	resetRightEncCount();

	setLeftPwm(speed);
	setRightPwm(speed);    
	delay_ms(ontime);
	turnMotorOff; 
	delay_ms(100);
	
	return getRightEncCount() - getLeftEncCount();
}
Example #4
0
void getEncoderStatus()
{
	//displayMatrix("Enc");
	leftEncoder = getLeftEncCount();
	rightEncoder = getRightEncCount();

	leftEncoderChange = leftEncoder - leftEncoderOld;
	rightEncoderChange = rightEncoder - rightEncoderOld;
	encoderChange = (leftEncoderChange + rightEncoderChange)/2;
	leftEncoderOld = leftEncoder;
	rightEncoderOld = rightEncoder;

	leftEncoderCount += leftEncoderChange;
	rightEncoderCount += rightEncoderChange;
	encoderCount = (leftEncoderCount + rightEncoderCount)/2;

	distanceLeft -= encoderChange;
}
Example #5
0
// Updates encoder counts and distance left
void getEncoderStatus(void)
{
	leftEncCount = getLeftEncCount();
	rightEncCount = getRightEncCount();

	leftEncChange = leftEncCount - leftEncOld;
	rightEncChange = rightEncCount - rightEncOld;
	encChange = (leftEncChange + rightEncChange)/2;	 

	leftEncOld = leftEncCount;
	rightEncOld = rightEncCount;

	leftEncCount += leftEncChange;
	rightEncCount += rightEncChange;
	encCount = (leftEncCount + rightEncCount)/2;
	
	distanceLeft -= encChange;		// update distanceLeft
}
Example #6
0
int main(void) 
{
	int i;
	Systick_Configuration();
	LED_Configuration();
	button_Configuration();
	usart1_Configuration(9600);
	SPI_Configuration();
  TIM4_PWM_Init();
	Encoder_Configration();
	buzzer_Configuration();
	ADC_Config();
	
	//curSpeedX = 0;
	//curSpeedW = 0;
	//shortBeep(2000, 8000);
	
	while(1) {
		readSensor();
		readGyro();
		readVolMeter();
		printf("LF %d RF %d DL %d DR %d aSpeed %d angle %d voltage %d lenc %d renc %d\r\n", LFSensor, RFSensor, DLSensor, DRSensor, aSpeed, angle, voltage, getLeftEncCount(), getRightEncCount());
		displayMatrix("UCLA");
		
		setLeftPwm(100);
		setRightPwm(100);
		delay_ms(1000);
	}
	//forwardDistance(4000,0,0,true);
	//displayMatrix("Sped");
	//targetSpeedX = 100;
	//delay_ms(2000);
	
	//
	//targetSpeedX = 100;
	//delay_ms(2000);
	//printf("==============================================\n\r=======================================================\r\n");
	
	//delay_ms(1000); 
	//displayMatrix("Wat");
	//delay_ms(1000);
	//displayMatrix("STOP");
	//displayMatrix("GO");
	
	turnRightAngle(LEFT);
	
	targetSpeedW = 0;
	delay_ms(1000);
	turnRightAngle(RIGHT);
	targetSpeedW = 0;
	delay_ms(1000);
	
	displayMatrix("STOP");
	delay_ms(3000); 
	targetSpeedX = 0;
	//
	targetSpeedW = 10;
	delay_ms(1000);
	targetSpeedX = 0;
	targetSpeedW = 0;
	return 0;
}