Angles working?
EmaMaker
parent
dc251467bd
commit
e84292568e
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@ -1,6 +1,9 @@
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#pragma once
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#define startp 105
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#define endp 115
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//Coords are mapped from 0 up to this value
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#define MAP_MAX 100
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#define HALF_MAP_MAX 50
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//#define unkn 0b01101001
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#include "data_source.h"
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@ -8,9 +11,7 @@ class DataSourceCamera : public DataSource{
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public:
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DataSourceCamera(HardwareSerial* ser, int baud);
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void postProcess() override;
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void test() override;
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int fixCamIMU(int);
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void readSensor() override;
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int getValueAtk(bool);
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int getValueDef(bool);
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@ -18,18 +19,9 @@ class DataSourceCamera : public DataSource{
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int yAngle, bAngle, yAngleFix, bAngleFix, yDist, bDist;
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int count = 0, unkn_counter;
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byte xb, yb, xy, yy, true_xb, true_xy, true_yb, true_yy;
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byte xb, yb, xy, yy, true_xb, true_xy, true_yb, true_yy, calc_xb, calc_yb, calc_xy, calc_yy;
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bool data_received = false, start = false, end = false;
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int goalOrientation, pAtk, pDef, imuOff, portx, valX, valY, valB, oldGoalX, oldGoalY, oldGoalB;
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int cameraReady;
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int goalOrientation, pAtk, pDef;
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int value;
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int startpY = 0;
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int startpB = 0;
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int endpY = 0;
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int endpB = 0;
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int datavalid = 0;
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String valStringY = "";
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String valStringB = "";
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bool negateB, negateY;
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};
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@ -20,20 +20,21 @@ void DataSourceCamera :: readSensor(){
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true_xy = xy;
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true_yy = yy;
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//Remap to [-50, +49] to correctly compute angles and distances
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true_xb -= 50;
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true_yb -= 50;
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true_xy -= 50;
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true_yy -= 50;
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//Remap from [0,100] to [-50, +49] to correctly compute angles and distances and calculate them
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yAngle = atan2(50-true_yy, 50-true_xy) * 180 / 3.14;
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bAngle = atan2(50-true_yb, 50-true_xb) * 180 / 3.14;
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//Subtract 90 to bring the angles back to euler angles (0 in front)
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yAngle = -90 + yAngle;
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bAngle = -90 + bAngle;
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//Now cast angles to [0, 359] domain angle flip them
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yAngle = (yAngle + 360) % 360;
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bAngle = (bAngle + 360) % 360;
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//Now calculate angles and distance
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yAngle = atan2(true_yy, true_xy) * 180 / 3.14;
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bAngle = atan2(true_yb, true_xb) * 180 / 3.14;
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yAngleFix = yAngle - compass->getValue() ;
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bAngleFix = bAngle - compass->getValue() ;
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yDist = sqrt( true_yy*true_yy + true_xy*true_xy );
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bDist = sqrt( true_yb*true_yb + true_xb*true_xb );
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yDist = sqrt( (50-true_yy)*(50-true_yy) + (50-true_xy)*(50-true_xy) );
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bDist = sqrt( (50-true_yb)*(50-true_yb) + (50-true_xb)*(50-true_xb) );
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}
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end=true;
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start=false;
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@ -50,62 +51,36 @@ void DataSourceCamera :: readSensor(){
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}
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void DataSourceCamera :: postProcess(){
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int DataSourceCamera::getValueAtk(bool b){
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return 0;
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}
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int DataSourceCamera::getValueAtk(bool fixed){
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//attacco gialla
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if(digitalRead(SWITCH_DX) == HIGH){
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if(fixed) return fixCamIMU(valY);
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return valY;
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}
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//attacco blu
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if(digitalRead(SWITCH_DX) == LOW){
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if(fixed) return fixCamIMU(valB);
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return valB;
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}
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}
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int DataSourceCamera::getValueDef(bool fixed){
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//difendo gialla
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if(digitalRead(SWITCH_DX) == HIGH){
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if(fixed) return fixCamIMU(valY);
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return valY;
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}
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//difendo blu
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if(digitalRead(SWITCH_DX) == LOW){
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if(fixed) return fixCamIMU(valB);
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return valB;
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}
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int DataSourceCamera::getValueDef(bool b){
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return 0;
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}
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void DataSourceCamera::test(){
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goalOrientation = digitalRead(SWITCH_SX); //se HIGH attacco gialla, difendo blu
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update();
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DEBUG.print(yAngle);
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DEBUG.print(" | ");
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DEBUG.print(yAngleFix);
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DEBUG.println(" --- ");
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DEBUG.print(bAngle);
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DEBUG.print(" | ");
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DEBUG.println(bAngleFix);
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DEBUG.print(bAngleFix);
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DEBUG.print(" | ");
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DEBUG.println(bDist);
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DEBUG.println(" --- ");
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DEBUG.print(yAngle);
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DEBUG.print(" | ");
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DEBUG.print(yAngleFix);
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DEBUG.print(" | ");
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DEBUG.println(yDist);
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DEBUG.println("---------------");
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DEBUG.print(true_xb);
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DEBUG.print(xb);
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DEBUG.print("|");
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DEBUG.print(true_yb);
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DEBUG.print(yb);
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DEBUG.print("|");
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DEBUG.print(true_xy);
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DEBUG.print(xy);
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DEBUG.print("|");
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DEBUG.print(true_yy);
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DEBUG.println(yy);
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DEBUG.println("---------------");
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delay(75);
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delay(150);
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}
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int DataSourceCamera::fixCamIMU(int d){
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if(compass->getValue() > 0 && compass->getValue() < 180) imuOff = compass->getValue();
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else if (compass->getValue() <= 360 && compass->getValue() >= 180) imuOff = compass->getValue() - 360;
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imuOff = constrain(imuOff*0.8, -30, 30);
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return d + imuOff;
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}
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@ -4,9 +4,9 @@
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#include "games.h"
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void setup() {
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delay(500);
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delay(1000);
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DEBUG.begin(19600);
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DEBUG.begin(9600);
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initSensors();
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initGames();
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@ -20,8 +20,7 @@ void loop() {
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goalie->play(role==1);
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keeper->play(role==0);
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camera->test();
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camera->test();
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// Last thing to do: movement
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drive->drivePrepared();
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@ -39,8 +39,8 @@ blue_led.on()
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thresholds = [ (70, 100, -18, 21, 21, 63), # thresholds yellow goal
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(31, 49, -10, 5, -39, -18)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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thresholds = [ (49, 81, -18, 29, 22, 83), # thresholds yellow goal
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(0, 61, -4, 55, -81, -12)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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roi = (0, 6, 318, 152)
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@ -60,11 +60,11 @@ clock = time.clock()'''
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QQVGA)
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sensor.set_contrast(+0)
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sensor.set_saturation(+0)
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sensor.set_brightness(0)
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sensor.set_contrast(+3)
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sensor.set_saturation(+3)
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sensor.set_brightness(-1)
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sensor.set_quality(0)
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sensor.set_auto_exposure(False, 3500)
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sensor.set_auto_exposure(False, 5000)
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sensor.set_auto_gain(True)
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sensor.skip_frames(time = 300)
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@ -0,0 +1,218 @@
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/**
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Sensor Mapping
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Sensor Angle Pin Port
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S0 0 A3 C3
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S1 A2 C2
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S2 A1 C1
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S3 A0 C0
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S4 90 13 B5
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S5 12 B4
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S6 11 B3
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S7 10 B2
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S8 180 9 B1
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S9 8 B0
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S10 7 D7
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S11 6 D6
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S12 270 5 D5
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S13 4 D4
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S14 3 D3
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S15 2 D2
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loop cycle duration: 3.2 millis
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**/
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#define S9 ((PINB & 1))
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#define S8 ((PINB & 2) >> 1)
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#define S7 ((PINB & 4) >> 2)
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#define S6 ((PINB & 8) >> 3)
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#define S5 ((PINB & 16) >> 4)
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#define S4 ((PINB & 32) >> 5)
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#define S3 ((PINC & 1))
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#define S2 ((PINC & 2) >> 1)
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#define S1 ((PINC & 4) >> 2)
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#define S0 ((PINC & 8) >> 3)
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#define S15 ((PIND & 4) >> 2)
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#define S14 ((PIND & 8) >> 3)
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#define S13 ((PIND & 16) >> 4)
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#define S12 ((PIND & 32) >> 5)
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#define S11 ((PIND & 64) >> 6)
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#define S10 ((PIND & 128) >> 7)
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#define NCYCLES 350
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#define BROKEN 300
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#define TOO_LOW 60
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int counter[16];
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int pins[] = {A3, A2, A1, A0, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2};
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int distance;
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int nmax = 0;
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int sensor = 0;
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int oldIndex = 0;
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int oldDistance = 0;
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byte ballInfo = 0;
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float xs[16];
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float ys[16];
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float angle = 0, dist = 0;
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boolean sending = false;
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byte sendAngle = 0, sendDistance = 0;
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byte sendByte = 0;
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unsigned long t = 0;
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void setup() {
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delay(1000);
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Serial.begin(57600);
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pinMode(2, INPUT);
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pinMode(3, INPUT);
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pinMode(4, INPUT);
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pinMode(5, INPUT);
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pinMode(6, INPUT);
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pinMode(7, INPUT);
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pinMode(8, INPUT);
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pinMode(9, INPUT);
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pinMode(10, INPUT);
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pinMode(11, INPUT);
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pinMode(12, INPUT);
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pinMode(13, INPUT);
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pinMode(A0, INPUT);
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pinMode(A1, INPUT);
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pinMode(A2, INPUT);
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pinMode(A3, INPUT);
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pinMode(A4, OUTPUT);
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for (int i = 0; i < 16; i++) {
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xs[i] = cos((22.5 * PI / 180) * i);
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ys[i] = sin((22.5 * PI / 180) * i);
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}
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}
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void loop() {
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readBallInterpolation();
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sendDataInterpolation();
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}
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/**--- READ BALL USING SENSORS ANGLE INTERPOLATION ---**/
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void readBallInterpolation() {
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for (int i = 0; i < 16; i++) {
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counter[i] = 0;
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}
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//reads from the register
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for (int i = 0; i < NCYCLES; i++) {
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counter[0] += !S0;
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counter[1] += !S1;
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counter[2] += !S2;
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counter[3] += !S3;
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counter[4] += !S4;
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counter[5] += !S5;
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counter[6] += !S6;
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counter[7] += !S7;
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counter[8] += !S8;
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counter[9] += !S9;
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counter[10] += !S10;
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counter[11] += !S11;
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counter[12] += !S12;
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counter[13] += !S13;
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counter[14] += !S14;
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counter[15] += !S15;
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}
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float x = 0, y = 0;
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for (int i = 0; i < 16; i++) {
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if (counter[i] > BROKEN || counter[i] < TOO_LOW) counter[i] = 0;
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x += xs[i] * counter[i];
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y += ys[i] * counter[i];
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}
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angle = atan2(y, x) * 180 / PI;
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angle = ((int)(angle + 360)) % 360;
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//distance is 0 when not seeing ball
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//dist = hypot(x, y);
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nmax = 0;
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//saves max value and sensor
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for (int i = 0; i < 16; i++) {
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if (counter[i] > nmax) {
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nmax = counter[i];
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}
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}
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dist = nmax;
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//turn led on
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if (dist == 0) {
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digitalWrite(A4, LOW);
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} else {
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digitalWrite(A4, HIGH);
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}
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}
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void sendDataInterpolation() {
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if(sending){
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sendAngle = ((byte) (angle / 2)) & 0b11111110;
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Serial.write(sendAngle);
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}else{
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sendDistance = dist;
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if(sendDistance > 254) sendDistance = 254;
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sendDistance = sendDistance |= 0b00000001;
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Serial.write(sendDistance);
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}
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sending = !sending;
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}
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void test() {
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readBallInterpolation();
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Serial.print(S0);
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Serial.print(" | ");
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Serial.print(S1);
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Serial.print(" | ");
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Serial.print(S2);
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Serial.print(" | ");
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Serial.print(S3);
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Serial.print(" | ");
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Serial.print(S4);
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Serial.print(" | ");
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Serial.print(S5);
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Serial.print(" | ");
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Serial.print(S6);
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Serial.print(" | ");
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Serial.print(S7);
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Serial.print(" | ");
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Serial.print(S8);
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Serial.print(" | ");
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Serial.print(S9);
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Serial.print(" | ");
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Serial.print(S10);
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Serial.print(" | ");
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Serial.print(S11);
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Serial.print(" | ");
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Serial.print(S12);
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Serial.print(" | ");
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Serial.print(S13);
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Serial.print(" | ");
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Serial.print(S14);
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Serial.print(" | ");
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Serial.print(S15);
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Serial.print(" () ");
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Serial.println(sensor);
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}
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void printCounter() {
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for (int i = 0; i < 16; i++) {
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Serial.print(counter[i]);
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Serial.print(" | ");
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}
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Serial.println();
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}
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@ -0,0 +1,56 @@
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/*
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Example Bluetooth Serial Passthrough Sketch
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by: Jim Lindblom
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SparkFun Electronics
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date: February 26, 2013
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license: Public domain
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This example sketch converts an RN-42 bluetooth module to
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communicate at 9600 bps (from 115200), and passes any serial
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data between Serial Monitor and bluetooth module.
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*/
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#include <SoftwareSerial.h>
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int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
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int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
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//SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
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<<<<<<< HEAD
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=======
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#define bluetooth Serial3
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>>>>>>> 5c0171dd181357ae6f20ec98cb5c060f067c30fc
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#define bluetooth Serial3
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void setup() {
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Serial.begin(9600); // Begin the serial monitor at 9600bps
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<<<<<<< HEAD
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bluetooth.begin(9600); // Start bluetooth serial at 9600
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=======
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bluetooth.begin(9600);
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>>>>>>> 5c0171dd181357ae6f20ec98cb5c060f067c30fc
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}
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void read() {
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while (bluetooth.available()) {
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// Send any characters the bluetooth prints to the serial monitor
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Serial.print((char)bluetooth.read());
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delay(50);
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}
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}
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void write() {
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while (Serial.available()) {
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// Send any characters the Serial monitor prints to the bluetooth
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bluetooth.print((char)Serial.read());
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delay(50);
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}
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// and loop forever and ever!
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}
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void loop() {
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read();
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write();
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}
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@ -0,0 +1,68 @@
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/*
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Example Bluetooth Serial Passthrough Sketch
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by: Jim Lindblom
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SparkFun Electronics
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date: February 26, 2013
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license: Public domain
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This example sketch converts an RN-42 bluetooth module to
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communicate at 9600 bps (from 115200), and passes any serial
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data between Serial Monitor and bluetooth module.
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*/
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#include <SoftwareSerial.h>
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int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
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int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
||||
|
||||
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
||||
|
||||
/*bluetooth.begin(115200); // The Bluetooth Mate defaults to 115200bps
|
||||
bluetooth.print("$"); // Print three times individually
|
||||
bluetooth.print("$");
|
||||
bluetooth.print("$"); // Enter command mode
|
||||
delay(100); // Short delay, wait for the Mate to send back CMD
|
||||
bluetooth.println("U,9600,N"); // Temporarily Change the baudrate to 9600, no parity
|
||||
//115200 can be too fast at times for NewSoftSerial to relay the data reliably*/
|
||||
|
||||
delay(1000);
|
||||
|
||||
bluetooth.begin(9600); // Start bluetooth serial at 9600
|
||||
bluetooth.print("$"); // Print three times individually
|
||||
bluetooth.print("$");
|
||||
bluetooth.print("$");
|
||||
read();
|
||||
delay(1000);
|
||||
bluetooth.println("SA,0");
|
||||
read();
|
||||
bluetooth.println("SM,6");
|
||||
read();
|
||||
delay(1000);
|
||||
bluetooth.println("C");
|
||||
read();
|
||||
}
|
||||
|
||||
void read() {
|
||||
while (bluetooth.available()) {
|
||||
// Send any characters the bluetooth prints to the serial monitor
|
||||
Serial.print((char)bluetooth.read());
|
||||
delay(50);
|
||||
}
|
||||
}
|
||||
|
||||
void write() {
|
||||
while (Serial.available()) {
|
||||
// Send any characters the Serial monitor prints to the bluetooth
|
||||
bluetooth.print((char)Serial.read());
|
||||
delay(50);
|
||||
}
|
||||
// and loop forever and ever!
|
||||
}
|
||||
|
||||
void loop() {
|
||||
bluetooth.write(42);
|
||||
delay(500);
|
||||
}
|
||||
Binary file not shown.
|
|
@ -0,0 +1,41 @@
|
|||
#include <SoftwareSerial.h>
|
||||
|
||||
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
||||
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
||||
|
||||
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||
void setup() {
|
||||
Serial.begin(9600);
|
||||
Serial.print("$");
|
||||
Serial.print("$");
|
||||
Serial.print("$");
|
||||
delay(1000);
|
||||
Serial.println("SF,1");
|
||||
delay(500);
|
||||
Serial.println("R,1");
|
||||
delay(2500);
|
||||
Serial.println("---");
|
||||
//bluetooth.begin(9600);
|
||||
}
|
||||
|
||||
void read() {
|
||||
if (bluetooth.available()) {
|
||||
// Send any characters the bluetooth prints to the serial monitor
|
||||
Serial.print((char)bluetooth.read());
|
||||
delay(75);
|
||||
}
|
||||
}
|
||||
|
||||
void write() {
|
||||
if (Serial.available()) {
|
||||
// Send any characters the Serial monitor prints to the bluetooth
|
||||
bluetooth.print((char)Serial.read());
|
||||
delay(75);
|
||||
}
|
||||
// and loop forever and ever!
|
||||
}
|
||||
|
||||
void loop() {
|
||||
read();
|
||||
write();
|
||||
}
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
#include <Wire.h>
|
||||
|
||||
void setup() {
|
||||
Wire.begin(); // join i2c bus (address optional for master)
|
||||
Serial.begin(9600); // start serial communication at 9600bps
|
||||
|
||||
changeAddress(114, 230);
|
||||
}
|
||||
|
||||
int reading = 0;
|
||||
|
||||
void loop() {
|
||||
// step 1: instruct sensor to read echoes
|
||||
Wire.beginTransmission(115); // transmit to device #115 (0x70)
|
||||
// the address specified in the datasheet is 224 (0xE0)
|
||||
// but i2c adressing uses the high 7 bits so it's 115
|
||||
Wire.write(byte(0x00)); // sets register pointer to the command register (0x00)
|
||||
Wire.write(byte(0x51)); // command sensor to measure in "inches" (0x50)
|
||||
// use 0x51 for centimeters
|
||||
// use 0x52 for ping microseconds
|
||||
Wire.endTransmission(); // stop transmitting
|
||||
|
||||
// step 2: wait for readings to happen
|
||||
delay(70); // datasheet suggests at least 65 milliseconds
|
||||
|
||||
// step 3: instruct sensor to return a particular echo reading
|
||||
Wire.beginTransmission(115); // transmit to device #115
|
||||
Wire.write(byte(0x02)); // sets register pointer to echo #1 register (0x02)
|
||||
Wire.endTransmission(); // stop transmitting
|
||||
|
||||
// step 4: request reading from sensor
|
||||
Wire.requestFrom(115, 2); // request 2 bytes from slave device #115
|
||||
|
||||
// step 5: receive reading from sensor
|
||||
if (2 <= Wire.available()) { // if two bytes were received
|
||||
reading = Wire.read(); // receive high byte (overwrites previous reading)
|
||||
reading = reading << 8; // shift high byte to be high 8 bits
|
||||
reading |= Wire.read(); // receive low byte as lower 8 bits
|
||||
Serial.println(reading); // print the reading
|
||||
}
|
||||
|
||||
delay(250); // wait a bit since people have to read the output :)
|
||||
}
|
||||
|
||||
// The following code changes the address of a Devantech Ultrasonic Range Finder (SRF10 or SRF08)
|
||||
// usage: changeAddress(0x70, 0xE6);
|
||||
|
||||
void changeAddress(byte oldAddress, byte newAddress)
|
||||
{
|
||||
Wire.beginTransmission(oldAddress);
|
||||
Wire.write(byte(0x00));
|
||||
Wire.write(byte(0xA0));
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(oldAddress);
|
||||
Wire.write(byte(0x00));
|
||||
Wire.write(byte(0xAA));
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(oldAddress);
|
||||
Wire.write(byte(0x00));
|
||||
Wire.write(byte(0xA5));
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(oldAddress);
|
||||
Wire.write(byte(0x00));
|
||||
Wire.write(newAddress);
|
||||
Wire.endTransmission();
|
||||
}
|
||||
Loading…
Reference in New Issue