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SPQR-Team-2019-REVAMPED
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Revert "first commit, starting to work with a new setup" 

This reverts commit e341214905.
pull/1/head
emamaker 2022-05-16 20:16:01 +02:00
parent 33466b9a34
commit 7a1583128a
8 changed files with 69 additions and 106 deletions
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17
.vscode/extensions.json vendored
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@ -1,7 +1,10 @@
{ {
// See http://go.microsoft.com/fwlink/?LinkId=827846 // See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format // for the documentation about the extensions.json format
"recommendations": [ "recommendations": [
"platformio.platformio-ide" "platformio.platformio-ide"
] ],
} "unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

3
include/sensors/sensors.h
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@ -22,7 +22,7 @@
#include "sensors/data_source_bno055.h" #include "sensors/data_source_bno055.h"
#include "sensors/data_source_camera_conicmirror.h" #include "sensors/data_source_camera_conicmirror.h"
#include "sensors/data_source_camera_vshapedmirror.h" #include "sensors/data_source_camera_vshapedmirror.h"
#include "vars.h"
void initSensors(); void initSensors();
void updateSensors(); void updateSensors();
@ -39,6 +39,5 @@ s_extr DataSourceBT* bt;
s_extr DataSourceBallPresence* ballPresence; s_extr DataSourceBallPresence* ballPresence;
s_extr int role; s_extr int role;
s_extr int robot_indentifier;
s_extr Roller* roller; s_extr Roller* roller;

16
include/systems/lines/linesys_camera.h
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@ -7,14 +7,14 @@
#include "vars.h" #include "vars.h"
#define S1O A7 #define S1I A14
#define S1I A6 #define S1O A15
#define S2O A2 #define S2I A16
#define S2I A3 #define S2O A17
#define S3I A9 #define S3I A20
#define S3O A8 #define S3O A0
#define S4I A0 #define S4I A1
#define S4O A1 #define S4O A2
#define LINE_THRESH_CAM 350 #define LINE_THRESH_CAM 350
#define EXIT_TIME 300 #define EXIT_TIME 300

16
include/vars.h
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@ -9,22 +9,12 @@
#define GLOBAL_SPD_MULT 1.0 #define GLOBAL_SPD_MULT 1.0
/*SWS and LEDS are to be tested and implemented in the code.
the new setup is the one commented, leds have to be written
in the 32U4 code*/
#define LED_R 20 #define LED_R 20
#define LED_Y 17 #define LED_Y 17
#define LED_G 13 #define LED_G 13
#define BUZZER 6 #define BUZZER 30
#define SWITCH_SX 39 #define SWITCH_SX 28
#define SWITCH_DX 38 #define SWITCH_DX 29
#define SWITCH_ID 33
#define ROLLER_INA 34
#define ROLLER_INB 35
#define BALL_32U4 Serial2
extr float sins[360], cosins[360]; extr float sins[360], cosins[360];

16
src/main.cpp
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@ -53,15 +53,15 @@ void loop() {
// striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike; // striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike;
// keeper_condition = role == LOW; // keeper_condition = role == LOW;
if(robot_indentifier){ // if(robot_indentifier){
tc3_2->play(role); // tc3_2->play(role);
tc3_1->play(!role); // tc3_1->play(!role);
// Last thing to do: movement and update status vector // // Last thing to do: movement and update status vector
drive->drivePrepared(); // drive->drivePrepared();
}else{ // }else{
drive->stopAll(); // drive->stopAll();
} // }
testmenu->testMenu(); testmenu->testMenu();
updateStatusVector(); updateStatusVector();

69
src/sensors/data_source_bt.cpp
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@ -1,24 +1,5 @@
#include "sensors/data_source_bt.h" #include "sensors/data_source_bt.h"
/*Currently using a master-slave setup
One bt has been setup using
SM,3 - Master mode
SA, 0 - Disable authentication
SR, xxxx - Address of the other bt
SU,96 - baud rate 9600
SN, name - Name for clarity
The other one
SM,0 - Master mode
SA, 0 - Disable authentication
SU,96 - baud rate 9600
SN, name - Name for clarity
ST, 5 - Configuration timeout
For now it seems that a slave can easily recovery from a master restart, but not the opposite. We will make sure that doesn't happen
*/
DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){ DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){
bt_timer = millis(); bt_timer = millis();
bt_bombarded = false; bt_bombarded = false;
@ -36,32 +17,30 @@ DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_,
} }
void DataSourceBT :: connect(){ void DataSourceBT :: connect(){
//Give the bt time to be brought up (about 5-6 secs.) Serial3.print("$");
//When turned on the bt onboard led will blink. After 5-6 secs it will start blinking at a lower freq. We need to wait for that to happen Serial3.print("$");
// if(millis() >= bt_timer + 5000 && !bt_bombarded){ Serial3.print("$");
// can_bombard = true; delay(100);
// } Serial3.println("C");
// //For a sec, bombard the other bt of packets. Since we are in sm2 this will make them connect. Note that the two of them cannot accept connections while they're trying to connect
// if(can_bombard && millis() >= bt_timer + 5000 && millis() <= bt_timer + 6000){
// DEBUG.println("Bombarding");
// Serial1.print(tosend);
// bt_bombarded = true;
// }else{
// can_bombard = false;
// }
} }
void DataSourceBT :: receive(){ // void DataSourceBT :: reconnect(){
while(Serial1.available()) { // if(!comrade){
last_received = millis(); // if(!b){
received = (char) Serial1.read(); // Serial3.print("$");
comrade = true; // Serial3.print("$");
} // Serial3.print("$");
if(millis() - last_received > 2000) // }else{
comrade = false; // Serial3.println("C");
} // }
// b = !b;
// }else{
// Serial3.println("---");
// }
// if(millis() - last_received > 2000)
// comrade = false;
// }
void DataSourceBT::send(){ void DataSourceBT::send(){
if(millis() - t >= 250 && can_send ){ if(millis() - t >= 250 && can_send ){
@ -80,7 +59,7 @@ void DataSourceBT :: test(){
if (DEBUG.available()) { if (DEBUG.available()) {
DEBUG.println((char)DEBUG.read()); DEBUG.println((char)DEBUG.read());
} }
if (Serial1.available()) { if (Serial3.available()) {
Serial1.write((char)Serial1.read()); Serial3.write((char)Serial3.read());
} }
} }

8
src/sensors/data_source_camera_conicmirror.cpp
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@ -196,10 +196,10 @@ void DataSourceCameraConic ::computeCoordsAngles() {
CURRENT_DATA_WRITE.xDefFix = CURRENT_DATA_WRITE.cam_xy_fixed; CURRENT_DATA_WRITE.xDefFix = CURRENT_DATA_WRITE.cam_xy_fixed;
} }
byte to_32u4 = 0; // byte to_32u4 = 0;
to_32u4 |= (CURRENT_DATA_READ.ySeen); // to_32u4 |= (CURRENT_DATA_READ.ySeen);
to_32u4 |= (CURRENT_DATA_READ.bSeen) << 1; // to_32u4 |= (CURRENT_DATA_READ.bSeen) << 1;
BALL_32U4.write(to_32u4); // BALL_32U4.write(to_32u4);
} }
void DataSourceCameraConic::test(){ void DataSourceCameraConic::test(){

30
src/sensors/sensors.cpp
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@ -2,35 +2,27 @@
#include "sensors/sensors.h" #include "sensors/sensors.h"
void initSensors(){ void initSensors(){
pinMode(SWITCH_1, INPUT); pinMode(SWITCH_SX, INPUT);
pinMode(SWITCH_2, INPUT); pinMode(SWITCH_DX, INPUT);
pinMode(LED_R, OUTPUT); pinMode(LED_R, OUTPUT);
pinMode(LED_Y, OUTPUT); pinMode(LED_Y, OUTPUT);
pinMode(LED_G, OUTPUT); pinMode(LED_G, OUTPUT);
drive = new DriveController(new Motor(12, 11, 4, 55), new Motor(25, 24, 5, 135), new Motor(27, 26, 2, 225), new Motor(29, 28, 3, 305)); // dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)), new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };
// tone(BUZZER, 270, 250);
// delay(350); drive = new DriveController(new Motor(12, 11, 2, 45),new Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
compass = new DataSourceBNO055(); compass = new DataSourceBNO055();
// tone(BUZZER, 275, 250); ball = new DataSourceBall(&Serial4, 57600);
// delay(350); camera = new DataSourceCameraConic(&Serial2, 19200);
ball = new DataSourceBall(&BALL_32U4, 57600); // usCtrl = new DataSourceCtrl(dUs);
// tone(BUZZER, 280, 250); bt = new DataSourceBT(&Serial3, 115200);
// delay(350);
camera = new DataSourceCameraConic(&Serial3, 19200);
// tone(BUZZER, 285, 250);
// delay(350);
bt = new DataSourceBT(&Serial1, 9600);
roller = new Roller(30, 31, 1000, 2000, 500);
ballPresence = new DataSourceBallPresence(A13, true);
} }
void updateSensors(){ void updateSensors(){
role = digitalRead(SWITCH_DX); role = digitalRead(SWITCH_DX);
camera->old_goalOrientation = camera ->goalOrientation; camera->old_goalOrientation = camera ->goalOrientation;
camera->goalOrientation = digitalRead(SWITCH_SX); camera->goalOrientation = digitalRead(SWITCH_SX);
robot_indentifier = digitalRead(SWITCH_ID);
compass->update(); compass->update();
ball->update(); ball->update();
@ -39,5 +31,5 @@ void updateSensors(){
bt->update(); bt->update();
roller->update(); // roller->update();
} }