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Microspeedster

Made by microspeedster / 3D Printing / Automotive / Robotics

About the project

The goal of this project is to build a car that drives through an unknown course, using line scan cameras to control the direction and Hall sensors to control the speed. The intelligence is programmed on an ARM Cortex M0+ based microcontroller. There is also further useful peripherals installed to improve performance.

Project info

Difficulty: Moderate

Platforms: MATLAB, NXP

Estimated time: 4 months

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

	Kit containing the FRDM-KL25Z and the FRDMSTBC-P3115 boards	x 1
	FRDM-TFC	x 1

Software apps and online services

	MCUXpresso
	Matlab & Simulink

Hand tools and fabrication machines

Ender 3 v2

x 1

Code

function [positionIdx, kurve, objekt, idxSoll, objektCounter] = fcn(camDataNah, camDataFern, positionIdxSoll, nullVektor, programSelect, objekt, idxSoll, objektCounter)
    if(programSelect == 0)
        kurve =1;
        positionIdx=0;
        objekt=0;
        idxSoll=0;
        objektCounter=0;
    else
        [maxFernWert, maxFernIdx] = max(camDataFern);
        kameraFernDifferential = nullVektor;
        kameraNahDifferential = nullVektor;
        kameraNahBinary = nullVektor;
        kameraFernBinary = nullVektor;
        
        kurve = 2;
            
        %NAHAUSWERTUNG
                                        for n=20:1:112
                                            kameraNahDifferential(n) = abs(camDataNah(n)-camDataNah(n+1));
                                        end
                                        kameraNahBinary = kameraNahDifferential;

                                        intSchwarzNah = 4500;

                                        [max1Wert, max1Idx] = max(kameraNahBinary);
                                        for n=0:1:50
                                            if(max1Idx+n < 128)
                                                kameraNahBinary(max1Idx+n) = 0;
                                            end
                                            if(max1Idx-n >= 0)
                                                kameraNahBinary(max1Idx-n) = 0;
                                            end
                                        end

                                        [max2Wert, max2Idx] = max(kameraNahBinary);

                                        if(max1Idx > max2Idx) 
                                            rechterRandIdxNah = max1Idx;
                                            linkerRandIdxNah = max2Idx;
                                        else
                                            linkerRandIdxNah = max1Idx;
                                            rechterRandIdxNah = max2Idx;
                                        end
        %NAHAUSWERTUNG ENDE
            
        %FERNAUSWERTUNG
                                        for n=0:1:127
                                            kameraFernDifferential(n) = (abs(camDataFern(n)-camDataFern(n+1)));
                                        end
                                        kameraFernBinary = kameraFernDifferential;
                                        kameraFernBinary(128) = 0;

                                        [max1Wert, max1Idx] = max(kameraFernBinary);
                                        for n=0:1:60
                                            if(max1Idx+n < 128)
                                               kameraFernBinary(max1Idx+n) = 0;
                                            end
                                            if(max1Idx-n >= 0)
                                                kameraFernBinary(max1Idx-n) = 0;
                                            end
                                        end

                                        [max2Wert, max2Idx] = max(kameraFernBinary);

                                        if(max1Idx > max2Idx) 
                                            rechterRandIdxFern = max1Idx;
                                            linkerRandIdxFern = max2Idx;
                                        else
                                            linkerRandIdxFern = max1Idx;
                                            rechterRandIdxFern = max2Idx;
                                        end
                                        
        %FERNAUSWERTUNG ENDE


        if(objekt == 0)
            objektCounter=0;
            %linker Rand verloren
            if(rechterRandIdxFern-linkerRandIdxFern < 62 || rechterRandIdxFern-linkerRandIdxFern > 72)
                objekt = 1;
                if(max1Idx > maxFernIdx)
                    positionIdxSoll = 192;
                else
                    positionIdxSoll = 64;
                end
            end
%                 % linken Rand verloren
%                 if(kameraNahDifferential(linkerRandIdxNah)<intSchwarzNah)
%                     linkerRandIdxNah = 20;
%                     if(rechterRandIdxFern-linkerRandIdxFern > 62 && rechterRandIdxFern-linkerRandIdxFern < 72)
%                         positionIdxSoll = 168;
%                         objekt = 1;
%                     end
%                 end
% 
%                 % rechten Rand verloren
%                 if(kameraNahDifferential(rechterRandIdxNah)<intSchwarzNah)
%                     rechterRandIdxNah = 107;
%                     if(rechterRandIdxFern-linkerRandIdxFern > 62 && rechterRandIdxFern-linkerRandIdxFern < 72)
%                         positionIdxSoll = 88;
%                         objekt = 1;
%                     end
%                 end
        else %object = 1

            if(kameraNahDifferential(rechterRandIdxNah) < intSchwarzNah || kameraNahDifferential(linkerRandIdxNah)  < intSchwarzNah)
                if(objektCounter == 0)
                    objektCounter = objektCounter+1;
                end
                    % linken Rand verloren
                    if(kameraNahDifferential(linkerRandIdxNah)<intSchwarzNah)
                        linkerRandIdxNah = 20;
                    end

                    % rechten Rand verloren
                    if(kameraNahDifferential(rechterRandIdxNah)<intSchwarzNah)
                        rechterRandIdxNah = 107;
                    end
            end
            if(objektCounter < 4)
                objektCounter = objektCounter+1;
            else
                %objekt umfahren
                objektCounter = 0;
                objekt = 0;
            end
        end
        positionIdxIst = rechterRandIdxNah+linkerRandIdxNah;
        positionIdx = positionIdxSoll-positionIdxIst;
    end
end

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