Another try at Wall Offset Tracking

Posted 11 September 2021

I’m making another try at getting wall offset capture and tracking right, after several failed attempts. This time I’m starting with a small ‘FourWD_WallTrackTest_V3’ project in VS2019. I think I actually got this working before, but an unfortunate laptop backup catastrophe cost me a couple of months of work, and it has taken me this long to recover. Here’s the current program:

/*
    Name:       FourWD_WallTrackTest_V3.ino
    Created:	9/3/2021 6:41:37 PM
    Author:     FRANKNEWXPS15\Frank
*/
/*
		Name:       FourWD_WallTrackTest_V2.ino
		Created:	8/7/2021 2:23:38 PM
		Author:     FRANKNEWXPS15\Frank
*/

#pragma region INCLUDES
#include <elapsedMillis.h>
#include <PrintEx.h> //allows printf-style printout syntax
#include "MPU6050_6Axis_MotionApps_V6_12.h"  //changed to this version 10/05/19
#include "I2Cdev.h" //this includes Wire.h
#include "I2C_Anything.h" //needed for sending float data over I2C
#include <PID_v2.h> //moved here 02/09/19 
#include <MemoryFree.h>;
#pragma endregion Includes

#pragma region DEFINES
#define MPU6050_I2C_ADDR 0x68 //08/09/21 now using default 0x68 addr, since RTC has been removed
//#define DISTANCES_ONLY //added 11/14/18 to just display distances in infinite loop
//#define NO_MOTORS //07/18/21 debug
//#define NO_LIDAR
//#define MPU6050_CCW_INCREASES_YAWVAL //added 12/05/19

#pragma endregion DEFINES

#pragma region PRE_SETUP
StreamEx mySerial = Serial; //added 03/18/18 for printf-style printing
MPU6050 mpu(MPU6050_I2C_ADDR); //06/23/18 chg to AD0 high addr, using INT connected to Mega pin 2 (INT0)
volatile int frontdistval = 0; //10/10/20 chg to volatile 
volatile double frontvar = 0; //08/11/20 now updated in timer1 ISR
const int MAX_FRONT_DISTANCE_CM = 400;
const int FRONT_DIST_AVG_WINDOW_SIZE = 3; //moved here & renamed 04/28/19
const int FRONT_DIST_ARRAY_SIZE = 50; //11/22/20 doubled to acct for 10Hz update rate
uint16_t aFrontDist[FRONT_DIST_ARRAY_SIZE]; //04/18/19 rev to use uint16_t vs byte

//11/03/18 added for new incremental variance calc
double Front_Dist_PrevVar = 0;
double Front_Dist_PrevVMean = 0;

#pragma region MOTOR_PINS
//09/11/20 Now using two Adafruit DRV8871 drivers for all 4 motors
const int In1_Left = 10;
const int In2_Left = 11;
const int In1_Right = 8;
const int In2_Right = 9;
#pragma endregion Motor Pin Assignments

#pragma region MISC_PIN_ASSIGNMENTS
const int RED_LASER_DIODE_PIN = 7;
const int LIDAR_MODE_PIN = 4; //mvd here 01/10/18
const int BATT_MON_PIN = A1;//BATT Monitor and IR Detector pin assignments added 01/30/17

#pragma endregion MISC_PIN_ASSIGNMENTS

#pragma region MOTOR_PARAMETERS
//drive wheel speed parameters
const int MOTOR_SPEED_FULL = 200; //range is 0-255
const int MOTOR_SPEED_MAX = 255; //range is 0-255
const int MOTOR_SPEED_HALF = 127; //range is 0-255
const int MOTOR_SPEED_QTR = 75; //added 09/25/20
const int MOTOR_SPEED_LOW = 50; //added 01/22/15
const int MOTOR_SPEED_OFF = 0; //range is 0-255

//drive wheel direction constants
const boolean FWD_DIR = true;
const boolean REV_DIR = !FWD_DIR;
const bool TURNDIR_CCW = true;
const bool TURNDIR_CW = false;

//Motor direction variables
boolean bLeftMotorDirIsFwd = true;
boolean bRightMotorDirIsFwd = true;
bool bIsForwardDir = true; //default is foward direction


#pragma endregion Motor Parameters

#pragma region HEADING_AND_RATE_BASED_TURN_PARAMETERS
elapsedMillis MsecSinceLastTurnRateUpdate;

const int MAX_PULSE_WIDTH_MSEC = 100;
const int MIN_PULSE_WIDTH_MSEC = 0;

const int MAX_SPIN_MOTOR_SPEED = 250;
const int MIN_SPIN_MOTOR_SPEED = 50;

//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 30;
//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 60;
const int TURN_RATE_UPDATE_INTERVAL_MSEC = 100;

double Prev_HdgDeg = 0;
float tgt_deg;
float timeout_sec;

//05/31/21 latest & greatest PID values
double TurnRate_Kp = 5.0;
double TurnRate_Ki = 1;
//double TurnRate_Kd = 0.5;
//double TurnRate_Kd = 1.5;
double TurnRate_Kd = 2.5;

double TurnRatePIDSetPointDPS, TurnRatePIDOutput;
double TurnRatePIDInput = 15.f;
PID TurnRatePID(&TurnRatePIDInput, &TurnRatePIDOutput, &TurnRatePIDSetPointDPS, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, DIRECT);

const float HDG_NEAR_MATCH_VAL = 0.8; //slow the turn down here
const float HDG_FULL_MATCH_VAL = 0.99; //stop the turn here //rev 05/17/20
const float HDG_MIN_MATCH_VAL = 0.6; //added 09/08/18: don't start checking slope until turn is well started
#pragma endregion HEADING_AND_RATE_BASED_TURN_PARAMETERS

#pragma region MPU6050_SUPPORT
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU. Used in Homer's Overflow routine
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

						// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
int GetPacketLoopCount = 0;
int OuterGetPacketLoopCount = 0;

//MPU6050 status flags
bool bMPU6050Ready = true;
bool dmpReady = false;  // set true if DMP init was successful
volatile float IMUHdgValDeg = 0; //updated by UpdateIMUHdgValDeg()//11/02/20 now updated in ISR
bool bFirstTime = true;
#pragma endregion MPU6050 Support

#pragma region WALL_FOLLOW_SUPPORT
const int WALL_OFFSET_TRACK_Kp = 100;
const int WALL_OFFSET_TRACK_Ki = 0;
const int WALL_OFFSET_TRACK_Kd = 0;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.3;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.4;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.5;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.15;
const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.25;
double WallTrackSteerVal, WallTrackOutput, WallTrackSetPoint;
const int CHG_CONNECT_LED_PIN = 50; //12/16/20 added for debug
//const int WALL_OFFSET_TGTDIST_CM = 30;
const int WALL_OFFSET_TGTDIST_CM = 40;
double LeftSteeringVal, RightSteeringVal; //added 08/06/20
const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 50;
//const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 30;
const int WALL_OFFSET_APPR_ANGLE_MINDEG = 30;//added 09/08/21
#pragma endregion WALL_FOLLOW_SUPPORT

#pragma region VL53L0X LIDAR SUPPORT
//VL53L0X Sensor data values
//11/05/20 revised to make all volatile
volatile int Lidar_RightFront;
volatile int Lidar_RightCenter;
volatile int Lidar_RightRear;
volatile int Lidar_LeftFront;
volatile int Lidar_LeftCenter;
volatile int Lidar_LeftRear;
volatile int Lidar_Rear; //added 10/24/20

bool bVL53L0X_TeensyReady = false; //11/10/20 added to prevent bad data reads during Teensy setup()

enum VL53L0X_REQUEST
{
	VL53L0X_READYCHECK, //added 11/10/20 to prevent bad reads during Teensy setup()
	VL53L0X_CENTERS_ONLY,
	VL53L0X_RIGHT,
	VL53L0X_LEFT,
	VL53L0X_ALL, //added 08/06/20, replaced VL53L0X_BOTH 10/31/20
	VL53L0X_REAR_ONLY //added 10/24/20
};

const int VL53L0X_I2C_SLAVE_ADDRESS = 0x20; ////Teensy 3.5 VL53L0X ToF LIDAR controller

#pragma endregion VL53L0X LIDAR SUPPORT

#pragma region TIMER_ISR
#define TIMER_INT_OUTPUT_PIN 53 //scope monitor pin

bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which);
volatile bool bTimeForNavUpdate = false;
const int TIMER5_INTERVAL_MSEC = 100; //05/15/21 added to eliminate magic number
int GetFrontDistCm();

ISR(TIMER5_COMPA_vect) //timer5 interrupt 5Hz
{
	digitalWrite(TIMER_INT_OUTPUT_PIN, HIGH);//so I can monitor interrupt timing
	delayMicroseconds(30); //leave in - so can see even with NO_STUCK defined

	bTimeForNavUpdate = true;

	//11/2/20 have to re-enable interrupts for I2C comms to work
	interrupts();
	GetRequestedVL53l0xValues(VL53L0X_ALL); //11/2/20 update all distances every 100mSec
	noInterrupts();

	frontdistval = GetFrontDistCm();
	digitalWrite(TIMER_INT_OUTPUT_PIN, LOW);//so I can monitor interrupt timing
}
#pragma endregion TIMER_ISR
#pragma endregion PRE_SETUP


#pragma region BATTCONSTS
//03/10/15 added for battery charge level monitoring
//const int LOW_BATT_THRESH_VOLTS = 7.4; //50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries
//const int LOW_BATT_THRESH_VOLTS = 8.4; //07/10/20 temp debug settingr//50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries
const float LOW_BATT_THRESH_VOLTS = 8.4; //12/18/20 chg to float to fix bug
const int MAX_AD_VALUE = 1023;
//const long BATT_CHG_TIMEOUT_SEC = 36000; //10 HRS
const long BATT_CHG_TIMEOUT_SEC = 3600; //12/28/20 for test only 
const float DEAD_BATT_THRESH_VOLTS = 6; //added 01/24/17
const float FULL_BATT_VOLTS = 8.4; //added 03/17/18. Chg to 8.4 03/05/20
const int MINIMUM_CHARGE_TIME_SEC = 10; //added 04/01/18
const float VOLTAGE_TO_CURRENT_RATIO = 0.75f; //Volts/Amp rev 03/01/19. Used for both 'Total' and 'Run' sensors
const float FULL_BATT_CURRENT_THRESHOLD = 0.5; //amps chg to 0.5A 03/02/19 per https://www.fpaynter.com/2019/03/better-battery-charging-for-wall-e2/
const int CURRENT_AVERAGE_NUMBER = 10; //added 03/01/19
const int VOLTS_AVERAGE_NUMBER = 5; //added 03/01/19
const int IR_HOMING_TELEMETRY_SPACING_MSEC = 200; //added 04/23/20
const float ZENER_VOLTAGE_OFFSET = 5.84; //measured zener voltage
const float ADC_REF_VOLTS = 3.3; //03/27/18 now using analogReference(EXTERNAL) with Teensy 3.3V connected to AREF 
#pragma endregion BATTCONST

void setup()
{
	Serial.begin(115200);

#pragma region MPU6050
	mySerial.printf("\nChecking for MPU6050 IMU at I2C Addr 0x%x\n", MPU6050_I2C_ADDR);
	mpu.initialize();

	// verify connection
	Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

	float StartSec = 0; //used to time MPU6050 init
	Serial.println(F("Initializing DMP..."));
	devStatus = mpu.dmpInitialize();

	// make sure it worked (returns 0 if successful)
	if (devStatus == 0)
	{
		// turn on the DMP, now that it's ready
		Serial.println(F("Enabling DMP..."));
		mpu.setDMPEnabled(true);

		// set our DMP Ready flag so the main loop() function knows it's okay to use it
		Serial.println(F("DMP ready! Waiting for MPU6050 drift rate to settle..."));
		dmpReady = true;

		// get expected DMP packet size for later comparison
		packetSize = mpu.dmpGetFIFOPacketSize();

		mySerial.printf("Just after MPU6050 Init\n");
		mySerial.printf("Calibrating...\n");
		mpu.CalibrateGyro(); //using default value of 15
		mySerial.printf("Retrieving Calibration Values\n\n");
		mpu.PrintActiveOffsets();

		//loop heading display until stabilized
		mySerial.printf("\nMsec\tHdg\n");

		UpdateIMUHdgValDeg();
		Prev_HdgDeg = IMUHdgValDeg;
		delay(100);
		UpdateIMUHdgValDeg();

		mySerial.printf("%lu\t%2.3f\t%2.3f\n", millis(), IMUHdgValDeg, Prev_HdgDeg);
		while (abs(IMUHdgValDeg - Prev_HdgDeg) > 0.1f)
		{
			mySerial.printf("%lu\t%2.3f\n", millis(), IMUHdgValDeg);
			Prev_HdgDeg = IMUHdgValDeg;
			delay(100);
			UpdateIMUHdgValDeg();
		}

		StartSec = millis() / 1000.f;
		mySerial.printf("MPU6050 Ready at %2.2f Sec with delta = %2.3f\n", StartSec, IMUHdgValDeg - Prev_HdgDeg);
		bMPU6050Ready = true;

		delay(1000);
	}
	else //MPU6050 Init failed for some reason
	{
		// ERROR!
		// 1 = initial memory load failed
		// 2 = DMP configuration updates failed
		// (if it's going to break, usually the code will be 1)
		Serial.print(F("DMP Initialization failed (code "));
		Serial.print(devStatus);
		Serial.println(F(")"));

		//08/29/21 print out battery voltage on failure
		float batV = GetBattVoltage();
		mySerial.printf("Battery Voltage = %2.2f\n", batV);

		bMPU6050Ready = false;
	}
	#pragma endregion MPU6050
	
	#pragma region PIN_INITIALIZATION
		pinMode(LIDAR_MODE_PIN, INPUT); // Set LIDAR input monitor pin
	
	#pragma endregion PIN_INITIALIZATION
	
	//#pragma region TIMER_INTERRUPT
	//	//09/18/20 can't use Timer1 cuz doing so conflicts with PWM on pins 10-12
	//	cli();//stop interrupts
	//	TCCR5A = 0;// set entire TCCR5A register to 0
	//	TCCR5B = 0;// same for TCCR5B
	//	TCNT5 = 0;//initialize counter value to 0
	//
	//	// 06/15/21 rewritten to use defined interval constant rather than magic number
	//	//10/11/20 chg timer interval to 10Hz vs 5
	//	//OCR5A = 1562;// = (16*10^6) / (10*1024) - 1 (must be <65536)
	//	int ocr5a = (16 * 1e6) / ((1000 / TIMER5_INTERVAL_MSEC) * 1024) - 1;
	//	mySerial.printf("ocr5a = %d\n", ocr5a);
	//	OCR5A = ocr5a;
	//	TCCR5B |= (1 << WGM52);// turn on CTC mode
	//	TCCR5B |= (1 << CS52) | (1 << CS50);// Set CS10 and CS12 bits for 1024 prescaler
	//	TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
	//	sei();//allow interrupts
	//	pinMode(TIMER_INT_OUTPUT_PIN, OUTPUT);
	//#pragma endregion TIMER_INTERRUPT
	//
	//	//02/08/21 mvd below ISR enable so this section can use ISR-generated VL53L0X distances
	#pragma region VL53L0X_TEENSY
	
		mySerial.printf("Checking for Teensy 3.5 VL53L0X Controller at I2C addr 0x%x\n", VL53L0X_I2C_SLAVE_ADDRESS);
		while (!bVL53L0X_TeensyReady)
		{
			Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);
			bVL53L0X_TeensyReady = (Wire.endTransmission() == 0);
	
			//mySerial.printf("%lu: VL53L0X Teensy Not Avail...\n", millis());
			delay(100);
		}
	
		mySerial.printf("Teensy available at %lu with bVL53L0X_TeensyReady = %d. Waiting for Teensy setup() to finish\n", millis(), bVL53L0X_TeensyReady);
	
		WaitForVL53L0XTeensy();
	
		//mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());
	#pragma endregion VL53L0X_TEENSY

		mySerial.printf("Just after WaitForVL53L0XTeensy();\n");
	
		//11/14/18 added this section for distance printout only
		//08/06/20 revised for VL53L0X support
	#ifdef DISTANCES_ONLY
		//TIMSK5 = 0;
		digitalWrite(RED_LASER_DIODE_PIN, HIGH); //enable the front laser dot
		mySerial.printf("\n------------ DISTANCES ONLY MODE!!! -----------------\n\n");
	
		int i = 0; //added 09/20/20 for in-line header display
		mySerial.printf("Msec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");
		while (true)
		{
			//if (bTimeForNavUpdate)
			//{
			//	bTimeForNavUpdate = false;
	
				//09/20/20 re-display the column headers
				//if (++i % 20 == 0)
				//{
				//	mySerial.printf("\nMsec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");
				//}
	
				//commented out 02/02/21 - now done in ISR
			GetRequestedVL53l0xValues(VL53L0X_ALL);
			frontdistval = GetFrontDistCm();
	
			mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n",
				millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
				Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear);
	
			//}
	
			delay(50);
		}
		//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
	
	#endif // DISTANCES_ONLY
	
	#pragma region L/R/FRONT DISTANCE ARRAYS
		//09/20/20 have to do this for parallel finding to go the right way
		Serial.println(F("Initializing Left, Right, Front Distance Arrays..."));
	#ifndef NO_PINGS
		//03/30/21 moved FrontDistArray init ahead of left/right dist init to prevent inadvertent 'stuck' detection
		Serial.println(F("Initializing Front Distance Array"));
		InitFrontDistArray(); //08/12/20 code extracted to fcn so can call elsewhere
	
		//Serial.println(F("Updating Left\tRight Distance Arrays"));
		//for (size_t i = 0; i < LR_DIST_ARRAY_SIZE; i++)
		//{
		//	delay(100); //ensure enough time for ISR to update distances
		//	mySerial.printf("%d\t%d\n", Lidar_LeftCenter, Lidar_RightCenter);
		//	UpdateLRDistanceArrays(Lidar_LeftCenter, Lidar_RightCenter);
		//}
	
		//Serial.println(F("Updating Rear Distance Arrays"));
		//InitRearDistArray();
		//mySerial.printf("Initial rear prev_mean, prev_var = %2.2f, %2.2f\n",
		//	Rear_Dist_PrevMean, Rear_Dist_PrevVar);
	#else
		Serial.println(F("Distance Sensors Disabled"));
	#endif // NO_PINGS
	#pragma endregion L/R/FRONT DISTANCE ARRAYS
	
	#pragma region WALL_TRACK_TEST
		mySerial.printf("End of test - Stopping!\n");
		//while (true)
		//{
		//	CheckForUserInput();
		//}
		StopBothMotors();
		Serial.println(F("Setting Kp value"));
		const int bufflen = 80;
		char buff[bufflen];
		memset(buff, 0, bufflen);
		float OffsetCm;
		float Kp, Ki, Kd;
		const char s[2] = ",";
		char* token;
	
	
		//consume CR/LF chars
		while (Serial.available() > 0)
		{
			int byte = Serial.read();
			mySerial.printf("consumed %d\n", byte);
		}
	
		while (!Serial.available())
		{
		}
	
		Serial.readBytes(buff, bufflen);
		mySerial.printf("%s\n", buff);
	
		/* extract Kp */
		token = strtok(buff, s);
		Kp = atof(token);
	
		/* extract Ki */
		token = strtok(NULL, s);
		Ki = atof(token);
	
		/* extract Kd */
		token = strtok(NULL, s);
		Kd = atof(token);
	
		/* extract Offset in cm */
		token = strtok(NULL, s);
		OffsetCm = atof(token);
	
		mySerial.printf("Kp,Ki,Kd,OffsetCm =  %2.2f, %2.2f, %2.2f, %2.2f\n",
			Kp, Ki, Kd, OffsetCm);
	
		TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);
		//TrackLeftWallOffset(1, 1, 1, 1); //09/05/21 params not used
		//TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);
	//	//mySerial.printf("Rdist\tCdist\tFdist\tsteer\toffang\n");
	//	//while (true)
	//	//{
	//	//	//double offangdeg = GetSteeringAngle(Lidar_LeftCenter / 10, LeftSteeringVal);
	//	//	double offangdeg = GetSteeringAngle(LeftSteeringVal); //06/25/21 chg to mm vs cm
	//	//	mySerial.printf("%d\t%d\t%d\t%2.4f\t%2.2f\n", Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, offangdeg);
	//	//	delay(1000);
	//	//}
	#pragma endregion WALL_TRACK_TEST
	//mySerial.printf("Msec\tHdg\n");
	//RunBothMotors(true, MOTOR_SPEED_HALF, MOTOR_SPEED_HALF);
}

void loop()
{

	int turndeg = 45;
	mySerial.printf("CCW turn, %d deg\n", turndeg);
	//SpinTurn(true, turndeg, 45);
	//delay(1000);
	SpinTurn(true, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	//mySerial.printf("CW turn, %d deg\n", turndeg);
	//SpinTurn(false, turndeg, 45);
	//delay(1000);
	SpinTurn(false, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	turndeg = 90;
	//mySerial.printf("CCW turn, %d deg\n", turndeg);
	//SpinTurn(true, turndeg, 45);
	delay(1000);
	SpinTurn(true, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	//mySerial.printf("CW turn, %d deg\n", turndeg);
	//SpinTurn(false, turndeg, 45);
	delay(1000);
	SpinTurn(false, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	//mySerial.printf("Done with turning tests.  Free memory = %d\n", freeMemory());

}

#pragma region VL53L0X_SUPPORT
bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which)
{
	//Purpose: Obtain VL53L0X ToF sensor data from Teensy sensor handler
	//Inputs: 
	//	which = VL53L0X_REQUEST value denoting which combination of value to retrieve
	//		VL53L0X_CENTERS_ONLY -> Just the left/right center sensor values
	//		VL53L0X_RIGHT -> All three right sensor values, in front/center/rear order
	//		VL53L0X_LEFT -> All three left sensor values, in front/center/rear order
	//		VL53L0X_ALL -> All seven sensor values, in left/right front/center/rear/rear order
	//		VL53L0X_REAR_ONLY -> added 10/24/20 Just the rear sensor reading

	//Outputs: 
	//	Requested sensor values, obtained via I2C from the VL53L0X sensor handler
	//	Returns TRUE if data retrieval successful, otherwise FALSE
	//Plan:
	//	Step1: Send request to VL53L0X handler
	//	Step2: get the requested data
	//Notes:
	// Copied from FourWD_WallE2_V4.ino's IsIRBeamAvail() and adapted
		// 08/05/20 added a VL53L0X_ALL request type
		// 01/24/21 added error detection/reporting

	//Step1: Send request to VL53L0X handler
	//DEBUG!!
		//mySerial.printf("Sending %d to slave\n", which);
	//DEBUG!!

	//mySerial.printf("In GetRequestedVL53l0xValues(%d)\n", (int)which);

	Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);
	I2C_writeAnything((uint8_t)which);
	Wire.endTransmission();


	//Step2: get the requested data
	int readResult = 0;
	int data_size = 0;
	switch (which)
	{
	case VL53L0X_READYCHECK: //11/10/20 added to prevent bad reads during Teensy setup()
		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(bVL53L0X_TeensyReady)));
		readResult = I2C_readAnything(bVL53L0X_TeensyReady);
		break;

	case VL53L0X_CENTERS_ONLY:
		//just two data values needed here
		data_size = 2 * sizeof(int);
		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(2 * sizeof(Lidar_RightCenter)));
		readResult = I2C_readAnything(Lidar_RightCenter);

		if (readResult > 0)
		{
			I2C_readAnything(Lidar_LeftCenter);
		}

		//DEBUG!!
				//mySerial.printf("VL53L0X_CENTERS_ONLY case: Got LC/RC = %d, %d\n", Lidar_LeftCenter, Lidar_RightCenter);
		//DEBUG!!

		break;
	case VL53L0X_RIGHT:
		//four data values needed here
		data_size = 3 * sizeof(int) + sizeof(float);

		//DEBUG!!
				//mySerial.printf("data_size = %d\n", data_size);
		//DEBUG!!

		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);
		readResult = I2C_readAnything(Lidar_RightFront);

		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_RightCenter);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_RightRear);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(RightSteeringVal);
		}

		//DEBUG!!
				//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",
				//	Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, ToFSteeringVal);
		//DEBUG!!

		break;
	case VL53L0X_LEFT:
		//four data values needed here
		data_size = 3 * sizeof(int) + sizeof(float);

		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);
		readResult = I2C_readAnything(Lidar_LeftFront);

		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_LeftCenter);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_LeftRear);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(LeftSteeringVal);
		}

		//DEBUG!!
				//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",
				//	Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, ToFSteeringVal);
		//DEBUG!!

		break;
	case VL53L0X_ALL: //added 08/05/20, chg to VL53L0X_ALL 10/31/20
		//nine data values needed here - 7 ints and 2 floats
		data_size = 7 * sizeof(int) + 2 * sizeof(float); //10/31/20 added rear distance

		//mySerial.printf("In VL53L0X_ALL case with data_size = %d\n", data_size);

		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

		//Lidar_LeftFront
		readResult = I2C_readAnything(Lidar_LeftFront);
		if (readResult != sizeof(Lidar_LeftFront))
		{
			mySerial.printf("Error reading Lidar_LeftFront\n");
		}

		//Lidar_LeftCenter
		readResult = I2C_readAnything(Lidar_LeftCenter);
		if (readResult != sizeof(Lidar_LeftCenter))
		{
			mySerial.printf("Error reading Lidar_LeftCenter\n");
		}

		//Lidar_LeftRear
		readResult = I2C_readAnything(Lidar_LeftRear);
		if (readResult != sizeof(Lidar_LeftRear))
		{
			mySerial.printf("Error reading Lidar_LeftRear\n");
		}

		//LeftSteeringVal
		readResult = I2C_readAnything(LeftSteeringVal);
		if (readResult != sizeof(LeftSteeringVal))
		{
			mySerial.printf("Error reading LeftSteeringVal\n");
		}

		//Lidar_RightFront
		readResult = I2C_readAnything(Lidar_RightFront);
		if (readResult != sizeof(Lidar_RightFront))
		{
			mySerial.printf("Error reading Lidar_RightFront\n");
		}

		//Lidar_RightCenter
		readResult = I2C_readAnything(Lidar_RightCenter);
		if (readResult != sizeof(Lidar_RightCenter))
		{
			mySerial.printf("Error reading Lidar_RightCenter\n");
		}

		//Lidar_RightRear
		readResult = I2C_readAnything(Lidar_RightRear);
		if (readResult != sizeof(Lidar_RightRear))
		{
			mySerial.printf("Error reading Lidar_RightRear\n");
		}

		//RightSteeringVal
		readResult = I2C_readAnything(RightSteeringVal);
		if (readResult != sizeof(RightSteeringVal))
		{
			mySerial.printf("Error reading LeftSteeringVal\n");
		}

		//Lidar_Rear
		readResult = I2C_readAnything(Lidar_Rear);
		if (readResult != sizeof(Lidar_Rear))
		{
			mySerial.printf("Error reading Lidar_Rear\n");
		}

		//mySerial.printf("%lu: VL53l0x - %d, %d, %d, %d, %d, %d, %d\n",
		//	millis(), 
		//	Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
		//	Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,
		//	Lidar_Rear);
		break; //10/31/20 bugfix

	case VL53L0X_REAR_ONLY:
		//just ONE data value needed here
		data_size = sizeof(int);
		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(Lidar_Rear)));
		readResult = I2C_readAnything(Lidar_Rear);

		//DEBUG!!
				//mySerial.printf("VL53L0X_REAR_ONLY case: Got Rear = %d\n", Lidar_Rear);
		//DEBUG!!

		break;

	default:
		break;
	}

	return readResult > 0; //this is true only if all reads succeed
}

void WaitForVL53L0XTeensy()
{
	bVL53L0X_TeensyReady = false;
	while (!bVL53L0X_TeensyReady)
	{
		GetRequestedVL53l0xValues(VL53L0X_READYCHECK); //this updates bVL53L0X_TeensyReady
		//mySerial.printf("%lu: got %d from VL53L0X Teensy\n", millis(), bVL53L0X_TeensyReady);
		delay(100);
	}

	Serial.print(F("Teensy setup() finished at ")); Serial.printf("%lu mSec\n", millis());

	//now try to get a VL53L0X measurement
	//11/08/20 rev to loop until all distance sensors provide valid data
	//mySerial.printf("Msec\tLFront\tLCtr\tLRear\tRFront\tRCtr\tRRear\tRear\n");
	GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR

	//mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",
	//	millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
	//	Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

	while (Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0
		|| Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0
		|| Lidar_Rear <= 0)
	{
		////values updated 10 times/sec in ISR
		mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",
			millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
			Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

		delay(100);
		GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR
	}

	mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());
}

double GetSteeringAngle(double steerval)
{
	//Purpose:  Convert a steering angle into the equivalent off-parallel orientation in degrees
	//Inputs:
	//	steerval = double value denoting current steering value
	//	Notes:
	//	06/27/21 now steering_val/off_angle slope is a constant 0.0175
	const double slopeval = 0.0175;
	double offparalleldeg = steerval / slopeval; //e.g. for steerval = -0.187 @ 10cm offset, returns +21deg
	//mySerial.printf("GetSteeringAngle(%d, %2.4f): slopeval = %2.4f, res %2.2f\n", ctrdist_cm, steerval, slopeval, offparalleldeg);
	return offparalleldeg;
}
#pragma endregion VL53L0X_SUPPORT

#pragma region LIDAR_SUPPORT
//11/05/15 added to get LIDAR measurement
int GetFrontDistCm()
{
	//Notes:
	//	12/05/15 chg to MODE line vs I2C
	//	01/06/16 rev to return avg of prev distances on error 

#ifndef NO_LIDAR
	unsigned long pulse_width;
	int LIDARdistCm;

	pulse_width = pulseIn(LIDAR_MODE_PIN, HIGH); // Count how long the pulse is high in microseconds
	LIDARdistCm = pulse_width / 10; // 10usec = 1 cm of distance for LIDAR-Lite

	//chk for erroneous reading
	if (LIDARdistCm == 0)
	{
		//replace with average of last three readings from aFrontDist
		int avgdist = GetAvgFrontDistCm();
		mySerial.printf("%lu: Error in GetFrontDistCm() - %d replaced with %d\n", millis(), LIDARdistCm, avgdist);
		LIDARdistCm = avgdist;
	}

	//04/30/17 added limit detection/correction
	LIDARdistCm = (LIDARdistCm > 0) ? LIDARdistCm : MAX_FRONT_DISTANCE_CM;

	return LIDARdistCm;
#else
	return 10; //safe number, I hope
#endif
}

//04/25/21 rewritten to use aFrontDist[] values
float GetAvgFrontDistCm()
{
	int avgdist = 0;
	for (int i = 0; i < FRONT_DIST_AVG_WINDOW_SIZE; i++)
	{
		//DEBUG!!
		//mySerial.printf("frontdist[%d] = %d\n", FRONT_DIST_ARRAY_SIZE - 1 - i, aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i]);
		//DEBUG!!
		avgdist += aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i];
	}
	//DEBUG!!
	//mySerial.printf("avgdisttot = %d\n", avgdist);
	//DEBUG!!

	avgdist = (int)((float)avgdist / (float)FRONT_DIST_AVG_WINDOW_SIZE);
	//DEBUG!!
	//mySerial.printf("avgdist = %d\n", avgdist);
	//DEBUG!!
	return avgdist;
}

//08/12/20 Extracted inline FRONT_DIST_ARRAY init code so can be called from anywhere
void InitFrontDistArray()
{
	//04/01/15 initialize 'stuck detection' arrays
	//06/17/20 re-wrote for better readability
	//to ensure var > STUCK_FRONT_VARIANCE_THRESHOLD for first FRONT_DIST_ARRAY_SIZE loops
	//array is initialized with sawtooth from 0 to MAX_FRONT_DISTANCE_CM
	int newval = 0;
	int bumpval = MAX_FRONT_DISTANCE_CM / FRONT_DIST_ARRAY_SIZE;
	bool bgoingUp = true;

	for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)
	{
		aFrontDist[i] = newval;
		//DEBUG!!
		//mySerial.printf("i = %d, newval = %d, aFrontdist[%d] = %d\n", i, newval, i, aFrontDist[i]);
		//DEBUG!!
		if (bgoingUp)
		{

			if (newval < MAX_FRONT_DISTANCE_CM - bumpval) //don't want newval > MAX_FRONT_DISTANCE_CM
			{
				newval += bumpval;
			}
			else
			{
				bgoingUp = false;
			}
		}
		else
		{
			if (newval > bumpval) //don't want newval < 0
			{
				newval -= bumpval;
			}
			else
			{
				bgoingUp = true;
			}
		}
	}

	//04/19/19 init Front_Dist_PrevVMean  & Front_Dist_PrevVar to mean/var respectively
	long sum = 0;
	for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)
	{
		sum += aFrontDist[i]; //adds in rest of values
	}
	Front_Dist_PrevVMean = (float)sum / (float)FRONT_DIST_ARRAY_SIZE;

	//	Step2: calc new 'brute force' variance
	float sumsquares = 0;
	for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)
	{
		sumsquares += (aFrontDist[i] - Front_Dist_PrevVMean) * (aFrontDist[i] - Front_Dist_PrevVMean);
	}

	Front_Dist_PrevVar = sumsquares / FRONT_DIST_ARRAY_SIZE;
	mySerial.printf("%lu: aFrontDist Init: Front_Dist_PrevVMean = %3.2f, Front_Dist_PrevVar = %3.2f\n", millis(), Front_Dist_PrevVMean, Front_Dist_PrevVar);
	frontvar = Front_Dist_PrevVar; //added 03/30/21 to prevent 'stuck' at startup
}
#pragma endregion LIDAR_SUPPORT

#pragma region MOTOR SUPPORT
//09/08/20 modified for DRV8871 motor driver
void MoveReverse(int leftspeednum, int rightspeednum)
{
	//Purpose:  Move in reverse direction continuously - companion to MoveAhead()
	//ProvEnA_Pinnce: G. Frank Paynter 09/08/18
	//Inputs:  
	//    leftspeednum = integer denoting speed (0=stop, 255 = full speed)
	//    rightspeednum = integer denoting speed (0=stop, 255 = full speed)
	//Outputs: both drive Motors energized with the specified speed
	//Plan:
	//    Step 1: Set reverse direction for both wheels
	//    Step 2: Run both Motors at specified speeds
	//Notes:
	//	01/22/20 now using Adafruit DRV8871 drivers

	//Step 1: Set reverse direction and speed for both wheels
	SetLeftMotorDirAndSpeed(REV_DIR, leftspeednum);
	SetRightMotorDirAndSpeed(REV_DIR, rightspeednum);
}

//09/08/20 modified for DRV8871 motor driver
void MoveAhead(int leftspeednum, int rightspeednum)
{
	//Purpose:  Move ahead continuously
	//ProvEnA_Pinnce: G. Frank Paynter and Danny Frank 01/24/2014
	//Inputs:  
	//    leftspeednum = integer denoting speed (0=stop, 255 = full speed)
	//    rightspeednum = integer denoting speed (0=stop, 255 = full speed)
	//Outputs: both drive Motors energized with the specified speed
	//Plan:
	//    Step 1: Set forward direction for both wheels
	//    Step 2: Run both Motors at specified speeds
	//Notes:
	//	01/22/20 now using Adafruit DRV8871 drivers

	//mySerial.printf("InMoveAhead(%d,%d)\n", leftspeednum, rightspeednum);

	//Step 1: Set forward direction and speed for both wheels
	SetLeftMotorDirAndSpeed(true, leftspeednum);
	SetRightMotorDirAndSpeed(true, rightspeednum);
}

//09/08/10 modified for DRV8871 motor driver
void StopLeftMotors()
{
	analogWrite(In1_Left, MOTOR_SPEED_OFF);
	analogWrite(In2_Left, MOTOR_SPEED_OFF);
}

void StopRightMotors()
{
	analogWrite(In1_Right, MOTOR_SPEED_OFF);
	analogWrite(In2_Right, MOTOR_SPEED_OFF);
}

//09/08/20 added bool bisFwd param for DRV8871 motor driver
void RunBothMotors(bool bisFwd, int leftspeednum, int rightspeednum)
{
	//Purpose: Run both Motors at left/rightspeednum speeds
	//Inputs:
	//    speednum = speed value (0 = OFF, 255 = full speed)
	//Outputs: Both Motors run for timesec seconds at speednum speed
	//Plan:
	//    Step 1: Apply drive to both wheels
	//Notes:
	//    01/14/15 - added left/right speed offset for straightness compensation
	//    01/22/15 - added code to restrict fast/slow values
	//    01/24/15 - revised for continuous run - no timing
	//  01/26/15 - speednum modifications moved to UpdateWallFollowmyMotorspeeds()
	//	12/07/15 - chg args from &int to int
	//Step 1: Apply drive to both wheels

//DEBUG!!
	//mySerial.printf("In RunBothMotors(%s, %d,%d)\n", bisFwd? "FWD":"REV", leftspeednum, rightspeednum);
//DEBUG!!

	SetLeftMotorDirAndSpeed(bisFwd, leftspeednum);
	SetRightMotorDirAndSpeed(bisFwd, rightspeednum);
}

void RunBothMotorsBidirectional(int leftspeed, int rightspeed)
{
	//Purpose:  Accommodate the need for independent bidirectional wheel motion
	//Inputs:
	//	leftspeed - integer denoting left wheel speed.  Positive value is fwd, negative is rev
	//	rightspeed - integer denoting right wheel speed.  Positive value is fwd, negative is rev
	//Outputs:
	//	left/right wheel motors direction and speed set as appropriate
	//Plan:
	//	Step1: Set left wheel direction and speed
	//	Step2: Set right wheel direction and speed

//Step1: Set left wheel direction and speed

	//DEBUG!!
	//mySerial.printf("In RunBothMotorsBidirectional(%d, %d)\n", leftspeed, rightspeed);
	if (leftspeed < 0)
	{
		SetLeftMotorDirAndSpeed(false, -leftspeed); //neg value ==> reverse
	}
	else
	{
		SetLeftMotorDirAndSpeed(true, leftspeed); //pos or zero value ==> fwd
	}

	//Step2: Set right wheel direction and speed
	if (rightspeed < 0)
	{
		SetRightMotorDirAndSpeed(false, -rightspeed); //neg value ==> reverse
	}
	else
	{
		SetRightMotorDirAndSpeed(true, rightspeed); //pos or zero value ==> fwd
	}
}

//09/08/20 added bool bisFwd param for DRV8871 motor driver
void RunBothMotorsMsec(bool bisFwd, int timeMsec, int leftspeednum, int rightspeednum)
{
	//Purpose: Run both Motors for timesec seconds at speednum speed
	//Inputs:
	//    timesec = time in seconds to run the Motors
	//    speednum = speed value (0 = OFF, 255 = full speed)
	//Outputs: Both Motors run for timesec seconds at speednum speed
	//Plan:
	//    Step 1: Apply drive to both wheels
	//    Step 2: Delay timsec seconds
	//    Step 3: Remove drive from both wheels.
	//Notes:
	//    01/14/15 - added left/right speed offset for straightness compensation
	//    01/22/15 - added code to restrict fast/slow values
	//	11/25/15 - rev to use motor driver class object
	//	09/08/20 added bool bisFwd param for DRV8871 motor driver

	RunBothMotors(bisFwd, leftspeednum, rightspeednum);

	//Step 2: Delay timsec seconds
	delay(timeMsec);

	//Step3: Stop motors added 04/12/21
	StopBothMotors();
}

//11/25/15 added for symmetry ;-).
void StopBothMotors()
{
	StopLeftMotors();
	StopRightMotors();
}

void SetLeftMotorDirAndSpeed(bool bIsFwd, int speed)
{
	//mySerial.printf("SetLeftMotorDirAndSpeed(%d,%d)\n", bIsFwd, speed);

#ifndef NO_MOTORS
	if (bIsFwd)
	{
		digitalWrite(In1_Left, LOW);
		analogWrite(In2_Left, speed);
		//mySerial.printf("In TRUE block of SetLeftMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
	}
	else
	{
		//mySerial.printf("In FALSE block of SetLeftMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
		digitalWrite(In2_Left, LOW);
		analogWrite(In1_Left, speed);
	}
#endif // !NO_MOTORS
}

void SetRightMotorDirAndSpeed(bool bIsFwd, int speed)
{
	//mySerial.printf("In SetRightMotorDirAndSpeed(%s, %d)\n",
	//	(bIsFwd == true) ? "true" : "false", speed);

#ifndef NO_MOTORS

	if (bIsFwd)
	{
		//mySerial.printf("In TRUE block of SetRighttMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
		digitalWrite(In1_Right, LOW);
		analogWrite(In2_Right, speed);
	}
	else
	{
		//mySerial.printf("In FALSE block of SetRightMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
		digitalWrite(In2_Right, LOW);
		analogWrite(In1_Right, speed);
	}

#endif // !NO_MOTORS
}

#pragma endregion Motor Support Functions

#pragma region MPU5060 Support
float UpdateIMUHdgValDeg()
{
	//Purpose: Get latest yaw (heading) value from IMU
	//Inputs: None.  This function should only be called after mpu.dmpPacketAvailable() returns TRUE
	//Outputs: 
	//	returns true if successful, otherwise false
	//	IMUHdgValDeg updated on success
	//Plan:
	//Step1: check for overflow and reset the FIFO if it occurs. In this case, wait for new packet
	//Step2: read all available packets to get to latest data
	//Step3: update IMUHdgValDeg with latest value
	//Notes:
	//	10/08/19 changed return type to boolean
	//	10/08/19 no longer need mpuIntStatus
	//	10/21/19 completely rewritten to use Homer's algorithm
	//	05/05/20 changed return type to float vs bool.

	bool retval = false;

	int flag = mpu.GetCurrentFIFOPacket(fifoBuffer, packetSize); //08/01/21 now using library version

	if (flag != 0) //0 = error exit, 1 = normal exit, 2 = recovered from an overflow
	{
		// display Euler angles in degrees
		mpu.dmpGetQuaternion(&q, fifoBuffer);
		mpu.dmpGetGravity(&gravity, &q);
		mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

		//compute the yaw value
		IMUHdgValDeg = ypr[0] * 180 / M_PI;
		retval = true;
	}

	//return retval;
	return IMUHdgValDeg;//05/05/20 now returns updated value for use convenience
}

#pragma endregion MPU5060 Support

#pragma region HDG_BASED_TURN_SUPPORT

float GetHdgMatchVal(float tgt_deg, float cur_deg)
{
	//Purpose:  Compute the match ratio between two compass headings
	//Inputs:
	//	tgt_deg = float representing target heading in +/-180 range
	//	IMUHdgValDeg = float representing sensor yaw value in +/-180 deg range
	//Outputs:
	//	returns result of 1 - abs(Tgt_deg - Hdg_deg)/180, all angles in 0-360 deg range
	//Plan:
	//	Step1: convert both inputs to 0-360 deg range
	//	Step2: compute match ratio
	//Notes:
	//	formula from https://gis.stackexchange.com/questions/129954/comparing-compass-bearings

//Step1: convert both inputs to 0-360 deg range
	float tgthdg = (tgt_deg < 0) ? tgt_deg + 360 : tgt_deg;
	float curhdg = (cur_deg < 0) ? cur_deg + 360 : cur_deg;

	//Step2: compute match ratio
	float match_ratio = 1 - abs(tgthdg - curhdg) / 180;

	//DEBUG!!
		//mySerial.printf("tgt\tcur\tmatch = %4.2f\t%4.2f\t%1.3f\n", tgthdg, curhdg, match_ratio);
	//DEBUG!!
	return abs(match_ratio);
}

bool SpinTurn(bool b_ccw, float numDeg, float degPersec) //04/25/21 added turn-rate arg (default = TURN_RATE_TARGET_DEGPERSEC)
{
	//Purpose: Make a numDeg CW or CCW 'spin' turn
	//Inputs:
	//	b_ccw - True if turn is to be ccw, false otherwise
	//	numDeg - angle to be swept out in the turn
	//	ROLLING_TURN_MAX_SEC_PER_DEG = const used to generate timeout proportional to turn deg
	//	IMUHdgValDeg = IMU heading value updated by UpdateIMUHdgValDeg() //11/02/20 now updated in ISR
	//	degPerSec = float value denoting desired turn rate
	//Plan:
	//	Step1: Get current heading as starting point
	//	Step2: Disable TIMER5 interrupts
	//	Step3: Compute new target value & timeout value
	//	Step4: Run motors until target reached, using inline PID algorithm to control turn rate
	//	Step5: Re-enable TIMER5 interrupts
	//Notes:
	//	06/06/21 we-written to remove PID library - now uses custom 'PIDCalcs()' function
	//	06/06/21 added re-try for 180.00 return from IMU - could be bad value
	//	06/11/21 added code to correct dHdg errors due to 179/-179 transition & bad IMU values
	//	06/12/21 cleaned up & commented out debug code

	float tgt_deg;
	float timeout_sec;
	bool bDoneTurning = false;
	bool bTimedOut = false;
	bool bResult = true; //04/21/20 added so will be only one exit point

	//DEBUG!!
	mySerial.printf("In SpinTurn(%s, %2.2f, %2.2f)\n", b_ccw == TURNDIR_CCW ? "CCW" : "CW", numDeg, degPersec);
	//mySerial.printf("TurnRatePID started with Kp/Ki/Kd = %2.1f,%2.1f,%2.1f, SampleTime(mSec) = %d\n",
		//TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TURN_RATE_UPDATE_INTERVAL_MSEC);
	//DEBUG!!

	//no need to continue if the IMU isn't available
	if (!dmpReady)
	{
		mySerial.printf("DMP Failure - returning FALSE\n");
		return false;
	}

	//Step1: Get current heading as starting point
		//06/06/21 it is possible for IMU to return 180.00 on failure
		//so try again.  If it really IS 180, then 
		//it will eventually time out and go on

	//08/26/21 re-wrote using 3-value array to make sure initial heading is a steady value
	UpdateIMUHdgValDeg();

	int retries = 0;
	//if (IMUHdgValDeg == 180.f && retries < 5)
	if ((IMUHdgValDeg == 180.f || IMUHdgValDeg == 0.f) && retries < 5)
	{
		//DEBUG!!
		//mySerial.printf("Got 180.00 exactly from IMU - retrying...\n");
		mySerial.printf("Got 180.00 or 0.00 exactly (%2.3f) from IMU - retrying %d...\n", IMUHdgValDeg, retries);
		//DEBUG!!
		UpdateIMUHdgValDeg();
		retries++;
		delay(100);
	}

	//Step2: Compute new target value & timeout value
	timeout_sec = 3 * numDeg / degPersec; //05/29/21 rev to use new turn rate parmeter

	//05/17/20 limit timeout_sec to 1 sec or more
	timeout_sec = (timeout_sec < 1) ? 1.f : timeout_sec;

	//UpdateIMUHdgValDeg();

	//12/05/19 added #define back in to manage which direction increases yaw values
#ifdef MPU6050_CCW_INCREASES_YAWVAL
	tgt_deg = b_ccw ? IMUHdgValDeg + numDeg : IMUHdgValDeg - numDeg;
#else
	tgt_deg = b_ccw ? IMUHdgValDeg - numDeg : IMUHdgValDeg + numDeg;

#endif // MPU6050_CCW_INCREASES_YAWVAL

	//correct for -180/180 transition
	if (tgt_deg < -180)
	{
		tgt_deg += 360;
	}

	//07/29/19 bugfix
	if (tgt_deg > 180)
	{
		tgt_deg -= 360;
	}

	//DEBUG!!
	//mySerial.printf("Init hdg = %4.2f deg, Turn = %4.2f  deg, tgt = %4.2f deg, timeout = %4.2f sec\n\n",
	//	IMUHdgValDeg, numDeg, tgt_deg, timeout_sec);
	//DEBUG!!

	float curHdgMatchVal = 0;

	//09/08/18 added to bolster end-of-turn detection
	float prevHdgMatchVal = 0;
	float matchSlope = 0;

	//Step2: Disable TIMER5 interrupts
	TIMSK5 = 0; //disable timer compare interrupt

	//Step3: Run motors until target reached, using PID algorithm to control turn rate
	Prev_HdgDeg = IMUHdgValDeg; //06/10/21 synch Prev_HdgDeg & IMUHdgValDeg just before entering loop

	//DEBUG!!
	//mySerial.printf("Just before while() loop: hdg/prvhdg = %2.2f\t%2.2f\n\n", IMUHdgValDeg, Prev_HdgDeg);

	//mySerial.printf("Msec\tHdg\tPrvHdg\tDhdg\trate\tSet\terror\tKp*err\tKi*err\tKd*Din\tOutput\Match\tSlope\n");
	//DEBUG!!

	elapsedMillis sinceLastTimeCheck = 0;
	elapsedMillis sinceLastComputeTime = 0;
	double lastError = 0;
	double lastInput = 0;
	double lastIval = 0;
	double lastDerror = 0;
	bool bFirstIMUHdg = true;

	while (!bDoneTurning && !bTimedOut)
	{
		//11/06/20 now just loops between PID calcs
		CheckForUserInput();

		if (sinceLastComputeTime >= TURN_RATE_UPDATE_INTERVAL_MSEC)
		{
			sinceLastComputeTime -= TURN_RATE_UPDATE_INTERVAL_MSEC;

			UpdateIMUHdgValDeg(); //update IMUHdgValDeg

			double dHdg = IMUHdgValDeg - Prev_HdgDeg;
			if (dHdg > 180)
			{
				dHdg -= 360;
				mySerial.printf("dHdg > 180 - subtracting 360\n");
			}
			else if (dHdg < -180)
			{
				dHdg += 360;
				mySerial.printf("dHdg < -180 - adding 360\n");
			}

			//watch for turn rates that are wildly off
			double rate = abs(1000 * dHdg / TURN_RATE_UPDATE_INTERVAL_MSEC);
			//if (rate > 3 * degPersec)
			//{
			//	//DEBUG!!
			//	mySerial.printf("hdg/prevhdg/dHdg/rate = %2.2f\t%2.2f\t%2.2f\t%2.2f, excessive rate - replacing with %2.2f\n", IMUHdgValDeg, Prev_HdgDeg, dHdg, rate, degPersec);
			//	//DEBUG!!
			//	rate = degPersec;
			//}

			//06/11/21 don't do calcs first time through, as Prev_HdgDeg isn't valid yet
			if (bFirstIMUHdg)
			{
				bFirstIMUHdg = false;
				Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time
			}
			else
			{
				TurnRatePIDOutput = PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd);
				//PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TurnRatePIDOutput);

				int speed = 0;

				(TurnRatePIDOutput > MOTOR_SPEED_MAX) ? speed = MOTOR_SPEED_MAX : speed = (int)TurnRatePIDOutput;
				(TurnRatePIDOutput <= MOTOR_SPEED_LOW) ? speed = MOTOR_SPEED_LOW : speed = (int)TurnRatePIDOutput;

				SetLeftMotorDirAndSpeed(!b_ccw, speed);
				SetRightMotorDirAndSpeed(b_ccw, speed);

				//check for nearly there and all the way there
				curHdgMatchVal = GetHdgMatchVal(tgt_deg, IMUHdgValDeg);
				matchSlope = curHdgMatchVal - prevHdgMatchVal;

				//DEBUG!!
				//mySerial.printf("%lu\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%d\t%2.2f\t%2.2f\n",
				//	millis(),
				//	IMUHdgValDeg,
				//	Prev_HdgDeg,
				//	dHdg,
				//	rate,
				//	degPersec,
				//	lastError,
				//	TurnRate_Kp * lastError,
				//	TurnRate_Ki * lastIval,
				//	TurnRate_Kd * lastDerror,
				//	speed,
				//	curHdgMatchVal,
				//	matchSlope);
				//DEBUG!!

				Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time

				//look for full match
				bDoneTurning = (curHdgMatchVal >= HDG_FULL_MATCH_VAL
					|| (prevHdgMatchVal >= HDG_MIN_MATCH_VAL && matchSlope <= -0.01)); //have to use < vs <= as slope == 0 at start

				//mySerial.printf("curHdgMatchVal = %2.2f, prevHdgMatchVal = %2.2f, matchslope = %2.2f, bDoneTurning = %d\n",
				//	curHdgMatchVal,
				//	prevHdgMatchVal,
				//	matchSlope,
				//	bDoneTurning);

				prevHdgMatchVal = curHdgMatchVal; //07/31/21 moved below bDoneTurning chk so can use prevHdgMatchVal vs curHdgMatchVal in slope check
			}
		}
		//
		//		bTimedOut = (sinceLastTimeCheck > timeout_sec * 1000);
		//
		//		if (bTimedOut)
		//		{
		//			//DEBUG!!
		//			mySerial.printf("timed out with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);
		//			//DEBUG!!
		//
		//			bResult = false;
		//		}
		//
		//		if (bDoneTurning)
		//		{
		//			mySerial.printf("Completed turn with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);
		//		}
	}
	//
	//	//DEBUG!!
	//	//mySerial.printf("%lu: Exiting SpinTurn() at %3.2f deg\n", millis(), IMUHdgValDeg);
	//	//DEBUG!!
	//
	////Step4: Re-enable TIMER5 interrupts
	//	TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
	//
	StopBothMotors();
	delay(1000); //added 04/27/21 for debug
	return bResult;
}
#pragma endregion HDG_BASED_TURN_SUPPORT

#pragma region WALL_TRACK_SUPPORT
void TrackLeftWallOffset(double kp, double ki, double kd, double offsetCm)
{
	//Notes:
	//	06/21/21 modified to do a turn, then straight, then track 0 steer val

	elapsedMillis sinceLastComputeTime = 0;
	double lastError = 0;
	double lastInput = 0;
	double lastIval = 0;
	double lastDerror = 0;
	bool bFirstTime = true;
	//double spinRateDPS = 45;
	double spinRateDPS = 30;

	GetRequestedVL53l0xValues(VL53L0X_LEFT); //update LeftSteeringVal

	mySerial.printf("\nIn TrackLeftWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

	//06/21/21 modified to do a turn, then straight, then track 0 steer val
	double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_LeftCenter / 10.f);//positive inside, negative outside desired offset
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",
		Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, cutAngleDeg);

	//07/05/21 implement 15deg min cut angle
	if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)
	{
		mySerial.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
		cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;
	}
	else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)
	{
		mySerial.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
		cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;
	}

	double SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);

	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
		Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg);

	double adjCutAngleDeg = 0;
	uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx
	if (cutAngleDeg > 0) //robot inside desired offset distance
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg also > 0
		{
			mySerial.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg\n");
			SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0
		{
			mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg, SteerAngleDeg <= 0\n");

				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg < cutAngleDeg but still > 0
			{
				mySerial.printf("CutAngDeg > 0,  0 < SteerAngleDeg < cutAngleDeg\n");
				mySerial.printf("else\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx
	}
	else // cutAngleDeg < 0 --> robot outside desired offset distance
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg may also be > 0
		{
			mySerial.printf("CutAngDeg < 0, SteerAngleDeg > cutAngleDeg\n");
			SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0
		{
			if (SteerAngleDeg <= 0) //cutAngleDeg < 0, SteerAngleDeg <= 0
			{
				mySerial.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg < cutAngleDeg but still > 0
			{
				mySerial.printf("CutAngDeg < 0, 0 < SteerAngleDeg < cutAngleDeg\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx
	}

	delay(1000);

	//adjust so offset capture occurs at correct perpendicular offset
	double adjfactor = cos(PI * cutAngleDeg / 180.f);
	int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);
	adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel. 
	mySerial.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n", cutAngleDeg, adjfactor, adjOffsetMM);

	GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21
	long int err = Lidar_LeftFront - adjOffsetMM; //neg for inside going out, pos for outside going in
	long int prev_err = err;
	mySerial.printf("At start - err = prev_err = %ld\n", err, prev_err);

	SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",
		Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg, err);


	mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tErr\tP_err\n");

	//TIMSK5 = 0; //turn off TIMER5 interrupts


	//09/05/21 rev to doublecheck robot position - might not need the forward motion section
	//while (prev_res * res > 0) //sign change makes this < 0
	while (((cutAngleDeg > 0 && err < 0 ) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0
	{
		prev_err = err;

		MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);
		//while (!bTimeForNavUpdate)
		//{

		//}
		delay(100);
		bTimeForNavUpdate = false;
		frontdistval = GetFrontDistCm();
		GetRequestedVL53l0xValues(VL53L0X_ALL);
		err = Lidar_LeftFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist
		mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",
			millis(),
			Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, frontdistval, Lidar_Rear, err, prev_err);
		CheckForUserInput();
	}

	//now turn back the same (unadjusted) amount
	mySerial.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);
	mySerial.printf("correct back to parallel\n");
	SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

	//sinceLastComputeTime = 0;
	WallTrackSetPoint = 0; //moved here 6/22/21
	//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

	mySerial.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);
	mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

	sinceLastComputeTime = 0; //added 09/04/21
	while (true)
	{
		CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

		//now using TIMER5 100 mSec interrupt for timing
		//if (bTimeForNavUpdate)
		//{
		//	//sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
		//	bTimeForNavUpdate = false;

		//09/04/21 back to elapsedMillis timing
		if(sinceLastComputeTime > WALL_TRACK_UPDATE_INTERVAL_MSEC)
		{
			sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

			GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

			//have to weight value by both angle and wall offset
			WallTrackSteerVal = LeftSteeringVal + (Lidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

			//update motor speeds, skipping bad values
			if (!isnan(WallTrackSteerVal))
			{
				//10/12/20 now this executes every time, with interval controlled by timer ISR
				//09/03/21 rev fcn type to double vs void to eliminate output param
				//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
				//	kp, ki, kd, WallTrackOutput);
				WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
					kp, ki, kd);

				int speed = 0;

				int leftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;
				int rightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

				rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;
				rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;
				leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;
				leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

				MoveAhead(leftspeednum, rightspeednum);

				mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
					millis(),
					Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
					WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
					kp * lastError, ki * lastIval, kd * lastDerror,
					WallTrackOutput, leftspeednum, rightspeednum);
			}
		}
	}
}

void TrackRightWallOffset(double kp, double ki, double kd, double offsetCm)
{
	//Notes:
	//	06/21/21 modified to do a turn, then straight, then track 0 steer val

	elapsedMillis sinceLastComputeTime = 0;
	double lastError = 0;
	double lastInput = 0;
	double lastIval = 0;
	double lastDerror = 0;
	bool bFirstTime = true;
	//double spinRateDPS = 45;

	GetRequestedVL53l0xValues(VL53L0X_RIGHT); //update RightSteeringVal = (Front - Rear)/100

	mySerial.printf("Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

	CaptureRightWallOffset();


	WallTrackSetPoint = 0; //moved here 6/22/21

	mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

	while (true)
	{
		CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

		//now using TIMER5 100 mSec interrupt for timing
		if (bTimeForNavUpdate)
		{
			//sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
			bTimeForNavUpdate = false;

			//GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

			//have to weight value by both angle and wall offset
			WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

			//update motor speeds, skipping bad values
			if (!isnan(WallTrackSteerVal))
			{
				//10/12/20 now this executes every time, with interval controlled by timer ISR
				//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
				//	kp, ki, kd, WallTrackOutput);
				//09/03/21 rev fcn type to double vs void to eliminate output param
				//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
				//	kp, ki, kd, WallTrackOutput);
				WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
					kp, ki, kd);

				int speed = 0;

				//07/05/21 reverse signs for right side tracking 
				int leftspeednum = MOTOR_SPEED_QTR - WallTrackOutput;
				int rightspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

				rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;
				rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;
				leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;
				leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

				MoveAhead(leftspeednum, rightspeednum);

				mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
					millis(),
					Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,
					-WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
					kp * lastError, ki * lastIval, kd * lastDerror,
					WallTrackOutput, leftspeednum, rightspeednum);
			}
		}
	}
}

//07/17/21 abstracted from TrackRightWallOffset
void CaptureRightWallOffset()
{
	//06/21/21 modified to do a turn, then straight, then track 0 steer val
	double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_RightCenter / 10.f);//positive inside, negative outside desired offset
	mySerial.printf("R/C/F dists = %d\t%d\t%d cutAngleDeg = %2.2f\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, cutAngleDeg);
	double spinRateDPS = 45;

	//07/05/21 implement 15deg min cut angle
	if (cutAngleDeg < 0 && abs(cutAngleDeg) < 15)
	{
		mySerial.printf("Increasing cutAngleDeg to -15 from %2.3f\n", cutAngleDeg);
		cutAngleDeg = -15;
	}
	else if (cutAngleDeg > 0 && cutAngleDeg < 15)
	{
		mySerial.printf("Increasing cutAngleDeg to +15 from %2.3f\n", cutAngleDeg);
		cutAngleDeg = 15;
	}

	double SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

	//neg SteerAngleDeg means robot is pointing toward wall, positive means pointing away from wall
	//pos cutAngleDeg means away from wall, neg means toward wall
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

	double adjCutAngleDeg = 0;
	uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

	//robot inside desired offset distance
	if (cutAngleDeg > 0)
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> robot pointing away from wall at greater angle than cutAngleDeg
		{
			mySerial.printf("robot starts further away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);
			SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //CW turn back toward wall
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0
		{
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				mySerial.printf("robot starts toward wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg > 0 but still < cutAngleDeg 
			{
				mySerial.printf("else\n");
				mySerial.printf("robot starts away from wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = -100; //07/05/21 fudge factor for inside start condx
	}

	// cutAngleDeg < 0 --> robot outside desired offset distance
	else //cutAngleDeg < 0 
	{
		mySerial.printf("robot outside offset distance\n");

		if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg may also be > 0
		{
			mySerial.printf("robot angled farther away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);
			//mySerial.printf("if (SteerAngleDeg > cutAngleDeg)\n");
			SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0
		{
			mySerial.printf("robot angled more toward wall (%2.3f) than cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				mySerial.printf("if (SteerAngleDeg <= 0)\n");
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg > 0 but still < cutAngleDeg 
			{
				mySerial.printf("robot angled less toward wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);
				mySerial.printf("else\n");
				//SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = 100; //07/05/21 fudge factor for outside start condx
	}

	delay(1000);

	//adjust so offset capture occurs at correct perpendicular offset
	double adjfactor = cos(PI * cutAngleDeg / 180.f);
	int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);
	adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel. 
	mySerial.printf("at approach start: SteerVal = %2.3f, off_angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n",
		RightSteeringVal, GetSteeringAngle(RightSteeringVal), adjfactor, adjOffsetMM);

	long int prev_res = Lidar_RightFront - adjOffsetMM; //should be neg for inside going out, pos for outside going in
	long int res = prev_res;
	mySerial.printf("At start - prev_res = %ld\n", prev_res);

	mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tRes\tP_res\n");

	//07/17/21 have to watch for situation where robot is already past the target distance before the start
	if ((cutAngleDeg > 0 && prev_res < 0) || (cutAngleDeg < 0 && prev_res > 0))
	{
		while (prev_res * res > 0) //sign change makes this < 0
		{

			prev_res = res;

			MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);
			while (!bTimeForNavUpdate)
			{

			}
			bTimeForNavUpdate = false;
			frontdistval = GetFrontDistCm();
			res = Lidar_RightFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist
			mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",
				millis(),
				Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear, res, prev_res);
			CheckForUserInput();
		}
	}
	else
	{
		mySerial.printf("skipped translate section with R / C / F dists = %d\t %d\t %d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
			Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);
	}

	//now turn back the same (unadjusted) amount
	mySerial.printf("At end - prev_res*res = %ld\n", prev_res * res);
	mySerial.printf("correct back to parallel\n");
	SpinTurn((cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg
}

#pragma endregion WALL_TRACK_SUPPORT

//09/03/21 chg fcn type from void to double to eliminate double& output param
//void PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd, double& output)
double PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd)
{
	//Purpose:  Encapsulate PID algorithm so can get rid of PID library. Library too cumbersome and won't synch with TIMER5 ISR
	//Inputs:
	//	input = double denoting current input value (turn rate, speed, whatever)
	//	setpoint = double denoting desired setpoint in same units as input
	//	sampleTime = int denoting sample time to be used in calcs.
	//	lastError = ref to double denoting error saved from prev calc
	//	lastInput = ref to double denoting input saved from prev calc
	//	Kp/Ki/Kd = doubles denoting PID values to be used for calcs
	//	Output = ref to double denoting output from calc

	double error = setpoint - input;
	double dInput = (input - lastInput);
	lastIval += (error);
	double dErr = (error - lastError);

	//mySerial.printf("PIDCalcs: error/dInput/lastIval/dErr/kp/ki/kd = %2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\n", error, dInput, lastIval, dErr,
	//	Kp,Ki,Kd);

	/*Compute PID Output*/
	double output = Kp * error + Ki * lastIval + Kd * dErr;

	/*Remember some variables for next time*/
	lastError = error;
	lastInput = input;
	lastDerror = dErr;

	return output; //added 09/03/21
}

void CheckForUserInput()
{
	const int bufflen = 80;
	char buff[bufflen];
	memset(buff, 0, bufflen);
	float OffsetCm;
	float Kp, Ki, Kd;
	const char s[2] = ",";
	char* token;

	if (Serial.available() > 0)
	{
		// read the incoming byte:
		int incomingByte = Serial.read();

		// say what you got:
		//Serial.print("I received: ");
		//Serial.println(incomingByte, HEX); //chg to HEX 02/18/20

		//02/18/20 experiment with multiple commands
		switch (incomingByte)
		{
		case 0x43: //ASCII 'C'
		case 0x63: //ASCII 'c'
#pragma region MANUALCONTROL
			//enter infinite loop for direct remote control
			Serial.println(F("ENTERING COMMAND MODE:"));
			Serial.println(F("0 = 180 deg CCW Turn"));
			Serial.println(F("1 = 180 deg CW Turn"));
			Serial.println(F("A = Back to Auto Mode"));
			Serial.println(F("S = Stop"));
			Serial.println(F("F = Forward"));
			Serial.println(F("R = Reverse"));
			Serial.println(F(""));
			Serial.println(F("       Faster"));
			Serial.println(F("\t8"));
			Serial.println(F("Left 4\t5  6 Right"));
			Serial.println(F("\t2"));
			Serial.println(F("       Slower"));

			StopBothMotors();
			int speed = 0;

			bool bAutoMode = false;
			while (!bAutoMode)
			{
				if (Serial.available() > 0)
				{
					// read the incoming byte:
					int incomingByte = Serial.read();

					//mySerial.printf("Got %x\n", incomingByte);

					switch (incomingByte)
					{
					case 0x54: //ASCII 'T'
					case 0x74: //ASCII 't'
						Serial.println(F("Toggle TIMER5 Enable/Disable"));
						if (TIMSK5 == 0)
						{
							Serial.println(F("Enable TIMER5"));
							//TIMSK5 |= OCIE5A;
							TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
							mySerial.printf("TIMSK5 = %x\n", TIMSK5);
						}
						else
						{
							Serial.println(F("Disable TIMER5"));
							TIMSK5 = 0;
							mySerial.printf("TIMSK5 = %x\n", TIMSK5);
						}
						break;
					case 0x44: //ASCII 'D'
					case 0x64: //ASCII 'd'
						Serial.println(F("Display left/right distances"));
						if (TIMSK5 == 0)
						{
							Serial.println(F("Enable TIMER5"));
							//TIMSK5 |= OCIE5A;
							TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
							mySerial.printf("TIMSK5 = %x\n", TIMSK5);
						}
						mySerial.printf("Msec\tLF\tLC\tLR\tRF\tRC\tRR\n");
						while (true)
						{
							if (bTimeForNavUpdate)
							{
								bTimeForNavUpdate = false;
								mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\n", millis(),
									Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear);
							}
						}
						break;
					case 0x30: //Dec '0'
						Serial.println(F("CCW 180 deg Turn"));
						//RollingTurn(true, bIsForwardDir, 180);
						//SpinTurn(true, 180, 45);
						SpinTurn(true, 180, 90);
						MoveAhead(speed, speed);
						break;
					case 0x31: //Dec '1'
						Serial.println(F("CW 180 deg Turn"));
						//RollingTurn(false, bIsForwardDir, 180);
						SpinTurn(false, 180, 45);
						//MoveAhead(speed, speed);
						break;
					case 0x34: //Turn left 10 deg
						Serial.println(F("CCW 10 deg Turn"));
						//MoveAhead(speed, speed);
						//RollingTurn(true, bIsForwardDir, 10);
						SpinTurn(true, 10, 30);
						//SpinTurn(true, 30, 30);

						//added 05/03/20
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x36: //Turn right 10 deg'
						mySerial.print("CW 10 deg Turn\n");
						MoveAhead(speed, speed);
						//RollingTurn(false, bIsForwardDir, 10);
						SpinTurn(false, 10, 30);
						//SpinTurn(false, 45, 30);

						//added 05/03/20
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x38: //Speed up 
						speed += 50;
						speed = (speed >= MOTOR_SPEED_MAX) ? MOTOR_SPEED_MAX : speed;
						mySerial.printf("Speeding up: speed now %d\n", speed);
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x32: //Slow down 
						speed -= 50;
						speed = (speed < 0) ? 0 : speed;
						mySerial.printf("Slowing down: speed now %d\n", speed);
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x35: //05/07/20 changed to use '5' vs 'S'
						Serial.println(F("Stopping Motors!"));
						StopBothMotors();
						speed = 0;
						break;
					case 0x41: //ASCII 'A'
					case 0x61: //ASCII 'a'
						StopBothMotors();
						Serial.println(F("Re-entering AUTO mode"));
						bAutoMode = true;
						break;
					case 0x52: //ASCII 'R'
					case 0x72: //ASCII 'r'
						Serial.println(F("Setting both motors to reverse"));
						bIsForwardDir = false;
						MoveReverse(speed, speed);
						break;
					case 0x46: //ASCII 'F'
					case 0x66: //ASCII 'f'
						Serial.println(F("Setting both motors to forward"));
						bIsForwardDir = true;
						MoveAhead(speed, speed);
#pragma endregion MANUALCONTROL
						break;

#pragma region	WALL OFFSET TRACKING CASES
						//left side wall tracking
					case 0x4C: //ASCII 'L'
					case 0x6C: //ASCII 'l'
						StopBothMotors();
						Serial.println(F("Setting Kp value"));

						//consume CR/LF chars
						while (Serial.available() > 0)
						{
							int byte = Serial.read();
							mySerial.printf("consumed %d\n", byte);
						}

						while (!Serial.available())
						{
						}

						Serial.readBytes(buff, bufflen);
						mySerial.printf("%s\n", buff);

						/* extract Kp */
						token = strtok(buff, s);
						Kp = atof(token);

						/* extract Ki */
						token = strtok(NULL, s);
						Ki = atof(token);

						/* extract Kd */
						token = strtok(NULL, s);
						Kd = atof(token);

						/* extract Offset in cm */
						token = strtok(NULL, s);
						OffsetCm = atof(token);

						mySerial.printf("Kp,Ki,Kd,OffsetCm =  %2.2f, %2.2f, %2.2f, %2.2f\n",
							Kp, Ki, Kd, OffsetCm);

						TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);
						break;
					case 0x4D: //ASCII 'M'
					case 0x6D: //ASCII 'm'
						StopBothMotors();
						Serial.println(F("Setting Kp value"));

						//consume CR/LF chars
						while (Serial.available() > 0)
						{
							int byte = Serial.read();
							mySerial.printf("consumed %d\n", byte);
						}

						while (!Serial.available())
						{
						}

						Serial.readBytes(buff, bufflen);
						mySerial.printf("%s\n", buff);

						/* extract Kp */
						token = strtok(buff, s);
						Kp = atof(token);

						/* extract Ki */
						token = strtok(NULL, s);
						Ki = atof(token);

						/* extract Kd */
						token = strtok(NULL, s);
						Kd = atof(token);

						/* extract Offset in cm */
						token = strtok(NULL, s);
						OffsetCm = atof(token);

						mySerial.printf("Kp,Ki,Kd,OffsetCm =  %2.2f, %2.2f, %2.2f, %2.2f\n",
							Kp, Ki, Kd, OffsetCm);

						TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);
						break;
#pragma endregion	WALL OFFSET TRACKING CASES
						Default :
						Serial.println(F("In Default Case: Stopping Motors!"));
						MoveAhead(0, 0);
						while (true)
						{

						}
					}
				}
			}
		}
	}
}

void ShowMultipleHeadingMeasurements(int numMeas)
{
	//mySerial.printf("Msec\tHdg\n");
	for (size_t i = 0; i < numMeas; i++)
	{
		UpdateIMUHdgValDeg();
		mySerial.printf("%lu\t%3.2f\n", millis(), IMUHdgValDeg);
		delay(50);
	}
}


float GetBattVoltage()
{
	//02/18/17 get corrected battery voltage.  Voltage reading is 1/3 actual Vbatt value
	int analog_batt_reading = GetAverageAnalogReading(BATT_MON_PIN, VOLTS_AVERAGE_NUMBER);//rev 03/01/19 to average readings
	float calc_volts = ZENER_VOLTAGE_OFFSET + ADC_REF_VOLTS * (double)analog_batt_reading / (double)MAX_AD_VALUE;

	////DEBUG!!
	//	mySerial.printf("a/d = %d, calc = %2.2f\n", analog_batt_reading,calc_volts);
	////DEBUG!!

	return calc_volts;
}

int GetAverageAnalogReading(int pin, int numavgs)
{
	long totreads = 0;
	for (int i = 0; i < numavgs; i++)
	{

		////DEBUG!!
		//		int aVal = analogRead(pin);
		//		mySerial.printf("Analog value at pin %d = %d\n", pin, aVal);
		////DEBUG!!

		totreads += analogRead(pin);
	}

	return (int)((float)totreads / (float)numavgs); //truncation ok
}

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Name: FourWD_WallTrackTest_V3.ino

Created: 9/3/2021 6:41:37 PM

Author: FRANKNEWXPS15\Frank

Name: FourWD_WallTrackTest_V2.ino

Created: 8/7/2021 2:23:38 PM

Author: FRANKNEWXPS15\Frank

#pragma region INCLUDES

#include <elapsedMillis.h>

#include <PrintEx.h> //allows printf-style printout syntax

#include "MPU6050_6Axis_MotionApps_V6_12.h" //changed to this version 10/05/19

#include "I2Cdev.h" //this includes Wire.h

#include "I2C_Anything.h" //needed for sending float data over I2C

#include <PID_v2.h> //moved here 02/09/19

#include <MemoryFree.h>;

#pragma endregion Includes

#pragma region DEFINES

#define MPU6050_I2C_ADDR 0x68 //08/09/21 now using default 0x68 addr, since RTC has been removed

//#define DISTANCES_ONLY //added 11/14/18 to just display distances in infinite loop

//#define NO_MOTORS //07/18/21 debug

//#define NO_LIDAR

//#define MPU6050_CCW_INCREASES_YAWVAL //added 12/05/19

#pragma endregion DEFINES

#pragma region PRE_SETUP

StreamEx mySerial = Serial; //added 03/18/18 for printf-style printing

MPU6050 mpu(MPU6050_I2C_ADDR); //06/23/18 chg to AD0 high addr, using INT connected to Mega pin 2 (INT0)

volatile int frontdistval = 0; //10/10/20 chg to volatile

volatile double frontvar = 0; //08/11/20 now updated in timer1 ISR

const int MAX_FRONT_DISTANCE_CM = 400;

const int FRONT_DIST_AVG_WINDOW_SIZE = 3; //moved here & renamed 04/28/19

const int FRONT_DIST_ARRAY_SIZE = 50; //11/22/20 doubled to acct for 10Hz update rate

uint16_t aFrontDist[FRONT_DIST_ARRAY_SIZE]; //04/18/19 rev to use uint16_t vs byte

//11/03/18 added for new incremental variance calc

double Front_Dist_PrevVar = 0;

double Front_Dist_PrevVMean = 0;

#pragma region MOTOR_PINS

//09/11/20 Now using two Adafruit DRV8871 drivers for all 4 motors

const int In1_Left = 10;

const int In2_Left = 11;

const int In1_Right = 8;

const int In2_Right = 9;

#pragma endregion Motor Pin Assignments

#pragma region MISC_PIN_ASSIGNMENTS

const int RED_LASER_DIODE_PIN = 7;

const int LIDAR_MODE_PIN = 4; //mvd here 01/10/18

const int BATT_MON_PIN = A1;//BATT Monitor and IR Detector pin assignments added 01/30/17

#pragma endregion MISC_PIN_ASSIGNMENTS

#pragma region MOTOR_PARAMETERS

//drive wheel speed parameters

const int MOTOR_SPEED_FULL = 200; //range is 0-255

const int MOTOR_SPEED_MAX = 255; //range is 0-255

const int MOTOR_SPEED_HALF = 127; //range is 0-255

const int MOTOR_SPEED_QTR = 75; //added 09/25/20

const int MOTOR_SPEED_LOW = 50; //added 01/22/15

const int MOTOR_SPEED_OFF = 0; //range is 0-255

//drive wheel direction constants

const boolean FWD_DIR = true;

const boolean REV_DIR = !FWD_DIR;

const bool TURNDIR_CCW = true;

const bool TURNDIR_CW = false;

//Motor direction variables

boolean bLeftMotorDirIsFwd = true;

boolean bRightMotorDirIsFwd = true;

bool bIsForwardDir = true; //default is foward direction

#pragma endregion Motor Parameters

#pragma region HEADING_AND_RATE_BASED_TURN_PARAMETERS

elapsedMillis MsecSinceLastTurnRateUpdate;

const int MAX_PULSE_WIDTH_MSEC = 100;

const int MIN_PULSE_WIDTH_MSEC = 0;

const int MAX_SPIN_MOTOR_SPEED = 250;

const int MIN_SPIN_MOTOR_SPEED = 50;

//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 30;

//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 60;

const int TURN_RATE_UPDATE_INTERVAL_MSEC = 100;

double Prev_HdgDeg = 0;

float tgt_deg;

float timeout_sec;

//05/31/21 latest & greatest PID values

double TurnRate_Kp = 5.0;

double TurnRate_Ki = 1;

//double TurnRate_Kd = 0.5;

//double TurnRate_Kd = 1.5;

double TurnRate_Kd = 2.5;

double TurnRatePIDSetPointDPS, TurnRatePIDOutput;

double TurnRatePIDInput = 15.f;

PID TurnRatePID(&TurnRatePIDInput, &TurnRatePIDOutput, &TurnRatePIDSetPointDPS, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, DIRECT);

const float HDG_NEAR_MATCH_VAL = 0.8; //slow the turn down here

const float HDG_FULL_MATCH_VAL = 0.99; //stop the turn here //rev 05/17/20

const float HDG_MIN_MATCH_VAL = 0.6; //added 09/08/18: don't start checking slope until turn is well started

#pragma endregion HEADING_AND_RATE_BASED_TURN_PARAMETERS

#pragma region MPU6050_SUPPORT

uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU. Used in Homer's Overflow routine

uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)

uint16_t packetSize; // expected DMP packet size (default is 42 bytes)

uint16_t fifoCount; // count of all bytes currently in FIFO

uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars

Quaternion q; // [w, x, y, z] quaternion container

VectorInt16 aa; // [x, y, z] accel sensor measurements

VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements

VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements

VectorFloat gravity; // [x, y, z] gravity vector

float euler[3]; // [psi, theta, phi] Euler angle container

float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

int GetPacketLoopCount = 0;

int OuterGetPacketLoopCount = 0;

//MPU6050 status flags

bool bMPU6050Ready = true;

bool dmpReady = false; // set true if DMP init was successful

volatile float IMUHdgValDeg = 0; //updated by UpdateIMUHdgValDeg()//11/02/20 now updated in ISR

bool bFirstTime = true;

#pragma endregion MPU6050 Support

#pragma region WALL_FOLLOW_SUPPORT

const int WALL_OFFSET_TRACK_Kp = 100;

const int WALL_OFFSET_TRACK_Ki = 0;

const int WALL_OFFSET_TRACK_Kd = 0;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.3;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.4;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.5;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.15;

const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.25;

double WallTrackSteerVal, WallTrackOutput, WallTrackSetPoint;

const int CHG_CONNECT_LED_PIN = 50; //12/16/20 added for debug

//const int WALL_OFFSET_TGTDIST_CM = 30;

const int WALL_OFFSET_TGTDIST_CM = 40;

double LeftSteeringVal, RightSteeringVal; //added 08/06/20

const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 50;

//const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 30;

const int WALL_OFFSET_APPR_ANGLE_MINDEG = 30;//added 09/08/21

#pragma endregion WALL_FOLLOW_SUPPORT

#pragma region VL53L0X LIDAR SUPPORT

//VL53L0X Sensor data values

//11/05/20 revised to make all volatile

volatile int Lidar_RightFront;

volatile int Lidar_RightCenter;

volatile int Lidar_RightRear;

volatile int Lidar_LeftFront;

volatile int Lidar_LeftCenter;

volatile int Lidar_LeftRear;

volatile int Lidar_Rear; //added 10/24/20

bool bVL53L0X_TeensyReady = false; //11/10/20 added to prevent bad data reads during Teensy setup()

enum VL53L0X_REQUEST

{

VL53L0X_READYCHECK, //added 11/10/20 to prevent bad reads during Teensy setup()

VL53L0X_CENTERS_ONLY,

VL53L0X_RIGHT,

VL53L0X_LEFT,

VL53L0X_ALL, //added 08/06/20, replaced VL53L0X_BOTH 10/31/20

VL53L0X_REAR_ONLY //added 10/24/20

};

const int VL53L0X_I2C_SLAVE_ADDRESS = 0x20; ////Teensy 3.5 VL53L0X ToF LIDAR controller

#pragma endregion VL53L0X LIDAR SUPPORT

#pragma region TIMER_ISR

#define TIMER_INT_OUTPUT_PIN 53 //scope monitor pin

bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which);

volatile bool bTimeForNavUpdate = false;

const int TIMER5_INTERVAL_MSEC = 100; //05/15/21 added to eliminate magic number

int GetFrontDistCm();

ISR(TIMER5_COMPA_vect) //timer5 interrupt 5Hz

{

digitalWrite(TIMER_INT_OUTPUT_PIN, HIGH);//so I can monitor interrupt timing

delayMicroseconds(30); //leave in - so can see even with NO_STUCK defined

bTimeForNavUpdate = true;

//11/2/20 have to re-enable interrupts for I2C comms to work

interrupts();

GetRequestedVL53l0xValues(VL53L0X_ALL); //11/2/20 update all distances every 100mSec

noInterrupts();

frontdistval = GetFrontDistCm();

digitalWrite(TIMER_INT_OUTPUT_PIN, LOW);//so I can monitor interrupt timing

}

#pragma endregion TIMER_ISR

#pragma endregion PRE_SETUP

#pragma region BATTCONSTS

//03/10/15 added for battery charge level monitoring

//const int LOW_BATT_THRESH_VOLTS = 7.4; //50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries

//const int LOW_BATT_THRESH_VOLTS = 8.4; //07/10/20 temp debug settingr//50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries

const float LOW_BATT_THRESH_VOLTS = 8.4; //12/18/20 chg to float to fix bug

const int MAX_AD_VALUE = 1023;

//const long BATT_CHG_TIMEOUT_SEC = 36000; //10 HRS

const long BATT_CHG_TIMEOUT_SEC = 3600; //12/28/20 for test only

const float DEAD_BATT_THRESH_VOLTS = 6; //added 01/24/17

const float FULL_BATT_VOLTS = 8.4; //added 03/17/18. Chg to 8.4 03/05/20

const int MINIMUM_CHARGE_TIME_SEC = 10; //added 04/01/18

const float VOLTAGE_TO_CURRENT_RATIO = 0.75f; //Volts/Amp rev 03/01/19. Used for both 'Total' and 'Run' sensors

const float FULL_BATT_CURRENT_THRESHOLD = 0.5; //amps chg to 0.5A 03/02/19 per https://www.fpaynter.com/2019/03/better-battery-charging-for-wall-e2/

const int CURRENT_AVERAGE_NUMBER = 10; //added 03/01/19

const int VOLTS_AVERAGE_NUMBER = 5; //added 03/01/19

const int IR_HOMING_TELEMETRY_SPACING_MSEC = 200; //added 04/23/20

const float ZENER_VOLTAGE_OFFSET = 5.84; //measured zener voltage

const float ADC_REF_VOLTS = 3.3; //03/27/18 now using analogReference(EXTERNAL) with Teensy 3.3V connected to AREF

#pragma endregion BATTCONST

void setup()

{

Serial.begin(115200);

#pragma region MPU6050

mySerial.printf("\nChecking for MPU6050 IMU at I2C Addr 0x%x\n", MPU6050_I2C_ADDR);

mpu.initialize();

// verify connection

Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

float StartSec = 0; //used to time MPU6050 init

Serial.println(F("Initializing DMP..."));

devStatus = mpu.dmpInitialize();

// make sure it worked (returns 0 if successful)

if (devStatus == 0)

{

// turn on the DMP, now that it's ready

Serial.println(F("Enabling DMP..."));

mpu.setDMPEnabled(true);

// set our DMP Ready flag so the main loop() function knows it's okay to use it

Serial.println(F("DMP ready! Waiting for MPU6050 drift rate to settle..."));

dmpReady = true;

// get expected DMP packet size for later comparison

packetSize = mpu.dmpGetFIFOPacketSize();

mySerial.printf("Just after MPU6050 Init\n");

mySerial.printf("Calibrating...\n");

mpu.CalibrateGyro(); //using default value of 15

mySerial.printf("Retrieving Calibration Values\n\n");

mpu.PrintActiveOffsets();

//loop heading display until stabilized

mySerial.printf("\nMsec\tHdg\n");

UpdateIMUHdgValDeg();

Prev_HdgDeg = IMUHdgValDeg;

delay(100);

UpdateIMUHdgValDeg();

mySerial.printf("%lu\t%2.3f\t%2.3f\n", millis(), IMUHdgValDeg, Prev_HdgDeg);

while (abs(IMUHdgValDeg - Prev_HdgDeg) > 0.1f)

{

mySerial.printf("%lu\t%2.3f\n", millis(), IMUHdgValDeg);

Prev_HdgDeg = IMUHdgValDeg;

delay(100);

UpdateIMUHdgValDeg();

}

StartSec = millis() / 1000.f;

mySerial.printf("MPU6050 Ready at %2.2f Sec with delta = %2.3f\n", StartSec, IMUHdgValDeg - Prev_HdgDeg);

bMPU6050Ready = true;

delay(1000);

}

else //MPU6050 Init failed for some reason

{

// ERROR!

// 1 = initial memory load failed

// 2 = DMP configuration updates failed

// (if it's going to break, usually the code will be 1)

Serial.print(F("DMP Initialization failed (code "));

Serial.print(devStatus);

Serial.println(F(")"));

//08/29/21 print out battery voltage on failure

float batV = GetBattVoltage();

mySerial.printf("Battery Voltage = %2.2f\n", batV);

bMPU6050Ready = false;

}

#pragma endregion MPU6050

#pragma region PIN_INITIALIZATION

pinMode(LIDAR_MODE_PIN, INPUT); // Set LIDAR input monitor pin

#pragma endregion PIN_INITIALIZATION

//#pragma region TIMER_INTERRUPT

// //09/18/20 can't use Timer1 cuz doing so conflicts with PWM on pins 10-12

// cli();//stop interrupts

// TCCR5A = 0;// set entire TCCR5A register to 0

// TCCR5B = 0;// same for TCCR5B

// TCNT5 = 0;//initialize counter value to 0

// // 06/15/21 rewritten to use defined interval constant rather than magic number

// //10/11/20 chg timer interval to 10Hz vs 5

// //OCR5A = 1562;// = (16*10^6) / (10*1024) - 1 (must be <65536)

// int ocr5a = (16 * 1e6) / ((1000 / TIMER5_INTERVAL_MSEC) * 1024) - 1;

// mySerial.printf("ocr5a = %d\n", ocr5a);

// OCR5A = ocr5a;

// TCCR5B |= (1 << WGM52);// turn on CTC mode

// TCCR5B |= (1 << CS52) | (1 << CS50);// Set CS10 and CS12 bits for 1024 prescaler

// TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

// sei();//allow interrupts

// pinMode(TIMER_INT_OUTPUT_PIN, OUTPUT);

//#pragma endregion TIMER_INTERRUPT

// //02/08/21 mvd below ISR enable so this section can use ISR-generated VL53L0X distances

#pragma region VL53L0X_TEENSY

mySerial.printf("Checking for Teensy 3.5 VL53L0X Controller at I2C addr 0x%x\n", VL53L0X_I2C_SLAVE_ADDRESS);

while (!bVL53L0X_TeensyReady)

{

Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);

bVL53L0X_TeensyReady = (Wire.endTransmission() == 0);

//mySerial.printf("%lu: VL53L0X Teensy Not Avail...\n", millis());

delay(100);

}

mySerial.printf("Teensy available at %lu with bVL53L0X_TeensyReady = %d. Waiting for Teensy setup() to finish\n", millis(), bVL53L0X_TeensyReady);

WaitForVL53L0XTeensy();

//mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());

#pragma endregion VL53L0X_TEENSY

mySerial.printf("Just after WaitForVL53L0XTeensy();\n");

//11/14/18 added this section for distance printout only

//08/06/20 revised for VL53L0X support

#ifdef DISTANCES_ONLY

//TIMSK5 = 0;

digitalWrite(RED_LASER_DIODE_PIN, HIGH); //enable the front laser dot

mySerial.printf("\n------------ DISTANCES ONLY MODE!!! -----------------\n\n");

int i = 0; //added 09/20/20 for in-line header display

mySerial.printf("Msec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");

while (true)

{

//if (bTimeForNavUpdate)

//{

// bTimeForNavUpdate = false;

//09/20/20 re-display the column headers

//if (++i % 20 == 0)

//{

// mySerial.printf("\nMsec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");

//}

//commented out 02/02/21 - now done in ISR

GetRequestedVL53l0xValues(VL53L0X_ALL);

frontdistval = GetFrontDistCm();

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n",

millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear);

//}

delay(50);

}

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

#endif // DISTANCES_ONLY

#pragma region L/R/FRONT DISTANCE ARRAYS

//09/20/20 have to do this for parallel finding to go the right way

Serial.println(F("Initializing Left, Right, Front Distance Arrays..."));

#ifndef NO_PINGS

//03/30/21 moved FrontDistArray init ahead of left/right dist init to prevent inadvertent 'stuck' detection

Serial.println(F("Initializing Front Distance Array"));

InitFrontDistArray(); //08/12/20 code extracted to fcn so can call elsewhere

//Serial.println(F("Updating Left\tRight Distance Arrays"));

//for (size_t i = 0; i < LR_DIST_ARRAY_SIZE; i++)

//{

// delay(100); //ensure enough time for ISR to update distances

// mySerial.printf("%d\t%d\n", Lidar_LeftCenter, Lidar_RightCenter);

// UpdateLRDistanceArrays(Lidar_LeftCenter, Lidar_RightCenter);

//}

//Serial.println(F("Updating Rear Distance Arrays"));

//InitRearDistArray();

//mySerial.printf("Initial rear prev_mean, prev_var = %2.2f, %2.2f\n",

// Rear_Dist_PrevMean, Rear_Dist_PrevVar);

#else

Serial.println(F("Distance Sensors Disabled"));

#endif // NO_PINGS

#pragma endregion L/R/FRONT DISTANCE ARRAYS

#pragma region WALL_TRACK_TEST

mySerial.printf("End of test - Stopping!\n");

//while (true)

//{

// CheckForUserInput();

//}

StopBothMotors();

Serial.println(F("Setting Kp value"));

const int bufflen = 80;

char buff[bufflen];

memset(buff, 0, bufflen);

float OffsetCm;

float Kp, Ki, Kd;

const char s[2] = ",";

char* token;

//consume CR/LF chars

while (Serial.available() > 0)

{

int byte = Serial.read();

mySerial.printf("consumed %d\n", byte);

}

while (!Serial.available())

{

}

Serial.readBytes(buff, bufflen);

mySerial.printf("%s\n", buff);

/* extract Kp */

token = strtok(buff, s);

Kp = atof(token);

/* extract Ki */

token = strtok(NULL, s);

Ki = atof(token);

/* extract Kd */

token = strtok(NULL, s);

Kd = atof(token);

/* extract Offset in cm */

token = strtok(NULL, s);

OffsetCm = atof(token);

mySerial.printf("Kp,Ki,Kd,OffsetCm = %2.2f, %2.2f, %2.2f, %2.2f\n",

Kp, Ki, Kd, OffsetCm);

TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);

//TrackLeftWallOffset(1, 1, 1, 1); //09/05/21 params not used

//TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);

// //mySerial.printf("Rdist\tCdist\tFdist\tsteer\toffang\n");

// //while (true)

// //{

// // //double offangdeg = GetSteeringAngle(Lidar_LeftCenter / 10, LeftSteeringVal);

// // double offangdeg = GetSteeringAngle(LeftSteeringVal); //06/25/21 chg to mm vs cm

// // mySerial.printf("%d\t%d\t%d\t%2.4f\t%2.2f\n", Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, offangdeg);

// // delay(1000);

// //}

#pragma endregion WALL_TRACK_TEST

//mySerial.printf("Msec\tHdg\n");

//RunBothMotors(true, MOTOR_SPEED_HALF, MOTOR_SPEED_HALF);

}

void loop()

{

int turndeg = 45;

mySerial.printf("CCW turn, %d deg\n", turndeg);

//SpinTurn(true, turndeg, 45);

//delay(1000);

SpinTurn(true, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

//mySerial.printf("CW turn, %d deg\n", turndeg);

//SpinTurn(false, turndeg, 45);

//delay(1000);

SpinTurn(false, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

turndeg = 90;

//mySerial.printf("CCW turn, %d deg\n", turndeg);

//SpinTurn(true, turndeg, 45);

delay(1000);

SpinTurn(true, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

//mySerial.printf("CW turn, %d deg\n", turndeg);

//SpinTurn(false, turndeg, 45);

delay(1000);

SpinTurn(false, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

//mySerial.printf("Done with turning tests. Free memory = %d\n", freeMemory());

}

#pragma region VL53L0X_SUPPORT

bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which)

{

//Purpose: Obtain VL53L0X ToF sensor data from Teensy sensor handler

//Inputs:

// which = VL53L0X_REQUEST value denoting which combination of value to retrieve

// VL53L0X_CENTERS_ONLY -> Just the left/right center sensor values

// VL53L0X_RIGHT -> All three right sensor values, in front/center/rear order

// VL53L0X_LEFT -> All three left sensor values, in front/center/rear order

// VL53L0X_ALL -> All seven sensor values, in left/right front/center/rear/rear order

// VL53L0X_REAR_ONLY -> added 10/24/20 Just the rear sensor reading

//Outputs:

// Requested sensor values, obtained via I2C from the VL53L0X sensor handler

// Returns TRUE if data retrieval successful, otherwise FALSE

//Plan:

// Step1: Send request to VL53L0X handler

// Step2: get the requested data

//Notes:

// Copied from FourWD_WallE2_V4.ino's IsIRBeamAvail() and adapted

// 08/05/20 added a VL53L0X_ALL request type

// 01/24/21 added error detection/reporting

//Step1: Send request to VL53L0X handler

//DEBUG!!

//mySerial.printf("Sending %d to slave\n", which);

//DEBUG!!

//mySerial.printf("In GetRequestedVL53l0xValues(%d)\n", (int)which);

Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);

I2C_writeAnything((uint8_t)which);

Wire.endTransmission();

//Step2: get the requested data

int readResult = 0;

int data_size = 0;

switch (which)

{

case VL53L0X_READYCHECK: //11/10/20 added to prevent bad reads during Teensy setup()

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(bVL53L0X_TeensyReady)));

readResult = I2C_readAnything(bVL53L0X_TeensyReady);

break;

case VL53L0X_CENTERS_ONLY:

//just two data values needed here

data_size = 2 * sizeof(int);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(2 * sizeof(Lidar_RightCenter)));

readResult = I2C_readAnything(Lidar_RightCenter);

if (readResult > 0)

{

I2C_readAnything(Lidar_LeftCenter);

}

//DEBUG!!

//mySerial.printf("VL53L0X_CENTERS_ONLY case: Got LC/RC = %d, %d\n", Lidar_LeftCenter, Lidar_RightCenter);

//DEBUG!!

break;

case VL53L0X_RIGHT:

//four data values needed here

data_size = 3 * sizeof(int) + sizeof(float);

//DEBUG!!

//mySerial.printf("data_size = %d\n", data_size);

//DEBUG!!

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

readResult = I2C_readAnything(Lidar_RightFront);

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_RightCenter);

}

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_RightRear);

}

if (readResult > 0)

{

readResult = I2C_readAnything(RightSteeringVal);

}

//DEBUG!!

//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, ToFSteeringVal);

//DEBUG!!

break;

case VL53L0X_LEFT:

//four data values needed here

data_size = 3 * sizeof(int) + sizeof(float);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

readResult = I2C_readAnything(Lidar_LeftFront);

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_LeftCenter);

}

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_LeftRear);

}

if (readResult > 0)

{

readResult = I2C_readAnything(LeftSteeringVal);

}

//DEBUG!!

//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",

// Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, ToFSteeringVal);

//DEBUG!!

break;

case VL53L0X_ALL: //added 08/05/20, chg to VL53L0X_ALL 10/31/20

//nine data values needed here - 7 ints and 2 floats

data_size = 7 * sizeof(int) + 2 * sizeof(float); //10/31/20 added rear distance

//mySerial.printf("In VL53L0X_ALL case with data_size = %d\n", data_size);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

//Lidar_LeftFront

readResult = I2C_readAnything(Lidar_LeftFront);

if (readResult != sizeof(Lidar_LeftFront))

{

mySerial.printf("Error reading Lidar_LeftFront\n");

}

//Lidar_LeftCenter

readResult = I2C_readAnything(Lidar_LeftCenter);

if (readResult != sizeof(Lidar_LeftCenter))

{

mySerial.printf("Error reading Lidar_LeftCenter\n");

}

//Lidar_LeftRear

readResult = I2C_readAnything(Lidar_LeftRear);

if (readResult != sizeof(Lidar_LeftRear))

{

mySerial.printf("Error reading Lidar_LeftRear\n");

}

//LeftSteeringVal

readResult = I2C_readAnything(LeftSteeringVal);

if (readResult != sizeof(LeftSteeringVal))

{

mySerial.printf("Error reading LeftSteeringVal\n");

}

//Lidar_RightFront

readResult = I2C_readAnything(Lidar_RightFront);

if (readResult != sizeof(Lidar_RightFront))

{

mySerial.printf("Error reading Lidar_RightFront\n");

}

//Lidar_RightCenter

readResult = I2C_readAnything(Lidar_RightCenter);

if (readResult != sizeof(Lidar_RightCenter))

{

mySerial.printf("Error reading Lidar_RightCenter\n");

}

//Lidar_RightRear

readResult = I2C_readAnything(Lidar_RightRear);

if (readResult != sizeof(Lidar_RightRear))

{

mySerial.printf("Error reading Lidar_RightRear\n");

}

//RightSteeringVal

readResult = I2C_readAnything(RightSteeringVal);

if (readResult != sizeof(RightSteeringVal))

{

mySerial.printf("Error reading LeftSteeringVal\n");

}

//Lidar_Rear

readResult = I2C_readAnything(Lidar_Rear);

if (readResult != sizeof(Lidar_Rear))

{

mySerial.printf("Error reading Lidar_Rear\n");

}

//mySerial.printf("%lu: VL53l0x - %d, %d, %d, %d, %d, %d, %d\n",

// millis(),

// Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,

// Lidar_Rear);

break; //10/31/20 bugfix

case VL53L0X_REAR_ONLY:

//just ONE data value needed here

data_size = sizeof(int);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(Lidar_Rear)));

readResult = I2C_readAnything(Lidar_Rear);

//DEBUG!!

//mySerial.printf("VL53L0X_REAR_ONLY case: Got Rear = %d\n", Lidar_Rear);

//DEBUG!!

break;

default:

break;

}

return readResult > 0; //this is true only if all reads succeed

}

void WaitForVL53L0XTeensy()

{

bVL53L0X_TeensyReady = false;

while (!bVL53L0X_TeensyReady)

{

GetRequestedVL53l0xValues(VL53L0X_READYCHECK); //this updates bVL53L0X_TeensyReady

//mySerial.printf("%lu: got %d from VL53L0X Teensy\n", millis(), bVL53L0X_TeensyReady);

delay(100);

}

Serial.print(F("Teensy setup() finished at ")); Serial.printf("%lu mSec\n", millis());

//now try to get a VL53L0X measurement

//11/08/20 rev to loop until all distance sensors provide valid data

//mySerial.printf("Msec\tLFront\tLCtr\tLRear\tRFront\tRCtr\tRRear\tRear\n");

GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR

//mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",

// millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

while (Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0

|| Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0

|| Lidar_Rear <= 0)

{

////values updated 10 times/sec in ISR

mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",

millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

delay(100);

GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR

}

mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());

}

double GetSteeringAngle(double steerval)

{

//Purpose: Convert a steering angle into the equivalent off-parallel orientation in degrees

//Inputs:

// steerval = double value denoting current steering value

// Notes:

// 06/27/21 now steering_val/off_angle slope is a constant 0.0175

const double slopeval = 0.0175;

double offparalleldeg = steerval / slopeval; //e.g. for steerval = -0.187 @ 10cm offset, returns +21deg

//mySerial.printf("GetSteeringAngle(%d, %2.4f): slopeval = %2.4f, res %2.2f\n", ctrdist_cm, steerval, slopeval, offparalleldeg);

return offparalleldeg;

}

#pragma endregion VL53L0X_SUPPORT

#pragma region LIDAR_SUPPORT

//11/05/15 added to get LIDAR measurement

int GetFrontDistCm()

{

//Notes:

// 12/05/15 chg to MODE line vs I2C

// 01/06/16 rev to return avg of prev distances on error

#ifndef NO_LIDAR

unsigned long pulse_width;

int LIDARdistCm;

pulse_width = pulseIn(LIDAR_MODE_PIN, HIGH); // Count how long the pulse is high in microseconds

LIDARdistCm = pulse_width / 10; // 10usec = 1 cm of distance for LIDAR-Lite

//chk for erroneous reading

if (LIDARdistCm == 0)

{

//replace with average of last three readings from aFrontDist

int avgdist = GetAvgFrontDistCm();

mySerial.printf("%lu: Error in GetFrontDistCm() - %d replaced with %d\n", millis(), LIDARdistCm, avgdist);

LIDARdistCm = avgdist;

}

//04/30/17 added limit detection/correction

LIDARdistCm = (LIDARdistCm > 0) ? LIDARdistCm : MAX_FRONT_DISTANCE_CM;

return LIDARdistCm;

#else

return 10; //safe number, I hope

#endif

}

//04/25/21 rewritten to use aFrontDist[] values

float GetAvgFrontDistCm()

{

int avgdist = 0;

for (int i = 0; i < FRONT_DIST_AVG_WINDOW_SIZE; i++)

{

//DEBUG!!

//mySerial.printf("frontdist[%d] = %d\n", FRONT_DIST_ARRAY_SIZE - 1 - i, aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i]);

//DEBUG!!

avgdist += aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i];

}

//DEBUG!!

//mySerial.printf("avgdisttot = %d\n", avgdist);

//DEBUG!!

avgdist = (int)((float)avgdist / (float)FRONT_DIST_AVG_WINDOW_SIZE);

//DEBUG!!

//mySerial.printf("avgdist = %d\n", avgdist);

//DEBUG!!

return avgdist;

}

//08/12/20 Extracted inline FRONT_DIST_ARRAY init code so can be called from anywhere

void InitFrontDistArray()

{

//04/01/15 initialize 'stuck detection' arrays

//06/17/20 re-wrote for better readability

//to ensure var > STUCK_FRONT_VARIANCE_THRESHOLD for first FRONT_DIST_ARRAY_SIZE loops

//array is initialized with sawtooth from 0 to MAX_FRONT_DISTANCE_CM

int newval = 0;

int bumpval = MAX_FRONT_DISTANCE_CM / FRONT_DIST_ARRAY_SIZE;

bool bgoingUp = true;

for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)

{

aFrontDist[i] = newval;

//DEBUG!!

//mySerial.printf("i = %d, newval = %d, aFrontdist[%d] = %d\n", i, newval, i, aFrontDist[i]);

//DEBUG!!

if (bgoingUp)

{

if (newval < MAX_FRONT_DISTANCE_CM - bumpval) //don't want newval > MAX_FRONT_DISTANCE_CM

{

newval += bumpval;

}

else

{

bgoingUp = false;

}

else

{

if (newval > bumpval) //don't want newval < 0

{

newval -= bumpval;

}

else

{

bgoingUp = true;

}

//04/19/19 init Front_Dist_PrevVMean & Front_Dist_PrevVar to mean/var respectively

long sum = 0;

for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)

{

sum += aFrontDist[i]; //adds in rest of values

}

Front_Dist_PrevVMean = (float)sum / (float)FRONT_DIST_ARRAY_SIZE;

// Step2: calc new 'brute force' variance

float sumsquares = 0;

for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)

{

sumsquares += (aFrontDist[i] - Front_Dist_PrevVMean) * (aFrontDist[i] - Front_Dist_PrevVMean);

}

Front_Dist_PrevVar = sumsquares / FRONT_DIST_ARRAY_SIZE;

mySerial.printf("%lu: aFrontDist Init: Front_Dist_PrevVMean = %3.2f, Front_Dist_PrevVar = %3.2f\n", millis(), Front_Dist_PrevVMean, Front_Dist_PrevVar);

frontvar = Front_Dist_PrevVar; //added 03/30/21 to prevent 'stuck' at startup

}

#pragma endregion LIDAR_SUPPORT

#pragma region MOTOR SUPPORT

//09/08/20 modified for DRV8871 motor driver

void MoveReverse(int leftspeednum, int rightspeednum)

{

//Purpose: Move in reverse direction continuously - companion to MoveAhead()

//ProvEnA_Pinnce: G. Frank Paynter 09/08/18

//Inputs:

// leftspeednum = integer denoting speed (0=stop, 255 = full speed)

// rightspeednum = integer denoting speed (0=stop, 255 = full speed)

//Outputs: both drive Motors energized with the specified speed

//Plan:

// Step 1: Set reverse direction for both wheels

// Step 2: Run both Motors at specified speeds

//Notes:

// 01/22/20 now using Adafruit DRV8871 drivers

//Step 1: Set reverse direction and speed for both wheels

SetLeftMotorDirAndSpeed(REV_DIR, leftspeednum);

SetRightMotorDirAndSpeed(REV_DIR, rightspeednum);

}

//09/08/20 modified for DRV8871 motor driver

void MoveAhead(int leftspeednum, int rightspeednum)

{

//Purpose: Move ahead continuously

//ProvEnA_Pinnce: G. Frank Paynter and Danny Frank 01/24/2014

//Inputs:

// leftspeednum = integer denoting speed (0=stop, 255 = full speed)

// rightspeednum = integer denoting speed (0=stop, 255 = full speed)

//Outputs: both drive Motors energized with the specified speed

//Plan:

// Step 1: Set forward direction for both wheels

// Step 2: Run both Motors at specified speeds

//Notes:

// 01/22/20 now using Adafruit DRV8871 drivers

//mySerial.printf("InMoveAhead(%d,%d)\n", leftspeednum, rightspeednum);

//Step 1: Set forward direction and speed for both wheels

SetLeftMotorDirAndSpeed(true, leftspeednum);

SetRightMotorDirAndSpeed(true, rightspeednum);

}

//09/08/10 modified for DRV8871 motor driver

void StopLeftMotors()

{

analogWrite(In1_Left, MOTOR_SPEED_OFF);

analogWrite(In2_Left, MOTOR_SPEED_OFF);

}

void StopRightMotors()

{

analogWrite(In1_Right, MOTOR_SPEED_OFF);

analogWrite(In2_Right, MOTOR_SPEED_OFF);

}

//09/08/20 added bool bisFwd param for DRV8871 motor driver

void RunBothMotors(bool bisFwd, int leftspeednum, int rightspeednum)

{

//Purpose: Run both Motors at left/rightspeednum speeds

//Inputs:

// speednum = speed value (0 = OFF, 255 = full speed)

//Outputs: Both Motors run for timesec seconds at speednum speed

//Plan:

// Step 1: Apply drive to both wheels

//Notes:

// 01/14/15 - added left/right speed offset for straightness compensation

// 01/22/15 - added code to restrict fast/slow values

// 01/24/15 - revised for continuous run - no timing

// 01/26/15 - speednum modifications moved to UpdateWallFollowmyMotorspeeds()

// 12/07/15 - chg args from &int to int

//Step 1: Apply drive to both wheels

//DEBUG!!

//mySerial.printf("In RunBothMotors(%s, %d,%d)\n", bisFwd? "FWD":"REV", leftspeednum, rightspeednum);

//DEBUG!!

SetLeftMotorDirAndSpeed(bisFwd, leftspeednum);

SetRightMotorDirAndSpeed(bisFwd, rightspeednum);

}

void RunBothMotorsBidirectional(int leftspeed, int rightspeed)

{

//Purpose: Accommodate the need for independent bidirectional wheel motion

//Inputs:

// leftspeed - integer denoting left wheel speed. Positive value is fwd, negative is rev

// rightspeed - integer denoting right wheel speed. Positive value is fwd, negative is rev

//Outputs:

// left/right wheel motors direction and speed set as appropriate

//Plan:

// Step1: Set left wheel direction and speed

// Step2: Set right wheel direction and speed

//Step1: Set left wheel direction and speed

//DEBUG!!

//mySerial.printf("In RunBothMotorsBidirectional(%d, %d)\n", leftspeed, rightspeed);

if (leftspeed < 0)

{

SetLeftMotorDirAndSpeed(false, -leftspeed); //neg value ==> reverse

}

else

{

SetLeftMotorDirAndSpeed(true, leftspeed); //pos or zero value ==> fwd

}

//Step2: Set right wheel direction and speed

if (rightspeed < 0)

{

SetRightMotorDirAndSpeed(false, -rightspeed); //neg value ==> reverse

}

else

{

SetRightMotorDirAndSpeed(true, rightspeed); //pos or zero value ==> fwd

}

//09/08/20 added bool bisFwd param for DRV8871 motor driver

void RunBothMotorsMsec(bool bisFwd, int timeMsec, int leftspeednum, int rightspeednum)

{

//Purpose: Run both Motors for timesec seconds at speednum speed

//Inputs:

// timesec = time in seconds to run the Motors

// speednum = speed value (0 = OFF, 255 = full speed)

//Outputs: Both Motors run for timesec seconds at speednum speed

//Plan:

// Step 1: Apply drive to both wheels

// Step 2: Delay timsec seconds

// Step 3: Remove drive from both wheels.

//Notes:

// 01/14/15 - added left/right speed offset for straightness compensation

// 01/22/15 - added code to restrict fast/slow values

// 11/25/15 - rev to use motor driver class object

// 09/08/20 added bool bisFwd param for DRV8871 motor driver

RunBothMotors(bisFwd, leftspeednum, rightspeednum);

//Step 2: Delay timsec seconds

delay(timeMsec);

//Step3: Stop motors added 04/12/21

StopBothMotors();

}

//11/25/15 added for symmetry ;-).

void StopBothMotors()

{

StopLeftMotors();

StopRightMotors();

}

void SetLeftMotorDirAndSpeed(bool bIsFwd, int speed)

{

//mySerial.printf("SetLeftMotorDirAndSpeed(%d,%d)\n", bIsFwd, speed);

#ifndef NO_MOTORS

if (bIsFwd)

{

digitalWrite(In1_Left, LOW);

analogWrite(In2_Left, speed);

//mySerial.printf("In TRUE block of SetLeftMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

}

else

{

//mySerial.printf("In FALSE block of SetLeftMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

digitalWrite(In2_Left, LOW);

analogWrite(In1_Left, speed);

}

#endif // !NO_MOTORS

}

void SetRightMotorDirAndSpeed(bool bIsFwd, int speed)

{

//mySerial.printf("In SetRightMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

#ifndef NO_MOTORS

if (bIsFwd)

{

//mySerial.printf("In TRUE block of SetRighttMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

digitalWrite(In1_Right, LOW);

analogWrite(In2_Right, speed);

}

else

{

//mySerial.printf("In FALSE block of SetRightMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

digitalWrite(In2_Right, LOW);

analogWrite(In1_Right, speed);

}

#endif // !NO_MOTORS

}

#pragma endregion Motor Support Functions

#pragma region MPU5060 Support

float UpdateIMUHdgValDeg()

{

//Purpose: Get latest yaw (heading) value from IMU

//Inputs: None. This function should only be called after mpu.dmpPacketAvailable() returns TRUE

//Outputs:

// returns true if successful, otherwise false

// IMUHdgValDeg updated on success

//Plan:

//Step1: check for overflow and reset the FIFO if it occurs. In this case, wait for new packet

//Step2: read all available packets to get to latest data

//Step3: update IMUHdgValDeg with latest value

//Notes:

// 10/08/19 changed return type to boolean

// 10/08/19 no longer need mpuIntStatus

// 10/21/19 completely rewritten to use Homer's algorithm

// 05/05/20 changed return type to float vs bool.

bool retval = false;

int flag = mpu.GetCurrentFIFOPacket(fifoBuffer, packetSize); //08/01/21 now using library version

if (flag != 0) //0 = error exit, 1 = normal exit, 2 = recovered from an overflow

{

// display Euler angles in degrees

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

//compute the yaw value

IMUHdgValDeg = ypr[0] * 180 / M_PI;

retval = true;

}

//return retval;

return IMUHdgValDeg;//05/05/20 now returns updated value for use convenience

}

#pragma endregion MPU5060 Support

#pragma region HDG_BASED_TURN_SUPPORT

float GetHdgMatchVal(float tgt_deg, float cur_deg)

{

//Purpose: Compute the match ratio between two compass headings

//Inputs:

// tgt_deg = float representing target heading in +/-180 range

// IMUHdgValDeg = float representing sensor yaw value in +/-180 deg range

//Outputs:

// returns result of 1 - abs(Tgt_deg - Hdg_deg)/180, all angles in 0-360 deg range

//Plan:

// Step1: convert both inputs to 0-360 deg range

// Step2: compute match ratio

//Notes:

// formula from https://gis.stackexchange.com/questions/129954/comparing-compass-bearings

//Step1: convert both inputs to 0-360 deg range

float tgthdg = (tgt_deg < 0) ? tgt_deg + 360 : tgt_deg;

float curhdg = (cur_deg < 0) ? cur_deg + 360 : cur_deg;

//Step2: compute match ratio

float match_ratio = 1 - abs(tgthdg - curhdg) / 180;

//DEBUG!!

//mySerial.printf("tgt\tcur\tmatch = %4.2f\t%4.2f\t%1.3f\n", tgthdg, curhdg, match_ratio);

//DEBUG!!

return abs(match_ratio);

}

bool SpinTurn(bool b_ccw, float numDeg, float degPersec) //04/25/21 added turn-rate arg (default = TURN_RATE_TARGET_DEGPERSEC)

{

//Purpose: Make a numDeg CW or CCW 'spin' turn

//Inputs:

// b_ccw - True if turn is to be ccw, false otherwise

// numDeg - angle to be swept out in the turn

// ROLLING_TURN_MAX_SEC_PER_DEG = const used to generate timeout proportional to turn deg

// IMUHdgValDeg = IMU heading value updated by UpdateIMUHdgValDeg() //11/02/20 now updated in ISR

// degPerSec = float value denoting desired turn rate

//Plan:

// Step1: Get current heading as starting point

// Step2: Disable TIMER5 interrupts

// Step3: Compute new target value & timeout value

// Step4: Run motors until target reached, using inline PID algorithm to control turn rate

// Step5: Re-enable TIMER5 interrupts

//Notes:

// 06/06/21 we-written to remove PID library - now uses custom 'PIDCalcs()' function

// 06/06/21 added re-try for 180.00 return from IMU - could be bad value

// 06/11/21 added code to correct dHdg errors due to 179/-179 transition & bad IMU values

// 06/12/21 cleaned up & commented out debug code

float tgt_deg;

float timeout_sec;

bool bDoneTurning = false;

bool bTimedOut = false;

bool bResult = true; //04/21/20 added so will be only one exit point

//DEBUG!!

mySerial.printf("In SpinTurn(%s, %2.2f, %2.2f)\n", b_ccw == TURNDIR_CCW ? "CCW" : "CW", numDeg, degPersec);

//mySerial.printf("TurnRatePID started with Kp/Ki/Kd = %2.1f,%2.1f,%2.1f, SampleTime(mSec) = %d\n",

//TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TURN_RATE_UPDATE_INTERVAL_MSEC);

//DEBUG!!

//no need to continue if the IMU isn't available

if (!dmpReady)

{

mySerial.printf("DMP Failure - returning FALSE\n");

return false;

}

//Step1: Get current heading as starting point

//06/06/21 it is possible for IMU to return 180.00 on failure

//so try again. If it really IS 180, then

//it will eventually time out and go on

//08/26/21 re-wrote using 3-value array to make sure initial heading is a steady value

UpdateIMUHdgValDeg();

int retries = 0;

//if (IMUHdgValDeg == 180.f && retries < 5)

if ((IMUHdgValDeg == 180.f || IMUHdgValDeg == 0.f) && retries < 5)

{

//DEBUG!!

//mySerial.printf("Got 180.00 exactly from IMU - retrying...\n");

mySerial.printf("Got 180.00 or 0.00 exactly (%2.3f) from IMU - retrying %d...\n", IMUHdgValDeg, retries);

//DEBUG!!

UpdateIMUHdgValDeg();

retries++;

delay(100);

}

//Step2: Compute new target value & timeout value

timeout_sec = 3 * numDeg / degPersec; //05/29/21 rev to use new turn rate parmeter

//05/17/20 limit timeout_sec to 1 sec or more

timeout_sec = (timeout_sec < 1) ? 1.f : timeout_sec;

//UpdateIMUHdgValDeg();

//12/05/19 added #define back in to manage which direction increases yaw values

#ifdef MPU6050_CCW_INCREASES_YAWVAL

tgt_deg = b_ccw ? IMUHdgValDeg + numDeg : IMUHdgValDeg - numDeg;

#else

tgt_deg = b_ccw ? IMUHdgValDeg - numDeg : IMUHdgValDeg + numDeg;

#endif // MPU6050_CCW_INCREASES_YAWVAL

//correct for -180/180 transition

if (tgt_deg < -180)

{

tgt_deg += 360;

}

//07/29/19 bugfix

if (tgt_deg > 180)

{

tgt_deg -= 360;

}

//DEBUG!!

//mySerial.printf("Init hdg = %4.2f deg, Turn = %4.2f deg, tgt = %4.2f deg, timeout = %4.2f sec\n\n",

// IMUHdgValDeg, numDeg, tgt_deg, timeout_sec);

//DEBUG!!

float curHdgMatchVal = 0;

//09/08/18 added to bolster end-of-turn detection

float prevHdgMatchVal = 0;

float matchSlope = 0;

//Step2: Disable TIMER5 interrupts

TIMSK5 = 0; //disable timer compare interrupt

//Step3: Run motors until target reached, using PID algorithm to control turn rate

Prev_HdgDeg = IMUHdgValDeg; //06/10/21 synch Prev_HdgDeg & IMUHdgValDeg just before entering loop

//DEBUG!!

//mySerial.printf("Just before while() loop: hdg/prvhdg = %2.2f\t%2.2f\n\n", IMUHdgValDeg, Prev_HdgDeg);

//mySerial.printf("Msec\tHdg\tPrvHdg\tDhdg\trate\tSet\terror\tKp*err\tKi*err\tKd*Din\tOutput\Match\tSlope\n");

//DEBUG!!

elapsedMillis sinceLastTimeCheck = 0;

elapsedMillis sinceLastComputeTime = 0;

double lastError = 0;

double lastInput = 0;

double lastIval = 0;

double lastDerror = 0;

bool bFirstIMUHdg = true;

while (!bDoneTurning && !bTimedOut)

{

//11/06/20 now just loops between PID calcs

CheckForUserInput();

if (sinceLastComputeTime >= TURN_RATE_UPDATE_INTERVAL_MSEC)

{

sinceLastComputeTime -= TURN_RATE_UPDATE_INTERVAL_MSEC;

UpdateIMUHdgValDeg(); //update IMUHdgValDeg

double dHdg = IMUHdgValDeg - Prev_HdgDeg;

if (dHdg > 180)

{

dHdg -= 360;

mySerial.printf("dHdg > 180 - subtracting 360\n");

}

else if (dHdg < -180)

{

dHdg += 360;

mySerial.printf("dHdg < -180 - adding 360\n");

}

//watch for turn rates that are wildly off

double rate = abs(1000 * dHdg / TURN_RATE_UPDATE_INTERVAL_MSEC);

//if (rate > 3 * degPersec)

//{

// //DEBUG!!

// mySerial.printf("hdg/prevhdg/dHdg/rate = %2.2f\t%2.2f\t%2.2f\t%2.2f, excessive rate - replacing with %2.2f\n", IMUHdgValDeg, Prev_HdgDeg, dHdg, rate, degPersec);

// //DEBUG!!

// rate = degPersec;

//}

//06/11/21 don't do calcs first time through, as Prev_HdgDeg isn't valid yet

if (bFirstIMUHdg)

{

bFirstIMUHdg = false;

Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time

}

else

{

TurnRatePIDOutput = PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd);

//PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TurnRatePIDOutput);

int speed = 0;

(TurnRatePIDOutput > MOTOR_SPEED_MAX) ? speed = MOTOR_SPEED_MAX : speed = (int)TurnRatePIDOutput;

(TurnRatePIDOutput <= MOTOR_SPEED_LOW) ? speed = MOTOR_SPEED_LOW : speed = (int)TurnRatePIDOutput;

SetLeftMotorDirAndSpeed(!b_ccw, speed);

SetRightMotorDirAndSpeed(b_ccw, speed);

//check for nearly there and all the way there

curHdgMatchVal = GetHdgMatchVal(tgt_deg, IMUHdgValDeg);

matchSlope = curHdgMatchVal - prevHdgMatchVal;

//DEBUG!!

//mySerial.printf("%lu\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%d\t%2.2f\t%2.2f\n",

// millis(),

// IMUHdgValDeg,

// Prev_HdgDeg,

// dHdg,

// rate,

// degPersec,

// lastError,

// TurnRate_Kp * lastError,

// TurnRate_Ki * lastIval,

// TurnRate_Kd * lastDerror,

// speed,

// curHdgMatchVal,

// matchSlope);

//DEBUG!!

Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time

//look for full match

bDoneTurning = (curHdgMatchVal >= HDG_FULL_MATCH_VAL

|| (prevHdgMatchVal >= HDG_MIN_MATCH_VAL && matchSlope <= -0.01)); //have to use < vs <= as slope == 0 at start

//mySerial.printf("curHdgMatchVal = %2.2f, prevHdgMatchVal = %2.2f, matchslope = %2.2f, bDoneTurning = %d\n",

// curHdgMatchVal,

// prevHdgMatchVal,

// matchSlope,

// bDoneTurning);

prevHdgMatchVal = curHdgMatchVal; //07/31/21 moved below bDoneTurning chk so can use prevHdgMatchVal vs curHdgMatchVal in slope check

}

// bTimedOut = (sinceLastTimeCheck > timeout_sec * 1000);

// if (bTimedOut)

// {

// //DEBUG!!

// mySerial.printf("timed out with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);

// //DEBUG!!

// bResult = false;

// }

// if (bDoneTurning)

// {

// mySerial.printf("Completed turn with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);

// }

}

// //DEBUG!!

// //mySerial.printf("%lu: Exiting SpinTurn() at %3.2f deg\n", millis(), IMUHdgValDeg);

// //DEBUG!!

////Step4: Re-enable TIMER5 interrupts

// TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

StopBothMotors();

delay(1000); //added 04/27/21 for debug

return bResult;

}

#pragma endregion HDG_BASED_TURN_SUPPORT

#pragma region WALL_TRACK_SUPPORT

void TrackLeftWallOffset(double kp, double ki, double kd, double offsetCm)

{

//Notes:

// 06/21/21 modified to do a turn, then straight, then track 0 steer val

elapsedMillis sinceLastComputeTime = 0;

double lastError = 0;

double lastInput = 0;

double lastIval = 0;

double lastDerror = 0;

bool bFirstTime = true;

//double spinRateDPS = 45;

double spinRateDPS = 30;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //update LeftSteeringVal

mySerial.printf("\nIn TrackLeftWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

//06/21/21 modified to do a turn, then straight, then track 0 steer val

double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_LeftCenter / 10.f);//positive inside, negative outside desired offset

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",

Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, cutAngleDeg);

//07/05/21 implement 15deg min cut angle

if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

mySerial.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;

}

else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

mySerial.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;

}

double SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg);

double adjCutAngleDeg = 0;

uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

if (cutAngleDeg > 0) //robot inside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg also > 0

{

mySerial.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0

{

mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg, SteerAngleDeg <= 0\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg < cutAngleDeg but still > 0

{

mySerial.printf("CutAngDeg > 0, 0 < SteerAngleDeg < cutAngleDeg\n");

mySerial.printf("else\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx

}

else // cutAngleDeg < 0 --> robot outside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg may also be > 0

{

mySerial.printf("CutAngDeg < 0, SteerAngleDeg > cutAngleDeg\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0

{

if (SteerAngleDeg <= 0) //cutAngleDeg < 0, SteerAngleDeg <= 0

{

mySerial.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg < cutAngleDeg but still > 0

{

mySerial.printf("CutAngDeg < 0, 0 < SteerAngleDeg < cutAngleDeg\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx

}

delay(1000);

//adjust so offset capture occurs at correct perpendicular offset

double adjfactor = cos(PI * cutAngleDeg / 180.f);

int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);

adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel.

mySerial.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n", cutAngleDeg, adjfactor, adjOffsetMM);

GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21

long int err = Lidar_LeftFront - adjOffsetMM; //neg for inside going out, pos for outside going in

long int prev_err = err;

mySerial.printf("At start - err = prev_err = %ld\n", err, prev_err);

SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",

Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg, err);

mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tErr\tP_err\n");

//TIMSK5 = 0; //turn off TIMER5 interrupts

//09/05/21 rev to doublecheck robot position - might not need the forward motion section

//while (prev_res * res > 0) //sign change makes this < 0

while (((cutAngleDeg > 0 && err < 0 ) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0

{

prev_err = err;

MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);

//while (!bTimeForNavUpdate)

//{

//}

delay(100);

bTimeForNavUpdate = false;

frontdistval = GetFrontDistCm();

GetRequestedVL53l0xValues(VL53L0X_ALL);

err = Lidar_LeftFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",

millis(),

Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, frontdistval, Lidar_Rear, err, prev_err);

CheckForUserInput();

}

//now turn back the same (unadjusted) amount

mySerial.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);

mySerial.printf("correct back to parallel\n");

SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

//sinceLastComputeTime = 0;

WallTrackSetPoint = 0; //moved here 6/22/21

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);

mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

sinceLastComputeTime = 0; //added 09/04/21

while (true)

{

CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

//now using TIMER5 100 mSec interrupt for timing

//if (bTimeForNavUpdate)

//{

// //sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

// bTimeForNavUpdate = false;

//09/04/21 back to elapsedMillis timing

if(sinceLastComputeTime > WALL_TRACK_UPDATE_INTERVAL_MSEC)

{

sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

//have to weight value by both angle and wall offset

WallTrackSteerVal = LeftSteeringVal + (Lidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//10/12/20 now this executes every time, with interval controlled by timer ISR

//09/03/21 rev fcn type to double vs void to eliminate output param

//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// kp, ki, kd, WallTrackOutput);

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

int speed = 0;

int leftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

int rightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;

rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;

leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;

leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

MoveAhead(leftspeednum, rightspeednum);

mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

millis(),

Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

kp * lastError, ki * lastIval, kd * lastDerror,

WallTrackOutput, leftspeednum, rightspeednum);

}

void TrackRightWallOffset(double kp, double ki, double kd, double offsetCm)

{

//Notes:

// 06/21/21 modified to do a turn, then straight, then track 0 steer val

elapsedMillis sinceLastComputeTime = 0;

double lastError = 0;

double lastInput = 0;

double lastIval = 0;

double lastDerror = 0;

bool bFirstTime = true;

//double spinRateDPS = 45;

GetRequestedVL53l0xValues(VL53L0X_RIGHT); //update RightSteeringVal = (Front - Rear)/100

mySerial.printf("Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

CaptureRightWallOffset();

WallTrackSetPoint = 0; //moved here 6/22/21

mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

while (true)

{

CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

//now using TIMER5 100 mSec interrupt for timing

if (bTimeForNavUpdate)

{

//sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

bTimeForNavUpdate = false;

//GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

//have to weight value by both angle and wall offset

WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//10/12/20 now this executes every time, with interval controlled by timer ISR

//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// kp, ki, kd, WallTrackOutput);

//09/03/21 rev fcn type to double vs void to eliminate output param

//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// kp, ki, kd, WallTrackOutput);

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

int speed = 0;

//07/05/21 reverse signs for right side tracking

int leftspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

int rightspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;

rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;

leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;

leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

MoveAhead(leftspeednum, rightspeednum);

mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

millis(),

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,

-WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

kp * lastError, ki * lastIval, kd * lastDerror,

WallTrackOutput, leftspeednum, rightspeednum);

}

//07/17/21 abstracted from TrackRightWallOffset

void CaptureRightWallOffset()

{

//06/21/21 modified to do a turn, then straight, then track 0 steer val

double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_RightCenter / 10.f);//positive inside, negative outside desired offset

mySerial.printf("R/C/F dists = %d\t%d\t%d cutAngleDeg = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, cutAngleDeg);

double spinRateDPS = 45;

//07/05/21 implement 15deg min cut angle

if (cutAngleDeg < 0 && abs(cutAngleDeg) < 15)

{

mySerial.printf("Increasing cutAngleDeg to -15 from %2.3f\n", cutAngleDeg);

cutAngleDeg = -15;

}

else if (cutAngleDeg > 0 && cutAngleDeg < 15)

{

mySerial.printf("Increasing cutAngleDeg to +15 from %2.3f\n", cutAngleDeg);

cutAngleDeg = 15;

}

double SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

//neg SteerAngleDeg means robot is pointing toward wall, positive means pointing away from wall

//pos cutAngleDeg means away from wall, neg means toward wall

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

double adjCutAngleDeg = 0;

uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

//robot inside desired offset distance

if (cutAngleDeg > 0)

{

if (SteerAngleDeg > cutAngleDeg) // --> robot pointing away from wall at greater angle than cutAngleDeg

{

mySerial.printf("robot starts further away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);

SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //CW turn back toward wall

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0

{

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

mySerial.printf("robot starts toward wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg > 0 but still < cutAngleDeg

{

mySerial.printf("else\n");

mySerial.printf("robot starts away from wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = -100; //07/05/21 fudge factor for inside start condx

}

// cutAngleDeg < 0 --> robot outside desired offset distance

else //cutAngleDeg < 0

{

mySerial.printf("robot outside offset distance\n");

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg may also be > 0

{

mySerial.printf("robot angled farther away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);

//mySerial.printf("if (SteerAngleDeg > cutAngleDeg)\n");

SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0

{

mySerial.printf("robot angled more toward wall (%2.3f) than cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

mySerial.printf("if (SteerAngleDeg <= 0)\n");

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg > 0 but still < cutAngleDeg

{

mySerial.printf("robot angled less toward wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);

mySerial.printf("else\n");

//SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = 100; //07/05/21 fudge factor for outside start condx

}

delay(1000);

//adjust so offset capture occurs at correct perpendicular offset

double adjfactor = cos(PI * cutAngleDeg / 180.f);

int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);

adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel.

mySerial.printf("at approach start: SteerVal = %2.3f, off_angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n",

RightSteeringVal, GetSteeringAngle(RightSteeringVal), adjfactor, adjOffsetMM);

long int prev_res = Lidar_RightFront - adjOffsetMM; //should be neg for inside going out, pos for outside going in

long int res = prev_res;

mySerial.printf("At start - prev_res = %ld\n", prev_res);

mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tRes\tP_res\n");

//07/17/21 have to watch for situation where robot is already past the target distance before the start

if ((cutAngleDeg > 0 && prev_res < 0) || (cutAngleDeg < 0 && prev_res > 0))

{

while (prev_res * res > 0) //sign change makes this < 0

{

prev_res = res;

MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);

while (!bTimeForNavUpdate)

{

}

bTimeForNavUpdate = false;

frontdistval = GetFrontDistCm();

res = Lidar_RightFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",

millis(),

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear, res, prev_res);

CheckForUserInput();

}

else

{

mySerial.printf("skipped translate section with R / C / F dists = %d\t %d\t %d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

}

//now turn back the same (unadjusted) amount

mySerial.printf("At end - prev_res*res = %ld\n", prev_res * res);

mySerial.printf("correct back to parallel\n");

SpinTurn((cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

}

#pragma endregion WALL_TRACK_SUPPORT

//09/03/21 chg fcn type from void to double to eliminate double& output param

//void PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd, double& output)

double PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd)

{

//Purpose: Encapsulate PID algorithm so can get rid of PID library. Library too cumbersome and won't synch with TIMER5 ISR

//Inputs:

// input = double denoting current input value (turn rate, speed, whatever)

// setpoint = double denoting desired setpoint in same units as input

// sampleTime = int denoting sample time to be used in calcs.

// lastError = ref to double denoting error saved from prev calc

// lastInput = ref to double denoting input saved from prev calc

// Kp/Ki/Kd = doubles denoting PID values to be used for calcs

// Output = ref to double denoting output from calc

double error = setpoint - input;

double dInput = (input - lastInput);

lastIval += (error);

double dErr = (error - lastError);

//mySerial.printf("PIDCalcs: error/dInput/lastIval/dErr/kp/ki/kd = %2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\n", error, dInput, lastIval, dErr,

// Kp,Ki,Kd);

/*Compute PID Output*/

double output = Kp * error + Ki * lastIval + Kd * dErr;

/*Remember some variables for next time*/

lastError = error;

lastInput = input;

lastDerror = dErr;

return output; //added 09/03/21

}

void CheckForUserInput()

{

const int bufflen = 80;

char buff[bufflen];

memset(buff, 0, bufflen);

float OffsetCm;

float Kp, Ki, Kd;

const char s[2] = ",";

char* token;

if (Serial.available() > 0)

{

// read the incoming byte:

int incomingByte = Serial.read();

// say what you got:

//Serial.print("I received: ");

//Serial.println(incomingByte, HEX); //chg to HEX 02/18/20

//02/18/20 experiment with multiple commands

switch (incomingByte)

{

case 0x43: //ASCII 'C'

case 0x63: //ASCII 'c'

#pragma region MANUALCONTROL

//enter infinite loop for direct remote control

Serial.println(F("ENTERING COMMAND MODE:"));

Serial.println(F("0 = 180 deg CCW Turn"));

Serial.println(F("1 = 180 deg CW Turn"));

Serial.println(F("A = Back to Auto Mode"));

Serial.println(F("S = Stop"));

Serial.println(F("F = Forward"));

Serial.println(F("R = Reverse"));

Serial.println(F(""));

Serial.println(F(" Faster"));

Serial.println(F("\t8"));

Serial.println(F("Left 4\t5 6 Right"));

Serial.println(F("\t2"));

Serial.println(F(" Slower"));

StopBothMotors();

int speed = 0;

bool bAutoMode = false;

while (!bAutoMode)

{

if (Serial.available() > 0)

{

// read the incoming byte:

int incomingByte = Serial.read();

//mySerial.printf("Got %x\n", incomingByte);

switch (incomingByte)

{

case 0x54: //ASCII 'T'

case 0x74: //ASCII 't'

Serial.println(F("Toggle TIMER5 Enable/Disable"));

if (TIMSK5 == 0)

{

Serial.println(F("Enable TIMER5"));

//TIMSK5 |= OCIE5A;

TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("TIMSK5 = %x\n", TIMSK5);

}

else

{

Serial.println(F("Disable TIMER5"));

TIMSK5 = 0;

mySerial.printf("TIMSK5 = %x\n", TIMSK5);

}

break;

case 0x44: //ASCII 'D'

case 0x64: //ASCII 'd'

Serial.println(F("Display left/right distances"));

if (TIMSK5 == 0)

{

Serial.println(F("Enable TIMER5"));

//TIMSK5 |= OCIE5A;

TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("TIMSK5 = %x\n", TIMSK5);

}

mySerial.printf("Msec\tLF\tLC\tLR\tRF\tRC\tRR\n");

while (true)

{

if (bTimeForNavUpdate)

{

bTimeForNavUpdate = false;

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\n", millis(),

Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear);

}

break;

case 0x30: //Dec '0'

Serial.println(F("CCW 180 deg Turn"));

//RollingTurn(true, bIsForwardDir, 180);

//SpinTurn(true, 180, 45);

SpinTurn(true, 180, 90);

MoveAhead(speed, speed);

break;

case 0x31: //Dec '1'

Serial.println(F("CW 180 deg Turn"));

//RollingTurn(false, bIsForwardDir, 180);

SpinTurn(false, 180, 45);

//MoveAhead(speed, speed);

break;

case 0x34: //Turn left 10 deg

Serial.println(F("CCW 10 deg Turn"));

//MoveAhead(speed, speed);

//RollingTurn(true, bIsForwardDir, 10);

SpinTurn(true, 10, 30);

//SpinTurn(true, 30, 30);

//added 05/03/20

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x36: //Turn right 10 deg'

mySerial.print("CW 10 deg Turn\n");

MoveAhead(speed, speed);

//RollingTurn(false, bIsForwardDir, 10);

SpinTurn(false, 10, 30);

//SpinTurn(false, 45, 30);

//added 05/03/20

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x38: //Speed up

speed += 50;

speed = (speed >= MOTOR_SPEED_MAX) ? MOTOR_SPEED_MAX : speed;

mySerial.printf("Speeding up: speed now %d\n", speed);

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x32: //Slow down

speed -= 50;

speed = (speed < 0) ? 0 : speed;

mySerial.printf("Slowing down: speed now %d\n", speed);

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x35: //05/07/20 changed to use '5' vs 'S'

Serial.println(F("Stopping Motors!"));

StopBothMotors();

speed = 0;

break;

case 0x41: //ASCII 'A'

case 0x61: //ASCII 'a'

StopBothMotors();

Serial.println(F("Re-entering AUTO mode"));

bAutoMode = true;

break;

case 0x52: //ASCII 'R'

case 0x72: //ASCII 'r'

Serial.println(F("Setting both motors to reverse"));

bIsForwardDir = false;

MoveReverse(speed, speed);

break;

case 0x46: //ASCII 'F'

case 0x66: //ASCII 'f'

Serial.println(F("Setting both motors to forward"));

bIsForwardDir = true;

MoveAhead(speed, speed);

#pragma endregion MANUALCONTROL

break;

#pragma region WALL OFFSET TRACKING CASES

//left side wall tracking

case 0x4C: //ASCII 'L'

case 0x6C: //ASCII 'l'

StopBothMotors();

Serial.println(F("Setting Kp value"));

//consume CR/LF chars

while (Serial.available() > 0)

{

int byte = Serial.read();

mySerial.printf("consumed %d\n", byte);

}

while (!Serial.available())

{

}

Serial.readBytes(buff, bufflen);

mySerial.printf("%s\n", buff);

/* extract Kp */

token = strtok(buff, s);

Kp = atof(token);

/* extract Ki */

token = strtok(NULL, s);

Ki = atof(token);

/* extract Kd */

token = strtok(NULL, s);

Kd = atof(token);

/* extract Offset in cm */

token = strtok(NULL, s);

OffsetCm = atof(token);

mySerial.printf("Kp,Ki,Kd,OffsetCm = %2.2f, %2.2f, %2.2f, %2.2f\n",

Kp, Ki, Kd, OffsetCm);

TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);

break;

case 0x4D: //ASCII 'M'

case 0x6D: //ASCII 'm'

StopBothMotors();

Serial.println(F("Setting Kp value"));

//consume CR/LF chars

while (Serial.available() > 0)

{

int byte = Serial.read();

mySerial.printf("consumed %d\n", byte);

}

while (!Serial.available())

{

}

Serial.readBytes(buff, bufflen);

mySerial.printf("%s\n", buff);

/* extract Kp */

token = strtok(buff, s);

Kp = atof(token);

/* extract Ki */

token = strtok(NULL, s);

Ki = atof(token);

/* extract Kd */

token = strtok(NULL, s);

Kd = atof(token);

/* extract Offset in cm */

token = strtok(NULL, s);

OffsetCm = atof(token);

mySerial.printf("Kp,Ki,Kd,OffsetCm = %2.2f, %2.2f, %2.2f, %2.2f\n",

Kp, Ki, Kd, OffsetCm);

TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);

break;

#pragma endregion WALL OFFSET TRACKING CASES

Default :

Serial.println(F("In Default Case: Stopping Motors!"));

MoveAhead(0, 0);

while (true)

{

}

void ShowMultipleHeadingMeasurements(int numMeas)

{

//mySerial.printf("Msec\tHdg\n");

for (size_t i = 0; i < numMeas; i++)

{

UpdateIMUHdgValDeg();

mySerial.printf("%lu\t%3.2f\n", millis(), IMUHdgValDeg);

delay(50);

}

float GetBattVoltage()

{

//02/18/17 get corrected battery voltage. Voltage reading is 1/3 actual Vbatt value

int analog_batt_reading = GetAverageAnalogReading(BATT_MON_PIN, VOLTS_AVERAGE_NUMBER);//rev 03/01/19 to average readings

float calc_volts = ZENER_VOLTAGE_OFFSET + ADC_REF_VOLTS * (double)analog_batt_reading / (double)MAX_AD_VALUE;

////DEBUG!!

// mySerial.printf("a/d = %d, calc = %2.2f\n", analog_batt_reading,calc_volts);

////DEBUG!!

return calc_volts;

}

int GetAverageAnalogReading(int pin, int numavgs)

{

long totreads = 0;

for (int i = 0; i < numavgs; i++)

{

////DEBUG!!

// int aVal = analogRead(pin);

// mySerial.printf("Analog value at pin %d = %d\n", pin, aVal);

////DEBUG!!

totreads += analogRead(pin);

}

return (int)((float)totreads / (float)numavgs); //truncation ok

}

With this code, I ran a test using PID values of 300,0,0 and an offset target of 40cm. The following short video and Excel plot show the results

Now all I have to do is make this same trick work for both the ‘inside offset’ and ‘outside offset’ starting conditions, and then for both the left-side and right-side tracking conditions, then I can integrate the code back into the main robot operating system.

18 September 2021 Update:

After getting the left-side tracking working reasonably well, I started working on right-side tracking, and discovered that what worked for the left side with no problems did not work particularly well for right-side tracking. After the usual number of programming mistakes I did get right-side tracking working, albeit with a significantly different PID parameter set. For left-side tracking, PID = (300,0,0) seemed to work OK, but for right-side tracking I wound up with PID = (300,0,300). Moreover, when I tried even very small (like 10) values for the I parameter, the robot lost track after just two or three oscillations. So, for the moment it looks like (300,0,0) for the left side, and (300,0,300) for the right side. Here’s a short video showing successful right-side tracking.

And here is the ‘finished’ FourWD_WallTrackTest_V3 code:

/*
    Name:       FourWD_WallTrackTest_V3.ino
    Created:	9/3/2021 6:41:37 PM
    Author:     FRANKNEWXPS15\Frank
*/
/*
		Name:       FourWD_WallTrackTest_V2.ino
		Created:	8/7/2021 2:23:38 PM
		Author:     FRANKNEWXPS15\Frank
*/

#pragma region INCLUDES
#include <elapsedMillis.h>
#include <PrintEx.h> //allows printf-style printout syntax
#include "MPU6050_6Axis_MotionApps_V6_12.h"  //changed to this version 10/05/19
#include "I2Cdev.h" //this includes Wire.h
#include "I2C_Anything.h" //needed for sending float data over I2C
#include <PID_v2.h> //moved here 02/09/19 
#include <MemoryFree.h>;
#pragma endregion Includes

#pragma region DEFINES
#define MPU6050_I2C_ADDR 0x68 //08/09/21 now using default 0x68 addr, since RTC has been removed
//#define DISTANCES_ONLY //added 11/14/18 to just display distances in infinite loop
//#define NO_MOTORS //07/18/21 debug
//#define NO_LIDAR
//#define MPU6050_CCW_INCREASES_YAWVAL //added 12/05/19

#pragma endregion DEFINES

#pragma region PRE_SETUP
StreamEx mySerial = Serial; //added 03/18/18 for printf-style printing
MPU6050 mpu(MPU6050_I2C_ADDR); //06/23/18 chg to AD0 high addr, using INT connected to Mega pin 2 (INT0)
volatile int frontdistval = 0; //10/10/20 chg to volatile 
volatile double frontvar = 0; //08/11/20 now updated in timer1 ISR
const int MAX_FRONT_DISTANCE_CM = 400;
const int FRONT_DIST_AVG_WINDOW_SIZE = 3; //moved here & renamed 04/28/19
const int FRONT_DIST_ARRAY_SIZE = 50; //11/22/20 doubled to acct for 10Hz update rate
uint16_t aFrontDist[FRONT_DIST_ARRAY_SIZE]; //04/18/19 rev to use uint16_t vs byte

//11/03/18 added for new incremental variance calc
double Front_Dist_PrevVar = 0;
double Front_Dist_PrevVMean = 0;

#pragma region MOTOR_PINS
//09/11/20 Now using two Adafruit DRV8871 drivers for all 4 motors
const int In1_Left = 10;
const int In2_Left = 11;
const int In1_Right = 8;
const int In2_Right = 9;
#pragma endregion Motor Pin Assignments

#pragma region MISC_PIN_ASSIGNMENTS
const int RED_LASER_DIODE_PIN = 7;
const int LIDAR_MODE_PIN = 4; //mvd here 01/10/18
const int BATT_MON_PIN = A1;//BATT Monitor and IR Detector pin assignments added 01/30/17

#pragma endregion MISC_PIN_ASSIGNMENTS

#pragma region MOTOR_PARAMETERS
//drive wheel speed parameters
const int MOTOR_SPEED_FULL = 200; //range is 0-255
const int MOTOR_SPEED_MAX = 255; //range is 0-255
const int MOTOR_SPEED_HALF = 127; //range is 0-255
const int MOTOR_SPEED_QTR = 75; //added 09/25/20
const int MOTOR_SPEED_LOW = 50; //added 01/22/15
const int MOTOR_SPEED_OFF = 0; //range is 0-255

//drive wheel direction constants
const boolean FWD_DIR = true;
const boolean REV_DIR = !FWD_DIR;
const bool TURNDIR_CCW = true;
const bool TURNDIR_CW = false;

//Motor direction variables
boolean bLeftMotorDirIsFwd = true;
boolean bRightMotorDirIsFwd = true;
bool bIsForwardDir = true; //default is foward direction


#pragma endregion Motor Parameters

#pragma region HEADING_AND_RATE_BASED_TURN_PARAMETERS
elapsedMillis MsecSinceLastTurnRateUpdate;

const int MAX_PULSE_WIDTH_MSEC = 100;
const int MIN_PULSE_WIDTH_MSEC = 0;

const int MAX_SPIN_MOTOR_SPEED = 250;
const int MIN_SPIN_MOTOR_SPEED = 50;

//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 30;
//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 60;
const int TURN_RATE_UPDATE_INTERVAL_MSEC = 100;

double Prev_HdgDeg = 0;
float tgt_deg;
float timeout_sec;

//05/31/21 latest & greatest PID values
double TurnRate_Kp = 5.0;
double TurnRate_Ki = 1;
//double TurnRate_Kd = 0.5;
//double TurnRate_Kd = 1.5;
double TurnRate_Kd = 2.5;

double TurnRatePIDSetPointDPS, TurnRatePIDOutput;
double TurnRatePIDInput = 15.f;
PID TurnRatePID(&TurnRatePIDInput, &TurnRatePIDOutput, &TurnRatePIDSetPointDPS, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, DIRECT);

const float HDG_NEAR_MATCH_VAL = 0.8; //slow the turn down here
const float HDG_FULL_MATCH_VAL = 0.99; //stop the turn here //rev 05/17/20
const float HDG_MIN_MATCH_VAL = 0.6; //added 09/08/18: don't start checking slope until turn is well started
#pragma endregion HEADING_AND_RATE_BASED_TURN_PARAMETERS

#pragma region MPU6050_SUPPORT
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU. Used in Homer's Overflow routine
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

						// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
int GetPacketLoopCount = 0;
int OuterGetPacketLoopCount = 0;

//MPU6050 status flags
bool bMPU6050Ready = true;
bool dmpReady = false;  // set true if DMP init was successful
volatile float IMUHdgValDeg = 0; //updated by UpdateIMUHdgValDeg()//11/02/20 now updated in ISR
bool bFirstTime = true;
#pragma endregion MPU6050 Support

#pragma region WALL_FOLLOW_SUPPORT
const int WALL_OFFSET_TRACK_Kp = 100;
const int WALL_OFFSET_TRACK_Ki = 0;
const int WALL_OFFSET_TRACK_Kd = 0;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.3;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.4;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.5;
//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.15;
const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.25;
double WallTrackSteerVal, WallTrackOutput, WallTrackSetPoint;
const int CHG_CONNECT_LED_PIN = 50; //12/16/20 added for debug
//const int WALL_OFFSET_TGTDIST_CM = 30;
const int WALL_OFFSET_TGTDIST_CM = 40;
double LeftSteeringVal, RightSteeringVal; //added 08/06/20
const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 50;
//const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 30;
const int WALL_OFFSET_APPR_ANGLE_MINDEG = 30;//added 09/08/21
#pragma endregion WALL_FOLLOW_SUPPORT

#pragma region VL53L0X LIDAR SUPPORT
//VL53L0X Sensor data values
//11/05/20 revised to make all volatile
volatile int Lidar_RightFront;
volatile int Lidar_RightCenter;
volatile int Lidar_RightRear;
volatile int Lidar_LeftFront;
volatile int Lidar_LeftCenter;
volatile int Lidar_LeftRear;
volatile int Lidar_Rear; //added 10/24/20

bool bVL53L0X_TeensyReady = false; //11/10/20 added to prevent bad data reads during Teensy setup()

enum VL53L0X_REQUEST
{
	VL53L0X_READYCHECK, //added 11/10/20 to prevent bad reads during Teensy setup()
	VL53L0X_CENTERS_ONLY,
	VL53L0X_RIGHT,
	VL53L0X_LEFT,
	VL53L0X_ALL, //added 08/06/20, replaced VL53L0X_BOTH 10/31/20
	VL53L0X_REAR_ONLY //added 10/24/20
};

const int VL53L0X_I2C_SLAVE_ADDRESS = 0x20; ////Teensy 3.5 VL53L0X ToF LIDAR controller

#pragma endregion VL53L0X LIDAR SUPPORT

#pragma region TIMER_ISR
#define TIMER_INT_OUTPUT_PIN 53 //scope monitor pin

bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which);
volatile bool bTimeForNavUpdate = false;
const int TIMER5_INTERVAL_MSEC = 100; //05/15/21 added to eliminate magic number
int GetFrontDistCm();

ISR(TIMER5_COMPA_vect) //timer5 interrupt 5Hz
{
	digitalWrite(TIMER_INT_OUTPUT_PIN, HIGH);//so I can monitor interrupt timing
	delayMicroseconds(30); //leave in - so can see even with NO_STUCK defined

	bTimeForNavUpdate = true;

	//11/2/20 have to re-enable interrupts for I2C comms to work
	interrupts();
	GetRequestedVL53l0xValues(VL53L0X_ALL); //11/2/20 update all distances every 100mSec
	noInterrupts();

	frontdistval = GetFrontDistCm();
	digitalWrite(TIMER_INT_OUTPUT_PIN, LOW);//so I can monitor interrupt timing
}
#pragma endregion TIMER_ISR
#pragma endregion PRE_SETUP


#pragma region BATTCONSTS
//03/10/15 added for battery charge level monitoring
//const int LOW_BATT_THRESH_VOLTS = 7.4; //50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries
//const int LOW_BATT_THRESH_VOLTS = 8.4; //07/10/20 temp debug settingr//50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries
const float LOW_BATT_THRESH_VOLTS = 8.4; //12/18/20 chg to float to fix bug
const int MAX_AD_VALUE = 1023;
//const long BATT_CHG_TIMEOUT_SEC = 36000; //10 HRS
const long BATT_CHG_TIMEOUT_SEC = 3600; //12/28/20 for test only 
const float DEAD_BATT_THRESH_VOLTS = 6; //added 01/24/17
const float FULL_BATT_VOLTS = 8.4; //added 03/17/18. Chg to 8.4 03/05/20
const int MINIMUM_CHARGE_TIME_SEC = 10; //added 04/01/18
const float VOLTAGE_TO_CURRENT_RATIO = 0.75f; //Volts/Amp rev 03/01/19. Used for both 'Total' and 'Run' sensors
const float FULL_BATT_CURRENT_THRESHOLD = 0.5; //amps chg to 0.5A 03/02/19 per https://www.fpaynter.com/2019/03/better-battery-charging-for-wall-e2/
const int CURRENT_AVERAGE_NUMBER = 10; //added 03/01/19
const int VOLTS_AVERAGE_NUMBER = 5; //added 03/01/19
const int IR_HOMING_TELEMETRY_SPACING_MSEC = 200; //added 04/23/20
const float ZENER_VOLTAGE_OFFSET = 5.84; //measured zener voltage
const float ADC_REF_VOLTS = 3.3; //03/27/18 now using analogReference(EXTERNAL) with Teensy 3.3V connected to AREF 
#pragma endregion BATTCONST

void setup()
{
	Serial.begin(115200);

#pragma region MPU6050
	mySerial.printf("\nChecking for MPU6050 IMU at I2C Addr 0x%x\n", MPU6050_I2C_ADDR);
	mpu.initialize();

	// verify connection
	Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

	float StartSec = 0; //used to time MPU6050 init
	Serial.println(F("Initializing DMP..."));
	devStatus = mpu.dmpInitialize();

	// make sure it worked (returns 0 if successful)
	if (devStatus == 0)
	{
		// turn on the DMP, now that it's ready
		Serial.println(F("Enabling DMP..."));
		mpu.setDMPEnabled(true);

		// set our DMP Ready flag so the main loop() function knows it's okay to use it
		Serial.println(F("DMP ready! Waiting for MPU6050 drift rate to settle..."));
		dmpReady = true;

		// get expected DMP packet size for later comparison
		packetSize = mpu.dmpGetFIFOPacketSize();

		mySerial.printf("Just after MPU6050 Init\n");
		mySerial.printf("Calibrating...\n");
		mpu.CalibrateGyro(); //using default value of 15
		mySerial.printf("Retrieving Calibration Values\n\n");
		mpu.PrintActiveOffsets();

		//loop heading display until stabilized
		mySerial.printf("\nMsec\tHdg\n");

		UpdateIMUHdgValDeg();
		Prev_HdgDeg = IMUHdgValDeg;
		delay(100);
		UpdateIMUHdgValDeg();

		mySerial.printf("%lu\t%2.3f\t%2.3f\n", millis(), IMUHdgValDeg, Prev_HdgDeg);
		while (abs(IMUHdgValDeg - Prev_HdgDeg) > 0.1f)
		{
			mySerial.printf("%lu\t%2.3f\n", millis(), IMUHdgValDeg);
			Prev_HdgDeg = IMUHdgValDeg;
			delay(100);
			UpdateIMUHdgValDeg();
		}

		StartSec = millis() / 1000.f;
		mySerial.printf("MPU6050 Ready at %2.2f Sec with delta = %2.3f\n", StartSec, IMUHdgValDeg - Prev_HdgDeg);
		bMPU6050Ready = true;

		delay(1000);
	}
	else //MPU6050 Init failed for some reason
	{
		// ERROR!
		// 1 = initial memory load failed
		// 2 = DMP configuration updates failed
		// (if it's going to break, usually the code will be 1)
		Serial.print(F("DMP Initialization failed (code "));
		Serial.print(devStatus);
		Serial.println(F(")"));

		//08/29/21 print out battery voltage on failure
		float batV = GetBattVoltage();
		mySerial.printf("Battery Voltage = %2.2f\n", batV);

		bMPU6050Ready = false;
	}
	#pragma endregion MPU6050
	
	#pragma region PIN_INITIALIZATION
		pinMode(LIDAR_MODE_PIN, INPUT); // Set LIDAR input monitor pin
	
	#pragma endregion PIN_INITIALIZATION
	
	//#pragma region TIMER_INTERRUPT
	//	//09/18/20 can't use Timer1 cuz doing so conflicts with PWM on pins 10-12
	//	cli();//stop interrupts
	//	TCCR5A = 0;// set entire TCCR5A register to 0
	//	TCCR5B = 0;// same for TCCR5B
	//	TCNT5 = 0;//initialize counter value to 0
	//
	//	// 06/15/21 rewritten to use defined interval constant rather than magic number
	//	//10/11/20 chg timer interval to 10Hz vs 5
	//	//OCR5A = 1562;// = (16*10^6) / (10*1024) - 1 (must be <65536)
	//	int ocr5a = (16 * 1e6) / ((1000 / TIMER5_INTERVAL_MSEC) * 1024) - 1;
	//	mySerial.printf("ocr5a = %d\n", ocr5a);
	//	OCR5A = ocr5a;
	//	TCCR5B |= (1 << WGM52);// turn on CTC mode
	//	TCCR5B |= (1 << CS52) | (1 << CS50);// Set CS10 and CS12 bits for 1024 prescaler
	//	TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
	//	sei();//allow interrupts
	//	pinMode(TIMER_INT_OUTPUT_PIN, OUTPUT);
	//#pragma endregion TIMER_INTERRUPT
	//
	//	//02/08/21 mvd below ISR enable so this section can use ISR-generated VL53L0X distances
	#pragma region VL53L0X_TEENSY
	
		mySerial.printf("Checking for Teensy 3.5 VL53L0X Controller at I2C addr 0x%x\n", VL53L0X_I2C_SLAVE_ADDRESS);
		while (!bVL53L0X_TeensyReady)
		{
			Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);
			bVL53L0X_TeensyReady = (Wire.endTransmission() == 0);
	
			//mySerial.printf("%lu: VL53L0X Teensy Not Avail...\n", millis());
			delay(100);
		}
	
		mySerial.printf("Teensy available at %lu with bVL53L0X_TeensyReady = %d. Waiting for Teensy setup() to finish\n", millis(), bVL53L0X_TeensyReady);
	
		WaitForVL53L0XTeensy();
	
		//mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());
	#pragma endregion VL53L0X_TEENSY

		mySerial.printf("Just after WaitForVL53L0XTeensy();\n");
	
		//11/14/18 added this section for distance printout only
		//08/06/20 revised for VL53L0X support
	#ifdef DISTANCES_ONLY
		//TIMSK5 = 0;
		digitalWrite(RED_LASER_DIODE_PIN, HIGH); //enable the front laser dot
		mySerial.printf("\n------------ DISTANCES ONLY MODE!!! -----------------\n\n");
	
		int i = 0; //added 09/20/20 for in-line header display
		mySerial.printf("Msec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");
		while (true)
		{
			//if (bTimeForNavUpdate)
			//{
			//	bTimeForNavUpdate = false;
	
				//09/20/20 re-display the column headers
				//if (++i % 20 == 0)
				//{
				//	mySerial.printf("\nMsec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");
				//}
	
				//commented out 02/02/21 - now done in ISR
			GetRequestedVL53l0xValues(VL53L0X_ALL);
			frontdistval = GetFrontDistCm();
	
			mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n",
				millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
				Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear);
	
			//}
	
			delay(50);
		}
		//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
	
	#endif // DISTANCES_ONLY
	
	#pragma region L/R/FRONT DISTANCE ARRAYS
		//09/20/20 have to do this for parallel finding to go the right way
		Serial.println(F("Initializing Left, Right, Front Distance Arrays..."));
	#ifndef NO_PINGS
		//03/30/21 moved FrontDistArray init ahead of left/right dist init to prevent inadvertent 'stuck' detection
		Serial.println(F("Initializing Front Distance Array"));
		InitFrontDistArray(); //08/12/20 code extracted to fcn so can call elsewhere
	
		//Serial.println(F("Updating Left\tRight Distance Arrays"));
		//for (size_t i = 0; i < LR_DIST_ARRAY_SIZE; i++)
		//{
		//	delay(100); //ensure enough time for ISR to update distances
		//	mySerial.printf("%d\t%d\n", Lidar_LeftCenter, Lidar_RightCenter);
		//	UpdateLRDistanceArrays(Lidar_LeftCenter, Lidar_RightCenter);
		//}
	
		//Serial.println(F("Updating Rear Distance Arrays"));
		//InitRearDistArray();
		//mySerial.printf("Initial rear prev_mean, prev_var = %2.2f, %2.2f\n",
		//	Rear_Dist_PrevMean, Rear_Dist_PrevVar);
	#else
		Serial.println(F("Distance Sensors Disabled"));
	#endif // NO_PINGS
	#pragma endregion L/R/FRONT DISTANCE ARRAYS
	
	#pragma region WALL_TRACK_TEST
		//mySerial.printf("End of test - Stopping!\n");
		////while (true)
		////{
		////	CheckForUserInput();
		////}
		//StopBothMotors();
		//Serial.println(F("Setting Kp value"));
		//const int bufflen = 80;
		//char buff[bufflen];
		//memset(buff, 0, bufflen);
		float OffsetCm;
		float Kp, Ki, Kd;
		//const char s[2] = ",";
		//char* token;
	
	
		////consume CR/LF chars
		//while (Serial.available() > 0)
		//{
		//	int byte = Serial.read();
		//	mySerial.printf("consumed %d\n", byte);
		//}
	
		//while (!Serial.available())
		//{
		//}
	
		//Serial.readBytes(buff, bufflen);
		//mySerial.printf("%s\n", buff);
	
		///* extract Kp */
		//token = strtok(buff, s);
		//Kp = atof(token);
	
		///* extract Ki */
		//token = strtok(NULL, s);
		//Ki = atof(token);
	
		///* extract Kd */
		//token = strtok(NULL, s);
		//Kd = atof(token);
	
		///* extract Offset in cm */
		//token = strtok(NULL, s);
		//OffsetCm = atof(token);
	
		//mySerial.printf("Kp,Ki,Kd,OffsetCm =  %2.2f, %2.2f, %2.2f, %2.2f\n",
		//	Kp, Ki, Kd, OffsetCm);5
	
		//Kp = 300;
		//Kp = 500;
		//Kp = 700;
		//Kp = 500;
		//Kp = 400;
		Kp = 300;
		Ki = 0;
		//Ki = 10;
		//Kd = 0;
		//Kd = 100;
		//Kd = 200;
		Kd = 300;
		OffsetCm = 40;

		//TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);
		//TrackLeftWallOffset(1, 1, 1, 1); //09/05/21 params not used
		TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);
	//	//mySerial.printf("Rdist\tCdist\tFdist\tsteer\toffang\n");
	//	//while (true)
	//	//{
	//	//	//double offangdeg = GetSteeringAngle(Lidar_LeftCenter / 10, LeftSteeringVal);
	//	//	double offangdeg = GetSteeringAngle(LeftSteeringVal); //06/25/21 chg to mm vs cm
	//	//	mySerial.printf("%d\t%d\t%d\t%2.4f\t%2.2f\n", Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, offangdeg);
	//	//	delay(1000);
	//	//}
	#pragma endregion WALL_TRACK_TEST
	//mySerial.printf("Msec\tHdg\n");
	//RunBothMotors(true, MOTOR_SPEED_HALF, MOTOR_SPEED_HALF);
}

void loop()
{

	int turndeg = 45;
	mySerial.printf("CCW turn, %d deg\n", turndeg);
	//SpinTurn(true, turndeg, 45);
	//delay(1000);
	SpinTurn(true, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	//mySerial.printf("CW turn, %d deg\n", turndeg);
	//SpinTurn(false, turndeg, 45);
	//delay(1000);
	SpinTurn(false, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	turndeg = 90;
	//mySerial.printf("CCW turn, %d deg\n", turndeg);
	//SpinTurn(true, turndeg, 45);
	delay(1000);
	SpinTurn(true, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	//mySerial.printf("CW turn, %d deg\n", turndeg);
	//SpinTurn(false, turndeg, 45);
	delay(1000);
	SpinTurn(false, turndeg, 30);
	//ShowMultipleHeadingMeasurements(50);
	StopBothMotors();
	delay(500);

	//mySerial.printf("Done with turning tests.  Free memory = %d\n", freeMemory());

}

#pragma region VL53L0X_SUPPORT
bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which)
{
	//Purpose: Obtain VL53L0X ToF sensor data from Teensy sensor handler
	//Inputs: 
	//	which = VL53L0X_REQUEST value denoting which combination of value to retrieve
	//		VL53L0X_CENTERS_ONLY -> Just the left/right center sensor values
	//		VL53L0X_RIGHT -> All three right sensor values, in front/center/rear order
	//		VL53L0X_LEFT -> All three left sensor values, in front/center/rear order
	//		VL53L0X_ALL -> All seven sensor values, in left/right front/center/rear/rear order
	//		VL53L0X_REAR_ONLY -> added 10/24/20 Just the rear sensor reading

	//Outputs: 
	//	Requested sensor values, obtained via I2C from the VL53L0X sensor handler
	//	Returns TRUE if data retrieval successful, otherwise FALSE
	//Plan:
	//	Step1: Send request to VL53L0X handler
	//	Step2: get the requested data
	//Notes:
	// Copied from FourWD_WallE2_V4.ino's IsIRBeamAvail() and adapted
		// 08/05/20 added a VL53L0X_ALL request type
		// 01/24/21 added error detection/reporting

	//Step1: Send request to VL53L0X handler
	//DEBUG!!
		//mySerial.printf("Sending %d to slave\n", which);
	//DEBUG!!

	//mySerial.printf("In GetRequestedVL53l0xValues(%d)\n", (int)which);

	Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);
	I2C_writeAnything((uint8_t)which);
	Wire.endTransmission();


	//Step2: get the requested data
	int readResult = 0;
	int data_size = 0;
	switch (which)
	{
	case VL53L0X_READYCHECK: //11/10/20 added to prevent bad reads during Teensy setup()
		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(bVL53L0X_TeensyReady)));
		readResult = I2C_readAnything(bVL53L0X_TeensyReady);
		break;

	case VL53L0X_CENTERS_ONLY:
		//just two data values needed here
		data_size = 2 * sizeof(int);
		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(2 * sizeof(Lidar_RightCenter)));
		readResult = I2C_readAnything(Lidar_RightCenter);

		if (readResult > 0)
		{
			I2C_readAnything(Lidar_LeftCenter);
		}

		//DEBUG!!
				//mySerial.printf("VL53L0X_CENTERS_ONLY case: Got LC/RC = %d, %d\n", Lidar_LeftCenter, Lidar_RightCenter);
		//DEBUG!!

		break;
	case VL53L0X_RIGHT:
		//four data values needed here
		data_size = 3 * sizeof(int) + sizeof(float);

		//DEBUG!!
				//mySerial.printf("data_size = %d\n", data_size);
		//DEBUG!!

		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);
		readResult = I2C_readAnything(Lidar_RightFront);

		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_RightCenter);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_RightRear);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(RightSteeringVal);
		}

		//DEBUG!!
				//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",
				//	Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, ToFSteeringVal);
		//DEBUG!!

		break;
	case VL53L0X_LEFT:
		//four data values needed here
		data_size = 3 * sizeof(int) + sizeof(float);

		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);
		readResult = I2C_readAnything(Lidar_LeftFront);

		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_LeftCenter);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(Lidar_LeftRear);
		}
		if (readResult > 0)
		{
			readResult = I2C_readAnything(LeftSteeringVal);
		}

		//DEBUG!!
				//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",
				//	Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, ToFSteeringVal);
		//DEBUG!!

		break;
	case VL53L0X_ALL: //added 08/05/20, chg to VL53L0X_ALL 10/31/20
		//nine data values needed here - 7 ints and 2 floats
		data_size = 7 * sizeof(int) + 2 * sizeof(float); //10/31/20 added rear distance

		//mySerial.printf("In VL53L0X_ALL case with data_size = %d\n", data_size);

		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

		//Lidar_LeftFront
		readResult = I2C_readAnything(Lidar_LeftFront);
		if (readResult != sizeof(Lidar_LeftFront))
		{
			mySerial.printf("Error reading Lidar_LeftFront\n");
		}

		//Lidar_LeftCenter
		readResult = I2C_readAnything(Lidar_LeftCenter);
		if (readResult != sizeof(Lidar_LeftCenter))
		{
			mySerial.printf("Error reading Lidar_LeftCenter\n");
		}

		//Lidar_LeftRear
		readResult = I2C_readAnything(Lidar_LeftRear);
		if (readResult != sizeof(Lidar_LeftRear))
		{
			mySerial.printf("Error reading Lidar_LeftRear\n");
		}

		//LeftSteeringVal
		readResult = I2C_readAnything(LeftSteeringVal);
		if (readResult != sizeof(LeftSteeringVal))
		{
			mySerial.printf("Error reading LeftSteeringVal\n");
		}

		//Lidar_RightFront
		readResult = I2C_readAnything(Lidar_RightFront);
		if (readResult != sizeof(Lidar_RightFront))
		{
			mySerial.printf("Error reading Lidar_RightFront\n");
		}

		//Lidar_RightCenter
		readResult = I2C_readAnything(Lidar_RightCenter);
		if (readResult != sizeof(Lidar_RightCenter))
		{
			mySerial.printf("Error reading Lidar_RightCenter\n");
		}

		//Lidar_RightRear
		readResult = I2C_readAnything(Lidar_RightRear);
		if (readResult != sizeof(Lidar_RightRear))
		{
			mySerial.printf("Error reading Lidar_RightRear\n");
		}

		//RightSteeringVal
		readResult = I2C_readAnything(RightSteeringVal);
		if (readResult != sizeof(RightSteeringVal))
		{
			mySerial.printf("Error reading LeftSteeringVal\n");
		}

		//Lidar_Rear
		readResult = I2C_readAnything(Lidar_Rear);
		if (readResult != sizeof(Lidar_Rear))
		{
			mySerial.printf("Error reading Lidar_Rear\n");
		}

		//mySerial.printf("%lu: VL53l0x - %d, %d, %d, %d, %d, %d, %d\n",
		//	millis(), 
		//	Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
		//	Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,
		//	Lidar_Rear);
		break; //10/31/20 bugfix

	case VL53L0X_REAR_ONLY:
		//just ONE data value needed here
		data_size = sizeof(int);
		Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(Lidar_Rear)));
		readResult = I2C_readAnything(Lidar_Rear);

		//DEBUG!!
				//mySerial.printf("VL53L0X_REAR_ONLY case: Got Rear = %d\n", Lidar_Rear);
		//DEBUG!!

		break;

	default:
		break;
	}

	return readResult > 0; //this is true only if all reads succeed
}

void WaitForVL53L0XTeensy()
{
	bVL53L0X_TeensyReady = false;
	while (!bVL53L0X_TeensyReady)
	{
		GetRequestedVL53l0xValues(VL53L0X_READYCHECK); //this updates bVL53L0X_TeensyReady
		//mySerial.printf("%lu: got %d from VL53L0X Teensy\n", millis(), bVL53L0X_TeensyReady);
		delay(100);
	}

	Serial.print(F("Teensy setup() finished at ")); Serial.printf("%lu mSec\n", millis());

	//now try to get a VL53L0X measurement
	//11/08/20 rev to loop until all distance sensors provide valid data
	//mySerial.printf("Msec\tLFront\tLCtr\tLRear\tRFront\tRCtr\tRRear\tRear\n");
	GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR

	//mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",
	//	millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
	//	Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

	while (Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0
		|| Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0
		|| Lidar_Rear <= 0)
	{
		////values updated 10 times/sec in ISR
		mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",
			millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
			Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

		delay(100);
		GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR
	}

	mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());
}

double GetSteeringAngle(double steerval)
{
	//Purpose:  Convert a steering angle into the equivalent off-parallel orientation in degrees
	//Inputs:
	//	steerval = double value denoting current steering value
	//	Notes:
	//	06/27/21 now steering_val/off_angle slope is a constant 0.0175
	const double slopeval = 0.0175;
	double offparalleldeg = steerval / slopeval; //e.g. for steerval = -0.187 @ 10cm offset, returns +21deg
	//mySerial.printf("GetSteeringAngle(%d, %2.4f): slopeval = %2.4f, res %2.2f\n", ctrdist_cm, steerval, slopeval, offparalleldeg);
	return offparalleldeg;
}
#pragma endregion VL53L0X_SUPPORT

#pragma region LIDAR_SUPPORT
//11/05/15 added to get LIDAR measurement
int GetFrontDistCm()
{
	//Notes:
	//	12/05/15 chg to MODE line vs I2C
	//	01/06/16 rev to return avg of prev distances on error 

#ifndef NO_LIDAR
	unsigned long pulse_width;
	int LIDARdistCm;

	pulse_width = pulseIn(LIDAR_MODE_PIN, HIGH); // Count how long the pulse is high in microseconds
	LIDARdistCm = pulse_width / 10; // 10usec = 1 cm of distance for LIDAR-Lite

	//chk for erroneous reading
	if (LIDARdistCm == 0)
	{
		//replace with average of last three readings from aFrontDist
		int avgdist = GetAvgFrontDistCm();
		mySerial.printf("%lu: Error in GetFrontDistCm() - %d replaced with %d\n", millis(), LIDARdistCm, avgdist);
		LIDARdistCm = avgdist;
	}

	//04/30/17 added limit detection/correction
	LIDARdistCm = (LIDARdistCm > 0) ? LIDARdistCm : MAX_FRONT_DISTANCE_CM;

	return LIDARdistCm;
#else
	return 10; //safe number, I hope
#endif
}

//04/25/21 rewritten to use aFrontDist[] values
float GetAvgFrontDistCm()
{
	int avgdist = 0;
	for (int i = 0; i < FRONT_DIST_AVG_WINDOW_SIZE; i++)
	{
		//DEBUG!!
		//mySerial.printf("frontdist[%d] = %d\n", FRONT_DIST_ARRAY_SIZE - 1 - i, aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i]);
		//DEBUG!!
		avgdist += aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i];
	}
	//DEBUG!!
	//mySerial.printf("avgdisttot = %d\n", avgdist);
	//DEBUG!!

	avgdist = (int)((float)avgdist / (float)FRONT_DIST_AVG_WINDOW_SIZE);
	//DEBUG!!
	//mySerial.printf("avgdist = %d\n", avgdist);
	//DEBUG!!
	return avgdist;
}

//08/12/20 Extracted inline FRONT_DIST_ARRAY init code so can be called from anywhere
void InitFrontDistArray()
{
	//04/01/15 initialize 'stuck detection' arrays
	//06/17/20 re-wrote for better readability
	//to ensure var > STUCK_FRONT_VARIANCE_THRESHOLD for first FRONT_DIST_ARRAY_SIZE loops
	//array is initialized with sawtooth from 0 to MAX_FRONT_DISTANCE_CM
	int newval = 0;
	int bumpval = MAX_FRONT_DISTANCE_CM / FRONT_DIST_ARRAY_SIZE;
	bool bgoingUp = true;

	for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)
	{
		aFrontDist[i] = newval;
		//DEBUG!!
		//mySerial.printf("i = %d, newval = %d, aFrontdist[%d] = %d\n", i, newval, i, aFrontDist[i]);
		//DEBUG!!
		if (bgoingUp)
		{

			if (newval < MAX_FRONT_DISTANCE_CM - bumpval) //don't want newval > MAX_FRONT_DISTANCE_CM
			{
				newval += bumpval;
			}
			else
			{
				bgoingUp = false;
			}
		}
		else
		{
			if (newval > bumpval) //don't want newval < 0
			{
				newval -= bumpval;
			}
			else
			{
				bgoingUp = true;
			}
		}
	}

	//04/19/19 init Front_Dist_PrevVMean  & Front_Dist_PrevVar to mean/var respectively
	long sum = 0;
	for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)
	{
		sum += aFrontDist[i]; //adds in rest of values
	}
	Front_Dist_PrevVMean = (float)sum / (float)FRONT_DIST_ARRAY_SIZE;

	//	Step2: calc new 'brute force' variance
	float sumsquares = 0;
	for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)
	{
		sumsquares += (aFrontDist[i] - Front_Dist_PrevVMean) * (aFrontDist[i] - Front_Dist_PrevVMean);
	}

	Front_Dist_PrevVar = sumsquares / FRONT_DIST_ARRAY_SIZE;
	mySerial.printf("%lu: aFrontDist Init: Front_Dist_PrevVMean = %3.2f, Front_Dist_PrevVar = %3.2f\n", millis(), Front_Dist_PrevVMean, Front_Dist_PrevVar);
	frontvar = Front_Dist_PrevVar; //added 03/30/21 to prevent 'stuck' at startup
}
#pragma endregion LIDAR_SUPPORT

#pragma region MOTOR SUPPORT
//09/08/20 modified for DRV8871 motor driver
void MoveReverse(int leftspeednum, int rightspeednum)
{
	//Purpose:  Move in reverse direction continuously - companion to MoveAhead()
	//ProvEnA_Pinnce: G. Frank Paynter 09/08/18
	//Inputs:  
	//    leftspeednum = integer denoting speed (0=stop, 255 = full speed)
	//    rightspeednum = integer denoting speed (0=stop, 255 = full speed)
	//Outputs: both drive Motors energized with the specified speed
	//Plan:
	//    Step 1: Set reverse direction for both wheels
	//    Step 2: Run both Motors at specified speeds
	//Notes:
	//	01/22/20 now using Adafruit DRV8871 drivers

	//Step 1: Set reverse direction and speed for both wheels
	SetLeftMotorDirAndSpeed(REV_DIR, leftspeednum);
	SetRightMotorDirAndSpeed(REV_DIR, rightspeednum);
}

//09/08/20 modified for DRV8871 motor driver
void MoveAhead(int leftspeednum, int rightspeednum)
{
	//Purpose:  Move ahead continuously
	//ProvEnA_Pinnce: G. Frank Paynter and Danny Frank 01/24/2014
	//Inputs:  
	//    leftspeednum = integer denoting speed (0=stop, 255 = full speed)
	//    rightspeednum = integer denoting speed (0=stop, 255 = full speed)
	//Outputs: both drive Motors energized with the specified speed
	//Plan:
	//    Step 1: Set forward direction for both wheels
	//    Step 2: Run both Motors at specified speeds
	//Notes:
	//	01/22/20 now using Adafruit DRV8871 drivers

	//mySerial.printf("InMoveAhead(%d,%d)\n", leftspeednum, rightspeednum);

	//Step 1: Set forward direction and speed for both wheels
	SetLeftMotorDirAndSpeed(true, leftspeednum);
	SetRightMotorDirAndSpeed(true, rightspeednum);
}

//09/08/10 modified for DRV8871 motor driver
void StopLeftMotors()
{
	analogWrite(In1_Left, MOTOR_SPEED_OFF);
	analogWrite(In2_Left, MOTOR_SPEED_OFF);
}

void StopRightMotors()
{
	analogWrite(In1_Right, MOTOR_SPEED_OFF);
	analogWrite(In2_Right, MOTOR_SPEED_OFF);
}

//09/08/20 added bool bisFwd param for DRV8871 motor driver
void RunBothMotors(bool bisFwd, int leftspeednum, int rightspeednum)
{
	//Purpose: Run both Motors at left/rightspeednum speeds
	//Inputs:
	//    speednum = speed value (0 = OFF, 255 = full speed)
	//Outputs: Both Motors run for timesec seconds at speednum speed
	//Plan:
	//    Step 1: Apply drive to both wheels
	//Notes:
	//    01/14/15 - added left/right speed offset for straightness compensation
	//    01/22/15 - added code to restrict fast/slow values
	//    01/24/15 - revised for continuous run - no timing
	//  01/26/15 - speednum modifications moved to UpdateWallFollowmyMotorspeeds()
	//	12/07/15 - chg args from &int to int
	//Step 1: Apply drive to both wheels

//DEBUG!!
	//mySerial.printf("In RunBothMotors(%s, %d,%d)\n", bisFwd? "FWD":"REV", leftspeednum, rightspeednum);
//DEBUG!!

	SetLeftMotorDirAndSpeed(bisFwd, leftspeednum);
	SetRightMotorDirAndSpeed(bisFwd, rightspeednum);
}

void RunBothMotorsBidirectional(int leftspeed, int rightspeed)
{
	//Purpose:  Accommodate the need for independent bidirectional wheel motion
	//Inputs:
	//	leftspeed - integer denoting left wheel speed.  Positive value is fwd, negative is rev
	//	rightspeed - integer denoting right wheel speed.  Positive value is fwd, negative is rev
	//Outputs:
	//	left/right wheel motors direction and speed set as appropriate
	//Plan:
	//	Step1: Set left wheel direction and speed
	//	Step2: Set right wheel direction and speed

//Step1: Set left wheel direction and speed

	//DEBUG!!
	//mySerial.printf("In RunBothMotorsBidirectional(%d, %d)\n", leftspeed, rightspeed);
	if (leftspeed < 0)
	{
		SetLeftMotorDirAndSpeed(false, -leftspeed); //neg value ==> reverse
	}
	else
	{
		SetLeftMotorDirAndSpeed(true, leftspeed); //pos or zero value ==> fwd
	}

	//Step2: Set right wheel direction and speed
	if (rightspeed < 0)
	{
		SetRightMotorDirAndSpeed(false, -rightspeed); //neg value ==> reverse
	}
	else
	{
		SetRightMotorDirAndSpeed(true, rightspeed); //pos or zero value ==> fwd
	}
}

//09/08/20 added bool bisFwd param for DRV8871 motor driver
void RunBothMotorsMsec(bool bisFwd, int timeMsec, int leftspeednum, int rightspeednum)
{
	//Purpose: Run both Motors for timesec seconds at speednum speed
	//Inputs:
	//    timesec = time in seconds to run the Motors
	//    speednum = speed value (0 = OFF, 255 = full speed)
	//Outputs: Both Motors run for timesec seconds at speednum speed
	//Plan:
	//    Step 1: Apply drive to both wheels
	//    Step 2: Delay timsec seconds
	//    Step 3: Remove drive from both wheels.
	//Notes:
	//    01/14/15 - added left/right speed offset for straightness compensation
	//    01/22/15 - added code to restrict fast/slow values
	//	11/25/15 - rev to use motor driver class object
	//	09/08/20 added bool bisFwd param for DRV8871 motor driver

	RunBothMotors(bisFwd, leftspeednum, rightspeednum);

	//Step 2: Delay timsec seconds
	delay(timeMsec);

	//Step3: Stop motors added 04/12/21
	StopBothMotors();
}

//11/25/15 added for symmetry ;-).
void StopBothMotors()
{
	StopLeftMotors();
	StopRightMotors();
}

void SetLeftMotorDirAndSpeed(bool bIsFwd, int speed)
{
	//mySerial.printf("SetLeftMotorDirAndSpeed(%d,%d)\n", bIsFwd, speed);

#ifndef NO_MOTORS
	if (bIsFwd)
	{
		digitalWrite(In1_Left, LOW);
		analogWrite(In2_Left, speed);
		//mySerial.printf("In TRUE block of SetLeftMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
	}
	else
	{
		//mySerial.printf("In FALSE block of SetLeftMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
		digitalWrite(In2_Left, LOW);
		analogWrite(In1_Left, speed);
	}
#endif // !NO_MOTORS
}

void SetRightMotorDirAndSpeed(bool bIsFwd, int speed)
{
	//mySerial.printf("In SetRightMotorDirAndSpeed(%s, %d)\n",
	//	(bIsFwd == true) ? "true" : "false", speed);

#ifndef NO_MOTORS

	if (bIsFwd)
	{
		//mySerial.printf("In TRUE block of SetRighttMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
		digitalWrite(In1_Right, LOW);
		analogWrite(In2_Right, speed);
	}
	else
	{
		//mySerial.printf("In FALSE block of SetRightMotorDirAndSpeed(%s, %d)\n",
		//	(bIsFwd == true) ? "true" : "false", speed);
		digitalWrite(In2_Right, LOW);
		analogWrite(In1_Right, speed);
	}

#endif // !NO_MOTORS
}

#pragma endregion Motor Support Functions

#pragma region MPU5060 Support
float UpdateIMUHdgValDeg()
{
	//Purpose: Get latest yaw (heading) value from IMU
	//Inputs: None.  This function should only be called after mpu.dmpPacketAvailable() returns TRUE
	//Outputs: 
	//	returns true if successful, otherwise false
	//	IMUHdgValDeg updated on success
	//Plan:
	//Step1: check for overflow and reset the FIFO if it occurs. In this case, wait for new packet
	//Step2: read all available packets to get to latest data
	//Step3: update IMUHdgValDeg with latest value
	//Notes:
	//	10/08/19 changed return type to boolean
	//	10/08/19 no longer need mpuIntStatus
	//	10/21/19 completely rewritten to use Homer's algorithm
	//	05/05/20 changed return type to float vs bool.

	bool retval = false;

	int flag = mpu.GetCurrentFIFOPacket(fifoBuffer, packetSize); //08/01/21 now using library version

	if (flag != 0) //0 = error exit, 1 = normal exit, 2 = recovered from an overflow
	{
		// display Euler angles in degrees
		mpu.dmpGetQuaternion(&q, fifoBuffer);
		mpu.dmpGetGravity(&gravity, &q);
		mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

		//compute the yaw value
		IMUHdgValDeg = ypr[0] * 180 / M_PI;
		retval = true;
	}

	//return retval;
	return IMUHdgValDeg;//05/05/20 now returns updated value for use convenience
}

#pragma endregion MPU5060 Support

#pragma region HDG_BASED_TURN_SUPPORT

float GetHdgMatchVal(float tgt_deg, float cur_deg)
{
	//Purpose:  Compute the match ratio between two compass headings
	//Inputs:
	//	tgt_deg = float representing target heading in +/-180 range
	//	IMUHdgValDeg = float representing sensor yaw value in +/-180 deg range
	//Outputs:
	//	returns result of 1 - abs(Tgt_deg - Hdg_deg)/180, all angles in 0-360 deg range
	//Plan:
	//	Step1: convert both inputs to 0-360 deg range
	//	Step2: compute match ratio
	//Notes:
	//	formula from https://gis.stackexchange.com/questions/129954/comparing-compass-bearings

//Step1: convert both inputs to 0-360 deg range
	float tgthdg = (tgt_deg < 0) ? tgt_deg + 360 : tgt_deg;
	float curhdg = (cur_deg < 0) ? cur_deg + 360 : cur_deg;

	//Step2: compute match ratio
	float match_ratio = 1 - abs(tgthdg - curhdg) / 180;

	//DEBUG!!
		//mySerial.printf("tgt\tcur\tmatch = %4.2f\t%4.2f\t%1.3f\n", tgthdg, curhdg, match_ratio);
	//DEBUG!!
	return abs(match_ratio);
}

bool SpinTurn(bool b_ccw, float numDeg, float degPersec) //04/25/21 added turn-rate arg (default = TURN_RATE_TARGET_DEGPERSEC)
{
	//Purpose: Make a numDeg CW or CCW 'spin' turn
	//Inputs:
	//	b_ccw - True if turn is to be ccw, false otherwise
	//	numDeg - angle to be swept out in the turn
	//	ROLLING_TURN_MAX_SEC_PER_DEG = const used to generate timeout proportional to turn deg
	//	IMUHdgValDeg = IMU heading value updated by UpdateIMUHdgValDeg() //11/02/20 now updated in ISR
	//	degPerSec = float value denoting desired turn rate
	//Plan:
	//	Step1: Get current heading as starting point
	//	Step2: Disable TIMER5 interrupts
	//	Step3: Compute new target value & timeout value
	//	Step4: Run motors until target reached, using inline PID algorithm to control turn rate
	//	Step5: Re-enable TIMER5 interrupts
	//Notes:
	//	06/06/21 we-written to remove PID library - now uses custom 'PIDCalcs()' function
	//	06/06/21 added re-try for 180.00 return from IMU - could be bad value
	//	06/11/21 added code to correct dHdg errors due to 179/-179 transition & bad IMU values
	//	06/12/21 cleaned up & commented out debug code

	float tgt_deg;
	float timeout_sec;
	bool bDoneTurning = false;
	bool bTimedOut = false;
	bool bResult = true; //04/21/20 added so will be only one exit point

	//DEBUG!!
	mySerial.printf("In SpinTurn(%s, %2.2f, %2.2f)\n", b_ccw == TURNDIR_CCW ? "CCW" : "CW", numDeg, degPersec);
	//mySerial.printf("TurnRatePID started with Kp/Ki/Kd = %2.1f,%2.1f,%2.1f, SampleTime(mSec) = %d\n",
		//TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TURN_RATE_UPDATE_INTERVAL_MSEC);
	//DEBUG!!

	//no need to continue if the IMU isn't available
	if (!dmpReady)
	{
		mySerial.printf("DMP Failure - returning FALSE\n");
		return false;
	}

	//Step1: Get current heading as starting point
		//06/06/21 it is possible for IMU to return 180.00 on failure
		//so try again.  If it really IS 180, then 
		//it will eventually time out and go on

	//08/26/21 re-wrote using 3-value array to make sure initial heading is a steady value
	UpdateIMUHdgValDeg();

	int retries = 0;
	//if (IMUHdgValDeg == 180.f && retries < 5)
	if ((IMUHdgValDeg == 180.f || IMUHdgValDeg == 0.f) && retries < 5)
	{
		//DEBUG!!
		//mySerial.printf("Got 180.00 exactly from IMU - retrying...\n");
		mySerial.printf("Got 180.00 or 0.00 exactly (%2.3f) from IMU - retrying %d...\n", IMUHdgValDeg, retries);
		//DEBUG!!
		UpdateIMUHdgValDeg();
		retries++;
		delay(100);
	}

	//Step2: Compute new target value & timeout value
	timeout_sec = 3 * numDeg / degPersec; //05/29/21 rev to use new turn rate parmeter

	//05/17/20 limit timeout_sec to 1 sec or more
	timeout_sec = (timeout_sec < 1) ? 1.f : timeout_sec;

	//UpdateIMUHdgValDeg();

	//12/05/19 added #define back in to manage which direction increases yaw values
#ifdef MPU6050_CCW_INCREASES_YAWVAL
	tgt_deg = b_ccw ? IMUHdgValDeg + numDeg : IMUHdgValDeg - numDeg;
#else
	tgt_deg = b_ccw ? IMUHdgValDeg - numDeg : IMUHdgValDeg + numDeg;

#endif // MPU6050_CCW_INCREASES_YAWVAL

	//correct for -180/180 transition
	if (tgt_deg < -180)
	{
		tgt_deg += 360;
	}

	//07/29/19 bugfix
	if (tgt_deg > 180)
	{
		tgt_deg -= 360;
	}

	//DEBUG!!
	//mySerial.printf("Init hdg = %4.2f deg, Turn = %4.2f  deg, tgt = %4.2f deg, timeout = %4.2f sec\n\n",
	//	IMUHdgValDeg, numDeg, tgt_deg, timeout_sec);
	//DEBUG!!

	float curHdgMatchVal = 0;

	//09/08/18 added to bolster end-of-turn detection
	float prevHdgMatchVal = 0;
	float matchSlope = 0;

	//Step2: Disable TIMER5 interrupts
	TIMSK5 = 0; //disable timer compare interrupt

	//Step3: Run motors until target reached, using PID algorithm to control turn rate
	Prev_HdgDeg = IMUHdgValDeg; //06/10/21 synch Prev_HdgDeg & IMUHdgValDeg just before entering loop

	//DEBUG!!
	//mySerial.printf("Just before while() loop: hdg/prvhdg = %2.2f\t%2.2f\n\n", IMUHdgValDeg, Prev_HdgDeg);

	//mySerial.printf("Msec\tHdg\tPrvHdg\tDhdg\trate\tSet\terror\tKp*err\tKi*err\tKd*Din\tOutput\Match\tSlope\n");
	//DEBUG!!

	elapsedMillis sinceLastTimeCheck = 0;
	elapsedMillis sinceLastComputeTime = 0;
	double lastError = 0;
	double lastInput = 0;
	double lastIval = 0;
	double lastDerror = 0;
	bool bFirstIMUHdg = true;

	while (!bDoneTurning && !bTimedOut)
	{
		//11/06/20 now just loops between PID calcs
		CheckForUserInput();

		if (sinceLastComputeTime >= TURN_RATE_UPDATE_INTERVAL_MSEC)
		{
			sinceLastComputeTime -= TURN_RATE_UPDATE_INTERVAL_MSEC;

			UpdateIMUHdgValDeg(); //update IMUHdgValDeg

			double dHdg = IMUHdgValDeg - Prev_HdgDeg;
			if (dHdg > 180)
			{
				dHdg -= 360;
				mySerial.printf("dHdg > 180 - subtracting 360\n");
			}
			else if (dHdg < -180)
			{
				dHdg += 360;
				mySerial.printf("dHdg < -180 - adding 360\n");
			}

			//watch for turn rates that are wildly off
			double rate = abs(1000 * dHdg / TURN_RATE_UPDATE_INTERVAL_MSEC);
			//if (rate > 3 * degPersec)
			//{
			//	//DEBUG!!
			//	mySerial.printf("hdg/prevhdg/dHdg/rate = %2.2f\t%2.2f\t%2.2f\t%2.2f, excessive rate - replacing with %2.2f\n", IMUHdgValDeg, Prev_HdgDeg, dHdg, rate, degPersec);
			//	//DEBUG!!
			//	rate = degPersec;
			//}

			//06/11/21 don't do calcs first time through, as Prev_HdgDeg isn't valid yet
			if (bFirstIMUHdg)
			{
				bFirstIMUHdg = false;
				Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time
			}
			else
			{
				TurnRatePIDOutput = PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd);
				//PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TurnRatePIDOutput);

				int speed = 0;

				(TurnRatePIDOutput > MOTOR_SPEED_MAX) ? speed = MOTOR_SPEED_MAX : speed = (int)TurnRatePIDOutput;
				(TurnRatePIDOutput <= MOTOR_SPEED_LOW) ? speed = MOTOR_SPEED_LOW : speed = (int)TurnRatePIDOutput;

				SetLeftMotorDirAndSpeed(!b_ccw, speed);
				SetRightMotorDirAndSpeed(b_ccw, speed);

				//check for nearly there and all the way there
				curHdgMatchVal = GetHdgMatchVal(tgt_deg, IMUHdgValDeg);
				matchSlope = curHdgMatchVal - prevHdgMatchVal;

				//DEBUG!!
				//mySerial.printf("%lu\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%d\t%2.2f\t%2.2f\n",
				//	millis(),
				//	IMUHdgValDeg,
				//	Prev_HdgDeg,
				//	dHdg,
				//	rate,
				//	degPersec,
				//	lastError,
				//	TurnRate_Kp * lastError,
				//	TurnRate_Ki * lastIval,
				//	TurnRate_Kd * lastDerror,
				//	speed,
				//	curHdgMatchVal,
				//	matchSlope);
				//DEBUG!!

				Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time

				//look for full match
				bDoneTurning = (curHdgMatchVal >= HDG_FULL_MATCH_VAL
					|| (prevHdgMatchVal >= HDG_MIN_MATCH_VAL && matchSlope <= -0.01)); //have to use < vs <= as slope == 0 at start

				//mySerial.printf("curHdgMatchVal = %2.2f, prevHdgMatchVal = %2.2f, matchslope = %2.2f, bDoneTurning = %d\n",
				//	curHdgMatchVal,
				//	prevHdgMatchVal,
				//	matchSlope,
				//	bDoneTurning);

				prevHdgMatchVal = curHdgMatchVal; //07/31/21 moved below bDoneTurning chk so can use prevHdgMatchVal vs curHdgMatchVal in slope check
			}
		}
		//
		//		bTimedOut = (sinceLastTimeCheck > timeout_sec * 1000);
		//
		//		if (bTimedOut)
		//		{
		//			//DEBUG!!
		//			mySerial.printf("timed out with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);
		//			//DEBUG!!
		//
		//			bResult = false;
		//		}
		//
		//		if (bDoneTurning)
		//		{
		//			mySerial.printf("Completed turn with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);
		//		}
	}
	//
	//	//DEBUG!!
	//	//mySerial.printf("%lu: Exiting SpinTurn() at %3.2f deg\n", millis(), IMUHdgValDeg);
	//	//DEBUG!!
	//
	////Step4: Re-enable TIMER5 interrupts
	//	TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
	//
	StopBothMotors();
	delay(1000); //added 04/27/21 for debug
	return bResult;
}
#pragma endregion HDG_BASED_TURN_SUPPORT

#pragma region WALL_TRACK_SUPPORT
void TrackLeftWallOffset(double kp, double ki, double kd, double offsetCm)
{
	//Notes:
	//	06/21/21 modified to do a turn, then straight, then track 0 steer val

	elapsedMillis sinceLastComputeTime = 0;
	double lastError = 0;
	double lastInput = 0;
	double lastIval = 0;
	double lastDerror = 0;
	bool bFirstTime = true;
	double spinRateDPS = 30;

	GetRequestedVL53l0xValues(VL53L0X_LEFT); //update LeftSteeringVal

	mySerial.printf("\nIn TrackLeftWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

	//06/21/21 modified to do a turn, then straight, then track 0 steer val
	double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_LeftCenter / 10.f);//positive inside, negative outside desired offset
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",
		Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, cutAngleDeg);

	//07/05/21 implement 15deg min cut angle
	if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)
	{
		mySerial.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
		cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;
	}
	else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)
	{
		mySerial.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
		cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;
	}

	double SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);

	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
		Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg);

	double adjCutAngleDeg = 0;
	uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx
	if (cutAngleDeg > 0) //robot inside desired offset distance
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg also > 0
		{
			mySerial.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg\n");
			SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0
		{
			mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg, SteerAngleDeg <= 0\n");

				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg < cutAngleDeg but still > 0
			{
				mySerial.printf("CutAngDeg > 0,  0 < SteerAngleDeg < cutAngleDeg\n");
				mySerial.printf("else\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx
	}
	else // cutAngleDeg < 0 --> robot outside desired offset distance
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg may also be > 0
		{
			mySerial.printf("CutAngDeg < 0, SteerAngleDeg > cutAngleDeg\n");
			SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0
		{
			if (SteerAngleDeg <= 0) //cutAngleDeg < 0, SteerAngleDeg <= 0
			{
				mySerial.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg < cutAngleDeg but still > 0
			{
				mySerial.printf("CutAngDeg < 0, 0 < SteerAngleDeg < cutAngleDeg\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx
	}

	delay(1000);

	//adjust so offset capture occurs at correct perpendicular offset
	double adjfactor = cos(PI * cutAngleDeg / 180.f);
	int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);
	adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel. 
	mySerial.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n", cutAngleDeg, adjfactor, adjOffsetMM);

	GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21
	long int err = Lidar_LeftFront - adjOffsetMM; //neg for inside going out, pos for outside going in
	long int prev_err = err;
	mySerial.printf("At start - err = prev_err = %ld\n", err, prev_err);

	SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",
		Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg, err);


	mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tErr\tP_err\n");

	//TIMSK5 = 0; //turn off TIMER5 interrupts


	//09/05/21 rev to doublecheck robot position - might not need the forward motion section
	//while (prev_res * res > 0) //sign change makes this < 0
	while (((cutAngleDeg > 0 && err < 0 ) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0
	{
		prev_err = err;

		MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);
		//while (!bTimeForNavUpdate)
		//{

		//}
		delay(100);
		bTimeForNavUpdate = false;
		frontdistval = GetFrontDistCm();
		GetRequestedVL53l0xValues(VL53L0X_ALL);
		err = Lidar_LeftFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist
		mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",
			millis(),
			Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, frontdistval, Lidar_Rear, err, prev_err);
		CheckForUserInput();
	}

	//now turn back the same (unadjusted) amount
	mySerial.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);
	mySerial.printf("correct back to parallel\n");
	SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

	//sinceLastComputeTime = 0;
	WallTrackSetPoint = 0; //moved here 6/22/21
	//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

	mySerial.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);
	mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

	sinceLastComputeTime = 0; //added 09/04/21
	while (true)
	{
		CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

		//now using TIMER5 100 mSec interrupt for timing
		//if (bTimeForNavUpdate)
		//{
		//	//sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
		//	bTimeForNavUpdate = false;

		//09/04/21 back to elapsedMillis timing
		if(sinceLastComputeTime > WALL_TRACK_UPDATE_INTERVAL_MSEC)
		{
			sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

			GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

			//have to weight value by both angle and wall offset
			WallTrackSteerVal = LeftSteeringVal + (Lidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

			//update motor speeds, skipping bad values
			if (!isnan(WallTrackSteerVal))
			{
				//10/12/20 now this executes every time, with interval controlled by timer ISR
				//09/03/21 rev fcn type to double vs void to eliminate output param
				//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
				//	kp, ki, kd, WallTrackOutput);
				WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
					kp, ki, kd);

				int speed = 0;

				int leftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;
				int rightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

				rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;
				rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;
				leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;
				leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

				MoveAhead(leftspeednum, rightspeednum);

				mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
					millis(),
					Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,
					WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
					kp * lastError, ki * lastIval, kd * lastDerror,
					WallTrackOutput, leftspeednum, rightspeednum);
			}
		}
	}
}

void TrackRightWallOffset(double kp, double ki, double kd, double offsetCm)
{
	//Notes:
	//	06/21/21 modified to do a turn, then straight, then track 0 steer val
	//	09/12/21 updated from TrackLeftWallOffset

	elapsedMillis sinceLastComputeTime = 0;
	double lastError = 0;
	double lastInput = 0;
	double lastIval = 0;
	double lastDerror = 0;
	bool bFirstTime = true;
	//double spinRateDPS = 45;
	double spinRateDPS = 30;

	GetRequestedVL53l0xValues(VL53L0X_RIGHT); //update RightSteeringVal = (Front - Rear)/100

	//09/12/21 ported from TrackLeftWallOffset
	mySerial.printf("\nIn TrackRightWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

	//06/21/21 modified to do a turn, then straight, then track 0 steer val
	double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_RightCenter / 10.f);//positive inside, negative outside desired offset
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, cutAngleDeg);

	//07/05/21 implement min cut angle
	if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)
	{
		mySerial.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
		cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;
	}
	else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)
	{
		mySerial.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);
		cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;
	}

	//get the steering angle from the steering value, for comparison to the computed cut angle
	//positive value means robot is oriented away from wall
	double SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

	//now decide which way to turn.
	double adjCutAngleDeg = 0;
	uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx
	if (cutAngleDeg > 0) //robot inside desired offset distance
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> implies SteerAngleDeg also > 0
		{
			//robot pointed away from wall more than it should
			mySerial.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg\n");
			SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //turn back toward wall to achieve cutAngle
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0
		{
			//robot not turned far enough away from wall (could actually be turned toward wall if SteerAngDeg < 0)
			mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				//robot turned toward wall
				mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg, SteerAngleDeg <= 0\n");
				SpinTurn(true, cutAngleDeg + SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg < cutAngleDeg but still > 0
			{
				//robot turned away from wall, but not far enough
				mySerial.printf("CutAngDeg > 0,  0 < SteerAngleDeg < cutAngleDeg\n");
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx
	}
	else // cutAngleDeg < 0 --> robot outside desired offset distance
	{
		if (SteerAngleDeg < cutAngleDeg)  // --> SteerAngleDeg must also be < 0
		{
			//robot turned too far toward wall
			mySerial.printf("CutAngDeg < 0, SteerAngleDeg < cutAngleDeg\n");
			SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //turn away from wall to achieve cutAngleDeg
		}
		else if (SteerAngleDeg >= cutAngleDeg)// --> SteerAngleDeg could be >=0
		{
			if (SteerAngleDeg >= 0) //cutAngleDeg < 0, SteerAngleDeg >= 0
			{
				//robot turned away from wall
				mySerial.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");
				SpinTurn(false, cutAngleDeg + SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg > cutAngleDeg but still < 0
			{
				//robot turned toward wall, but not enough
				mySerial.printf("CutAngDeg < 0, 0 < SteerAngleDeg < cutAngleDeg\n");
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx
	}

	delay(1000);

	//adjust so offset capture occurs at correct perpendicular offset
	double adjfactor = cos(PI * cutAngleDeg / 180.f);
	int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);
	adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel. 
	mySerial.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n", cutAngleDeg, adjfactor, adjOffsetMM);

	GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21
	long int err = Lidar_RightFront - adjOffsetMM; //neg for inside going out, pos for outside going in
	long int prev_err = err;
	mySerial.printf("At start - err = prev_err = %ld\n", err, prev_err);

	SteerAngleDeg = GetSteeringAngle(RightSteeringVal);
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg, err);


	mySerial.printf("Msec\tRFront\tRCtr\tRRear\tFront\tRear\tErr\tP_err\n");

	//TIMSK5 = 0; //turn off TIMER5 interrupts


	//09/05/21 rev to doublecheck robot position - might not need the forward motion section
	//while (prev_res * res > 0) //sign change makes this < 0
	while (((cutAngleDeg > 0 && err < 0) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0
	{
		prev_err = err;

		MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);
		//while (!bTimeForNavUpdate)
		//{

		//}
		delay(100);
		bTimeForNavUpdate = false;
		frontdistval = GetFrontDistCm();
		GetRequestedVL53l0xValues(VL53L0X_RIGHT);
		err = Lidar_RightFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist
		mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",
			millis(),
			Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear, err, prev_err);
		CheckForUserInput();
	}

	//now turn back the same (unadjusted) amount
	mySerial.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);
	mySerial.printf("correct back to parallel\n");
	//SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg
	SpinTurn((cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

	//sinceLastComputeTime = 0;
	WallTrackSetPoint = 0; //moved here 6/22/21
	//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

	mySerial.printf("\nTrackRightWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);
	mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

	sinceLastComputeTime = 0; //added 09/04/21
	while (true)
	{
		CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

		//now using TIMER5 100 mSec interrupt for timing
		//if (bTimeForNavUpdate)
		//{
		//	//sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
		//	bTimeForNavUpdate = false;

		//09/04/21 back to elapsedMillis timing
		if (sinceLastComputeTime > WALL_TRACK_UPDATE_INTERVAL_MSEC)
		{
			sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

			//GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR
			GetRequestedVL53l0xValues(VL53L0X_RIGHT); //now done in TIMER5 ISR

			//have to weight value by both angle and wall offset
			//RightSteeringVal = (Front - Rear)/100
			//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;
			//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 500.f;
			//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 400.f;
			//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 300.f;
			WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 250.f;

			//update motor speeds, skipping bad values
			if (!isnan(WallTrackSteerVal))
			{
				//10/12/20 now this executes every time, with interval controlled by timer ISR
				//09/03/21 rev fcn type to double vs void to eliminate output param
				//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
				//	kp, ki, kd, WallTrackOutput);
				WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
					kp, ki, kd);

				int speed = 0;

				//int leftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;
				//int rightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;
				int leftspeednum = MOTOR_SPEED_QTR - WallTrackOutput;
				int rightspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

				rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;
				rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;
				leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;
				leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

				MoveAhead(leftspeednum, rightspeednum);

				mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
					millis(),
					Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,
					WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
					kp * lastError, ki * lastIval, kd * lastDerror,
					WallTrackOutput, leftspeednum, rightspeednum);
			}
		}
	}



	//CaptureRightWallOffset();


	//WallTrackSetPoint = 0; //moved here 6/22/21

	//mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

	//while (true)
	//{
	//	CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

	//	//now using TIMER5 100 mSec interrupt for timing
	//	if (bTimeForNavUpdate)
	//	{
	//		//sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;
	//		bTimeForNavUpdate = false;

	//		//GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

	//		//have to weight value by both angle and wall offset
	//		WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

	//		//update motor speeds, skipping bad values
	//		if (!isnan(WallTrackSteerVal))
	//		{
	//			//10/12/20 now this executes every time, with interval controlled by timer ISR
	//			//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
	//			//	kp, ki, kd, WallTrackOutput);
	//			//09/03/21 rev fcn type to double vs void to eliminate output param
	//			//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
	//			//	kp, ki, kd, WallTrackOutput);
	//			WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,
	//				kp, ki, kd);

	//			int speed = 0;

	//			//07/05/21 reverse signs for right side tracking 
	//			int leftspeednum = MOTOR_SPEED_QTR - WallTrackOutput;
	//			int rightspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

	//			rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;
	//			rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;
	//			leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;
	//			leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

	//			MoveAhead(leftspeednum, rightspeednum);

	//			mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",
	//				millis(),
	//				Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,
	//				-WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,
	//				kp * lastError, ki * lastIval, kd * lastDerror,
	//				WallTrackOutput, leftspeednum, rightspeednum);
	//		}
	//	}
	//}
}

//07/17/21 abstracted from TrackRightWallOffset
void CaptureRightWallOffset()
{
	//06/21/21 modified to do a turn, then straight, then track 0 steer val
	double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_RightCenter / 10.f);//positive inside, negative outside desired offset
	mySerial.printf("R/C/F dists = %d\t%d\t%d cutAngleDeg = %2.2f\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, cutAngleDeg);
	double spinRateDPS = 45;

	//07/05/21 implement 15deg min cut angle
	if (cutAngleDeg < 0 && abs(cutAngleDeg) < 15)
	{
		mySerial.printf("Increasing cutAngleDeg to -15 from %2.3f\n", cutAngleDeg);
		cutAngleDeg = -15;
	}
	else if (cutAngleDeg > 0 && cutAngleDeg < 15)
	{
		mySerial.printf("Increasing cutAngleDeg to +15 from %2.3f\n", cutAngleDeg);
		cutAngleDeg = 15;
	}

	double SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

	//neg SteerAngleDeg means robot is pointing toward wall, positive means pointing away from wall
	//pos cutAngleDeg means away from wall, neg means toward wall
	mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
		Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

	double adjCutAngleDeg = 0;
	uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

	//robot inside desired offset distance
	if (cutAngleDeg > 0)
	{
		if (SteerAngleDeg > cutAngleDeg)  // --> robot pointing away from wall at greater angle than cutAngleDeg
		{
			mySerial.printf("robot starts further away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);
			SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //CW turn back toward wall
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0
		{
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				mySerial.printf("robot starts toward wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg > 0 but still < cutAngleDeg 
			{
				mySerial.printf("else\n");
				mySerial.printf("robot starts away from wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = -100; //07/05/21 fudge factor for inside start condx
	}

	// cutAngleDeg < 0 --> robot outside desired offset distance
	else //cutAngleDeg < 0 
	{
		mySerial.printf("robot outside offset distance\n");

		if (SteerAngleDeg > cutAngleDeg)  // --> SteerAngleDeg may also be > 0
		{
			mySerial.printf("robot angled farther away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);
			//mySerial.printf("if (SteerAngleDeg > cutAngleDeg)\n");
			SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //
		}
		else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0
		{
			mySerial.printf("robot angled more toward wall (%2.3f) than cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);
			if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0
			{
				mySerial.printf("if (SteerAngleDeg <= 0)\n");
				SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg
			}
			else //SteerAngleDeg > 0 but still < cutAngleDeg 
			{
				mySerial.printf("robot angled less toward wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);
				mySerial.printf("else\n");
				//SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
				SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg
			}
		}

		fudgeFactorMM = 100; //07/05/21 fudge factor for outside start condx
	}

	delay(1000);

	//adjust so offset capture occurs at correct perpendicular offset
	double adjfactor = cos(PI * cutAngleDeg / 180.f);
	int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);
	adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel. 
	mySerial.printf("at approach start: SteerVal = %2.3f, off_angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n",
		RightSteeringVal, GetSteeringAngle(RightSteeringVal), adjfactor, adjOffsetMM);

	long int prev_res = Lidar_RightFront - adjOffsetMM; //should be neg for inside going out, pos for outside going in
	long int res = prev_res;
	mySerial.printf("At start - prev_res = %ld\n", prev_res);

	mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tRes\tP_res\n");

	//07/17/21 have to watch for situation where robot is already past the target distance before the start
	if ((cutAngleDeg > 0 && prev_res < 0) || (cutAngleDeg < 0 && prev_res > 0))
	{
		while (prev_res * res > 0) //sign change makes this < 0
		{

			prev_res = res;

			MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);
			while (!bTimeForNavUpdate)
			{

			}
			bTimeForNavUpdate = false;
			frontdistval = GetFrontDistCm();
			res = Lidar_RightFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist
			mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",
				millis(),
				Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear, res, prev_res);
			CheckForUserInput();
		}
	}
	else
	{
		mySerial.printf("skipped translate section with R / C / F dists = %d\t %d\t %d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",
			Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);
	}

	//now turn back the same (unadjusted) amount
	mySerial.printf("At end - prev_res*res = %ld\n", prev_res * res);
	mySerial.printf("correct back to parallel\n");
	SpinTurn((cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg
}

#pragma endregion WALL_TRACK_SUPPORT

//09/03/21 chg fcn type from void to double to eliminate double& output param
//void PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd, double& output)
double PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd)
{
	//Purpose:  Encapsulate PID algorithm so can get rid of PID library. Library too cumbersome and won't synch with TIMER5 ISR
	//Inputs:
	//	input = double denoting current input value (turn rate, speed, whatever)
	//	setpoint = double denoting desired setpoint in same units as input
	//	sampleTime = int denoting sample time to be used in calcs.
	//	lastError = ref to double denoting error saved from prev calc
	//	lastInput = ref to double denoting input saved from prev calc
	//	Kp/Ki/Kd = doubles denoting PID values to be used for calcs
	//	Output = ref to double denoting output from calc

	double error = setpoint - input;
	double dInput = (input - lastInput);
	lastIval += (error);
	double dErr = (error - lastError);

	//mySerial.printf("PIDCalcs: error/dInput/lastIval/dErr/kp/ki/kd = %2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\n", error, dInput, lastIval, dErr,
	//	Kp,Ki,Kd);

	/*Compute PID Output*/
	double output = Kp * error + Ki * lastIval + Kd * dErr;

	/*Remember some variables for next time*/
	lastError = error;
	lastInput = input;
	lastDerror = dErr;

	return output; //added 09/03/21
}

void CheckForUserInput()
{
	const int bufflen = 80;
	char buff[bufflen];
	memset(buff, 0, bufflen);
	float OffsetCm;
	float Kp, Ki, Kd;
	const char s[2] = ",";
	char* token;

	if (Serial.available() > 0)
	{
		// read the incoming byte:
		int incomingByte = Serial.read();

		// say what you got:
		//Serial.print("I received: ");
		//Serial.println(incomingByte, HEX); //chg to HEX 02/18/20

		//02/18/20 experiment with multiple commands
		switch (incomingByte)
		{
		case 0x43: //ASCII 'C'
		case 0x63: //ASCII 'c'
#pragma region MANUALCONTROL
			//enter infinite loop for direct remote control
			Serial.println(F("ENTERING COMMAND MODE:"));
			Serial.println(F("0 = 180 deg CCW Turn"));
			Serial.println(F("1 = 180 deg CW Turn"));
			Serial.println(F("A = Back to Auto Mode"));
			Serial.println(F("S = Stop"));
			Serial.println(F("F = Forward"));
			Serial.println(F("R = Reverse"));
			Serial.println(F(""));
			Serial.println(F("       Faster"));
			Serial.println(F("\t8"));
			Serial.println(F("Left 4\t5  6 Right"));
			Serial.println(F("\t2"));
			Serial.println(F("       Slower"));

			StopBothMotors();
			int speed = 0;

			bool bAutoMode = false;
			while (!bAutoMode)
			{
				if (Serial.available() > 0)
				{
					// read the incoming byte:
					int incomingByte = Serial.read();

					//mySerial.printf("Got %x\n", incomingByte);

					switch (incomingByte)
					{
					case 0x54: //ASCII 'T'
					case 0x74: //ASCII 't'
						Serial.println(F("Toggle TIMER5 Enable/Disable"));
						if (TIMSK5 == 0)
						{
							Serial.println(F("Enable TIMER5"));
							//TIMSK5 |= OCIE5A;
							TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
							mySerial.printf("TIMSK5 = %x\n", TIMSK5);
						}
						else
						{
							Serial.println(F("Disable TIMER5"));
							TIMSK5 = 0;
							mySerial.printf("TIMSK5 = %x\n", TIMSK5);
						}
						break;
					case 0x44: //ASCII 'D'
					case 0x64: //ASCII 'd'
						Serial.println(F("Display left/right distances"));
						if (TIMSK5 == 0)
						{
							Serial.println(F("Enable TIMER5"));
							//TIMSK5 |= OCIE5A;
							TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt
							mySerial.printf("TIMSK5 = %x\n", TIMSK5);
						}
						mySerial.printf("Msec\tLF\tLC\tLR\tRF\tRC\tRR\n");
						while (true)
						{
							if (bTimeForNavUpdate)
							{
								bTimeForNavUpdate = false;
								mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\n", millis(),
									Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear);
							}
						}
						break;
					case 0x30: //Dec '0'
						Serial.println(F("CCW 180 deg Turn"));
						//RollingTurn(true, bIsForwardDir, 180);
						//SpinTurn(true, 180, 45);
						SpinTurn(true, 180, 90);
						MoveAhead(speed, speed);
						break;
					case 0x31: //Dec '1'
						Serial.println(F("CW 180 deg Turn"));
						//RollingTurn(false, bIsForwardDir, 180);
						SpinTurn(false, 180, 45);
						//MoveAhead(speed, speed);
						break;
					case 0x34: //Turn left 10 deg
						Serial.println(F("CCW 10 deg Turn"));
						//MoveAhead(speed, speed);
						//RollingTurn(true, bIsForwardDir, 10);
						SpinTurn(true, 10, 30);
						//SpinTurn(true, 30, 30);

						//added 05/03/20
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x36: //Turn right 10 deg'
						mySerial.print("CW 10 deg Turn\n");
						MoveAhead(speed, speed);
						//RollingTurn(false, bIsForwardDir, 10);
						SpinTurn(false, 10, 30);
						//SpinTurn(false, 45, 30);

						//added 05/03/20
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x38: //Speed up 
						speed += 50;
						speed = (speed >= MOTOR_SPEED_MAX) ? MOTOR_SPEED_MAX : speed;
						mySerial.printf("Speeding up: speed now %d\n", speed);
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x32: //Slow down 
						speed -= 50;
						speed = (speed < 0) ? 0 : speed;
						mySerial.printf("Slowing down: speed now %d\n", speed);
						if (bIsForwardDir)
						{
							MoveAhead(speed, speed);
						}
						else
						{
							MoveReverse(speed, speed);
						}
						break;
					case 0x35: //05/07/20 changed to use '5' vs 'S'
						Serial.println(F("Stopping Motors!"));
						StopBothMotors();
						speed = 0;
						break;
					case 0x41: //ASCII 'A'
					case 0x61: //ASCII 'a'
						StopBothMotors();
						Serial.println(F("Re-entering AUTO mode"));
						bAutoMode = true;
						break;
					case 0x52: //ASCII 'R'
					case 0x72: //ASCII 'r'
						Serial.println(F("Setting both motors to reverse"));
						bIsForwardDir = false;
						MoveReverse(speed, speed);
						break;
					case 0x46: //ASCII 'F'
					case 0x66: //ASCII 'f'
						Serial.println(F("Setting both motors to forward"));
						bIsForwardDir = true;
						MoveAhead(speed, speed);
#pragma endregion MANUALCONTROL
						break;

#pragma region	WALL OFFSET TRACKING CASES
						//left side wall tracking
					case 0x4C: //ASCII 'L'
					case 0x6C: //ASCII 'l'
						StopBothMotors();
						Serial.println(F("Setting Kp value"));

						//consume CR/LF chars
						while (Serial.available() > 0)
						{
							int byte = Serial.read();
							mySerial.printf("consumed %d\n", byte);
						}

						while (!Serial.available())
						{
						}

						Serial.readBytes(buff, bufflen);
						mySerial.printf("%s\n", buff);

						/* extract Kp */
						token = strtok(buff, s);
						Kp = atof(token);

						/* extract Ki */
						token = strtok(NULL, s);
						Ki = atof(token);

						/* extract Kd */
						token = strtok(NULL, s);
						Kd = atof(token);

						/* extract Offset in cm */
						token = strtok(NULL, s);
						OffsetCm = atof(token);

						mySerial.printf("Kp,Ki,Kd,OffsetCm =  %2.2f, %2.2f, %2.2f, %2.2f\n",
							Kp, Ki, Kd, OffsetCm);

						TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);
						break;
					case 0x4D: //ASCII 'M'
					case 0x6D: //ASCII 'm'
						StopBothMotors();
						Serial.println(F("Setting Kp value"));

						//consume CR/LF chars
						while (Serial.available() > 0)
						{
							int byte = Serial.read();
							mySerial.printf("consumed %d\n", byte);
						}

						while (!Serial.available())
						{
						}

						Serial.readBytes(buff, bufflen);
						mySerial.printf("%s\n", buff);

						/* extract Kp */
						token = strtok(buff, s);
						Kp = atof(token);

						/* extract Ki */
						token = strtok(NULL, s);
						Ki = atof(token);

						/* extract Kd */
						token = strtok(NULL, s);
						Kd = atof(token);

						/* extract Offset in cm */
						token = strtok(NULL, s);
						OffsetCm = atof(token);

						mySerial.printf("Kp,Ki,Kd,OffsetCm =  %2.2f, %2.2f, %2.2f, %2.2f\n",
							Kp, Ki, Kd, OffsetCm);

						TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);
						break;
#pragma endregion	WALL OFFSET TRACKING CASES
						Default :
						Serial.println(F("In Default Case: Stopping Motors!"));
						MoveAhead(0, 0);
						while (true)
						{

						}
					}
				}
			}
		}
	}
}

void ShowMultipleHeadingMeasurements(int numMeas)
{
	//mySerial.printf("Msec\tHdg\n");
	for (size_t i = 0; i < numMeas; i++)
	{
		UpdateIMUHdgValDeg();
		mySerial.printf("%lu\t%3.2f\n", millis(), IMUHdgValDeg);
		delay(50);
	}
}


float GetBattVoltage()
{
	//02/18/17 get corrected battery voltage.  Voltage reading is 1/3 actual Vbatt value
	int analog_batt_reading = GetAverageAnalogReading(BATT_MON_PIN, VOLTS_AVERAGE_NUMBER);//rev 03/01/19 to average readings
	float calc_volts = ZENER_VOLTAGE_OFFSET + ADC_REF_VOLTS * (double)analog_batt_reading / (double)MAX_AD_VALUE;

	////DEBUG!!
	//	mySerial.printf("a/d = %d, calc = %2.2f\n", analog_batt_reading,calc_volts);
	////DEBUG!!

	return calc_volts;
}

int GetAverageAnalogReading(int pin, int numavgs)
{
	long totreads = 0;
	for (int i = 0; i < numavgs; i++)
	{

		////DEBUG!!
		//		int aVal = analogRead(pin);
		//		mySerial.printf("Analog value at pin %d = %d\n", pin, aVal);
		////DEBUG!!

		totreads += analogRead(pin);
	}

	return (int)((float)totreads / (float)numavgs); //truncation ok
}

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Name: FourWD_WallTrackTest_V3.ino

Created: 9/3/2021 6:41:37 PM

Author: FRANKNEWXPS15\Frank

Name: FourWD_WallTrackTest_V2.ino

Created: 8/7/2021 2:23:38 PM

Author: FRANKNEWXPS15\Frank

#pragma region INCLUDES

#include <elapsedMillis.h>

#include <PrintEx.h> //allows printf-style printout syntax

#include "MPU6050_6Axis_MotionApps_V6_12.h" //changed to this version 10/05/19

#include "I2Cdev.h" //this includes Wire.h

#include "I2C_Anything.h" //needed for sending float data over I2C

#include <PID_v2.h> //moved here 02/09/19

#include <MemoryFree.h>;

#pragma endregion Includes

#pragma region DEFINES

#define MPU6050_I2C_ADDR 0x68 //08/09/21 now using default 0x68 addr, since RTC has been removed

//#define DISTANCES_ONLY //added 11/14/18 to just display distances in infinite loop

//#define NO_MOTORS //07/18/21 debug

//#define NO_LIDAR

//#define MPU6050_CCW_INCREASES_YAWVAL //added 12/05/19

#pragma endregion DEFINES

#pragma region PRE_SETUP

StreamEx mySerial = Serial; //added 03/18/18 for printf-style printing

MPU6050 mpu(MPU6050_I2C_ADDR); //06/23/18 chg to AD0 high addr, using INT connected to Mega pin 2 (INT0)

volatile int frontdistval = 0; //10/10/20 chg to volatile

volatile double frontvar = 0; //08/11/20 now updated in timer1 ISR

const int MAX_FRONT_DISTANCE_CM = 400;

const int FRONT_DIST_AVG_WINDOW_SIZE = 3; //moved here & renamed 04/28/19

const int FRONT_DIST_ARRAY_SIZE = 50; //11/22/20 doubled to acct for 10Hz update rate

uint16_t aFrontDist[FRONT_DIST_ARRAY_SIZE]; //04/18/19 rev to use uint16_t vs byte

//11/03/18 added for new incremental variance calc

double Front_Dist_PrevVar = 0;

double Front_Dist_PrevVMean = 0;

#pragma region MOTOR_PINS

//09/11/20 Now using two Adafruit DRV8871 drivers for all 4 motors

const int In1_Left = 10;

const int In2_Left = 11;

const int In1_Right = 8;

const int In2_Right = 9;

#pragma endregion Motor Pin Assignments

#pragma region MISC_PIN_ASSIGNMENTS

const int RED_LASER_DIODE_PIN = 7;

const int LIDAR_MODE_PIN = 4; //mvd here 01/10/18

const int BATT_MON_PIN = A1;//BATT Monitor and IR Detector pin assignments added 01/30/17

#pragma endregion MISC_PIN_ASSIGNMENTS

#pragma region MOTOR_PARAMETERS

//drive wheel speed parameters

const int MOTOR_SPEED_FULL = 200; //range is 0-255

const int MOTOR_SPEED_MAX = 255; //range is 0-255

const int MOTOR_SPEED_HALF = 127; //range is 0-255

const int MOTOR_SPEED_QTR = 75; //added 09/25/20

const int MOTOR_SPEED_LOW = 50; //added 01/22/15

const int MOTOR_SPEED_OFF = 0; //range is 0-255

//drive wheel direction constants

const boolean FWD_DIR = true;

const boolean REV_DIR = !FWD_DIR;

const bool TURNDIR_CCW = true;

const bool TURNDIR_CW = false;

//Motor direction variables

boolean bLeftMotorDirIsFwd = true;

boolean bRightMotorDirIsFwd = true;

bool bIsForwardDir = true; //default is foward direction

#pragma endregion Motor Parameters

#pragma region HEADING_AND_RATE_BASED_TURN_PARAMETERS

elapsedMillis MsecSinceLastTurnRateUpdate;

const int MAX_PULSE_WIDTH_MSEC = 100;

const int MIN_PULSE_WIDTH_MSEC = 0;

const int MAX_SPIN_MOTOR_SPEED = 250;

const int MIN_SPIN_MOTOR_SPEED = 50;

//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 30;

//const int TURN_RATE_UPDATE_INTERVAL_MSEC = 60;

const int TURN_RATE_UPDATE_INTERVAL_MSEC = 100;

double Prev_HdgDeg = 0;

float tgt_deg;

float timeout_sec;

//05/31/21 latest & greatest PID values

double TurnRate_Kp = 5.0;

double TurnRate_Ki = 1;

//double TurnRate_Kd = 0.5;

//double TurnRate_Kd = 1.5;

double TurnRate_Kd = 2.5;

double TurnRatePIDSetPointDPS, TurnRatePIDOutput;

double TurnRatePIDInput = 15.f;

PID TurnRatePID(&TurnRatePIDInput, &TurnRatePIDOutput, &TurnRatePIDSetPointDPS, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, DIRECT);

const float HDG_NEAR_MATCH_VAL = 0.8; //slow the turn down here

const float HDG_FULL_MATCH_VAL = 0.99; //stop the turn here //rev 05/17/20

const float HDG_MIN_MATCH_VAL = 0.6; //added 09/08/18: don't start checking slope until turn is well started

#pragma endregion HEADING_AND_RATE_BASED_TURN_PARAMETERS

#pragma region MPU6050_SUPPORT

uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU. Used in Homer's Overflow routine

uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)

uint16_t packetSize; // expected DMP packet size (default is 42 bytes)

uint16_t fifoCount; // count of all bytes currently in FIFO

uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars

Quaternion q; // [w, x, y, z] quaternion container

VectorInt16 aa; // [x, y, z] accel sensor measurements

VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements

VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements

VectorFloat gravity; // [x, y, z] gravity vector

float euler[3]; // [psi, theta, phi] Euler angle container

float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

int GetPacketLoopCount = 0;

int OuterGetPacketLoopCount = 0;

//MPU6050 status flags

bool bMPU6050Ready = true;

bool dmpReady = false; // set true if DMP init was successful

volatile float IMUHdgValDeg = 0; //updated by UpdateIMUHdgValDeg()//11/02/20 now updated in ISR

bool bFirstTime = true;

#pragma endregion MPU6050 Support

#pragma region WALL_FOLLOW_SUPPORT

const int WALL_OFFSET_TRACK_Kp = 100;

const int WALL_OFFSET_TRACK_Ki = 0;

const int WALL_OFFSET_TRACK_Kd = 0;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.3;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.4;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.5;

//const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.15;

const double WALL_OFFSET_TRACK_SETPOINT_LIMIT = 0.25;

double WallTrackSteerVal, WallTrackOutput, WallTrackSetPoint;

const int CHG_CONNECT_LED_PIN = 50; //12/16/20 added for debug

//const int WALL_OFFSET_TGTDIST_CM = 30;

const int WALL_OFFSET_TGTDIST_CM = 40;

double LeftSteeringVal, RightSteeringVal; //added 08/06/20

const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 50;

//const int WALL_TRACK_UPDATE_INTERVAL_MSEC = 30;

const int WALL_OFFSET_APPR_ANGLE_MINDEG = 30;//added 09/08/21

#pragma endregion WALL_FOLLOW_SUPPORT

#pragma region VL53L0X LIDAR SUPPORT

//VL53L0X Sensor data values

//11/05/20 revised to make all volatile

volatile int Lidar_RightFront;

volatile int Lidar_RightCenter;

volatile int Lidar_RightRear;

volatile int Lidar_LeftFront;

volatile int Lidar_LeftCenter;

volatile int Lidar_LeftRear;

volatile int Lidar_Rear; //added 10/24/20

bool bVL53L0X_TeensyReady = false; //11/10/20 added to prevent bad data reads during Teensy setup()

enum VL53L0X_REQUEST

{

VL53L0X_READYCHECK, //added 11/10/20 to prevent bad reads during Teensy setup()

VL53L0X_CENTERS_ONLY,

VL53L0X_RIGHT,

VL53L0X_LEFT,

VL53L0X_ALL, //added 08/06/20, replaced VL53L0X_BOTH 10/31/20

VL53L0X_REAR_ONLY //added 10/24/20

};

const int VL53L0X_I2C_SLAVE_ADDRESS = 0x20; ////Teensy 3.5 VL53L0X ToF LIDAR controller

#pragma endregion VL53L0X LIDAR SUPPORT

#pragma region TIMER_ISR

#define TIMER_INT_OUTPUT_PIN 53 //scope monitor pin

bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which);

volatile bool bTimeForNavUpdate = false;

const int TIMER5_INTERVAL_MSEC = 100; //05/15/21 added to eliminate magic number

int GetFrontDistCm();

ISR(TIMER5_COMPA_vect) //timer5 interrupt 5Hz

{

digitalWrite(TIMER_INT_OUTPUT_PIN, HIGH);//so I can monitor interrupt timing

delayMicroseconds(30); //leave in - so can see even with NO_STUCK defined

bTimeForNavUpdate = true;

//11/2/20 have to re-enable interrupts for I2C comms to work

interrupts();

GetRequestedVL53l0xValues(VL53L0X_ALL); //11/2/20 update all distances every 100mSec

noInterrupts();

frontdistval = GetFrontDistCm();

digitalWrite(TIMER_INT_OUTPUT_PIN, LOW);//so I can monitor interrupt timing

}

#pragma endregion TIMER_ISR

#pragma endregion PRE_SETUP

#pragma region BATTCONSTS

//03/10/15 added for battery charge level monitoring

//const int LOW_BATT_THRESH_VOLTS = 7.4; //50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries

//const int LOW_BATT_THRESH_VOLTS = 8.4; //07/10/20 temp debug settingr//50% chg per http://batteryuniversity.com/learn/article/lithium_based_batteries

const float LOW_BATT_THRESH_VOLTS = 8.4; //12/18/20 chg to float to fix bug

const int MAX_AD_VALUE = 1023;

//const long BATT_CHG_TIMEOUT_SEC = 36000; //10 HRS

const long BATT_CHG_TIMEOUT_SEC = 3600; //12/28/20 for test only

const float DEAD_BATT_THRESH_VOLTS = 6; //added 01/24/17

const float FULL_BATT_VOLTS = 8.4; //added 03/17/18. Chg to 8.4 03/05/20

const int MINIMUM_CHARGE_TIME_SEC = 10; //added 04/01/18

const float VOLTAGE_TO_CURRENT_RATIO = 0.75f; //Volts/Amp rev 03/01/19. Used for both 'Total' and 'Run' sensors

const float FULL_BATT_CURRENT_THRESHOLD = 0.5; //amps chg to 0.5A 03/02/19 per https://www.fpaynter.com/2019/03/better-battery-charging-for-wall-e2/

const int CURRENT_AVERAGE_NUMBER = 10; //added 03/01/19

const int VOLTS_AVERAGE_NUMBER = 5; //added 03/01/19

const int IR_HOMING_TELEMETRY_SPACING_MSEC = 200; //added 04/23/20

const float ZENER_VOLTAGE_OFFSET = 5.84; //measured zener voltage

const float ADC_REF_VOLTS = 3.3; //03/27/18 now using analogReference(EXTERNAL) with Teensy 3.3V connected to AREF

#pragma endregion BATTCONST

void setup()

{

Serial.begin(115200);

#pragma region MPU6050

mySerial.printf("\nChecking for MPU6050 IMU at I2C Addr 0x%x\n", MPU6050_I2C_ADDR);

mpu.initialize();

// verify connection

Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

float StartSec = 0; //used to time MPU6050 init

Serial.println(F("Initializing DMP..."));

devStatus = mpu.dmpInitialize();

// make sure it worked (returns 0 if successful)

if (devStatus == 0)

{

// turn on the DMP, now that it's ready

Serial.println(F("Enabling DMP..."));

mpu.setDMPEnabled(true);

// set our DMP Ready flag so the main loop() function knows it's okay to use it

Serial.println(F("DMP ready! Waiting for MPU6050 drift rate to settle..."));

dmpReady = true;

// get expected DMP packet size for later comparison

packetSize = mpu.dmpGetFIFOPacketSize();

mySerial.printf("Just after MPU6050 Init\n");

mySerial.printf("Calibrating...\n");

mpu.CalibrateGyro(); //using default value of 15

mySerial.printf("Retrieving Calibration Values\n\n");

mpu.PrintActiveOffsets();

//loop heading display until stabilized

mySerial.printf("\nMsec\tHdg\n");

UpdateIMUHdgValDeg();

Prev_HdgDeg = IMUHdgValDeg;

delay(100);

UpdateIMUHdgValDeg();

mySerial.printf("%lu\t%2.3f\t%2.3f\n", millis(), IMUHdgValDeg, Prev_HdgDeg);

while (abs(IMUHdgValDeg - Prev_HdgDeg) > 0.1f)

{

mySerial.printf("%lu\t%2.3f\n", millis(), IMUHdgValDeg);

Prev_HdgDeg = IMUHdgValDeg;

delay(100);

UpdateIMUHdgValDeg();

}

StartSec = millis() / 1000.f;

mySerial.printf("MPU6050 Ready at %2.2f Sec with delta = %2.3f\n", StartSec, IMUHdgValDeg - Prev_HdgDeg);

bMPU6050Ready = true;

delay(1000);

}

else //MPU6050 Init failed for some reason

{

// ERROR!

// 1 = initial memory load failed

// 2 = DMP configuration updates failed

// (if it's going to break, usually the code will be 1)

Serial.print(F("DMP Initialization failed (code "));

Serial.print(devStatus);

Serial.println(F(")"));

//08/29/21 print out battery voltage on failure

float batV = GetBattVoltage();

mySerial.printf("Battery Voltage = %2.2f\n", batV);

bMPU6050Ready = false;

}

#pragma endregion MPU6050

#pragma region PIN_INITIALIZATION

pinMode(LIDAR_MODE_PIN, INPUT); // Set LIDAR input monitor pin

#pragma endregion PIN_INITIALIZATION

//#pragma region TIMER_INTERRUPT

// //09/18/20 can't use Timer1 cuz doing so conflicts with PWM on pins 10-12

// cli();//stop interrupts

// TCCR5A = 0;// set entire TCCR5A register to 0

// TCCR5B = 0;// same for TCCR5B

// TCNT5 = 0;//initialize counter value to 0

// // 06/15/21 rewritten to use defined interval constant rather than magic number

// //10/11/20 chg timer interval to 10Hz vs 5

// //OCR5A = 1562;// = (16*10^6) / (10*1024) - 1 (must be <65536)

// int ocr5a = (16 * 1e6) / ((1000 / TIMER5_INTERVAL_MSEC) * 1024) - 1;

// mySerial.printf("ocr5a = %d\n", ocr5a);

// OCR5A = ocr5a;

// TCCR5B |= (1 << WGM52);// turn on CTC mode

// TCCR5B |= (1 << CS52) | (1 << CS50);// Set CS10 and CS12 bits for 1024 prescaler

// TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

// sei();//allow interrupts

// pinMode(TIMER_INT_OUTPUT_PIN, OUTPUT);

//#pragma endregion TIMER_INTERRUPT

// //02/08/21 mvd below ISR enable so this section can use ISR-generated VL53L0X distances

#pragma region VL53L0X_TEENSY

mySerial.printf("Checking for Teensy 3.5 VL53L0X Controller at I2C addr 0x%x\n", VL53L0X_I2C_SLAVE_ADDRESS);

while (!bVL53L0X_TeensyReady)

{

Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);

bVL53L0X_TeensyReady = (Wire.endTransmission() == 0);

//mySerial.printf("%lu: VL53L0X Teensy Not Avail...\n", millis());

delay(100);

}

mySerial.printf("Teensy available at %lu with bVL53L0X_TeensyReady = %d. Waiting for Teensy setup() to finish\n", millis(), bVL53L0X_TeensyReady);

WaitForVL53L0XTeensy();

//mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());

#pragma endregion VL53L0X_TEENSY

mySerial.printf("Just after WaitForVL53L0XTeensy();\n");

//11/14/18 added this section for distance printout only

//08/06/20 revised for VL53L0X support

#ifdef DISTANCES_ONLY

//TIMSK5 = 0;

digitalWrite(RED_LASER_DIODE_PIN, HIGH); //enable the front laser dot

mySerial.printf("\n------------ DISTANCES ONLY MODE!!! -----------------\n\n");

int i = 0; //added 09/20/20 for in-line header display

mySerial.printf("Msec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");

while (true)

{

//if (bTimeForNavUpdate)

//{

// bTimeForNavUpdate = false;

//09/20/20 re-display the column headers

//if (++i % 20 == 0)

//{

// mySerial.printf("\nMsec\tLFront\tLCenter\tLRear\tRFront\tRCenter\tRRear\tFront\tRear\n");

//}

//commented out 02/02/21 - now done in ISR

GetRequestedVL53l0xValues(VL53L0X_ALL);

frontdistval = GetFrontDistCm();

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n",

millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear);

//}

delay(50);

}

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

#endif // DISTANCES_ONLY

#pragma region L/R/FRONT DISTANCE ARRAYS

//09/20/20 have to do this for parallel finding to go the right way

Serial.println(F("Initializing Left, Right, Front Distance Arrays..."));

#ifndef NO_PINGS

//03/30/21 moved FrontDistArray init ahead of left/right dist init to prevent inadvertent 'stuck' detection

Serial.println(F("Initializing Front Distance Array"));

InitFrontDistArray(); //08/12/20 code extracted to fcn so can call elsewhere

//Serial.println(F("Updating Left\tRight Distance Arrays"));

//for (size_t i = 0; i < LR_DIST_ARRAY_SIZE; i++)

//{

// delay(100); //ensure enough time for ISR to update distances

// mySerial.printf("%d\t%d\n", Lidar_LeftCenter, Lidar_RightCenter);

// UpdateLRDistanceArrays(Lidar_LeftCenter, Lidar_RightCenter);

//}

//Serial.println(F("Updating Rear Distance Arrays"));

//InitRearDistArray();

//mySerial.printf("Initial rear prev_mean, prev_var = %2.2f, %2.2f\n",

// Rear_Dist_PrevMean, Rear_Dist_PrevVar);

#else

Serial.println(F("Distance Sensors Disabled"));

#endif // NO_PINGS

#pragma endregion L/R/FRONT DISTANCE ARRAYS

#pragma region WALL_TRACK_TEST

//mySerial.printf("End of test - Stopping!\n");

////while (true)

////{

//// CheckForUserInput();

////}

//StopBothMotors();

//Serial.println(F("Setting Kp value"));

//const int bufflen = 80;

//char buff[bufflen];

//memset(buff, 0, bufflen);

float OffsetCm;

float Kp, Ki, Kd;

//const char s[2] = ",";

//char* token;

////consume CR/LF chars

//while (Serial.available() > 0)

//{

// int byte = Serial.read();

// mySerial.printf("consumed %d\n", byte);

//}

//while (!Serial.available())

//{

//}

//Serial.readBytes(buff, bufflen);

//mySerial.printf("%s\n", buff);

///* extract Kp */

//token = strtok(buff, s);

//Kp = atof(token);

///* extract Ki */

//token = strtok(NULL, s);

//Ki = atof(token);

///* extract Kd */

//token = strtok(NULL, s);

//Kd = atof(token);

///* extract Offset in cm */

//token = strtok(NULL, s);

//OffsetCm = atof(token);

//mySerial.printf("Kp,Ki,Kd,OffsetCm = %2.2f, %2.2f, %2.2f, %2.2f\n",

// Kp, Ki, Kd, OffsetCm);5

//Kp = 300;

//Kp = 500;

//Kp = 700;

//Kp = 500;

//Kp = 400;

Kp = 300;

Ki = 0;

//Ki = 10;

//Kd = 0;

//Kd = 100;

//Kd = 200;

Kd = 300;

OffsetCm = 40;

//TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);

//TrackLeftWallOffset(1, 1, 1, 1); //09/05/21 params not used

TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);

// //mySerial.printf("Rdist\tCdist\tFdist\tsteer\toffang\n");

// //while (true)

// //{

// // //double offangdeg = GetSteeringAngle(Lidar_LeftCenter / 10, LeftSteeringVal);

// // double offangdeg = GetSteeringAngle(LeftSteeringVal); //06/25/21 chg to mm vs cm

// // mySerial.printf("%d\t%d\t%d\t%2.4f\t%2.2f\n", Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, offangdeg);

// // delay(1000);

// //}

#pragma endregion WALL_TRACK_TEST

//mySerial.printf("Msec\tHdg\n");

//RunBothMotors(true, MOTOR_SPEED_HALF, MOTOR_SPEED_HALF);

}

void loop()

{

int turndeg = 45;

mySerial.printf("CCW turn, %d deg\n", turndeg);

//SpinTurn(true, turndeg, 45);

//delay(1000);

SpinTurn(true, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

//mySerial.printf("CW turn, %d deg\n", turndeg);

//SpinTurn(false, turndeg, 45);

//delay(1000);

SpinTurn(false, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

turndeg = 90;

//mySerial.printf("CCW turn, %d deg\n", turndeg);

//SpinTurn(true, turndeg, 45);

delay(1000);

SpinTurn(true, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

//mySerial.printf("CW turn, %d deg\n", turndeg);

//SpinTurn(false, turndeg, 45);

delay(1000);

SpinTurn(false, turndeg, 30);

//ShowMultipleHeadingMeasurements(50);

StopBothMotors();

delay(500);

//mySerial.printf("Done with turning tests. Free memory = %d\n", freeMemory());

}

#pragma region VL53L0X_SUPPORT

bool GetRequestedVL53l0xValues(VL53L0X_REQUEST which)

{

//Purpose: Obtain VL53L0X ToF sensor data from Teensy sensor handler

//Inputs:

// which = VL53L0X_REQUEST value denoting which combination of value to retrieve

// VL53L0X_CENTERS_ONLY -> Just the left/right center sensor values

// VL53L0X_RIGHT -> All three right sensor values, in front/center/rear order

// VL53L0X_LEFT -> All three left sensor values, in front/center/rear order

// VL53L0X_ALL -> All seven sensor values, in left/right front/center/rear/rear order

// VL53L0X_REAR_ONLY -> added 10/24/20 Just the rear sensor reading

//Outputs:

// Requested sensor values, obtained via I2C from the VL53L0X sensor handler

// Returns TRUE if data retrieval successful, otherwise FALSE

//Plan:

// Step1: Send request to VL53L0X handler

// Step2: get the requested data

//Notes:

// Copied from FourWD_WallE2_V4.ino's IsIRBeamAvail() and adapted

// 08/05/20 added a VL53L0X_ALL request type

// 01/24/21 added error detection/reporting

//Step1: Send request to VL53L0X handler

//DEBUG!!

//mySerial.printf("Sending %d to slave\n", which);

//DEBUG!!

//mySerial.printf("In GetRequestedVL53l0xValues(%d)\n", (int)which);

Wire.beginTransmission(VL53L0X_I2C_SLAVE_ADDRESS);

I2C_writeAnything((uint8_t)which);

Wire.endTransmission();

//Step2: get the requested data

int readResult = 0;

int data_size = 0;

switch (which)

{

case VL53L0X_READYCHECK: //11/10/20 added to prevent bad reads during Teensy setup()

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(bVL53L0X_TeensyReady)));

readResult = I2C_readAnything(bVL53L0X_TeensyReady);

break;

case VL53L0X_CENTERS_ONLY:

//just two data values needed here

data_size = 2 * sizeof(int);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(2 * sizeof(Lidar_RightCenter)));

readResult = I2C_readAnything(Lidar_RightCenter);

if (readResult > 0)

{

I2C_readAnything(Lidar_LeftCenter);

}

//DEBUG!!

//mySerial.printf("VL53L0X_CENTERS_ONLY case: Got LC/RC = %d, %d\n", Lidar_LeftCenter, Lidar_RightCenter);

//DEBUG!!

break;

case VL53L0X_RIGHT:

//four data values needed here

data_size = 3 * sizeof(int) + sizeof(float);

//DEBUG!!

//mySerial.printf("data_size = %d\n", data_size);

//DEBUG!!

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

readResult = I2C_readAnything(Lidar_RightFront);

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_RightCenter);

}

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_RightRear);

}

if (readResult > 0)

{

readResult = I2C_readAnything(RightSteeringVal);

}

//DEBUG!!

//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, ToFSteeringVal);

//DEBUG!!

break;

case VL53L0X_LEFT:

//four data values needed here

data_size = 3 * sizeof(int) + sizeof(float);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

readResult = I2C_readAnything(Lidar_LeftFront);

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_LeftCenter);

}

if (readResult > 0)

{

readResult = I2C_readAnything(Lidar_LeftRear);

}

if (readResult > 0)

{

readResult = I2C_readAnything(LeftSteeringVal);

}

//DEBUG!!

//mySerial.printf("VL53L0X_RIGHT case: Got L/C/R/S = %d, %d, %d, %3.2f\n",

// Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, ToFSteeringVal);

//DEBUG!!

break;

case VL53L0X_ALL: //added 08/05/20, chg to VL53L0X_ALL 10/31/20

//nine data values needed here - 7 ints and 2 floats

data_size = 7 * sizeof(int) + 2 * sizeof(float); //10/31/20 added rear distance

//mySerial.printf("In VL53L0X_ALL case with data_size = %d\n", data_size);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, data_size);

//Lidar_LeftFront

readResult = I2C_readAnything(Lidar_LeftFront);

if (readResult != sizeof(Lidar_LeftFront))

{

mySerial.printf("Error reading Lidar_LeftFront\n");

}

//Lidar_LeftCenter

readResult = I2C_readAnything(Lidar_LeftCenter);

if (readResult != sizeof(Lidar_LeftCenter))

{

mySerial.printf("Error reading Lidar_LeftCenter\n");

}

//Lidar_LeftRear

readResult = I2C_readAnything(Lidar_LeftRear);

if (readResult != sizeof(Lidar_LeftRear))

{

mySerial.printf("Error reading Lidar_LeftRear\n");

}

//LeftSteeringVal

readResult = I2C_readAnything(LeftSteeringVal);

if (readResult != sizeof(LeftSteeringVal))

{

mySerial.printf("Error reading LeftSteeringVal\n");

}

//Lidar_RightFront

readResult = I2C_readAnything(Lidar_RightFront);

if (readResult != sizeof(Lidar_RightFront))

{

mySerial.printf("Error reading Lidar_RightFront\n");

}

//Lidar_RightCenter

readResult = I2C_readAnything(Lidar_RightCenter);

if (readResult != sizeof(Lidar_RightCenter))

{

mySerial.printf("Error reading Lidar_RightCenter\n");

}

//Lidar_RightRear

readResult = I2C_readAnything(Lidar_RightRear);

if (readResult != sizeof(Lidar_RightRear))

{

mySerial.printf("Error reading Lidar_RightRear\n");

}

//RightSteeringVal

readResult = I2C_readAnything(RightSteeringVal);

if (readResult != sizeof(RightSteeringVal))

{

mySerial.printf("Error reading LeftSteeringVal\n");

}

//Lidar_Rear

readResult = I2C_readAnything(Lidar_Rear);

if (readResult != sizeof(Lidar_Rear))

{

mySerial.printf("Error reading Lidar_Rear\n");

}

//mySerial.printf("%lu: VL53l0x - %d, %d, %d, %d, %d, %d, %d\n",

// millis(),

// Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,

// Lidar_Rear);

break; //10/31/20 bugfix

case VL53L0X_REAR_ONLY:

//just ONE data value needed here

data_size = sizeof(int);

Wire.requestFrom(VL53L0X_I2C_SLAVE_ADDRESS, (int)(sizeof(Lidar_Rear)));

readResult = I2C_readAnything(Lidar_Rear);

//DEBUG!!

//mySerial.printf("VL53L0X_REAR_ONLY case: Got Rear = %d\n", Lidar_Rear);

//DEBUG!!

break;

default:

break;

}

return readResult > 0; //this is true only if all reads succeed

}

void WaitForVL53L0XTeensy()

{

bVL53L0X_TeensyReady = false;

while (!bVL53L0X_TeensyReady)

{

GetRequestedVL53l0xValues(VL53L0X_READYCHECK); //this updates bVL53L0X_TeensyReady

//mySerial.printf("%lu: got %d from VL53L0X Teensy\n", millis(), bVL53L0X_TeensyReady);

delay(100);

}

Serial.print(F("Teensy setup() finished at ")); Serial.printf("%lu mSec\n", millis());

//now try to get a VL53L0X measurement

//11/08/20 rev to loop until all distance sensors provide valid data

//mySerial.printf("Msec\tLFront\tLCtr\tLRear\tRFront\tRCtr\tRRear\tRear\n");

GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR

//mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",

// millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

while (Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0

|| Lidar_LeftFront <= 0 || Lidar_LeftCenter <= 0 || Lidar_LeftRear <= 0

|| Lidar_Rear <= 0)

{

////values updated 10 times/sec in ISR

mySerial.printf("%lu: %d\t%d\t%d\t%d\t%d\t%d\t%d\n",

millis(), Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, Lidar_Rear);

delay(100);

GetRequestedVL53l0xValues(VL53L0X_ALL); //09/04/21 now doing directly w/o ISR

}

mySerial.printf("VL53L0X Teensy Ready at %lu\n\n", millis());

}

double GetSteeringAngle(double steerval)

{

//Purpose: Convert a steering angle into the equivalent off-parallel orientation in degrees

//Inputs:

// steerval = double value denoting current steering value

// Notes:

// 06/27/21 now steering_val/off_angle slope is a constant 0.0175

const double slopeval = 0.0175;

double offparalleldeg = steerval / slopeval; //e.g. for steerval = -0.187 @ 10cm offset, returns +21deg

//mySerial.printf("GetSteeringAngle(%d, %2.4f): slopeval = %2.4f, res %2.2f\n", ctrdist_cm, steerval, slopeval, offparalleldeg);

return offparalleldeg;

}

#pragma endregion VL53L0X_SUPPORT

#pragma region LIDAR_SUPPORT

//11/05/15 added to get LIDAR measurement

int GetFrontDistCm()

{

//Notes:

// 12/05/15 chg to MODE line vs I2C

// 01/06/16 rev to return avg of prev distances on error

#ifndef NO_LIDAR

unsigned long pulse_width;

int LIDARdistCm;

pulse_width = pulseIn(LIDAR_MODE_PIN, HIGH); // Count how long the pulse is high in microseconds

LIDARdistCm = pulse_width / 10; // 10usec = 1 cm of distance for LIDAR-Lite

//chk for erroneous reading

if (LIDARdistCm == 0)

{

//replace with average of last three readings from aFrontDist

int avgdist = GetAvgFrontDistCm();

mySerial.printf("%lu: Error in GetFrontDistCm() - %d replaced with %d\n", millis(), LIDARdistCm, avgdist);

LIDARdistCm = avgdist;

}

//04/30/17 added limit detection/correction

LIDARdistCm = (LIDARdistCm > 0) ? LIDARdistCm : MAX_FRONT_DISTANCE_CM;

return LIDARdistCm;

#else

return 10; //safe number, I hope

#endif

}

//04/25/21 rewritten to use aFrontDist[] values

float GetAvgFrontDistCm()

{

int avgdist = 0;

for (int i = 0; i < FRONT_DIST_AVG_WINDOW_SIZE; i++)

{

//DEBUG!!

//mySerial.printf("frontdist[%d] = %d\n", FRONT_DIST_ARRAY_SIZE - 1 - i, aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i]);

//DEBUG!!

avgdist += aFrontDist[FRONT_DIST_ARRAY_SIZE - 1 - i];

}

//DEBUG!!

//mySerial.printf("avgdisttot = %d\n", avgdist);

//DEBUG!!

avgdist = (int)((float)avgdist / (float)FRONT_DIST_AVG_WINDOW_SIZE);

//DEBUG!!

//mySerial.printf("avgdist = %d\n", avgdist);

//DEBUG!!

return avgdist;

}

//08/12/20 Extracted inline FRONT_DIST_ARRAY init code so can be called from anywhere

void InitFrontDistArray()

{

//04/01/15 initialize 'stuck detection' arrays

//06/17/20 re-wrote for better readability

//to ensure var > STUCK_FRONT_VARIANCE_THRESHOLD for first FRONT_DIST_ARRAY_SIZE loops

//array is initialized with sawtooth from 0 to MAX_FRONT_DISTANCE_CM

int newval = 0;

int bumpval = MAX_FRONT_DISTANCE_CM / FRONT_DIST_ARRAY_SIZE;

bool bgoingUp = true;

for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)

{

aFrontDist[i] = newval;

//DEBUG!!

//mySerial.printf("i = %d, newval = %d, aFrontdist[%d] = %d\n", i, newval, i, aFrontDist[i]);

//DEBUG!!

if (bgoingUp)

{

if (newval < MAX_FRONT_DISTANCE_CM - bumpval) //don't want newval > MAX_FRONT_DISTANCE_CM

{

newval += bumpval;

}

else

{

bgoingUp = false;

}

else

{

if (newval > bumpval) //don't want newval < 0

{

newval -= bumpval;

}

else

{

bgoingUp = true;

}

//04/19/19 init Front_Dist_PrevVMean & Front_Dist_PrevVar to mean/var respectively

long sum = 0;

for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)

{

sum += aFrontDist[i]; //adds in rest of values

}

Front_Dist_PrevVMean = (float)sum / (float)FRONT_DIST_ARRAY_SIZE;

// Step2: calc new 'brute force' variance

float sumsquares = 0;

for (int i = 0; i < FRONT_DIST_ARRAY_SIZE; i++)

{

sumsquares += (aFrontDist[i] - Front_Dist_PrevVMean) * (aFrontDist[i] - Front_Dist_PrevVMean);

}

Front_Dist_PrevVar = sumsquares / FRONT_DIST_ARRAY_SIZE;

mySerial.printf("%lu: aFrontDist Init: Front_Dist_PrevVMean = %3.2f, Front_Dist_PrevVar = %3.2f\n", millis(), Front_Dist_PrevVMean, Front_Dist_PrevVar);

frontvar = Front_Dist_PrevVar; //added 03/30/21 to prevent 'stuck' at startup

}

#pragma endregion LIDAR_SUPPORT

#pragma region MOTOR SUPPORT

//09/08/20 modified for DRV8871 motor driver

void MoveReverse(int leftspeednum, int rightspeednum)

{

//Purpose: Move in reverse direction continuously - companion to MoveAhead()

//ProvEnA_Pinnce: G. Frank Paynter 09/08/18

//Inputs:

// leftspeednum = integer denoting speed (0=stop, 255 = full speed)

// rightspeednum = integer denoting speed (0=stop, 255 = full speed)

//Outputs: both drive Motors energized with the specified speed

//Plan:

// Step 1: Set reverse direction for both wheels

// Step 2: Run both Motors at specified speeds

//Notes:

// 01/22/20 now using Adafruit DRV8871 drivers

//Step 1: Set reverse direction and speed for both wheels

SetLeftMotorDirAndSpeed(REV_DIR, leftspeednum);

SetRightMotorDirAndSpeed(REV_DIR, rightspeednum);

}

//09/08/20 modified for DRV8871 motor driver

void MoveAhead(int leftspeednum, int rightspeednum)

{

//Purpose: Move ahead continuously

//ProvEnA_Pinnce: G. Frank Paynter and Danny Frank 01/24/2014

//Inputs:

// leftspeednum = integer denoting speed (0=stop, 255 = full speed)

// rightspeednum = integer denoting speed (0=stop, 255 = full speed)

//Outputs: both drive Motors energized with the specified speed

//Plan:

// Step 1: Set forward direction for both wheels

// Step 2: Run both Motors at specified speeds

//Notes:

// 01/22/20 now using Adafruit DRV8871 drivers

//mySerial.printf("InMoveAhead(%d,%d)\n", leftspeednum, rightspeednum);

//Step 1: Set forward direction and speed for both wheels

SetLeftMotorDirAndSpeed(true, leftspeednum);

SetRightMotorDirAndSpeed(true, rightspeednum);

}

//09/08/10 modified for DRV8871 motor driver

void StopLeftMotors()

{

analogWrite(In1_Left, MOTOR_SPEED_OFF);

analogWrite(In2_Left, MOTOR_SPEED_OFF);

}

void StopRightMotors()

{

analogWrite(In1_Right, MOTOR_SPEED_OFF);

analogWrite(In2_Right, MOTOR_SPEED_OFF);

}

//09/08/20 added bool bisFwd param for DRV8871 motor driver

void RunBothMotors(bool bisFwd, int leftspeednum, int rightspeednum)

{

//Purpose: Run both Motors at left/rightspeednum speeds

//Inputs:

// speednum = speed value (0 = OFF, 255 = full speed)

//Outputs: Both Motors run for timesec seconds at speednum speed

//Plan:

// Step 1: Apply drive to both wheels

//Notes:

// 01/14/15 - added left/right speed offset for straightness compensation

// 01/22/15 - added code to restrict fast/slow values

// 01/24/15 - revised for continuous run - no timing

// 01/26/15 - speednum modifications moved to UpdateWallFollowmyMotorspeeds()

// 12/07/15 - chg args from &int to int

//Step 1: Apply drive to both wheels

//DEBUG!!

//mySerial.printf("In RunBothMotors(%s, %d,%d)\n", bisFwd? "FWD":"REV", leftspeednum, rightspeednum);

//DEBUG!!

SetLeftMotorDirAndSpeed(bisFwd, leftspeednum);

SetRightMotorDirAndSpeed(bisFwd, rightspeednum);

}

void RunBothMotorsBidirectional(int leftspeed, int rightspeed)

{

//Purpose: Accommodate the need for independent bidirectional wheel motion

//Inputs:

// leftspeed - integer denoting left wheel speed. Positive value is fwd, negative is rev

// rightspeed - integer denoting right wheel speed. Positive value is fwd, negative is rev

//Outputs:

// left/right wheel motors direction and speed set as appropriate

//Plan:

// Step1: Set left wheel direction and speed

// Step2: Set right wheel direction and speed

//Step1: Set left wheel direction and speed

//DEBUG!!

//mySerial.printf("In RunBothMotorsBidirectional(%d, %d)\n", leftspeed, rightspeed);

if (leftspeed < 0)

{

SetLeftMotorDirAndSpeed(false, -leftspeed); //neg value ==> reverse

}

else

{

SetLeftMotorDirAndSpeed(true, leftspeed); //pos or zero value ==> fwd

}

//Step2: Set right wheel direction and speed

if (rightspeed < 0)

{

SetRightMotorDirAndSpeed(false, -rightspeed); //neg value ==> reverse

}

else

{

SetRightMotorDirAndSpeed(true, rightspeed); //pos or zero value ==> fwd

}

//09/08/20 added bool bisFwd param for DRV8871 motor driver

void RunBothMotorsMsec(bool bisFwd, int timeMsec, int leftspeednum, int rightspeednum)

{

//Purpose: Run both Motors for timesec seconds at speednum speed

//Inputs:

// timesec = time in seconds to run the Motors

// speednum = speed value (0 = OFF, 255 = full speed)

//Outputs: Both Motors run for timesec seconds at speednum speed

//Plan:

// Step 1: Apply drive to both wheels

// Step 2: Delay timsec seconds

// Step 3: Remove drive from both wheels.

//Notes:

// 01/14/15 - added left/right speed offset for straightness compensation

// 01/22/15 - added code to restrict fast/slow values

// 11/25/15 - rev to use motor driver class object

// 09/08/20 added bool bisFwd param for DRV8871 motor driver

RunBothMotors(bisFwd, leftspeednum, rightspeednum);

//Step 2: Delay timsec seconds

delay(timeMsec);

//Step3: Stop motors added 04/12/21

StopBothMotors();

}

//11/25/15 added for symmetry ;-).

void StopBothMotors()

{

StopLeftMotors();

StopRightMotors();

}

void SetLeftMotorDirAndSpeed(bool bIsFwd, int speed)

{

//mySerial.printf("SetLeftMotorDirAndSpeed(%d,%d)\n", bIsFwd, speed);

#ifndef NO_MOTORS

if (bIsFwd)

{

digitalWrite(In1_Left, LOW);

analogWrite(In2_Left, speed);

//mySerial.printf("In TRUE block of SetLeftMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

}

else

{

//mySerial.printf("In FALSE block of SetLeftMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

digitalWrite(In2_Left, LOW);

analogWrite(In1_Left, speed);

}

#endif // !NO_MOTORS

}

void SetRightMotorDirAndSpeed(bool bIsFwd, int speed)

{

//mySerial.printf("In SetRightMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

#ifndef NO_MOTORS

if (bIsFwd)

{

//mySerial.printf("In TRUE block of SetRighttMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

digitalWrite(In1_Right, LOW);

analogWrite(In2_Right, speed);

}

else

{

//mySerial.printf("In FALSE block of SetRightMotorDirAndSpeed(%s, %d)\n",

// (bIsFwd == true) ? "true" : "false", speed);

digitalWrite(In2_Right, LOW);

analogWrite(In1_Right, speed);

}

#endif // !NO_MOTORS

}

#pragma endregion Motor Support Functions

#pragma region MPU5060 Support

float UpdateIMUHdgValDeg()

{

//Purpose: Get latest yaw (heading) value from IMU

//Inputs: None. This function should only be called after mpu.dmpPacketAvailable() returns TRUE

//Outputs:

// returns true if successful, otherwise false

// IMUHdgValDeg updated on success

//Plan:

//Step1: check for overflow and reset the FIFO if it occurs. In this case, wait for new packet

//Step2: read all available packets to get to latest data

//Step3: update IMUHdgValDeg with latest value

//Notes:

// 10/08/19 changed return type to boolean

// 10/08/19 no longer need mpuIntStatus

// 10/21/19 completely rewritten to use Homer's algorithm

// 05/05/20 changed return type to float vs bool.

bool retval = false;

int flag = mpu.GetCurrentFIFOPacket(fifoBuffer, packetSize); //08/01/21 now using library version

if (flag != 0) //0 = error exit, 1 = normal exit, 2 = recovered from an overflow

{

// display Euler angles in degrees

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

//compute the yaw value

IMUHdgValDeg = ypr[0] * 180 / M_PI;

retval = true;

}

//return retval;

return IMUHdgValDeg;//05/05/20 now returns updated value for use convenience

}

#pragma endregion MPU5060 Support

#pragma region HDG_BASED_TURN_SUPPORT

float GetHdgMatchVal(float tgt_deg, float cur_deg)

{

//Purpose: Compute the match ratio between two compass headings

//Inputs:

// tgt_deg = float representing target heading in +/-180 range

// IMUHdgValDeg = float representing sensor yaw value in +/-180 deg range

//Outputs:

// returns result of 1 - abs(Tgt_deg - Hdg_deg)/180, all angles in 0-360 deg range

//Plan:

// Step1: convert both inputs to 0-360 deg range

// Step2: compute match ratio

//Notes:

// formula from https://gis.stackexchange.com/questions/129954/comparing-compass-bearings

//Step1: convert both inputs to 0-360 deg range

float tgthdg = (tgt_deg < 0) ? tgt_deg + 360 : tgt_deg;

float curhdg = (cur_deg < 0) ? cur_deg + 360 : cur_deg;

//Step2: compute match ratio

float match_ratio = 1 - abs(tgthdg - curhdg) / 180;

//DEBUG!!

//mySerial.printf("tgt\tcur\tmatch = %4.2f\t%4.2f\t%1.3f\n", tgthdg, curhdg, match_ratio);

//DEBUG!!

return abs(match_ratio);

}

bool SpinTurn(bool b_ccw, float numDeg, float degPersec) //04/25/21 added turn-rate arg (default = TURN_RATE_TARGET_DEGPERSEC)

{

//Purpose: Make a numDeg CW or CCW 'spin' turn

//Inputs:

// b_ccw - True if turn is to be ccw, false otherwise

// numDeg - angle to be swept out in the turn

// ROLLING_TURN_MAX_SEC_PER_DEG = const used to generate timeout proportional to turn deg

// IMUHdgValDeg = IMU heading value updated by UpdateIMUHdgValDeg() //11/02/20 now updated in ISR

// degPerSec = float value denoting desired turn rate

//Plan:

// Step1: Get current heading as starting point

// Step2: Disable TIMER5 interrupts

// Step3: Compute new target value & timeout value

// Step4: Run motors until target reached, using inline PID algorithm to control turn rate

// Step5: Re-enable TIMER5 interrupts

//Notes:

// 06/06/21 we-written to remove PID library - now uses custom 'PIDCalcs()' function

// 06/06/21 added re-try for 180.00 return from IMU - could be bad value

// 06/11/21 added code to correct dHdg errors due to 179/-179 transition & bad IMU values

// 06/12/21 cleaned up & commented out debug code

float tgt_deg;

float timeout_sec;

bool bDoneTurning = false;

bool bTimedOut = false;

bool bResult = true; //04/21/20 added so will be only one exit point

//DEBUG!!

mySerial.printf("In SpinTurn(%s, %2.2f, %2.2f)\n", b_ccw == TURNDIR_CCW ? "CCW" : "CW", numDeg, degPersec);

//mySerial.printf("TurnRatePID started with Kp/Ki/Kd = %2.1f,%2.1f,%2.1f, SampleTime(mSec) = %d\n",

//TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TURN_RATE_UPDATE_INTERVAL_MSEC);

//DEBUG!!

//no need to continue if the IMU isn't available

if (!dmpReady)

{

mySerial.printf("DMP Failure - returning FALSE\n");

return false;

}

//Step1: Get current heading as starting point

//06/06/21 it is possible for IMU to return 180.00 on failure

//so try again. If it really IS 180, then

//it will eventually time out and go on

//08/26/21 re-wrote using 3-value array to make sure initial heading is a steady value

UpdateIMUHdgValDeg();

int retries = 0;

//if (IMUHdgValDeg == 180.f && retries < 5)

if ((IMUHdgValDeg == 180.f || IMUHdgValDeg == 0.f) && retries < 5)

{

//DEBUG!!

//mySerial.printf("Got 180.00 exactly from IMU - retrying...\n");

mySerial.printf("Got 180.00 or 0.00 exactly (%2.3f) from IMU - retrying %d...\n", IMUHdgValDeg, retries);

//DEBUG!!

UpdateIMUHdgValDeg();

retries++;

delay(100);

}

//Step2: Compute new target value & timeout value

timeout_sec = 3 * numDeg / degPersec; //05/29/21 rev to use new turn rate parmeter

//05/17/20 limit timeout_sec to 1 sec or more

timeout_sec = (timeout_sec < 1) ? 1.f : timeout_sec;

//UpdateIMUHdgValDeg();

//12/05/19 added #define back in to manage which direction increases yaw values

#ifdef MPU6050_CCW_INCREASES_YAWVAL

tgt_deg = b_ccw ? IMUHdgValDeg + numDeg : IMUHdgValDeg - numDeg;

#else

tgt_deg = b_ccw ? IMUHdgValDeg - numDeg : IMUHdgValDeg + numDeg;

#endif // MPU6050_CCW_INCREASES_YAWVAL

//correct for -180/180 transition

if (tgt_deg < -180)

{

tgt_deg += 360;

}

//07/29/19 bugfix

if (tgt_deg > 180)

{

tgt_deg -= 360;

}

//DEBUG!!

//mySerial.printf("Init hdg = %4.2f deg, Turn = %4.2f deg, tgt = %4.2f deg, timeout = %4.2f sec\n\n",

// IMUHdgValDeg, numDeg, tgt_deg, timeout_sec);

//DEBUG!!

float curHdgMatchVal = 0;

//09/08/18 added to bolster end-of-turn detection

float prevHdgMatchVal = 0;

float matchSlope = 0;

//Step2: Disable TIMER5 interrupts

TIMSK5 = 0; //disable timer compare interrupt

//Step3: Run motors until target reached, using PID algorithm to control turn rate

Prev_HdgDeg = IMUHdgValDeg; //06/10/21 synch Prev_HdgDeg & IMUHdgValDeg just before entering loop

//DEBUG!!

//mySerial.printf("Just before while() loop: hdg/prvhdg = %2.2f\t%2.2f\n\n", IMUHdgValDeg, Prev_HdgDeg);

//mySerial.printf("Msec\tHdg\tPrvHdg\tDhdg\trate\tSet\terror\tKp*err\tKi*err\tKd*Din\tOutput\Match\tSlope\n");

//DEBUG!!

elapsedMillis sinceLastTimeCheck = 0;

elapsedMillis sinceLastComputeTime = 0;

double lastError = 0;

double lastInput = 0;

double lastIval = 0;

double lastDerror = 0;

bool bFirstIMUHdg = true;

while (!bDoneTurning && !bTimedOut)

{

//11/06/20 now just loops between PID calcs

CheckForUserInput();

if (sinceLastComputeTime >= TURN_RATE_UPDATE_INTERVAL_MSEC)

{

sinceLastComputeTime -= TURN_RATE_UPDATE_INTERVAL_MSEC;

UpdateIMUHdgValDeg(); //update IMUHdgValDeg

double dHdg = IMUHdgValDeg - Prev_HdgDeg;

if (dHdg > 180)

{

dHdg -= 360;

mySerial.printf("dHdg > 180 - subtracting 360\n");

}

else if (dHdg < -180)

{

dHdg += 360;

mySerial.printf("dHdg < -180 - adding 360\n");

}

//watch for turn rates that are wildly off

double rate = abs(1000 * dHdg / TURN_RATE_UPDATE_INTERVAL_MSEC);

//if (rate > 3 * degPersec)

//{

// //DEBUG!!

// mySerial.printf("hdg/prevhdg/dHdg/rate = %2.2f\t%2.2f\t%2.2f\t%2.2f, excessive rate - replacing with %2.2f\n", IMUHdgValDeg, Prev_HdgDeg, dHdg, rate, degPersec);

// //DEBUG!!

// rate = degPersec;

//}

//06/11/21 don't do calcs first time through, as Prev_HdgDeg isn't valid yet

if (bFirstIMUHdg)

{

bFirstIMUHdg = false;

Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time

}

else

{

TurnRatePIDOutput = PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd);

//PIDCalcs(rate, degPersec, TURN_RATE_UPDATE_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror, TurnRate_Kp, TurnRate_Ki, TurnRate_Kd, TurnRatePIDOutput);

int speed = 0;

(TurnRatePIDOutput > MOTOR_SPEED_MAX) ? speed = MOTOR_SPEED_MAX : speed = (int)TurnRatePIDOutput;

(TurnRatePIDOutput <= MOTOR_SPEED_LOW) ? speed = MOTOR_SPEED_LOW : speed = (int)TurnRatePIDOutput;

SetLeftMotorDirAndSpeed(!b_ccw, speed);

SetRightMotorDirAndSpeed(b_ccw, speed);

//check for nearly there and all the way there

curHdgMatchVal = GetHdgMatchVal(tgt_deg, IMUHdgValDeg);

matchSlope = curHdgMatchVal - prevHdgMatchVal;

//DEBUG!!

//mySerial.printf("%lu\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%d\t%2.2f\t%2.2f\n",

// millis(),

// IMUHdgValDeg,

// Prev_HdgDeg,

// dHdg,

// rate,

// degPersec,

// lastError,

// TurnRate_Kp * lastError,

// TurnRate_Ki * lastIval,

// TurnRate_Kd * lastDerror,

// speed,

// curHdgMatchVal,

// matchSlope);

//DEBUG!!

Prev_HdgDeg = IMUHdgValDeg; //re-synch prev to curr hdg for next time

//look for full match

bDoneTurning = (curHdgMatchVal >= HDG_FULL_MATCH_VAL

|| (prevHdgMatchVal >= HDG_MIN_MATCH_VAL && matchSlope <= -0.01)); //have to use < vs <= as slope == 0 at start

//mySerial.printf("curHdgMatchVal = %2.2f, prevHdgMatchVal = %2.2f, matchslope = %2.2f, bDoneTurning = %d\n",

// curHdgMatchVal,

// prevHdgMatchVal,

// matchSlope,

// bDoneTurning);

prevHdgMatchVal = curHdgMatchVal; //07/31/21 moved below bDoneTurning chk so can use prevHdgMatchVal vs curHdgMatchVal in slope check

}

// bTimedOut = (sinceLastTimeCheck > timeout_sec * 1000);

// if (bTimedOut)

// {

// //DEBUG!!

// mySerial.printf("timed out with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);

// //DEBUG!!

// bResult = false;

// }

// if (bDoneTurning)

// {

// mySerial.printf("Completed turn with yaw = %3.2f, tgt = %3.2f, and match = %1.3f\n", IMUHdgValDeg, tgt_deg, curHdgMatchVal);

// }

}

// //DEBUG!!

// //mySerial.printf("%lu: Exiting SpinTurn() at %3.2f deg\n", millis(), IMUHdgValDeg);

// //DEBUG!!

////Step4: Re-enable TIMER5 interrupts

// TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

StopBothMotors();

delay(1000); //added 04/27/21 for debug

return bResult;

}

#pragma endregion HDG_BASED_TURN_SUPPORT

#pragma region WALL_TRACK_SUPPORT

void TrackLeftWallOffset(double kp, double ki, double kd, double offsetCm)

{

//Notes:

// 06/21/21 modified to do a turn, then straight, then track 0 steer val

elapsedMillis sinceLastComputeTime = 0;

double lastError = 0;

double lastInput = 0;

double lastIval = 0;

double lastDerror = 0;

bool bFirstTime = true;

double spinRateDPS = 30;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //update LeftSteeringVal

mySerial.printf("\nIn TrackLeftWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

//06/21/21 modified to do a turn, then straight, then track 0 steer val

double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_LeftCenter / 10.f);//positive inside, negative outside desired offset

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",

Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, cutAngleDeg);

//07/05/21 implement 15deg min cut angle

if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

mySerial.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;

}

else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

mySerial.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;

}

double SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg);

double adjCutAngleDeg = 0;

uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

if (cutAngleDeg > 0) //robot inside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg also > 0

{

mySerial.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0

{

mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg, SteerAngleDeg <= 0\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg < cutAngleDeg but still > 0

{

mySerial.printf("CutAngDeg > 0, 0 < SteerAngleDeg < cutAngleDeg\n");

mySerial.printf("else\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx

}

else // cutAngleDeg < 0 --> robot outside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg may also be > 0

{

mySerial.printf("CutAngDeg < 0, SteerAngleDeg > cutAngleDeg\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0

{

if (SteerAngleDeg <= 0) //cutAngleDeg < 0, SteerAngleDeg <= 0

{

mySerial.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg < cutAngleDeg but still > 0

{

mySerial.printf("CutAngDeg < 0, 0 < SteerAngleDeg < cutAngleDeg\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx

}

delay(1000);

//adjust so offset capture occurs at correct perpendicular offset

double adjfactor = cos(PI * cutAngleDeg / 180.f);

int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);

adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel.

mySerial.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n", cutAngleDeg, adjfactor, adjOffsetMM);

GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21

long int err = Lidar_LeftFront - adjOffsetMM; //neg for inside going out, pos for outside going in

long int prev_err = err;

mySerial.printf("At start - err = prev_err = %ld\n", err, prev_err);

SteerAngleDeg = GetSteeringAngle(LeftSteeringVal);

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",

Lidar_LeftRear, Lidar_LeftCenter, Lidar_LeftFront, LeftSteeringVal, SteerAngleDeg, cutAngleDeg, err);

mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tErr\tP_err\n");

//TIMSK5 = 0; //turn off TIMER5 interrupts

//09/05/21 rev to doublecheck robot position - might not need the forward motion section

//while (prev_res * res > 0) //sign change makes this < 0

while (((cutAngleDeg > 0 && err < 0 ) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0

{

prev_err = err;

MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);

//while (!bTimeForNavUpdate)

//{

//}

delay(100);

bTimeForNavUpdate = false;

frontdistval = GetFrontDistCm();

GetRequestedVL53l0xValues(VL53L0X_ALL);

err = Lidar_LeftFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",

millis(),

Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, frontdistval, Lidar_Rear, err, prev_err);

CheckForUserInput();

}

//now turn back the same (unadjusted) amount

mySerial.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);

mySerial.printf("correct back to parallel\n");

SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

//sinceLastComputeTime = 0;

WallTrackSetPoint = 0; //moved here 6/22/21

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("\nTrackLeftWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);

mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

sinceLastComputeTime = 0; //added 09/04/21

while (true)

{

CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

//now using TIMER5 100 mSec interrupt for timing

//if (bTimeForNavUpdate)

//{

// //sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

// bTimeForNavUpdate = false;

//09/04/21 back to elapsedMillis timing

if(sinceLastComputeTime > WALL_TRACK_UPDATE_INTERVAL_MSEC)

{

sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

//have to weight value by both angle and wall offset

WallTrackSteerVal = LeftSteeringVal + (Lidar_LeftCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//10/12/20 now this executes every time, with interval controlled by timer ISR

//09/03/21 rev fcn type to double vs void to eliminate output param

//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// kp, ki, kd, WallTrackOutput);

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

int speed = 0;

int leftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

int rightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;

rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;

leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;

leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

MoveAhead(leftspeednum, rightspeednum);

mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

millis(),

Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear,

WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

kp * lastError, ki * lastIval, kd * lastDerror,

WallTrackOutput, leftspeednum, rightspeednum);

}

void TrackRightWallOffset(double kp, double ki, double kd, double offsetCm)

{

//Notes:

// 06/21/21 modified to do a turn, then straight, then track 0 steer val

// 09/12/21 updated from TrackLeftWallOffset

elapsedMillis sinceLastComputeTime = 0;

double lastError = 0;

double lastInput = 0;

double lastIval = 0;

double lastDerror = 0;

bool bFirstTime = true;

//double spinRateDPS = 45;

double spinRateDPS = 30;

GetRequestedVL53l0xValues(VL53L0X_RIGHT); //update RightSteeringVal = (Front - Rear)/100

//09/12/21 ported from TrackLeftWallOffset

mySerial.printf("\nIn TrackRightWallOffset with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", kp, ki, kd);

//06/21/21 modified to do a turn, then straight, then track 0 steer val

double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_RightCenter / 10.f);//positive inside, negative outside desired offset

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, CutAngle = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, cutAngleDeg);

//07/05/21 implement min cut angle

if (cutAngleDeg < 0 && abs(cutAngleDeg) < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

mySerial.printf("(cutAngleDeg < 0 && abs(cutAngleDeg) < %d -- setting to -%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = -WALL_OFFSET_APPR_ANGLE_MINDEG;

}

else if (cutAngleDeg > 0 && cutAngleDeg < WALL_OFFSET_APPR_ANGLE_MINDEG)

{

mySerial.printf("(cutAngleDeg > 0 && abs(cutAngleDeg) < %d -- setting to +%d\n", WALL_OFFSET_APPR_ANGLE_MINDEG, WALL_OFFSET_APPR_ANGLE_MINDEG);

cutAngleDeg = WALL_OFFSET_APPR_ANGLE_MINDEG;

}

//get the steering angle from the steering value, for comparison to the computed cut angle

//positive value means robot is oriented away from wall

double SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

//now decide which way to turn.

double adjCutAngleDeg = 0;

uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

if (cutAngleDeg > 0) //robot inside desired offset distance

{

if (SteerAngleDeg > cutAngleDeg) // --> implies SteerAngleDeg also > 0

{

//robot pointed away from wall more than it should

mySerial.printf("CutAngDeg > 0, SteerAngleDeg > cutAngleDeg\n");

SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //turn back toward wall to achieve cutAngle

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0

{

//robot not turned far enough away from wall (could actually be turned toward wall if SteerAngDeg < 0)

mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg\n");

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

//robot turned toward wall

mySerial.printf("CutAngDeg > 0, SteerAngleDeg < cutAngleDeg, SteerAngleDeg <= 0\n");

SpinTurn(true, cutAngleDeg + SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg < cutAngleDeg but still > 0

{

//robot turned away from wall, but not far enough

mySerial.printf("CutAngDeg > 0, 0 < SteerAngleDeg < cutAngleDeg\n");

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = -100; //07/05/21 don't need fudge factor for inside start condx

}

else // cutAngleDeg < 0 --> robot outside desired offset distance

{

if (SteerAngleDeg < cutAngleDeg) // --> SteerAngleDeg must also be < 0

{

//robot turned too far toward wall

mySerial.printf("CutAngDeg < 0, SteerAngleDeg < cutAngleDeg\n");

SpinTurn(true, SteerAngleDeg - cutAngleDeg, spinRateDPS); //turn away from wall to achieve cutAngleDeg

}

else if (SteerAngleDeg >= cutAngleDeg)// --> SteerAngleDeg could be >=0

{

if (SteerAngleDeg >= 0) //cutAngleDeg < 0, SteerAngleDeg >= 0

{

//robot turned away from wall

mySerial.printf("CutAngDeg < 0, SteerAngleDeg <= 0\n");

SpinTurn(false, cutAngleDeg + SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg > cutAngleDeg but still < 0

{

//robot turned toward wall, but not enough

mySerial.printf("CutAngDeg < 0, 0 < SteerAngleDeg < cutAngleDeg\n");

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = 100; //07/05/21 need fudge factor for outside start condx

}

delay(1000);

//adjust so offset capture occurs at correct perpendicular offset

double adjfactor = cos(PI * cutAngleDeg / 180.f);

int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);

adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel.

mySerial.printf("\nat approach start: cut angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n", cutAngleDeg, adjfactor, adjOffsetMM);

GetRequestedVL53l0xValues(VL53L0X_ALL); //added 09/05/21

long int err = Lidar_RightFront - adjOffsetMM; //neg for inside going out, pos for outside going in

long int prev_err = err;

mySerial.printf("At start - err = prev_err = %ld\n", err, prev_err);

SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f, err/prev_err = %li\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg, err);

mySerial.printf("Msec\tRFront\tRCtr\tRRear\tFront\tRear\tErr\tP_err\n");

//TIMSK5 = 0; //turn off TIMER5 interrupts

//09/05/21 rev to doublecheck robot position - might not need the forward motion section

//while (prev_res * res > 0) //sign change makes this < 0

while (((cutAngleDeg > 0 && err < 0) || (cutAngleDeg <= 0 && err >= 0)) && prev_err * err > 0) //sign change makes this < 0

{

prev_err = err;

MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);

//while (!bTimeForNavUpdate)

//{

//}

delay(100);

bTimeForNavUpdate = false;

frontdistval = GetFrontDistCm();

GetRequestedVL53l0xValues(VL53L0X_RIGHT);

err = Lidar_RightFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",

millis(),

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear, err, prev_err);

CheckForUserInput();

}

//now turn back the same (unadjusted) amount

mySerial.printf("At end of offset capture - prev_res*res = %ld\n", prev_err * err);

mySerial.printf("correct back to parallel\n");

//SpinTurn(!(cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

SpinTurn((cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

//sinceLastComputeTime = 0;

WallTrackSetPoint = 0; //moved here 6/22/21

//TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("\nTrackRightWallOffset: Start tracking offset of %2.2fcm with Kp/Ki/Kd = %2.2f\t%2.2f\t%2.2f\n", offsetCm, kp, ki, kd);

mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

sinceLastComputeTime = 0; //added 09/04/21

while (true)

{

CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

//now using TIMER5 100 mSec interrupt for timing

//if (bTimeForNavUpdate)

//{

// //sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

// bTimeForNavUpdate = false;

//09/04/21 back to elapsedMillis timing

if (sinceLastComputeTime > WALL_TRACK_UPDATE_INTERVAL_MSEC)

{

sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

//GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

GetRequestedVL53l0xValues(VL53L0X_RIGHT); //now done in TIMER5 ISR

//have to weight value by both angle and wall offset

//RightSteeringVal = (Front - Rear)/100

//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 500.f;

//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 400.f;

//WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 300.f;

WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 250.f;

//update motor speeds, skipping bad values

if (!isnan(WallTrackSteerVal))

{

//10/12/20 now this executes every time, with interval controlled by timer ISR

//09/03/21 rev fcn type to double vs void to eliminate output param

//PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// kp, ki, kd, WallTrackOutput);

WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

kp, ki, kd);

int speed = 0;

//int leftspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

//int rightspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

int leftspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

int rightspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;

rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;

leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;

leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

MoveAhead(leftspeednum, rightspeednum);

mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

millis(),

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,

WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

kp * lastError, ki * lastIval, kd * lastDerror,

WallTrackOutput, leftspeednum, rightspeednum);

}

//CaptureRightWallOffset();

//WallTrackSetPoint = 0; //moved here 6/22/21

//mySerial.printf("Msec\tFdir\tCdir\tRdir\tSteer\tSet\terror\tIval\tKp*err\tKi*Ival\tKd*Din\tOutput\tLspd\tRspd\n");

//while (true)

//{

// CheckForUserInput(); //this is a bit recursive, but should still work (I hope)

// //now using TIMER5 100 mSec interrupt for timing

// if (bTimeForNavUpdate)

// {

// //sinceLastComputeTime -= WALL_TRACK_UPDATE_INTERVAL_MSEC;

// bTimeForNavUpdate = false;

// //GetRequestedVL53l0xValues(VL53L0X_LEFT); //now done in TIMER5 ISR

// //have to weight value by both angle and wall offset

// WallTrackSteerVal = RightSteeringVal + (Lidar_RightCenter - 10 * WALL_OFFSET_TGTDIST_CM) / 1000.f;

// //update motor speeds, skipping bad values

// if (!isnan(WallTrackSteerVal))

// {

// //10/12/20 now this executes every time, with interval controlled by timer ISR

// //PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// // kp, ki, kd, WallTrackOutput);

// //09/03/21 rev fcn type to double vs void to eliminate output param

// //PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// // kp, ki, kd, WallTrackOutput);

// WallTrackOutput = PIDCalcs(WallTrackSteerVal, WallTrackSetPoint, TIMER5_INTERVAL_MSEC, lastError, lastInput, lastIval, lastDerror,

// kp, ki, kd);

// int speed = 0;

// //07/05/21 reverse signs for right side tracking

// int leftspeednum = MOTOR_SPEED_QTR - WallTrackOutput;

// int rightspeednum = MOTOR_SPEED_QTR + WallTrackOutput;

// rightspeednum = (rightspeednum <= MOTOR_SPEED_FULL) ? rightspeednum : MOTOR_SPEED_FULL;

// rightspeednum = (rightspeednum > 0) ? rightspeednum : 0;

// leftspeednum = (leftspeednum <= MOTOR_SPEED_FULL) ? leftspeednum : MOTOR_SPEED_FULL;

// leftspeednum = (leftspeednum > 0) ? leftspeednum : 0;

// MoveAhead(leftspeednum, rightspeednum);

// mySerial.printf("%lu \t%d\t%d\t%d \t%2.2f\t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%2.2f\t%2.2f \t%2.2f\t%d\t%d\n",

// millis(),

// Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear,

// -WallTrackSteerVal, WallTrackSetPoint, lastError, lastIval,

// kp * lastError, ki * lastIval, kd * lastDerror,

// WallTrackOutput, leftspeednum, rightspeednum);

// }

//}

}

//07/17/21 abstracted from TrackRightWallOffset

void CaptureRightWallOffset()

{

//06/21/21 modified to do a turn, then straight, then track 0 steer val

double cutAngleDeg = WALL_OFFSET_TGTDIST_CM - (int)(Lidar_RightCenter / 10.f);//positive inside, negative outside desired offset

mySerial.printf("R/C/F dists = %d\t%d\t%d cutAngleDeg = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, cutAngleDeg);

double spinRateDPS = 45;

//07/05/21 implement 15deg min cut angle

if (cutAngleDeg < 0 && abs(cutAngleDeg) < 15)

{

mySerial.printf("Increasing cutAngleDeg to -15 from %2.3f\n", cutAngleDeg);

cutAngleDeg = -15;

}

else if (cutAngleDeg > 0 && cutAngleDeg < 15)

{

mySerial.printf("Increasing cutAngleDeg to +15 from %2.3f\n", cutAngleDeg);

cutAngleDeg = 15;

}

double SteerAngleDeg = GetSteeringAngle(RightSteeringVal);

//neg SteerAngleDeg means robot is pointing toward wall, positive means pointing away from wall

//pos cutAngleDeg means away from wall, neg means toward wall

mySerial.printf("R/C/F dists = %d\t%d\t%d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

double adjCutAngleDeg = 0;

uint16_t fudgeFactorMM = 0; //07/05/21 added so can change for inside vs outside starting condx

//robot inside desired offset distance

if (cutAngleDeg > 0)

{

if (SteerAngleDeg > cutAngleDeg) // --> robot pointing away from wall at greater angle than cutAngleDeg

{

mySerial.printf("robot starts further away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);

SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //CW turn back toward wall

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg could be < 0

{

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

mySerial.printf("robot starts toward wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg > 0 but still < cutAngleDeg

{

mySerial.printf("else\n");

mySerial.printf("robot starts away from wall (%2.3f) cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = -100; //07/05/21 fudge factor for inside start condx

}

// cutAngleDeg < 0 --> robot outside desired offset distance

else //cutAngleDeg < 0

{

mySerial.printf("robot outside offset distance\n");

if (SteerAngleDeg > cutAngleDeg) // --> SteerAngleDeg may also be > 0

{

mySerial.printf("robot angled farther away from wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);

//mySerial.printf("if (SteerAngleDeg > cutAngleDeg)\n");

SpinTurn(false, SteerAngleDeg - cutAngleDeg, spinRateDPS); //

}

else if (SteerAngleDeg < cutAngleDeg)// --> SteerAngleDeg must also be < 0

{

mySerial.printf("robot angled more toward wall (%2.3f) than cut angle (%2.3f), so CCW turn\n", SteerAngleDeg, cutAngleDeg);

if (SteerAngleDeg <= 0) //cutAngleDeg > 0, SteerAngleDeg <= 0

{

mySerial.printf("if (SteerAngleDeg <= 0)\n");

SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //null out SteerAngleDeg & then turn addnl cutAngleDeg

}

else //SteerAngleDeg > 0 but still < cutAngleDeg

{

mySerial.printf("robot angled less toward wall (%2.3f) than cut angle (%2.3f), so CW turn\n", SteerAngleDeg, cutAngleDeg);

mySerial.printf("else\n");

//SpinTurn(true, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

SpinTurn(false, cutAngleDeg - SteerAngleDeg, spinRateDPS); //turn diff between SteerAngleDeg & cutAngleDeg

}

fudgeFactorMM = 100; //07/05/21 fudge factor for outside start condx

}

delay(1000);

//adjust so offset capture occurs at correct perpendicular offset

double adjfactor = cos(PI * cutAngleDeg / 180.f);

int adjOffsetMM = (int)(10 * (double)WALL_OFFSET_TGTDIST_CM / adjfactor);

adjOffsetMM += fudgeFactorMM; //fudge factor for distance measurements lagging behind robot's travel.

mySerial.printf("at approach start: SteerVal = %2.3f, off_angle = %2.3f, adjfactor = %2.3f, tgt dist = %d\n",

RightSteeringVal, GetSteeringAngle(RightSteeringVal), adjfactor, adjOffsetMM);

long int prev_res = Lidar_RightFront - adjOffsetMM; //should be neg for inside going out, pos for outside going in

long int res = prev_res;

mySerial.printf("At start - prev_res = %ld\n", prev_res);

mySerial.printf("Msec\tLFront\tLCtr\tLRear\tFront\tRear\tRes\tP_res\n");

//07/17/21 have to watch for situation where robot is already past the target distance before the start

if ((cutAngleDeg > 0 && prev_res < 0) || (cutAngleDeg < 0 && prev_res > 0))

{

while (prev_res * res > 0) //sign change makes this < 0

{

prev_res = res;

MoveAhead(MOTOR_SPEED_QTR, MOTOR_SPEED_QTR);

while (!bTimeForNavUpdate)

{

}

bTimeForNavUpdate = false;

frontdistval = GetFrontDistCm();

res = Lidar_RightFront - adjOffsetMM; //06/29/21 now adj for slant dist vs perp dist

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%ld\t%ld\n",

millis(),

Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear, frontdistval, Lidar_Rear, res, prev_res);

CheckForUserInput();

}

else

{

mySerial.printf("skipped translate section with R / C / F dists = %d\t %d\t %d Steerval = %2.3f, SteerAngle = %2.2f, CutAngle = %2.2f\n",

Lidar_RightRear, Lidar_RightCenter, Lidar_RightFront, RightSteeringVal, SteerAngleDeg, cutAngleDeg);

}

//now turn back the same (unadjusted) amount

mySerial.printf("At end - prev_res*res = %ld\n", prev_res * res);

mySerial.printf("correct back to parallel\n");

SpinTurn((cutAngleDeg < 0), abs(cutAngleDeg), spinRateDPS); //have to use abs() here, as cutAngleDeg can be neg

}

#pragma endregion WALL_TRACK_SUPPORT

//09/03/21 chg fcn type from void to double to eliminate double& output param

//void PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd, double& output)

double PIDCalcs(double input, double setpoint, uint16_t sampleTime, double& lastError, double& lastInput, double& lastIval, double& lastDerror, double Kp, double Ki, double Kd)

{

//Purpose: Encapsulate PID algorithm so can get rid of PID library. Library too cumbersome and won't synch with TIMER5 ISR

//Inputs:

// input = double denoting current input value (turn rate, speed, whatever)

// setpoint = double denoting desired setpoint in same units as input

// sampleTime = int denoting sample time to be used in calcs.

// lastError = ref to double denoting error saved from prev calc

// lastInput = ref to double denoting input saved from prev calc

// Kp/Ki/Kd = doubles denoting PID values to be used for calcs

// Output = ref to double denoting output from calc

double error = setpoint - input;

double dInput = (input - lastInput);

lastIval += (error);

double dErr = (error - lastError);

//mySerial.printf("PIDCalcs: error/dInput/lastIval/dErr/kp/ki/kd = %2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\t%2.2f\n", error, dInput, lastIval, dErr,

// Kp,Ki,Kd);

/*Compute PID Output*/

double output = Kp * error + Ki * lastIval + Kd * dErr;

/*Remember some variables for next time*/

lastError = error;

lastInput = input;

lastDerror = dErr;

return output; //added 09/03/21

}

void CheckForUserInput()

{

const int bufflen = 80;

char buff[bufflen];

memset(buff, 0, bufflen);

float OffsetCm;

float Kp, Ki, Kd;

const char s[2] = ",";

char* token;

if (Serial.available() > 0)

{

// read the incoming byte:

int incomingByte = Serial.read();

// say what you got:

//Serial.print("I received: ");

//Serial.println(incomingByte, HEX); //chg to HEX 02/18/20

//02/18/20 experiment with multiple commands

switch (incomingByte)

{

case 0x43: //ASCII 'C'

case 0x63: //ASCII 'c'

#pragma region MANUALCONTROL

//enter infinite loop for direct remote control

Serial.println(F("ENTERING COMMAND MODE:"));

Serial.println(F("0 = 180 deg CCW Turn"));

Serial.println(F("1 = 180 deg CW Turn"));

Serial.println(F("A = Back to Auto Mode"));

Serial.println(F("S = Stop"));

Serial.println(F("F = Forward"));

Serial.println(F("R = Reverse"));

Serial.println(F(""));

Serial.println(F(" Faster"));

Serial.println(F("\t8"));

Serial.println(F("Left 4\t5 6 Right"));

Serial.println(F("\t2"));

Serial.println(F(" Slower"));

StopBothMotors();

int speed = 0;

bool bAutoMode = false;

while (!bAutoMode)

{

if (Serial.available() > 0)

{

// read the incoming byte:

int incomingByte = Serial.read();

//mySerial.printf("Got %x\n", incomingByte);

switch (incomingByte)

{

case 0x54: //ASCII 'T'

case 0x74: //ASCII 't'

Serial.println(F("Toggle TIMER5 Enable/Disable"));

if (TIMSK5 == 0)

{

Serial.println(F("Enable TIMER5"));

//TIMSK5 |= OCIE5A;

TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("TIMSK5 = %x\n", TIMSK5);

}

else

{

Serial.println(F("Disable TIMER5"));

TIMSK5 = 0;

mySerial.printf("TIMSK5 = %x\n", TIMSK5);

}

break;

case 0x44: //ASCII 'D'

case 0x64: //ASCII 'd'

Serial.println(F("Display left/right distances"));

if (TIMSK5 == 0)

{

Serial.println(F("Enable TIMER5"));

//TIMSK5 |= OCIE5A;

TIMSK5 |= (1 << OCIE5A);// enable timer compare interrupt

mySerial.printf("TIMSK5 = %x\n", TIMSK5);

}

mySerial.printf("Msec\tLF\tLC\tLR\tRF\tRC\tRR\n");

while (true)

{

if (bTimeForNavUpdate)

{

bTimeForNavUpdate = false;

mySerial.printf("%lu\t%d\t%d\t%d\t%d\t%d\t%d\n", millis(),

Lidar_LeftFront, Lidar_LeftCenter, Lidar_LeftRear, Lidar_RightFront, Lidar_RightCenter, Lidar_RightRear);

}

break;

case 0x30: //Dec '0'

Serial.println(F("CCW 180 deg Turn"));

//RollingTurn(true, bIsForwardDir, 180);

//SpinTurn(true, 180, 45);

SpinTurn(true, 180, 90);

MoveAhead(speed, speed);

break;

case 0x31: //Dec '1'

Serial.println(F("CW 180 deg Turn"));

//RollingTurn(false, bIsForwardDir, 180);

SpinTurn(false, 180, 45);

//MoveAhead(speed, speed);

break;

case 0x34: //Turn left 10 deg

Serial.println(F("CCW 10 deg Turn"));

//MoveAhead(speed, speed);

//RollingTurn(true, bIsForwardDir, 10);

SpinTurn(true, 10, 30);

//SpinTurn(true, 30, 30);

//added 05/03/20

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x36: //Turn right 10 deg'

mySerial.print("CW 10 deg Turn\n");

MoveAhead(speed, speed);

//RollingTurn(false, bIsForwardDir, 10);

SpinTurn(false, 10, 30);

//SpinTurn(false, 45, 30);

//added 05/03/20

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x38: //Speed up

speed += 50;

speed = (speed >= MOTOR_SPEED_MAX) ? MOTOR_SPEED_MAX : speed;

mySerial.printf("Speeding up: speed now %d\n", speed);

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x32: //Slow down

speed -= 50;

speed = (speed < 0) ? 0 : speed;

mySerial.printf("Slowing down: speed now %d\n", speed);

if (bIsForwardDir)

{

MoveAhead(speed, speed);

}

else

{

MoveReverse(speed, speed);

}

break;

case 0x35: //05/07/20 changed to use '5' vs 'S'

Serial.println(F("Stopping Motors!"));

StopBothMotors();

speed = 0;

break;

case 0x41: //ASCII 'A'

case 0x61: //ASCII 'a'

StopBothMotors();

Serial.println(F("Re-entering AUTO mode"));

bAutoMode = true;

break;

case 0x52: //ASCII 'R'

case 0x72: //ASCII 'r'

Serial.println(F("Setting both motors to reverse"));

bIsForwardDir = false;

MoveReverse(speed, speed);

break;

case 0x46: //ASCII 'F'

case 0x66: //ASCII 'f'

Serial.println(F("Setting both motors to forward"));

bIsForwardDir = true;

MoveAhead(speed, speed);

#pragma endregion MANUALCONTROL

break;

#pragma region WALL OFFSET TRACKING CASES

//left side wall tracking

case 0x4C: //ASCII 'L'

case 0x6C: //ASCII 'l'

StopBothMotors();

Serial.println(F("Setting Kp value"));

//consume CR/LF chars

while (Serial.available() > 0)

{

int byte = Serial.read();

mySerial.printf("consumed %d\n", byte);

}

while (!Serial.available())

{

}

Serial.readBytes(buff, bufflen);

mySerial.printf("%s\n", buff);

/* extract Kp */

token = strtok(buff, s);

Kp = atof(token);

/* extract Ki */

token = strtok(NULL, s);

Ki = atof(token);

/* extract Kd */

token = strtok(NULL, s);

Kd = atof(token);

/* extract Offset in cm */

token = strtok(NULL, s);

OffsetCm = atof(token);

mySerial.printf("Kp,Ki,Kd,OffsetCm = %2.2f, %2.2f, %2.2f, %2.2f\n",

Kp, Ki, Kd, OffsetCm);

TrackLeftWallOffset(Kp, Ki, Kd, OffsetCm);

break;

case 0x4D: //ASCII 'M'

case 0x6D: //ASCII 'm'

StopBothMotors();

Serial.println(F("Setting Kp value"));

//consume CR/LF chars

while (Serial.available() > 0)

{

int byte = Serial.read();

mySerial.printf("consumed %d\n", byte);

}

while (!Serial.available())

{

}

Serial.readBytes(buff, bufflen);

mySerial.printf("%s\n", buff);

/* extract Kp */

token = strtok(buff, s);

Kp = atof(token);

/* extract Ki */

token = strtok(NULL, s);

Ki = atof(token);

/* extract Kd */

token = strtok(NULL, s);

Kd = atof(token);

/* extract Offset in cm */

token = strtok(NULL, s);

OffsetCm = atof(token);

mySerial.printf("Kp,Ki,Kd,OffsetCm = %2.2f, %2.2f, %2.2f, %2.2f\n",

Kp, Ki, Kd, OffsetCm);

TrackRightWallOffset(Kp, Ki, Kd, OffsetCm);

break;

#pragma endregion WALL OFFSET TRACKING CASES

Default :

Serial.println(F("In Default Case: Stopping Motors!"));

MoveAhead(0, 0);

while (true)

{

}

void ShowMultipleHeadingMeasurements(int numMeas)

{

//mySerial.printf("Msec\tHdg\n");

for (size_t i = 0; i < numMeas; i++)

{

UpdateIMUHdgValDeg();

mySerial.printf("%lu\t%3.2f\n", millis(), IMUHdgValDeg);

delay(50);

}

float GetBattVoltage()

{

//02/18/17 get corrected battery voltage. Voltage reading is 1/3 actual Vbatt value

int analog_batt_reading = GetAverageAnalogReading(BATT_MON_PIN, VOLTS_AVERAGE_NUMBER);//rev 03/01/19 to average readings

float calc_volts = ZENER_VOLTAGE_OFFSET + ADC_REF_VOLTS * (double)analog_batt_reading / (double)MAX_AD_VALUE;

////DEBUG!!

// mySerial.printf("a/d = %d, calc = %2.2f\n", analog_batt_reading,calc_volts);

////DEBUG!!

return calc_volts;

}

int GetAverageAnalogReading(int pin, int numavgs)

{

long totreads = 0;

for (int i = 0; i < numavgs; i++)

{

////DEBUG!!

// int aVal = analogRead(pin);

// mySerial.printf("Analog value at pin %d = %d\n", pin, aVal);

////DEBUG!!

totreads += analogRead(pin);

}

return (int)((float)totreads / (float)numavgs); //truncation ok

}

Stay tuned

Frank

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Another try at Wall Offset Tracking

18 September 2021 Update:

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