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INF2004_Project
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119 Commits

Author SHA1 Message Date
Devoalda 1b8bcfefae
Integrate Line and Ultrasonic sensor for obstacle detection (#15) 
* Ultrasonic Sensor + Car init obs struct

* Line sensor update for integration

* ultrasonic update for integration

* Integrate Line and Ultraman

---------

Co-authored-by: xypoon <2837264P@student.gla.ac.uk>
 2023-11-09 05:20:11 +00:00
OldManSteve 21ef7e8892
Merge branch 'L4ncelot-R:main' into main 2023-11-09 13:02:23 +08:00
OldManSteve c959946071 added webserver config, using shared config folder 2023-11-09 13:01:16 +08:00
Richie 107a142ef6 remove debug prints 2023-11-09 12:58:10 +08:00
Richie e9511eb8ce updated vtask and init 2023-11-09 12:57:26 +08:00
OldManSteve ffa89d033b frontend sys freertos working 2023-11-09 12:48:34 +08:00
Richie 0a62f7738c use minimum global variables 2023-11-09 11:38:20 +08:00
Richie 191c8686c0 push every thing 2023-11-08 17:09:01 +08:00
Richie b52685d25e add direction calculation 2023-11-08 17:07:35 +08:00
Richie a066bd06a6 add redeclare prevent 2023-11-08 15:11:42 +08:00
Devoalda f78fb7973d
Merge branch 'L4ncelot-R:main' into main 2023-11-08 14:11:11 +08:00
Devoalda f65c0ab189 fix(Magnetometer): Added option for calibration 2023-11-08 14:09:54 +08:00
Richie f284f972d2 PID final 2023-11-08 14:00:47 +08:00
soapysoltionss 57683829ae Merge branch 'main' of https://github.com/soapysoltionss/freeRTOS-car 2023-11-07 13:08:15 +08:00
soapysoltionss 678aa00ecc update methods and added bar width detection 2023-11-07 12:48:19 +08:00
Devoalda 585f797460
Merge branch 'L4ncelot-R:main' into main 2023-11-07 10:03:11 +08:00
Devoalda d0553b6ddb fix(Magnetometer): 
Added filter for magnetometer outliers
 2023-11-07 10:02:09 +08:00
Richie b02919bf1b add turn to yaw function (pending test) 2023-11-07 09:35:15 +08:00
Richie c19b665e0b update PWM and PID value 2023-11-06 23:46:47 +08:00
Richie 389c4ecd92 add function to revert wheel direction 2023-11-06 20:45:42 +08:00
Devoalda f933d8ea91 fix(Magnetometer): 
Removed Com Filter
 2023-11-04 13:38:47 +08:00
Richie 4137d4f350 updated motor with testing codes with line sensor 2023-10-31 21:52:09 +08:00
soapysoltionss 2d0f17a4bc Revert "add direction control" 
This reverts commit ed3c440ebc.
 2023-10-31 15:45:37 +08:00
soapysoltionss 2a38789890 barcode 2023-10-31 14:34:45 +08:00
Richie ed3c440ebc add direction control 2023-10-30 23:24:58 +08:00
Richie 2bf8d625ac Merge remote-tracking branch 'origin/main' 2023-10-30 23:20:30 +08:00
Richie ed516b5ce4 add direction control 2023-10-30 23:20:15 +08:00
OldManSteve 5cb4fae0c9 frontend first push 2023-10-30 11:03:55 +08:00
Richie f176192dce PID 99%, suspect wheel issue as if I swap the wheels the car slants opposite direction, for a bit; but generally straight for about 1m, should be enough for the map 2023-10-29 20:26:13 +08:00
Richie e8f8d31b85 pending PID tuning; now car moves in S shape 2023-10-29 17:54:33 +08:00
soapysoltionss 19d6512639 barcode update 2023-10-29 15:46:20 +08:00
Richie Wang 05b5872a6c
Merge pull request #7 from Devoalda/main 2023-10-28 15:51:25 +08:00
xypoon 242b063737
Merge branch 'L4ncelot-R:main' into main 2023-10-28 14:04:52 +08:00
xypoon 460394720d Ultrasonic added Callibration 2023-10-28 14:04:07 +08:00
Devoalda c3b7647422 Merge remote-tracking branch 'origin/main' 2023-10-27 19:54:30 +08:00
Devoalda 9ae974deab fix(Magnetometer): 
Fixed Yaw Calculation
 2023-10-27 19:54:22 +08:00
Devoalda 54b7cd1057
Merge branch 'L4ncelot-R:main' into main 2023-10-27 19:53:49 +08:00
Richie 8cd0cd9571 update struct names 2023-10-27 13:11:41 +08:00
Richie a40fa548c3 update struct and pid for both wheels 2023-10-27 13:07:55 +08:00
Devoalda 5c70e4d1b7 fix(Line sensor): 
Changed line sensor task
 2023-10-26 17:09:25 +08:00
Devoalda 237e370875 feature(LSM303DLHC): Added Temperature Compensation 
Added:
- Temperature reading
- Temperature compensation for yaw
- Modified Alpha to put more weight on magnetometer
 2023-10-26 07:55:43 +08:00
Devoalda 0f0b0a9886 refactor(LSM303DLHC): Converted functions to static functions 2023-10-25 21:11:35 +08:00
Devoalda e0c85ce2ce feature(LSM303DLHC Sensor): 
Using both Accelerometer and magnetometer to do a complementary filter to calculate the compass direction.
Added more fine-grained directions (NW, NE, SE, SW)
 2023-10-25 20:46:13 +08:00
Devoalda 972cd4240d Merge remote-tracking branch 'origin/main' 2023-10-25 17:02:48 +08:00
Devoalda 32bad31564 feature(LSM303DLHC Sensor): 
Added:
- Accelerometer Sensor Data
- Magnetometer Sensor Data
- Compass Direction
 2023-10-25 17:02:38 +08:00
Richie 3b7831297a update pid 2023-10-24 14:02:20 +08:00
Devoalda 2b34f8c856 feature(Line sensor Interrupts): 
Added Edge Interrupt logic with debounce algorithm
 2023-10-23 21:22:12 +08:00
xypoon 3282bc6403 Add Init Ultrasonic Sensor 2023-10-23 11:05:16 +08:00
xypoon c093d79256 Updated (Testing Kalman Filter) 2023-10-23 10:37:45 +08:00
xypoon eb6d0c4080 added Ultrasonic Driver 2023-10-23 09:36:46 +08:00
Richie baa7914f30 moved global variables to struct 2023-10-21 17:35:23 +08:00
Richie ef965e0f2f separate speed control and monitor 2023-10-21 17:14:49 +08:00
Devoalda 97730bbb90 Merge remote-tracking branch 'origin/main' 
# Conflicts:
#	frtos/rtos_car.c
 2023-10-21 14:22:46 +08:00
Devoalda 1aab873c2b feature(Line Sensor + Car Common): 
Restructured Line Sensor files
Added test for Line Sensor

Added Car Dir for common functionalities
 2023-10-21 14:20:21 +08:00
Richie 1a350fcc01 modified pid with test function to change speed 2023-10-21 10:22:12 +08:00
Richie 9a9aac406e merged wheel monitor and control function to use struct for both wheels; removed set_wheel_speed function as it will be controlled by task directly; changed PID function to use more pointers 2023-10-21 01:04:09 +08:00
Richie c7950d3ec6 merged left and right speed sensor isr into one handler 2023-10-21 00:04:13 +08:00
Richie 81e44dbf50 added wheel stop state check; now will start the motor from 0 to desire speed; no enough wire to test both motor at the same time, but tested one by one 2023-10-20 23:48:35 +08:00
Richie ea9318b747 re structured 2023-10-20 21:26:48 +08:00
Richie 69bb805846 Merge remote-tracking branch 'origin/main' 
# Conflicts:
#	frtos/line_sensor/line_sensor.c
 2023-10-17 21:45:37 +08:00
Richie b80e3bf7a9 re structured 2023-10-17 21:45:13 +08:00
Devoalda 6d717120b9 Merge remote-tracking branch 'origin/main' 2023-10-14 09:10:39 +08:00
Devoalda 85911aea8e feature(Line Sensor): Line Sensor Modified to timer interrupts. Including Direction + Orientation Change handlers 2023-10-14 09:10:30 +08:00
Richie 376453398a implemented pid for right wheel, pending fine-tuning 2023-10-13 23:29:42 +08:00
Richie 4862fdc23a fixed interrupt issue 2023-10-13 19:19:49 +08:00
Richie 84e22bc488 modified speed function; prep for pid 2023-10-13 17:44:57 +08:00
Richie aeb39084ab interrupt based speed monitoring 2023-10-13 16:41:13 +08:00
Devoalda 7c5b7e819e feature(Line Sensor): Line Sensor init 2023-10-12 21:38:57 +08:00
Richie b226d2a814 init 2023-10-12 10:09:56 +08:00