Added Batterycheck, Calibration and sweep step setters and getters
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54ad24ec44
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f2e6de783f
2 changed files with 131 additions and 15 deletions
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@ -115,6 +115,7 @@ CodeRacerMKII::CodeRacerMKII(uint8_t button_pin_left , uint8_t button_pin_right,
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_switch_2= switch_2;
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_switch_3= switch_3;
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_switch_4= switch_4;
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}
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/** @brief Initialisation of all attributes and settings of the coderacer. Defaults are taken from the header file.
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@ -138,9 +139,13 @@ void CodeRacerMKII::begin() {
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servo_sweep_right_pos = H_SERVO_SWEEP_RIGHT_POS;
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_servo_position = servo_center_pos;
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_servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;
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_servo_sweep_step_left = SERVO_SWEEP_TO_LEFT_STEP;
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_servo_sweep_step_right = SERVO_SWEEP_TO_RIGHT_STEP;
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_servo_position_set_at_ms = millis();
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_servo_position_eta_in_ms = 0;
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NVS.begin();
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_get_calibration_factor();
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_drive_left_speed = H_DRIVE_LEFT_SPEED;
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_drive_right_speed = H_DRIVE_RIGHT_SPEED;
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_turn_left_for_ms = H_RACER_TURN_LEFT_FOR_MS;
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@ -274,7 +279,7 @@ void CodeRacerMKII::drive_forward(uint8_t left_speed, uint8_t right_speed)
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set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD);
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set_drives_speed_left_right(left_speed, right_speed);
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wifi_printf("Driving forward...");
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set_leds(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF);
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//set_leds(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF);
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_drive = true;
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_drive_set_at_ms = millis();
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}
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@ -310,7 +315,7 @@ void CodeRacerMKII::drive_backward(uint8_t left_speed, uint8_t right_speed)
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set_drives_states_left_right(DRIVEBACK, DRIVEBACK);
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set_drives_speed_left_right(left_speed, right_speed);
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wifi_printf("Driving Backwards...");
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set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF);
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//set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF);
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_drive = true;
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_drive_set_at_ms = millis();
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}
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@ -358,7 +363,7 @@ void CodeRacerMKII::turn_left(unsigned long turn_for_ms)
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void CodeRacerMKII::turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
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{
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_drive = false;
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set_leds(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
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//set_leds(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
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set_drives_states_left_right(DRIVEBACK, DRIVEFRWD);
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set_drives_speed_left_right(left_speed, right_speed);
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@ -403,7 +408,7 @@ void CodeRacerMKII::turn_right(unsigned long turn_for_ms)
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void CodeRacerMKII::turn_right(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
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{
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_drive = false;
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set_leds(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
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//set_leds(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
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set_drives_states_left_right(DRIVEFRWD, DRIVEBACK);
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set_drives_speed_left_right(left_speed, right_speed);
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wifi_printf("Turning right! <p>");
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@ -460,11 +465,11 @@ bool CodeRacerMKII::start_stop() {
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if (_coderracer_activ != coderracer_activ) {
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_coderracer_activ = coderracer_activ;
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if (true == _coderracer_activ) {
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set_leds_all_off();
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//set_leds_all_off();
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}
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else {
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stop_driving();
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set_leds_all_off();
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//set_leds_all_off();
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servo_set_to_center();
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_servo_look_around_at_ms = millis() + random(20000, 120000);
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}
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@ -899,11 +904,11 @@ void CodeRacerMKII::servo_sweep()
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//sprintf(_debugmsg,"[%s] current position=%ld newpostion=%ld", __func__, _servo_position, position);
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if ((position >= servo_sweep_left_pos) || (position >= SERVO_MAX_POSITION)) {
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position = servo_sweep_left_pos;
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_servo_sweep_step = SERVO_SWEEP_TO_RIGHT_STEP;
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_servo_sweep_step = _servo_sweep_step_right;
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}
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if ((position <= servo_sweep_right_pos) || (position <= SERVO_MIN_POSITION)) {
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position = servo_sweep_right_pos;
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_servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;
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_servo_sweep_step = _servo_sweep_step_left;
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}
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_servo_set_position(position);
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}
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@ -1245,7 +1250,6 @@ void CodeRacerMKII::speed_settings(uint8_t drive_left_speed, uint8_t drive_right
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_drive_left_speed = drive_left_speed;
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_drive_right_speed = drive_right_speed;
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}
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/** @brief Overwrites some drive settings. This will replace the defaults set by the values in the header file.
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* @param drive_left_speed Speed of the left side drive
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* @param drive_right_speed Speed of the right side drive
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@ -1366,9 +1370,15 @@ void CodeRacerMKII::set_drives_speed_left_right(uint8_t speedleft, uint8_t speed
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* @return nothing
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*/
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void CodeRacerMKII::set_drive_left_speed(uint8_t speed) {
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set_drive_speed(speed, _drive_left_enable_pin);
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uint16_t max_speed = speed / _calibration_factor;
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if (speed > max_speed)
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set_drive_speed(max_speed, _drive_left_enable_pin);
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else
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set_drive_speed(speed, _drive_left_enable_pin);
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}
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/** @brief Sets the speed for the right side drive.
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*
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* The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before
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@ -1376,6 +1386,10 @@ void CodeRacerMKII::set_drive_left_speed(uint8_t speed) {
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* @return nothing
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*/
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void CodeRacerMKII::set_drive_right_speed(uint8_t speed) {
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uint max_speed = speed * _calibration_factor;
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if (speed > max_speed)
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set_drive_speed(max_speed, _drive_right_enable_pin);
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else
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set_drive_speed(speed, _drive_right_enable_pin);
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}
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@ -1577,8 +1591,6 @@ void CodeRacerMKII::set_leds(ledstate leftled, ledstate rightled, ledstate stopl
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void CodeRacerMKII::set_leds_all(ledstate alleds) {
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digitalWrite(_led_left_pin, alleds);
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digitalWrite(_led_right_pin, alleds);
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digitalWrite(_led_stop_pin, alleds);
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digitalWrite(_led_frwd_pin, alleds);
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digitalWrite(_led_blue_pin, alleds);
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digitalWrite(_led_white_pin, alleds);
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}
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@ -1597,6 +1609,77 @@ void CodeRacerMKII::set_leds_all_on() {
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set_leds_all(LEDON);
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}
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int CodeRacerMKII::get_sweep_step_left()
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{
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return _servo_sweep_step_left;
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}
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int CodeRacerMKII::get_sweep_step_right()
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{
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return _servo_sweep_step_right;
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}
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void CodeRacerMKII::set_sweep_step_left(int stepleft)
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{
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_servo_sweep_step_left = stepleft;
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}
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void CodeRacerMKII::set_sweep_step_right(int stepright)
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{
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_servo_sweep_step_right = stepright;
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}
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void CodeRacerMKII::_get_calibration_factor()
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{
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_calibration_factor= NVS.getFloat("calfactor");
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}
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void CodeRacerMKII::_set_calibration_factor(float _factor)
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{
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NVS.setFloat("calfactor", _factor);
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}
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void CodeRacerMKII::calibrate_drives()
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{
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float smallest = 100;
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float biggest = -1;
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float sumfactor = 0;
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int number_value = 0;
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_calibration_factor = 1;
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Coderacer.speed_settings(255,255);
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Coderacer.drive_forward();
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wait_ms(2000);
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for(int value = 100; value <= 200; value = value + 20)
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{
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Coderacer.speed_settings(value, value);
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Coderacer.drive_forward();
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wait_ms(1000);
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int startleft = Coderacer.show_left_stepcounter();
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int startright = Coderacer.show_right_stepcounter();
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wait_ms(10000);
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Coderacer.stop_driving();
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int left = Coderacer.show_left_stepcounter() - startleft;
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int right = Coderacer.show_right_stepcounter() - startright;
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if (left > 0 && right > 0)
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{
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float lefttoright = (float)left / (float)right;
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number_value++;
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sumfactor = sumfactor +lefttoright;
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if (lefttoright < smallest)
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smallest = lefttoright;
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if (lefttoright > biggest)
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biggest = lefttoright;
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}
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}
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Coderacer.set_inactive();
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sumfactor = sumfactor - smallest - biggest;
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number_value = number_value - 2;
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_factor = (float)sumfactor / (float)number_value;
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_set_calibration_factor(_factor);
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_get_calibration_factor();
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}
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/** @} */ // end of group lowerlevelledmets
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/** @} */ // end of group lowerlevelled
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@ -1636,7 +1719,7 @@ static void IRAM_ATTR _count_steps_left() {
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//timeafterleft= millis();
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//timebeforeleft = timebeforeleft == 0 ? timeafterleft : timebeforeleft;
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left_step_counter++;
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if (left_step_counter==left_step_stopcount)
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if (left_step_counter>=left_step_stopcount && left_step_stopcount != 0)
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{
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Coderacer.stop_driving();
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left_step_stopcount= 0;
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@ -1652,7 +1735,7 @@ static void IRAM_ATTR _count_steps_right() {
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//timeafterright= millis();
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//timebeforeright = timebeforeright == 0 ? timeafterright : timebeforeright;
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right_step_counter++;
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if (right_step_counter==right_step_stopcount)
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if (right_step_counter>=right_step_stopcount && right_step_stopcount != 0)
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{
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Coderacer.stop_driving();
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left_step_stopcount=0;
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@ -1705,3 +1788,21 @@ void wait_ms(long waittime_ms)
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while(millis()-started_ms < waittime_ms){}
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}
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//**********************************************************************************************************************
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//** Status **
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//**********************************************************************************************************************
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void CodeRacerMKII::battery_test()
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{
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uint32_t voltage = analogReadMilliVolts(26);
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if(voltage < 1801 && voltage > 1500)
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Coderacer.set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON);
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else if(voltage < 1500)
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{
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Coderacer.set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON);
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wait_ms(500);
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Coderacer.set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF);
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}
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else
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Coderacer.set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF);
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}
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@ -6,6 +6,7 @@
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#include "Webserver.h"
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#include <vector> // support for vectors
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#include <string>
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#include <TridentTD_ESP32NVS.h>
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#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
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#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
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@ -36,7 +37,7 @@
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#define SERVO_SWEEP_MS 10 // duration of time betwee to sweep steps
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#define SERVO_MAX_POSITION 170 // maximum servo position
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#define SERVO_MIN_POSITION 10 // minimum servo position
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#define SERVO_SET_1TICK_POSITION_DELAY_MS 3 // minimum duration of time between two servo steps
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#define SERVO_SET_1TICK_POSITION_DELAY_MS 5 // minimum duration of time between two servo steps
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//----- PE- barrier -----
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#define H_LEFT_BARRIER_PIN 34
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@ -145,6 +146,8 @@ class CodeRacerMKII {
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//servo variables
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int8_t _servo_sweep_step;
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int8_t _servo_sweep_step_left;
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int8_t _servo_sweep_step_right;
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uint8_t _servo_position;
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unsigned long _servo_position_set_at_ms;
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unsigned long _servo_position_eta_in_ms;
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@ -154,6 +157,8 @@ class CodeRacerMKII {
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uint8_t _drive_right_speed;
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unsigned long _turn_left_for_ms;
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unsigned long _turn_right_for_ms;
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float _calibration_factor;
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float _factor;
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// ultrasonic variables
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bool _coderacer_stopped_at_min_distance;
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@ -182,6 +187,8 @@ class CodeRacerMKII {
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static void _set_button_state_right();
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static void _stop_obstacle_left();
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static void _stop_obstacle_right();
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void _get_calibration_factor();
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void _set_calibration_factor(float _factor);
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void _analog_write(uint8_t pin, uint8_t speed);
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unsigned long _servo_set_position(uint8_t position);
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@ -212,6 +219,9 @@ class CodeRacerMKII {
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void begin();
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//status
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void battery_test();
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// getters
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bool is_active();
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bool is_driving();
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@ -310,6 +320,7 @@ class CodeRacerMKII {
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bool obstacle_check_right();
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bool obstacle_check_left();
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bool obstacle_check (uint8_t sensorpin);
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void calibrate_drives();
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// Ultrasonic sensor
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unsigned long usonic_measure_cm();
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@ -331,6 +342,10 @@ class CodeRacerMKII {
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void servo_set_to_left();
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void servo_set_to_center();
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void servo_sweep();
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int get_sweep_step_left();
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int get_sweep_step_right();
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void set_sweep_step_right(int stepright);
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void set_sweep_step_left(int stepleft);
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// just for fun
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void kitt();
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