OK, thanks for the help!
I am using the pixel count to determine the angle. I am also using a mecanum drive. It approaches the light real well, but I am having trouble figuring out which way to go, and when to stop when the robot is squared up with the light. Could anyone take a look at my code and tell me whats going on?
Thanks!
/*******************************************************************************
- FILE NAME: user_routines_fast.c <FRC VERSION>
-
- DESCRIPTION:
- This file is where the user can add their custom code within the framework
- of the routines below.
-
- USAGE:
- You can either modify this file to fit your needs, or remove it from your
- project and replace it with a modified copy.
-
- OPTIONS: Interrupts are disabled and not used by default.
-
*******************************************************************************/
#include <stdio.h>
#include “ifi_aliases.h”
#include “ifi_default.h”
#include “ifi_utilities.h”
#include “user_routines.h”
//#include “user_Serialdrv.h”
#include “serial_ports.h”
#include “pwm.h”
#include “camera.h”
#include “tracking.h”
#include “terminal.h”
/*** DEFINE USER VARIABLES AND INITIALIZE THEM HERE ***/
/***
Wait function
***/
short int waitcounter = 0;
void Wait (short int duration)
{
while (duration < waitcounter)
{
waitcounter++;
}
waitcounter = 0;
}
/*******************************************************************************
- FUNCTION NAME: InterruptVectorLow
- PURPOSE: Low priority interrupt vector
- CALLED FROM: nowhere by default
- ARGUMENTS: none
- RETURNS: void
- DO NOT MODIFY OR DELETE THIS FUNCTION
*******************************************************************************/
#pragma code InterruptVectorLow = LOW_INT_VECTOR
void InterruptVectorLow (void)
{
_asm
goto InterruptHandlerLow /jump to interrupt routine/
_endasm
}
/*******************************************************************************
- FUNCTION NAME: InterruptHandlerLow
- PURPOSE: Low priority interrupt handler
- If you want to use these external low priority interrupts or any of the
- peripheral interrupts then you must enable them in your initialization
- routine. Innovation First, Inc. will not provide support for using these
- interrupts, so be careful. There is great potential for glitchy code if good
- interrupt programming practices are not followed. Especially read p. 28 of
- the “MPLAB® C18 C Compiler User’s Guide” for information on context saving.
- CALLED FROM: this file, InterruptVectorLow routine
- ARGUMENTS: none
- RETURNS: void
*******************************************************************************/
#pragma code
#pragma interruptlow InterruptHandlerLow save=PROD,section(".tmpdata")
void InterruptHandlerLow ()
{
if (PIR1bits.RC1IF && PIE1bits.RC1IE) // rx1 interrupt?
{
#ifdef ENABLE_SERIAL_PORT_ONE_RX
Rx_1_Int_Handler(); // call the rx1 interrupt handler (in serial_ports.c)
#endif
}
else if (PIR3bits.RC2IF && PIE3bits.RC2IE) // rx2 interrupt?
{
#ifdef ENABLE_SERIAL_PORT_TWO_RX
Rx_2_Int_Handler(); // call the rx2 interrupt handler (in serial_ports.c)
#endif
}
else if (PIR1bits.TX1IF && PIE1bits.TX1IE) // tx1 interrupt?
{
#ifdef ENABLE_SERIAL_PORT_ONE_TX
Tx_1_Int_Handler(); // call the tx1 interrupt handler (in serial_ports.c)
#endif
}
else if (PIR3bits.TX2IF && PIE3bits.TX2IE) // tx2 interrupt?
{
#ifdef ENABLE_SERIAL_PORT_TWO_TX
Tx_2_Int_Handler(); // call the tx2 interrupt handler (in serial_ports.c)
#endif
}
// *** IFI Code Starts Here***
//
// unsigned char int_byte;
// if (INTCON3bits.INT2IF && INTCON3bits.INT2IE) /* The INT2 pin is RB2/DIG I/O 1. /
// {
// INTCON3bits.INT2IF = 0;
// }
// else if (INTCON3bits.INT3IF && INTCON3bits.INT3IE) / The INT3 pin is RB3/DIG I/O 2. /
// {
// INTCON3bits.INT3IF = 0;
// }
// else if (INTCONbits.RBIF && INTCONbits.RBIE) / DIG I/O 3-6 (RB4, RB5, RB6, or RB7) changed. /
// {
// int_byte = PORTB; / You must read or write to PORTB /
// INTCONbits.RBIF = 0; / and clear the interrupt flag /
// } / to clear the interrupt condition. /
// else
// {
// CheckUartInts(); / For Dynamic Debug Tool or buffered printf features. */
// }
}
/*******************************************************************************
- FUNCTION NAME: User_Autonomous_Code
- PURPOSE: Execute user’s code during autonomous robot operation.
- You should modify this routine by adding code which you wish to run in
- autonomous mode. It will be executed every program loop, and not
- wait for or use any data from the Operator Interface.
- CALLED FROM: main.c file, main() routine when in Autonomous mode
- ARGUMENTS: none
- RETURNS: void
*******************************************************************************/
short int autoshutoffcounter = 0;
short int donecounting = 0;
short int rampup = 127;
short int donetraveling = 0;
short int donestraifing = 0;
short int stopdir1 = 0;
short int stopdir2 = 0;
char curpixnum = 0;
char prevpixnum = 0;
char maxpixnum = 0;
char testmove = 0;
#define left 1
#define right 0
char currentdir = 0;
#define fullspeed 40
#define pwmstop 127
const int fullfwd = pwmstop + fullspeed;
const int fullrev = pwmstop - fullspeed;
void User_Autonomous_Code(void)
{
/* Initialize all PWMs and Relays when entering Autonomous mode, or else it
will be stuck with the last values mapped from the joysticks. Remember,
even when Disabled it is reading inputs from the Operator Interface.
*/
pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;
while (autonomous_mode) /* DO NOT CHANGE! /
{
if (statusflag.NEW_SPI_DATA) / 26.2ms loop area /
{
Getdata(&rxdata); / DO NOT DELETE, or you will be stuck here forever! */
/* Add your own autonomous code here. */
//////////////////////////////////////////////////////ROBOT SETUP!!!
// DO NOT CHANGE!!!
//REMOTE PROGRAMMING
relay8_fwd = p4_sw_aux2; //WONT WORK B/C IN AUTONOMOUS
//REMOTE PROGRAMMING!!!
//REMOTE SPEED CONTROLLER AUTO SHUTOFF
//defaultspeedreset += 1; //Sets default
//if (autospeedreset == 1)
// {
// autoshutoffcounter = 0;
// }
if (donecounting == 0) //if not done initializing
{
if (autoshutoffcounter < 40) //1 second = app. 40 counts of program 25
//leaves relay off untill equal to 25 and adds one
{
relay7_fwd = 0;
autoshutoffcounter += 1;
}
else if (autoshutoffcounter == 40) //once it = 25 add one 25
{
relay7_fwd = 1;
autoshutoffcounter += 1;
}
else if (autoshutoffcounter < 52) //once it = 52 count again (wait untill speed controllers are fully initialized
{
autoshutoffcounter += 1;
}
else if (autoshutoffcounter == 52) //if = 52 set donecounting = 1
{
donecounting = 1; //Stops all initialization once done
autoshutoffcounter += 1; //adds one so no other tests will work
Pwm1_green = 1;
}
}
//REMOTE SPEED CONTROLLER AUTO SHUTOFF
//DO NOT CHANGE!!!
//////////////////////////////////////////////////////ROBOT SETUP!!!
// DOESENT WORK!!! NEEDS TO WAIT UNTILL SPEED CONTROLLERS ARE DONE INITIALIZING APP 1.5 SECONDS
// CHECK WAIT FUNCTION
if (donecounting == 1) //Put autonomous code here.//////////really
{
/pwm03 = 200; would straif in circle
pwm04 = 255-160;
pwm05 = 160;
pwm06 = 255-200;/
Camera_Handler();
Servo_Track();
if ((T_Packet_Data.pixels > 2) && (donetraveling == 0))
{
if (PAN_SERVO > 134) // camera points right small deadband
{
int rightness = PAN_SERVO - 134;
int rightpwm = fullfwd - ((rightness / 114.0) * fullspeed);
// set left wheels to "full" speed
pwm03 = pwm04 = fullfwd + 10;
// scale right wheel speed to inverse of camera angle
pwm05 = pwm06 = rightpwm;
printf("right... \r");
}
else if (PAN_SERVO < 114) // camera points left
{
int leftness = 114 - PAN_SERVO;
int leftpwm = fullfwd - ((leftness / 114.0) * fullspeed);
// set left wheels to "full" speed
pwm03 = pwm04 = leftpwm;
// scale right wheel speed to inverse of camera angle
pwm05 = pwm06 = fullfwd + 10;
printf("left... \r");
}
else // camera points straight(ish)
{
pwm03 = pwm04 = fullfwd;
pwm05 = pwm06 = fullfwd;
printf("straight... \r");
}
}
if ((TILT_SERVO >= 194) && (donetraveling == 0) && (T_Packet_Data.pixels >= 2)) //was 194
{
pwm03 = 127;
pwm04 = 127;
pwm05 = 127;
pwm06 = 127;
donetraveling = 1;
printf(“Stopping… \r”);
}
if ((donetraveling == 1) && (donestraifing == 0)) //straif in circle
{
if (testmove = 0) //starts off going left
{
printf(“straif in circle… \r”);
pwm03 = 200; //left
pwm04 = 255-160;
pwm05 = 160;
pwm06 = 255-200;
currentdir = 1; //sets current dir as 1
testmove = 1; // add one so never do again
prevpixnum = T_Packet_Data.pixels; //sets prev pixle count
waitcounter = 0;
Wait(500000);
printf("Start off left... \r");
}
curpixnum = T_Packet_Data.pixels; //sets current number of pixels
if ((curpixnum < prevpixnum) && (stopdir1 == 0)) //if current number of pixels is less than previous number of pixels
{
stopdir1 = 1;
waitcounter = 0;
Wait(500000);
printf("curpixnum < prevpixnum... \r");
currentdir = !currentdir; //invert direction
if (prevpixnum > maxpixnum) //check if previous pixle number is greater than max pixle number
{
waitcounter = 0;
Wait(500000);
printf("prevpixnum > maxpixnum \r");
maxpixnum = prevpixnum; //set max pixle number to new previous pixle number
}
}
if (curpixnum > prevpixnum) //if values have been increasing
{
printf("curpixnum > prevpixnum \r");
waitcounter = 0;
Wait(500000);
if (curpixnum >= maxpixnum) //if current pixle number is greater than max pixle number
{
waitcounter = 0;
Wait(500000);
printf("curpixnum > maxpixnum \r");
maxpixnum = curpixnum; //set max pixle number to current pixle number
}
else if ((curpixnum < maxpixnum) || (prevpixnum < maxpixnum)) //if max is greater than current (center is passed) invert untill current = max
{
printf("maxpixnum > curpixnum \r");
currentdir = !currentdir; printf("inverting \r"); //invert direction
waitcounter = 0;
Wait(1000);
printf("curpixnum = maxpixnum \r");
pwm03=pwm04=pwm05=pwm06=127; // stop
donestraifing = 1;
}
}
if ((currentdir == 1) && (donestraifing == 0)) //if current dir = 1
{
printf("Straifing left \r");
pwm03 = 180; //left
pwm04 = 255-140;
pwm05 = 140;
pwm06 = 255-180;
waitcounter = 0;
Wait(500000);
}
else if (donestraifing == 0)
{
printf("straifing right \r");
pwm03 = 255-180; //right
pwm04 = 140;
pwm05 = 255-140;
pwm06 = 180;
waitcounter = 0;
Wait(500000);
}
} //end of alignment
if (donestraifing == 1)
{
pwm03=pwm04=pwm05=pwm06=127; // stop
}
prevpixnum = T_Packet_Data.pixels;
//printf("Blob size %d\r", T_Packet_Data.pixels);
//printf("Tilt %d\r", TILT_SERVO);
//printf("x1 %d\r", T_Packet_Data.x1);
//printf("x2 %d\r", T_Packet_Data.x2);
//printf("diff %d\r", T_Packet_Data.x2 - T_Packet_Data.x1);
}
Generate_Pwms(pwm13,pwm14,pwm15,pwm16);
Putdata(&txdata); /* DO NOT DELETE, or you will get no PWM outputs! */
}
}
}
/*******************************************************************************
- FUNCTION NAME: Process_Data_From_Local_IO
- PURPOSE: Execute user’s realtime code.
- You should modify this routine by adding code which you wish to run fast.
- It will be executed every program loop, and not wait for fresh data
- from the Operator Interface.
- CALLED FROM: main.c
- ARGUMENTS: none
- RETURNS: void
******************************************************************************/
void Process_Data_From_Local_IO(void)
{
/ Add code here that you want to be executed every program loop. */
}
/*******************************************************************************
- FUNCTION NAME: Serial_Char_Callback
- PURPOSE: Interrupt handler for the TTL_PORT.
- CALLED FROM: user_SerialDrv.c
- ARGUMENTS:
-
Argument Type IO Description
-
-------- ---- -- -----------
-
data unsigned char I Data received from the TTL_PORT
- RETURNS: void
*******************************************************************************/
void Serial_Char_Callback(unsigned char data)
{
/* Add code to handle incomming data (remember, interrupts are still active) */
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
