支持多种转向方式并支持 EEPROM 读取数据
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@ -1,11 +1,17 @@
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#include <Arduino.h>
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#include <EEPROM.h>
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#include <NeoHWSerial.h>
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#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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#include "radioTaiChi.h" //通信库
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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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Radio radio; //通讯实例
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//****************************************运动路径****************************************
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@ -53,6 +59,9 @@ int8_t route[][3] =
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//****************************************可调参数****************************************
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//EEPROM 写入位置
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#define EEPROM_ADDRESS 0x0
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//是否关闭爪子状态检测功能
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#define DISABLE_CLAW_CHECK
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@ -103,7 +112,31 @@ int8_t route[][3] =
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//****************************************全局变量****************************************
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//GND Pins
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uint8_t gnd_pins[4] = {14, 15, 16, 17};
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uint8_t gnd_pins[8] = {14, 15, 32, 33, 34, 35, 36, 37};
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//EEPROM 储存的调试数据
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struct StroageInfo
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{
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float real_angle_val[8];
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int gray_7_gate;
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int delay_time_after_turn;
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} stroage_info;
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//下一点绝对朝向角
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float north_left_angle;
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float north_right_angle;
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float west_left_angle;
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float west_right_angle;
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float south_left_angle;
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float south_right_angle;
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float east_left_angle;
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float east_right_angle;
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//7 号传感器灰度临界值
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int gray_7_gate;
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//转向开始到结束的时间
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int delay_time_after_turn;
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//数组位置标记
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int passed_flag = 0;
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@ -118,6 +151,13 @@ int max_flag;
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//下一点朝向
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uint8_t next_position = FRONT_NEXT;
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#define NORTH 0
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#define WEST 1
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#define SOUTH 2
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#define EAST 3
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//下一点绝对朝向
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uint8_t current_real_direction = NORTH;
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//爪子是否抓有环
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bool is_claw_catch = false;
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@ -126,6 +166,12 @@ bool is_claw_ok = true;
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//底盘是否携带环
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bool is_carry = false;
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#define TURN_BY_TIME 0 //基于时间
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#define TURN_BY_GRAY 1 //基于灰度传感器
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#define TURN_BY_EARTH 2 //基于地磁场
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//转向方式
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uint8_t turn_method = TURN_BY_TIME;
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//***************************************************************************************
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@ -133,6 +179,9 @@ bool is_carry = false;
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//设置接口低电平作为额外地
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void SetGNDPins(void);
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//从 EEPROM 读取数据
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void ReadFromEEPROM(void);
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//在开始运行前依次检测各灰度传感器下方黑白是否正常，若不正常，异常传感器闪烁，程序不继续进行
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void CheckGrayStatus(void);
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@ -167,6 +216,9 @@ bool CatchAndCheck(uint8_t type = CATCH_TYPE_CATCH, float speed = 1.0);
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//打开爪子，并判断爪子是否能正常工作
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bool OpenClawAndCheck(void);
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//通讯消息处理函数
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void HandleMessage(char * message);
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//***************************************************************************************
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@ -177,41 +229,21 @@ bool OpenClawAndCheck(void);
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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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int loop_time = 0;
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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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//记录之前的运动状态
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uint8_t current_direction = move.GetCurrentMove(); //当前运动状态
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float current_speed_rate = move.GetCurrentSpeedRate(); //当前运动速度比率
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float current_turn_speed_rate = move.GetCurrentTurnSpeedRate(); //当前转向时一侧减速的比率
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//停止运动
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move.Stop();
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//等待低电平结束
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while (digitalRead(DEBUG_PAUSE_PIN) == LOW) {}
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//恢复之前的运动
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move.MoveDirection(current_direction, current_speed_rate, current_turn_speed_rate);
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}
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//错误消息函数，用于在出现致命错误后结束程序
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void DebugCanNotContinue(char* message)
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{
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Serial.print("#TAICHI: CAN NOT CONTINUE WHEN "); Serial.println(message);
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Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time);
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Serial.print("#TAICHI: pass: ["); Serial.print(route[passed_flag][X]); Serial.print(", "); Serial.print(route[passed_flag][Y]); Serial.print("]");
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Serial.print(" flag: "); Serial.print(passed_flag);
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Serial.print(" TYPE: "); Serial.println((int)route[passed_flag][TYPE]);
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Serial.print("#TAICHI: next: ["); Serial.print(route[next_flag][X]); Serial.print(", "); Serial.print(route[next_flag][Y]); Serial.print("]");
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Serial.print(" next_position: "); Serial.print((int)next_position);
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Serial.print(" TYPE: "); Serial.println((int)route[next_flag][TYPE]);
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Serial.print("#TAICHI: is_claw_catch: "); Serial.print((int)is_claw_catch); Serial.print(" is_claw_ok: "); Serial.println((int)is_claw_ok);
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NeoSerial.print("#TAICHI: CAN NOT CONTINUE WHEN "); NeoSerial.println(message);
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NeoSerial.print("#TAICHI: loop_time: "); NeoSerial.println(loop_time);
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NeoSerial.print("#TAICHI: pass: ["); NeoSerial.print(route[passed_flag][X]); NeoSerial.print(", "); NeoSerial.print(route[passed_flag][Y]); NeoSerial.print("]");
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NeoSerial.print(" flag: "); NeoSerial.print(passed_flag);
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NeoSerial.print(" TYPE: "); NeoSerial.println((int)route[passed_flag][TYPE]);
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NeoSerial.print("#TAICHI: next: ["); NeoSerial.print(route[next_flag][X]); NeoSerial.print(", "); NeoSerial.print(route[next_flag][Y]); NeoSerial.print("]");
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NeoSerial.print(" next_position: "); NeoSerial.print((int)next_position);
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NeoSerial.print(" TYPE: "); NeoSerial.println((int)route[next_flag][TYPE]);
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NeoSerial.print("#TAICHI: is_claw_catch: "); NeoSerial.print((int)is_claw_catch); NeoSerial.print(" is_claw_ok: "); NeoSerial.println((int)is_claw_ok);
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while (1) {}
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}
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@ -222,17 +254,26 @@ void DebugCanNotContinue(char* message)
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void setup()
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{
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#ifdef TAICHI_DEBUG
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pinMode(DEBUG_PAUSE_PIN, INPUT_PULLUP);
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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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NeoSerial.begin(DEBUG_BAUT_RATE);
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NeoSerial.println("#TAICHI: ======================setup()=====================");
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#endif
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SetGNDPins();
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move.Stop();
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servo.BeginTransmit();
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servo.StopAndReset();
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radio.SetHandleMessageFunction(HandleMessage);
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radio.BeginTransmit();
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//从 EEPROM 读取数据
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ReadFromEEPROM();
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//开启 HMC5883 的 I2C 通讯
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sensor.StartHMC5883();
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//在开始运行前依次检测各灰度传感器下方黑白是否正常
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CheckGrayStatus();
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@ -251,15 +292,15 @@ void loop()
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{
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#ifdef TAICHI_DEBUG
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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: pass: ["); Serial.print(route[passed_flag][X]); Serial.print(", "); Serial.print(route[passed_flag][Y]); Serial.print("]");
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Serial.print(" flag: "); Serial.print(passed_flag);
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Serial.print(" TYPE: "); Serial.println((int)route[passed_flag][TYPE]);
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Serial.print("#TAICHI: next: ["); Serial.print(route[next_flag][X]); Serial.print(", "); Serial.print(route[next_flag][Y]); Serial.print("]");
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Serial.print(" next_position: "); Serial.print((int)next_position);
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Serial.print(" TYPE: "); Serial.println((int)route[next_flag][TYPE]);
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Serial.print("#TAICHI: is_claw_catch: "); Serial.print((int)is_claw_catch); Serial.print(" is_claw_ok: "); Serial.println((int)is_claw_ok);
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NeoSerial.println("#TAICHI: ====================New loop()====================");
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NeoSerial.print("#TAICHI: loop_time: "); NeoSerial.println(loop_time);
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NeoSerial.print("#TAICHI: pass: ["); NeoSerial.print(route[passed_flag][X]); NeoSerial.print(", "); NeoSerial.print(route[passed_flag][Y]); NeoSerial.print("]");
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NeoSerial.print(" flag: "); NeoSerial.print(passed_flag);
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NeoSerial.print(" TYPE: "); NeoSerial.println((int)route[passed_flag][TYPE]);
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NeoSerial.print("#TAICHI: next: ["); NeoSerial.print(route[next_flag][X]); NeoSerial.print(", "); NeoSerial.print(route[next_flag][Y]); NeoSerial.print("]");
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NeoSerial.print(" next_position: "); NeoSerial.print((int)next_position);
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NeoSerial.print(" TYPE: "); NeoSerial.println((int)route[next_flag][TYPE]);
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NeoSerial.print("#TAICHI: is_claw_catch: "); NeoSerial.print((int)is_claw_catch); NeoSerial.print(" is_claw_ok: "); NeoSerial.println((int)is_claw_ok);
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#endif
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int8_t& passed_flag_type = route[passed_flag][TYPE];
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@ -489,15 +530,13 @@ void loop()
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#ifdef TAICHI_DEBUG
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DebugCanNotContinue("CHOOSE LOOP");
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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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UpdateFlag();
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#ifdef TAICHI_DEBUG
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Serial.println("#TAICHI: ====================End loop()====================");
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NeoSerial.println("#TAICHI: ====================End loop()====================");
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#endif
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}
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@ -505,9 +544,9 @@ void loop()
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//设置接口低电平作为额外地
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void SetGNDPins(void)
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{
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int pin_num = sizeof(gnd_pins) / sizeof(uint8_t);
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uint8_t pin_num = sizeof(gnd_pins) / sizeof(uint8_t);
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for (int i = 0; i < pin_num; i++)
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for (uint8_t i = 0; i < pin_num; i++)
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{
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pinMode(gnd_pins[i], OUTPUT);
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digitalWrite(gnd_pins[i], LOW);
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@ -515,10 +554,49 @@ void SetGNDPins(void)
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}
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//从 EEPROM 读取数据
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void ReadFromEEPROM(void)
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{
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//从 EEPROM 读取调试数据
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EEPROM.get(EEPROM_ADDRESS, stroage_info);
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//转向角度
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north_left_angle = stroage_info.real_angle_val[0];
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north_right_angle = stroage_info.real_angle_val[1];
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west_left_angle = stroage_info.real_angle_val[2];
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west_right_angle = stroage_info.real_angle_val[3];
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south_left_angle = stroage_info.real_angle_val[4];
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south_right_angle = stroage_info.real_angle_val[5];
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east_left_angle = stroage_info.real_angle_val[6];
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east_right_angle = stroage_info.real_angle_val[7];
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//转向灰度值
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sensor.SetGrayGate(GRAY_7, stroage_info.gray_7_gate);
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//转向时间
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delay_time_after_turn = stroage_info.delay_time_after_turn;
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#ifdef TAICHI_DEBUG
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NeoSerial.println("#TAICHI: Data based on EEPROM : ");
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NeoSerial.print("north_left_angle: "); NeoSerial.println(north_left_angle);
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NeoSerial.print("north_right_angle: "); NeoSerial.println(north_right_angle);
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NeoSerial.print("west_left_angle: "); NeoSerial.println(west_left_angle);
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NeoSerial.print("west_right_angle: "); NeoSerial.println(west_right_angle);
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NeoSerial.print("south_left_angle: "); NeoSerial.println(south_left_angle);
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NeoSerial.print("south_right_angle: "); NeoSerial.println(south_right_angle);
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NeoSerial.print("east_left_angle: "); NeoSerial.println(east_left_angle);
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NeoSerial.print("east_right_angle: "); NeoSerial.println(east_right_angle);
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NeoSerial.print("gray_7_gate: "); NeoSerial.println(stroage_info.gray_7_gate);
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NeoSerial.print("delay_time_after_turn: "); NeoSerial.println(delay_time_after_turn);
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#endif
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}
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//在开始运行前依次检测各灰度传感器下方黑白是否正常，若不正常，异常传感器闪烁，程序不继续进行
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void CheckGrayStatus(void)
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{
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//若正常，1 2 5 6 号传感器检测到黑色，3 4 7 号传感器检测到白色
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//若正常，1 2 5 6 号传感器检测到黑色，3 4 号传感器检测到白色
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//若一开始就采用灰度转弯，7 号也应检测到白色
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bool is_status_right = false;
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while (!is_status_right)
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@ -535,13 +613,13 @@ void CheckGrayStatus(void)
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sensor.FlashGraySensor(GRAY_5);
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else if (sensor.IsWhite(GRAY_6))
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sensor.FlashGraySensor(GRAY_6);
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else if (!sensor.IsWhite(GRAY_7))
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else if (turn_method == TURN_BY_GRAY && !sensor.IsWhite(GRAY_7))
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sensor.FlashGraySensor(GRAY_7);
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else is_status_right = true;
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}
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#ifdef TAICHI_DEBUG
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Serial.println("#TAICHI: Gray Sensor Status OK!");
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NeoSerial.println("#TAICHI: Gray Sensor Status OK!");
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#endif
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}
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@ -670,9 +748,9 @@ 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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NeoSerial.print("#TAICHI: Line Forward");
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NeoSerial.print(" end_position: ");
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NeoSerial.println((int)end_position);
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#endif
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//记录开始时间
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@ -734,7 +812,7 @@ void LineForward(uint8_t end_position, float speed_rate)
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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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NeoSerial.println("#TAICHI: End Line Forward");
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#endif
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}
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@ -744,9 +822,9 @@ 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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NeoSerial.print("#TAICHI: Line Backward");
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NeoSerial.print(" end_position: ");
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NeoSerial.println((int)end_position);
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#endif
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//记录灰度传感器匹配情况
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@ -796,7 +874,7 @@ void LineBackward(uint8_t end_position, float speed_rate)
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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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NeoSerial.println("#TAICHI: End Line Backward");
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#endif
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}
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@ -814,7 +892,7 @@ void TurnDirection(float speed_rate)
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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.println("#TAICHI: JUMP THE RELEASE/GETOUT/GAIN POINT FOR STATUS REASON");
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NeoSerial.println("#TAICHI: JUMP THE RELEASE/GETOUT/GAIN POINT FOR STATUS REASON");
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#endif
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}
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@ -822,9 +900,9 @@ void TurnDirection(float speed_rate)
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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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NeoSerial.print("#TAICHI: Turn Direction");
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NeoSerial.print(" direction: ");
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NeoSerial.println((int)direction);
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#endif
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if (direction == FORWARD) //继续直行
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@ -847,14 +925,62 @@ void TurnDirection(float speed_rate)
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//旋转
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move.MoveDirection(direction, speed_rate);
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//等待一定时间后检测是否摆正
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delay(BEFORE_CHECK_STRAIGHT_DELAY);
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while (!sensor.IsWhite(GRAY_7)) {}
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//角度相关计算
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float next_real_angle;
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uint8_t next_real_direction;
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if (direction == FORLEFTWARD || direction == BACKRIGHTWARD)
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{
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switch (current_real_direction)
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{
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case NORTH: next_real_direction = WEST; next_real_angle = west_left_angle; break;
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case WEST: next_real_direction = SOUTH; next_real_angle = south_left_angle; break;
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case SOUTH: next_real_direction = EAST; next_real_angle = east_left_angle; break;
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case EAST: next_real_direction = NORTH; next_real_angle = north_left_angle;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (current_real_direction)
|
||||
{
|
||||
case NORTH: next_real_direction = EAST; next_real_angle = east_right_angle; break;
|
||||
case WEST: next_real_direction = NORTH; next_real_angle = north_right_angle; break;
|
||||
case SOUTH: next_real_direction = WEST; next_real_angle = west_right_angle; break;
|
||||
case EAST: next_real_direction = SOUTH; next_real_angle = south_right_angle;
|
||||
}
|
||||
}
|
||||
|
||||
//以不同方式判定结束
|
||||
switch (turn_method)
|
||||
{
|
||||
case TURN_BY_TIME: //基于时间
|
||||
{
|
||||
delay(delay_time_after_turn);
|
||||
} break;
|
||||
|
||||
case TURN_BY_GRAY: //基于灰度传感器
|
||||
{
|
||||
//等待一定时间后检测是否摆正
|
||||
delay(BEFORE_CHECK_STRAIGHT_DELAY);
|
||||
while (!sensor.IsWhite(GRAY_7)) {}
|
||||
} break;
|
||||
|
||||
case TURN_BY_EARTH: //基于地磁场
|
||||
{
|
||||
//等待一定时间后检测是否摆正
|
||||
delay(BEFORE_CHECK_STRAIGHT_DELAY);
|
||||
|
||||
if (direction == FORLEFTWARD || direction == BACKRIGHTWARD)
|
||||
while (sensor.GetAngle() < next_real_angle) {}
|
||||
else while (sensor.GetAngle() > next_real_angle) {}
|
||||
}
|
||||
}
|
||||
|
||||
current_real_direction = next_real_direction;
|
||||
}
|
||||
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出直行或后退或转向结束
|
||||
Serial.println("#TAICHI: End Turn Direction");
|
||||
NeoSerial.println("#TAICHI: End Turn Direction");
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -889,8 +1015,8 @@ bool CatchAndCheck(uint8_t type, float speed)
|
||||
{
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出失败信息
|
||||
Serial.print("#TAICHI: **********FAIL CATCH!**********");
|
||||
Serial.print(" catch_times: "); Serial.println((int)catch_times);
|
||||
NeoSerial.print("#TAICHI: **********FAIL CATCH!**********");
|
||||
NeoSerial.print(" catch_times: "); NeoSerial.println((int)catch_times);
|
||||
#endif
|
||||
|
||||
if (type == CATCH_TYPE_GAIN)
|
||||
@ -924,14 +1050,14 @@ bool CatchAndCheck(uint8_t type, float speed)
|
||||
#ifndef DISABLE_CLAW_CHECK
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出成功信息
|
||||
Serial.println("#TAICHI: SUCCUESS CATCH!");
|
||||
NeoSerial.println("#TAICHI: SUCCESS CATCH!");
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef DISABLE_CLAW_CHECK
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出结束信息
|
||||
Serial.println("#TAICHI: CATCH WITHOUT CHECK!");
|
||||
NeoSerial.println("#TAICHI: CATCH WITHOUT CHECK!");
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@ -946,7 +1072,7 @@ bool OpenClawAndCheck(void)
|
||||
#ifdef DISABLE_CLAW_CHECK
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出信息
|
||||
Serial.println("#TAICHI: DISABLE CLAW CHECK!");
|
||||
NeoSerial.println("#TAICHI: DISABLE CLAW CHECK!");
|
||||
#endif
|
||||
|
||||
is_claw_ok = true;
|
||||
@ -966,7 +1092,7 @@ bool OpenClawAndCheck(void)
|
||||
{
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出成功信息
|
||||
Serial.println("#TAICHI: SUCCUESS OPEN CLAW!");
|
||||
NeoSerial.println("#TAICHI: SUCCESS OPEN CLAW!");
|
||||
#endif
|
||||
|
||||
is_claw_ok = true;
|
||||
@ -976,9 +1102,16 @@ bool OpenClawAndCheck(void)
|
||||
|
||||
#ifdef TAICHI_DEBUG
|
||||
//调试输出失败信息
|
||||
Serial.println("#TAICHI: $$$$$$$$$$FAIL CLAW!$$$$$$$$$$");
|
||||
NeoSerial.println("#TAICHI: $$$$$$$$$$FAIL CLAW!$$$$$$$$$$");
|
||||
#endif
|
||||
|
||||
is_claw_ok = false;
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
//通讯消息处理函数
|
||||
void HandleMessage(char* message)
|
||||
{
|
||||
//
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user