// @brief : If the robot is ENTERING a junction, any 7 of the 12 line sensors should
// exceed JUNCTION_SEN_THRESHOLD. bJunctionFlag will be asserted as a result.
// Once bJunctionFlag is asserted, wait for the robot to travel 30mm before de-
// asserting the flag (ensuring the robot has successfully left the junction).
// @param : none
// @retval: none
void CheckForJunction(void) {
int sensorNo, sensorCnt = 0;
if (bRunFlag && bJunctionFlag) {
if (!posJunction) {
posJunction = curPos[XSPEED];
if (bExplorationFlag) {
RecordNewSegment(JUNCTION);
pSegment.junctionTrack[pSegment.junctionCnt] = (int32_t)(posJunction / DIST_mm_oc(1));
pSegment.junctionCnt++;
}
} else {
if ((curPos[XSPEED] - posJunction) > JUNCTION_WAIT_DIST) {
bJunctionFlag = FALSE;
posJunction = 0;
StartBeep();
}
}
return;
}
for (sensorNo = 0; sensorNo <= NUM_LINE_SENSORS; sensorNo++) {
if (sensor[sensorNo] > JUNCTION_SEN_THRESHOLD) {
sensorCnt++;
}
}
bJunctionFlag = (sensorCnt >= JUNCTION_NUM_SENSORS);
}
/*
** Beeper()
*
* FILENAME: beep.c
*
* PARAMETERS: BeepMsg. Holds length of beep, [4:0] and number of
* beeps, [7:5]
*
* DESCRIPTION: When BeepMsg != 0 then it splits the uint8 into the two
* parameters needed and starts the beep sequence.
*
* RETURNS: Nothing.
*
*/
void
BeeperDevice() {
switch (BeepState) {
case BEEP_START :
if (BeepMsg != 0) {
// Set how long beeper is on and off.
BeepTime = (BeepMsg & 0x1F) << 2; // times 4 for 40ms to 1.24 sec.
// Set how many times we beep
BeepRep = (BeepMsg & 0xE0) >> 5;
StartBeep();
StartTimer( BEEP_TIMER, BeepTime );
BeepMsg = 0;
BeepState = BEEP_OFF;
}
break;
case BEEP_OFF :
if (TimerDone( BEEP_TIMER ) ) {
StopBeep();
BeepRep--;
StartTimer( BEEP_TIMER, BeepTime );
BeepState = BEEP_ON;
};
break;
case BEEP_ON:
if (TimerDone( BEEP_TIMER ) ) {
if ( BeepRep != 0 ) {
StartBeep();
StartTimer( BEEP_TIMER, BeepTime );
BeepState = BEEP_OFF;
}
else {
BeepState = BEEP_START; // Beeping is done.
}
}
break;
default:
BeepState = BEEP_START;
break;
}
void ExplorationRun(void) {
int i;
if (pSegment.cnt != 0) {
switch (DispDotMatrixWait("There are recorded data. Continue?")) {
case SW_PRESS: return;
default: break;
}
}
// clear rSegment.
clrSegStruct = (char *) &rSegment;
for (i = 0; i < sizeof(rSegment); i++)
*clrSegStruct++ = 0;
// clear pSegment before recording data.
clrSegStruct = (char *) &pSegment;
for (i = 0; i < sizeof(pSegment); i++)
*clrSegStruct++ = 0;
StartBeep();
DispDotMatrix("GOGO");
DelaymSec(1500);
StartRun();
bExplorationFlag = TRUE;
// constant speed & acceleration
// SetRobotSpeedX(EXPLORATION_SPEED);
// SetRobotAccX(ACCELERATION);
SetMoveCommand(XSPEED, 100000, 0, EXPLORATION_SPEED, 0, ACCELERATION);
while (1) {
PrintRunStatus();
// prematurely terminate the run with switch press
if (bSWFlag) {
bExplorationFlag = FALSE;
bSWFlag = FALSE;
StopRun();
break;
}
if (bStopFlag) {
rSegment.totalDisp = curPos[XSPEED] / DIST_mm_oc(1);
StopRun();
ProcessData();
DispExplorationStats();
break;
}
}
}
void DispExplorationStats(void) {
char str[4];
int i;
if (pSegment.cnt == 0) {
DispDotMatrixWait("No data recorded");
return;
}
// sprintf(str, "%04d", (int)rSegment.cnt);
// DispDotMatrix(str);
//
// WaitSW();
// clrscr();
//
// printf("RAW data. Marker count = %d\n\n", (markerCnt[LEFT_SENSOR]+markerCnt[RIGHT_SENSOR]));
// printf("No. State Length Angle \n");
// printf("--- ----- ------ ----- \n");
//
// for (i = 0; i < rSegment.cnt; i++)
// printf("%-3d %-9s %5dmm %5ddeg\n", i, run_state[rSegment.state[i]],
// rSegment.length[i], rSegment.angle[i]);
sprintf(str, "%04d", (int)pSegment.cnt);
DispDotMatrixWait(str);
clrscr();
printf("PROCESSED data. Marker count = %d. Junction count= %d Total disp = %dmm. Calculated disp = %dmm. \n\n",
(markerCnt[LEFT_SENSOR]+markerCnt[RIGHT_SENSOR]), pSegment.junctionCnt, rSegment.totalDisp, pSegment.totalDisp);
printf("No. State Length Angle Radius Brake Desired Top End Flag Sync\n");
printf("--- ----- ------ ----- ------ ----- ------- --- --- ---- ----\n");
for (i = 0; i < pSegment.cnt; i++) {
printf("%-3d %-9s %5dmm %5ddeg %6dmm %4dmm %4dmm/s %4dmm/s %4dmm/s %d %4d %d\n",
i, run_state[pSegment.state[i]], pSegment.length[i], pSegment.angle[i], pSegment.radius[i],
pSegment.brakeDist[i], pSegment.speed[i], pSegment.topSpeed[i], pSegment.endSpeed[i],
pSegment.bMarkerBreakFlag[i], pSegment.syncLength[i], pSegment.juncSegCnt[i]);
}
StartBeep();
DispDotMatrixWait("Done");
clrscr();
}
void CheckJunctionFastRun(void) {
int sensorNo, sensorCnt = 0, junctionCnt;
static int junctionPassed;
junctionCnt = (*segPtr).juncSegCnt[segmentIndex];
if (junctionCnt) { // > 0
if (junctionPassed < junctionCnt) {
if (bJunctionFlag) {
if (!posJunction) {
posJunction = curPos[XSPEED];
} else {
if ((curPos[XSPEED] - posJunction) > JUNCTION_WAIT_DIST) {
bJunctionFlag = FALSE;
posJunction = 0;
StartBeep();
}
}
return;
}
for (sensorNo = JUNCTION_SENSOR_START; sensorNo <= JUNCTION_SENSOR_END; sensorNo++) {
if (sensor[sensorNo] > JUNCTION_SEN_THRESHOLD) {
sensorCnt++;
}
}
bJunctionFlag = (sensorCnt >= JUNCTION_NUM_SENSORS_FAST);
}
} else {
bJunctionFlag = FALSE;
junctionPassed = 0;
posJunction = 0;
}
}
void SpeedTuning(void) {
int i, cnt = 0;
int16_t dist = 2500;
int16_t variable[4][2500];
DispDotMatrix(" ");
DelaymSec(1500);
StartRun();
SetRobotSpeedX(tuneSpeed);
SetRobotAccX(ACCELERATION);
while (markerCnt[RIGHT_SENSOR] != 1) {
if (bSWFlag) {
bSWFlag = FALSE;
StopRun();
return;
}
}
SetMoveCommand(XSPEED, dist, 0, tuneSpeed, tuneSpeed, ACCELERATION);
while (1) {
sprintf(s, "%04d", linePosition);
DispDotMatrix(s);
DelaymSec(1); // record every 1 msec
if (EndOfMove(XSPEED)) {
StartBeep();
break;
}
if (bStopFlag)
break;
if (bSWFlag) {
bSWFlag = FALSE;
break;
}
if (cnt <= 2500) {
variable[0][cnt] = linePosition;
variable[1][cnt] = alignmentSpeed;
variable[2][cnt] = posErr[WSPEED];
variable[3][cnt] = posPWM[WSPEED];
cnt++;
}
}
StartBeep();
StopRun();
sprintf(s, "%4d", cnt);
DispDotMatrixWait(s);
for (i = 0; i < cnt; i++) {
printf("%-4d %4d %4d %4d\n", variable[0][i], variable[1][i], variable[2][i], variable[3][i]);
}
StartBeep();
DispDotMatrixWait("Done");
}
void RecordSegment(void) {
int i, cnt = 0;
char s[5];
int16_t variable[2500];
// int16_t variable[2][2500];
// int16_t line_position_med[500], *med_sort;
// int a, b;
DispDotMatrix(" ");
DelaymSec(1500);
StartRun();
bRecordFlag = TRUE;
bSwapSide = TRUE;
SetRobotSpeedX(EXPLORATION_SPEED);
SetRobotAccX(ACCELERATION);
while (markerCnt[RIGHT_SENSOR] != 1) {
if (bSWFlag) {
bSWFlag = TRUE;
StopRun();
return;
}
}
while (1) {
sprintf(s, "%04d", linePosition);
DispDotMatrix(s);
DelaymSec(1); // record every 1 msec
if (cnt <= 2500) {
variable[cnt] = linePosition;
// variable[0][cnt] = gyroReading;
// variable[1][cnt] = PIDFeedback[WSPEED];
cnt++;
}
if (bStopFlag)
break;
if (bSWFlag) {
bSWFlag = FALSE;
break;
}
}
StartBeep();
StopRun();
bRecordFlag = FALSE;
bSwapSide = FALSE;
DispDotMatrixWait("Segment recorded successfully");
StartBeep();
clrscr();
sprintf(s, "%4d", cnt);
DispDotMatrixWait(s);
DispDotMatrix(" ");
// insertion sort (median)
// for (i = 0; i < cnt; i += 5) {
// med_sort = line_position+i;
//
// for (a = 1; a < 5; a++) {
// while (med_sort[a] < med_sort[a-1]) {
// b = med_sort[a];
// med_sort[a] = med_sort[a-1];
// med_sort[a-1] = b;
//
// a--;
//
// if (!a)
// break;
// }
// }
//
// line_position_med[i%5] = med_sort[2];
// }
for (i = 0; i < cnt; i++) {
printf("%-4d\n", variable[i]);
// printf("%-4d %-3d\n", variable[0][i], variable[1][i]);
// printf("%-3d\n", line_position_med[i]);
}
WaitSW();
}
void FastRun(int fastType) {
sSeg segment;
int index, *i = &segmentIndex;
char s[4];
if (pSegment.cnt == 0) {
DispDotMatrixWait("No data recorded");
return;
}
StartBeep();
DispDotMatrix("GOGO");
DelaymSec(1500);
bFastFlag = TRUE;
ComputeSpeed(fastType);
segment = pSegment;
segPtr = &segment;
segmentIndex = 0;
StartRun();
// SetRobotSpeedX(segment.topSpeed[*i]);
// SetRobotAccX(ACCELERATION);
SetMoveCommand(XSPEED, 1000, 0, segment.topSpeed[*i], segment.topSpeed[*i], ACCELERATION);
while (markerCnt[RIGHT_SENSOR] != 1) {
if (bSWFlag) {
bSWFlag = FALSE;
StopRun();
return;
}
}
StartRunTimer();
for (; *i < segment.cnt; (*i)++) {
sprintf(s, "%4d", *i);
DispDotMatrix(s);
WaitSyncFastRun();
if (MoveRobotFastRun(XSPEED, segment.length[*i], segment.brakeDist[*i], segment.topSpeed[*i],
segment.endSpeed[*i], ACCELERATION))
break; // switch break
// if (segment.bSyncFlag[*i]) {
// *i = markerCnt[LEFT_SENSOR] - 1;
// }
segment.curDisp += segment.length[*i];
if (bStopFlag) {
(*i)++;
break;
}
// StartBeep();
}
StopRunTimer();
StopRun();
align_Kp = 4;
align_Kd = 40;
sprintf(s, "%04d", runTime);
// DispDotMatrixWait(s);
WaitSW();
clrscr();
printf("segment cnt: %d i: %d\n", segment.cnt, *i);
printf("No. State Top Min Max Dist Length Actual Break Marker\n");
printf("--- ----- --- --- --- ---- ------ ------ ----- ------\n");
for (index = 0; index < *i; index++) {
printf("%3d %-9s %4dmm/s %4dmm/s %4dmm/s %4dmm %4dmm %4dmm %d %d\n", index, run_state[segment.state[index]],
segment.topSpeed[index], segment.actMinSpeed[index], segment.actMaxSpeed[index], segment.dist[index], segment.length[index],
segment.actDisp[index], segment.bActBreakFlag[index], segment.bMarkerBreakFlag[index]);
}
DispDotMatrixWait("Done");
}