Mouse code for the MacroRat
main.cpp@12:5790e56a056f, 2017-05-12 (annotated)
- Committer:
- kyleliangus
- Date:
- Fri May 12 23:25:07 2017 +0000
- Revision:
- 12:5790e56a056f
- Parent:
- 11:8fc2b703086b
- Child:
- 13:2032db00f168
Right Turn is wrong, need fix
Who changed what in which revision?
User | Revision | Line number | New 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 | 9:1d8e4da058cd | 12 | |
vanshg | 11:8fc2b703086b | 13 | /* Constants for when HIGH_PWM_VOLTAGE = 0.2 |
kyleliangus | 9:1d8e4da058cd | 14 | #define IP_CONSTANT 6 |
kyleliangus | 9:1d8e4da058cd | 15 | #define II_CONSTANT 0 |
kyleliangus | 9:1d8e4da058cd | 16 | #define ID_CONSTANT 1 |
vanshg | 11:8fc2b703086b | 17 | */ |
sahilmgandhi | 0:a03c771ab78e | 18 | |
vanshg | 11:8fc2b703086b | 19 | // Constants for when HIGH_PWM_VOLTAGE = 0.1 |
vanshg | 11:8fc2b703086b | 20 | #define IP_CONSTANT 15 |
vanshg | 11:8fc2b703086b | 21 | #define II_CONSTANT 0 |
vanshg | 11:8fc2b703086b | 22 | #define ID_CONSTANT 0 |
kyleliangus | 9:1d8e4da058cd | 23 | |
kyleliangus | 12:5790e56a056f | 24 | void turnRight() { //e1 should be negative encoder0 is left, encoder1 is right |
kyleliangus | 12:5790e56a056f | 25 | double speed0 = 0.15; |
kyleliangus | 12:5790e56a056f | 26 | double speed1 = 0.15; |
kyleliangus | 12:5790e56a056f | 27 | double kp = 0.00001; |
kyleliangus | 12:5790e56a056f | 28 | |
kyleliangus | 12:5790e56a056f | 29 | double desiredCount0 = 1500; |
kyleliangus | 12:5790e56a056f | 30 | double desiredCount1 = -1500; |
kyleliangus | 12:5790e56a056f | 31 | |
kyleliangus | 12:5790e56a056f | 32 | double error0 = 10.1; |
kyleliangus | 12:5790e56a056f | 33 | double error1 = 10.1; |
kyleliangus | 12:5790e56a056f | 34 | |
kyleliangus | 12:5790e56a056f | 35 | //right_motor.move(speed0); |
kyleliangus | 12:5790e56a056f | 36 | //left_motor.move(speed1); |
kyleliangus | 12:5790e56a056f | 37 | |
kyleliangus | 12:5790e56a056f | 38 | int initialCount0 = encoder0.getPulses(); |
kyleliangus | 12:5790e56a056f | 39 | int initialCount1 = encoder1.getPulses(); |
kyleliangus | 12:5790e56a056f | 40 | |
kyleliangus | 12:5790e56a056f | 41 | int count0 = encoder0.getPulses(); |
kyleliangus | 12:5790e56a056f | 42 | int count1 = encoder1.getPulses(); |
kyleliangus | 12:5790e56a056f | 43 | |
kyleliangus | 12:5790e56a056f | 44 | while(!(abs(error0) < 10) && !(abs(error1) < 10)){ |
kyleliangus | 12:5790e56a056f | 45 | |
kyleliangus | 12:5790e56a056f | 46 | count0 = encoder0.getPulses() - initialCount0; |
kyleliangus | 12:5790e56a056f | 47 | count1 = encoder1.getPulses() - initialCount1; |
kyleliangus | 12:5790e56a056f | 48 | |
kyleliangus | 12:5790e56a056f | 49 | error0 = count0 + desiredCount0; // moves forward |
kyleliangus | 12:5790e56a056f | 50 | error1 = count1 + desiredCount1; // moves backwards |
kyleliangus | 12:5790e56a056f | 51 | |
kyleliangus | 12:5790e56a056f | 52 | speed0 = error0 * kp + speed0; |
kyleliangus | 12:5790e56a056f | 53 | speed1 = error1 * kp + speed1; |
kyleliangus | 12:5790e56a056f | 54 | |
kyleliangus | 12:5790e56a056f | 55 | right_motor.move(speed0); |
kyleliangus | 12:5790e56a056f | 56 | left_motor.move(speed1); |
kyleliangus | 12:5790e56a056f | 57 | |
kyleliangus | 12:5790e56a056f | 58 | serial.printf("ERROR=> 0:%f, 1:%f, SPEED=> 0:%f, 1:%f\n", error0, error1, speed0, speed1); |
kyleliangus | 12:5790e56a056f | 59 | serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); |
kyleliangus | 12:5790e56a056f | 60 | } |
kyleliangus | 12:5790e56a056f | 61 | |
kyleliangus | 12:5790e56a056f | 62 | right_motor.brake(); |
kyleliangus | 12:5790e56a056f | 63 | left_motor.brake(); |
kyleliangus | 12:5790e56a056f | 64 | } |
kyleliangus | 12:5790e56a056f | 65 | |
kyleliangus | 9:1d8e4da058cd | 66 | void moveForwardUntilWallIr() { |
kyleliangus | 9:1d8e4da058cd | 67 | double currentError = 0; |
kyleliangus | 9:1d8e4da058cd | 68 | double previousError = 0; |
kyleliangus | 9:1d8e4da058cd | 69 | double derivError = 0; |
kyleliangus | 9:1d8e4da058cd | 70 | double sumError = 0; |
kyleliangus | 9:1d8e4da058cd | 71 | |
vanshg | 11:8fc2b703086b | 72 | double HIGH_PWM_VOLTAGE = 0.1; |
kyleliangus | 9:1d8e4da058cd | 73 | |
vanshg | 11:8fc2b703086b | 74 | double rightSpeed = 0.1; |
vanshg | 11:8fc2b703086b | 75 | double leftSpeed = 0.1; |
kyleliangus | 9:1d8e4da058cd | 76 | |
kyleliangus | 9:1d8e4da058cd | 77 | float ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 78 | float ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 79 | |
vanshg | 11:8fc2b703086b | 80 | int count = encoder0.getPulses(); |
vanshg | 11:8fc2b703086b | 81 | while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { |
vanshg | 11:8fc2b703086b | 82 | int pulseCount = (encoder0.getPulses()-count) % 5600; |
vanshg | 11:8fc2b703086b | 83 | if (pulseCount > 5400 && pulseCount < 5800) { |
vanshg | 11:8fc2b703086b | 84 | blueLed.write(0); |
vanshg | 11:8fc2b703086b | 85 | } else { |
vanshg | 11:8fc2b703086b | 86 | blueLed.write(1); |
vanshg | 11:8fc2b703086b | 87 | } |
vanshg | 11:8fc2b703086b | 88 | |
vanshg | 11:8fc2b703086b | 89 | |
kyleliangus | 9:1d8e4da058cd | 90 | currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
kyleliangus | 9:1d8e4da058cd | 91 | derivError = currentError - previousError; |
kyleliangus | 9:1d8e4da058cd | 92 | double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; |
kyleliangus | 9:1d8e4da058cd | 93 | if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down |
kyleliangus | 9:1d8e4da058cd | 94 | rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
kyleliangus | 9:1d8e4da058cd | 95 | leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
kyleliangus | 9:1d8e4da058cd | 96 | } else { // r is faster than L. speed up l, slow down r |
kyleliangus | 9:1d8e4da058cd | 97 | rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); |
kyleliangus | 9:1d8e4da058cd | 98 | leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); |
kyleliangus | 9:1d8e4da058cd | 99 | } |
kyleliangus | 9:1d8e4da058cd | 100 | |
kyleliangus | 9:1d8e4da058cd | 101 | if (leftSpeed > 0.30) leftSpeed = 0.30; |
kyleliangus | 9:1d8e4da058cd | 102 | if (leftSpeed < 0) leftSpeed = 0; |
kyleliangus | 9:1d8e4da058cd | 103 | if (rightSpeed > 0.30) rightSpeed = 0.30; |
kyleliangus | 9:1d8e4da058cd | 104 | if (rightSpeed < 0) rightSpeed = 0; |
kyleliangus | 9:1d8e4da058cd | 105 | |
kyleliangus | 9:1d8e4da058cd | 106 | right_motor.forward(rightSpeed); |
kyleliangus | 9:1d8e4da058cd | 107 | left_motor.forward(leftSpeed); |
kyleliangus | 9:1d8e4da058cd | 108 | |
kyleliangus | 9:1d8e4da058cd | 109 | previousError = currentError; |
kyleliangus | 9:1d8e4da058cd | 110 | |
kyleliangus | 9:1d8e4da058cd | 111 | ir2 = IRP_2.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 112 | ir3 = IRP_3.getSamples( SAMPLE_NUM ); |
kyleliangus | 9:1d8e4da058cd | 113 | |
kyleliangus | 9:1d8e4da058cd | 114 | } |
kyleliangus | 9:1d8e4da058cd | 115 | //sensor1Turn = IR_Sensor1.read(); |
kyleliangus | 9:1d8e4da058cd | 116 | //sensor4Turn = IR_Sensor4.read(); |
kyleliangus | 9:1d8e4da058cd | 117 | |
kyleliangus | 9:1d8e4da058cd | 118 | //backward(); |
kyleliangus | 9:1d8e4da058cd | 119 | wait_ms(40); |
kyleliangus | 9:1d8e4da058cd | 120 | //brake(); |
kyleliangus | 9:1d8e4da058cd | 121 | |
kyleliangus | 9:1d8e4da058cd | 122 | left_motor.brake(); |
kyleliangus | 9:1d8e4da058cd | 123 | right_motor.brake(); |
kyleliangus | 9:1d8e4da058cd | 124 | while( 1 ) |
kyleliangus | 9:1d8e4da058cd | 125 | { |
kyleliangus | 9:1d8e4da058cd | 126 | |
kyleliangus | 9:1d8e4da058cd | 127 | } |
vanshg | 10:810d1849da9d | 128 | } |
vanshg | 10:810d1849da9d | 129 | |
vanshg | 11:8fc2b703086b | 130 | void printDipFlag() { |
vanshg | 11:8fc2b703086b | 131 | if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); |
vanshg | 11:8fc2b703086b | 132 | } |
vanshg | 11:8fc2b703086b | 133 | |
vanshg | 10:810d1849da9d | 134 | void enableButton1() { |
vanshg | 10:810d1849da9d | 135 | dipFlags |= BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 136 | printDipFlag(); |
vanshg | 10:810d1849da9d | 137 | } |
vanshg | 10:810d1849da9d | 138 | void enableButton2() { |
vanshg | 10:810d1849da9d | 139 | dipFlags |= BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 140 | printDipFlag(); |
vanshg | 10:810d1849da9d | 141 | } |
vanshg | 10:810d1849da9d | 142 | void enableButton3() { |
vanshg | 10:810d1849da9d | 143 | dipFlags |= BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 144 | printDipFlag(); |
vanshg | 10:810d1849da9d | 145 | } |
vanshg | 10:810d1849da9d | 146 | void enableButton4() { |
vanshg | 10:810d1849da9d | 147 | dipFlags |= BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 148 | printDipFlag(); |
vanshg | 10:810d1849da9d | 149 | } |
vanshg | 10:810d1849da9d | 150 | void disableButton1() { |
vanshg | 10:810d1849da9d | 151 | dipFlags &= ~BUTTON1_FLAG; |
vanshg | 11:8fc2b703086b | 152 | printDipFlag(); |
vanshg | 10:810d1849da9d | 153 | } |
vanshg | 10:810d1849da9d | 154 | void disableButton2() { |
vanshg | 10:810d1849da9d | 155 | dipFlags &= ~BUTTON2_FLAG; |
vanshg | 11:8fc2b703086b | 156 | printDipFlag(); |
vanshg | 10:810d1849da9d | 157 | } |
vanshg | 10:810d1849da9d | 158 | void disableButton3() { |
vanshg | 10:810d1849da9d | 159 | dipFlags &= ~BUTTON3_FLAG; |
vanshg | 11:8fc2b703086b | 160 | printDipFlag(); |
vanshg | 10:810d1849da9d | 161 | } |
vanshg | 10:810d1849da9d | 162 | void disableButton4() { |
vanshg | 10:810d1849da9d | 163 | dipFlags &= ~BUTTON4_FLAG; |
vanshg | 11:8fc2b703086b | 164 | printDipFlag(); |
kyleliangus | 9:1d8e4da058cd | 165 | } |
christine222 | 3:880f15be8c72 | 166 | |
sahilmgandhi | 0:a03c771ab78e | 167 | int main() |
sahilmgandhi | 0:a03c771ab78e | 168 | { |
kyleliangus | 8:a0760acdc59e | 169 | //enableMotors(); |
christine222 | 3:880f15be8c72 | 170 | //Set highest bandwidth. |
sahilmgandhi | 1:8a4b2f573923 | 171 | gyro.setLpBandwidth(LPFBW_42HZ); |
christine222 | 3:880f15be8c72 | 172 | serial.baud(9600); |
sahilmgandhi | 7:6f5cb6377bd4 | 173 | serial.printf("The gyro's address is %s", gyro.getWhoAmI()); |
sahilmgandhi | 7:6f5cb6377bd4 | 174 | |
sahilmgandhi | 1:8a4b2f573923 | 175 | wait (0.1); |
sahilmgandhi | 7:6f5cb6377bd4 | 176 | |
christine222 | 3:880f15be8c72 | 177 | // IR_1.write(1); |
sahilmgandhi | 2:771db996cee0 | 178 | // IR_2.write(1); |
sahilmgandhi | 2:771db996cee0 | 179 | // IR_3.write(1); |
sahilmgandhi | 2:771db996cee0 | 180 | // IR_4.write(1); |
christine222 | 3:880f15be8c72 | 181 | |
sahilmgandhi | 2:771db996cee0 | 182 | redLed.write(1); |
vanshg | 11:8fc2b703086b | 183 | greenLed.write(1); |
sahilmgandhi | 2:771db996cee0 | 184 | blueLed.write(1); |
sahilmgandhi | 1:8a4b2f573923 | 185 | |
kyleliangus | 9:1d8e4da058cd | 186 | //left_motor.forward(0.1); |
kyleliangus | 9:1d8e4da058cd | 187 | //right_motor.forward(0.1); |
kyleliangus | 8:a0760acdc59e | 188 | |
kyleliangus | 8:a0760acdc59e | 189 | // PA_1 is A of right |
kyleliangus | 8:a0760acdc59e | 190 | // PA_0 is B of right |
kyleliangus | 8:a0760acdc59e | 191 | // PA_5 is A of left |
kyleliangus | 8:a0760acdc59e | 192 | // PB_3 is B of left |
vanshg | 11:8fc2b703086b | 193 | //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); |
vanshg | 11:8fc2b703086b | 194 | // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); |
vanshg | 10:810d1849da9d | 195 | |
vanshg | 10:810d1849da9d | 196 | // TODO: Setting all the registers and what not for Quadrature Encoders |
vanshg | 10:810d1849da9d | 197 | RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) |
vanshg | 10:810d1849da9d | 198 | RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) |
vanshg | 10:810d1849da9d | 199 | GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 |
vanshg | 10:810d1849da9d | 200 | GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 |
vanshg | 10:810d1849da9d | 201 | |
kyleliangus | 12:5790e56a056f | 202 | // set GPIO pins to alternate for the pins corresponding to A/B for eacah encoder, and 2 alternate function registers need to be selected for each type |
kyleliangus | 12:5790e56a056f | 203 | // of alternate function specified |
kyleliangus | 12:5790e56a056f | 204 | // 4 modes sets AHB1ENR |
kyleliangus | 12:5790e56a056f | 205 | // Now TMR: enable clock with timer, APB1ENR |
kyleliangus | 12:5790e56a056f | 206 | // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN |
kyleliangus | 12:5790e56a056f | 207 | // |
kyleliangus | 12:5790e56a056f | 208 | // Encoder mode: disable timer before changing timer to encoder |
kyleliangus | 12:5790e56a056f | 209 | // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use |
kyleliangus | 12:5790e56a056f | 210 | // CCMR sets sample rate and set the channel to input |
kyleliangus | 12:5790e56a056f | 211 | // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels |
kyleliangus | 12:5790e56a056f | 212 | // SMCR - encoder mode |
kyleliangus | 12:5790e56a056f | 213 | // CR1 reenabales |
kyleliangus | 12:5790e56a056f | 214 | // then read CNT reg of timer |
kyleliangus | 12:5790e56a056f | 215 | |
kyleliangus | 12:5790e56a056f | 216 | |
vanshg | 10:810d1849da9d | 217 | dipButton1.rise(&enableButton1); |
vanshg | 10:810d1849da9d | 218 | dipButton2.rise(&enableButton2); |
vanshg | 10:810d1849da9d | 219 | dipButton3.rise(&enableButton3); |
vanshg | 10:810d1849da9d | 220 | dipButton4.rise(&enableButton4); |
vanshg | 10:810d1849da9d | 221 | |
vanshg | 10:810d1849da9d | 222 | dipButton1.fall(&disableButton1); |
vanshg | 10:810d1849da9d | 223 | dipButton2.fall(&disableButton2); |
vanshg | 10:810d1849da9d | 224 | dipButton3.fall(&disableButton3); |
vanshg | 10:810d1849da9d | 225 | dipButton4.fall(&disableButton4); |
vanshg | 10:810d1849da9d | 226 | |
sahilmgandhi | 7:6f5cb6377bd4 | 227 | |
christine222 | 3:880f15be8c72 | 228 | while (1) { |
vanshg | 11:8fc2b703086b | 229 | |
kyleliangus | 12:5790e56a056f | 230 | //moveForwardUntilWallIr(); |
kyleliangus | 12:5790e56a056f | 231 | turnRight(); |
kyleliangus | 12:5790e56a056f | 232 | wait(1); |
kyleliangus | 8:a0760acdc59e | 233 | //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ()); |
vanshg | 11:8fc2b703086b | 234 | // serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); |
kyleliangus | 9:1d8e4da058cd | 235 | //double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; |
kyleliangus | 9:1d8e4da058cd | 236 | |
kyleliangus | 9:1d8e4da058cd | 237 | //serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", |
kyleliangus | 9:1d8e4da058cd | 238 | // IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); |
kyleliangus | 9:1d8e4da058cd | 239 | |
christine222 | 3:880f15be8c72 | 240 | //reading = Rec_4.read(); |
christine222 | 3:880f15be8c72 | 241 | // serial.printf("reading: %f\n", reading); |
sahilmgandhi | 1:8a4b2f573923 | 242 | // redLed.write(0); |
sahilmgandhi | 1:8a4b2f573923 | 243 | // wait_ms(1000); |
sahilmgandhi | 1:8a4b2f573923 | 244 | // redLed.write(1); |
sahilmgandhi | 1:8a4b2f573923 | 245 | // greenLed.write(0); |
sahilmgandhi | 1:8a4b2f573923 | 246 | // wait_ms(1000); |
sahilmgandhi | 1:8a4b2f573923 | 247 | // greenLed.write(1); |
sahilmgandhi | 1:8a4b2f573923 | 248 | // blueLed.write(0); |
sahilmgandhi | 1:8a4b2f573923 | 249 | // wait_ms(1000); |
sahilmgandhi | 1:8a4b2f573923 | 250 | // blueLed.write(1); |
christine222 | 3:880f15be8c72 | 251 | } |
sahilmgandhi | 0:a03c771ab78e | 252 | } |