WIP: Calibration

scripts/connect_bluetooth.py

@@ -198,6 +198,7 @@ class Bulebule(cmd.Cmd):
         'angular_speed_profile',
         'linear_speed_profile',
         'static_turn_right_profile',
+        'micrometers_per_count_calibration ',
         'front_sensors_calibration',
     ]
     SET_SUBCOMMANDS = [
@@ -287,10 +288,10 @@ def do_plot(self, extra):
         else:
             print('Please, specify what to plot!')
 
-    def do_run(self, extra):
+    def do_run(self, line):
         """Run different procedures on the mouse."""
-        if extra in self.RUN_SUBCOMMANDS:
-            self.proxy.send_bt('run %s\0' % extra)
+        if any(line.startswith(x) for x in self.RUN_SUBCOMMANDS):
+            self.proxy.send_bt('run %s\0' % line)
         else:
             print('Please, specify what to run!')
 

src/calibration.c

@@ -94,6 +94,48 @@ void run_static_turn_right_profile(void)
 	reset_motion();
 }
 
+/**
+ * @brief Micrometers per count calibration.
+ *
+ * Assumes the robot is positioned at the start of a cell, with its tail
+ * touching the back wall. It will accelerate in a straight line and will stop
+ * touching its nose with last cell's front wall.
+ *
+ * Side walls control is activated so it is recommended to always have side
+ * walls when running this test.
+ *
+ * @param[in] cells Number of cells to run across before stopping.
+ */
+void run_micrometers_per_count_calibration(unsigned int cells)
+{
+	float linear_acceleration = get_linear_acceleration();
+	float linear_deceleration = get_linear_deceleration();
+	float max_linear_speed = get_max_linear_speed();
+
+	set_linear_acceleration(4.);
+	set_linear_deceleration(4.);
+	set_max_linear_speed(0.4);
+
+	reset_motion();
+	side_sensors_calibration();
+	enable_motor_control();
+
+	side_sensors_control(true);
+	front_sensors_control(false);
+
+	accelerate(get_encoder_average_micrometers(),
+		   CELL_DIMENSION * cells - WALL_WIDTH / 2. - MOUSE_TAIL);
+	disable_walls_control();
+	decelerate(get_encoder_average_micrometers(),
+		   CELL_DIMENSION - WALL_WIDTH / 2. - MOUSE_HEAD, 0.);
+
+	reset_motion();
+
+	set_linear_acceleration(linear_acceleration);
+	set_linear_deceleration(linear_deceleration);
+	set_max_linear_speed(max_linear_speed);
+}
+
 /**
  * @brief Front sensors calibration funtion.
  *

src/calibration.h

@@ -13,6 +13,7 @@ void run_linear_speed_profile(void);
 void run_angular_speed_profile(void);
 void run_distances_profiling(void);
 void run_static_turn_right_profile(void);
+void run_micrometers_per_count_calibration(unsigned int cells);
 void run_front_sensors_calibration(void);
 
 #endif /* __CALIBRATION_H */

src/serial.c

@@ -11,6 +11,7 @@ static bool run_angular_speed_profile_signal;
 static bool run_linear_speed_profile_signal;
 static bool run_static_turn_right_profile_signal;
 static bool run_front_sensors_calibration_signal;
+static unsigned int run_micrometers_per_count_calibration_signal;
 
 /**
  * @brief Push a single char to the serial received buffer.
@@ -97,6 +98,9 @@ static void process_command(void)
 		run_angular_speed_profile_signal = true;
 	else if (!strcmp(buffer.data, "run static_turn_right_profile"))
 		run_static_turn_right_profile_signal = true;
+	else if (starts_with("run micrometers_per_count_calibration "))
+		run_micrometers_per_count_calibration_signal =
+		    (unsigned int)parse_spaced_float(2);
 	else if (!strcmp(buffer.data, "run front_sensors_calibration"))
 		run_front_sensors_calibration_signal = true;
 	else if (starts_with("set micrometers_per_count "))
@@ -167,6 +171,10 @@ void execute_commands(void)
 	} else if (run_static_turn_right_profile_signal) {
 		run_static_turn_right_profile_signal = false;
 		run_static_turn_right_profile();
+	} else if (run_micrometers_per_count_calibration_signal) {
+		run_micrometers_per_count_calibration(
+		    run_micrometers_per_count_calibration_signal);
+		run_micrometers_per_count_calibration_signal = 0;
 	} else if (run_front_sensors_calibration_signal) {
 		run_front_sensors_calibration_signal = false;
 		run_front_sensors_calibration();