1 | #include "r2ca.h"
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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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