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car.cpp
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car.cpp
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/*
* @Author: ELEGOO
* @Date: 2019-10-22 11:59:09
* @LastEditTime: 2021-01-05 09:30:14
* @LastEditors: Changhua
* @Description: Smart Robot Car V4.0
* @FilePath:
*/
#include <avr/wdt.h>
//#include <hardwareSerial.h>
#include <stdio.h>
#include <string.h>
#include <limits.h>
#include "car.h"
#include "DeviceDriverSet_xxx0.h"
#include "ArduinoJson-v6.11.1.h" //ArduinoJson
#include "MPU6050_getdata.h"
#define US_ROTATION_INITIAL 90
#define US_ROTATION_STEP 30
#define US_COLLISION_DISTANCE 20
#define CAR_CRUISE_SPEED 100
#define CAR_TURN_SPEED 50
#define CAR_TURN_INTERVAL_MS 100
#define CAR_TURN_TOLERANCE_DEG 10
#define SEMAPHORE_GREEN 0xF00DCAFE
#define SEMAPHORE_RED 0xDEADC0DE
#define _is_print 1
#define _Test_print 0
Car Application_FunctionSet;
IRrecv IRReceiver(9);
/*Hardware device object list*/
MPU6050_getdata AppMPU6050getdata;
DeviceDriverSet_RBGLED AppRBG_LED;
DeviceDriverSet_Key AppKey;
DeviceDriverSet_ITR20001 AppITR20001;
DeviceDriverSet_Voltage AppVoltage;
DeviceDriverSet_Motor AppMotor;
DeviceDriverSet_ULTRASONIC AppULTRASONIC;
DeviceDriverSet_Servo AppServo;
DeviceDriverSet_IRrecv AppIRrecv;
int contatore = 0;
/*f(x) int */
static boolean
valueWithin(long x, long s, long e) //f(x)
{
if (s <= x && x <= e)
return true;
else
return false;
}
static void
delayMS(uint16_t _ms)
{
wdt_reset();
for (unsigned long i = 0; i < _ms; i++)
{
delay(1);
}
}
/*Movement Direction Control List*/
enum SmartRobotCarMotionControl
{
Forward, //(1)
Backward, //(2)
Left, //(3)
Right, //(4)
LeftForward, //(5)
LeftBackward, //(6)
RightForward, //(7)
RightBackward, //(8)
stop_it //(9)
}; //direction方向:（1）、（2）、 （3）、（4）、（5）、（6）
/*Mode Control List*/
enum SmartRobotCarFunctionalModel
{
Standby_mode, /*Standby Mode*/
TraceBased_mode, /*Line Tracking Mode*/
ObstacleAvoidance_mode, /*Obstacle Avoidance Mode*/
Follow_mode, /*Following Mode*/
Rocker_mode, /*Rocker Control Mode*/
CMD_inspect,
CMD_Programming_mode, /*Programming Mode*/
CMD_ClearAllFunctions_Standby_mode, /*Clear All Functions And Enter Standby Mode*/
CMD_ClearAllFunctions_Programming_mode, /*Clear All Functions And Enter Programming Mode*/
CMD_MotorControl, /*Motor Control Mode*/
CMD_CarControl_TimeLimit, /*Car Movement Direction Control With Time Limit*/
CMD_CarControl_NoTimeLimit, /*Car Movement Direction Control Without Time Limit*/
CMD_MotorControl_Speed, /*Motor Speed Control*/
CMD_ServoControl, /*Servo Motor Control*/
CMD_LightingControl_TimeLimit, /*RGB Lighting Control With Time Limit*/
CMD_LightingControl_NoTimeLimit, /*RGB Lighting Control Without Time Limit*/
};
/*Application Management list*/
struct Application_xxx
{
SmartRobotCarMotionControl Motion_Control;
SmartRobotCarFunctionalModel Functional_Mode;
unsigned long CMD_CarControl_Millis;
unsigned long CMD_LightingControl_Millis;
};
Application_xxx Application_SmartRobotCarxxx0;
bool ApplicationFunctionSet_SmartRobotCarLeaveTheGround(void);
void ApplicationFunctionSet_SmartRobotCarLinearMotionControl(SmartRobotCarMotionControl direction, uint8_t directionRecord, uint8_t speed, uint8_t Kp, uint8_t UpperLimit);
void ApplicationFunctionSet_SmartRobotCarMotionControl(SmartRobotCarMotionControl direction, uint8_t is_speed);
void Car::ApplicationFunctionSet_Init(void)
{
bool res_error = true;
Serial.begin(9600);
AppVoltage.DeviceDriverSet_Voltage_Init();
AppMotor.DeviceDriverSet_Motor_Init();
AppServo.DeviceDriverSet_Servo_Init(90);
AppKey.DeviceDriverSet_Key_Init();
AppRBG_LED.DeviceDriverSet_RBGLED_Init(20);
AppIRrecv.DeviceDriverSet_IRrecv_Init();
Serial.println("Initialized IR Receiver");
AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Init();
AppITR20001.DeviceDriverSet_ITR20001_Init();
res_error = AppMPU6050getdata.MPU6050_dveInit();
AppMPU6050getdata.MPU6050_calibration();
// Initialize IR Receiver
IRReceiver.enableIRIn();
Serial.println("Enabled IR Receiver");
Application_SmartRobotCarxxx0.Functional_Mode = ObstacleAvoidance_mode;
}
/*ITR20001 Check if the car leaves the ground*/
static bool ApplicationFunctionSet_SmartRobotCarLeaveTheGround(void)
{
if (AppITR20001.DeviceDriverSet_ITR20001_getAnaloguexxx_R() > Application_FunctionSet.TrackingDetection_V &&
AppITR20001.DeviceDriverSet_ITR20001_getAnaloguexxx_M() > Application_FunctionSet.TrackingDetection_V &&
AppITR20001.DeviceDriverSet_ITR20001_getAnaloguexxx_L() > Application_FunctionSet.TrackingDetection_V)
{
Application_FunctionSet.Car_LeaveTheGround = false;
return false;
}
else
{
Application_FunctionSet.Car_LeaveTheGround = true;
return true;
}
}
/*
Straight line movement control：For dual-drive motors, due to frequent motor coefficient deviations and many external interference factors,
it is difficult for the car to achieve relative Straight line movement. For this reason, the feedback of the yaw control loop is added.
direction：only forward/backward
directionRecord：Used to update the direction and position data (Yaw value) when entering the function for the first time.
speed：the speed range is 0~255
Kp：Position error proportional constant（The feedback of improving location resuming status，will be modified according to different mode），improve damping control.
UpperLimit：Maximum output upper limit control
*/
static void ApplicationFunctionSet_SmartRobotCarLinearMotionControl(SmartRobotCarMotionControl direction, uint8_t directionRecord, uint8_t speed, uint8_t Kp, uint8_t UpperLimit)
{
static float Yaw; //Yaw
static float yaw_So = 0;
static uint8_t en = 110;
static unsigned long is_time;
if (en != directionRecord || millis() - is_time > 10)
{
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_void, /*speed_A*/ 0,
/*direction_B*/ direction_void, /*speed_B*/ 0, /*controlED*/ control_enable); //Motor control
AppMPU6050getdata.MPU6050_dveGetEulerAngles(&Yaw);
is_time = millis();
}
//if (en != directionRecord)
if (en != directionRecord || Application_FunctionSet.Car_LeaveTheGround == false)
{
en = directionRecord;
yaw_So = Yaw;
}
//Add proportional constant Kp to increase rebound effect
int R = (Yaw - yaw_So) * Kp + speed;
if (R > UpperLimit)
{
R = UpperLimit;
}
else if (R < 10)
{
R = 10;
}
int L = (yaw_So - Yaw) * Kp + speed;
if (L > UpperLimit)
{
L = UpperLimit;
}
else if (L < 10)
{
L = 10;
}
if (direction == Forward) //Forward
{
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_just, /*speed_A*/ R,
/*direction_B*/ direction_just, /*speed_B*/ L, /*controlED*/ control_enable);
}
else if (direction == Backward) //Backward
{
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_back, /*speed_A*/ L,
/*direction_B*/ direction_back, /*speed_B*/ R, /*controlED*/ control_enable);
}
}
/*
Movement Direction Control:
Input parameters: 1# direction:Forward（1）、Backward（2）、 Left（3）、Right（4）、LeftForward（5）、LeftBackward（6）、RightForward（7）RightBackward（8）
2# speed(0--255)
*/
static void ApplicationFunctionSet_SmartRobotCarMotionControl(SmartRobotCarMotionControl direction, uint8_t is_speed)
{
Car Application_FunctionSet;
static uint8_t directionRecord = 0;
uint8_t Kp, UpperLimit;
uint8_t speed = is_speed;
//Control mode that requires straight line movement adjustment（Car will has movement offset easily in the below mode，the movement cannot achieve the effect of a relatively straight direction
//so it needs to add control adjustment）
switch (Application_SmartRobotCarxxx0.Functional_Mode)
{
case Rocker_mode:
Kp = 10;
UpperLimit = 255;
break;
case ObstacleAvoidance_mode:
Kp = 2;
UpperLimit = 180;
break;
case Follow_mode:
Kp = 2;
UpperLimit = 180;
break;
case CMD_CarControl_TimeLimit:
Kp = 2;
UpperLimit = 180;
break;
case CMD_CarControl_NoTimeLimit:
Kp = 2;
UpperLimit = 180;
break;
default:
Kp = 10;
UpperLimit = 255;
break;
}
switch (direction)
{
case /* constant-expression */
Forward:
/* code */
if (Application_SmartRobotCarxxx0.Functional_Mode == TraceBased_mode)
{
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_just, /*speed_A*/ speed,
/*direction_B*/ direction_just, /*speed_B*/ speed, /*controlED*/ control_enable); //Motor control
}
else
{ //When moving forward, enter the direction and position approach control loop processing
ApplicationFunctionSet_SmartRobotCarLinearMotionControl(Forward, directionRecord, speed, Kp, UpperLimit);
directionRecord = 1;
}
break;
case /* constant-expression */ Backward:
/* code */
if (Application_SmartRobotCarxxx0.Functional_Mode == TraceBased_mode)
{
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_back, /*speed_A*/ speed,
/*direction_B*/ direction_back, /*speed_B*/ speed, /*controlED*/ control_enable); //Motor control
}
else
{ //When moving backward, enter the direction and position approach control loop processing
ApplicationFunctionSet_SmartRobotCarLinearMotionControl(Backward, directionRecord, speed, Kp, UpperLimit);
directionRecord = 2;
}
break;
case /* constant-expression */ Left:
/* code */
directionRecord = 3;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_just, /*speed_A*/ speed,
/*direction_B*/ direction_back, /*speed_B*/ speed, /*controlED*/ control_enable); //Motor control
break;
case /* constant-expression */ Right:
/* code */
directionRecord = 4;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_back, /*speed_A*/ speed,
/*direction_B*/ direction_just, /*speed_B*/ speed, /*controlED*/ control_enable); //Motor control
break;
case /* constant-expression */ LeftForward:
/* code */
directionRecord = 5;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_just, /*speed_A*/ speed,
/*direction_B*/ direction_just, /*speed_B*/ speed / 2, /*controlED*/ control_enable); //Motor control
break;
case /* constant-expression */ LeftBackward:
/* code */
directionRecord = 6;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_back, /*speed_A*/ speed,
/*direction_B*/ direction_back, /*speed_B*/ speed / 2, /*controlED*/ control_enable); //Motor control
break;
case /* constant-expression */ RightForward:
/* code */
directionRecord = 7;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_just, /*speed_A*/ speed / 2,
/*direction_B*/ direction_just, /*speed_B*/ speed, /*controlED*/ control_enable); //Motor control
break;
case /* constant-expression */ RightBackward:
/* code */
directionRecord = 8;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_back, /*speed_A*/ speed / 2,
/*direction_B*/ direction_back, /*speed_B*/ speed, /*controlED*/ control_enable); //Motor control
break;
case /* constant-expression */ stop_it:
/* code */
directionRecord = 9;
AppMotor.DeviceDriverSet_Motor_control(/*direction_A*/ direction_void, /*speed_A*/ 0,
/*direction_B*/ direction_void, /*speed_B*/ 0, /*controlED*/ control_enable); //Motor control
break;
default:
directionRecord = 10;
break;
}
}
/*
Robot car update sensors' data:Partial update (selective update)
*/
void Car::ApplicationFunctionSet_SensorDataUpdate(void)
{
// AppMotor.DeviceDriverSet_Motor_Test();
{ /*Battery voltage status update*/
static unsigned long VoltageData_time = 0;
static int VoltageData_number = 1;
if (millis() - VoltageData_time > 10) //read and update the data per 10ms
{
VoltageData_time = millis();
VoltageData_V = AppVoltage.DeviceDriverSet_Voltage_getAnalogue();
if (VoltageData_V < VoltageDetection)
{
VoltageData_number++;
if (VoltageData_number == 500) //Continuity to judge the latest voltage value multiple
{
VoltageDetectionStatus = true;
VoltageData_number = 0;
}
}
else
{
VoltageDetectionStatus = false;
}
}
}
// { /*value updation for the ultrasonic sensor：for the Obstacle Avoidance mode*/
// AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Get(&UltrasoundData_cm /*out*/);
// UltrasoundDetectionStatus = function_xxx(UltrasoundData_cm, 0, ObstacleDetection);
// }
{ /*value updation for the IR sensors on the line tracking module：for the line tracking mode*/
TrackingData_R = AppITR20001.DeviceDriverSet_ITR20001_getAnaloguexxx_R();
TrackingDetectionStatus_R = valueWithin(TrackingData_R, TrackingDetection_S, TrackingDetection_E);
TrackingData_M = AppITR20001.DeviceDriverSet_ITR20001_getAnaloguexxx_M();
TrackingDetectionStatus_M = valueWithin(TrackingData_M, TrackingDetection_S, TrackingDetection_E);
TrackingData_L = AppITR20001.DeviceDriverSet_ITR20001_getAnaloguexxx_L();
TrackingDetectionStatus_L = valueWithin(TrackingData_L, TrackingDetection_S, TrackingDetection_E);
//ITR20001 Check if the car leaves the ground
ApplicationFunctionSet_SmartRobotCarLeaveTheGround();
}
// acquire timestamp
// static unsigned long Test_time;
// if (millis() - Test_time > 200)
// {
// Test_time = millis();
// //AppITR20001.DeviceDriverSet_ITR20001_Test();
// }
}
/*
Startup operation requirement：
*/
void Car::ApplicationFunctionSet_Bootup(void)
{
Application_SmartRobotCarxxx0.Functional_Mode = Standby_mode;
}
static void CMD_Lighting(uint8_t is_LightingSequence, int8_t is_LightingColorValue_R, uint8_t is_LightingColorValue_G, uint8_t is_LightingColorValue_B)
{
switch (is_LightingSequence)
{
case 0:
AppRBG_LED.DeviceDriverSet_RBGLED_Color(NUM_LEDS, is_LightingColorValue_R, is_LightingColorValue_G, is_LightingColorValue_B);
break;
case 1: /*Left*/
AppRBG_LED.DeviceDriverSet_RBGLED_Color(3, is_LightingColorValue_R, is_LightingColorValue_G, is_LightingColorValue_B);
break;
case 2: /*Forward*/
AppRBG_LED.DeviceDriverSet_RBGLED_Color(2, is_LightingColorValue_R, is_LightingColorValue_G, is_LightingColorValue_B);
break;
case 3: /*Right*/
AppRBG_LED.DeviceDriverSet_RBGLED_Color(1, is_LightingColorValue_R, is_LightingColorValue_G, is_LightingColorValue_B);
break;
case 4: /*Back*/
AppRBG_LED.DeviceDriverSet_RBGLED_Color(0, is_LightingColorValue_R, is_LightingColorValue_G, is_LightingColorValue_B);
break;
case 5: /*Middle*/
AppRBG_LED.DeviceDriverSet_RBGLED_Color(4, is_LightingColorValue_R, is_LightingColorValue_G, is_LightingColorValue_B);
break;
default:
break;
}
}
/*RBG_LED set*/
void Car::ApplicationFunctionSet_RGB(void)
{
static unsigned long getAnalogue_time = 0;
FastLED.clear(true);
if (true == VoltageDetectionStatus) //Act on low power state？
{
if ((millis() - getAnalogue_time) > 3000)
{
getAnalogue_time = millis();
}
}
unsigned long temp = millis() - getAnalogue_time;
if (valueWithin((temp), 0, 500) && VoltageDetectionStatus == true)
{
switch (temp)
{
case /* constant-expression */ 0 ... 49:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
break;
case /* constant-expression */ 50 ... 99:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Black);
break;
case /* constant-expression */ 100 ... 149:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
break;
case /* constant-expression */ 150 ... 199:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Black);
break;
case /* constant-expression */ 200 ... 249:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
break;
case /* constant-expression */ 250 ... 299:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
break;
case /* constant-expression */ 300 ... 349:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Black);
break;
case /* constant-expression */ 350 ... 399:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
break;
case /* constant-expression */ 400 ... 449:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Black);
break;
case /* constant-expression */ 450 ... 499:
/* code */
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
break;
default:
break;
}
}
else if (((valueWithin((temp), 500, 3000)) && VoltageDetectionStatus == true) || VoltageDetectionStatus == false)
{
switch (Application_SmartRobotCarxxx0.Functional_Mode) //Act on mode control sequence
{
case /* constant-expression */ Standby_mode:
/* code */
{
if (VoltageDetectionStatus == true)
{
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Red);
delay(30);
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Black);
delay(30);
}
else
{
static uint8_t setBrightness = 0;
static boolean et = false;
static unsigned long time = 0;
if ((millis() - time) > 10)
{
time = millis();
if (et == false)
{
setBrightness += 1;
if (setBrightness == 100)
et = true;
}
else if (et == true)
{
setBrightness -= 1;
if (setBrightness == 0)
et = false;
}
}
// AppRBG_LED.leds[1] = CRGB::Blue;
AppRBG_LED.leds[0] = CRGB::Violet;
FastLED.setBrightness(setBrightness);
FastLED.show();
}
}
break;
case /* constant-expression */ CMD_Programming_mode:
/* code */
{
}
break;
case /* constant-expression */ TraceBased_mode:
/* code */
{
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Green);
}
break;
case /* constant-expression */ ObstacleAvoidance_mode:
/* code */
{
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Yellow);
}
break;
case /* constant-expression */ Follow_mode:
/* code */
{
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Blue);
}
break;
case /* constant-expression */ Rocker_mode:
/* code */
{
AppRBG_LED.DeviceDriverSet_RBGLED_xxx(0 /*Duration*/, 2 /*Traversal_Number*/, CRGB::Violet);
}
break;
default:
break;
}
}
}
/*Rocker control mode*/
void Car::ApplicationFunctionSet_Rocker(void)
{
if (Application_SmartRobotCarxxx0.Functional_Mode == Rocker_mode)
{
ApplicationFunctionSet_SmartRobotCarMotionControl(Application_SmartRobotCarxxx0.Motion_Control /*direction*/, Rocker_CarSpeed /*speed*/);
}
}
/*Line tracking mode*/
void Car::Track(void) {
static boolean timestamp = true;
static boolean BlindDetection = true;
static unsigned long MotorRL_time = 0;
if (Car_LeaveTheGround == false) //Check if the car leaves the ground
{
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
return;
}
if ((valueWithin(TrackingData_M, TrackingDetection_S, TrackingDetection_E))&&(valueWithin(TrackingData_R, TrackingDetection_S, TrackingDetection_E)&&(valueWithin(TrackingData_L, TrackingDetection_S, TrackingDetection_E))))
{
/*Achieve straight and uniform speed movement*/
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
unsigned long decoded;
do {
// Try to read semaphore
decode_results IRData;
int semaphoreDetectionAttempts = 10;
int semaphoreAttemptSuccessful = 0;
do {
Serial.print(10-semaphoreDetectionAttempts);
delay(200);
semaphoreAttemptSuccessful = IRReceiver.decode(&IRData);
IRReceiver.resume();
} while(semaphoreAttemptSuccessful == 0 && --semaphoreDetectionAttempts > 0);
if(semaphoreAttemptSuccessful == 0) {
// No semaphore detected.
Serial.println("No semaphore detected.");
break;
}
unsigned long result = IRData.value;
unsigned long oracle = ULONG_MAX >> sizeof(unsigned long) * 4;
decoded = 0;
for(int i = 0; i < sizeof(unsigned long) * 8; ++i) {
decoded |= ((result >> i) & 0x01) << (((sizeof(unsigned long) * 8) - 1) - i);
}
Serial.print("Semaphore state: ");
Serial.print(result, HEX);
Serial.print("/");
Serial.println(decoded, HEX);
} while (decoded != SEMAPHORE_GREEN);
Serial.println("Leaving line");
ApplicationFunctionSet_SmartRobotCarMotionControl(Forward, CAR_CRUISE_SPEED);
delay(400);
} else {
ApplicationFunctionSet_SmartRobotCarMotionControl(Forward, CAR_CRUISE_SPEED);
timestamp = true;
BlindDetection = true;
}
}
void Car::ObstacleAvoidance(void)
{
if(Application_SmartRobotCarxxx0.Functional_Mode != ObstacleAvoidance_mode) {
return;
}
contatore++;
if(contatore > 30){
Serial.println("SONO NEL NOSTROOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO");
//checkALato
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
int leftMinDistance = 500;
int leftMinAngolo;
int rightMinDistance = 500;
int rightMinAngolo;
uint16_t get_Distance;
for (uint8_t i = 0; i <= 7; i += 1) //1、3、5 Omnidirectional detection of obstacle avoidance status
{
AppServo.DeviceDriverSet_Servo_control(10 * i /*Position_angle*/);
delayMS(20);
AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Get(&get_Distance /*out*/);
if(get_Distance < leftMinDistance){
leftMinDistance = get_Distance;
leftMinAngolo = i;
}
}
for (uint8_t i = 11; i <= 18; i += 1) //1、3、5 Omnidirectional detection of obstacle avoidance status
{
AppServo.DeviceDriverSet_Servo_control(10 * i /*Position_angle*/);
delayMS(20);
AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Get(&get_Distance /*out*/);
if(get_Distance < rightMinDistance){
rightMinDistance = get_Distance;
rightMinAngolo = i;
}
}
AppServo.DeviceDriverSet_Servo_control(US_ROTATION_INITIAL);
float rapporto = rightMinDistance / leftMinDistance;
if(rapporto > 3){
ApplicationFunctionSet_SmartRobotCarMotionControl(Backward, 70);
delay(350);
if(rapporto>5.5){
ApplicationFunctionSet_SmartRobotCarMotionControl(Left, 70);
delay(300);
}else{
ApplicationFunctionSet_SmartRobotCarMotionControl(LeftForward, 150);
delay(rapporto*30);
}
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 15);
}else if(rapporto < 0.3){
ApplicationFunctionSet_SmartRobotCarMotionControl(Backward, 70);
delay(350);
if(rapporto<0.18){
ApplicationFunctionSet_SmartRobotCarMotionControl(Right, 70);
delay(300);
}else{
ApplicationFunctionSet_SmartRobotCarMotionControl(RightForward, 150);
delay(30/rapporto);
}
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 15);
}
contatore = 0;
}
// Read the distance
uint16_t detectedDistance = 0;
AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Get(&detectedDistance);
Serial.println("sono nel codice di celooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo"+detectedDistance);
if(valueWithin(detectedDistance, 0, US_COLLISION_DISTANCE)) {
Serial.println("trovata roba davantiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiii");
uint16_t maxDistanceValue = 0;
int maxDistanceIndex = -1;
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
for(int step = 0; step <= 180/US_ROTATION_STEP; ++step) {
AppServo.DeviceDriverSet_Servo_control(US_ROTATION_STEP * step);
delayMS(20);
AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Get(&detectedDistance);
Serial.print("[TRY] Angle: ");
Serial.print(step * US_ROTATION_STEP);
Serial.print(" Distance: ");
Serial.println(detectedDistance);
if(!valueWithin(detectedDistance, 0, US_COLLISION_DISTANCE) && detectedDistance >= maxDistanceValue && (abs((US_ROTATION_STEP * step) -90) >= abs((US_ROTATION_STEP * maxDistanceIndex) -90) || maxDistanceIndex == -1)) {
Serial.print("[WIN] Angle: ");
Serial.print(step * US_ROTATION_STEP);
Serial.print(" Distance: ");
Serial.println(detectedDistance);
maxDistanceIndex = step;
maxDistanceValue = detectedDistance;
}
}
AppServo.DeviceDriverSet_Servo_control(US_ROTATION_INITIAL);
if(maxDistanceValue > 0) {
int rotation = (US_ROTATION_STEP * maxDistanceIndex - 90) * -1;
int startingYaw ;
int targetYaw;
float reading;
AppMPU6050getdata.MPU6050_dveGetEulerAngles(&reading);
startingYaw = round(reading) % 360;
if(startingYaw < 0) {
startingYaw = 360 + startingYaw;
}
targetYaw = (startingYaw + rotation) % 360;
if(targetYaw < 0) {
targetYaw = 360 + targetYaw;
}
Serial.print("Current yaw: ");
Serial.println(startingYaw);
Serial.print("Target yaw: ");
SmartRobotCarMotionControl direction;
int distance = 360 - max(startingYaw, targetYaw);
if(distance + min(startingYaw, targetYaw) > 180) {
direction = (startingYaw < targetYaw) ? Right: Left;
} else {
direction = (startingYaw < targetYaw) ? Left: Right;
}
Serial.println(targetYaw);
// Calculate distance between starting point and target point
int targetDistance = max(startingYaw, targetYaw) - min(startingYaw, targetYaw);
if(targetDistance > 180) {
targetDistance = 360 - targetDistance;
}
int currentDistance = targetDistance;
if(rotation != 0) {
do {
ApplicationFunctionSet_SmartRobotCarMotionControl(direction, CAR_TURN_SPEED);
delayMS(CAR_TURN_INTERVAL_MS);
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
// Get distance between current Yaw and starting Yaw (the arc we made)
AppMPU6050getdata.MPU6050_dveGetEulerAngles(&reading);
int currentYaw = round(reading) % 360;
if(currentYaw < 0) {
currentYaw = 360 + currentYaw;
}
currentDistance = max(startingYaw, currentYaw) - min(startingYaw, currentYaw);
if(currentDistance > 180) {
currentDistance = 360 - currentDistance;
}
Serial.print("[LOOP] CurrentYaw: ");
Serial.println(currentYaw);
} while(currentDistance <= targetDistance); // We stop when we made an arc bigger than the arc between start and target points
}
} else {
// Failed to determine a good direction, go backwards
ApplicationFunctionSet_SmartRobotCarMotionControl(Backward, CAR_CRUISE_SPEED);
}
} else {
this->Track();
// ApplicationFunctionSet_SmartRobotCarMotionControl(Forward, CAR_CRUISE_SPEED);
}
}
void Car::Follow(void)
{
static uint16_t ULTRASONIC_Get = 0;
static unsigned long ULTRASONIC_time = 0;
static uint8_t Position_Servo = 1;
static uint8_t timestamp = 3;
static uint8_t OneCycle = 1;
if (Application_SmartRobotCarxxx0.Functional_Mode == Follow_mode)
{
if (Car_LeaveTheGround == false)
{
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
return;
}
AppULTRASONIC.DeviceDriverSet_ULTRASONIC_Get(&ULTRASONIC_Get /*out*/);
if (false == valueWithin(ULTRASONIC_Get, 0, 20)) //There is no obstacle 20 cm ahead?
{
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
static unsigned long time_Servo = 0;
static uint8_t Position_Servo_xx = 0;
if (timestamp == 3)
{
if (Position_Servo_xx != Position_Servo) //Act on servo motor：avoid loop execution
{
Position_Servo_xx = Position_Servo; //Act on servo motor：rotation angle record
if (Position_Servo == 1)
{
time_Servo = millis();
AppServo.DeviceDriverSet_Servo_control(80 /*Position_angle*/);
}
else if (Position_Servo == 2)
{
time_Servo = millis();
AppServo.DeviceDriverSet_Servo_control(20 /*Position_angle*/);
}
else if (Position_Servo == 3)
{
time_Servo = millis();
AppServo.DeviceDriverSet_Servo_control(80 /*Position_angle*/);
}
else if (Position_Servo == 4)
{
time_Servo = millis();
AppServo.DeviceDriverSet_Servo_control(150 /*Position_angle*/);
}
}
}
else
{
if (timestamp == 1)
{
timestamp = 2;
time_Servo = millis();
}
}
if (millis() - time_Servo > 1000) //Act on servo motor：stop at the current location for 2s
{
timestamp = 3;
Position_Servo += 1;
OneCycle += 1;
if (OneCycle > 4)
{
Position_Servo = 1;
OneCycle = 5;
}
}
}
else
{
OneCycle = 1;
timestamp = 1;
if ((Position_Servo == 1))
{ /*Move forward*/
ApplicationFunctionSet_SmartRobotCarMotionControl(Forward, 100);
}
else if ((Position_Servo == 2))
{ /*Turn right*/
ApplicationFunctionSet_SmartRobotCarMotionControl(Right, 150);
}
else if ((Position_Servo == 3))
{
/*Move forward*/
ApplicationFunctionSet_SmartRobotCarMotionControl(Forward, 100);
}
else if ((Position_Servo == 4))
{ /*Turn left*/
ApplicationFunctionSet_SmartRobotCarMotionControl(Left, 150);
}
}
}
else
{
ULTRASONIC_Get = 0;
ULTRASONIC_time = 0;
}
}
/*Servo motor control*/
void Car::ApplicationFunctionSet_Servo(uint8_t Set_Servo)
{
static int z_angle = 9;
static int y_angle = 9;
uint8_t temp_Set_Servo = Set_Servo;
switch (temp_Set_Servo)
{
case 1 ... 2:
{
if (1 == temp_Set_Servo)
{
y_angle -= 1;
}
else if (2 == temp_Set_Servo)
{
y_angle += 1;
}
if (y_angle <= 3) //minimum control
{
y_angle = 3;
}
if (y_angle >= 11) //maximum control
{
y_angle = 11;
}
AppServo.DeviceDriverSet_Servo_controls(/*uint8_t Servo--y*/ 2, /*unsigned int Position_angle*/ y_angle);
}
break;
case 3 ... 4:
{
if (3 == temp_Set_Servo)
{
z_angle += 1;
}
else if (4 == temp_Set_Servo)
{
z_angle -= 1;
}
if (z_angle <= 1) //minimum control
{
z_angle = 1;
}
if (z_angle >= 17) //maximum control
{
z_angle = 17;
}
AppServo.DeviceDriverSet_Servo_controls(/*uint8_t Servo--z*/ 1, /*unsigned int Position_angle*/ z_angle);
}
break;
case 5:
AppServo.DeviceDriverSet_Servo_controls(/*uint8_t Servo--y*/ 2, /*unsigned int Position_angle*/ 9);
AppServo.DeviceDriverSet_Servo_controls(/*uint8_t Servo--z*/ 1, /*unsigned int Position_angle*/ 9);
break;
default:
break;
}
}
/*Standby mode*/
void Car::ApplicationFunctionSet_Standby(void)
{
static bool is_ED = true;
static uint8_t cout = 0;
if (Application_SmartRobotCarxxx0.Functional_Mode == Standby_mode)
{
ApplicationFunctionSet_SmartRobotCarMotionControl(stop_it, 0);
if (true == is_ED) //Used to zero yaw raw data(Make sure the car is placed on a stationary surface!)
{
static unsigned long timestamp; //acquire timestamp
if (millis() - timestamp > 20)
{
timestamp = millis();
if (ApplicationFunctionSet_SmartRobotCarLeaveTheGround() /* condition */)
{
cout += 1;
}
else
{
cout = 0;