[260] | 1 | #include "r2ca.h"
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[236] | 2 | #include <Wire.h>
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| 3 | #include <ZumoShield.h>
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| 4 |
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| 5 | #include <SPI.h>
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| 6 | #include <Pixy.h>
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| 7 |
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| 8 | //==========================================================================
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| 9 | //
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| 10 | // Pixy Pet Robot
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| 11 | //
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| 12 | // Adafruit invests time and resources providing this open source code,
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| 13 | // please support Adafruit and open-source hardware by purchasing
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| 14 | // products from Adafruit!
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| 15 | //
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| 16 | // Written by: Bill Earl for Adafruit Industries
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| 17 | //
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| 18 | //==========================================================================
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| 19 | // begin license header
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| 20 | //
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| 21 | // All Pixy Pet source code is provided under the terms of the
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| 22 | // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
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| 23 | //
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| 24 | // end license header
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| 25 | //
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| 26 | //==========================================================================
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| 27 | //
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| 28 | // Portions of this code are derived from the Pixy CMUcam5 pantilt example code.
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| 29 | //
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| 30 | //==========================================================================
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| 31 |
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| 32 | #define X_CENTER 160L
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| 33 | #define Y_CENTER 100L
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| 34 | #define RCS_MIN_POS 0L
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| 35 | #define RCS_MAX_POS 1000L
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| 36 | #define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
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| 37 |
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| 38 | //---------------------------------------
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| 39 | // Servo Loop Class
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| 40 | // A Proportional/Derivative feedback
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| 41 | // loop for pan/tilt servo tracking of
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| 42 | // blocks.
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| 43 | // (Based on Pixy CMUcam5 example code)
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| 44 | //---------------------------------------
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| 45 | class ServoLoop
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| 46 | {
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| 47 | public:
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| 48 | ServoLoop(int32_t proportionalGain, int32_t derivativeGain);
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| 49 |
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| 50 | void update(int32_t error);
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| 51 |
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| 52 | int32_t m_pos;
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| 53 | int32_t m_prevError;
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| 54 | int32_t m_proportionalGain;
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| 55 | int32_t m_derivativeGain;
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| 56 | };
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| 57 |
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| 58 | // ServoLoop Constructor
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| 59 | ServoLoop::ServoLoop(int32_t proportionalGain, int32_t derivativeGain)
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| 60 | {
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| 61 | m_pos = RCS_CENTER_POS;
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| 62 | m_proportionalGain = proportionalGain;
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| 63 | m_derivativeGain = derivativeGain;
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| 64 | m_prevError = 0x80000000L;
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| 65 | }
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| 66 |
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| 67 | // ServoLoop Update
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| 68 | // Calculates new output based on the measured
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| 69 | // error and the current state.
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| 70 | void ServoLoop::update(int32_t error)
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| 71 | {
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| 72 | long int velocity;
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| 73 | char buf[32];
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| 74 | if (m_prevError!=0x80000000)
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| 75 | {
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| 76 | velocity = (error*m_proportionalGain + (error - m_prevError)*m_derivativeGain)>>10;
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| 77 |
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| 78 | m_pos += velocity;
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| 79 | if (m_pos>RCS_MAX_POS)
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| 80 | {
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| 81 | m_pos = RCS_MAX_POS;
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| 82 | }
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| 83 | else if (m_pos<RCS_MIN_POS)
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| 84 | {
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| 85 | m_pos = RCS_MIN_POS;
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| 86 | }
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| 87 | }
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| 88 | m_prevError = error;
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| 89 | }
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| 90 | // End Servo Loop Class
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| 91 | //---------------------------------------
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| 92 |
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| 93 | Pixy pixy; // Declare the camera object
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| 94 |
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| 95 | ServoLoop panLoop(200, 200); // Servo loop for pan
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| 96 | ServoLoop tiltLoop(150, 200); // Servo loop for tilt
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| 97 |
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| 98 | void ScanForBlocks();
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| 99 | void FollowBlock(int trackedBlock);
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| 100 | int TrackBlock(int blockCount);
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| 101 |
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| 102 | //---------------------------------------
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| 103 | // Setup - runs once at startup
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| 104 | //---------------------------------------
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| 105 | void setup()
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| 106 | {
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| 107 | ZumoInit();
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| 108 | buzzer.playOn();
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| 109 | Serial.begin(115200);
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| 110 | Serial.print("Starting...\n");
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| 111 | pixy.init();
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| 112 |
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| 113 | button.waitForPress();
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| 114 | buzzer.playStart();
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| 115 | }
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| 116 |
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| 117 | uint32_t lastBlockTime = 0;
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| 118 |
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| 119 | //---------------------------------------
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| 120 | // Main loop - runs continuously after setup
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| 121 | //---------------------------------------
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| 122 | void loop()
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| 123 | {
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| 124 | uint16_t blocks;
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| 125 | blocks = pixy.getBlocks();
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| 126 |
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| 127 | // If we have blocks in sight, track and follow them
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| 128 | if (blocks)
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| 129 | {
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| 130 | int trackedBlock = TrackBlock(blocks);
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| 131 | FollowBlock(trackedBlock);
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| 132 | lastBlockTime = millis();
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| 133 | }
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| 134 | else if (millis() - lastBlockTime > 100)
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| 135 | {
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| 136 | motors.setLeftSpeed(0);
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| 137 | motors.setRightSpeed(0);
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| 138 | ScanForBlocks();
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| 139 | }
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| 140 | }
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| 141 |
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| 142 | int oldX, oldY, oldSignature;
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| 143 |
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| 144 | //---------------------------------------
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| 145 | // Track blocks via the Pixy pan/tilt mech
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| 146 | // (based in part on Pixy CMUcam5 pantilt example)
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| 147 | //---------------------------------------
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| 148 | int TrackBlock(int blockCount)
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| 149 | {
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| 150 | int trackedBlock = 0;
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| 151 | long maxSize = 0;
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| 152 |
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| 153 | Serial.print("blocks =");
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| 154 | Serial.println(blockCount);
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| 155 |
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| 156 | for (int i = 0; i < blockCount; i++)
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| 157 | {
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| 158 | if ((oldSignature == 0) || (pixy.blocks[i].signature == oldSignature))
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| 159 | {
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| 160 | long newSize = pixy.blocks[i].height * pixy.blocks[i].width;
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| 161 | if (newSize > maxSize)
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| 162 | {
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| 163 | trackedBlock = i;
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| 164 | maxSize = newSize;
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| 165 | }
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| 166 | }
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| 167 | }
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| 168 |
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| 169 | int32_t panError = X_CENTER - pixy.blocks[trackedBlock].x;
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| 170 | int32_t tiltError = pixy.blocks[trackedBlock].y - Y_CENTER;
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| 171 |
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| 172 | panLoop.update(panError);
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| 173 | tiltLoop.update(tiltError);
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| 174 |
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| 175 | pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
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| 176 |
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| 177 | oldX = pixy.blocks[trackedBlock].x;
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| 178 | oldY = pixy.blocks[trackedBlock].y;
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| 179 | oldSignature = pixy.blocks[trackedBlock].signature;
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| 180 | return trackedBlock;
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| 181 | }
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| 182 |
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| 183 | //---------------------------------------
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| 184 | // Follow blocks via the Zumo robot drive
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| 185 | //
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| 186 | // This code makes the robot base turn
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| 187 | // and move to follow the pan/tilt tracking
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| 188 | // of the head.
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| 189 | //---------------------------------------
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| 190 | int32_t size = 400;
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| 191 | void FollowBlock(int trackedBlock)
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| 192 | {
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| 193 | int32_t followError = RCS_CENTER_POS - panLoop.m_pos; // How far off-center are we looking now?
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| 194 |
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| 195 | // Size is the area of the object.
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| 196 | // We keep a running average of the last 8.
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| 197 | size += pixy.blocks[trackedBlock].width * pixy.blocks[trackedBlock].height;
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| 198 | size -= size >> 3;
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| 199 |
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| 200 | // Forward speed decreases as we approach the object (size is larger)
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| 201 | int forwardSpeed = constrain(400 - (size/256), -100, 400);
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| 202 |
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| 203 | // Steering differential is proportional to the error times the forward speed
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| 204 | int32_t differential = (followError + (followError * forwardSpeed))>>8;
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| 205 |
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| 206 | // Adjust the left and right speeds by the steering differential.
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| 207 | int leftSpeed = constrain(forwardSpeed + differential, -400, 400);
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| 208 | int rightSpeed = constrain(forwardSpeed - differential, -400, 400);
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| 209 |
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| 210 | // And set the motor speeds
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| 211 | motors.setLeftSpeed(leftSpeed);
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| 212 | motors.setRightSpeed(rightSpeed);
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| 213 | }
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| 214 |
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| 215 | //---------------------------------------
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| 216 | // Random search for blocks
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| 217 | //
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| 218 | // This code pans back and forth at random
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| 219 | // until a block is detected
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| 220 | //---------------------------------------
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| 221 | int scanIncrement = (RCS_MAX_POS - RCS_MIN_POS) / 150;
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| 222 | uint32_t lastMove = 0;
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| 223 |
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| 224 | void ScanForBlocks()
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| 225 | {
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| 226 | if (millis() - lastMove > 20)
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| 227 | {
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| 228 | lastMove = millis();
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| 229 | panLoop.m_pos += scanIncrement;
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| 230 | if ((panLoop.m_pos >= RCS_MAX_POS)||(panLoop.m_pos <= RCS_MIN_POS))
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| 231 | {
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| 232 | tiltLoop.m_pos = random(RCS_MAX_POS * 0.6, RCS_MAX_POS);
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| 233 | scanIncrement = -scanIncrement;
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| 234 | if (scanIncrement < 0)
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| 235 | {
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| 236 | motors.setLeftSpeed(-250);
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| 237 | motors.setRightSpeed(250);
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| 238 | }
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| 239 | else
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| 240 | {
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| 241 | motors.setLeftSpeed(+180);
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| 242 | motors.setRightSpeed(-180);
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| 243 | }
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| 244 | delay(random(250, 500));
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| 245 | }
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| 246 |
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| 247 | pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
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| 248 | }
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| 249 | }
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