aboutsummaryrefslogtreecommitdiff
path: root/zumo
diff options
context:
space:
mode:
Diffstat (limited to 'zumo')
-rw-r--r--zumo/.gitignore5
m---------zumo/lib/ArduinoCore-avr0
m---------zumo/lib/fastgpio-arduino0
m---------zumo/lib/pololu-buzzer-arduino0
m---------zumo/lib/pololu-hd44780-arduino0
m---------zumo/lib/pololu-menu-arduino0
m---------zumo/lib/pololu-oled-arduino0
m---------zumo/lib/pushbutton-arduino0
m---------zumo/lib/usb-pause-arduino0
m---------zumo/lib/zumo-32u4-arduino-library0
-rw-r--r--zumo/main.cpp13
-rw-r--r--zumo/makefile49
-rw-r--r--zumo/pid.cpp52
-rw-r--r--zumo/pid.h21
-rw-r--r--zumo/pidtest.cpp18
-rw-r--r--zumo/pidtest.mk21
-rw-r--r--zumo/protocol.cpp39
-rw-r--r--zumo/protocol.h35
-rw-r--r--zumo/zumo.ino34
-rw-r--r--zumo/zumo.mk65
20 files changed, 221 insertions, 131 deletions
diff --git a/zumo/.gitignore b/zumo/.gitignore
index d3e1535..e45f7a2 100644
--- a/zumo/.gitignore
+++ b/zumo/.gitignore
@@ -1,5 +1,2 @@
-main
*.o
-*.hex
-compile_commands.json
-.cache
+pidtest
diff --git a/zumo/lib/ArduinoCore-avr b/zumo/lib/ArduinoCore-avr
deleted file mode 160000
-Subproject 42fa4a1ea1b1b11d1cc0a60298e529d37f9d14b
diff --git a/zumo/lib/fastgpio-arduino b/zumo/lib/fastgpio-arduino
deleted file mode 160000
-Subproject 5853c593b07730e632127570279e7dea06de1af
diff --git a/zumo/lib/pololu-buzzer-arduino b/zumo/lib/pololu-buzzer-arduino
deleted file mode 160000
-Subproject 20ef7b734814a7c5e9f02f54a2cdd41729759d5
diff --git a/zumo/lib/pololu-hd44780-arduino b/zumo/lib/pololu-hd44780-arduino
deleted file mode 160000
-Subproject 0a35789a58ca92ca6f69b63fbc269959b2d1858
diff --git a/zumo/lib/pololu-menu-arduino b/zumo/lib/pololu-menu-arduino
deleted file mode 160000
-Subproject 8970b8db6e4e80b1c0e95172a87a35410bf593b
diff --git a/zumo/lib/pololu-oled-arduino b/zumo/lib/pololu-oled-arduino
deleted file mode 160000
-Subproject e6b83b6c181962ffb98f99a4a4c3fd7cbf7e670
diff --git a/zumo/lib/pushbutton-arduino b/zumo/lib/pushbutton-arduino
deleted file mode 160000
-Subproject 442884e004859ff550d5c0cae70033d7d568fc2
diff --git a/zumo/lib/usb-pause-arduino b/zumo/lib/usb-pause-arduino
deleted file mode 160000
-Subproject 3f76e486460bb351f9738c86595f22db2da34c5
diff --git a/zumo/lib/zumo-32u4-arduino-library b/zumo/lib/zumo-32u4-arduino-library
deleted file mode 160000
-Subproject f4dfe054e23176ba445748b4b91f463701e7eb7
diff --git a/zumo/main.cpp b/zumo/main.cpp
deleted file mode 100644
index 23d13db..0000000
--- a/zumo/main.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include <Zumo32U4.h>
-#include <Arduino.h>
-#include <Wire.h>
-
-void setup() {
-}
-
-void loop() {
- ledRed(1);
- delay(1000);
- ledRed(0);
- delay(1000);
-}
diff --git a/zumo/makefile b/zumo/makefile
deleted file mode 100644
index c388a28..0000000
--- a/zumo/makefile
+++ /dev/null
@@ -1,49 +0,0 @@
-PORT = /dev/ttyUSB0
-
-C++ = avr-g++
-CC = avr-gcc
-LD = avr-ld
-RM = rm -f
-
-MCU = atmega32u4
-TARGET = main
-SRCS += main.cpp
-
-CFLAGS += -mcall-prologues
-CFLAGS += -mmcu=$(MCU)
-CFLAGS += -Os
-CFLAGS += -g
-CFLAGS += -Wl,-gc-sections
-CFLAGS += -Wl,-relax
-
-include zumo.mk
-
-OBJS := $(patsubst %.c,%.o, $(SRCS))
-OBJS := $(patsubst %.cpp,%.o, $(OBJS))
-
-MAKEFLAGS += -j4
-
-.PHONY: all clean flash
-
-all: $(TARGET).hex
-
-%.o: %.cpp
- $(C++) $(CFLAGS) -o $@ -c $<
-
-%.o: %.c
- $(CC) $(CFLAGS) -o $@ -c $<
-
-$(TARGET): $(OBJS)
- $(LD) $(LFLAGS) -o $@ $^
-
-$(TARGET).hex: $(TARGET)
- avr-objcopy -R .eeprom -O ihex $< $@
-
-flash: $(TARGET).hex
- avrdude -p $(MCU) -c avr109 -P $(PORT) -U flash:w:$(TARGET).hex
-
-clean:
- $(RM) $(TARGET) $(TARGET).hex $(OBJS)
-
-compile_commands.json: makefile
- compiledb make -Bn
diff --git a/zumo/pid.cpp b/zumo/pid.cpp
new file mode 100644
index 0000000..7c1cbda
--- /dev/null
+++ b/zumo/pid.cpp
@@ -0,0 +1,52 @@
+#include "pid.h"
+
+PID::PID(float P, float I, float D) {
+ A0 = P + I * dt;
+ A1 = -P;
+ A0d = D / dt;
+ A1d = -2 * D / dt;
+ A2d = D / dt;
+ tau = D / (P * N);
+ alpha = dt / (2 * tau);
+ reset(0.0);
+}
+
+// https://en.wikipedia.org/wiki/PID_controller#Pseudocode
+float PID::iter(float target) {
+ error[2] = error[1];
+ error[1] = error[0];
+ error[0] = target - output;
+
+ output = output + A0 * error[0] + A1 * error[1];
+
+ d1 = d0;
+ d0 = A0d * error[0] + A1d * error[1] + A2d * error[2];
+ fd1 = fd0;
+ fd0 = ((alpha) / (alpha + 1)) * (d0 + d1) - ((alpha - 1) / (alpha + 1)) * fd1;
+ output = output + fd0;
+
+ if (output < -1) output = -1;
+ if (output > 1) output = 1;
+ return output;
+}
+
+void PID::reset(float value) {
+ error[0] = 0.0;
+ error[1] = 0.0;
+ error[2] = 0.0;
+ d0 = 0;
+ d1 = 0;
+ fd0 = 0;
+ fd1 = 0;
+ output = value;
+}
+
+PID speed_pid = PID();
+PID steer_pid = PID();
+PID speed_mod_pid = PID();
+void apply_pid(dui_state_t* target, dui_state_t* current) {
+ current->speed = speed_pid.iter(target->speed);
+ current->steer = steer_pid.iter(target->steer);
+ current->speed_mod = speed_mod_pid.iter(target->speed_mod);
+}
+
diff --git a/zumo/pid.h b/zumo/pid.h
new file mode 100644
index 0000000..beb73ac
--- /dev/null
+++ b/zumo/pid.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "protocol.h"
+
+class PID {
+private:
+ float A0, A1, A0d, A1d, A2d, tau, alpha, d0, d1, fd0, fd1;
+ float error[3];
+ float output;
+ const float dt = 1.0;
+ const float N = 10.0;
+
+public:
+ PID(float P = -0.02, float I = 0.13, float D = -300.0);
+ float iter(float target);
+ void reset(float value);
+};
+
+/** @brief edit `current` to be closer to `target` using PID controllers */
+void apply_pid(dui_state_t* target, dui_state_t* current);
+
diff --git a/zumo/pidtest.cpp b/zumo/pidtest.cpp
new file mode 100644
index 0000000..b9ce50b
--- /dev/null
+++ b/zumo/pidtest.cpp
@@ -0,0 +1,18 @@
+#include <cstdio>
+#include <random>
+
+#include "pid.h"
+
+int main() {
+ float P, I, D;
+ P = -0.02;
+ I = 0.13;
+ D = -300;
+ PID test(P, I, D);
+ test.reset(0.0);
+
+ fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
+ for (unsigned int i = 0; i < 100; i++) {
+ printf("%2.8f\n", test.iter(i < 50 ? 1.0 : 0.0));
+ }
+}
diff --git a/zumo/pidtest.mk b/zumo/pidtest.mk
new file mode 100644
index 0000000..5ffe1e1
--- /dev/null
+++ b/zumo/pidtest.mk
@@ -0,0 +1,21 @@
+CPP = g++
+LD = g++
+RM = rm -f
+CFLAGS =
+LFLAGS =
+TARGET = pidtest
+
+SRCS := pidtest.cpp pid.cpp
+OBJS := pidtest.o pid.o
+
+all: pidtest
+
+%.o: %.cpp
+ $(CPP) -c $(CFLAGS) $< -o $@
+
+$(TARGET): $(OBJS)
+ $(LD) $^ $(LFLAGS) -o $@
+
+clean:
+ $(RM) $(TARGET) $(OBJS)
+
diff --git a/zumo/protocol.cpp b/zumo/protocol.cpp
new file mode 100644
index 0000000..fea8a00
--- /dev/null
+++ b/zumo/protocol.cpp
@@ -0,0 +1,39 @@
+#include <Zumo32U4Motors.h>
+
+#include "protocol.h"
+
+#define DUI_SPEED_MOD 96.0f
+#define DUI_MOTOR_DIFF 0.6f
+
+#define DUI_CMD_NULL 0x00
+#define DUI_CMD_SIGN_START 0x01
+#define DUI_CMD_SIGN_END 0x0f
+#define DUI_CMD_STEER_START 0x10
+#define DUI_CMD_STEER_END 0x1f
+#define DUI_CMD_SPEED_START 0x20
+#define DUI_CMD_SPEED_END 0xff
+
+void handle_cmd(unsigned char cmd, dui_state_t *state) {
+ if (cmd == DUI_CMD_NULL) return;
+ else if (DUI_CMD_SIGN_START <= cmd && cmd <= DUI_CMD_SIGN_END) {
+ state->current_sign = (dui_e_sign) (cmd - DUI_CMD_SIGN_START);
+ } else if (DUI_CMD_STEER_START <= cmd && cmd <= DUI_CMD_STEER_END) {
+ state->steer = (float) (cmd - DUI_CMD_STEER_START) / (float) (DUI_CMD_STEER_END - DUI_CMD_STEER_START);
+ } else if (DUI_CMD_SPEED_START <= cmd && cmd <= DUI_CMD_SPEED_END) {
+ state->speed = ((float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_START - DUI_CMD_SPEED_END) * (float) 2 - (float) 1);
+ }
+}
+
+void apply_state(dui_state_t *state) {
+ float motor_l = 0.5f * state->speed * (+1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
+ float motor_r = 0.5f * state->speed * (-1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
+
+ Zumo32U4Motors::setLeftSpeed((int16_t) motor_l);
+ Zumo32U4Motors::setRightSpeed((int16_t) motor_r);
+
+ // TODO: print sign on OLED screen
+}
+
+unsigned char uart_read() {
+ return 0x00;
+}
diff --git a/zumo/protocol.h b/zumo/protocol.h
new file mode 100644
index 0000000..662a5ce
--- /dev/null
+++ b/zumo/protocol.h
@@ -0,0 +1,35 @@
+#pragma once
+
+typedef enum {
+ DUI_CMD_NULL,
+ DUI_CMD_SIGN,
+ DUI_CMD_SPEED,
+ DUI_CMD_STEER,
+} dui_e_cmd;
+
+typedef enum {
+ DUI_SIGN_NONE, /** @brief no sign */
+ DUI_SIGN_STOP, /** @brief stop (set speed to 0) */
+ DUI_SIGN_LEFT, /** @brief turn left (set steer to -1) */
+ DUI_SIGN_RIGHT, /** @brief turn right (set steer to +1) */
+ DUI_SIGN_SPEED_LIMIT_LOW, /** @brief slow down (speed limit 0.5) */
+ DUI_SIGN_SPEED_LIMIT_HIGH, /** @brief full speed (speed limit 1.0) */
+ DUI_SIGN_LIGHT_STOP, /** @brief traffic light red (set speed to 0) */
+ DUI_SIGN_LIGHT_FLOOR_IT, /** @brief traffic light orange (set speed to 2 temporarily) */
+ DUI_SIGN_LIGHT_GO, /** @brief traffic light green (keep current speed) */
+} dui_e_sign;
+
+typedef struct {
+ float steer; /** @brief steer value (-1 is left, +1 is right) */
+ float speed; /** @brief speed (0-15) */
+ dui_e_sign current_sign; /** @brief last seen sign */
+ float speed_mod; /** @brief global speed multiplier */
+} dui_state_t;
+
+/** @brief non blocking read byte */
+unsigned char uart_read();
+/** @brief read and apply cmd to state */
+void handle_cmd(unsigned char cmd, dui_state_t *state);
+/** @brief apply state to motors */
+void apply_state(dui_state_t* state);
+
diff --git a/zumo/zumo.ino b/zumo/zumo.ino
new file mode 100644
index 0000000..f59bd36
--- /dev/null
+++ b/zumo/zumo.ino
@@ -0,0 +1,34 @@
+#include <Zumo32U4.h>
+#include <Arduino.h>
+#include <Wire.h>
+
+#include "protocol.h"
+#include "pid.h"
+
+dui_state_t g_dui_target_state = {
+ .steer = 1.0f,
+ .speed = 1.0f,
+ .current_sign = DUI_SIGN_NONE,
+ .speed_mod = 1.f,
+};
+dui_state_t g_dui_current_state = {
+ .steer = 0.f,
+ .speed = 1.f,
+ .current_sign = DUI_SIGN_NONE,
+ .speed_mod = 1.f,
+};
+
+void setup() {
+}
+
+void loop() {
+ unsigned char cmd = 0x00;
+ while ((cmd = uart_read()))
+ handle_cmd(cmd, &g_dui_target_state);
+
+ apply_pid(&g_dui_target_state, &g_dui_current_state);
+
+ apply_state(&g_dui_current_state);
+
+ delay(10);
+}
diff --git a/zumo/zumo.mk b/zumo/zumo.mk
deleted file mode 100644
index 3645513..0000000
--- a/zumo/zumo.mk
+++ /dev/null
@@ -1,65 +0,0 @@
-CFLAGS += -DF_CPU=16000000
-CFLAGS += -I./lib/zumo-32u4-arduino-library/src
-CFLAGS += -I./lib/fastgpio-arduino
-CFLAGS += -I./lib/pushbutton-arduino
-CFLAGS += -I./lib/usb-pause-arduino
-CFLAGS += -I./lib/pololu-buzzer-arduino/src
-CFLAGS += -I./lib/pololu-hd44780-arduino
-CFLAGS += -I./lib/pololu-menu-arduino/src
-CFLAGS += -I./lib/pololu-oled-arduino/src
-CFLAGS += -I./lib/ArduinoCore-avr/cores/arduino
-CFLAGS += -I./lib/ArduinoCore-avr/libraries/HID/src
-CFLAGS += -I./lib/ArduinoCore-avr/libraries/SoftwareSerial/src
-CFLAGS += -I./lib/ArduinoCore-avr/libraries/SPI/src
-CFLAGS += -I./lib/ArduinoCore-avr/libraries/EEPROM/src
-CFLAGS += -I./lib/ArduinoCore-avr/libraries/Wire/src
-CFLAGS += -I./lib/ArduinoCore-avr/variants/circuitplay32u4
-
-CFLAGS += -L/usr/avr/lib/avr5/ -L/usr/lib/gcc/avr/12.2.0/avr5 -lgcc -lm -lc -latmega32u4
-LFLAGS += -L/usr/avr/lib/avr5/ -L/usr/lib/gcc/avr/12.2.0/avr5 -lgcc -lm -lc -latmega32u4
-
-LIBS += lib/ArduinoCore-avr/cores/arduino/PluggableUSB.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/CDC.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/HardwareSerial.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/USBCore.cpp
-# LIBS += lib/ArduinoCore-avr/cores/arduino/HardwareSerial0.cpp
-# LIBS += lib/ArduinoCore-avr/cores/arduino/HardwareSerial1.cpp
-# LIBS += lib/ArduinoCore-avr/cores/arduino/HardwareSerial2.cpp
-# LIBS += lib/ArduinoCore-avr/cores/arduino/HardwareSerial3.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/IPAddress.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/Print.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/Stream.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/WMath.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/WString.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/abi.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/main.cpp
-LIBS += lib/ArduinoCore-avr/cores/arduino/new.cpp
-LIBS += lib/ArduinoCore-avr/libraries/HID/src/HID.cpp
-LIBS += lib/ArduinoCore-avr/libraries/SPI/src/SPI.cpp
-# LIBS += lib/ArduinoCore-avr/libraries/SoftwareSerial/src/SoftwareSerial.cpp
-LIBS += lib/ArduinoCore-avr/libraries/Wire/src/Wire.cpp
-LIBS += lib/pololu-buzzer-arduino/src/PololuBuzzer.cpp
-LIBS += lib/pushbutton-arduino/Pushbutton.cpp
-LIBS += lib/zumo-32u4-arduino-library/src/QTRSensors.cpp
-LIBS += lib/zumo-32u4-arduino-library/src/Zumo32U4IRPulses.cpp
-LIBS += lib/zumo-32u4-arduino-library/src/Zumo32U4Encoders.cpp
-LIBS += lib/zumo-32u4-arduino-library/src/Zumo32U4IMU.cpp
-LIBS += lib/zumo-32u4-arduino-library/src/Zumo32U4Motors.cpp
-LIBS += lib/zumo-32u4-arduino-library/src/Zumo32U4ProximitySensors.cpp
-LIBS += lib/usb-pause-arduino/USBPause.cpp
-LIBS += lib/pololu-hd44780-arduino/PololuHD44780.cpp
-LIBS += lib/fastgpio-arduino/FastGPIO.cpp
-LIBS += lib/pololu-oled-arduino/src/font.cpp
-# LIBS += lib/ArduinoCore-avr/cores/arduino/Tone.cpp
-# LIBS += lib/ArduinoCore-avr/libraries/Wire/src/utility/twi.c
-
-LIBS += lib/ArduinoCore-avr/cores/arduino/WInterrupts.c
-LIBS += lib/ArduinoCore-avr/cores/arduino/hooks.c
-LIBS += lib/ArduinoCore-avr/cores/arduino/wiring_shift.c
-LIBS += lib/ArduinoCore-avr/cores/arduino/wiring_digital.c
-LIBS += lib/ArduinoCore-avr/cores/arduino/wiring_analog.c
-# LIBS += lib/ArduinoCore-avr/cores/arduino/wiring_pulse.c
-LIBS += lib/ArduinoCore-avr/cores/arduino/wiring.c
-
-SRCS += $(LIBS)
-