Code for the Poolinator
Dependencies: mbed QEI HIDScope Pulse biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- sjoerd1999
- Date:
- 2019-10-31
- Revision:
- 11:5c5bd574c01a
- Parent:
- 8:1733338758d3
File content as of revision 11:5c5bd574c01a:
/* The Poolinator - A pool playing robot for people with DMD GROUP 10 Sjoerd de Jong - s1949950 Joost Loohuis - s1969633 Viktor Edlund - s2430878 Giuseppina Pinky Diatmiko - s1898841 Daan v.d Veen - s2003171 */ #include "mbed.h" #include "HIDScope.h" #include "QEI.h" #include "MODSERIAL.h" #include "BiQuad.h" #include "FastPWM.h" #define PI 3.14159265358979323846 MODSERIAL pc(USBTX, USBRX); AnalogIn pot(A1); // Potentiometer on BioRobotics shield struct vec { double x,y,z; }; vec endPos{0,0,0}; // DC MOTORS // QEI encoder1(D10,D11,NC,32), encoder3(D12,D13,NC,32), encoder2(PTC5,PTC7, NC, 32); PwmOut motor1_pwm(D5), motor3_pwm(D6); DigitalOut motor1_dir(D4), motor3_dir(D7), motor2_A(D2), motor2_B(D3); float motor1_cur = 0, motor2_cur = 0, motor3_cur = 0; float motor1_tar = 0, motor2_tar = 0, motor3_tar = 0; float motor1_zero = 37.5, motor2_zero = 14.3, motor3_zero = 57.8; // in degrees(M1) / cm(M2/M3) void setMotor(int motor, float motor_spd) // Set the motor speed (between -1 and 1) { int motor_dir = (motor_spd >= 0) ? 0 : 1; motor_spd = fabs(motor_spd); if(motor == 1) { motor1_dir.write(motor_dir); motor1_pwm.write(motor_spd); } else if(motor == 3) { motor3_dir.write(motor_dir); motor3_pwm.write(motor_spd); } else if(motor == 2) { motor2_A.write((motor_dir == 0) ? 0 : int(motor_spd)); // Motor 2 has digital pins so no PWM motor2_B.write((motor_dir == 0) ? int(motor_spd) : 0); } } void getMotorPositions() // Calculate current motor positions (M1:angle, M2/M3:length) based on encoder pulses { // SOME SCALING NEEDED HERE // motor1_cur = encoder1.getPulses(); motor2_cur = encoder2.getPulses(); motor3_cur = encoder3.getPulses(); } void moveToTargets() // Move to the target positions. No PID. { float threshold = 100; // If close to the target pos, don't move setMotor(1, (fabs(motor1_cur - motor1_tar) < threshold) ? 0 : (motor1_cur < motor1_tar) ? 0.2 : -0.2); setMotor(2, (fabs(motor2_cur - motor2_tar) < threshold) ? 0 : (motor2_cur < motor2_tar) ? 1 : -1); setMotor(3, (fabs(motor3_cur - motor3_tar) < threshold) ? 0 : (motor3_cur < motor3_tar) ? 1: -1); } // KINEMATICS // void calculateKinematics(float x, float y, float z) // y is up { float angle1 = fmod(2*PI - atan2(z, x), 2*PI); float angle2 = acos(sqrt(x*x + y*y + z*z) / 100.00) + atan2(sqrt(x*x + z*z), y); float angle3 = 2 * asin(sqrt(x*x + y*y + z*z) / 100.00); motor1_tar = (angle1 < 30) ? 30 : (angle1 > 330) ? 330 : angle1; // constrain between 30 - 330 motor2_tar = sqrt(200 - 200 * cos(angle2)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = c = 10cm) motor3_tar = sqrt(2600 - 1000 * cos(PI - angle3)); // a^2 = b^2 + c^2 - 2bc * cos(angle) (b = 10cm, c = 50cm) } // STEPPER MOTOR // DigitalOut STEPPER_IN1(PTB18), STEPPER_IN2(PTB19), STEPPER_IN3(PTC1), STEPPER_IN4(PTC8); int stepper_steps = 0; float stepper_angle = 0, stepper_target = 0; void stepper_step(int direction_) // Requires ~1.5ms wait time between each step, 4096 steps is one rotation { STEPPER_IN1 = (stepper_steps == 5 || stepper_steps == 6 || stepper_steps == 7); STEPPER_IN2 = (stepper_steps == 3 || stepper_steps == 4 || stepper_steps == 5); STEPPER_IN3 = (stepper_steps == 1 || stepper_steps == 2 || stepper_steps == 3); STEPPER_IN4 = (stepper_steps == 7 || stepper_steps == 0 || stepper_steps == 1); stepper_steps += (direction_ == 0) ? - 1 : 1; stepper_steps = (stepper_steps + 8) % 8; stepper_angle += ((direction_ == 0) ? -1 : 1) * (360.00 / 4096.00); } Ticker stepper_moveToAngle; void stepper_move() // Move toward desired angle with threshold. In Ticker function because requires wait otherwise { if(fabs(stepper_angle - stepper_target) > 1) stepper_step((stepper_angle < stepper_target) ? 1 : 0); } // SERVO // PwmOut servo(D9); void setServo(float angle) // Set servo to specified angle(0-180 degrees) { float i = angle / 1.800; float duty = (i + 20) / 1000.00; servo.write(duty); } // AIMING // void aim(float angle) // Moves both stepper and servo so the end affector points towards desired angle { if(angle < 180) { servo.write(0); stepper_target = angle; } else { servo.write(180); stepper_target = angle - 180; } } // SOLENOID // DigitalOut solenoidA(PTC0), solenoidB(PTC9); void setSolenoid(int dir) // 1 is out, 0 is in { solenoidA = (dir == 0) ? 1 : 0; solenoidB = (dir == 0) ? 0 : 1; } // LASER // DigitalOut laserPin(D8); void setLaser(bool on) { if(on) laserPin.write(1); else laserPin.write(0); } // CALIBRATION // AnalogIn switch1(A3), switch2(A4), switch3(A5); void calibrate() // Calibrates all 3 motors simultaniously { setMotor(1,-0.2); // Set all motors to move towards the switches setMotor(2,1); setMotor(3,1); /*while(!(switch1.read() < 0.5f && switch2.read() > 0.5f && switch3.read() > 0.5f)) { // When all switches have been pushed in, stop if(switch1.read() < 0.5f) setMotor(1,0); if(switch2.read() > 0.5f) setMotor(2,0); if(switch3.read() > 0.5f) setMotor(3,0); wait_ms(40); }*/ bool doneCalibrating = false; while(!doneCalibrating) { bool motor1_hit = switch1.read() < 0.5f; bool motor2_hit = switch2.read() > 0.5f; bool motor3_hit = switch3.read() > 0.5f; pc.printf("Switches: %d %d %d\r\n",motor1_hit,motor2_hit,motor3_hit); if(motor1_hit) { setMotor(1,0); } if(motor2_hit) { setMotor(2,0); } if(motor3_hit) { setMotor(3,0); } wait_ms(40); } for(int i = 1; i <= 3; i++) setMotor(i,0); // Make sure they've all stopped encoder1.reset(); // Reset encoder positions encoder2.reset(); encoder3.reset(); //setServo(0); } int main() { pc.baud(115200); pc.printf("\r\nStarting...\r\n\r\n"); motor1_pwm.period(0.0001); motor3_pwm.period(0.0001); servo.period(0.020); //stepper_moveToAngle.attach(&stepper_move, 0.0015); //setMotor(1,0.2); while(true){ pc.printf("m1: %f\r\n",switch1.read()); pc.printf("m2: %f\r\n",switch2.read()); pc.printf("m3: %f\r\n",switch3.read()); wait_ms(100); } calibrate(); while (true) { /* SOME EXAPLE CODE * MOTOR setMotor(..., ...) // which motor (1,2,3), and speed (-1.0, +1.0) * KINEMATICS (this should be done every ~30 ms) calculateKinematics(x, y, z); // Calculate target positions getMotorPositions(); // Calculate current positions moveToTargets(); // Set the motors speeds accordingly * STEPPER stepper_target = ...; // angle (between 0.0 and 180.0) * SERVO setServo(...) // value between 0.0 and 180.0 (= 0 and 180 degrees) * AIMING aim(...) // value between 0 and 360 * SOLENOID setSolenoid(...); // position, 0(in) or 1(out) * LASER setLaser(...) // 0(off) or 1(on) */ // The EMG MBED sends one of these values: 11 12 13 21 22 23 31 32 33 (first digit is GOLEFT(1),STOP(2),GORIGHT(3), same for second digit but z-axis. // endPos.z += (n > 30) ? 1 : (n > 20) ? 0 : -1; // endPos.x += (n % 10 == 1) ? 1 : (n % 10 == 2) ? 0 : -1; float value = pot.read(); if(value < 0.4) setMotor(3, -1); else if (value > 0.6) setMotor(3, 1); else setMotor(3,0); wait_ms(30); //getMotorPositions(); motor1_cur = encoder1.getPulses(); motor2_cur = encoder2.getPulses(); motor3_cur = encoder3.getPulses(); pc.printf("m1: %d\r\n",motor1_cur); pc.printf("m2: %d\r\n",motor2_cur); pc.printf("m3: %d\r\n",motor3_cur); } }