Mouse code for the MacroRat
main.cpp
- Committer:
- kyleliangus
- Date:
- 2017-05-14
- Revision:
- 15:b80555a4a8b9
- Parent:
- 14:9e7bb03ddccb
- Child:
- 16:d9252437bd92
File content as of revision 15:b80555a4a8b9:
#include "mbed.h" #include "irpair.h" #include "main.h" #include "motor.h" #include <stdlib.h> #include "ITG3200.h" #include "stm32f4xx.h" #include "QEI.h" /* Constants for when HIGH_PWM_VOLTAGE = 0.2 #define IP_CONSTANT 6 #define II_CONSTANT 0 #define ID_CONSTANT 1 */ // Constants for when HIGH_PWM_VOLTAGE = 0.1 #define IP_CONSTANT 9 #define II_CONSTANT 1 #define ID_CONSTANT 3 const int desiredCountR = 1400; const int desiredCountL = 1475; const int oneCellCount = 5300; void turnLeft() { double speed0 = 0.15; double speed1 = -0.15; int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); int desiredCount0 = initial0 - desiredCountL; int desiredCount1 = initial1 + desiredCountL; int count0 = initial0; int count1 = initial1; double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; while(1) { if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; right_motor.move(speed0); left_motor.move(speed1); counter = 0; } else { counter++; right_motor.brake(); left_motor.brake(); } if (counter > 60) { break; } } right_motor.brake(); left_motor.brake(); } void turnRight() { double speed0 = -0.15; double speed1 = 0.15; int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); int desiredCount0 = initial0 + desiredCountR; int desiredCount1 = initial1 - desiredCountR; int count0 = initial0; int count1 = initial1; double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; while(1) { if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; right_motor.move(speed0); left_motor.move(speed1); counter = 0; } else { counter++; right_motor.brake(); left_motor.brake(); } if (counter > 60) { break; } } right_motor.brake(); left_motor.brake(); } void turnLeft180() { double speed0 = 0.15; double speed1 = -0.15; int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); int desiredCount0 = initial0 - desiredCountL*2; int desiredCount1 = initial1 + desiredCountL*2; int count0 = initial0; int count1 = initial1; double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; while(1) { if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; right_motor.move(speed0); left_motor.move(speed1); counter = 0; } else { counter++; right_motor.brake(); left_motor.brake(); } if (counter > 60) { break; } } right_motor.brake(); left_motor.brake(); } void turnRight180() { double speed0 = -0.15; double speed1 = 0.15; int counter = 0; int initial0 = encoder0.getPulses(); int initial1 = encoder1.getPulses(); int desiredCount0 = initial0 + desiredCountR*2; int desiredCount1 = initial1 - desiredCountR*2; int count0 = initial0; int count1 = initial1; double error0 = count0 - desiredCount0; double error1 = count1 - desiredCount1; while(1) { if(!(abs(error0) < 1) && !(abs(error1) < 1)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); error0 = count0 - desiredCount0; error1 = count1 - desiredCount1; right_motor.move(speed0); left_motor.move(speed1); counter = 0; } else { counter++; right_motor.brake(); left_motor.brake(); } if (counter > 60) { break; } } right_motor.brake(); left_motor.brake(); } void moveForwardOneCellEncoder(){ // 0 is left wheel! double speed0 = 0.15; double speed1 = 0.15; int counter = 0; int initial0 = encoder0.getPulses(); // left int initial1 = encoder1.getPulses(); // right double kpLeft = 0.0000005; double kpRight = 0.0000005; int desiredCount0 = initial0 + oneCellCount; int desiredCount1 = initial1 + oneCellCount; int count0 = initial0; int count1 = initial1; int error = 0; while (1){ if (count0 < desiredCount0 && count1 < desiredCount1){ count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); error = count0 - count1; // if error is positive, then left has moved more, so we want to decrease its speed and increase the right speed if (error > 0){ speed0 = 0.15 - error*kpLeft; speed1 = 0.15 + error*kpRight; } else if (error <= 0){ speed0 = 0.15 + error*kpLeft; speed1 = 0.15 - error*kpRight; } // serial.printf("The error is %d \n", error); // serial.printf("The Left speed is: %f and the right speed is: %f \n", speed0, speed1); right_motor.move(speed0); left_motor.move(speed1); counter = 0; } else { break; } } greenLed.write(1); blueLed.write(0); right_motor.brake(); left_motor.brake(); } void moveForwardUntilWallIr() { double currentError = 0; double previousError = 0; double derivError = 0; double sumError = 0; double HIGH_PWM_VOLTAGE = 0.1; double rightSpeed = 0.1; double leftSpeed = 0.1; float ir2 = IRP_2.getSamples( SAMPLE_NUM ); float ir3 = IRP_3.getSamples( SAMPLE_NUM ); int count = encoder0.getPulses(); while ((IRP_1.getSamples( SAMPLE_NUM ) + IRP_4.getSamples( SAMPLE_NUM ) )/2 < 0.05f) { int pulseCount = (encoder0.getPulses()-count) % 5600; if (pulseCount > 5400 && pulseCount < 5800) { blueLed.write(0); } else { blueLed.write(1); } currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; derivError = currentError - previousError; double PIDSum = IP_CONSTANT*currentError + II_CONSTANT*sumError + ID_CONSTANT*derivError; if (PIDSum > 0) { // this means the leftWheel is faster than the right. So right speeds up, left slows down rightSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); leftSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); } else { // r is faster than L. speed up l, slow down r rightSpeed = HIGH_PWM_VOLTAGE + abs(PIDSum*HIGH_PWM_VOLTAGE); leftSpeed = HIGH_PWM_VOLTAGE - abs(PIDSum*HIGH_PWM_VOLTAGE); } if (leftSpeed > 0.30) leftSpeed = 0.30; if (leftSpeed < 0) leftSpeed = 0; if (rightSpeed > 0.30) rightSpeed = 0.30; if (rightSpeed < 0) rightSpeed = 0; right_motor.forward(rightSpeed); left_motor.forward(leftSpeed); previousError = currentError; ir2 = IRP_2.getSamples( SAMPLE_NUM ); ir3 = IRP_3.getSamples( SAMPLE_NUM ); } //sensor1Turn = IR_Sensor1.read(); //sensor4Turn = IR_Sensor4.read(); //backward(); wait_ms(40); //brake(); left_motor.brake(); right_motor.brake(); } void printDipFlag() { if (DEBUGGING) serial.printf("Flag value is %d", dipFlags); } void enableButton1() { dipFlags |= BUTTON1_FLAG; printDipFlag(); } void enableButton2() { dipFlags |= BUTTON2_FLAG; printDipFlag(); } void enableButton3() { dipFlags |= BUTTON3_FLAG; printDipFlag(); } void enableButton4() { dipFlags |= BUTTON4_FLAG; printDipFlag(); } void disableButton1() { dipFlags &= ~BUTTON1_FLAG; printDipFlag(); } void disableButton2() { dipFlags &= ~BUTTON2_FLAG; printDipFlag(); } void disableButton3() { dipFlags &= ~BUTTON3_FLAG; printDipFlag(); } void disableButton4() { dipFlags &= ~BUTTON4_FLAG; printDipFlag(); } void pidOnEncoders() { int count0; int count1; count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); int diff = count0 - count1; double kp = 0.000075; double kd = 0.000125; int prev = 0; while(1) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses(); int x = count0 - count1; //double d = kp * x + kd * ( x - prev ); double kppart = kp * x; double kdpart = kd * (x-prev); double d = kppart + kdpart; //serial.printf( "x: %d,\t prev: %d,\t d: %f,\t kppart: %f,\t kdpart: %f\n", x, prev, d, kppart, kdpart ); if( x < diff - 50 ) // count1 is bigger, right wheel pushed forward { left_motor.move( -d ); right_motor.move( d ); } else if( x > diff + 50 ) { left_motor.move( -d ); right_motor.move( d ); } else { left_motor.brake(); right_motor.brake(); } prev = x; } } int main() { //Set highest bandwidth. gyro.setLpBandwidth(LPFBW_42HZ); serial.baud(9600); serial.printf("The gyro's address is %s", gyro.getWhoAmI()); wait (0.1); redLed.write(1); greenLed.write(0); blueLed.write(1); //left_motor.forward(0.1); //right_motor.forward(0.1); // PA_1 is A of right // PA_0 is B of right // PA_5 is A of left // PB_3 is B of left //QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); // QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); // TODO: Setting all the registers and what not for Quadrature Encoders /* RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3) RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B) GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2 GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5 */ // 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 // of alternate function specified // 4 modes sets AHB1ENR // Now TMR: enable clock with timer, APB1ENR // set period, autoreload value, ARR value 2^32-1, CR1 - TMR resets itself, ARPE and EN // // Encoder mode: disable timer before changing timer to encoder // CCMR1/2 1/2 depends on channel 1/2 or 3/4, depends on upper bits, depending which channels you use // CCMR sets sample rate and set the channel to input // CCER, which edge to trigger on, cannot be 11(not allowed for encoder mode), CCER for both channels // SMCR - encoder mode // CR1 reenabales // then read CNT reg of timer dipButton1.rise(&enableButton1); dipButton2.rise(&enableButton2); dipButton3.rise(&enableButton3); dipButton4.rise(&enableButton4); dipButton1.fall(&disableButton1); dipButton2.fall(&disableButton2); dipButton3.fall(&disableButton3); dipButton4.fall(&disableButton4); //right_motor.forward( 0.2 ); //left_motor.forward( 0.2 ); while (1) { //moveForwardOneCellEncoder(); pidOnEncoders(); //moveForwardUntilWallIr(); // wait(2); // turnRight(); // wait(1); // moveForwardOneCellEncoder(); // moveForwardUntilWallIr(); break; //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ()); //serial.printf("Pulse Count=> e0:%d, e1:%d \r\n", encoder0.getPulses(),encoder1.getPulses()); //double currentError = ( (IRP_2.getSamples( SAMPLE_NUM ) - IRP_2.sensorAvg) ) - ( (IRP_3.getSamples( SAMPLE_NUM ) - IRP_3.sensorAvg) ) ; //serial.printf("IRS= >: %f, %f, %f, %f, %f \r\n", // IRP_1.getSamples( 100 ), IRP_2.getSamples( 100 ), IRP_3.getSamples( 100 ), IRP_4.getSamples(100), currentError ); //reading = Rec_4.read(); // serial.printf("reading: %f\n", reading); // redLed.write(0); // wait_ms(1000); // redLed.write(1); // greenLed.write(0); // wait_ms(1000); // greenLed.write(1); // blueLed.write(0); // wait_ms(1000); // blueLed.write(1); } }