Moved to version 0.6.0 - 'URSULA'
0.6.0 - 'HELGA' () Added Doxygen comments Added volume to display_all_values (diagnostics screenS) 0.5.0 - 'HELGA' (#72) Added diagnostics screen (opened by pressing left after boot) Added secret quiet mode Added turning_corection_factor for correcing gyro sensor measurements due to its bad placement 0.4.3 - 'HELGA' (#70) Motor problems indicator with colors: left - red, right - orange, when motor is stuck change LED color Added calculating motor powers based on battery level
This commit is contained in:
Blboun3
parent
64d3c294f0
commit
b8cd70e1fa
221
app.cpp
221
app.cpp
@ -7,16 +7,22 @@
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#include <cstring>
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/*
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Change notes:
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CHANGELOG:
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0.5.0 - 'HELGA'
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0.6.0 - 'HELGA' ()
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Added Doxygen comments
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Added volume to display_all_values (diagnostics screenS)
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0.5.0 - 'HELGA' (#72)
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Added diagnostics screen (opened by pressing left after boot)
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Added secret quiet mode
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Added turning_corection_factor for correcing gyro sensor measurements due to its bad placement
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0.4.3 - 'HELGA' (#70)
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Motor problems indicator with colors:
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left - red, right - orange,
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when motor is stuck change LED color
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Added calculating motor powers based on battery level
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0.4.2 - 'HELGA' (#67)
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Updated run_short() to run_short_side()
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@ -45,45 +51,60 @@ Re-created structs for version, MPWRS, note
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Re-created function for opening and closing door and function for generating Version ID
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*/
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/* Structure to hold current version (major, minor, patch, codename, id, release_date)
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MAJOR - Major version number
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MINOR - Minor changes in code
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PATCH - Mostly just for testing
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ID - Increment every time with new version
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CODENAME - (String) Version name
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RELEASE_DATE - when was current version released
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*/
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/// @struct version
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/// @brief Struct for holding all informations about current version
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struct version
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{
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/// @brief int: version id
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int id;
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/// @brief int: major
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int major;
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/// @brief int: minor
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int minor;
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/// @brief int: patch
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int patch;
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/// @brief std::tm: release date (date & time of compilation)
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std::tm relDate;
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/// @brief const char*: string codename of the current version
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const char *codename;
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};
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// Structure to hold motor powers (left and right)
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/// @struct MPWRS
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/// @brief Structure to hold motor powers (left and right)
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struct MPWRS
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{
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/// @brief int: left motor power
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int lMotorPWR;
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/// @brief int: right motor power
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int rMotorPWR;
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};
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// Structure to hold motor powers and speed modifier
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/// @struct MPWRSPlus
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/// @brief Structure to hold motor powers and speed modifier (extends MPWRS)
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struct MPWRSPlus
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{
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/// @brief MPWRS: motor powers
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MPWRS motor_powers;
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/// @brief int: speed modifier
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int SPEED_MODIFIER;
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};
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// Structure to hold notes
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/// @struct note
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/// @brief Structure for holding note (frequency and duration)
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struct note
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{
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/// @brief uint16_t: Frequency of the note
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uint16_t frequency;
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/// @brief int32_t: Duration of the note
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int32_t duration;
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};
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/// @brief Function to calculate motor powers using quadratic equation, depending on battery power
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/// @param leftMotor int: wanted power of left motor (default 85)
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/// @param rightMotor int: wante power or right motor (default 70)
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/// @return MPWRSPlus: motor powers and SPEED_MODIFIER
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MPWRSPlus calculate_motor_pwrs(int leftMotor = 85, int rightMotor = 70)
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{
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int batteryLevel = ev3_battery_voltage_mV();
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@ -105,6 +126,7 @@ MPWRSPlus calculate_motor_pwrs(int leftMotor = 85, int rightMotor = 70)
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return retVal;
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}
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/// @brief Function to clean display and write first two line
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void cleanAndTitle()
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{
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ev3cxx::display.resetScreen();
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@ -112,8 +134,17 @@ void cleanAndTitle()
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ev3cxx::display.format(1, "*****************");
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}
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// diacnostic functin()
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void displayAllValues(version currentVersion, int lMotorPWR, int rMotorPWR, int batteryLevel, int SPEED_MODIFIER, int turningThreshold, int CORRECTION_MULTIPLIER, int shortOneCycleLimit)
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/// @brief Diagnostic function to display all value on display with ability to show multiple pages
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/// @param currentVersion version: struct verion of currently defined version
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/// @param volume: int: current set volume
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/// @param lMotorPWR int: base set power for the left motor
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/// @param rMotorPWR int: base set power for the right motor
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/// @param SPEED_MODIFIER int: caluclated SPEED_MODIFIER
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/// @param turningThreshold int: turning accuracy in degrees
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/// @param TURNING_FACTOR_CORRECTION int: factor for changing final turning values due to gyro sensor placement
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/// @param CORRECTION_MULTIPLIER int: for driving straight
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/// @param shortOneCycleLimit int: how many program cycles to do when running first short side
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void displayAllValues(version currentVersion, int volume, int lMotorPWR, int rMotorPWR, int SPEED_MODIFIER, int turningThreshold, int TURNING_FACTOR_CORRECTION, int CORRECTION_MULTIPLIER, int shortOneCycleLimit)
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{
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ev3cxx::display.resetScreen();
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ev3cxx::display.setFont(EV3_FONT_MEDIUM);
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@ -135,24 +166,25 @@ void displayAllValues(version currentVersion, int lMotorPWR, int rMotorPWR, int
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ev3cxx::display.format(2, "Ver.: % .% .% ") % currentVersion.major % currentVersion.minor % currentVersion.patch;
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ev3cxx::display.format(3, "Nr.: #% ") % currentVersion.id;
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ev3cxx::display.format(4, "Codename: % ") % currentVersion.codename;
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ev3cxx::display.format(5, "Rel.: % ") % std::asctime(¤tVersion.relDate);
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ev3cxx::display.format(7, "-----------------");
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ev3cxx::display.format(5, "Volume: % %%") % volume;
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ev3cxx::display.format(6, "Rel.: % ") % std::asctime(¤tVersion.relDate);
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break;
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case 1:
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ev3cxx::display.resetScreen();
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ev3cxx::display.format(0, "Bat.: % mV") % batteryLevel;
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ev3cxx::display.format(0, "Bat.: % mV") % ev3_battery_voltage_mV();
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ev3cxx::display.format(1, "Mod.: % ") % SPEED_MODIFIER;
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ev3cxx::display.format(2, "-------_T_-------");
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ev3cxx::display.format(3, "TT: % ") % turningThreshold;
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ev3cxx::display.format(4, "CM: % ") % CORRECTION_MULTIPLIER;
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ev3cxx::display.format(5, "-------_1_-------");
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ev3cxx::display.format(6, "SOCL: % ") % shortOneCycleLimit;
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ev3cxx::display.format(7, "");
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ev3cxx::display.format(5, "TFC: % ") % TURNING_FACTOR_CORRECTION;
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ev3cxx::display.format(6, "-------_1_-------");
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ev3cxx::display.format(7, "SOCL: % ") % shortOneCycleLimit;
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break;
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case 2:
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ev3cxx::display.resetScreen();
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ev3cxx::display.format(0, "% ");
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ev3cxx::display.format(0, "");
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ev3cxx::display.format(1, "");
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ev3cxx::display.format(2, "");
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break;
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default:
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@ -193,7 +225,9 @@ void displayAllValues(version currentVersion, int lMotorPWR, int rMotorPWR, int
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}
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}
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// TimeStamp parser
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/// @brief Function to parse timestamp to std::tm
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/// @param timestampStr const char*: string form of the timestamp
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/// @return std::tm: parsed timestamp
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std::tm parseTimestamp(const char *timestampStr)
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{
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std::tm tmStruct = {};
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@ -207,7 +241,15 @@ std::tm parseTimestamp(const char *timestampStr)
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return tmStruct;
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}
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// Function to create new program version
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/// @brief Function to generate version struct of the current version
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/// Includes getting and parsing time of compilation using parseTimestamp function
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/// @param versionID int: versionID, increment with every new change
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/// @param codename const char*: string codename of the current version
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/// @param major int: major
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/// @param minor int: minor
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/// @param patch int: patch
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/// @return version: current version of the code, with date and time of compilation included
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version createVersion(int versionID, const char *codename, int major, int minor, int patch)
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{
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version retVersion;
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@ -229,52 +271,72 @@ version createVersion(int versionID, const char *codename, int major, int minor,
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return retVersion;
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}
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// Function to open door
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/// @brief Function to open door
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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void open_door(ev3cxx::Motor hinge)
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{
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hinge.onForDegrees(-25, 200);
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}
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// Function to close door
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/// @brief Function to close door
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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void close_door(ev3cxx::Motor hinge)
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{
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hinge.onForDegrees(25, 200);
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}
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/*
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Function for turning
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Robot can turn only left
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*/
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void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2)
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/// @brief Function for turning
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/// !! ROBOT CAN TURN ONLY LEFT !!
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/// @param motors ev3cxx::MotorTank: MotorTank with motors of the DriveBase to use
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/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
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/// @param endAngle int: angle to turn to (wanted angle, will be modified internally)
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/// @param THRESHOLD int: turning accuracy in degrees (default 2)
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/// @param TFC int: Turning Factor Correction, modifies endAngle for more accurate results (default 5)
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void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
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{
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endAngle = endAngle - TFC;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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// MPWRSPlus calcedPWRS = calculate_motor_pwrs(-35, 40);
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motors.onForRotations(left_speed = -15,
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right_speed = 30,
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rotations = 2,
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brake = true,
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blocking = false,
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wait_after_ms = 60);
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// left, right, rotations (faster), brake, blocking, wait_after
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motors.onForRotations(-10, 25, 1.5, true, false, 60);
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bool rotating = true;
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while (rotating)
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int counter = 0;
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while (rotating && counter < 250)
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{
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int currAngle = ev3cxx::abs(gyro.angle());
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if ((ev3cxx::abs(endAngle - THRESHOLD) < currAngle) &&
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(currAngle < av3cxx::abs(endAngle + THRESHOLD)))
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ev3cxx::display.format(3, "Angle: % ") % currAngle;
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ev3cxx::display.format(4, "Counter: % ") % counter;
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if ((ev3cxx::abs(endAngle - THRESHOLD) < currAngle))
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{
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motors.off(brake = true);
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int error = endAngle - currAngle;
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ev3cxx::display.format(5, "Error: % deg.") % error;
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motors.off(true);
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rotating = false;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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ev3_speaker_play_tone(NOTE_F5, 100);
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return;
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}
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tslp_tsk(20);
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counter++;
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}
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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return;
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}
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/*
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Function to pick up all cubes on shorter side
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return true if ran till the end and false if stopped by middle button
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*/
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/// @brief Function to pick up all cubes on shorter side.
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/// Returns true if ran till the end and false if stopped by middle button
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/// @param motors ev3cxx::MotorTank: MotorTank with motors of DriveBase
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/// @param idealMPWRS MPWRS: motor powers to use when nothing bad happens
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/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
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/// @param CYCLE_LIMIT int: how many cycle to run (default 90)
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/// @param CORRECTION_MULTIPLIER int: base value for modifying drive direction when of course (default 20)
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/// @param THRESHOLD int: when to start correcting drive (in degrees) (default 2)
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/// @return bool: false if stopped by the middle button
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bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, int CYCLE_LIMIT = 90, int CORRECTION_MULTIPLIER = 20, int THRESHOLD = 2)
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{
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const int LEFT_THRESHOLD = -THRESHOLD;
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@ -375,13 +437,14 @@ void main_task(intptr_t unused)
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const int CYCLE_LIMIT_1 = 90;
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const int THRESHOLD = 2;
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const int TURNING_THRESHOLD = 1;
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const int TURNING_FACTOR_CORRECTION = 5;
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const int CORRECTION_MULTIPLIER = 20;
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int volume = 100;
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// Create version info
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// version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
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const version VERSION = createVersion(72, "URSULA", 0, 5, 0);
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const version VERSION = createVersion(73, "URSULA", 0, 6, 0);
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// Set-up screen
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ev3cxx::display.resetScreen();
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@ -410,8 +473,15 @@ void main_task(intptr_t unused)
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ev3cxx::BrickButton btnLeft(ev3cxx::BrickButtons::LEFT); // Left button (for entering diagnostics)
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ev3cxx::BrickButton btnDown(ev3cxx::BrickButtons::DOWN); // Down button (quiet mode)
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if(btnDown.isPressed()){
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volume = 10;
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// quiet mode activation
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if (btnDown.isPressed())
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{
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volume = 0;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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tslp_tsk(200);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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tslp_tsk(200);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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}
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// Print version information on screen
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@ -438,68 +508,37 @@ void main_task(intptr_t unused)
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tslp_tsk(200);
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// Start program
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while (1 == 1)
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while (true)
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{
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// ev3_speaker_play_tone(NOTE_FS6, 20);
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// tslp_tsk(20);
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if (btnLeft.isPressed())
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{
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displayAllValues(VERSION, idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, ev3_battery_voltage_mV(), SPEED_MODIFIER, TURNING_THRESHOLD, CORRECTION_MULTIPLIER, CYCLE_LIMIT_1);
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displayAllValues(VERSION, idealMPWRS.lMotorPWR, idealMPWRS.rMotorPWR, SPEED_MODIFIER, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION, CORRECTION_MULTIPLIER, CYCLE_LIMIT_1);
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}
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if (btnEnter.isPressed() || touchS.isPressed())
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{
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cleanAndTitle();
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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ev3_speaker_play_tone(NOTE_F4, 100);
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tslp_tsk(750);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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ev3_speaker_play_tone(NOTE_F4, 100);
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break;
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}
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ev3_speaker_play_tone(NOTE_F6, 50);
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// ev3_speaker_play_tone(NOTE_F6, 50);
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tslp_tsk(50);
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}
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ev3_speaker_play_tone(NOTE_F4, 100);
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tslp_tsk(200);
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for (int i = 0; i < 10; i++)
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{
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gyro.resetHard();
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if (gyro.angle() == 0)
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{
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ev3_speaker_play_tone(NOTE_F6, 200);
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tslp_tsk(200);
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}
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turn(motors, gyro, 90, TURNING_THRESHOLD);
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ev3_speaker_play_tone(NOTE_F4, 100);
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tslp_tsk(200);
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ev3_speaker_play_tone(NOTE_A4, 100);
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tslp_tsk(200);
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ev3_speaker_play_tone(NOTE_C4, 100);
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tslp_tsk(200);
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ev3_speaker_play_tone(NOTE_F4, 50);
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tslp_tsk(100);
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ev3_speaker_play_tone(NOTE_A4, 50);
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tslp_tsk(100);
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ev3_speaker_play_tone(NOTE_C4, 50);
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tslp_tsk(100);
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ev3_speaker_play_tone(NOTE_F4, 25);
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tslp_tsk(50);
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ev3_speaker_play_tone(NOTE_A4, 25);
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tslp_tsk(50);
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ev3_speaker_play_tone(NOTE_C4, 25);
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tslp_tsk(50);
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ev3_speaker_play_tone(NOTE_F4, 12);
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tslp_tsk(25);
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ev3_speaker_play_tone(NOTE_A4, 12);
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tslp_tsk(25);
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ev3_speaker_play_tone(NOTE_C4, 12);
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tslp_tsk(25);
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}
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bool side_1 = false; // run_short_side(motors, motor_powers, gyro, CYCLE_LIMIT_1, CORRECTION_MLUTIPLIER, THRESHOLD);
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bool side_1 = run_short_side(motors, motor_powers, gyro, CYCLE_LIMIT_1, CORRECTION_MULTIPLIER, THRESHOLD);
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if (!side_1)
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{
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// Something went wrong
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return;
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}
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else
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{
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return;
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}
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turn(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
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}
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