forked from StopPointTeam/TaiChi
545 lines
15 KiB
C++
545 lines
15 KiB
C++
#include "moveTaiChi.h" //轮胎运动库
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#include "sensorTaiChi.h" //传感器库
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#include "servoTaiChi.h" //舵机库
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//****************************************调试相关****************************************
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//注释以关闭调试功能
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#define TAICHI_DEBUG
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#ifdef TAICHI_DEBUG
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#define DEBUG_BAUT_RATE 115200
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#define DEBUG_PAUSE_INTERRUPTNUM 2 //PIN 21
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#define DEBUG_PAUSE_PIN 21
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//中断函数，用于调试时暂停程序
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void DebugPause(void)
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{
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while (digitalRead(DEBUG_PAUSE_PIN) == LOW) {}
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}
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#endif
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//***************************************************************************************
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Move move; //轮胎运动实例
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Sensor sensor; //传感器实例
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Servo servo; //舵机实例
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//****************************************运动路径****************************************
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//坐标点操作定义
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#define NORMAL_POINT 0 //普通点
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#define CATCH_POINT 1 //抓取点
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#define RELEASE_POINT 2 //释放点（使用机械臂）
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#define CARRY_POINT 0 //携带点，在算法中可视为普通点
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#define GETOUT_POINT 4 //释放点（从底盘）
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//坐标点数组定义
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#define X 0
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#define Y 1
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#define TYPE 2
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int8_t route[][3] =
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{
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{0, 0, NORMAL_POINT},
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{0, 1, NORMAL_POINT},
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{0, 2, CATCH_POINT},
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{0, 3, NORMAL_POINT},
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{1, 3, NORMAL_POINT},
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{2, 3, NORMAL_POINT},
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{2, 4, NORMAL_POINT},
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{3, 4, RELEASE_POINT},
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{2, 4, NORMAL_POINT},
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{2, 3, NORMAL_POINT},
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{2, 2, CATCH_POINT},
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{3, 2, RELEASE_POINT},
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{2, 2, NORMAL_POINT},
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{1, 2, NORMAL_POINT},
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{0, 2, NORMAL_POINT},
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{0, 1, NORMAL_POINT}
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};
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//***************************************************************************************
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//****************************************可调参数****************************************
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//抓取点移动用时
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#define CATCH_MOVE_DELAY_TIME 2000
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//释放点移动用时
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#define RELEASE_MOVE_DELAY_TIME 2000
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//重置留时
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#define RESET_DELAY_TIME 10000
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//抓取留时
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#define CATCH_DELAY_TIME 10000
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//释放留时
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#define RELEASE_DELAY_TIME 10000
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//传感器判断转向完成延时
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#define TRUN_CHECK_DELAY 1000
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//修正循迹时单侧减速比率
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#define LINE_FIX_SPEED_RATE 0.8
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//低速重新寻线时减速比率
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#define LINE_FIND_SPEED_RATE 0.5
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//***************************************************************************************
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//****************************************全局变量****************************************
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//数组位置标记
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int passed_flag = 0;
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int next_flag = 1;
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int next_next_flag = 2;
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//最大数组位置标记
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int max_flag;
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#define FRONT_NEXT 0
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#define BACK_NEXT 1
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//下一点朝向
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uint8_t next_position = FRONT_NEXT;
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//***************************************************************************************
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//****************************************自定函数****************************************
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//计算方向，同时更改完成转向后相对下一点的朝向
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uint8_t CalcDirection(void);
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#define FRONT_END 0
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#define BACK_END 1
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#define CATCH_END 2
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#define RELEASE_END 3
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//沿线直行，在触发条件后停止
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void LineForward(uint8_t end_position, float speed_rate = 1.0);
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//沿线后退，在触发条件后停止
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void LineBackward(uint8_t end_position, float speed_rate = 1.0);
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//直行或后退或转向
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void TurnDirection(float speed_rate = 1.0);
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//抓取环，并判定是否抓取成功
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bool CatchAndCheckIsDone(float speed = 1.0);
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//***************************************************************************************
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void setup()
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{
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#ifdef TAICHI_DEBUG
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attachInterrupt(DEBUG_PAUSE_INTERRUPTNUM, DebugPause, LOW);
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Serial.begin(DEBUG_BAUT_RATE);
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Serial.println("#TAICHI: ======================setup()=====================");
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#endif
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move.Stop();
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servo.StopAndReset();
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//计算最大数组下标
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max_flag = sizeof(route) / sizeof(route[0]) - 1;
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//前往 0, 0
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//沿线直行，到后端传感器接触下一条线为止
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LineForward(BACK_END);
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//已越过 0, 0 正式进入循环
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}
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void loop()
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{
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#ifdef TAICHI_DEBUG
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static int loop_time = 0;
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loop_time++;
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Serial.println("#TAICHI: ====================New loop()====================");
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Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time);
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Serial.print("#TAICHI: passed_flag: "); Serial.println(passed_flag);
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Serial.print("#TAICHI: next_position: "); Serial.println((int)next_position);
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Serial.print("#TAICHI: passed_flag TYPE: "); Serial.println((int)route[passed_flag][TYPE]);
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Serial.print("#TAICHI: next_flag TYPE: "); Serial.println((int)route[next_flag][TYPE]);
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#endif
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//情况一：刚完整经过普通点，下一个点为普通点
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if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == NORMAL_POINT)
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{
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if (next_position == FRONT_NEXT)
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{
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//沿线直行，到前端传感器接触下一条线为止
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LineForward(FRONT_END);
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}
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else
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{
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//沿线后退，到后端传感器接触下一条线为止
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LineBackward(BACK_END);
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}
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//继续直行或后退或转向
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TurnDirection();
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}
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//情况二：刚完整经过普通点，下一个点为抓取点
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else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == CATCH_POINT)
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{
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//沿线直行，在抓取位置停止
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LineForward(CATCH_END);
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//抓取
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CatchAndCheckIsDone();
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//继续沿线直行，到前端传感器接触下一条线为止
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LineForward(FRONT_END);
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//继续直行或后退或转向
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TurnDirection();
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//抓取完成后，将越过的点视为普通点
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route[next_flag][TYPE] = NORMAL_POINT;
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}
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//情况三：刚完整经过普通点，下一个点为释放点（使用机械臂）
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else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == RELEASE_POINT)
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{
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//沿线直行，在释放位置停止
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LineForward(RELEASE_END);
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//释放
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servo.Release();
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delay(RELEASE_DELAY_TIME); //释放留时
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//释放完成后，下一点朝向为后
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next_position = BACK_NEXT;
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}
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//情况四：刚完整经过释放点（使用机械臂），下一个点为普通点
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else if (route[passed_flag][TYPE] == RELEASE_POINT && route[next_flag][TYPE] == NORMAL_POINT)
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{
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//沿线后退，到后端传感器接触下一条线为止
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LineBackward(BACK_END);
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//机械臂复原
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servo.Reset();
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delay(RESET_DELAY_TIME); //复原留时
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//继续后退或转向
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TurnDirection();
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}
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//情况五：刚完整经过普通点，下一个点为释放点（从底盘）
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else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == GETOUT_POINT)
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{
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//沿线直行，到后端传感器接触下一条线为止
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LineForward(BACK_END);
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//下一点朝向为后
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next_position = BACK_NEXT;
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}
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//情况六：刚完整经过释放点（从底盘），下一个点为普通点
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else if (route[passed_flag][TYPE] == RELEASE_POINT && route[next_flag][TYPE] == NORMAL_POINT)
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{
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//沿线后退，到后端传感器接触下一条线为止，以完成释放
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LineBackward(BACK_END);
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//继续后退或转向
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TurnDirection();
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}
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//出现错误
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else
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{
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move.Stop();
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#ifdef TAICHI_DEBUG
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Serial.println("#TAICHI: FAIL TO RUN NEW LOOP!");
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Serial.print("#TAICHI: passed_flag: "); Serial.println(passed_flag);
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Serial.print("#TAICHI: next_position: "); Serial.println((int)next_position);
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Serial.print("#TAICHI: passed_flag TYPE: "); Serial.println((int)route[passed_flag][TYPE]);
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Serial.print("#TAICHI: next_flag TYPE: "); Serial.println((int)route[next_flag][TYPE]);
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#endif
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while (1) {}
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}
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//更新标记，继续循环
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if (++passed_flag > max_flag)
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passed_flag = 0;
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if (++next_flag > max_flag)
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next_flag = 0;
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if (++next_next_flag > max_flag)
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next_next_flag = 0;
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#ifdef TAICHI_DEBUG
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Serial.println("#TAICHI: ====================End loop()====================");
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#endif
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}
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//计算方向，同时更改完成转向后相对下一点的朝向
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uint8_t CalcDirection(void)
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{
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//计算第三点与第一点的相对坐标 rx0, ry0
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int8_t rx0 = route[next_next_flag][X] - route[passed_flag][X];
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int8_t ry0 = route[next_next_flag][Y] - route[passed_flag][Y];
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//计算当前小车朝向的方向向量 vx, vy
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int8_t vx = route[next_flag][X] - route[passed_flag][X];
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int8_t vy = route[next_flag][Y] - route[passed_flag][Y];
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//坐标旋转变换
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int8_t rx, ry;
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if (vx == 0 && vy == 1)
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{
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rx = rx0;
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ry = ry0;
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}
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else if (vx == -1 && vy == 0)
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{
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rx = ry0;
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ry = -rx0;
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}
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else if (vx == 0 && vy == -1)
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{
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rx = -rx0;
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ry = -ry0;
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}
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else if (vx == 1 && vy == 0)
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{
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rx = -ry0;
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ry = rx0;
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}
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else return 254; //调试用
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//判断行进方向
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if (rx == 0 && ry == 2)
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{
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if (next_position == FRONT_NEXT)
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{
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return FORWARD;
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}
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else
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{
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return BACKWARD;
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}
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}
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else if (rx == 0 && ry == 0)
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{
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if (next_position == FRONT_NEXT)
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{
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next_position = BACK_NEXT;
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return BACKWARD;
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}
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else
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{
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next_position = FRONT_NEXT;
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return FORWARD;
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}
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}
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else if (rx == -1 && ry == 1)
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{
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if (next_position == FRONT_NEXT)
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{
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return FORLEFTWARD;
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}
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else
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{
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next_position = FRONT_NEXT;
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return BACKLEFTWARD;
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}
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}
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else if (rx == 1 && ry == 1)
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{
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if (next_position == FRONT_NEXT)
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{
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return FORRIGHTWARD;
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}
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else
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{
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next_position = FRONT_NEXT;
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return BACKRIGHTWARD;
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}
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}
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else return 255; //调试用
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}
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//沿线直行，在触发条件后停止
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void LineForward(uint8_t end_position, float speed_rate)
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{
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#ifdef TAICHI_DEBUG
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//调试输出沿线直行状态
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Serial.print("#TAICHI: Line Forward");
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Serial.print(" end_position: ");
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Serial.println((int)end_position);
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#endif
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//记录开始时间
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unsigned long begin_time = micros();
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while(1)
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{
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if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线
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{
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move.ForRightward(speed_rate, LINE_FIX_SPEED_RATE);
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}
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else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线
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{
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move.ForLeftward(speed_rate, LINE_FIX_SPEED_RATE);
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}
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else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上
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{
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move.Forward(speed_rate);
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}
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else //均不符合，则低速后退，尝试回到白线上
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{
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move.Backward(LINE_FIND_SPEED_RATE);
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}
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if (end_position == FRONT_END) //前端接触线为止
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{
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if (sensor.IsWhite(GRAY_1) && sensor.IsWhite(GRAY_2))
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break;
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}
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else if (end_position == BACK_END) //后端接触线为止
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{
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if (sensor.IsWhite(GRAY_5) && sensor.IsWhite(GRAY_6))
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break;
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}
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else if (end_position == CATCH_END) //到达抓取位置为止
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{
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if (micros() - begin_time > CATCH_MOVE_DELAY_TIME)
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break;
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}
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else //到达释放位置为止
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{
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if (micros() - begin_time > RELEASE_MOVE_DELAY_TIME)
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break;
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}
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}
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#ifdef TAICHI_DEBUG
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//调试输出沿线直行结束
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Serial.println("#TAICHI: End Line Forward");
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#endif
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}
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//沿线后退，在触发条件后停止
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void LineBackward(uint8_t end_position, float speed_rate)
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{
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#ifdef TAICHI_DEBUG
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//调试输出沿线后退状态
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Serial.print("#TAICHI: Line Backward");
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Serial.print(" end_position: ");
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Serial.println((int)end_position);
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#endif
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while(1)
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{
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if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线
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{
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move.BackRightward(speed_rate, LINE_FIX_SPEED_RATE);
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}
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else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线
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{
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move.BackLeftward(speed_rate, LINE_FIX_SPEED_RATE);
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}
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else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上
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{
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move.Backward(speed_rate);
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}
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else //均不符合，则低速前进，尝试回到白线上
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{
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move.Forward(LINE_FIND_SPEED_RATE);
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}
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if (end_position == FRONT_END) //前端接触线为止
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{
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if (sensor.IsWhite(GRAY_1) && sensor.IsWhite(GRAY_2))
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break;
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}
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else //后端接触线为止
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{
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if (sensor.IsWhite(GRAY_5) && sensor.IsWhite(GRAY_6))
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break;
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}
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}
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#ifdef TAICHI_DEBUG
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//调试输出沿线后退结束
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Serial.println("#TAICHI: End Line Backward");
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#endif
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}
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//直行或后退或转向
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void TurnDirection(float speed_rate)
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{
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uint8_t direction = CalcDirection();
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#ifdef TAICHI_DEBUG
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//调试输出直行或后退或转向状态
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Serial.print("#TAICHI: Turn Direction");
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Serial.print(" direction: ");
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Serial.println((int)direction);
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#endif
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if (direction == FORWARD) //继续直行
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{
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//沿线直行，到后端传感器接触线为止
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LineForward(BACK_END, speed_rate);
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}
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else if (direction == BACKWARD) //继续后退
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{
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//沿线后退，到前端传感器接触线为止
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LineBackward(FRONT_END, speed_rate);
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}
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else //继续转向
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{
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move.MoveDirection(direction, speed_rate);
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//传感器判断转向完成
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delay(TRUN_CHECK_DELAY); //延时后判断
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while(!(sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4))) {}
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}
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#ifdef TAICHI_DEBUG
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//调试输出直行或后退或转向结束
|
|
Serial.println("#TAICHI: End Turn Direction");
|
|
#endif
|
|
}
|
|
|
|
|
|
//抓取环，并判定是否抓取成功
|
|
bool CatchAndCheckIsDone(float speed)
|
|
{
|
|
//执行抓取动作
|
|
servo.Catch(speed);
|
|
|
|
//等待完成动作
|
|
delay(CATCH_DELAY_TIME);
|
|
|
|
if (sensor.IsPushed(BUTTON_1)) //开关 1 闭合，即爪子两端接触，说明抓取失败
|
|
{
|
|
#ifdef TAICHI_DEBUG
|
|
//调试输出失败信息
|
|
Serial.println("#TAICHI: FAIL CATCH!");
|
|
#endif
|
|
|
|
servo.Catch(speed); //重试，此次检测但不重试
|
|
|
|
//等待完成动作
|
|
delay(CATCH_DELAY_TIME);
|
|
|
|
if (sensor.IsPushed(BUTTON_1))
|
|
{
|
|
#ifdef TAICHI_DEBUG
|
|
//调试输出失败信息
|
|
Serial.println("#TAICHI: FAIL CATCH AGAIN!");
|
|
#endif
|
|
|
|
return false;
|
|
}
|
|
}
|
|
|
|
#ifdef TAICHI_DEBUG
|
|
//调试输出成功信息
|
|
Serial.println("#TAICHI: SUCCUESS CATCH!");
|
|
#endif
|
|
|
|
return true;
|
|
} |