MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.cpp@10:810d1849da9d, 2017-05-06 (annotated)

Committer:
vanshg
Date:
Sat May 06 22:49:31 2017 +0000
Revision:
10:810d1849da9d
Parent:
9:1d8e4da058cd
Child:
11:8fc2b703086b
Added interrupts for dip switch.; Added stm324xxx.h header; Began configuration for Tim2 and Tim5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 0:a03c771ab78e 1 #include "mbed.h"
kyleliangus 4:b5b7836ca2b0 2
kyleliangus 6:3d68fedd6fd9 3 #include "irpair.h"
kyleliangus 4:b5b7836ca2b0 4 #include "main.h"
kyleliangus 4:b5b7836ca2b0 5 #include "motor.h"
kyleliangus 4:b5b7836ca2b0 6
sahilmgandhi 0:a03c771ab78e 7 #include <stdlib.h>
sahilmgandhi 1:8a4b2f573923 8 #include "ITG3200.h"
vanshg 10:810d1849da9d 9 #include "stm32f4xx.h"
sahilmgandhi 7:6f5cb6377bd4 10 #include "QEI.h"
sahilmgandhi 0:a03c771ab78e 11
kyleliangus 4:b5b7836ca2b0 12 // PID
kyleliangus 9:1d8e4da058cd 13 #define P_CONSTANT 0
kyleliangus 9:1d8e4da058cd 14 #define I_CONSTANT 0
kyleliangus 9:1d8e4da058cd 15 #define D_CONSTANT 0
kyleliangus 9:1d8e4da058cd 16
kyleliangus 9:1d8e4da058cd 17 #define IP_CONSTANT 6
kyleliangus 9:1d8e4da058cd 18 #define II_CONSTANT 0
kyleliangus 9:1d8e4da058cd 19 #define ID_CONSTANT 1
sahilmgandhi 0:a03c771ab78e 20
kyleliangus 8:a0760acdc59e 21 #include "QEI.h"
kyleliangus 8:a0760acdc59e 22 #define PULSES 880
kyleliangus 9:1d8e4da058cd 23 #define SAMPLE_NUM 100
kyleliangus 9:1d8e4da058cd 24
kyleliangus 9:1d8e4da058cd 25
kyleliangus 9:1d8e4da058cd 26 void moveForwardUntilWallIr() {
kyleliangus 9:1d8e4da058cd 27 double currentError = 0;
kyleliangus 9:1d8e4da058cd 28 double previousError = 0;
kyleliangus 9:1d8e4da058cd 29 double derivError = 0;
kyleliangus 9:1d8e4da058cd 30 double sumError = 0;
kyleliangus 9:1d8e4da058cd 31
kyleliangus 9:1d8e4da058cd 32 double HIGH_PWM_VOLTAGE = 0.2;
kyleliangus 9:1d8e4da058cd 33
kyleliangus 9:1d8e4da058cd 34 double rightSpeed = 0.2;
kyleliangus 9:1d8e4da058cd 35 double leftSpeed = 0.2;
kyleliangus 9:1d8e4da058cd 36
kyleliangus 9:1d8e4da058cd 37 float ir2 = IRP_2.getSamples( SAMPLE_NUM );
kyleliangus 9:1d8e4da058cd 38 float ir3 = IRP_3.getSamples( SAMPLE_NUM );
kyleliangus 9:1d8e4da058cd 39
kyleliangus 9:1d8e4da058cd 40 while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) {
kyleliangus 9:1d8e4da058cd 41 currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ;
kyleliangus 9:1d8e4da058cd 42 derivError = currentError - previousError;
kyleliangus 9:1d8e4da058cd 43 double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError;
kyleliangus 9:1d8e4da058cd 44 if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down
kyleliangus 9:1d8e4da058cd 45 rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
kyleliangus 9:1d8e4da058cd 46 leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
kyleliangus 9:1d8e4da058cd 47 } else { // r is faster than L. speed up l, slow down r
kyleliangus 9:1d8e4da058cd 48 rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE);
kyleliangus 9:1d8e4da058cd 49 leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE);
kyleliangus 9:1d8e4da058cd 50 }
kyleliangus 9:1d8e4da058cd 51
kyleliangus 9:1d8e4da058cd 52 if (leftSpeed > 0.30) leftSpeed = 0.30;
kyleliangus 9:1d8e4da058cd 53 if (leftSpeed < 0) leftSpeed = 0;
kyleliangus 9:1d8e4da058cd 54 if (rightSpeed > 0.30) rightSpeed = 0.30;
kyleliangus 9:1d8e4da058cd 55 if (rightSpeed < 0) rightSpeed = 0;
kyleliangus 9:1d8e4da058cd 56
kyleliangus 9:1d8e4da058cd 57 right_motor.forward(rightSpeed);
kyleliangus 9:1d8e4da058cd 58 left_motor.forward(leftSpeed);
kyleliangus 9:1d8e4da058cd 59
kyleliangus 9:1d8e4da058cd 60 previousError = currentError;
kyleliangus 9:1d8e4da058cd 61
kyleliangus 9:1d8e4da058cd 62 ir2 = IRP_2.getSamples( SAMPLE_NUM );
kyleliangus 9:1d8e4da058cd 63 ir3 = IRP_3.getSamples( SAMPLE_NUM );
kyleliangus 9:1d8e4da058cd 64
kyleliangus 9:1d8e4da058cd 65 }
kyleliangus 9:1d8e4da058cd 66 //sensor1Turn = IR_Sensor1.read();
kyleliangus 9:1d8e4da058cd 67 //sensor4Turn = IR_Sensor4.read();
kyleliangus 9:1d8e4da058cd 68
kyleliangus 9:1d8e4da058cd 69 //backward();
kyleliangus 9:1d8e4da058cd 70 wait_ms(40);
kyleliangus 9:1d8e4da058cd 71 //brake();
kyleliangus 9:1d8e4da058cd 72
kyleliangus 9:1d8e4da058cd 73 left_motor.brake();
kyleliangus 9:1d8e4da058cd 74 right_motor.brake();
kyleliangus 9:1d8e4da058cd 75 while( 1 )
kyleliangus 9:1d8e4da058cd 76 {
kyleliangus 9:1d8e4da058cd 77
kyleliangus 9:1d8e4da058cd 78 }
vanshg 10:810d1849da9d 79 }
vanshg 10:810d1849da9d 80
vanshg 10:810d1849da9d 81 void enableButton1() {
vanshg 10:810d1849da9d 82 dipFlags |= BUTTON1_FLAG;
vanshg 10:810d1849da9d 83 }
vanshg 10:810d1849da9d 84 void enableButton2() {
vanshg 10:810d1849da9d 85 dipFlags |= BUTTON2_FLAG;
vanshg 10:810d1849da9d 86 }
vanshg 10:810d1849da9d 87 void enableButton3() {
vanshg 10:810d1849da9d 88 dipFlags |= BUTTON3_FLAG;
vanshg 10:810d1849da9d 89 }
vanshg 10:810d1849da9d 90 void enableButton4() {
vanshg 10:810d1849da9d 91 dipFlags |= BUTTON4_FLAG;
vanshg 10:810d1849da9d 92 }
vanshg 10:810d1849da9d 93 void disableButton1() {
vanshg 10:810d1849da9d 94 dipFlags &= ~BUTTON1_FLAG;
vanshg 10:810d1849da9d 95 }
vanshg 10:810d1849da9d 96 void disableButton2() {
vanshg 10:810d1849da9d 97 dipFlags &= ~BUTTON2_FLAG;
vanshg 10:810d1849da9d 98 }
vanshg 10:810d1849da9d 99 void disableButton3() {
vanshg 10:810d1849da9d 100 dipFlags &= ~BUTTON3_FLAG;
vanshg 10:810d1849da9d 101 }
vanshg 10:810d1849da9d 102 void disableButton4() {
vanshg 10:810d1849da9d 103 dipFlags &= ~BUTTON4_FLAG;
kyleliangus 9:1d8e4da058cd 104 }
christine222 3:880f15be8c72 105
sahilmgandhi 0:a03c771ab78e 106 int main()
sahilmgandhi 0:a03c771ab78e 107 {
kyleliangus 8:a0760acdc59e 108 //enableMotors();
christine222 3:880f15be8c72 109 //Set highest bandwidth.
sahilmgandhi 1:8a4b2f573923 110 gyro.setLpBandwidth(LPFBW_42HZ);
christine222 3:880f15be8c72 111 serial.baud(9600);
sahilmgandhi 7:6f5cb6377bd4 112 serial.printf("The gyro's address is %s", gyro.getWhoAmI());
sahilmgandhi 7:6f5cb6377bd4 113
sahilmgandhi 1:8a4b2f573923 114 wait (0.1);
sahilmgandhi 7:6f5cb6377bd4 115
christine222 3:880f15be8c72 116 // IR_1.write(1);
sahilmgandhi 2:771db996cee0 117 // IR_2.write(1);
sahilmgandhi 2:771db996cee0 118 // IR_3.write(1);
sahilmgandhi 2:771db996cee0 119 // IR_4.write(1);
christine222 3:880f15be8c72 120
sahilmgandhi 2:771db996cee0 121 redLed.write(1);
sahilmgandhi 2:771db996cee0 122 greenLed.write(0);
sahilmgandhi 2:771db996cee0 123 blueLed.write(1);
sahilmgandhi 1:8a4b2f573923 124
kyleliangus 9:1d8e4da058cd 125 //left_motor.forward(0.1);
kyleliangus 9:1d8e4da058cd 126 //right_motor.forward(0.1);
kyleliangus 8:a0760acdc59e 127
kyleliangus 8:a0760acdc59e 128 // PA_1 is A of right
kyleliangus 8:a0760acdc59e 129 // PA_0 is B of right
kyleliangus 8:a0760acdc59e 130 // PA_5 is A of left
kyleliangus 8:a0760acdc59e 131 // PB_3 is B of left
kyleliangus 8:a0760acdc59e 132 QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
kyleliangus 8:a0760acdc59e 133 QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
vanshg 10:810d1849da9d 134
vanshg 10:810d1849da9d 135 // TODO: Setting all the registers and what not for Quadrature Encoders
vanshg 10:810d1849da9d 136 RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3)
vanshg 10:810d1849da9d 137 RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B)
vanshg 10:810d1849da9d 138 GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2
vanshg 10:810d1849da9d 139 GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5
vanshg 10:810d1849da9d 140
vanshg 10:810d1849da9d 141 dipButton1.rise(&enableButton1);
vanshg 10:810d1849da9d 142 dipButton2.rise(&enableButton2);
vanshg 10:810d1849da9d 143 dipButton3.rise(&enableButton3);
vanshg 10:810d1849da9d 144 dipButton4.rise(&enableButton4);
vanshg 10:810d1849da9d 145
vanshg 10:810d1849da9d 146 dipButton1.fall(&disableButton1);
vanshg 10:810d1849da9d 147 dipButton2.fall(&disableButton2);
vanshg 10:810d1849da9d 148 dipButton3.fall(&disableButton3);
vanshg 10:810d1849da9d 149 dipButton4.fall(&disableButton4);
vanshg 10:810d1849da9d 150
sahilmgandhi 7:6f5cb6377bd4 151
christine222 3:880f15be8c72 152 while (1) {
kyleliangus 9:1d8e4da058cd 153 moveForwardUntilWallIr();
kyleliangus 8:a0760acdc59e 154 wait(0.1);
kyleliangus 8:a0760acdc59e 155 //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
kyleliangus 9:1d8e4da058cd 156 //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses());
kyleliangus 9:1d8e4da058cd 157 //double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ;
kyleliangus 9:1d8e4da058cd 158
kyleliangus 9:1d8e4da058cd 159 //serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n",
kyleliangus 9:1d8e4da058cd 160 // IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError );
kyleliangus 9:1d8e4da058cd 161
christine222 3:880f15be8c72 162 //reading = Rec_4.read();
christine222 3:880f15be8c72 163 // serial.printf("reading: %f\n", reading);
sahilmgandhi 1:8a4b2f573923 164 // redLed.write(0);
sahilmgandhi 1:8a4b2f573923 165 // wait_ms(1000);
sahilmgandhi 1:8a4b2f573923 166 // redLed.write(1);
sahilmgandhi 1:8a4b2f573923 167 // greenLed.write(0);
sahilmgandhi 1:8a4b2f573923 168 // wait_ms(1000);
sahilmgandhi 1:8a4b2f573923 169 // greenLed.write(1);
sahilmgandhi 1:8a4b2f573923 170 // blueLed.write(0);
sahilmgandhi 1:8a4b2f573923 171 // wait_ms(1000);
sahilmgandhi 1:8a4b2f573923 172 // blueLed.write(1);
christine222 3:880f15be8c72 173 }
sahilmgandhi 0:a03c771ab78e 174 }