ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Files at this revision

API Documentation at this revision

Revision 39:309f38d1e49c, committed 2016-04-05

Comitter:
IceTeam
Date:
Tue Apr 05 15:02:12 2016 +0000
Parent:
37:da3a2c781672
Child:
41:b5a2fbc20beb
Commit message:
Petite sauvegarde de batard;

Changed in this revision

Map/Map.cpp Show annotated file Show diff for this revision Revisions of this file
Map/defines.h Show annotated file Show diff for this revision Revisions of this file
Odometry/Odometry.cpp Show annotated file Show diff for this revision Revisions of this file
Odometry/Odometry.h Show annotated file Show diff for this revision Revisions of this file
RoboClaw.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Map/Map.cpp	Sat Feb 06 10:11:28 2016 +0000
+++ b/Map/Map.cpp	Tue Apr 05 15:02:12 2016 +0000
@@ -68,9 +68,9 @@
     obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P13,1750,3000-90,30));// P13
     obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P14,1850,3000-90,30));// P14
     obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,1770,3000-1100,30));// P15*/
-    obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P16,700,1000,30));// P16
-    obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,1100,600,30));// P16
-    obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,900,800,50));// P16
+    obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P16,700,1000,100));// P16
+    obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,1100,600,100));// P16
+    obstacles.push_back(new Obs_circle(ROBOTRADIUS,IDO_P15,1100,1000,100));// P16
 }
 
 int Map::getHeight(float x, float y)

--- a/Map/defines.h	Sat Feb 06 10:11:28 2016 +0000
+++ b/Map/defines.h	Tue Apr 05 15:02:12 2016 +0000
@@ -48,7 +48,7 @@
     IDO_DEPOT_P
 };
 
-#define ROBOTRADIUS 190
+#define ROBOTRADIUS 150
 
 #define MAXPOINT 8000
 

--- a/Odometry/Odometry.cpp	Sat Feb 06 10:11:28 2016 +0000
+++ b/Odometry/Odometry.cpp	Tue Apr 05 15:02:12 2016 +0000
@@ -193,3 +193,18 @@
     while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left)); 
     wait(0.4);
 }
+
+void Odometry::Forward(float i) {    
+    int32_t pos_initiale_right = m_pulses_right, pos_initiale_left = m_pulses_left;
+
+    int32_t distance_ticks_right = (int32_t) i/m_distPerTick_right + pos_initiale_right;
+    int32_t distance_ticks_left = (int32_t) i/m_distPerTick_left + pos_initiale_left;
+
+    roboclaw.SpeedAccelDeccelPositionM1M2(ADR, accel_dista, vitesse_dista, deccel_dista, distance_ticks_right, accel_dista, vitesse_dista, deccel_dista, distance_ticks_left, 1);
+
+    //logger.printf("IniR:%6d\tDistR:%6d\tIniL:%6d\tDistL:%6d\n\r", pos_initiale_right, distance_ticks_right, pos_initiale_left, distance_ticks_left);
+    
+    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left)); //logger.printf("PR:%6d\tIR:%6d\tDR:%6d\tPL:%6d\tIL:%6d\tDL:%6d\n\r",m_pulses_right, pos_initiale_right, distance_ticks_right, m_pulses_left, pos_initiale_left, distance_ticks_left);
+    wait(0.4);
+    led = 1;
+}
\ No newline at end of file

--- a/Odometry/Odometry.h	Sat Feb 06 10:11:28 2016 +0000
+++ b/Odometry/Odometry.h	Tue Apr 05 15:02:12 2016 +0000
@@ -9,12 +9,16 @@
 
 /* Vitesse d'acceleration d'angle reduite de 8000->4000 */
 #define accel_angle 8000
-#define vitesse_angle 16000
+#define vitesse_angle 12000
 #define deccel_angle 8000
 
-#define accel_dista 8000
-#define vitesse_dista 16000
-#define deccel_dista 8000
+#define accel_dista 12000
+#define vitesse_dista 20000
+#define deccel_dista 12000
+
+/* Si le robot parcourt un trop grand angle, il diminuer l'entraxe, sinon l'augmenter */
+#define ENTRAXE 243.8
+
 
 /*
 *   Author : Benjamin Bertelone, reworked by Simon Emarre
@@ -36,8 +40,12 @@
     */
     Odometry(double diameter_right, double diameter_left, double v, uint16_t quadrature, RoboClaw &rc);
 
+    /** Demande au robot d'effectuer un certain nombre de tour sur lui même */
     void TestEntraxe(int i);
 
+    /** Demande au robot d'effectuer un déplacement sur l'avant. Voir si l'on peut enlever la correction PID */
+    void Forward(float i);
+
     /** Les fonctions suivantes permettent de reinitialiser les valeurs de position de l'odometrie.
     */
     void setPos(double x, double y, double theta);

--- a/RoboClaw.lib	Sat Feb 06 10:11:28 2016 +0000
+++ b/RoboClaw.lib	Tue Apr 05 15:02:12 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ARES/code/RoboClaw/#ad00b3431ff5
+https://developer.mbed.org/teams/ARES/code/RoboClaw/#ece8a8cdf4b0

--- a/main.cpp	Sat Feb 06 10:11:28 2016 +0000
+++ b/main.cpp	Tue Apr 05 15:02:12 2016 +0000
@@ -5,7 +5,6 @@
 #define ATTENTE 0
 #define GO 1
 #define STOP 2
-#define ENTRAXE 248.25
 
 InterruptIn mybutton(USER_BUTTON);
 DigitalIn button(USER_BUTTON);
@@ -14,7 +13,7 @@
 //Serial pc(USBTX, USBRX);
 Serial logger (PA_9, PA_10);
 RoboClaw roboclaw(460800, PA_11, PA_12);
-Odometry odo(63.2, 63.3, ENTRAXE, 4096, roboclaw);
+Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
 
 int i = 0;
 
@@ -27,7 +26,9 @@
 int main(void)
 {
     init();
-    /*double angle_v = 2*PI/5;
+    /* Code AStar */
+    
+    double angle_v = 2*PI/5;
     double distance_v = 200.0;
     std::vector<SimplePoint> path;
     Map map;
@@ -40,7 +41,7 @@
     float y=odo.getY();
     float the = 0;
     
-    map.AStar(x, y, 1400, 1000, 75);
+    map.AStar(x, y, 1600, 1000, 75);
     path = map.path;
     
     for(int i=0; i<path.size();i++) {
@@ -62,37 +63,75 @@
     
     //odo.GotoThet(-PI/2);
     wait(2000);
-    //odo.GotoXYT(2250,500,0);*/
+    //odo.GotoXYT(2250,500,0);
+    
+    //odo.TestEntraxe(5);
+    //odo.Forward(1000);
+    
+    /* Code JPO :
+    roboclaw.ForwardM1(ADR, 0);
+    roboclaw.ForwardM2(ADR, 0);
+    int state = 0;
     while(1)
     {
-        while(logger.readable()) 
-        {
+       // while(logger.readable()) 
+        //{
             char c = logger.getc();
             if(c=='z')
             {
-                roboclaw.SpeedAccelM1M2(ADR, accel_angle, speed_angle, accel_angle, speed_angle);
+                if (state != 1) {
+                    state = 1;
+                    logger.printf("Avant (Z) \r\n");
+                    roboclaw.SpeedAccelM1(ADR, accel_angle, vitesse_angle);
+                    roboclaw.SpeedAccelM2(ADR, accel_angle, vitesse_angle);
+                }
             }
             else if(c == 's')
             {
-                roboclaw.ForwardM1(ADR, 0);
-                roboclaw.ForwardM2(ADR, 0);
+                if (state != 2) {
+                    state = 2;
+                    logger.printf("Stop (S) \r\n");
+                    roboclaw.ForwardM1(ADR, 0);
+                    roboclaw.ForwardM2(ADR, 0);
+                }
             }
             else if(c == 'd')
             {
-                roboclaw.SpeedAccelM1M2(ADR, accel_angle, -speed_angle, accel_angle, speed_angle);
+                if (state != 3) {
+                    state = 3;
+                    logger.printf("Droite (D) \r\n");
+                    roboclaw.SpeedAccelM1(ADR, accel_angle, vitesse_angle);
+                    roboclaw.SpeedAccelM2(ADR, accel_angle, -vitesse_angle);
+                }
             }
             else if(c == 'q')
             {
-                roboclaw.SpeedAccelM1M2(ADR, accel_angle, speed_angle, accel_angle, -speed_angle);
+                if (state != 4) {
+                    state = 4;
+                    logger.printf("Gauche (Q)\r\n");
+                    roboclaw.SpeedAccelM1(ADR, accel_angle, -vitesse_angle);
+                    roboclaw.SpeedAccelM2(ADR, accel_angle, vitesse_angle);
+                }
             }
             else if(c == 'x')
             {
-                roboclaw.SpeedAccelM1M2(ADR, accel_angle, -speed_angle, accel_angle, -speed_angle);
+                if (state != 5) {
+                    state = 5;
+                    roboclaw.SpeedAccelM1M2(ADR, accel_angle, -vitesse_angle, accel_angle, -vitesse_angle);
+                }
             }
-        }
-        roboclaw.ForwardM1(ADR, 0);
-        roboclaw.ForwardM2(ADR, 0);
-    }
+            else if (c == '\0') { ; }
+            else {
+                if (state != 0) {
+                    roboclaw.SpeedAccelM1M2(ADR, accel_angle, 0, accel_angle, 0);
+                    state = 0;
+                }
+            }
+       // }
+       // roboclaw.ForwardM1(ADR, 0);
+       // roboclaw.ForwardM2(ADR, 0);
+       
+    }*/
 }
 
 void init(void)
@@ -108,9 +147,10 @@
     while(button);
     wait(1);
     mybutton.fall(&pressed);
-    mybutton.rise(&unpr
-    essed);
+    mybutton.rise(&unpressed);
     ticker.attach_us(&update_main,dt); // 100 Hz
+    
+    logger.printf("End init\n\r");
 }
 
 void update_main(void)