| 1 | #include "r2ca.h"
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| 2 | #include "ESP8266.h"
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| 3 |
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| 4 | #include <Wire.h>
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| 5 | #include <ZumoShield.h>
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| 6 |
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| 7 | #include <SPI.h>
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| 8 | #include <Pixy.h>
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| 9 |
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| 10 | #include "../examples_gdef.h"
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| 11 |
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| 12 | #define WMODE_STATION
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| 13 |
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| 14 | uint16_t pixy_blocks = 0;
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| 15 | char pixy_buf[16][128];
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| 16 |
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| 17 | //==========================================================================
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| 18 | //
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| 19 | // Pixy Pet Robot
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| 20 | //
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| 21 | // Adafruit invests time and resources providing this open source code,
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| 22 | // please support Adafruit and open-source hardware by purchasing
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| 23 | // products from Adafruit!
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| 24 | //
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| 25 | // Written by: Bill Earl for Adafruit Industries
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| 26 | //
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| 27 | //==========================================================================
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| 28 | // begin license header
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| 29 | //
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| 30 | // All Pixy Pet source code is provided under the terms of the
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| 31 | // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
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| 32 | //
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| 33 | // end license header
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| 34 | //
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| 35 | //==========================================================================
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| 36 | //
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| 37 | // Portions of this code are derived from the Pixy CMUcam5 pantilt example code.
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| 38 | //
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| 39 | //==========================================================================
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| 40 |
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| 41 | #define X_CENTER 160L
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| 42 | #define Y_CENTER 100L
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| 43 | #define RCS_MIN_POS 0L
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| 44 | #define RCS_MAX_POS 1000L
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| 45 | #define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
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| 46 |
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| 47 | //---------------------------------------
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| 48 | // Servo Loop Class
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| 49 | // A Proportional/Derivative feedback
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| 50 | // loop for pan/tilt servo tracking of
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| 51 | // blocks.
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| 52 | // (Based on Pixy CMUcam5 example code)
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| 53 | //---------------------------------------
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| 54 | class ServoLoop
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| 55 | {
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| 56 | public:
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| 57 | ServoLoop(int32_t proportionalGain, int32_t derivativeGain);
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| 58 |
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| 59 | void update(int32_t error);
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| 60 |
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| 61 | int32_t m_pos;
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| 62 | int32_t m_prevError;
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| 63 | int32_t m_proportionalGain;
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| 64 | int32_t m_derivativeGain;
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| 65 | };
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| 66 |
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| 67 | // ServoLoop Constructor
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| 68 | ServoLoop::ServoLoop(int32_t proportionalGain, int32_t derivativeGain)
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| 69 | {
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| 70 | m_pos = RCS_CENTER_POS;
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| 71 | m_proportionalGain = proportionalGain;
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| 72 | m_derivativeGain = derivativeGain;
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| 73 | m_prevError = 0x80000000L;
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| 74 | }
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| 75 |
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| 76 | // ServoLoop Update
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| 77 | // Calculates new output based on the measured
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| 78 | // error and the current state.
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| 79 | void ServoLoop::update(int32_t error)
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| 80 | {
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| 81 | long int velocity;
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| 82 | char buf[32];
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| 83 | if (m_prevError!=0x80000000)
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| 84 | {
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| 85 | velocity = (error*m_proportionalGain + (error - m_prevError)*m_derivativeGain)>>10;
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| 86 |
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| 87 | m_pos += velocity;
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| 88 | if (m_pos>RCS_MAX_POS)
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| 89 | {
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| 90 | m_pos = RCS_MAX_POS;
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| 91 | }
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| 92 | else if (m_pos<RCS_MIN_POS)
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| 93 | {
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| 94 | m_pos = RCS_MIN_POS;
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| 95 | }
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| 96 | }
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| 97 | m_prevError = error;
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| 98 | }
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| 99 | // End Servo Loop Class
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| 100 | //---------------------------------------
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| 101 |
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| 102 | Pixy pixy; // Declare the camera object
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| 103 |
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| 104 | ServoLoop panLoop(200, 200); // Servo loop for pan
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| 105 | ServoLoop tiltLoop(150, 200); // Servo loop for tilt
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| 106 |
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| 107 | void ScanForBlocks();
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| 108 | void FollowBlock(int trackedBlock);
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| 109 | int TrackBlock(int blockCount);
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| 110 | void task1_setup();
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| 111 |
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| 112 | //---------------------------------------
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| 113 | // Setup - runs once at startup
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| 114 | //---------------------------------------
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| 115 | void setup()
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| 116 | {
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| 117 | ZumoInit();
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| 118 | buzzer.playOn();
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| 119 | Serial.begin(115200);
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| 120 | Serial.print("Starting...\n");
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| 121 | pixy.init();
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| 122 |
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| 123 | button.waitForPress();
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| 124 | buzzer.playStart();
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| 125 |
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| 126 | task1_setup();
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| 127 | }
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| 128 |
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| 129 | uint32_t lastBlockTime = 0;
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| 130 |
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| 131 | //---------------------------------------
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| 132 | // Main loop - runs continuously after setup
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| 133 | //---------------------------------------
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| 134 | void loop()
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| 135 | {
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| 136 | uint16_t blocks;
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| 137 | blocks = pixy.getBlocks();
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| 138 |
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| 139 | // If we have blocks in sight, track and follow them
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| 140 | if (blocks)
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| 141 | {
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| 142 | int trackedBlock = TrackBlock(blocks);
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| 143 | FollowBlock(trackedBlock);
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| 144 | lastBlockTime = millis();
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| 145 | if(pixy_blocks == 0) {
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| 146 | if (blocks > 16) {
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| 147 | blocks = 16;
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| 148 | }
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| 149 | pixy_blocks = blocks;
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| 150 | for (int j=0; j<blocks; j++){
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| 151 | sprintf(pixy_buf[j], "sig: %d x: %d y: %d width: %d height: %d\n",
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| 152 | pixy.blocks[j].signature, pixy.blocks[j].x, pixy.blocks[j].y,
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| 153 | pixy.blocks[j].width, pixy.blocks[j].height);
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| 154 | }
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| 155 | }
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| 156 | delay(1);
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| 157 | }
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| 158 | else if (millis() - lastBlockTime > 100)
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| 159 | {
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| 160 | motors.setLeftSpeed(0);
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| 161 | motors.setRightSpeed(0);
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| 162 | ScanForBlocks();
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| 163 | }
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| 164 | }
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| 165 |
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| 166 | int oldX, oldY, oldSignature;
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| 167 |
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| 168 | //---------------------------------------
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| 169 | // Track blocks via the Pixy pan/tilt mech
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| 170 | // (based in part on Pixy CMUcam5 pantilt example)
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| 171 | //---------------------------------------
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| 172 | int TrackBlock(int blockCount)
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| 173 | {
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| 174 | int trackedBlock = 0;
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| 175 | long maxSize = 0;
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| 176 |
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| 177 | Serial.print("blocks =");
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| 178 | Serial.println(blockCount);
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| 179 |
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| 180 | for (int i = 0; i < blockCount; i++)
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| 181 | {
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| 182 | if ((oldSignature == 0) || (pixy.blocks[i].signature == oldSignature))
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| 183 | {
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| 184 | long newSize = pixy.blocks[i].height * pixy.blocks[i].width;
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| 185 | if (newSize > maxSize)
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| 186 | {
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| 187 | trackedBlock = i;
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| 188 | maxSize = newSize;
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| 189 | }
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| 190 | }
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| 191 | }
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| 192 |
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| 193 | int32_t panError = X_CENTER - pixy.blocks[trackedBlock].x;
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| 194 | int32_t tiltError = pixy.blocks[trackedBlock].y - Y_CENTER;
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| 195 |
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| 196 | panLoop.update(panError);
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| 197 | tiltLoop.update(tiltError);
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| 198 |
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| 199 | pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
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| 200 |
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| 201 | oldX = pixy.blocks[trackedBlock].x;
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| 202 | oldY = pixy.blocks[trackedBlock].y;
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| 203 | oldSignature = pixy.blocks[trackedBlock].signature;
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| 204 | return trackedBlock;
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| 205 | }
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| 206 |
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| 207 | //---------------------------------------
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| 208 | // Follow blocks via the Zumo robot drive
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| 209 | //
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| 210 | // This code makes the robot base turn
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| 211 | // and move to follow the pan/tilt tracking
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| 212 | // of the head.
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| 213 | //---------------------------------------
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| 214 | int32_t size = 400;
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| 215 | void FollowBlock(int trackedBlock)
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| 216 | {
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| 217 | int32_t followError = RCS_CENTER_POS - panLoop.m_pos; // How far off-center are we looking now?
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| 218 |
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| 219 | // Size is the area of the object.
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| 220 | // We keep a running average of the last 8.
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| 221 | size += pixy.blocks[trackedBlock].width * pixy.blocks[trackedBlock].height;
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| 222 | size -= size >> 3;
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| 223 |
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| 224 | // Forward speed decreases as we approach the object (size is larger)
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| 225 | int forwardSpeed = constrain(400 - (size/256), -100, 400);
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| 226 |
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| 227 | // Steering differential is proportional to the error times the forward speed
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| 228 | int32_t differential = (followError + (followError * forwardSpeed))>>8;
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| 229 |
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| 230 | // Adjust the left and right speeds by the steering differential.
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| 231 | int leftSpeed = constrain(forwardSpeed + differential, -400, 400);
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| 232 | int rightSpeed = constrain(forwardSpeed - differential, -400, 400);
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| 233 |
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| 234 | // And set the motor speeds
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| 235 | motors.setLeftSpeed(leftSpeed);
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| 236 | motors.setRightSpeed(rightSpeed);
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| 237 | }
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| 238 |
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| 239 | //---------------------------------------
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| 240 | // Random search for blocks
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| 241 | //
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| 242 | // This code pans back and forth at random
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| 243 | // until a block is detected
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| 244 | //---------------------------------------
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| 245 | int scanIncrement = (RCS_MAX_POS - RCS_MIN_POS) / 150;
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| 246 | uint32_t lastMove = 0;
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| 247 |
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| 248 | void ScanForBlocks()
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| 249 | {
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| 250 | if (millis() - lastMove > 20)
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| 251 | {
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| 252 | lastMove = millis();
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| 253 | panLoop.m_pos += scanIncrement;
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| 254 | if ((panLoop.m_pos >= RCS_MAX_POS)||(panLoop.m_pos <= RCS_MIN_POS))
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| 255 | {
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| 256 | tiltLoop.m_pos = random(RCS_MAX_POS * 0.6, RCS_MAX_POS);
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| 257 | scanIncrement = -scanIncrement;
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| 258 | if (scanIncrement < 0)
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| 259 | {
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| 260 | motors.setLeftSpeed(-250);
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| 261 | motors.setRightSpeed(250);
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| 262 | }
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| 263 | else
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| 264 | {
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| 265 | motors.setLeftSpeed(+180);
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| 266 | motors.setRightSpeed(-180);
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| 267 | }
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| 268 | delay(random(250, 500));
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| 269 | }
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| 270 |
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| 271 | pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
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| 272 | }
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| 273 | }
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| 274 |
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| 275 |
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| 276 | void task1_setup()
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| 277 | {
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| 278 | int ret;
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| 279 |
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| 280 | Serial.println("Echo Server : Start!");
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| 281 | ret = WiFi.begin(Serial5, 115200);
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| 282 |
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| 283 | if(ret == 1) {
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| 284 | Serial.print("Cannot communicate with ESP8266.");
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| 285 | while(1);
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| 286 | } else if(ret == 2) {
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| 287 | Serial.println("FW Version mismatch.");
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| 288 | Serial.print("FW Version:");
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| 289 | Serial.println(WiFi.getVersion().c_str());
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| 290 | Serial.print("Supported FW Version:");
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| 291 | Serial.print(ESP8266_SUPPORT_VERSION);
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| 292 | while(1);
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| 293 | } else {
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| 294 | Serial.print("begin ok\r\n");
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| 295 | }
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| 296 |
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| 297 | Serial.print("FW Version:");
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| 298 | Serial.println(WiFi.getVersion().c_str());
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| 299 |
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| 300 | #ifdef WMODE_STATION
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| 301 | if (WiFi.setOprToStation()) {
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| 302 | Serial.print("to station ok\r\n");
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| 303 | } else {
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| 304 | Serial.print("to station err\r\n");
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| 305 | }
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| 306 |
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| 307 | if (WiFi.joinAP(STA_SSID, STA_PASSWORD)) {
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| 308 | Serial.print("Join AP success\r\n");
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| 309 | Serial.print("IP: ");
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| 310 | Serial.println(WiFi.getLocalIP().c_str());
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| 311 | } else {
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| 312 | Serial.print("Join AP failure\r\n");
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| 313 | while(1);
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| 314 | }
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| 315 | #else /* !WMODE_STATION */
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| 316 | if (WiFi.setOprToSoftAP()) {
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| 317 | Serial.print("to softap ok\r\n");
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| 318 | } else {
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| 319 | Serial.print("to softap err\r\n");
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| 320 | }
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| 321 | if(WiFi.setSoftAPParam(AP_SSID, AP_PASSWORD, 7, 0)){
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| 322 | Serial.print("Set SoftAP success\r\n");
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| 323 | Serial.print("IP: ");
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| 324 | Serial.println(WiFi.getLocalIP().c_str());
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| 325 | }
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| 326 | else {
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| 327 | Serial.print("Set SoftAP failure\r\n");
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| 328 | }
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| 329 | #endif /* WMODE_STATION */
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| 330 |
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| 331 | if (WiFi.enableMUX()) {
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| 332 | Serial.print("multiple ok\r\n");
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| 333 | } else {
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| 334 | Serial.print("multiple err\r\n");
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| 335 | while(1);
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| 336 | }
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| 337 |
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| 338 | if (WiFi.startTCPServer(80)) {
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| 339 | Serial.print("start tcp server ok\r\n");
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| 340 | } else {
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| 341 | Serial.print("start tcp server err\r\n");
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| 342 | while(1);
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| 343 | }
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| 344 |
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| 345 | if (WiFi.setTCPServerTimeout(60)) {
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| 346 | Serial.print("set tcp server timout 60 seconds\r\n");
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| 347 | } else {
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| 348 | Serial.print("set tcp server timout err\r\n");
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| 349 | while(1);
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| 350 | }
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| 351 |
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| 352 | Serial.print("setup end\r\n");
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| 353 | }
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| 354 |
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| 355 | #define MUX_NULL 0xff
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| 356 |
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| 357 | uint8_t mux_id_ptn;
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| 358 |
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| 359 | uint8_t mux_id = MUX_NULL;
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| 360 | uint8_t task1_mux_id = MUX_NULL;
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| 361 |
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| 362 | void loop1()
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| 363 | {
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| 364 | char buf[128];
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| 365 | uint8_t pre_mux_id_ptn;
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| 366 |
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| 367 | /* Check Connection Status */
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| 368 | pre_mux_id_ptn = mux_id_ptn;
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| 369 |
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| 370 | if(!WiFi.getMuxCStatus(&mux_id_ptn)) {
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| 371 | Serial.println("getMuxCStatus(&mux_id_ptn) : Error!");
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| 372 | }
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| 373 | else {
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| 374 | if (pre_mux_id_ptn != mux_id_ptn) {
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| 375 | Serial.print("Connection Status changed! : 0x");
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| 376 | Serial.println(mux_id_ptn, HEX);
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| 377 | if (mux_id_ptn & 0x01) {
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| 378 | mux_id = 0;
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| 379 | }
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| 380 | if (mux_id_ptn & 0x02) {
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| 381 | task1_mux_id = 1;
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| 382 | }
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| 383 | }
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| 384 | }
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| 385 |
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| 386 | if (mux_id == MUX_NULL) {
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| 387 | return;
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| 388 | }
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| 389 |
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| 390 | if (!WiFi.isConnected(mux_id)) {
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| 391 | Serial.print("Echo Server : Port is closed: ");
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| 392 | Serial.println(mux_id);
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| 393 | mux_id = MUX_NULL;
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| 394 | return;
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| 395 | }
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| 396 |
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| 397 | if(pixy_blocks != 0) {
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| 398 | sprintf(buf, "Detected %d:\n", pixy_blocks);
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| 399 | WiFi.send(mux_id, (uint8_t*)buf, strlen(buf));
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| 400 | for (int j=0; j<pixy_blocks; j++){
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| 401 | WiFi.send(mux_id, (uint8_t*)pixy_buf[j], strlen(pixy_buf[j]));
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| 402 | }
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| 403 | pixy_blocks = 0;
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| 404 | }
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| 405 | }
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