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ball_read: tweak values for a good reading

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EmaMaker 2020-12-17 12:47:18 +01:00
parent b9eefb2c10
commit 00e787b62e
1 changed files with 106 additions and 87 deletions
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191
utility/32u4/ball_read/ball_read.ino
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@ -20,39 +20,42 @@
loop cycle duration: 3.2 millis loop cycle duration: 3.2 millis
**/ **/
#define S5 ((PORTE & 64 ) >> 6) #define S5 ((PINE & 64 ) >> 6)
#define S11 ((PORTC & 128 ) >> 7) #define S11 ((PINC & 128 ) >> 7)
#define S12 ((PORTC & 64 ) >> 6) #define S12 ((PINC & 64 ) >> 6)
#define S13 ((PORTB & 64 ) >> 6) #define S13 ((PINB & 64 ) >> 6)
#define S14 ((PORTB & 32 ) >> 5) #define S14 ((PINB & 32 ) >> 5)
#define S15 ((PORTB & 16) >> 4) #define S15 ((PINB & 16) >> 4)
#define S1 ((PORTD & 64 ) >> 6) #define S1 ((PIND & 64 ) >> 6)
#define S2 ((PORTD & 16 ) >> 4) #define S2 ((PIND & 16 ) >> 4)
#define S3 ((PORTD & 2 ) >> 1) #define S3 ((PIND & 2 ) >> 1)
#define S4 (PORTD & 1 ) #define S4 (PIND & 1 )
#define S16 ((PORTD & 128) >> 7) #define S16 ((PIND & 128) >> 7)
#define S6 ((PORTF & 2 ) >> 1) #define S6 ((PINF & 2 ) >> 1)
#define S7 ((PORTF & 16 ) >> 4) #define S7 ((PINF & 16 ) >> 4)
#define S8 ((PORTF & 32 ) >> 5) #define S8 ((PINF & 32 ) >> 5)
#define S9 ((PORTF & 64 ) >> 6) #define S9 ((PINF & 64 ) >> 6)
#define S10 ((PORTF & 128 ) >> 7) #define S10 ((PINF & 128 ) >> 7)
#define NCYCLES 350 #define NCYCLES 250
#define BROKEN 300 #define BROKEN 230
#define TOO_LOW 60 #define TOO_LOW 45
#define LED1ON (PORTD = PORTD | 0b00100000) #define LED1ON (PORTD = PORTD | 0b00100000)
#define LED1OFF (PORTD & 0b11011111) #define LED1OFF (PORTD = PORTD & 0b11011111)
#define LED2ON (PORTD = PORTD | 0b00100000)
#define LED2OFF (PORTF & 0b01111110) #define LED2ON (PORTF = PORTF | 0b00000001)
#define LED3ON (PORTB | 0b10000000) #define LED2OFF (PORTF = PORTF & 0b11111110)
#define LED3OFF (PORTB & 0b01111111)
#define LED4ON (PORTB | 0b00000001) #define LED3ON (PORTB = PORTB | 0b10000000)
#define LED4OFF (PORTB & 0b11111110) #define LED3OFF (PORTB = PORTB & 0b01111111)
#define LED4ON (PORTB = PORTB | 0b00000001)
#define LED4OFF (PORTB = PORTB & 0b11111110)
int counter[16]; int counter[16];
@ -68,7 +71,8 @@ byte ballInfo = 0;
float xs[16]; float xs[16];
float ys[16]; float ys[16];
float angle = 0, dist = 0; float angle = 0;
int dist = 0;
boolean sending = false; boolean sending = false;
byte sendAngle = 0, sendDistance = 0; byte sendAngle = 0, sendDistance = 0;
byte sendByte = 0; byte sendByte = 0;
@ -78,7 +82,21 @@ unsigned long t = 0;
void setup() { void setup() {
delay(1000); delay(1000);
Serial.begin(57600); Serial1.begin(57600);
/*For now replace pinMode with writes to the direction register.
We don't know if pinMode will work on those sensors, and it has proven not be working on digitalWrite for reasons probably relative to compatibility between Arduino and our board,
but this needs further investigation*/
//Set the LEDs as outputs, keep the rest as input by default
//LED3(PB7) and LED4 (PB0)
//DDRB |= 0b10000001;
//LED2 (PF0)
//DDRF |= 0b00000001;
//LED1 (PD5)
//DDRD |= 0b00100000;
/*pinMode(26, INPUT); //S1 /*pinMode(26, INPUT); //S1
pinMode(25, INPUT); //S2 pinMode(25, INPUT); //S2
@ -97,20 +115,6 @@ void setup() {
pinMode(28, INPUT); //S15 pinMode(28, INPUT); //S15
pinMode(27, INPUT); //S16*/ pinMode(27, INPUT); //S16*/
/*For now replace pinMode with writes to the direction register.
We don't know if pinMode will work on those sensors, and it has proven not be working on digitalWrite for reasons probably relative to compatibility between Arduino and our board,
but this needs further investigation*/
//Set the LEDs as outputs, keep the rest as input by default
//LED3(PB7) and LED4 (PB0)
DDRB=0b10000001;
//LED2 (PF0)
DDRF=0b00000001;
//LED1 (PD5)
DDRD=0b00100000;
DDRE = 0b00000000;
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
xs[i] = cos((22.5 * PI / 180) * i); xs[i] = cos((22.5 * PI / 180) * i);
ys[i] = sin((22.5 * PI / 180) * i); ys[i] = sin((22.5 * PI / 180) * i);
@ -119,7 +123,10 @@ void setup() {
void loop() { void loop() {
readBallInterpolation(); readBallInterpolation();
//printCounter();
sendDataInterpolation(); sendDataInterpolation();
//test();
//delay(100);
} }
/**--- READ BALL USING SENSORS ANGLE INTERPOLATION ---**/ /**--- READ BALL USING SENSORS ANGLE INTERPOLATION ---**/
@ -168,27 +175,28 @@ void readBallInterpolation() {
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
if (counter[i] > nmax) { if (counter[i] > nmax) {
nmax = counter[i]; nmax = counter[i];
sensor = i;
} }
} }
dist = nmax; distance = nmax;
//turn led on //turn led on
if (dist == 0) { /*if (distance == 0) {
LED1ON;
} else {
LED1OFF; LED1OFF;
} } else {
LED1ON;
}*/
} }
void sendDataInterpolation() { void sendDataInterpolation() {
if(sending){ if(sending){
sendAngle = ((byte) (angle / 2)) & 0b11111110; sendAngle = ((byte) (angle / 2)) & 0b11111110;
Serial.write(sendAngle); Serial1.write(sendAngle);
}else{ }else{
sendDistance = map(sendDistance, 0, NCYCLES, 254, 0); sendDistance = map(distance, 0, NCYCLES, 254, 0);
sendDistance = sendDistance |= 0b00000001; sendDistance = sendDistance |= 0b00000001;
Serial.write(sendDistance); Serial1.write(sendDistance);
} }
sending = !sending; sending = !sending;
} }
@ -196,45 +204,56 @@ void sendDataInterpolation() {
void test() { void test() {
readBallInterpolation(); readBallInterpolation();
Serial.print(S1); Serial1.println("===========");
Serial.print(" | "); Serial1.print(S1);
Serial.print(S2); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S2);
Serial.print(S3); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S3);
Serial.print(S4); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S4);
Serial.print(S5); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S5);
Serial.print(S6); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S6);
Serial.print(S7); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S7);
Serial.print(S8); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S8);
Serial.print(S9); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S9);
Serial.print(S10); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S10);
Serial.print(S11); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S11);
Serial.print(S12); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S12);
Serial.print(S13); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S13);
Serial.print(S14); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S14);
Serial.print(S15); Serial1.print(" | ");
Serial.print(" | "); Serial1.print(S15);
Serial.print(S16); Serial1.print(" | ");
Serial.print(" () "); Serial1.print(S16);
Serial.println(sensor); Serial1.print(" --- ");
Serial1.println(sensor);
Serial1.println("===========");
delay(100);
} }
void printCounter() { void printCounter() {
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
Serial.print(counter[i]); Serial1.print(counter[i]);
Serial.print(" | "); Serial1.print(" | ");
} }
Serial.println(); Serial1.print("\t\t| Angle: " );
Serial1.print(angle);
Serial1.print("||| Distance: " );
Serial1.print(distance);
Serial1.println();
delay(100);
} }