Commit 5eee2303 authored by adammydla's avatar adammydla
Browse files

Change constants

parent 5e9059d3

src/firmware/.settings/language.settings.xml

+2 −2
Original line number Diff line number Diff line
@@ -4,7 +4,7 @@ 
		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">

			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>

			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuildCommandParser" id="com.crt.advproject.GCCBuildCommandParser" keep-relative-paths="false" name="MCU GCC Build Output Parser" parameter="(arm-none-eabi-gcc)|(arm-none-eabi-[gc]\+\+)|(gcc)|([gc]\+\+)|(clang)" prefer-non-shared="true"/>

			<provider class="com.crt.advproject.specs.MCUGCCBuiltinSpecsDetector" console="false" env-hash="-484741727297629036" id="com.crt.advproject.GCCBuildSpecCompilerParser" keep-relative-paths="false" name="MCU GCC Built-in Compiler Parser" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

			<provider class="com.crt.advproject.specs.MCUGCCBuiltinSpecsDetector" console="false" env-hash="-515984881481373884" id="com.crt.advproject.GCCBuildSpecCompilerParser" keep-relative-paths="false" name="MCU GCC Built-in Compiler Parser" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

				<language-scope id="org.eclipse.cdt.core.gcc"/>

				<language-scope id="org.eclipse.cdt.core.g++"/>

			</provider>
@@ -15,7 +15,7 @@ 
		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">

			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>

			<provider copy-of="extension" id="com.crt.advproject.GCCBuildCommandParser"/>

			<provider class="com.crt.advproject.specs.MCUGCCBuiltinSpecsDetector" console="false" env-hash="-425127439029159884" id="com.crt.advproject.GCCBuildSpecCompilerParser" keep-relative-paths="false" name="MCU GCC Built-in Compiler Parser" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

			<provider class="com.crt.advproject.specs.MCUGCCBuiltinSpecsDetector" console="false" env-hash="-456370593212904732" id="com.crt.advproject.GCCBuildSpecCompilerParser" keep-relative-paths="false" name="MCU GCC Built-in Compiler Parser" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

				<language-scope id="org.eclipse.cdt.core.gcc"/>

				<language-scope id="org.eclipse.cdt.core.g++"/>

			</provider>

src/firmware/source/Config.hpp

+18 −15
Original line number Diff line number Diff line
@@ -25,8 +25,8 @@ constexpr float TICKS_RANGE = 937.33; 


constexpr int REGULATOR_MAX_LIMIT = 300;



constexpr int SERVO_MIN_LIMIT = -360;

constexpr int SERVO_MAX_LIMIT = 280;

constexpr int SERVO_MIN_LIMIT = -440; //-360; //-360;

constexpr int SERVO_MAX_LIMIT = 360; //360; //280;

constexpr int SERVO_MIDPOINT = (SERVO_MIN_LIMIT + SERVO_MAX_LIMIT) / 2;
@@ -38,32 +38,35 @@ constexpr int SERVO_MIDPOINT = (SERVO_MIN_LIMIT + SERVO_MAX_LIMIT) / 2; 
//constexpr double P_FINISH = P * 0.7;



// cierne koliecka

constexpr double P = 20;

constexpr double P_FINISH = P * 0.7;

constexpr double P = 15;//22;

constexpr double P_INCR = 1.3;//22;

constexpr double P_START = 5;//22;

//constexpr double P_LOW_ERROR = 15;

constexpr double P_FINISH = P; // P * 0.7;





constexpr int SPEED_MIN_FAST = 80;

constexpr int SPEED_CURVE_FAST = 180;

constexpr int SPEED_MAX_FAST = 220;



constexpr int SPEED_BRAKE_FAST_LIMIT = 180;

constexpr int SPEED_BRAKE_FAST_LIMIT = 100;

constexpr int SPEED_LINE_FAST_MINIMUM = 150;

constexpr int BRAKE_FORCE = -512;

constexpr int BRAKE_FORCE = -256;

constexpr int SPEED_ACCELERATION = 300;



//constexpr int SPEED_MIN_SLOW = 45;

//constexpr int SPEED_CURVE_SLOW = 70;

//constexpr int SPEED_MAX_SLOW = 120;



constexpr int SPEED_MIN_SLOW = 80;

constexpr int SPEED_CURVE_SLOW = 180;

constexpr int SPEED_MAX_SLOW = 180;

constexpr int SPEED_MIN_SLOW = 70;

constexpr int SPEED_CURVE_SLOW = 80;

constexpr int SPEED_MAX_SLOW = 90;



constexpr int ABSOLUTELLY_MINIMUM_SPEED = 45;



constexpr int DISTANCE_COUNTER_LIMIT = 10;



constexpr double CURVE_LIMIT = 4;

constexpr double CURVE_LIMIT = 3;

constexpr int STRAIGHT_LINE_LIMIT = 60;



constexpr int BOX_CLOSE_TRIGGER_DISTANCE_CM = 40;
@@ -74,7 +77,7 @@ constexpr int INITIAL_STOP_TIME_MS = 2000; 
constexpr int INITIALSTRAIGHT_TIME_SPEED = 500;



constexpr bool INIT_FINISH = false;

constexpr bool STOP = true;

constexpr bool STOP = false;

constexpr bool PRINT_CAMERA = false;

constexpr bool CALIBRATE_REGL = false;

constexpr bool CALIBRATE_SERVO = false;
@@ -82,16 +85,16 @@ constexpr bool CALIBRATE_SERVO = false; 


constexpr bool TEST_SONIC = false;



constexpr int LED_PERCENTAGE = 60;

constexpr int LED_PERCENTAGE = 0;

constexpr bool AUTO_EXPOSITION = true;



constexpr uint8_t DESIRED_LIGHTING = 200;

constexpr uint8_t DESIRED_LIGHTING_OFFSET = 5;

constexpr uint32_t EXPOSITION_INCREMENT = 1000;

constexpr uint8_t DESIRED_LIGHTING_OFFSET = 20;

constexpr uint32_t EXPOSITION_INCREMENT = 200;

constexpr uint32_t DEFAULT_EXPOSITION = 5000;



constexpr bool USE_DERIVATIVE_FINISH = true;

constexpr uint8_t DERIVATIVE_THRESHOLD = 40;

constexpr uint8_t DERIVATIVE_THRESHOLD = 25;

constexpr std::size_t DARK_PIXELS_FINISH = 10;

constexpr std::size_t BLACK_PIXEL_TRESHOLD = 80;

src/firmware/source/Schumacher.cpp

+5 −1
Original line number Diff line number Diff line
@@ -28,6 +28,8 @@ std::size_t find_line(LinearCamera::frame &derived, std::size_t mid_index, std:: 


	Max<uint8_t> line = max(derived, lower_bound, upper_bound);



	//uint8_t derivative_threshold = compute_mean(derived);



	if (line.value >= DERIVATIVE_THRESHOLD) {

			return line.index;

	}
@@ -37,6 +39,7 @@ std::size_t find_line(LinearCamera::frame &derived, std::size_t mid_index, std:: 
	{

		for (std::size_t i = mid_index; i > 0; i--) {

			if (derived[i] >= DERIVATIVE_THRESHOLD) {

			//if (derived[i] >= derivative_threshold) {

				return i;

			}

		}
@@ -47,6 +50,7 @@ std::size_t find_line(LinearCamera::frame &derived, std::size_t mid_index, std:: 
	/* Find right line from middle */

	for (std::size_t i = mid_index; i < 127; i++) {

		if (derived[i] >= DERIVATIVE_THRESHOLD) {

		//if (derived[i] >= derivative_threshold) {

			return i;

		}

	}

src/firmware/source/Utils/Algorithms.hpp

+15 −0
Original line number Diff line number Diff line
@@ -115,5 +115,20 @@ max( const std::array< T, SIZE > &array, 
	return maximum;

}



template <typename T, std::size_t SIZE>

uint8_t compute_mean(

    const std::array< T, SIZE > &data)

{

	uint64_t sum;



    for ( std::size_t i = 0; i < 128; i++ )

    {

        sum += data[i];

    }



    return sum / 128;

}







#endif /* UTILS_ALGORITHMS_HPP_ */

src/firmware/source/controls/Controls.cpp

+1 −1
Original line number Diff line number Diff line
@@ -20,7 +20,7 @@ void set_servo(int position) { 


void set_regulator(int speed) {

	speed = std::min(speed, REGULATOR_MAX_LIMIT);

	speed = std::max(0, speed);

	speed = std::max(-512, speed);



	uint32_t desired_ticks = TICKS_MIDDLE + speed * (TICKS_RANGE / 512);

	FTM_StopTimer(FTM1);