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New routine for callibration

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This commit is contained in:
jglueck 2020-04-09 16:35:40 +02:00
parent 03ac5a1d44
commit 4feb8b3598
1 changed files with 57 additions and 13 deletions
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70
vsode/coderacer_mkII/src/coderacer_main.cpp
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@ -19,6 +19,7 @@ int aabstand[160];
void filladistance();
int adegree[160];
int ispeed=1;
float callibration_drive(unsigned int tickstogo, float calfactor);
//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup() {
// Monitor
@ -37,7 +38,6 @@ void setup() {
drehung = links;
coderacer.set_syncstop(true);
coderacer.set_obstacle_stop(false);
coderacer.speed_settings(135, 135);
}
//---- Hier startet unsere endlose Schleife - die immer wieder von vorn angefangen wird, wenn wir am Ende angekommen sind. Da ist unser "Fahr"Code drin, der den CodeRacer steuert
@ -52,23 +52,67 @@ void loop()
delay(1000);
}
unsigned int stepsprevl, stepsprevr ;
for(unsigned int v= 80;v<=255;v=v+10)
{
coderacer.speed_settings(v, v);
stepsprevl = coderacer.show_left_stepcounter();
stepsprevr = coderacer.show_right_stepcounter();
coderacer.drive_ticks_left(2000, true);
while (1== coderacer.is_driving()){}
Serial.printf("v=%i links*(2000)=%i rechts=%i\n",v, coderacer.show_left_stepcounter() - stepsprevl , coderacer.show_right_stepcounter() - stepsprevr);
}
float calf = callibration_drive(1000, 0.04);
Serial.println(calf);
float compare_calf = callibration_drive(1000, calf);
Serial.println(compare_calf);
}
}
//Serial.printf("links %i\n", coderacer.show_left_stepcounter());
//Serial.printf("rechts %i\n", coderacer.show_right_stepcounter());
//Serial.printf("%i\n", coderacer.show_distance_mm());
float callibration_drive(unsigned int tickstogo, float calfactor)
{
unsigned int stepsprevl;
unsigned int stepsprevr;
float GesamtSummeR = 0;
float GesamtSummeL=0;
unsigned int runcounter = 0;
float MittelSummeR;
float MittelSummeL;
unsigned int tickcheck= tickstogo*1.02;
for(unsigned int v= 190;v<=200;v=v+10)
{
unsigned int vr = v + calfactor*255;
unsigned int vl = v - calfactor*255;
runcounter ++;
coderacer.speed_settings(vl, vr);
Serial.println(vl);
Serial.println(vr);
int SummeR = 0;
int SummeL=0;
for (int i=1; i<=4; i++)
{
stepsprevl = coderacer.show_left_stepcounter();
stepsprevr = coderacer.show_right_stepcounter();
coderacer.drive_ticks_left(tickstogo, true);
while (1== coderacer.is_driving()){}
delay(1000);
SummeR = SummeR + (coderacer.show_right_stepcounter() - stepsprevr);
SummeL= SummeL +(coderacer.show_left_stepcounter()- stepsprevl);
if (tickcheck<(coderacer.show_left_stepcounter() - stepsprevl))
{
Serial.printf("ERROR: calibration failed");
Serial.printf("links=%i\n" ,coderacer.show_left_stepcounter()- stepsprevl);
return 0;
}
Serial.printf("v=%i links=%i rechts=%i\n" ,v, coderacer.show_left_stepcounter()- stepsprevl, coderacer.show_right_stepcounter() - stepsprevr);
}
GesamtSummeR = GesamtSummeR+ SummeR/4.0;
GesamtSummeL = GesamtSummeL+ SummeL/4.0;
}
MittelSummeR= GesamtSummeR/(float)runcounter;
MittelSummeL= GesamtSummeL/(float)runcounter;
float CalibrationFactor= MittelSummeL/ MittelSummeR;
return CalibrationFactor;
}