Updated PID values with Ziegler/Nichols

README.md

@@ -1,12 +1,5 @@
 # discoverpixy
-A Project with the Pixy cam and the STM32F4 Discovery. The project can also be run on linux/windows using a qt-based emulator.
+Project with the Pixy cam and the STM32F4 Discovery
-
-![Pixy Logo](doc/pixy.png)  
-<img src="doc/mainscreen_emulator.png" width="300">
-<img src="doc/tracking_emulator.png" width="300">
-
-## Documentation
-Take a look at our [docu.pdf](./doc/docu.pdf) (German)
 
 ## Folder structure
 * *common*: device independent code and the "Application" itself

common/app/pixy_control.c

@@ -16,11 +16,15 @@
 #include<stdint.h>
 
 // PID tuning factors
-#define REG_PID_KP      (0.5f)
+#define REG_PID_KP      (0.41f)
 #define REG_PID_KI      (0.001f)
-#define REG_PID_KD      (0.001f)
+#define REG_PID_KD      (0.00025f)
-#define REG_PID_TA      (0.01f)
+#define REG_PID_TA      (0.001f)
+#define REG_PID_YKOR    (0.3f)
 
+void int_init(void){  
+    // TODO Init ports and outputs if needed.
+}
 
 // PID controller implementatoin for the y-axis
 int16_t pixy_PID_Y(int16_t x, int16_t w)
@@ -35,7 +39,7 @@ int16_t pixy_PID_Y(int16_t x, int16_t w)
     //----PID-control-------------------------------------------------------------------------
     esum = esum + e;                            // add e to the current sum
 
-    y += REG_PID_KP * e;                        // add the proportional part to the output
+    y += (REG_PID_KP + REG_PID_YKOR) * e;       // add the proportional part to the output
     y += REG_PID_KI * REG_PID_TA * esum;        // add the integral part to the output
     y += REG_PID_KD * (e - eold) / REG_PID_TA;  // add the differential part to the output
     //----------------------------------------------------------------------------------------

common/app/pixy_control.h

@@ -1,41 +1,14 @@
-#ifndef PIXY_CONTROL_H_
+/* 
-#define PIXY_CONTROL_H_
+ * pixy_control.h
+ */
+
+#ifndef _CONTROL_H_
+#define _CONTROL_H_
 
 #include<stdint.h>
 
-/**
+void int_init(void);
- * @addtogroup app
- */
-/*@{*/
-
-/**
- * @defgroup pixy_control Pixy Control Helper
- * A collection of helper functions that contain PID Control code used for object tracking.
- */
-/*@}*/
-
-
-/**
- * @addtogroup pixy_control
- */
-/*@{*/
-
-/**
- * Execute one step of PID regulation for the Y-servo.
- * @param x desired value (e.g. current y-position of the biggest block)
- * @param w actual value (e.g desired y-position)
- * @return The offset which needs to be added to the Y-Servo position
- */
 int16_t pixy_PID_Y(int16_t x, int16_t w);
-
-/**
- * Execute one step of PID regulation for the X-servo.
- * @param x desired value (e.g. current x-position of the biggest block)
- * @param w actual value (e.g desired x-position)
- * @return The offset which needs to be added to the X-Servo position
- */
 int16_t pixy_PID_X(int16_t x, int16_t w);
 
-/*@}*/
+#endif
-
-#endif /* PIXY_CONTROL_H_ */

common/app/pixy_helper.c

@@ -1,4 +1,4 @@
-#include "pixy_frame.h"
+#include "pixy_helper.h"
 #include "pixy.h"
 #include "tft.h"
 #include <stdlib.h>

common/app/pixy_helper.h

@@ -1,30 +1,10 @@
-#ifndef PIXY_FRAME_H
+#ifndef PIXY_HELPER_H
-#define PIXY_FRAME_H
+#define PIXY_HELPER_H
 
 #include <stdbool.h>
 #include <stdint.h>
 #include "filesystem.h"
 
-
-/**
- * @addtogroup app
- */
-/*@{*/
-
-/**
- * @defgroup pixy_helper Pixy Frame Helper
- * A collection of helper functions that allow receiving and rendering a frame from pixy onto the display.
- * Furthermore you can select a color in a frame, to use for tracking.
- */
-/*@}*/
-
-
-/**
- * @addtogroup pixy_helper
- */
-/*@{*/
-
-
 /**
  * Receives a fullsized frame from pixy and display's it on the display with the topleft corner at (x,y)
  * @param x The x-Coordinate of the top left corner
@@ -76,6 +56,4 @@ int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoff
  */
 int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height);
 
-/*@}*/
+#endif /* PIXY_HELPER_H */
-
-#endif /* PIXY_FRAME_H */

common/app/screen_photomode.c

@@ -5,7 +5,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_frame.h"
+#include "pixy_helper.h"
 
 static bool pixy_connected = false; //Whether or not the pixy cam is currently connected
 

common/app/screen_photomode_save.c

@@ -4,7 +4,7 @@
 #include "tft.h"
 #include "touch.h"
 #include "pixy.h"
-#include "pixy_frame.h"
+#include "pixy_helper.h"
 #include <stdlib.h>
 #include <string.h>
 

common/app/screen_pixytest.c

@@ -5,7 +5,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_frame.h"
+#include "pixy_helper.h"
 
 static volatile enum {detecting, idle,update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine
 

common/app/screen_tracking.c

@@ -6,7 +6,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_frame.h"
+#include "pixy_helper.h"
 
 static BUTTON_STRUCT b_back; //Button to navigate back
 static BUTTON_STRUCT b_select; //Button to start the color region selection

emulator/.gitignore

@@ -5,9 +5,8 @@ qt/*.o
 qt/*.a
 qt/ui_*
 qt/moc_*
-qt/Makefile*
+qt/Makefile
-qt/debug
+
-qt/release
 
 libs/*/obj
 libs/*/*.a

emulator/Makefile

@@ -10,7 +10,7 @@ QT_DIR=./qt
 COMMON_DIR=../common
 
 #Tools
-CC=gcc #-fdiagnostics=auto
+CC=gcc -fdiagnostics-color=auto
 GDB=gdb
 
 
@@ -24,22 +24,17 @@ INCLUDES:=$(addprefix -I,$(INCLUDES))
 QT_LIB=$(QT_DIR)/libemulatorqt.a
 
 
-CPPFLAGS= -march=x86-64 -mtune=generic #-fPIC 
+CPPFLAGS= -march=x86-64 -mtune=generic -fPIC $(INCLUDES)
-CPPFLAGS+= $(INCLUDES)
+CFLAGS= -O0 -g -std=c99
-CFLAGS= -O0 -g -std=c99 -mwindows
 
 
-LIBS= emulatorqt pixy usb-1.0 
+LIBS= pixy usb-1.0 boost_system boost_timer boost_chrono
-LIBS+= boost_system-mgw49-mt-1_58 boost_timer-mgw49-mt-1_58 boost_chrono-mgw49-mt-1_58
+LIBS+=Qt5Core Qt5Gui Qt5Widgets emulatorqt m stdc++
-LIBS+= Qt5Core Qt5Gui Qt5Widgets  m stdc++ 
 
-LDFLAGS= -static-libgcc -static-libstdc++ #-Wl,-t  -Wl,--Map=a.map
+
-LDFLAGS+= -L$(QT_DIR)
+LDFLAGS= -L$(QT_DIR) $(addprefix -l,$(LIBS)) 
 LDFLAGS+= -L$(LIB_DIR)/Pixy 
-LDFLAGS+= -L$(LIB_DIR)/boost/lib
+
-LDFLAGS+= -LC:/Qt/5.4/mingw491_32/lib
-LDFLAGS+= -L$(LIB_DIR)/Pixy/windows
-LDFLAGS+= $(addprefix -l,$(LIBS)) 
 
 #Finding Input files
 CFILES=$(shell find . -maxdepth 1 -name '*.c')
@@ -63,7 +58,7 @@ debug: all
 	$(GDB) ./build/emulator
 
 $(QT_LIB): 
-	cd $(QT_DIR) && qmake && $(MAKE)
+	cd $(QT_DIR) && qmake &&make
 
 #objects to elf
 $(BUILD_DIR)/$(TARGET): $(OBJS) $(COMMON_OBJS) $(QT_LIB)
@@ -88,7 +83,7 @@ $(OBJ_DIR)/%.o: $(COMMON_DIR)/%.c
 
 #Clean Obj files and builded stuff
 clean:
-	cd $(QT_DIR) && $(MAKE) clean && $(RM) Makefile* && $(RM) *.a && $(RMDIR) debug release
+	cd $(QT_DIR) && $(MAKE) clean && $(RM) Makefile && $(RM) *.a
 	$(RMDIR) $(BUILD_DIR) $(OBJ_DIR)
 
 

emulator/libs/Pixy/Makefile

@@ -17,13 +17,11 @@ OBJ_DIR=./obj
 #Architecture flags
 
 #Compiler, Linker Options
-CPPFLAGS=-I$(INC_DIR) -DHOST=1  #-D__LINUX__=1 -DDEBUG=1
+CPPFLAGS=-I$(INC_DIR) -D__LINUX__=1 -DHOST=1 #-DDEBUG=1
 CFLAGS=$(ARCH_FLAGS) -O0 -g #-ffunction-sections -fdata-sections -g
 #CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4 -mthumb-interwork
 #CFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
-CFLAGS+=-I/usr/include/libusb-1.0 
+CFLAGS+=-I/usr/include/libusb-1.0
-CFLAGS+=-I../boost/include/
-CFLAGS+=-I./windows/
 
 #Finding Input files
 CFILES=$(shell find $(SRC_DIR) -name '*.cpp')

emulator/libs/boost/.gitignore

@@ -1,2 +0,0 @@
-include
-lib

emulator/libs/boost/readme.txt

@@ -1,2 +0,0 @@
-This directory is only needed on windows, and if you do not have boost installed.
-Extract the rar file here, to get boost 1.58 header files and the libraries that we need for discoverpixy

emulator/qt/emulatorqt.pro

@@ -8,7 +8,7 @@ QT       += widgets gui
 
 TARGET = emulatorqt
 TEMPLATE = lib
-CONFIG += staticlib debug
+CONFIG += staticlib
 
 SOURCES += \
     mainwindow.cpp \
@@ -30,6 +30,3 @@ INCLUDEPATH+= ../../common/lowlevel/ \
 FORMS += \
     mainwindow.ui
 
-DESTDIR = $$_PRO_FILE_PWD_ #force windows to not create subfolders
-
-#QMAKE_CXXFLAGS+= -v

emulator/qt/ll_tft.cpp

@@ -52,9 +52,9 @@ uint8_t ll_tft_num_fonts() {
 QFont get_font(uint8_t fontnum) {
     switch(fontnum) {
         case 0:
-            return QFont("Courier New",8);
+            return QFont("Monospace",8);
         case 1:
-            return QFont("Courier New",14);
+            return QFont("DejaVu Sans Mono",14);
         default:
         return QFont();
     }

emulator/readme_windows.txt

@@ -1,26 +0,0 @@
-Prerequisites:
-- Qt5 for Windows (provides C:\Qt\5.4\mingw491_32  and C:\Qt\Tools\mingw491_32)
-- Mingw msys-base (provides C:\MinGW\msys\1.0 and make, find )
-- Boost (check emulator\libs\boost)
-
-Steps:
-- Open up the msys shell using the batchfile
-- Navigate to the emulator folder of the project
-- Source the qt binaries (qmake, gcc, g++) by executing 
-  export PATH=$PATH:/c/Qt/Tools/mingw491_32/bin:/c/Qt/5.4/mingw491_32/bin
-- navigate to libs/Pixy and execute make
-- navigate back into the emulator folder and execute make
-- this should generate you build/emulator.exe
-
-Starting:
-- Extract windows_dlls.rar to the build folder
-- Copy the emulated folder into the build folder
-- Make sure that you installed the pixy usb driver (e.g. by installing pixymon http://cmucam.org/projects/cmucam5/wiki/Latest_release)
-- Start emulator.exe
-
-Pitfalls:
-- libstdc++ must be provided by qt. do not use one of msys or mingw. you will waste hours with debugging of the make process
-
-Sources:
-- libusb for windows was taken from https://github.com/charmedlabs/pixy/tree/master/src/host/windows
-- Boost was compiled from sources, using http://andres.jaimes.net/718/how-to-install-the-c-boost-libraries-on-windows/ and http://www.boost.org/doc/libs/1_58_0/more/getting_started/windows.html

genheader.sh

@@ -7,7 +7,7 @@ echo "* Institution:   BFH Bern University of Applied Sciences"
 echo "* File:          $1"
 echo "*"
 echo "* Version History:"
-echo "* Date			Autor Email			SHA		Changes"
+echo "* Date		Autor Email		SHA	Changes"
 
 git log --pretty=format:"* %ad%x09%ae%x09%h%x09%s" --date=short --date-order --no-merges --reverse $1 | grep -v -i "fileheader"
 

updateheaders.sh

@@ -3,15 +3,14 @@
 
 FILES=`find common/ emulator/ discovery/ -name "*.c" -or -name "*.h" -or -name "*.cpp" | grep -v libs | grep -v /pixy/`
 
-
 for FILE in $FILES; do
 	echo "Adding Header to $FILE"
 	
-	#remove old header, and format file with astyle
+	#remove old header
-	CONTENT=$(perl -0777 -pe  's%^/\*.*?discoverpixy.*?\*/%%igs' $FILE | astyle --options=./utils/style.astylerc) 
+	CONTENT=$(perl -0777 -pe  's%^/\*.*?discoverpixy.*?\*/%%igs' $FILE)
 
 	#add new header
-	./utils/genheader.sh $FILE > $FILE
+	./genheader.sh $FILE > $FILE
 	
 	#append file content
 	echo "$CONTENT" >> $FILE

utils/style.astylerc

@@ -1,16 +0,0 @@
-
-# general style
---style=1tbs
---indent=spaces=4 # default
---lineend=linux #only \r as line ending 
-
-# alignment
---align-pointer=type #put asterisks to the type. eg. char* a
---align-reference=type #put references to the type. eg. int& a
-
-# padding
---break-blocks # insert empty lines between header blocks
---unpad-paren # remove extra padding around parens
---pad-oper # spaces around operators
---pad-header # insert space between header blocks and the following paren
---add-brackets # add brackets to one line conditionals