Positioning Work. Very Important

I figured out how to track a robot’s orientation regardless of position
or how many turns it has done. This is based on the fact that
orientation is entirely dependent on how far the wheels have turned.
When the distance is equal, the orientation is the same as the start.
when the distance is different, we can observe and measure a the degree
to which the difference has affected orientation by factoring in the
track (distance between wheels, also radius of the curved path). Using
this information, I built some pseudo code that should provide the
ability to estimate position with an unknown accuracy.

4 files changed, 311 insertions, 0 deletions

diff --git a/Nate's Position Testing/Shooter Testing/src/Makefile b/Nate's Position Testing/Shooter Testing/src/Makefile
new file mode 100644
index 0000000..865f1e7
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/src/Makefile
@@ -0,0 +1,50 @@
+# Makefile for compiling PROS projects

+

+# Path to project root (NO trailing slash!)

+ROOT=..

+# Binary output directory

+BINDIR=$(ROOT)/bin

+

+# Nothing below here needs to be modified by typical users

+

+# Include common aspects of this project

+-include $(ROOT)/common.mk

+

+ASMSRC:=$(wildcard *.$(ASMEXT))

+ASMOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(ASMSRC:.$(ASMEXT)=.o))

+HEADERS:=$(wildcard *.$(HEXT))

+### Special section for Cortex projects ###

+HEADERS_2:=$(wildcard ../include/*.$(HEXT))

+### End special section ###

+CSRC=$(wildcard *.$(CEXT))

+COBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CSRC:.$(CEXT)=.o))

+CPPSRC:=$(wildcard *.$(CPPEXT))

+CPPOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CPPSRC:.$(CPPEXT)=.o))

+OUT:=$(BINDIR)/$(OUTNAME)

+

+.PHONY: all

+

+# By default, compile program

+all: .

+

+# Compiles the program if anything is changed

+.: $(ASMOBJ) $(COBJ) $(CPPOBJ)

+	@touch .

+

+# Assembly source file management

+$(ASMOBJ): $(BINDIR)/%.o: %.$(ASMEXT)

+	@echo AS $<

+	@$(AS) $(AFLAGS) -o $@ $<

+

+### Special section for Cortex projects ###

+

+# Object management

+$(COBJ): $(BINDIR)/%.o: %.$(CEXT) $(HEADERS) $(HEADERS_2)

+	@echo CC $(INCLUDE) $<

+	@$(CC) $(INCLUDE) $(CFLAGS) -o $@ $<

+

+$(CPPOBJ): $(BINDIR)/%.o: %.$(CPPEXT) $(HEADERS) $(HEADERS_2)

+	@echo CPC $(INCLUDE) $<

+	@$(CPPCC) $(INCLUDE) $(CPPFLAGS) -o $@ $<

+

+### End special section ###

diff --git a/Nate's Position Testing/Shooter Testing/src/auto.c b/Nate's Position Testing/Shooter Testing/src/auto.c
new file mode 100644
index 0000000..9df57af
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/src/auto.c
@@ -0,0 +1,52 @@
+/** @file auto.c

+ * @brief File for autonomous code

+ *

+ * This file should contain the user autonomous() function and any functions related to it.

+ *

+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.

+ * All rights reserved.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of Purdue University ACM SIG BOTS nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ *

+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be

+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.

+ */

+

+#include "main.h"

+

+/*

+ * Runs the user autonomous code. This function will be started in its own task with the default

+ * priority and stack size whenever the robot is enabled via the Field Management System or the

+ * VEX Competition Switch in the autonomous mode. If the robot is disabled or communications is

+ * lost, the autonomous task will be stopped by the kernel. Re-enabling the robot will restart

+ * the task, not re-start it from where it left off.

+ *

+ * Code running in the autonomous task cannot access information from the VEX Joystick. However,

+ * the autonomous function can be invoked from another task if a VEX Competition Switch is not

+ * available, and it can access joystick information if called in this way.

+ *

+ * The autonomous task may exit, unlike operatorControl() which should never exit. If it does

+ * so, the robot will await a switch to another mode or disable/enable cycle.

+ */

+void autonomous() {

+}

diff --git a/Nate's Position Testing/Shooter Testing/src/init.c b/Nate's Position Testing/Shooter Testing/src/init.c
new file mode 100644
index 0000000..fd9eeb4
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/src/init.c
@@ -0,0 +1,84 @@
+/** @file init.c

+ * @brief File for initialization code

+ *

+ * This file should contain the user initialize() function and any functions related to it.

+ *

+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.

+ * All rights reserved.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of Purdue University ACM SIG BOTS nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ *

+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be

+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.

+ */

+

+#include "main.h"

+Encoder encoder1,encoder2;

+/*

+ * Runs pre-initialization code. This function will be started in kernel mode one time while the

+ * VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.

+ *

+ * The purpose of this function is solely to set the default pin modes (pinMode()) and port

+ * states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely

+ * configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).

+ */

+void initializeIO() {

+

+

+	pinMode(1,INPUT);

+	pinMode(2,INPUT);

+	pinMode(3,INPUT);

+	pinMode(4,INPUT);

+	pinMode(5,INPUT);

+	pinMode(6,INPUT);

+	pinMode(7,INPUT);

+	pinMode(8,INPUT);

+

+

+

+

+//	Setup sensors.

+

+

+

+

+}/*

+ * Runs user initialization code. This function will be started in its own task with the default

+ * priority and stack size once when the robot is starting up. It is possible that the VEXnet

+ * communication link may not be fully established at this time, so reading from the VEX

+ * Joystick may fail.

+ *

+ * This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global

+ * variables, and IMEs.

+ *

+ * This function must exit relatively promptly, or the operatorControl() and autonomous() tasks

+ * will not start. An autonomous mode selection menu like the pre_auton() in other environments

+ * can be implemented in this task if desired.

+ */

+void initialize() {

+	lcdInit(uart2);

+	lcdClear(uart2);

+	lcdSetBacklight(uart2,1);

+	encoder1 = encoderInit(3,4,true);

+	encoder2 = encoderInit(5,6,true);

+}

diff --git a/Nate's Position Testing/Shooter Testing/src/opcontrol.c b/Nate's Position Testing/Shooter Testing/src/opcontrol.c
new file mode 100644
index 0000000..66fe496
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/src/opcontrol.c
@@ -0,0 +1,125 @@
+/** @file opcontrol.c

+ * @brief File for operator control code

+ *

+ * This file should contain the user operatorControl() function and any functions related to it.

+ *

+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.

+ * All rights reserved.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of Purdue University ACM SIG BOTS nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ *

+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be

+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.

+ */

+#include "main.h"

+#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

+/*

+ * Runs the user operator control code. This function will be started in its own task with the

+ * default priority and stack size whenever the robot is enabled via the Field Management System

+ * or the VEX Competition Switch in the operator control mode. If the robot is disabled or

+ * communications is lost, the operator control task will be stopped by the kernel. Re-enabling

+ * the robot will restart the task, not resume it from where it left off.

+ *

+ * If no VEX Competition Switch or Field Management system is plugged in, the VEX Cortex will

+ * run the operator control task. Be warned that this will also occur if the VEX Cortex is

+ * tethered directly to a computer via the USB A to A cable without any VEX Joystick attached.

+ *

+ * Code running in this task can take almost any action, as the VEX Joystick is available and

+ * the scheduler is operational. However, proper use of delay() or taskDelayUntil() is highly

+ * recommended to give other tasks (including system tasks such as updating LCDs) time to run.

+ *

+ * This task should never exit; it should end with some kind of infinite loop, even if empty.

+ *

+lDist*r=theta

+rDist*(r+15)=theta

+cDist*(r+7.5)=theta

+theta/lDist=r

+rDist*(theta/lDist+15)=theta

+rDist*theta/lDist+15*rDist=theta

+rDist/lDist+15*rDist/theta=1

+1-15*rDist/theta=rDist/lDist

+theta=(1-15*rDist)*lDist/rDist

+theta=(lDist-15*rDist*lDist)/rDist

+theta=lDist/rDist-heading*lDist

+theta=

+*/

+static int 		rRot,lRot,cRot,time1,time2,iHeading;

+static float 	lDist,

+				theta,

+				rDist,

+				cDist,

+				wheelD=3,

+				pi=3.14159,

+				heading=15,

+				startTheta,

+				fHeading;

+/* notes for Clyne:

+ * Other processes should not interupt the collection of data:

+ * rotation calculation should be and data collection should be a high priority/primary task

+ * Main task= manages tasks, init variables, reset functions (sensors, etc)

+ * Primary = sensor data collections and calculations

+ * Secondary = drive tasks

+ *

+ *

+ *

+ */

+void operatorControl() {

+	heading=startTheta;

+	while (1) {

+		time1=micros();

+		cRot=(encoderGet(encoder1)-encoderGet(encoder2));

+		cDist=(cRot*pi)/120;

+		fHeading=(cDist/12)*(360/(2*pi));

+		iHeading=round(fHeading)%360;

+

+		lcdPrint(uart2,1,"iHeading: %d",iHeading);

+

+		if(fHeading<360){

+			motorSet(10,-60);

+			motorSet(1,20);

+

+		}else{

+			motorSet(10,0);

+			motorSet(1,0);

+

+		}

+		/* lRot=encoderGet(encoder1);

+		rRot=encoderGet(encoder2);

+		lDist=(lRot*pi)/120;

+		rDist=(rRot*pi)/120;

+		lcdPrint(uart2,1,"iHeading: %d",iHeading);

+		if(digitalRead(1)==0){

+		motorSet(1,120);

+		}

+		else if(digitalRead(2)==0){

+		motorSet(10,-120);

+		}

+		else{

+		motorSet(1,0);

+		motorSet(10,0);

+		}

+		*/

+		delay(20);

+

+	}

+}