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Update dot551-robocar-v1.ino
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@hpssjellis
hpssjellis authored Feb 13, 2023
1 parent 7cdeff6 commit 6ffacfa
Showing 1 changed file with 29 additions and 39 deletions.
68 changes: 29 additions & 39 deletions ...ples/dot5-portenta-machine-learning/dot55-robocar/dot551-robocar-v1/dot551-robocar-v1.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -64,10 +64,10 @@

//#include <ei-fomo-v21-just-eye_inferencing.h>

// marker 2: comment the next line out if you don't want to use the 128x128 grayscale OLED
// Makes your code ~65 ms faster.
// marker 2: comment the next line of code out if you don't want to use the 128x128 grayscale OLED
// Makes your 200ms code ~65 ms faster.

// #define USE-GRAY-OLED
#define USE-GRAY-OLED



Expand All @@ -86,7 +86,6 @@
using namespace rtos;



#ifdef USE-GRAY-OLED

#include <Adafruit_SSD1327.h>
Expand All @@ -108,8 +107,6 @@ using namespace rtos;
#endif




// Global Variables
int myDelay = 0; // delay between readings, can be zero, default 2000 = 2 seconds
int x1Map, x2Map, y1Map, y2Map;
Expand All @@ -122,7 +119,6 @@ const int cutout_row_start = (EI_CAMERA_RAW_FRAME_BUFFER_ROWS - CUTOUT_ROWS) / 2
const int cutout_col_start = (EI_CAMERA_RAW_FRAME_BUFFER_COLS - CUTOUT_COLS) / 2;



// main thread for the servo and dc motor to keep their operation away from the analysis
Thread myThread01;

Expand All @@ -138,8 +134,6 @@ int myTurning = 0;
int myServoAngle = 0;




// might still use
//const float MY_FOMO_CUTOFF = 0.85; // default 0.85;

Expand All @@ -152,14 +146,15 @@ const int MY_SERVO_STRAIGHT = 90;
const int MY_SERVO_SLIGHT_HIGH = 100;
const int MY_SERVO_MAX = 120;

const int MY_MEASURE_MIN = -30; // -20 left flatter turning, -40 sharper turning
const int MY_MEASURE_MAX = 30; // 20 right flatter turning, 40 sharper turning


// Stops all sharp turns from random errors.
//int myServoChangeAmount = 20; // default 2 to 10 degrees. how much to change the turn angle if a change is needed.
int myServoNow = MY_SERVO_STRAIGHT; // start going straight



const int MY_PWM_MIN = 33; // 25
const int MY_PWM_SLOW = 34; // 25
const int MY_PWM_MEDIUM = 38; // 25
Expand Down Expand Up @@ -189,9 +184,6 @@ void myLedBlue_myThread01(){
}





/**
* @brief Arduino setup function
*/
Expand All @@ -215,12 +207,7 @@ void setup(){

digitalWrite(D1, 0); // set one direction
digitalWrite(D3, 1); // set one direction







#ifdef EI_CAMERA_FRAME_BUFFER_SDRAM
// initialise the SDRAM
SDRAM.begin(SDRAM_START_ADDRESS);
Expand Down Expand Up @@ -304,13 +291,11 @@ void loop(){

#endif


myGlobalCount = 0; // how many acceptable objects
// myPwmOld = myPwmNow;
myPwmNow = 0; // iF no objects we want the car to stay stopped



ei::signal_t signal;
signal.total_length = EI_CLASSIFIER_INPUT_WIDTH * EI_CLASSIFIER_INPUT_HEIGHT;
signal.get_data = &ei_camera_cutout_get_data;
Expand All @@ -337,9 +322,7 @@ void loop(){
int my0 = 0; // for background info
int my9 = 0;





bool bb_found = result.bounding_boxes[0].value > 0;
for (size_t ix = 0; ix < EI_CLASSIFIER_OBJECT_DETECTION_COUNT; ix++) {

Expand Down Expand Up @@ -396,9 +379,6 @@ void loop(){






//--------------------------- start new stuff----------------------

// mark 8: This is the important student area where we do stuff to drive the car.
Expand All @@ -418,16 +398,22 @@ void loop(){

digitalWrite(D1, 0); // zero forward, both break
digitalWrite(D3, 1); // 1 forward, neither glide



myTurning = (int)myBbxAverage - MY_MIDDLE_X; // 48 for middle location may change




// make the angles bigger by making the mapping smaller to offset averaging many X values
// myServoAngle = map(myTurning, -20,20, MY_SERVO_MIN, MY_SERVO_MAX); // raw position to car turn angle
myServoAngle = map(myTurning, -30,30, MY_SERVO_MIN, MY_SERVO_MAX); // raw position to car turn angle
// myServoAngle = map(myTurning, -40,40, MY_SERVO_MIN, MY_SERVO_MAX); // raw position to car turn angle
myServoAngle = map(myTurning, MY_MEASURE_MIN,MY_MEASURE_MAX, MY_SERVO_MIN, MY_SERVO_MAX); // raw position to car turn angle




// marker 9: The following code is my attempt to change the speed of the car
// It is not needed you could just have the car go one speed
// myPwmNow = MY_PWM_MIN;


////////////////////////////////////////////////////////////////////////////////////////


// If the angle is near the center do these else go minimum speed
Expand All @@ -436,27 +422,31 @@ void loop(){
// Set LED's to be blue // showing near the center average
digitalWrite(LEDR, HIGH);
digitalWrite(LEDG, HIGH);
digitalWrite(LEDB, LOW);
digitalWrite(LEDB, LOW);

if (myDivider >= 3 ){ // more than or equal to 3 objects go fast!
myPwmNow = MY_PWM_MAX; //go fast
myServoAngle = MY_SERVO_STRAIGHT; // go straight if fast
}
// If the angle is near the center and 2 are detected then go middle speed.
if ( myDivider == 2 ){
myPwmNow = MY_PWM_MEDIUM; // Go Medium
myPwmNow = MY_PWM_MEDIUM; // Go medium speed
}
// If the angle is near the center and 1 object then go slow.
if (myDivider == 1 ){
myPwmNow = MY_PWM_SLOW; //go 2/3 slow speed
myPwmNow = MY_PWM_SLOW; //go kind of slow
}
} else { // else objects not near the center so go slow

// Set LED's to be green // showing big turning so go slow
digitalWrite(LEDR, HIGH);
digitalWrite(LEDG, LOW);
digitalWrite(LEDB, HIGH);
myPwmNow = MY_PWM_MIN; //go slow
myPwmNow = MY_PWM_MIN; //go really slow
}

// end of marker 9:
///////////////////////////////////////////////////////////////////////////////////////


// this check is now not really needed
Expand Down Expand Up @@ -487,7 +477,7 @@ void loop(){

//-------------------------------- end new stuff -------------------------------

// marker 9: This area is just printing the information to the serial monitor
// marker 10: This area is just printing the information to the serial monitor

Serial.print(F("Time(ms):"));
int myFomoTime = millis() - myStart;
Expand Down

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