int umain (void) { encoder_reset(RIGHT_ENCODER); encoder_reset(LEFT_ENCODER); while(1) { motor_set_vel(LEFT_MOTOR, TEST_SPEED); motor_set_vel(RIGHT_MOTOR, 0); printf("\nRight: %d, Left: %d, %c", encoder_read(RIGHT_ENCODER), encoder_read(LEFT_ENCODER), 3); if (stop_press()) { motor_set_vel(LEFT_MOTOR, 0); motor_set_vel(RIGHT_MOTOR, 0); encoder_reset(RIGHT_ENCODER); encoder_reset(LEFT_ENCODER); printf("\nRight: %d, Left: %d, %c", encoder_read(RIGHT_ENCODER), encoder_read(LEFT_ENCODER), 3); go_click(); // Poliwhirl~ } pause(100); } return 0; }
int umain() { encoder_reset(PIN_ENCODER_WHEEL_L); encoder_reset(PIN_ENCODER_WHEEL_R); float start_gyro = gyro_get_degrees(); set_wheel_pows(0.3, -0.3); while(read_rotational_encoding() < 2.f * M_PI * MM_WHEEL_FROM_CENTER) { printf("cirtr: %f\n", read_rotational_encoding()); } printf("stopping..."); set_wheel_pows(0, 0); printf(" done\n"); printf("%f\n", gyro_get_degrees() - start_gyro); }
/** Calibration routine. Must be called for a correct operation of counter registers */ void stepper_cal() { //Rotate pan CCW till index is found indexSet = 0; stepper_set_direction(0); while( !indexSet ) { _delay_ms(15); // 20 ms interstep is really slow, but securs no extra step after index is passed stepper_advance(); // comand single step advance } stepper_set_direction(1); // change direciton of rotation and some steps (this is to avoid having to manually reposition again when recalibrating to avoid) for(int8_t i=0; i<4; i++) { _delay_ms(15); // 20 ms interstep is really slow, but securs no extra step after index is passed stepper_advance(); } _delay_ms(100); // delay to let motor settle indexSet = 0; // reset index flag curr_step_num = 0; // reset step count encoder_reset(); // reset encoder counter uart_puts("L"); // from now on, the platform is calibrated. Notify host: }
int umain (void) { printf("print encs_snapshot\n"); encoder_reset(PIN_ENCODER_WHEEL_L); encoder_reset(PIN_ENCODER_WHEEL_R); printf("encs_snapshot [%i : %i]\n", encoder_read(PIN_ENCODER_WHEEL_L), encoder_read(PIN_ENCODER_WHEEL_R)); printf("move seq\n"); set_wheel_pows(0.4, 0.4); while(!are_we_there_yet()) {} printf("stopping..."); set_wheel_pows(0, 0); printf(" done\n"); printf("encs_snapshot [%i : %i]\n", encoder_read(PIN_ENCODER_WHEEL_L), encoder_read(PIN_ENCODER_WHEEL_R)); return 0; }
void controlpanel_encoder() { int ticks = 0; while (true) { char ch = controlpanel_promptChar("Encoders"); switch (ch) { case 'p': ticks = encoder_get(LEFT_ENCODER); printf_P(PSTR("L Ticks: %d "), ticks); ticks = encoder_get(RIGHT_ENCODER); printf_P(PSTR("R Ticks: %d\n"), ticks); break; case 'r': encoder_reset(LEFT_ENCODER); encoder_reset(RIGHT_ENCODER); break; case 's': motorcontrol_setEnabled(true); printf_P(PSTR("L RPS: %f, R RPS: %f\n"), motorcontrol_getRPS(MOTOR_LEFT), motorcontrol_getRPS(MOTOR_RIGHT)); break; case 'q': return; case '?': static const char msg[] PROGMEM = "Encoder menu:\n" " p - position (ticks)\n" " r - Reset counter\n" " s - RPS of wheels\n" " q - Back\n"; puts_P(msg); break; default: puts_P(unknown_str); break; } } }
static int multiq3_attach(struct comedi_device *dev, struct comedi_devconfig *it) { struct multiq3_private *devpriv; struct comedi_subdevice *s; int ret; ret = comedi_request_region(dev, it->options[0], 0x10); if (ret) return ret; ret = comedi_alloc_subdevices(dev, 5); if (ret) return ret; devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv)); if (!devpriv) return -ENOMEM; s = &dev->subdevices[0]; /* ai subdevice */ s->type = COMEDI_SUBD_AI; s->subdev_flags = SDF_READABLE | SDF_GROUND; s->n_chan = 8; s->insn_read = multiq3_ai_insn_read; s->maxdata = 0x1fff; s->range_table = &range_bipolar5; s = &dev->subdevices[1]; /* ao subdevice */ s->type = COMEDI_SUBD_AO; s->subdev_flags = SDF_WRITABLE; s->n_chan = 8; s->insn_read = multiq3_ao_insn_read; s->insn_write = multiq3_ao_insn_write; s->maxdata = 0xfff; s->range_table = &range_bipolar5; s = &dev->subdevices[2]; /* di subdevice */ s->type = COMEDI_SUBD_DI; s->subdev_flags = SDF_READABLE; s->n_chan = 16; s->insn_bits = multiq3_di_insn_bits; s->maxdata = 1; s->range_table = &range_digital; s = &dev->subdevices[3]; /* do subdevice */ s->type = COMEDI_SUBD_DO; s->subdev_flags = SDF_WRITABLE; s->n_chan = 16; s->insn_bits = multiq3_do_insn_bits; s->maxdata = 1; s->range_table = &range_digital; s->state = 0; s = &dev->subdevices[4]; /* encoder (counter) subdevice */ s->type = COMEDI_SUBD_COUNTER; s->subdev_flags = SDF_READABLE | SDF_LSAMPL; s->n_chan = it->options[2] * 2; s->insn_read = multiq3_encoder_insn_read; s->maxdata = 0xffffff; s->range_table = &range_unknown; encoder_reset(dev); return 0; }
static int multiq3_attach(struct comedi_device *dev, struct comedi_devconfig *it) { int result = 0; unsigned long iobase; unsigned int irq; struct comedi_subdevice *s; iobase = it->options[0]; printk(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase); if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) { printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor); return -EIO; } dev->iobase = iobase; irq = it->options[1]; if (irq) printk(KERN_WARNING "comedi%d: irq = %u ignored\n", dev->minor, irq); else printk(KERN_WARNING "comedi%d: no irq\n", dev->minor); dev->board_name = "multiq3"; result = comedi_alloc_subdevices(dev, 5); if (result) return result; result = alloc_private(dev, sizeof(struct multiq3_private)); if (result < 0) return result; s = dev->subdevices + 0; /* ai subdevice */ s->type = COMEDI_SUBD_AI; s->subdev_flags = SDF_READABLE | SDF_GROUND; s->n_chan = 8; s->insn_read = multiq3_ai_insn_read; s->maxdata = 0x1fff; s->range_table = &range_bipolar5; s = dev->subdevices + 1; /* ao subdevice */ s->type = COMEDI_SUBD_AO; s->subdev_flags = SDF_WRITABLE; s->n_chan = 8; s->insn_read = multiq3_ao_insn_read; s->insn_write = multiq3_ao_insn_write; s->maxdata = 0xfff; s->range_table = &range_bipolar5; s = dev->subdevices + 2; /* di subdevice */ s->type = COMEDI_SUBD_DI; s->subdev_flags = SDF_READABLE; s->n_chan = 16; s->insn_bits = multiq3_di_insn_bits; s->maxdata = 1; s->range_table = &range_digital; s = dev->subdevices + 3; /* do subdevice */ s->type = COMEDI_SUBD_DO; s->subdev_flags = SDF_WRITABLE; s->n_chan = 16; s->insn_bits = multiq3_do_insn_bits; s->maxdata = 1; s->range_table = &range_digital; s->state = 0; s = dev->subdevices + 4; /* encoder (counter) subdevice */ s->type = COMEDI_SUBD_COUNTER; s->subdev_flags = SDF_READABLE | SDF_LSAMPL; s->n_chan = it->options[2] * 2; s->insn_read = multiq3_encoder_insn_read; s->maxdata = 0xffffff; s->range_table = &range_unknown; encoder_reset(dev); return 0; }
void update_field(){ copy_objects(); int current_x = (int)(game.coords[0].x * VPS_RATIO); int current_y = (int)(game.coords[0].y * VPS_RATIO); uint8_t has_encoder_moved = FALSE; /*if(get_time() > field_state.last_encoder_update + ENCODER_UPDATE_TIME){ if(encoder_read(FREEWHEEL_ENCODER_PORT) != field_state.encoder_value){ field_state.robot_stopped = TRUE; field_state.encoder_value = encoder_read(FREEWHEEL_ENCODER_PORT); field_state. } else{ field_state.robot_stopped = TRUE; } }*/ //printf("Current X: %d, Current Y: %d\n", current_x, current_y); float current_theta = (((float)game.coords[0].theta) * 180.0) / 2048; field_state.curr_loc_plus_delta.x = current_x; //+ get_delta(field_state.curr_loc).x; field_state.curr_loc_plus_delta.y = current_y; //+ get_delta(field_state.curr_loc).y; uint8_t sextant = get_current_sextant(field_state.curr_loc_plus_delta); uint8_t old_sextant = get_current_sextant(field_state.curr_loc); //printf("Current Distance: %f, Waypoint Distance: %f, Target Distance: %f, Distance Increment: %f\n", pythagorean(field_state.curr_loc_plus_delta.x, field_state.curr_loc_plus_delta.y), pythagorean(field_state.target_loc_waypoint.x, field_state.target_loc_waypoint.y), pythagorean(field_state.target_loc.x, field_state.target_loc.y), field_state.distance_increment); float dist_to_waypoint = pythagorean_loc(field_state.curr_loc_plus_delta, field_state.target_loc_waypoint); if(sextant != old_sextant ){//|| (get_angle_error_circle() > 90 && dist_to_waypoint < CIRCLE_DECELERATE_DISTANCE_SECOND){ uint8_t target_sextant = get_current_sextant(field_state.target_loc); /*int direction; if((get_angle_error_circle() > 90 && dist_to_waypoint < CIRCLE_DECELERATE_DISTANCE_SECOND) && (sextant == old_sextant)){ //we're about to spiral...let's not spiral direction = get_waypoint_direction(field_state.curr_loc_plus_delta, field_state.target_loc, gyro_get_degrees()); if(get_sextant_difference(field_state.curr_loc_plus_delta, field_state.target_loc, direction) > 1){ //we aren't at the target sextant yet, so set target waypoint to next waypoint float distance_increment; switch(direction){ case COUNTER_CLOCKWISE: if(target_sextant < sextant) target_sextant += 6; new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint); field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[(2*sextant+4)%12], bisecting_points[(2*sextant+5)%12], new_distance); break; case CLOCKWISE: if(target_sextant > sextant) target_sextant -= 6; new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint); field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[mod_ui(2*sextant - 2, 12)], bisecting_points[mod_ui(2*sextant - 1, 12)], new_distance); break; } } } }*/ //We have broken the plane, get next waypoint, or target if in same sextant int direction = get_waypoint_direction(field_state.curr_loc_plus_delta, field_state.target_loc, gyro_get_degrees()); if(sextant != target_sextant){ float distance_increment; if(sextant == mod_ui(old_sextant + direction, 6)){ float new_distance; switch(direction){ case COUNTER_CLOCKWISE: if(target_sextant < sextant) target_sextant += 6; new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint); field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[(2*sextant+2)%12], bisecting_points[(2*sextant+3)%12], new_distance); break; case CLOCKWISE: if(target_sextant > sextant) target_sextant -= 6; new_distance = bound_waypoint_distance(field_state.distance_increment, field_state.target_loc_waypoint); field_state.target_loc_waypoint = get_scaled_loc_int_param(bisecting_points[(2*sextant)%12], bisecting_points[(2*sextant + 1)%12], new_distance); break; } } field_state.target_loc_plane = get_scaled_loc(field_state.target_loc_waypoint, OUTER_HEX_APATHEM_DIST); } else{ field_state.target_loc_waypoint = field_state.target_loc; } field_state.curr_loc = field_state.curr_loc_plus_delta; encoder_reset(LEFT_ENCODER_PORT); encoder_reset(RIGHT_ENCODER_PORT); } if((field_state.substage == TERRITORY_APPROACH_SUBSTAGE) && current_vel > 0){ if(get_time() - field_state.stored_time > TERRITORY_TIMEOUT_TIME || game.coords[0].score != field_state.score){ if(!(field_state.we_want_to_dump)){ field_state.substage = DRIVE_SUBSTAGE; //SET MOTORS TO LEVER ARC THINGY target_vel = 96; current_vel = 96; set_spinners(0); //accelerate_time = CIRCLE_ACCELERATE_TIME; //decelerate_distance = CIRCLE_DECELERATE_DISTANCE; //KP_CIRCLE = 1.5; //set_motors(55, 120); field_state.stored_time = get_time(); field_state.drive_direction = FORWARD; field_state.pid_enabled = TRUE; field_state.circle_PID.enabled = true; servo_set_pos(1, SERVO_UP); set_new_destination(field_state.curr_loc_plus_delta, get_lever_pivot_point_loc(sextant)); } else{ retreat_from_territory(); } } if(get_time() - field_state.start_time > THINK_ABOUT_DUMPING_TIME){ field_state.we_want_to_dump = TRUE; } } if((field_state.substage == LEVER_APPROACH_SUBSTAGE) && current_vel > 0){ if(get_time() - field_state.stored_time > LEVER_APPROACH_TIME){ field_state.substage = LEVER_SUBSTAGE; //SET MOTORS TO LEVER ARC THINGY //target_vel = 64; //current_vel = 64; //set_spinners(0); //accelerate_time = CIRCLE_ACCELERATE_TIME; //decelerate_distance = CIRCLE_DECELERATE_DISTANCE; //KP_CIRCLE = 1.5; //set_motors(55, 120); stop_motors(); field_state.stored_time = get_time(); field_state.target_loc_waypoint = field_state.curr_loc_plus_delta; field_state.target_loc = field_state.curr_loc_plus_delta; field_state.pid_enabled = TRUE; field_state.stored_time = get_time(); int score_temp = field_state.score; servo_set_pos(1, SERVO_DOWN); pause(CLICKY_CLICKY_TIME + 100); while(1){ copy_objects(); if(get_time() - field_state.start_time > THINK_ABOUT_DUMPING_TIME){ field_state.we_want_to_dump = TRUE; } if(game.coords[0].score != score_temp){ score_temp += 40; field_state.balls_held += 1; } if(game.coords[0].score == field_state.score + 200 || field_state.stored_time + LEVER_TIMEOUT_TIME < get_time() ){ if(!field_state.we_want_to_dump){ pause(50); field_state.substage = DRIVE_SUBSTAGE; target_vel = TARGET_CIRCLE_VEL; current_vel = 0; accelerate_time = CIRCLE_ACCELERATE_TIME; decelerate_distance = CIRCLE_DECELERATE_DISTANCE_FIRST; KP_CIRCLE = KP_DRIVE; field_state.stored_time = get_time(); field_state.start_drive_time = get_time(); field_state.drive_direction = BACKWARD; field_state.circle_PID.enabled = true; field_state.pid_enabled = true; uint8_t temp_sextant = sextant; if(temp_sextant == 0) temp_sextant += 6; set_new_destination(field_state.curr_loc_plus_delta, get_territory_pivot_point_loc(get_target_territory(field_state.curr_loc_plus_delta))); break; } else{ pause(50); get_your_ass_to_a_toilet(); break; } } servo_set_pos(1, SERVO_MIDDLE); pause(CLICKY_CLICKY_TIME); servo_set_pos(1, SERVO_DOWN); pause(CLICKY_CLICKY_TIME); } } } /*if(field_state.substage == TRANSITION_SUBSTAGE){ if(get_time() - field_state.stored_time > TRANSITION_TIME){ field_state.substage = LEVER_SUBSTAGE; stop_motors(); field_state.stored_time = get_time(); field_state.target_loc_waypoint = field_state.curr_loc_plus_delta; field_state.target_loc = field_state.curr_loc_plus_delta; field_state.pid_enabled = TRUE; field_state.circle_PID.enabled = true; while(1){ copy_objects(); if(game.coords[0].score == field_state.score + 200 || field_state.stored_time + LEVER_TIMEOUT_TIME < get_time() ){ field_state.substage = DRIVE_SUBSTAGE; target_vel = 128; current_vel = 0; accelerate_time = CIRCLE_ACCELERATE_TIME; decelerate_distance = CIRCLE_DECELERATE_DISTANCE_FIRST; KP_CIRCLE = KP_DRIVE; field_state.stored_time = get_time(); field_state.start_drive_time = get_time(); field_state.drive_direction = BACKWARD; field_state.circle_PID.enabled = true; uint8_t temp_sextant = sextant; if(temp_sextant == 0) temp_sextant += 6; set_new_destination(field_state.curr_loc_plus_delta, get_territory_pivot_point_loc((temp_sextant - 1)%6)); break; } servo_set_pos(1, SERVO_DOWN); pause(CLICKY_CLICKY_TIME); servo_set_pos(1, SERVO_MIDDLE); pause(CLICKY_CLICKY_TIME); } } }*/ /*else if((field_state.substage == LEVER_APPROACH_SUBSTAGE) && current_vel > 0){ if(get_time() - field_state.stored_time > TERRITORY_TIMEOUT_TIME || game.coords[0].score != field_state.score){ field_state.substage = LEVER_APPROACH_SUBSTAGE; target_vel = 64; current_vel = 0; set_spinners(0); //accelerate_time = CIRCLE_ACCELERATE_TIME; //decelerate_distance = CIRCLE_DECELERATE_DISTANCE; //KP_CIRCLE = 1.5; //field_state.start_drive_time = get_time(); field_state.drive_direction = FORWARD; set_new_destination(field_state.curr_loc_plus_delta, get_lever_robot_loc((sextant)%6)); } }*/ if(get_time() - field_state.start_time > THINK_ABOUT_DUMPING_TIME){ if(field_state.substage == DRIVE_SUBSTAGE){ if(!field_state.we_want_to_dump) get_your_ass_to_a_toilet(); } field_state.we_want_to_dump = TRUE; } int acceptable_error = get_acceptable_error(field_state.substage); float dist_to_target = pythagorean(field_state.target_loc.x - field_state.curr_loc_plus_delta.x, field_state.target_loc.y - field_state.curr_loc_plus_delta.y); if(field_state.target_loc.x == field_state.target_loc_waypoint.x && field_state.target_loc.y == field_state.target_loc_waypoint.y){ if(dist_to_target < acceptable_error){ gyro_set_degrees(current_theta); encoder_reset(LEFT_ENCODER_PORT); encoder_reset(RIGHT_ENCODER_PORT); /*if(field_state.substage == TERRITORY_APPROACH_SUBSTAGE){ field_state.substage = TERRITORY_SUBSTAGE; stop_motors(); set_spinners(0); current_vel = 0; target_vel = 0; } if(field_state.substage == LEVER_APPROACH_SUBSTAGE){ field_state.substage = LEVER_SUBSTAGE; stop_motors(); current_vel = 0; target_vel = 0; }*/ if(field_state.substage == DRIVE_SUBSTAGE || field_state.substage == TERRITORY_RETREAT_SUBSTAGE || field_state.substage == LEVER_RETREAT_SUBSTAGE){ if(field_state.stage == FIRST_STAGE) field_state.stage = SECOND_STAGE; if(field_state.target_loc.x == get_territory_pivot_point_loc(sextant).x && field_state.target_loc.y == get_territory_pivot_point_loc(sextant).y){ if(field_state.substage != TERRITORY_RETREAT_SUBSTAGE){ set_new_destination(field_state.curr_loc_plus_delta, get_territory_robot_loc(sextant)); set_spinners( 229 * field_state.color); target_vel = 64; current_vel = 0; field_state.start_drive_time = get_time(); accelerate_time = WALL_ACCELERATE_TIME; decelerate_distance = (int)(WALL_DECELERATE_DISTANCE); field_state.substage = TERRITORY_APPROACH_SUBSTAGE; KP_CIRCLE = KP_APPROACH; field_state.drive_direction = BACKWARD; } else{ field_state.substage = PIVOT_SUBSTAGE; uint8_t dump_sextant = pick_dump_sextant(); Location dump_loc = get_dump_location_robot(dump_sextant); set_new_destination(field_state.curr_loc_plus_delta, dump_loc); current_vel = 0; } } else if(field_state.target_loc.x == get_lever_pivot_point_loc(sextant).x && field_state.target_loc.y == get_lever_pivot_point_loc(sextant).y){ if(field_state.substage != LEVER_RETREAT_SUBSTAGE){ target_vel = 64; current_vel = 0; set_new_destination(field_state.curr_loc_plus_delta, get_lever_robot_loc(sextant)); decelerate_distance = (int)(WALL_DECELERATE_DISTANCE); field_state.start_drive_time = get_time(); accelerate_time = WALL_ACCELERATE_TIME; KP_CIRCLE = KP_APPROACH; field_state.drive_direction = FORWARD; field_state.substage = LEVER_APPROACH_SUBSTAGE; } else{ field_state.substage = PIVOT_SUBSTAGE; //WE WILL PROBABLY NEVER USE LEVER_RETREAT_SUBSTAGE... } } else if(field_state.target_loc.x == get_dump_location_robot(sextant).x && field_state.target_loc.y == get_dump_location_robot(sextant).y){ field_state.substage = DUMPING_SUBSTAGE; set_new_destination(field_state.curr_loc_plus_delta, get_dump_location(sextant)); current_vel = 0; target_vel = 64; field_state.start_dump_time = get_time(); decelerate_distance = 0; KP_CIRCLE = KP_APPROACH; field_state.drive_direction = BACKWARD; } } } } run_pivot_subroutine(); if(field_state.substage == DUMPING_SUBSTAGE){ if(get_time() - field_state.start_dump_time > 4000) servo_set_pos(0, 150); if(get_time() - field_state.start_dump_time > 4000 + time_during_dump){ servo_set_pos(0, 300); } } if(current_x != field_state.curr_loc.x || current_y != field_state.curr_loc.y || current_theta != field_state.curr_angle){ field_state.update_time = get_time(); field_state.curr_loc.x = current_x; field_state.curr_loc.y = current_y; field_state.curr_angle = current_theta; //printf("Lag: %lu, CX: %d, CY: %d, OX: %d, OY: %d, TX: %d, TY: %d, TWX: %d, TWY: %d, CA: %.2f, G: %.3f, LE: %d, RE: %d\n", get_time() - field_state.stored_time, current_x, current_y, field_state.curr_loc.x, field_state.curr_loc.y, field_state.target_loc.x, field_state.target_loc.y, field_state.target_loc_waypoint.x, field_state.target_loc_waypoint.y, field_state.curr_angle, gyro_get_degrees(), encoder_read(LEFT_ENCODER_PORT), encoder_read(RIGHT_ENCODER_PORT)); //field_state.stored_time = get_time(); encoder_reset(LEFT_ENCODER_PORT); encoder_reset(RIGHT_ENCODER_PORT); if(field_state.substage == DRIVE_SUBSTAGE) gyro_set_degrees(current_theta); } field_state.curr_time = get_time(); //***TIMEOUTS*** /*if(field_state.curr_time - field_state.update_time >= DRIVE_TIMEOUT_TIME && !is_decelerating() && field_state.substage == DRIVE_SUBSTAGE && dist_to_target < acceptable_error){ //We hit a wall...or another robot, but we haven't coded robot-ramming timeouts yet... float distance = pythagorean(field_state.curr_loc_plus_delta.x, field_state.curr_loc_plus_delta.y); if(fabs(distance - get_min_distance_loc_param(field_state.curr_loc)) < fabs(distance - get_max_distance_loc_param(field_state.curr_loc))){ //We hit the inner hex } }*/ field_state.score = game.coords[0].score; }