115 lines
3.2 KiB
C
115 lines
3.2 KiB
C
/*
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* @file motor_direction.c
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* @brief control the direction of the wheels by setting the GPIO mask
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* @author Richie
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*/
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#ifndef MOTOR_DIRECTION_H
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#define MOTOR_DIRECTION_H
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#include "motor_init.h"
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#include "magnetometer_init.h"
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#include "magnetometer_direction.h"
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#include "math.h"
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/*!
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* @brief Set the direction of the wheels; can use bitwise OR to set both
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* wheels such as DIRECTION_LEFT_FORWARD | DIRECTION_RIGHT_BACKWARD, it will
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* set the left motor to go forward and the right motor to go backward within
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* the same function.
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* if the motor direction is not set, it will not move.
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* @param direction The direction of the left and right wheels
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*/
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void
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set_wheel_direction(uint32_t direction)
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{
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gpio_put_masked(DIRECTION_MASK, 0U);
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gpio_set_mask(direction);
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}
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/*!
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* @brief Set the direction of the wheel to opposite direction using bit mask
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*/
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void
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revert_wheel_direction()
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{
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uint32_t current_direction = gpio_get_all();
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uint32_t reverted_direction = current_direction ^ DIRECTION_MASK;
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gpio_put_masked(DIRECTION_MASK, 0U);
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gpio_set_mask(reverted_direction & DIRECTION_MASK);
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}
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/*!
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* @brief Check if the current direction is within the range of the target
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* @param current_direction current yaw
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* @param target_direction target yaw
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* @param range acceptable range
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* @return true if the current direction is within the range of the target
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*/
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bool
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check_direction(float current_direction, float target_direction, float range)
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{
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// Normalize directions to be within 0 to 360 degrees
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current_direction = fmod(current_direction, 360.0f);
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if (current_direction < 0)
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current_direction += 360.0f;
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target_direction = fmod(target_direction, 360.0f);
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if (target_direction < 0)
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target_direction += 360.0f;
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// Check if current_direction is within ±1 degree of target_direction
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if (fabs(current_direction - target_direction) <= range
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|| fabs(current_direction - target_direction) >= (360 - range))
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{
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return true;
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}
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return false;
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}
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/*!
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* @brief Spin the car to a certain yaw
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* @param target_yaw The target yaw to spin to
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* @param pp_car_struct The car struct pointer
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*/
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void
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spin_to_yaw(float target_yaw, car_struct_t *pp_car_struct)
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{
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updateDirection();
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float initial_yaw = g_direction.yaw;
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// if it will to turn more than 180 degrees, turn the other way
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if ((target_yaw > initial_yaw) && (target_yaw - initial_yaw < 180.f)
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|| ((target_yaw < initial_yaw) && (initial_yaw - target_yaw >= 180.f)))
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{
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set_wheel_direction(DIRECTION_RIGHT);
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}
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else if ((target_yaw > initial_yaw) && (target_yaw - initial_yaw >= 180.f)
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|| ((target_yaw < initial_yaw)
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&& (initial_yaw - target_yaw < 180.f)))
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{
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set_wheel_direction(DIRECTION_LEFT);
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}
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set_wheel_speed_synced(80u, pp_car_struct);
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pp_car_struct->p_pid->use_pid = false;
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for (;;)
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{
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updateDirection();
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if (check_direction(g_direction.yaw, target_yaw, 1))
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{
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set_wheel_direction(DIRECTION_MASK);
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set_wheel_speed_synced(0u, pp_car_struct);
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break;
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}
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}
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pp_car_struct->p_pid->use_pid = true;
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vTaskDelay(pdMS_TO_TICKS(50));
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}
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#endif /* MOTOR_DIRECTION_H */ |