Modified file structure and feather code

Code/Control/Feather Code - Aaron/PID_Test/PID_Test.ino

+#include <string>
+#include <vector>
+#include <Wire.h>
+#include "Camera.h"
+#include <PID_v1.h>
+#include <Arduino.h>
+#include "LedPanel.h"
+#include "utilities.h"
+#include <Adafruit_MotorShield.h>
+// #include "Adafruit_VL53L0X.h"
+// #include "ArnholdMesh.h"
+
+double Setpointx, Inputx, Outputx;
+double Setpointy, Inputy, Outputy;
+
+//Identify all the global constants that will be used by the robot
+const int BAUD_RATE = 115200;
+const int MAX_SPEED = 255;
+const int SEEKING_SPEED = 70;
+const double RESOLUTION_W = 320.0;
+const double RESOLUTION_H = 240.0;
+const int ENDDEMO_TAG = 0;
+const uint32_t THISNODE_ID = 88789821;
+
+//Identify all the variables that will be used by the robot
+int findcolor = 1; //based on the same code from openMV. Determine the color you want to find
+char newPTCL = '1';
+int pau = 0;
+int displayTracking = 0;
+int8_t threshold[6] = {0, 0, 0, 0, 0, 0};
+int BASE_SPEED = 50; //125;
+
+//The debug LEDs that we will be using. Description at:
+const int DEBUG_STATE = 31;
+const int DEBUG_KP = 30;
+const int DEBUG_KI = 29;
+const int DEBUG_KD = 28;
+const int DEBUG_BASESPEED = 27;
+const int DEBUG_THRESHOLD_MIN = 26;
+const int DEBUG_THRESHOLD_MAX = 25;
+const int DEBUG_VERTICALSPEED = 17;
+const int DEBUG_RSPEED = 16;
+const int DEBUG_LSPEED = 24;
+
+//Create the interface that will be used by the camera
+openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
+openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument
+
+// Create the motor shield object with the default I2C address
+Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
+Adafruit_DCMotor *motor_VL = AFMS.getMotor(2); 
+Adafruit_DCMotor *motor_VR = AFMS.getMotor(1);
+Adafruit_DCMotor *motor_HL = AFMS.getMotor(3);
+Adafruit_DCMotor *motor_HR = AFMS.getMotor(4);
+
+Camera cam(&interface);
+LedPanel panel(NUMPIXELS,PIN_PIXELS);
+// ArnholdMesh thisNode;
+
+//Specify the links and initial tuning parameters
+double Kpx=2, Kix=0.05, Kdx=0.25;
+double Kpy=2, Kiy=0.1,  Kdy=0.25;
+PID PID_x(&Inputx, &Outputx, &Setpointx, Kpx, Kix, Kdx, DIRECT);
+PID PID_y(&Inputy, &Outputy, &Setpointy, Kpy, Kiy, Kdy, DIRECT);
+
+void setup() {
+  Serial.begin(BAUD_RATE);
+  translateCodetoThreshold(findcolor);
+  Wire.begin();
+  AFMS.begin();  // create with the default frequency 1.6KHz
+  interface.begin(); //communication between ESP and OpenMV
+  panel.beginPanel();
+  
+  Setpointx = 160.0; 
+  Setpointy = 120.0; //the values that the PID will try to reach
+  PID_y.SetOutputLimits(-255, 255); //up positive
+  PID_x.SetOutputLimits(-255, 255); //left positive
+  PID_x.SetMode(AUTOMATIC);
+  PID_y.SetMode(AUTOMATIC);
+}
+
+void loop() {  
+  //
+  panel.singleLED(DEBUG_BASESPEED, BASE_SPEED, BASE_SPEED, BASE_SPEED);
+
+  while(pau == 1){
+    // thisNode.update();
+    int zero = 0;
+    moveVertical(zero);
+    moveHorizontal(zero,zero);
+    panel.singleLED(DEBUG_STATE, 10, 10, 0);
+    Serial.println("pause");
+  }
+  
+  //Check to see if we want to end the demo
+  int xtemp = 0;
+  int ytemp = 0;
+  int angletemp = 0;
+//  if(cam.exe_apriltag_detection(ENDDEMO_TAG, &xtemp, &ytemp, &angletemp)){
+//    int zero = 0;
+//    moveVertical(zero);
+//    moveHorizontal(zero,zero);
+//    panel.singleLED(DEBUG_STATE, 0, 0, 10);
+//    while(1){
+//      Serial.println("end of demo");
+//    }
+//  }
+
+  //if the demo is still ongoing, check to see if there is a desired-color blob
+  int x = 0;
+  int y = 0;
+  panel.singleLED(DEBUG_STATE, 10, 0, 0); //standby
+  //if(cam.exe_color_detection_biggestblob(threshold[0], threshold[1], threshold[2], threshold[3], threshold[4], threshold[5], x, y)){
+  int id = -1;
+  int tx = 0;
+  int ty = 0;
+  int tz = 0;
+  int rx = 0;
+  int ry = 0;
+  int rz = 0;
+  int8_t goal[3] = {0,1,2};
+  if(cam.exe_goalfinder(goal[0], goal[1], goal[2], id, x, y, tz, rx, ry, rz)){
+    if (displayTracking > 0){
+      displayTrackedObject(x, y, RESOLUTION_W, RESOLUTION_H); //THIS NEEDS WORK
+    }
+    panel.singleLED(DEBUG_STATE, 0, 10, 0);
+    Serial.println("blob detected");
+    Serial.print("x value: ");
+    Serial.println(x);
+    Serial.print("y value: ");
+    Serial.println(y);
+    Inputx = x/1.00;
+    Inputy = y/1.00;
+    PID_x.Compute();
+    PID_y.Compute();
+
+    Serial.println(Outputy);
+    Serial.println(Outputx);
+    Serial.print("Outputx: ");
+    Serial.println(Outputx);
+    //actuate the vertical motor
+    moveVertical(Outputy);
+    moveHorizontal(Outputx, BASE_SPEED);
+    
+  } else { //seeking algorithm
+    //panel.resetPanel();
+    panel.singleLED(DEBUG_STATE, 10, 10, 10);
+    Serial.println("seeking...");
+    int zero = 0;
+    moveVertical(zero);
+    moveHorizontal(SEEKING_SPEED, zero);
+  }
+}
+
+//vel value should be between -255 to 255 with positive values moving the blimp
+//upward.
+void moveVertical(int vel){
+    if (vel > 0) { //up
+      panel.singleLED(DEBUG_VERTICALSPEED, abs(vel), 0, 0);
+      motor_VL->setSpeed(abs((int) vel));
+      motor_VR->setSpeed(abs((int) vel)); 
+      motor_VL->run(BACKWARD);
+      motor_VR->run(BACKWARD);
+    } else if(vel < 0) { //down
+      panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, abs(vel));
+      motor_VL->setSpeed(abs((int) Outputy));  
+      motor_VR->setSpeed(abs((int) Outputy)); 
+      motor_VL->run(FORWARD);
+      motor_VR->run(FORWARD);
+    } else {
+      panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, 0);
+      motor_VL->setSpeed(0);
+      motor_VR->setSpeed(0);
+    }
+}
+
+void moveHorizontal(int vel_hori,int base_speed){
+  int lspeed = vel_hori + base_speed;
+  int rspeed = vel_hori + base_speed;
+
+  if (lspeed > 0){
+    motor_HL->run(FORWARD);
+  } else {
+    motor_HL->run(BACKWARD);
+  }
+
+  if (rspeed > 0){
+    motor_HR->run(FORWARD);
+  } else {
+    motor_HR->run(BACKWARD);
+  }
+  displaySpeed(lspeed, rspeed);
+  motor_HL->setSpeed(min(MAX_SPEED, abs(rspeed)));
+  motor_HR->setSpeed(min(MAX_SPEED, abs(lspeed)));
+}
+
+void displaySpeed(int lspeed, int rspeed){
+  //Serial.println("display speed");
+  if (lspeed < 0){
+    panel.singleLED(DEBUG_LSPEED, 0, 0, abs(lspeed));
+  } else {
+    panel.singleLED(DEBUG_LSPEED, abs(lspeed), 0, 0);
+  }
+
+  if (rspeed < 0){
+    panel.singleLED(DEBUG_RSPEED, 0, 0, abs(rspeed));
+  } else {
+    panel.singleLED(DEBUG_RSPEED, abs(rspeed), 0, 0);
+  }
+}
+
+//When using the camera to detect objects such as colored blobs or april tags. This function is
+//useful when only a single object is the target. The approximate position will be marked with an
+//led turning white in the 8*4 panel of the NeoPixel LED Panel. Therefore, this function can be 
+//called assuming that you have created the LED panel object, which in this code is named "panel".
+//If the LED panel is called something else, just edit the code here
+void displayTrackedObject(int cx, int cy, int w_res, int h_res){
+  int lednum = 0;
+  int vertshift = 0;
+  panel.resetPanel();
+  lednum = cx/(w_res/8); //because lednum is an int, it will handle flooring the value
+  vertshift = cy/(h_res/4);
+  lednum = lednum + 8*vertshift;
+  panel.singleLED(lednum, 10, 10 , 10);
+}
+
+//Interpret a message to change what color the camera is detecting
+void setColor(String msg) {
+  if (msg.length() < 3){
+    int val = msg.toInt();
+    translateCodetoThreshold(val);
+    Serial.println("code detected");
+  } else {
+    Serial.println("new threshold detected");
+    setColorThreshold(msg, threshold, 6);
+  }
+  for (int j = 0; j < 6; j++){
+    Serial.print(threshold[j]);
+    Serial.print(" ");
+  }
+  Serial.println("");
+}
+
+//in case we don't want to maually set each LAB threshold, we can send over an int to
+//use preset threshold values instead
+void translateCodetoThreshold(int code){
+  switch(code){
+    case 1: //green old = (30, 100, -68, -13, 30, 127)
+      //(30,100,-68,2,6,127) - detect the yellow wall as well
+      threshold[0] = 30;
+      threshold[1] = 100;
+      threshold[2] = -93;
+      threshold[3] = -5;
+      threshold[4] = 13;
+      threshold[5] = 127;
+    break;
+    case 2: //blue
+      threshold[0] = 30;
+      threshold[1] = 100;
+      threshold[2] = -108;
+      threshold[3] = -9;
+      threshold[4] = 0;
+      threshold[5] = -42;
+    break;
+    case 5: //red (30, 100, 127, 41, 127, 13)
+      threshold[0] = 30;
+      threshold[1] = 100;
+      threshold[2] = 127;
+      threshold[3] = 41;
+      threshold[4] = 127;
+      threshold[5] = 13;
+  }
+}
+
+
+//threshold array must have at least six elements. This function helps 
+//translating a message with threshold values to ints. Example msg that would
+//be received by this function are "1 2 3 4 5 6" or "-100 70 9 -9 -50 128". 
+//NOTE: - the threshold value should be between -128 to 128
+//      - the message should not include the command character used by the mesh  
+//      - suggested command character: 'C'[olor]
+void setColorThreshold(String msg, int8_t thres[], int arraySize){
+  int len = msg.length();
+  int temp = 0;
+  int startpoint = 0;
+  for (int i = 0; i < len; i++){
+    if (msg[i] == ' '){
+      thres[temp] = msg.substring(startpoint,i).toInt();
+      startpoint = i + 1;
+      temp++;
+    }
+    if (temp == 5){
+      thres[temp] = msg.substring(startpoint).toInt();
+      break; 
+    }
+  }
+}
+
+//This function translate a string of message into the constants for a PID controller. Ignoring the 
+//first command character, user can input any one, two, or all three parameter to be changed by identifying
+//the new parameter with the capital letter of that specific parameter, each separated with a space. 
+//Some of the valid msg examples are:
+//  - "P0.02"
+//  - "D1.23"
+//  - "P0.14 D9.5"
+//  - "P0.1 I0.1 D0.1"
+//
+//NOTE:
+//  - the parameter doesn't have to be in order. You can do DI or IP in whichever order as long as it follows a valid double value
+//  - while the function works if you passed a negative double, the PID controller will not and will produce error.
+//  - suggested command character: 'T'[uning]
+void setPIDConstants(String msg, double &p_constant, double &i_constant, double &d_constant){
+  double new_p = Kpx;
+  double new_i = Kix;
+  double new_d = Kdx;
+  
+  int len = msg.length();
+  int startpoint = 0;
+  int endpoint = 0;
+  for (int i = 0; i < len; i++){
+    if (msg[i] == 'P'){
+      startpoint = i + 1;
+      for (int j = i + 1; j < len; j++){
+        if (msg[j] == ' '){
+          endpoint = j;
+          break;
+        } else {
+          endpoint = len;
+        }
+      }
+      if (endpoint > startpoint){ //check to see if it is a valid value
+        //Serial.println(msg.substring(startpoint, endpoint));
+        new_p = msg.substring(startpoint, endpoint).toDouble();
+      }
+    }
+
+    if (msg[i] == 'I'){
+      startpoint = i + 1;
+      for (int j = i + 1; j < len; j++){
+        if (msg[j] == ' '){
+          endpoint = j;
+          break;
+        } else {
+          endpoint = len;
+        }
+      }
+      if (endpoint > startpoint){ //check to see if it is a valid value
+        //Serial.println(msg.substring(startpoint, endpoint));
+        //i_constant = msg.substring(startpoint, endpoint).toDouble();
+        new_i = msg.substring(startpoint, endpoint).toDouble();
+      }
+    }
+
+    if (msg[i] == 'D'){
+      startpoint = i + 1;
+      for (int j = i + 1; j <= len; j++){
+        if (msg[j] == ' ' || msg[j] == '\0'){
+          endpoint = j;
+          break;
+        } else {
+          endpoint = len;
+        }
+      }
+      if (endpoint > startpoint){ //check to see if it is a valid value
+        //Serial.println(msg.substring(startpoint, endpoint));
+        //d_constant = msg.substring(startpoint, endpoint).toDouble();
+        new_d = msg.substring(startpoint, endpoint).toDouble();
+      }
+    }
+  }
+
+  //DEBUGGING SECTION
+  unsigned long t = millis();
+  debugPIDConstants(DEBUG_KP, p_constant, new_p);
+  debugPIDConstants(DEBUG_KI, i_constant, new_i);
+  debugPIDConstants(DEBUG_KD, d_constant, new_d);
+
+  p_constant = new_p;
+  i_constant = new_i;
+  d_constant = new_d;
+  
+  while(millis() < t+2000); //debugging LED will light up for 2 seconds
+  panel.singleLED(DEBUG_KP, 0, 0, 0);
+  panel.singleLED(DEBUG_KI, 0, 0, 0);
+  panel.singleLED(DEBUG_KD, 0, 0, 0);
+}
+
+void debugPIDConstants(int lednum, double oldval, double newval){
+  int r, g, b;
+  if (newval > oldval){
+    panel.singleLED(lednum, 0, 10, 0);
+  } else if (newval < oldval){
+    panel.singleLED(lednum, 10, 0, 0);
+  } else { //equal
+    panel.singleLED(lednum, 10, 10, 10);
+  }
+}